CN104124914B - A kind of two axle solar concentrator parallel connection followers rotating decoupling - Google Patents
A kind of two axle solar concentrator parallel connection followers rotating decoupling Download PDFInfo
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- CN104124914B CN104124914B CN201410317715.XA CN201410317715A CN104124914B CN 104124914 B CN104124914 B CN 104124914B CN 201410317715 A CN201410317715 A CN 201410317715A CN 104124914 B CN104124914 B CN 104124914B
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- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 241001424688 Enceliopsis Species 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The present invention relates to a kind of two axle solar concentrator parallel connection followers rotating decoupling, belong to mechanical manufacturing field, this mechanism includes a fixed platform, a moving platform installing solar concentrator, and the first side chain and the second side chain；Described fixed platform includes: a pedestal, a top have the restriction side chain of Hooke strand a, and two have moving sets or the column of revolute pair or hinge；Moving platform is connected on fixed platform by limiting side chain, and is connected further with fixed platform by the first side chain and the second side chain, forms parallel institution；Described moving platform can rotate rotating around the Hooke strand outer ring of a limited on side chain, the rotary shaft of inner ring, i.e. has two rotational freedoms, and two rotational motions are decouplings.This mechanism has the features such as high rigidity, high dynamic performance, low-energy-consumption.
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly to a kind of two axle solar concentrator parallel connection tracing machines rotating decoupling
Structure.
Background technology
The energy is the material base that the mankind depend on for existence and development, the fast development of human society also disappearing in a large number along with the energy
Consumption, causes the traditional energy such as oil, coal to be petered out, and utilizing solar electrical energy generation is the effective way solving energy problem
Footpath.In order to utilize solar energy to carry out photo-thermal power generation, it is necessary to assemble sunlight, it is thus achieved that high density luminous energy.Generally utilize the sun
Energy condenser real-time tracking solar motion, assembles sunlight.Condenser is followed the tracks of solar motion and is realized by follower, tracing machine
Structure is typically an automatic mechanical hand, and it follows the tracks of sun precision is the key factor affecting condenser light gathering efficiency.Base
In follower mechanical property, follower can be divided into uniaxiality tracking mechanism and two-axis tracing mechanism.Due to uniaxiality tracking
Mechanism typically can only realize the solar tracking in a direction, and can not change the thing of the sun and the angle of North and South direction simultaneously
Carry out from motion tracking, cause condenser minute surface to absorb sunlight inefficient.Two-axis tracing mechanism can ensure that condenser minute surface
The most high-precision tracking sunlight moves, it is thus achieved that higher light gathering efficiency.
Two-axis tracing mechanism generally by be arranged on underground excitation drive cylindrical upright bar rotate, it is achieved solar azimuth with
Track；Another one rotary shaft is arranged on the top of vertical bar, and the condenser back side is fixed in this rotary shaft, it is achieved altitude of the sun
Angle tracking.This follower principle is simple, but there is the defects such as rigidity is low.Therefore, some scholars propose and locally change
Enter measure, as directly used turntable to replace vertical bar structure, use hydraulic-driven to replace motor and gear train etc..But,
These two-axis tracing mechanisms are still based on serial mechanism exploitation, owing to large-sized solar concentrator construction size and weight are big,
Add the external applied load impacts such as dust storm, generally require one heavy follower of design to obtain higher rigidity to support optically focused
Device.Accordingly it is desirable to install high-power excitation to drive follower, causing system can not run with optimal power, energy disappears
Consume huge.Further, since heavy load and moment, the driver element comprising many sleeve gears drive mechanism itself is also a heavy type
Unit, and generally require and install heavy counterweight balance condenser weight on vertical bar rotary shaft top, all these all causes
System capacity consumes big, cost height.
Summary of the invention
The structure that the invention aims to improve conventional serial follower is complicated, rigidity is low and energy expenditure is big etc. asks
Topic, it is proposed that a kind of two axle solar concentrator followers based on parallel institution, utilizes parallel institution high rigidity, the most negative
Load, the characteristic of compact conformation, it is possible to the effective size reducing follower, improve the rigidity of follower, and ensureing
On the premise of precision, reduce energy expenditure.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of two axle solar concentrator parallel connection followers rotating decoupling, it is characterised in that this mechanism includes that one allocates
Platform, a moving platform installing solar concentrator, and the first side chain and the second side chain；Described fixed platform includes: one
Pedestal, a top have the restriction side chain of Hooke strand a, and two have moving sets or the column of revolute pair or hinge；
Moving platform is connected on fixed platform by limiting side chain, and is connected further with fixed platform by the first side chain and the second side chain,
Form parallel institution；Described moving platform can rotate rotating around the Hooke strand outer ring of a limited on side chain, the rotary shaft of inner ring,
I.e. there are two rotational freedoms, and two rotational motions are decouplings.
