TWI493148B - Solar collector positioning apparatus - Google Patents

Description

Solar collector positioning device

This application claims the benefit of US Provisional Application Serial No. 61/417,086, 35 USC § 119 (e), filed on Nov. 24, 2010, the entire disclosure of which is incorporated herein by reference.

The present invention is generally in the technical field of devices powered by solar energy, and in particular embodiments is related to photovoltaic power. A number of specific embodiments are related to the attachment of the solar collector module; and more specifically, to the automatic positioning of the solar collector module for maintaining the surface of the module with the electromagnetic radiation of the sun. The direction of the vertical.

A particular embodiment of the invention relates to the automatic adjustment of the surface orientation of the solar collector module to place the surface of the module as electromagnetic radiation perpendicular to the sun. These specific embodiments focus on the method of moving the optoelectronic module to a direction perpendicular to the sun's rays. The movement of such solar modules has been given the industry-widely accepted name "tracking" and will be used to represent this action thereafter. For consumers, there are generally two types of commercially available chasing mechanisms. The first type of chasing system (known as the single-axis chasing system) deflects the optoelectronic module from the morning to the east to the west to the afternoon, which cannot adjust the season for the sun to cross the sky. Adjust the inclination and yaw angle. The second type of tracking system (known as the two-axis tracking system) positions the solar module perpendicular to the sun ray, which has means for compensating for the dip and yaw angles of the solar path throughout the year.

One embodiment of the invention, as seen in Figure 1, is a solar collector module positioning device 1. The specific embodiment of Fig. 1 generally comprises a base structure 2 and an intermediate frame 4 connected to the base structure 2 by a base support leg 11. In this particular embodiment, the base support foot 11 has a hinged connection 17 to the base structure 2 and a hinged connection 17 to the intermediate frame 4, thereby limiting the movement of the intermediate frame 4 to a plane This plane is perpendicular to the plane occupied by the base structure 2.

A specific embodiment of this positioning device 1 also has a solar collector support frame 6 that is connected to the intermediate frame 4 by intermediate support legs 13. The intermediate support leg 13 likewise has a hinged connection 17 to the solar collector support frame 6 and a hinged connection 17 to the intermediate frame 4, whereby the movement of the solar collector support frame 6 is restricted to a plane, It is orthogonal to the plane occupied by the intermediate frame. As used herein, "orthogonal" means that two objects (eg, vectors or planes) intersect at right angles.

The term "solar collector module" as used in the description of the present invention refers to any device that collects solar energy for useful purposes or redirects energy for remote collection purposes. An example of a solar collector module is a photovoltaic panel or module that converts solar energy into electricity. Other non-limiting examples of solar collector modules are solar water heater panels, solar thermal condensers, solar thermal evaporators or mirrors.

1‧‧‧Solar collector module positioning device

2‧‧‧ base frame

4‧‧‧Intermediate frame

6‧‧‧Support frame

8‧‧‧Solar collector device

9A/9B/12/15‧‧‧ frame components

11A/11B/11C/11D/13/13A/13B/13C/13D/31/111/113‧‧‧ Support feet

16‧‧‧cross members

17/17a/17b/17x/17y‧‧‧ Hinged connection

19‧‧‧Actuator

25‧‧‧ pillar

30A/30B‧‧‧Shebyshev connecting rod set

32‧‧‧Activity linkage

33‧‧‧ Connecting rod

40‧‧‧Connect

70‧‧‧ observation points

71‧‧‧ Zenith

72‧‧‧ Position

75‧‧‧The sun

76‧‧‧Sun Vector

80‧‧‧First moving plane

81‧‧‧Second moving plane

85‧‧‧Control system

86‧‧‧ Controller

87‧‧‧Switcher

88‧‧‧ pulse width modulator

89‧‧‧Power supply

90‧‧‧Electronic grading/compass device

91‧‧‧GPS interface

92‧‧‧Internet interface

93‧‧‧Communication埠

94‧‧‧potentiometer

115‧‧‧Rotation point

133/135‧‧‧ connecting rod

136‧‧‧ holes

200‧‧‧Solar collector positioning device

201‧‧‧ frame

205‧‧‧ Wheels

Figure 1 is a perspective view of one embodiment of the present invention.

Figure 2 is a map of the position of the sun in the coordinates of the celestial body.

Figure 3A is a diagram of the position of the sun relative to the position of the device in a particular embodiment.

Figure 3B is a diagram of the position of the sun relative to the position of the device in another embodiment. figure.

Figure 4 is a diagram showing the deflection angle of the device of Figure 1.

Fig. 5 is a schematic view showing the skew angle of the apparatus shown in Fig. 1.

Figure 6 illustrates a plurality of devices positioned as an integrated unit as in Figure 1.

Figure 7 is a perspective view of a second embodiment of the present invention.

Figure 8A is a perspective view of a third embodiment of the present invention.

Fig. 8B is a modification of the specific embodiment of Fig. 8A.

Figure 9 illustrates a plurality of devices positioned as an integrated unit as shown in Figure 8A. .

Figure 10 is a perspective view of a fourth embodiment of the present invention.

Fig. 11 is a schematic view showing the skew angle of the device in Fig. 10.

Figure 12 is a schematic illustration of one embodiment of a control system of one of the devices described herein.

Figure 13 is a schematic diagram of the Chebyshev linkage shown in Figures 8A and 8B.

Figure 14 is a schematic illustration of an example collector panel spacing that avoids shadowing of the panel by adjusting adjacent panels in the north-south direction.

Figure 15 is a schematic illustration of an example collector panel spacing to avoid shadowing of the panel by adjusting adjacent panels in the east-west direction.

Figure 16 is a schematic illustration of the "backtracking" function performed by certain embodiments.

Figure 17 is a perspective view of one embodiment of the invention secured to a transport vehicle.

The hinge connection 17 observed in Figure 1 is a representative depiction of a general hinge device. The term "hinge connection" as used in the description of the present invention refers to any type of connection that allows for some range of rotation, but does not allow or substantially tolerate the transition. Non-limiting examples include plugs, pivots, pillow blocks, bearing connections, and inserted U-shaped hooks. In the particular embodiment of Figure 1, the hinge connection 17 substantially confines the hinge element to a single plane Rotate.

The base structure 2 observed in Fig. 1 is a frame structure composed of a series of base frame members 9, which form a generally right-angled base structure from the lateral frame members 9B and the longitudinal frame members 9A. The base frame members 9 are named laterally and longitudinally, and are mostly arbitrary, except that in use, in many embodiments, the base frame members 9A are positioned generally in an east-west orientation, leaving a generally north-south arrangement. The lateral base frame member 9B is outside. The base frame member 9 can be formed of any sufficiently rigid material (considering the strength of the material and the shape/area of the cross-cut), and non-limiting examples include wood, metal (preferably light weight metal such as aluminum) and sufficient Hard polymer material. Although the base structure 2 in Fig. 1 is a frame structure, the base structure 2 may be of a type having a non-frame, as disclosed in other specific embodiments described below. Any number of different base structures can be used as long as they provide a suitable attachment point for the base support foot.