Described first side chain includes: the first input component, the first connector, and kinematic pair b, c, d, the first input component one
End is connected with fixed platform by kinematic pair b, and the other end is connected by kinematic pair c and first connector one end, the first connector
The other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is for driving pair.
Described second side chain includes: the second input component, the second connector, and kinematic pair e, f, g, the second input component one
End is connected with fixed platform by kinematic pair e, and the other end is connected by kinematic pair f and second connector one end, the second connector
The other end is connected with moving platform by kinematic pair g, and wherein kinematic pair e is for driving pair.
Described restriction side chain is connected with moving platform by Hooke strand a, and the first side chain and the second side chain are respectively by ball secondary d and ball
Secondary g is connected with moving platform, the inner ring rotary shaft of the Hooke strand a centre of sphere by ball secondary g.
It is secondary that the follower of the present invention neutralizes the driving in the second side chain by described first side chain, drives moving platform around limit respectively
The inside and outside circle rotary shaft of the Hooke strand a on side chain processed rotates, thus adjusts the attitude of moving platform.When the sun on high in
When azel changes, can be by adjusting the attitude of moving platform so that sunray can impinge perpendicularly on all the time
On the minute surface of solar concentrator, thus improve solar energy utilization ratio.
The invention has the beneficial effects as follows:
The present invention follows the tracks of solar azimuth and the function of elevation angle by the realization series connection two-axis tracing mechanism that rotates of two decouplings.
There is mechanism's rigidity simple, high and the feature of low energy consumption, it is possible to realize series connection follower solar angle following function, combine
The characteristic of parallel institution, improves the problem that series connection follower structure is complicated, rigidity is low and energy expenditure is big, it is possible to protecting
In the case of card mechanism performance, reduce follower size, reduce cost, reduce energy expenditure.
Accompanying drawing explanation
Fig. 1 is the structural representation of first embodiment of the invention；
Fig. 2 is the structural representation of the fixed platform in first embodiment of the invention；
Fig. 3 is the structural representation of the first side chain in first embodiment of the invention；
Fig. 4 is structural representation during first embodiment of the invention installation solar concentrator；
Fig. 5 is the structural representation of second embodiment of the invention；
Fig. 6 is the structural representation of the fixed platform in second embodiment of the invention；
Fig. 7 is the structural representation of the first side chain in second embodiment of the invention；
In figure: 11-fixed platform, 12-moving platform, 13-the first side chain, 14-the second side chain, 15-solar concentrator, 111-
Pedestal, 112-limit side chain, 113-the first column, 114-the second column, 131-the first input component, 132-the first connector,
141-the second input component, 142-the second connector, a1-Hooke strand, b1, c1, d1, e1, f1, g1-kinematic pair,
21-fixed platform, 22-moving platform, 23-the first side chain, 24-the second side chain, 25-solar concentrator, 211-pedestal,
212-restriction side chain, 213-hinge, 214-column, 231-the first input component, 232-the first connector, 241-second input
Part, 242-the second connector, a2-Hooke strand, b2, c2, d2, e2, f2, g2-kinematic pair.
Detailed description of the invention
The two axle solar concentrator parallel connection followers rotating decoupling that the present invention proposes combine drawings and Examples specifically
Bright as follows:
A kind of two axle solar concentrator parallel connection followers rotating decoupling that the present invention proposes, it is characterised in that this mechanism
Including a fixed platform, a moving platform installing solar concentrator, and the first side chain and the second side chain；Described allocate
Platform includes: pedestal, one be connected with moving platform, top has the restriction side chain of Hooke strand a, and two have shifting
Move the secondary or column of revolute pair or hinge；Described moving platform is connected to be had on the restriction side chain of Hooke strand a, and by first
Side chain and the second side chain are connected further with fixed platform, form parallel institution；Described moving platform can be rotating around limiting on side chain
The Hooke strand outer ring of a, the rotary shaft of inner ring rotate, i.e. there are two rotational freedoms, and two rotational motions be decoupling
's.
Described first side chain includes: the first input component, the first connector, and kinematic pair b, c, d, the first input component one
End is connected with fixed platform by kinematic pair b, and the other end is connected by kinematic pair c and first connector one end, the first connector
The other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is for driving pair.
Described second side chain includes: the second input component, the second connector, and kinematic pair e, f, g, the second input component one
End is connected with fixed platform by kinematic pair e, and the other end is connected by kinematic pair f and second connector one end, the second connector
The other end is connected with moving platform by kinematic pair g, and wherein kinematic pair e is for driving pair.