Although not clearly seen in Figure 1, it will be understood that the intermediate frame 4 is constructed from the frame member 12 in a manner substantially identical to that described with reference to the base frame member 9. The specific embodiment of Fig. 1 shows that the two base support legs 11A and 11B are connected at their lower ends (via the hinge connection 17) to the one side base frame member 9B, and the other two base support legs 11C and 11D, The base support legs 11C and 11D are connected to the opposite side base frame members 9B. As suggested above, the base support feet 11 are connected to the intermediate frame member 12 at their upper ends (via the hinge connection 17). The apparatus of Fig. 1 places the intermediate support legs 13 between the intermediate frame 4 and the solar collector support frame 6 in a substantially similar manner. The intermediate support legs 13A and 13B will be hinged at each end to the intermediate frame member 12 and the solar collector support frame member 15, respectively, while the intermediate support legs 13C and 13D will be hinged at each end to the opposite intermediate frame. The member 12 and the collector support the frame member 15. Although Figure 1 shows two collector support frames 6 positioned on the intermediate frame 4, it will be understood that a single collector supports the frame 6 or more than two. The collector support frame 6 can also be positioned on the intermediate frame 4.

In general, the collector support frame 6 will be formed from a rigid frame member with a solar collector device 8 that is coupled to the collector support frame 6. Of course, the collector support frame 6 can also take the form of other non-frames, such as a single piece of planar material (eg, a wood splint segment). Likewise, there may be specific embodiments in which the structure of the solar collector module itself is sufficiently strong to allow direct connection to the hinged connection 17 of the intermediate support leg 13. In such an example, the overall structure of the solar collector module can be considered to be the collector support frame 6.

As explained in more detail below with reference to Fig. 6, the hinge connection arrangement of the intermediate support members 13 between the intermediate frame 4 and the collector support frame 6 serves as limiting the rotation of the collector support frame 6 in relation to the middle. A single plane of rotation of the frame 4 (eg, Figure 3A). Likewise, the hinged base support foot 11 acts as a single plane of rotation that constrains the intermediate frame 4 relative to the base support 2.

Figure 1 further illustrates generally how the linear actuator 19 will be positioned between the intermediate frame 4 and the collector support frame 6. In the particular embodiment of Fig. 1, the linear actuator 19 is a cross member 16 attached to the collector support frame 6 and a frame member on the intermediate frame 4 (not shown in Fig. 1). In this particular embodiment, the linear actuator 19 is pivotally (i.e., hinged or plugged) to the cross member 16 and the intermediate frame member. Linear actuator 19 can be any number of devices that allow for controlled extension and contraction of the actuator. In a preferred embodiment, the linear actuator 19 is a power screw type device, but may alternatively be a hydraulically or pneumatically actuated cylinder, or a frame gear or pinion, a rotary cam, a chain drive and a pulley, Or belt drive and pulley. Although FIG. 1 shows only one linear actuator 19 between the intermediate frame 4 and the collector support frame 6, two or more other embodiments may be used. Although not clearly shown in Figure 1, it should be understood that the linear actuator 19 can also be similar to the above. The method is connected between the base support 2 and the intermediate frame 4. Some embodiments (eg, Figures 8 through 9) position the actuator to achieve the same range of motion in the skew angle of the frame, the frame being moved for full extension of the actuator And fully contracted. For example, the +/- 45° skew angle is described in more detail in the four-link linkage set discussed below.

Control System Algorithm: As suggested above, one of the primary functions of the described specific embodiment is to attach the solar collector module to the collector support frame 6 to positively maintain a particular position relative to the sun. A particular embodiment will utilize a control method and system that is described below in connection with Figures 2 through 4. Looking at Fig. 2, the point on the surface of the earth fixed by this solar collector positioning device is called observation point 70. A plane parallel to the surface of the earth and containing observation points 70 will be referred to as a "surface plane." The control system calculates a single vector with the origin at its observation point and passing through the sun. This vector (hereafter referred to as the Sun Vector 76) is unique to the location of the system on the Earth's surface, the date of the year, and the time of day. Enter the system to calculate the system input value for this vector, which is the latitude and longitude of the observation point, the date, and the time of day. The use of these input values for the solar vector can be calculated by standard methods, such as the standard method published by the National Oceanic and Atmospheric Administration and as described in more detail in Appendix A.

The resulting solar vector 76 is composed of two coordinate angles (azimuth 72 and zenith 71) and a scalar quantity. For the purposes of these calculations, the quantity will be single (1). Azimuth 72 (or sometimes referred to as "azimuth") is the angle of rotation in the ground plane. The starting point of the azimuth angle 72 is true north (when the system is positioned at 0 degrees in the north/south direction), and the rotation is 90 degrees eastward, 180 degrees south, and 270 degrees west. The azimuth angle 72 is stopped when it is orthogonal to a plane perpendicular to the surface of the earth, and is included in the sun 75 and the observation point 70. Zenith 71 is the angle measured between the line perpendicular to the ground plane at observation point 70 and the line between observation point 70 and sun 75. The starting point of the zenith angle 71 is directly at the top of the head (0 degrees) and is performed in the forward direction of the orientation vector in the plane containing the sun vector 76 and the observation point 70. When the top vector intersects the sun 75 and the observation point 70, the zenith angle stops. If the system is oriented in a direction other than true north, the azimuth angle 72 can simply adjust the angular scalar and direction away from true north.

As previously suggested, the solar collector positioning system of Figure 1 can only be moved in two planes. Looking at Figure 3A, the "compass orientation" of the system in Figure 3A is true north, in the sense that the intermediate frame is positioned to deflect in the north/south direction. The first moving plane 80 (the first moving plane of the intermediate frame 4) is orthogonal to the earth's surface at the observation point 70. The second moving plane 81 (the second moving plane of the solar collector support frame 6) is orthogonal to the first moving plane 80 and orthogonal to the intermediate frame 4. As a result, the system needs to reduce the calculated sun vector (S) to a component vector. These component vectors must (i) be included in the plane of movement of the solar collector positioning device, and (ii) be the product of (these vectors) to produce the sun vector (S). As suggested in Figure 4, the component vectors will be named vector N (north) and vector E (east), respectively. The vector N will be set to a plane containing a 0 degree azimuth vector and a 0 degree zenith vector. The vector E will be set to a plane containing a 90 degree azimuth vector and a 0 degree zenith vector. The origin of the two vectors will be the observation point. When the vector is parallel to the Earth's surface, the angular displacement of the component vector will be zero. The angular displacement is performed in the forward direction toward the 0 degree zenith vector. When parallel to the 0 degree zenith vector, each component vector will have an angular displacement of 90 degrees.

The first step in determining the vector N and the vector E is to convert the celestial coordinates of the solar vector (S) into S _x (east component), S _y (north component), and S _z (upper component, that is, all directions with the earth) Cartesian coordinates represented by the surface vertical). This is done by the following equation: the general equation for the celestial to Cartesian transformation: ; r is the radius of the celestial body

S _x = r * sin (zenith) * sin (orientation)

S _y = r * sin (zenith) * cos (orientation)

S _z = r * cos (zenith) As previously stated, the solar vector is defined as a scalar quantity of scalar quantity with a (single vector) that simplifies the above equation: r =1

S _x =sin ( zenith) * sin (orientation)

S _y =sin (zenith) * cos (orientation)

The S _z =cos (zenith) sun vector (vector S) will be defined by the Cartesian component ( S _x , S _y , S _z ). Its following vector N will be defined by the Cartesian quantity ( N _x , N _y , N _z ), and the vector E will be defined by ( E _x , E _y , E _z ). The angle of the vector N from the 0 degree azimuth is defined as the north skew angle for the solar collector positioning device. The angle of the vector E from the 90 degree orientation is defined as the east skew angle for the solar collector positioning device. You can find these angles as follows: In order to find the skew angle, the sun vector must first be decomposed into vertical vectors: vector N and vector E. This is done by multiplying the product from the vector algebra as follows: s = E x N represents the vector vector of the vector N and the vector E can be defined as: unit vector N = (0, N _y , N _z )

The unit vector E=( E _x ,0, E _z ) uses matrix algebra:

( S _x , S _y , S _z )=(- E _z N _y ) x , (- N _z E _x ) y , ( E _x N _y ) z Therefore: S _x =-E _z N _y

S _y =-N _z  E _x

S _z =E _x N _y rewrite these equations and replace them with the skew angle equation: It will be understood that these skew angles are the angle between the two vertical vectors of the sun vector and the surface of the ground. Using the specific embodiment of Fig. 1 as an example, when the positioning device is positioned in the manner suggested by Figs. 3A to 4, the north skew angle (sometimes referred to as the "North/South" skew angle) is the intermediate frame. 4 Angle that will be skewed relative to the surface plane. The east skew angle (sometimes referred to as the "east/west" skew angle) is the angle at which the solar collector support frame 6 will be skewed relative to the surface plane. However, in the particular embodiment illustrated herein, the control system will typically cause the solar collector support frame (by the number of east skew angles) to be skewed relative to the planar position of the intermediate frame 4. The use of "North" and "East" is the compass orientation relative to device 1.

For example, a 1 ± 90° rotation of the device will result in an east skew angle where the intermediate frame 4 will be deflected, and a north skew angle at which the solar collector support frame 6 will be deflected. The "skew angle" described above may sometimes be referred to as "tilt angle".

In the specific embodiment for explanation, it is the length of the actuator 19 that determines the azimuth angle of the collector support frame 6 or the intermediate frame 4. However, the mathematical calculations that determine the length of the actuator may be different for different embodiments. In the specific embodiment of Fig. 1, the geometric interconnection of the support leg 11 (between the base 2 and the intermediate frame 4) and the support leg 13 (between the intermediate frame 4 and the collector support frame 6), A typical four-link linkage set is formed. A simple diagram of the four-link linkage set is depicted in Figure 5. In the specific embodiment of Fig. 5, the upper connection point and the lower connection point are the length extended by the actuator, the length of the actuator contraction, the length of the support leg, and the support leg connection on the upper frame and the lower frame. Dominant by the distance between points. The following derivation produces a value for the desired (skew angle) value (actuator length). The following four-link linkage set is defined by the equation: According to vector geometry, apply the following equation to the join: position vector: Horizontal distance: 2) | I ₁ | * cos( θ ₁ )+| I ₂ | * cos( θ ₂ )+| I ₃ | * cos( θ ₃ )+| I ₄ | * cos( θ ₄ )=0 Vertical distance: 3) | I ₁ | * sin( θ ₁ )+| I ₂ | * sin( θ ₂ )+| I ₃ | * sin( θ ₃ )+1 I ₄ | * sin( θ ₄ )=0 Assuming θ ₁ =180 and let Equation 2 be equal to Equation 3, we get: - I ₁ * cos( θ ₁ )+| I ₂ | * cos( θ ₂ )+| I ₃ | * cos( θ ₃ )+| I ₄ | * cos( θ ₄ )=0

| I ₂ | * sin( θ ₂ )+| I ₃ | * sin( θ ₃ )+| I ₄ | * sin( θ ₄ )=0 Move all the number of terms to the equation except for those containing I ₄ On the right hand side, and square the two sides, get: | I ₄ | ² * cos ² ( θ ₄ )=(| I ₁ |-| I ₂ | * cos( θ ₂ )-| I ₃ | * cos( θ ₃ )) ²

| I ₄ | ² * sin ² ( θ ₄ )=(-| I ₂ | * sin( θ ₂ )-| I ₃ | * sin( θ ₃ )) ² Combine the above equation and apply the triangular relationship cos ² ( θ ) * cos ² ( θ )=1 , get: The Freudenstein equation is expressed by: K ₁ * cos( θ ₂ )+ K ₂ * cos( θ ₃ )+ K ₃ =cos( θ ₂ )* cos( θ ₃ )+sin( θ ₂ )* sin( θ ₃ ) where: Rewrite: K ₂ * cos( θ ₃ )+ K ₃ =(cos( θ ₃ )- K ₁ )* cos( θ ₂ )+sin( θ ₃ )* sin( θ ₂ ) Place point C at the Cartesian coordinates as ( X, Y ). If we assume that the origin is at point B in our Cartesian system, we can apply the following to our system: X ² + Y ² = I ₂ ^{2 The} following equations are also applied to Figure 6.

Substituting these identities to the Froudestein equation shows: Now θ ₃ represents the north or east skew angle, depending on whether the calculation is related to the intermediate frame 4 and the base support leg 11 or the collector support frame 6 and the intermediate support leg 13, respectively. The skew angle is calculated from the sun vector as above, and the sun vector is then determined by the time of day and the number of days in a year. Therefore, θ ₃ is a known value. The values for I ₁ , I ₂ , I ₃ , I ₄ , I ₅ , I ₆ are also known values, depending on the construction of the frame and the placement of the foot. Therefore, the above equation can be further simplified by replacing the known value with a placeholder.