Limiting side chain to be connected with moving platform by Hooke strand a, the first side chain and the second side chain are respectively by ball secondary d and ball secondary g
It is connected with moving platform, the inner ring rotary shaft of the Hooke strand a centre of sphere by ball secondary g.Moving platform in this mechanism can be rotating around
Limit the Hooke strand outer ring of a on side chain, the rotary shaft of inner ring rotates, and i.e. has two rotational freedoms, and two rotations
Motion is decoupling.
When real work, by the driving secondary b in described first side chain and the driving secondary e in the second side chain, drive first
Input component and the second input component move on fixed platform column or hinge, by the first connector and the second connector, carry respectively
Dynamic moving platform rotates around the rotary shaft of the inside and outside circle of the Hooke strand a limited on side chain, it is achieved turning of two decouplings of moving platform
Dynamic motion, thus adjust the attitude of moving platform.When the sun on high in azel change time, can by adjust
The attitude of whole moving platform so that sunray can impinge perpendicularly on the minute surface of solar concentrator all the time, thus improve too
Sun can utilization rate.
As shown in Figure 1, 2, this mechanism includes a fixed platform 11 to first embodiment of the present invention structure, can install for one
The moving platform 12 of solar concentrator, and the first side chain 13 and the second side chain 14；The pedestal 111 of described fixed platform 11
For isosceles right triangle, at right-angled apices, there is a restriction side chain 112 with Hooke strand a1, limit side chain 112 1
End is connected on pedestal 111, and the other end is connected on moving platform 12 by Hooke strand a1；Another two at fixed platform 11
Apex has first column 113 and second column 114 with moving sets, the first column 113 and the second column respectively
114 one end are connected on pedestal 111, and the other end is connected with the first side chain 13 and the second side chain 14 respectively by moving sets；
Described moving platform 12 is isosceles right triangle, is connected on above-mentioned restriction side chain 112 at right-angled apices, and can be around limit
The rotary shaft of the inside and outside circle of the Hooke strand a1 on side chain 112 processed rotates, and another two apex passes through kinematic pair d1, motion
Secondary g1 is connected with first side chain the 13, second side chain 14 respectively；First side chain 13 and the second side chain 14 structurally complete phase
With, it is 90 degree of layouts in space.As shown in Figure 1,3, described first side chain 13 includes: the first input component 131, first
Connector 132 and kinematic pair b1, c1, d1, kinematic pair b1 and the first column 113 are passed through in first input component 131 one end
Connecting, kinematic pair b1 is the moving sets driven, and the other end is connected by kinematic pair c1 and first connector 132 one end, fortune
Dynamic secondary c1 is that passive ball is secondary, and first connector 132 other end is connected with moving platform 12 by kinematic pair d1, kinematic pair
D1 is that passive ball is secondary；Described second side chain 14 includes: the second input component 141, the second connector 142 and kinematic pair
E1, f1, g1, second input component 141 one end is connected by kinematic pair e1 and the second column 114, and kinematic pair e1 is for driving
Moving sets, the other end is connected by kinematic pair f1 and second connector 142 one end, and kinematic pair f1 is passive ball pair,
Second connector 142 other end is connected with moving platform 12 by kinematic pair g1, and kinematic pair g1 is that passive ball is secondary.Limit
Side chain 112 is connected with moving platform 12 by Hooke strand a1, and the first side chain 13 and the second side chain 14 are respectively by ball secondary d1
It is connected with moving platform 12 with ball secondary g1, the inner ring rotary shaft of the Hooke strand a1 centre of sphere by ball secondary g1.As shown in Figure 4,
Solar concentrator 15 is directly fixedly mounted on moving platform 12.
As shown in Figure 5,6, this mechanism includes a fixed platform 21 to the second embodiment of the present invention, can install the sun for one
The moving platform 22 of energy condenser, and the first side chain 23 and the second side chain 24.The pedestal 211 of described fixed platform 21 is
Waist right angled triangle, has a restriction side chain 212 with Hooke strand a2 at right-angled apices, limits side chain 212 one end solid
Being connected on pedestal 211, the other end is connected on moving platform 22 by Hooke strand a2；Another two summit at fixed platform 11
Place has a hinge 213 with revolute pair and a column 214 with moving sets respectively, and hinge 213 one end is connected in
On pedestal 211, the other end is connected with the first side chain 23 by revolute pair, and column 214 one end is connected on pedestal 211,
The other end is connected by moving sets and the second side chain 24；Described moving platform 22 and moving platform 12 structure in first embodiment
Identical；First side chain 23 and the second side chain 24 are 90 degree of layouts in space；Such as Fig. 5, shown in 7, described first side chain 23
Including: the first input component 231, the first connector 232 and kinematic pair b2, c2, d2, first input component 231 one end leads to
Crossing kinematic pair b2 to be connected with hinge 213, kinematic pair b2 is the revolute pair driven, and the other end passes through kinematic pair c2 and first
Connector 232 one end connects, and kinematic pair c2 is that passive ball is secondary, first connector 232 other end by kinematic pair d2 with
Moving platform 22 connects, and kinematic pair d2 is that passive ball is secondary；Described second side chain 24 and the second side chain in first embodiment
14 structures are identical.Limit side chain 212 to be connected with moving platform 22 by Hooke strand a2, the first side chain 23 and the second side chain 24
It is connected with moving platform 22 with ball secondary g2 by ball secondary d2 respectively, the inner ring rotary shaft of the Hooke strand a2 ball by ball secondary g2
The heart.