Where: K ₄ =( K ₂ * cos( θ ₃ )+ K ₃ )* I ₂ K ₅ =cos( θ ₃ )- K ₁ K ₆ =sin( θ ₃ ) Rearrangement: Square the sides and then simplify: ( K ₅ ² - K ₆ ² )* X ² -2 *( K ₄ * K ₅ * X )+( K ₄ ² - K ₆ ² * I ₂ ² )=0 Set: a= ( K ₅ ² - K ₆ ² )b=-2 *( K ₄ * K ₅ )c=( K ₄ ² - K ₆ ² * I ₂ ² ) using a quadratic equation We can get X. Using X and I ₂ , we can get Y. Using X and Y and I ₅ , we can use Cartesian algebra to get the position in the Cartesian plane for the upper joint of the actuator (indicated by point e in Figure 5). I ₆ represents the position of point f. Finally, the distance I ₇ (the overall length of the actuator) can be calculated. Secondly, when the actuator is fully contracted, we subtract the length of the actuator from a distance I _7. This produces the length of travel required to provide the desired skew angle in the particular embodiment of Figure 1.

Figure 5 also shows a specific embodiment in which the first end (or lower end) of the linear actuator I ₇ is hinged to the base support (i.e., between points "a" and "b"). "f" is connected to the base support. However, the second end portion (or the upper end portion) of the linear actuator is connected to the intermediate frame by a hinge "c" on the intermediate frame and a point "e" outside the "d". A similar arrangement can also be used for linear actuators acting between the intermediate frame and the solar collector support frame. However, FIG. 5 is only one specific embodiment, and in other embodiments, the second end or upper end of the linear actuator may be connected above the point "d" shown in FIG.

Figure 6 illustrates one of many possible modifications of the specific embodiment of Figure 1. Figure 6 shows how a series of collector support frames 6 can be positioned on the intermediate frame 4. In this particular embodiment, the number of intermediate support legs 13 is a multiple of two (i.e., the six support legs 13 seen on each set of collector support frames 6 are observed in Figure 6), And can be added (also That is, 8, 10, 12...) to any extent as long as the intermediate frame 4 and the base structure 2 have sufficient structural strength to withstand the number of collector support frames 6. As with the specific embodiment of Fig. 1, Fig. 6 illustrates a linear actuator 19 between each of the two intermediate support legs 13, but it will be understood that more than one linear actuator may be used. It can be observed that the base support foot 11 in this particular embodiment is also used in multiples of two.

Figure 7 illustrates an alternative substrate support 2. The base support 2, which is not as observed in Fig. 1, is a frame structure, and Fig. 7 shows a series of struts 25 forming the base support 2. In this particular example, each of the substrate support legs is secured to the post 25 by a hinged connection 17. Likewise, the lower end of the actuator 19 is also plugged into the post 25. The struts 25 can be formed from virtually any hard material such as wood, concrete, steel or a sufficiently rigid polymer. Of course, the base support 2 of FIG. 1 and the support base support 2 of FIG. 7 are only two non-limiting examples of various shapes that the base support 2 can cover. Many other substrate support structures can be used which will also serve as anchor points for the hinge connection 17.

Figure 8A illustrates another embodiment of the present invention using an integrated actuation system. In Figure 8A, the integrated actuation system takes the form of a Shebyshev linkage 30. It can be observed that this particular embodiment is similar to Figure 1 in that the base structure 2 comprises a longitudinal frame member 9A and a lateral frame member 9B having at least two sets of base support legs (e.g., three groups in Figure 8A). 11. The Shephersh link set 30A is positioned between the base support 2 and the intermediate frame 4 and generally includes a connection support leg 31, an actuation link set 32, and a connectivity link set 33. The connecting support legs 31 are connected at their upper ends to the intermediate frame 4 by means of a hinge connection 17 in a manner similar to the previous embodiment. The lower end portion of the link set support leg 31 is connected to the actuating link set 32 via a hinge connection 17. The two actuation link sets 32 observed in Fig. 8A are sequentially attached to the connectivity link set 33. The actuator 19 attaches (ie, inserts) the base frame member at one end and attaches to the connector at the other end Link set 33.

It will be understood that the extension/contraction of the actuator 19 moves the connecting link set 33 toward the proximal base frame member 9A (as seen in Figure 8A) and away from the proximal base, respectively. Frame member 9A. This arrangement causes the actuator 19 to be coupled between the base structure and the intermediate frame by extending a linear actuator extending in a plane parallel to the surface plane into a rotating link set of the intermediate frame. Although somewhat invisible in Figure 8A, it will be appreciated that a similar Shephersh Link set 30B is also positioned between the intermediate frame 4 and the collector support frame 6 in the same manner as described above.

The effect of the Shebyshev linkage is that the deflection movement of the intermediate frame 4 is converted into a linear approximation, that is, the specified linear movement of the actuator 19 is converted into the intermediate frame 4 (or the collector support frame 6). The specified skew angle. In the Shebyshev linkage, the complete linear movement of the connecting linkage 33 corresponds to an angle of θ ₃ (as observed in Figure 5) from -90° to 90°. The first step in the design of the embodiment shown in Figure 8A determines the length of the stroke of the actuator to be used. Next, the range of motion for the Shebyshev linkage should be determined. The range of motion selected at this step will ultimately be the limiting factor for the angular movement of the collector in this plane. When the skew movement is assigned to the intermediate frame 4, the intermediate frame 4 also moves linearly in the direction in which the actuator moves. This linear movement in the direction of movement of the actuator is provided by a four-link linkage set. The intermediate frame 4 will move a distance of 2*I3 from Shephershev from -90° to 90° as shown in Fig. 13. The Shebyshev linkage (shown schematically in Figure 13) is made up of four links. In Figs. 8A and 13th, the hinge connection of the four-link linkage set is indicated by 17a and 17b, and the hinge connection of the Shebyshev linkage is indicated by 17x and 17y. The length of the link is defined as the multiple of the short link of "A" (in Figure 8A, the distance between the hinge connections 17x and 17y). There are two links of length 2*A (element 32 in Fig. 8A) and two links of length 2.5*A (element 31 in Fig. 8A). According to the Shebyshev equation, the short link will run a distance "A" while exhibiting an angular displacement of 90°. Therefore, for a full displacement of -90° to 90°, it will run a distance of 2*A. In order to achieve the required range of motion, the actuator must allow the Xiebyshev linkage to linearly move for the desired angular deflection of the frame 4, as well as the longitudinal movement of the frame 4 due to the linkage of the four-link linkage. Compensation distance. Operating range / 180 ° = actuator stroke / (2 * A + 2 * I ₃ ). I ₃ (see Fig. 13) is the distance between the hinge connections 17a and 17b of the four-link linkage set as seen in Fig. 8A. The lengths "A" and "I ₃ " are selected to determine the desired range of motion.

Thus, in the specific embodiment of Figures 8A and 9, the linear variation in the length of the actuator 19 corresponds to a linear change in θ ₃ (see Figure 13). If the length of the actuator 19 is known to be offset from the frame by an angle θ ₃ , the length of the actuator 19 at any desired deflection angle is: when the actuator 19 is fully extended and fully retracted. Actuator length = θ ₃ /180° *(2*A+2*I3). Once the length "A" is selected, the remaining components of the Shebyshev linkage can be easily found. The remainder of the four-link linkage set design (after selecting I ₃ above) is based on the Freudenstein's Equation: I ₂ = I _{4 is} known, and the four-link linkage set is designed when Theta3 = 0°. Select Theta2=60°. Similarly, I ₄ = 1⁄2 (solar collector width) is selected when designing the module support; I ₄ = 1⁄2 (intermediate frame width) is selected when designing the intermediate frame bracket. Once completed, the Instein equation will be reduced to the quadratic equation of I ₁ . Select I ₁ >I ₄ . I ₁ and I ₄ are adjusted to accommodate the gap of the moving parts.

When a plurality of solar collector support frames are used in a single intermediate frame, it is preferable to consider the separation distance of the solar collector supports. from. This separation distance is preferably provided such that the solar collectors do not project shadows between each other at the extremes of their design range of motion. In a specific embodiment of conceptualizing Fig. 9, Fig. 15 shows the angular movement of the adjacent solar collector frame 6 (i.e., the east/west deflection in Fig. 9). The separation distance (F) is defined as the distance between adjacent solar collector edges when the solar collector is in a horizontal position.

α=eastward motion range/2

W = short side length of the solar collector

F=2*(W * cos(α))-W When using one or more intermediate frames to cause one or more actuators to adjust the skew angle of the intermediate frame, it is preferable to consider adjacent intermediate frames. The separation distance between the solar collectors supported by the body. This separation distance must be provided so that the solar collectors do not cast shadows on each other at the extremes of their design range of motion. Fig. 14 shows the angular movement of the adjacent intermediate frame (i.e., the north/south skew angle in Fig. 9). The separation distance (F) is defined as the distance between adjacent solar collector edges of a solar collector supported by different intermediate frames when the solar collector is in a horizontal position. For north/south movement, the center of the solar collector is separated from the center of rotation by a distance X; the X system is related to the link group dimension of the four links.

α=Northward motion range/2

β=90°-α

L = long side length of the solar collector (assumed to be a general rectangular solar collector panel), F = (X / tan (α) + L) / sin (β) - x / sin (α) - L

Figure 9 illustrates an extended version of a solar collector positioning device employing a Shebyshev linkage. In Fig. 9, two separate intermediate frame assemblies 4 are located on the lateral side frame members 9B. Each of the intermediate frame assemblies 4 includes a connecting link 33, and the extended actuating link 32 is mounted at each end of the connecting link 33. The actuator 19 is attached to at least one of the connecting links 33 and will cause deflection of the two intermediate frame assemblies 4. Although It is clear and not numbered in Figure 9, but it is still directly known that the Shephersh link set can also be positioned between the intermediate frame assembly 4 and the collector support frame 6.

Figure 10 illustrates yet another embodiment of a solar collector positioning device. The difference between FIG. 10 and FIG. 1 is that the base support leg 111 has its lower end rigidly fixed to the base support frame member 9B by the rigid connection 40 (ie, the connection 40 does not allow the lower end of the support leg 111 to rotate or Transfer). However, the upper end portion of the base support leg 111 does have a hinged connection 17 to one of the frame members 12 of the intermediate frame 4. This particular embodiment illustrates two linear actuators 19 located on each side of the base support without the base support foot 111. Similarly, the specific embodiment of Fig. 10 applies a substantially identical relationship with respect to the intermediate support leg 113 between the intermediate frame 4 and the collector support frame portion 6.

Figure 11 illustrates how the actuator length is calculated for a given skew angle with respect to a particular embodiment of the system illustrated in Figure 10. It will be appreciated that Figure 11 illustrates a single linear actuator 19 (relative to the two actuators 19 shown in Figure 10). The use of a strong structural member allows the use of a single actuator, but for common structural materials, the two actuators 10 of Figure 10 are a more practical design. In Fig. 11, the actuator 19 is connected to the base support frame 2 at one end portion at a known distance (B) from the fixed end of the base support leg 111. The other end of the actuator 19 is coupled to the intermediate frame 4. The length of the base support leg 111 is (A), and the required skew angle is α. There is a triangle between the point of rotation 115 of the intermediate frame 4, the lower connection point of the actuator 19 and the upper connection point of the actuator 19. The distance between the point of rotation 115 and the lower actuator connection point is denoted by C, the distance between the point of rotation 115 and the upper actuator connection point is denoted by R, and the length of the actuator is denoted by Z. The angle between R and C is the sum of a known angle β and a skew angle α. For a desired skew angle, the actuator length is as follows: Use the law of cosine: Z ² = C ² + R ² -2* C * R * cos ( β + α ) or Figure 12 illustrates a specific embodiment of a control system 85 for the solar positioning device described above. Control system 85 will be built around a controller 86, which in a preferred embodiment is a computer, or at least can perform triangulation and floating point operations, store information in volatile and non-volatile memory, And a central processing unit that interfaces with electrical devices external to the controller. Alternatively, the controller can be a programmable logic controller (PLC) having an integrated processor, an electrical input interface point, and an electrical output interface point. Alternatively, a central processing unit (CPU) is located at the far end of the device and is coupled to electrical inputs and outputs on the device via some communication medium. Some examples of such a technology are the use of a mobile phone, a personal digital assistant (PDA), or other personally programmable device (such as a controller). In Fig. 12, an AC power supply 89 will take a portion of the power generated by the inverter and convert it into power that can be used by the control system. One example of an AC power supply 89 converts the 120 VAC output of the inverter to a fixed 24 VDC voltage that can be used by the control system. A 24 VDC battery pack can be combined to supplement the power during low daylight hours. Pulse width modulator 88 operates to control the rate of extension and contraction of the actuator. Due to the small incremental change in the actuator stroke required to achieve a periodic change in the skew angle, the actuator needs to move slowly to avoid exceeding the desired position and thereby avoid the actuator "swinging hunting" (A situation in which the actuator repeatedly expands and contracts in order to find the desired position). In the above specific embodiment, once the desired actuator length is determined for a desired skew angle, the action of the actuator is performed. In some embodiments, the actuator is attached to a potentiometer 94, as taught in FIG. As the actuator shaft expands and contracts, the impedance of the potentiometer changes linearly with it. The value of the potentiometer built into the actuator indicates the position of the piston during its travel. This embodiment calculates the value of the potentiometer for the desired actuator position (and thus the desired skew angle), which is expressed as follows: (required stroke length / maximum stroke length) * (under full extension) Potential count value - potential count value under full contraction + potential count value under full contraction Next, the current value of the potentiometer is compared with the calculation target, and the actuator is stretched or contracted to reach its target. The control system performs a calibration correction by periodically updating the stored values of the potentiometers under fully extended and fully contracted. A limit switch 87 is attached to the system that will be actuated under the full operational limits of the system. This embodiment is also such that the complete operation of the actuator is equivalent to the full range of motion of either the module support frame or the intermediate frame. When these limit switches 87 are actuated, they indicate to the control system that the potential count value should be recorded as a fully extended or fully contracted value. In this mode, the control system maintains a calibration correction even if the external factor affects the potentiometer over time.