Claims (2)
1. the two axle solar concentrator parallel connection followers rotating decoupling, it is characterised in that this mechanism includes
Fixed platform, a moving platform installing solar concentrator, and the first side chain and the second side chain；Described fixed platform includes:
One pedestal, a top have the restriction side chain of Hooke strand a, and two have moving sets or the column of revolute pair or hinge
Chain；Moving platform is connected on fixed platform by limiting side chain, and by the first side chain and the second side chain phase further with fixed platform
Even, parallel institution is formed；Described moving platform can be rotating around Hooke the strand outer ring of a, the rotary shaft of inner ring limited on side chain
Rotate, i.e. there are two rotational freedoms, and two rotational motions are decouplings；
Described first side chain includes: the first input component, the first connector, and kinematic pair b, c, d, the first input component one
End is connected with fixed platform by kinematic pair b, and the other end is connected by kinematic pair c and first connector one end, the first connector
The other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is for driving pair, and described kinematic pair b is moving sets or turns
Dynamic pair, kinematic pair d is that ball is secondary, and kinematic pair c is that ball is secondary；
Described restriction side chain is connected with moving platform by Hooke strand a, and the first side chain and the second side chain are respectively by ball secondary d and ball
Secondary g is connected with moving platform, the inner ring rotary shaft of the Hooke strand a centre of sphere by ball secondary g.
2. mechanism as claimed in claim 1, it is characterised in that described second side chain includes: the second input component, second
Connector, and kinematic pair e, f, g, the second input component one end is connected with fixed platform by kinematic pair e, the other end passes through
Kinematic pair f and second connector one end connect, and the second connector other end is connected with moving platform by kinematic pair g, Qi Zhongyun
Dynamic secondary e is for driving pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410317715.XA CN104124914B (en) | 2014-07-04 | 2014-07-04 | A kind of two axle solar concentrator parallel connection followers rotating decoupling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410317715.XA CN104124914B (en) | 2014-07-04 | 2014-07-04 | A kind of two axle solar concentrator parallel connection followers rotating decoupling |
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| CN104124914A CN104124914A (en) | 2014-10-29 |
| CN104124914B true CN104124914B (en) | 2016-08-17 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104135223B (en) * | 2014-07-17 | 2016-07-06 | 清华大学 | A kind of also di-axle solar concentrator follower |
| CN104317309A (en) * | 2014-10-23 | 2015-01-28 | 清华大学 | Two-degree-of-freedom solar condenser parallel connection tracking mechanism |
| CN106026879B (en) * | 2016-07-14 | 2018-12-11 | 清华大学 | Two axis solar concentrator followers and the device of solar generating with it |
| CN106301176A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of big angle rotary condenser support frame mechanism |
| CN106301177A (en) * | 2016-08-26 | 2017-01-04 | 清华大学 | A kind of two-freedom rotates hard and soft series-parallel connection condenser support frame mechanism |
| CN108988774A (en) * | 2018-08-28 | 2018-12-11 | 清华大学 | A kind of laborsaving high rotation angle degree parallel connection solar concentrator follower |
| CN110116398A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of two rotary freedom parallel robots |
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| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
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| CN103286778A (en) * | 2013-05-24 | 2013-09-11 | 燕山大学 | Two-DOF (two degrees of freedom) rotation decoupling parallel mechanism |
| CN103663330A (en) * | 2012-09-26 | 2014-03-26 | 佳木斯大学 | Parallel-type offshore refueling docking mechanism |
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2014
- 2014-07-04 CN CN201410317715.XA patent/CN104124914B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101058186A (en) * | 2007-05-18 | 2007-10-24 | 燕山大学 | Two rotation decoupling parallel robot mechanism |
| CN101249651A (en) * | 2008-04-09 | 2008-08-27 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| CN103663330A (en) * | 2012-09-26 | 2014-03-26 | 佳木斯大学 | Parallel-type offshore refueling docking mechanism |
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