In this particular embodiment of the control system 85, the controller 86 can also be coupled to an electronic grading/compass device 90 for information relating to the direction in which the device is mounted, which can cause the control system to be under-graded or misaligned. The installation of "real" north installations is compensated. The GPS interface 91 provides location information for the above observation points. The Internet interface 92 provides remote access to system status and remote control of the system. Finally, this particular embodiment of control system 85 can include a communication port 93 that can be configured with other solar collectors. Bit system communication or network connection.

Specific embodiments that differ from (or in addition to) the specific embodiments described above, many other features and variations are within the scope of the invention. For example, the optoelectronic module can be electrically connected to a junction box that is fixed to the base frame.

The junction box provides a means by which the device can electrically interconnect other devices of the same or similar type. The junction box also provides a means of communication between the control system and a configuration terminal on the device, where the configuration terminal is used for configuration, calculation monitoring and troubleshooting of address-specific parameters.

The optoelectronic module is electrically connected to an inverter module directly or via a junction box fixed to the base frame, and the inverter provides conversion of DC power generated by the solar collector into One way of AC power that also allows the device to electrically interconnect other devices of the same or similar type, which also allows the device to be electrically interconnected to the AC illuminating panel for direct feeding of the supply gas load and as an electrical system (utility grid) interconnection.

The optoelectronic module is electrically connected to the charging controller, and the charging controller is fixed to the base frame directly or via a junction box fixed to the base frame. The charge controller provides a way to charge the battery based on the purpose of storing the power.

The support frame system of the optoelectronic module is provided with any number of conventional devices in the field that can clamp the optoelectronic module to the device for the simplicity of initial installation of the modules, the ease of replacing the modules, and The ease of removing these modules due to weather related events. One example of such a clamping device utilizes metal brackets, bolts, and nuts. The bracket is fixed such that a portion of the bracket overlaps the frame of the solar collector module. The bolt passes through the bracket to the solar collector module support frame. The tightening of the nut or bolt increases the compressive force of the bracket on the frame to the module support frame.

In many embodiments, it is desirable to avoid by a collector Any shadow created by the panel blocking the sun's rays reaches an adjacent controller panel, even though it requires the controller panel not to be perfectly orthogonal to the sun vector. The control system provides an algorithm that minimizes shadows on adjacent modules at night by causing the optoelectronic module to gradually return to a position parallel to the Earth's surface when it has reached the limits of the system's range of motion. . Similarly, the control system provides an algorithm that makes the morning time by moving the optoelectronic module to its range of motion limits where it encounters sunlight and begins its daytime chasing action. The shadow on adjacent modules is minimized. As an example, the specific embodiment shown in Fig. 9 uses an anti-shadowing procedure for daytime and nighttime sunlight, as explained in the description of Fig. 16 (illustrating a collector panel that rotates on the collection support frame). At the center of Fig. 16 is a triangle defined by points A, B and C, and the deflection angle calculated by the control system is Theta. Above the horizontal plane, the angle of rise of the sun relative to the plane of motion is α. Theta is equal to (90°-α) when the sun is within the range of the chasing system. However, when the sun moves beyond the range of motion of the tracking system, Theta is less than (90°-α). In this case, if there is no correction, the collector C1 will cast a shadow on C2. To avoid this, a new skew angle will be calculated for both C1 and C2 such that the sun ray passing through point C at angle a will be directed at C2 at point A. When the sun vector passes through points C and A, the pursuit of the day is optimized during the "backtracking to the sun" period. Because the chasing system's skew angle is too steep, the sun rays passing through C and the interlaced line AD will create shadows on adjacent collectors. The solar rays passing through C and the interlaced line segment AD may cause power loss due to the shallow angle of the chasing system. Therefore, changes in the sun's rising angle outside the range of the chasing action should result in panel deflection changes to avoid creating shadows when the solar collector panels are kept as close as possible to the solar vector. As shown in Figure 16, the following retrospective chase equation is established: Y=y1+y2

X=L-x1-x2

TAN(α)=(y1+y2)/(L-x1-x2)

α=90°-Angle angle (Theta) Since the four-link linkage set supports the collector, the lengths X and Y are linear functions of the non-deflection angle Theta. For this reason, the second order linear regression of X is obtained for Theta and X is obtained for Theta, and these regression equations are substituted into the above equations to obtain: TAN(α)=[a(Theta2) ² +b(Theta2) +c]/[e(Theta2) ² +g(Theta2)+h] where a, b, c are the coefficients of the second-order linear equation of Y to Theta, and e, g, h are the second-order linearity of X to Theta The coefficient of the equation. The rewrite system yields the second equation of Theta2, avoiding the skew angle of one of the shadows. In essence, those skilled in the art will appreciate that all coefficients are based on the shape of a particular four-link linkage set design and that these coefficients will vary from design to design.

In this particular embodiment, the control system continues to evaluate the required skew angle Theta (i.e., the angle at which the solar collector is orthogonal to the sun vector) for the allowable range of skew angles. When the required skew angle is less than the allowable range of the skew angle (that is, the maximum deflection angle that a particular design can mechanically achieve), the system works normally because this is a design condition that avoids shadow formation (eg, 14 to 16 are taught). When the required skew angle is greater than the allowable skew angle, the backtracking angle (Theta2) is calculated from the above. It will be appreciated that the calculation of Figure 6 illustrates the east/west deflection of the collector frame, and the same method can be applied to calculate the north/south deflection of the intermediate support frame. Still other embodiments of this system replace the optoelectronic module with a mirror to reflect the sun rays away from a concentration point away from the chasing system. For example, the use of a mirror allows the device to be used as a heliostat in a centralized solar power (CSP) system. Still other embodiments may include a solar chase system that is designed to predict the position of the sun in the sky relative to the observation point and will be installed too The solar module moves to a position perpendicular to the sun's rays. The system accomplishes this by moving in two planes. The first moving plane is the plane orthogonal to the surface at the observation point, and the second moving plane is the plane orthogonal to the first moving plane. The combined movement in these two planes produces the desired position of the solar module.

The optoelectronic modules of these embodiments are mounted to a support frame. This support frame system is mounted to an intermediate frame via a foot (also referred to herein as a support foot). The number of support legs for mounting the solar module support frame to the intermediate frame is preferably a multiple of the two legs. Each support leg has a hinge at both ends, and the total number of hinge connections between the solar module support frame and the intermediate frame is a multiple of four. Each solar module support frame can be made to support one or more solar modules. The intermediate frame can be made to support one or more solar module support frames.

The intermediate frame system can be attached to a base frame via the so-called foot of the support foot. Preferably, the number of support legs for attaching the intermediate frame to the base frame is a multiple of the two legs, each support leg having a hinge at both ends, between the intermediate frame and the base frame The total number of hinge connections is a multiple of four. The base frame can be made to support one or more intermediate frames. The plane of movement of the intermediate frame is the plane orthogonal to the surface at the point of observation. The observation point is defined as the location where the device is installed on the surface. The movement of the intermediate frame is produced by one or more linear actuators. The linear actuator is attached at one end to the base frame; at the other end, the actuator will be directly connected to the intermediate frame or indirectly connected to the intermediate frame via the configuration of the foot. These feet will be referred to herein as actuating feet and the actuating feet are used in groups of two. Each of the actuating feet has a hinge at both ends thereof, one end of the actuating leg is attached to the intermediate frame, and the other end is attached to a movable beam (which is referred to herein as a movable beam) To actuate the beam). In both of these embodiments, the extension and contraction of the actuator produces a related change in the azimuth of the intermediate frame.

The next moving plane is the movement of the solar module support frame. The plane of movement of the support frame is orthogonal and independent of the plane of movement of the intermediate frame. The movement of the support frame is produced by one or more linear actuators. The linear actuator is connected at its one end to the intermediate frame; at the other end, the actuator will be directly connected to, or indirectly connected to, the support frame via the foot configuration. These feet are referred to herein as actuating feet. The actuating foot is used in groups of two, each actuating foot having a hinge at both ends thereof. One end of the actuation foot is attached to the support frame and the other end is attached to a movable beam (which is referred to herein as an actuation beam). In both implementations, both the extension and contraction of the actuator result in a related change in the azimuth of the support frame. The extension and contraction of the actuator are generated by signals from a control system that produces these signals as a result of numerical calculations.

In the specific embodiment where the system is required to reduce the overall height of the system by a smaller desired tilt angle range and between 45 latitude and 45 latitude south, the long side of the collector (hypothesis) The collector of a generally rectangular shape is preferably set to the north/south direction. At 45° above latitude, the long side of the collector is preferably set to the east/west direction. However, if the system is designed not to have a height limit that limits the range of tilt angles, those skilled in the art will understand that there is no need to be a particular compass direction, as long as a control system is provided, the actual orientation of the system can be located.

The above specific embodiment operates by adjusting the inclination angle of both the intermediate frame and the solar module supporting frame, but other specific embodiments can be controlled only by making the intermediate frame at a fixed angle with respect to the ground. The system operates by adjusting the solar module frame provided at an oblique angle. The angle of the middle frame is called "fixed" because it is not automatically adjusted by the control system. Therefore, "fixed" can mean that it is constructed as a permanent angle, but "fixed" can also represent a system that can be manually adjusted by the user over time to adjust the tilt angle of the intermediate frame.

In this particular embodiment, the base structure and the intermediate frame can be physically constructed in any manner that secures the two structures to avoid relative movement between the two structures. In many examples of this embodiment, the module support frame will be coupled to the intermediate frame by at least two intermediate support legs, wherein (i) the number of intermediate frame support legs is a multiple of two; and (ii Each of the intermediate support legs has a hinged connection to one of the module support frames and a hinged connection to one of the intermediate frames. The linear actuator is coupled between the intermediate frame and the module support frame to rotate the module support frame relative to the intermediate frame.

An example of such a specific embodiment can be found in Figure 8B. The rotation between the base frame 2 and the intermediate frame is fixed by the anchor link 133, one end of the anchor link 133 is connected to the connecting link 33, and the other end is joined by a pin. The bracket 135 and the pin hole 136 are fixed to the base frame member 9A. As taught in Fig. 8B, the anchor link 133 can be fixed at different positions, whereby the connecting link 33 (and the angle of inclination of the intermediate frame 4) are fixed in different positions. However, the upper Chebyshev linkage 30B is located between the intermediate frame 4 and the collector support frame 6, which is operated by a linear actuator that automatically adjusts the angle of inclination of the collector support frame 6. In Fig. 8B, the intermediate frame 4 is fixed at a north/south tilt angle, and the collector support frame 6 is moved between an automatically adjusted east/west tilt angle. In this specification, the "North/Southward tilt angle" (or "East/Westward tilt angle") does not need to represent the exact or absolute North/South (East/West) direction, but includes only the main direction. It is roughly north/south (east/west) in the direction.

Figure 17 illustrates another embodiment of the present invention, a transportable solar collector positioning device 200. In most general terms, the transportable solar collector positioning device 200 includes a wheeled carriage having a bracket housing. In the particular embodiment of Figure 17, the wheeled carrier is a conventional two-wheeled towed trailer having a carrier frame 201 and a wheel member 205. However, the bracket frame is not limited to the traction trailer and may include self-propelled Vehicles, such as trucks. Similarly, wheeled brackets are not limited to vehicles with tires, but may also include rail vehicles whose tracks are driven by a series of wheels.

The positioning device shown in Fig. 17 is similar to that shown in Fig. 1, and includes a base frame 2, an intermediate frame 4, and a solar collector support frame 6. In this embodiment, the tilt control structure is a four-link linkage set formed by the articulated support legs 11, 13 that are also actuated by the linear actuator 19 shown in FIG. However, it is also possible to use a tilt control structure that does not use a four-link linkage set in an alternative. Similarly, not all embodiments may automatically adjust the tilt angle in two planes, and instead of a particular embodiment, the tilt angle may be automatically adjusted in only a single plane, as described in the above description with respect to FIG. 8B. .

Although not shown in FIG. 17, a control system similar to that shown in FIG. 12 will control the linear actuator to apply an oblique angle to the solar collector support frame, which may be based on a current sun vector. Maximize power generation. In a particular embodiment where only one tilt angle is automatically adjusted, power generation is representative of adjusting the tilt angle to maintain the collector panel as close as possible to the solar vector, as the positioning system can mechanically achieve only one tilt angle automatically adjusted. In a particular embodiment that automatically adjusts the two tilt angles, maximizing power generation means maintaining the collector panel orthogonal (or substantially orthogonal) to the sun vector, as the adjustment of the two tilt angles allows the controller The control of the panel is much more precise.

The contents of PCT Application No. US 2011/061831, filed on Nov. 22, 2011, are hereby incorporated by reference in its entirety in its entirety.

The foregoing description is directed to specific embodiments, and it will be understood that For example, other embodiments include a solar collector device that is mounted on a mobile vehicle, such as a trailer, to provide portability. When describing the relationship between two components (for example, a solar harvest) The collector module is orthogonal to the sun vector, and this relationship contains reasonable changes in the exact relationships recorded. For example, the solar collector module and the solar vector "orthogonal" contain "substantially orthogonal", which has a moderate error with the perfect orthogonal system (for example, 1%, 5 in any direction) %, 10%, 15%, or even 20% error). Similarly, "about" or "general" refers to an error or change of up to 1%, 5%, 10%, 15%, or even 20% from a given amount. All such variations and modifications are intended to fall within the scope of the appended claims.

1‧‧‧Solar collector module positioning device

2‧‧‧ base frame

4‧‧‧Intermediate frame

6‧‧‧Support frame

8‧‧‧Solar collector device

9A/9B/12/15‧‧‧ frame components

11A/11B/11C/11D‧‧‧ Support feet

16‧‧‧cross members

17‧‧‧Hinged connection

19‧‧‧Actuator

Claims (20)

A solar collector positioning device comprising: a. a base structure; b. an intermediate frame connected to the base structure by at least two base support legs, each of the base support feet having the base structure One hinge connection and one hinge connection to one of the intermediate frames, thereby restricting movement of the intermediate frame to a plane substantially orthogonal to a plane occupied by the base structure; c. a solar collector support a frame connected to the intermediate frame by at least two intermediate support legs, each of the intermediate support legs having a hinge connection to the solar collector support frame and a hinge connection to the intermediate frame Limiting movement of the solar collector support frame to a plane substantially orthogonal to a plane occupied by the intermediate frame; and d. a first linear actuator by a Shebyshev ( A Chebyshev) link is coupled between the base structure and the intermediate frame to rotate the intermediate frame relative to the surface plane. The solar collector positioning device of claim 1, wherein a second linear actuator rotates the solar collector support frame relative to the intermediate frame. The solar collector positioning device of claim 2, further comprising at least one linear actuator for rotating the intermediate frame relative to the base frame, and the solar collector supporting frame relative to the intermediate frame At least one linear actuator that rotates. The solar collector positioning device of claim 2, further comprising at least four base support legs and at least four intermediate support legs. The solar collector positioning device of claim 4, wherein the four base support legs have approximately the same length and the four intermediate support legs have approximately the same length. The solar collector positioning device of claim 1, wherein the base structure comprises a frame of a connected linear member. The solar collector positioning device of claim 1 further includes a solar collector module, which is (i) a photovoltaic module, (ii) a solar water heater module, and (iii) a solar heat Evaporator, (iv) a solar thermal condenser, or (v) a mirror. A solar collector positioning device comprising: a. a base structure; b. an intermediate frame connected to the base structure by at least four base support legs, each of the base support legs having the base a hinge connection of the structure and a hinged connection to the intermediate frame, the four support legs having approximately the same length, and the hinge connection of the intermediate frame has a smaller separation distance than the hinge connection of the base structure; c. a collector support frame coupled to the intermediate frame by at least four intermediate support legs, each of the intermediate support legs having a hinged connection to the collector support frame and a hinge to the intermediate frame Connected; d. a first linear actuator coupled between the base structure and the intermediate frame by a Chebyshev linkage to rotate the intermediate frame relative to the base frame And a second linear actuator coupled between the intermediate frame and the collector support frame to rotate the collector support frame relative to the intermediate frame; and e. a solar collector mold Group, its position The collector supporting frame. The solar collector positioning device of claim 8, wherein the movement of the intermediate frame is restricted to a plane substantially orthogonal to a plane occupied by the base structure, and the collector support frame system is subjected to Limited to movement in a plane that is substantially orthogonal to the plane occupied by the intermediate frame. The solar collector positioning device of claim 8, wherein a single linear actuator is coupled between the base structure and the intermediate frame, and a single linear actuator is coupled to the intermediate frame and the collection Support between the frames. The solar collector positioning device of claim 8, wherein the first linear actuator is coupled to the base bracket between the hinge joints on the base bracket and connected to the hinge joint on the intermediate frame The intermediate frame of the exterior. The solar collector positioning device of claim 11, wherein the first linear actuator provides the solar collector module with a first inclination angle with respect to a ground plane, and the second linear actuator The solar collector module is provided with a second angle of inclination relative to one of the intermediate frames such that the solar collector module is substantially substantially orthogonal to a current sun vector. The solar collector positioning device of claim 12, wherein the inclination angle is derived by: a. determining a solar vector according to a date, a time of day, an observation ground point, and a compass orientation of the positioning device. b. Decompose the solar vector into its two orthogonal vectors; and c. Set the equal tilt angles to be substantially equal to the angle between the orthogonal vectors and the surface plane. The solar collector positioning device of claim 13, wherein the solar vector is represented by a component (Sx, Sy, Sz), and the first inclination angle is equal to one of tan ^-1 (-Sy/Sz) Declination, and the second tilt angle is equal to one of the east angles of tan ^-1 (-Sx/Sz). A solar collector positioning device according to claim 13 wherein the solar vector is represented by a card coordinate system (Sx, Sy, Sz). A solar collector positioning device according to claim 8 wherein the Shephersh coupler extends a linear actuator extension in a plane parallel to a surface plane to a rotation of the intermediate frame. The solar collector positioning device of claim 8, wherein the number of the base support legs is a multiple of 2, and the number of the intermediate support legs is a multiple of 2. A solar collector positioning device according to claim 16, wherein a control system periodically calculates the inclination angles and adjusts the linear actuators to maintain the solar collector module perpendicular to the current solar vector . A solar collector positioning device comprising: a. a base structure; b. an intermediate frame connected to the base structure by at least two base support legs, each of the base support legs having the base One of the structures is connected and hingedly connected to one of the intermediate frames, the at least two support legs having approximately the same length; c. a solar collector support frame connected to the body by at least two intermediate support legs An intermediate frame, each of the intermediate support legs having a hinge connection to one of the solar collector support frames and a connection to one of the intermediate frames; d. a first linear actuator by means of a thank-you a Chebyshev linkage is coupled between the base structure and the intermediate frame to rotate the intermediate frame relative to the surface plane, and a second linear actuator coupled to the intermediate frame and the The collector supports between the frames to rotate the collector support frame relative to the intermediate frame And a solar collector module located on the collector support frame. The solar collector positioning device of claim 19, further comprising two linear actuators on opposite sides of the base support structure and two linear actuators on opposite sides of the intermediate structure.