CN104124914B - A kind of two axle solar concentrator parallel connection followers rotating decoupling - Google Patents

Abstract

The invention relates to a rotation decoupling two-axis solar concentrator parallel tracking mechanism, which belongs to the field of mechanical manufacturing. chain; the fixed platform includes: a base, a limit branch chain with a Hooke twist a at the top, and two columns or hinges with a moving pair or a rotating pair; the moving platform is connected to the fixed platform by limiting the branch chain, And further connected with the fixed platform through the first branch chain and the second branch chain to form a parallel mechanism; the moving platform can respectively rotate around the rotation axis of the outer ring and the inner ring of the Hooke twist a on the limiting branch chain, that is, it has Two rotational degrees of freedom, and the two rotational motions are decoupled. The mechanism has the characteristics of high stiffness, high dynamic performance, low energy consumption and so on.

Description

A Parallel Tracking Mechanism for Two-Axis Solar Concentrators with Rotational Decoupling

technical field

The invention belongs to the field of mechanical manufacturing, and in particular relates to a parallel tracking mechanism for a rotationally decoupled two-axis solar concentrator.

Background technique

Energy is the material basis for the survival and development of human beings. The rapid development of human society is accompanied by a large amount of energy consumption, leading to the gradual depletion of traditional energy sources such as oil and coal. Using solar power to generate electricity is an effective way to solve energy problems. In order to use solar energy for photothermal power generation, it is necessary to gather sunlight to obtain high-density light energy. Solar concentrators are usually used to track the movement of the sun in real time and gather sunlight. The solar tracking of the concentrator is realized by a tracking mechanism, which is usually an automatic manipulator, and its tracking precision of the sun is an important factor affecting the concentrating efficiency of the concentrator. Based on the mechanical characteristics of the tracking mechanism, the tracking mechanism can be divided into a single-axis tracking mechanism and a two-axis tracking mechanism. Since the single-axis tracking mechanism generally can only realize the sun tracking in one direction, but cannot automatically track the angle changes of the east-west and north-south directions of the sun at the same time, the concentrator mirror has a low efficiency of absorbing sunlight. The two-axis tracking mechanism can ensure that the concentrator mirror tracks the movement of sunlight with high precision throughout the year, and obtains high concentrating efficiency.

The two-axis tracking mechanism usually drives a cylindrical vertical rod to rotate by an excitation installed underground to realize solar azimuth tracking; the other rotating shaft is installed on the top of the vertical rod, and the back of the concentrator is fixed on the rotating shaft to realize solar azimuth tracking. Altitude tracking. This tracking mechanism is simple in principle, but has defects such as low rigidity. Therefore, some scholars have proposed local improvement measures, such as directly using a rotary table instead of a vertical rod structure, and using hydraulic drive instead of a motor and gear system. However, these two-axis tracking mechanisms are still developed based on series mechanisms. Due to the large structural size and weight of large solar concentrators, coupled with the impact of external loads such as wind and sand, it is often necessary to design a heavy-duty tracking mechanism to obtain higher rigidity. Support the concentrator. Therefore, it is necessary to install a high-power excitation to drive the tracking mechanism, resulting in the system not being able to operate with optimal power and huge energy consumption. In addition, due to the large load and moment, the drive unit including multiple sets of gear transmission mechanism itself is also a heavy unit, and it is often necessary to install a heavy counterweight on the top of the vertical rod rotation shaft to balance the weight of the concentrator, all of which lead to energy consumption of the system Big and expensive.

Contents of the invention

The purpose of the present invention is to improve the complex structure, low rigidity and large energy consumption of the traditional series tracking mechanism. The compact structure can effectively reduce the size of the tracking mechanism, increase the stiffness of the tracking mechanism, and reduce energy consumption under the premise of ensuring accuracy.

The technical solution adopted by the present invention to solve its technical problems is:

A rotating decoupled two-axis solar concentrator parallel tracking mechanism is characterized in that the mechanism includes a fixed platform, a moving platform on which the solar concentrator is installed, and a first branch chain and a second branch chain; The fixed platform includes: a base, a limiting branch chain with a Hooke twist a at the top, and two columns or hinges with a moving pair or a rotating pair; the moving platform is connected to the fixed platform through the limiting branch chain, and through the The branch chain and the second branch chain are further connected with the fixed platform to form a parallel mechanism; the moving platform can respectively rotate around the rotation axis of the outer ring and the inner ring that limit the Hooke twist a on the branch chain, that is, it has two rotation freedoms. degrees, and the two rotational motions are decoupled.

The first branch chain includes: a first input piece, a first connecting piece, and kinematic pairs b, c, d. One end of the first input piece is connected to the fixed platform through the kinematic pair b, and the other end is connected to the first kinematic pair c. One end of the connecting piece is connected, and the other end of the first connecting piece is connected with the moving platform through a kinematic pair d, wherein the kinematic pair b is a driving pair.

The second branch chain includes: a second input piece, a second connecting piece, and kinematic pairs e, f, g. One end of the second input piece is connected to the fixed platform through the kinematic pair e, and the other end is connected to the second kinematic pair through the kinematic pair f. One end of the connecting piece is connected, and the other end of the second connecting piece is connected with the moving platform through a kinematic pair g, wherein the kinematic pair e is a driving pair.

The limiting branch chain is connected to the moving platform through the Hooke twist a, the first branch chain and the second branch chain are respectively connected to the moving platform through the ball pair d and the ball pair g, and the inner ring rotation axis of the Hooke twist a passes through the ball pair g's center of the sphere.

The tracking mechanism of the present invention respectively drives the moving platform to rotate around the inner and outer rotation axes of Hooke twist a on the limiting branch chain through the drive pairs in the first branch chain and the second branch chain, thereby adjusting the moving platform attitude. When the azimuth and height of the sun in the sky change, the attitude of the moving platform can be adjusted so that the sun's rays can always be vertically incident on the mirror surface of the solar concentrator, thereby improving the utilization rate of solar energy.

The beneficial effects of the present invention are:

The invention realizes the function of the serial two-axis tracking mechanism to track the azimuth and altitude of the sun through two decoupled rotations. It has the characteristics of simple mechanism, high rigidity and low energy consumption, and can realize the sun angle tracking function of the serial tracking mechanism. Combining the characteristics of the parallel mechanism, it improves the complex structure, low stiffness and high energy consumption of the serial tracking mechanism. In the case of poor performance, the size of the tracking mechanism is reduced, the cost is reduced, and the energy consumption is reduced.

Description of drawings

Fig. 1 is the structural representation of the first embodiment of the present invention;

Fig. 2 is a schematic structural view of a fixed platform in the first embodiment of the present invention;

Fig. 3 is a schematic structural diagram of the first branch chain in the first embodiment of the present invention;

Fig. 4 is a structural schematic view when a solar concentrator is installed in the first embodiment of the present invention;

Fig. 5 is the structural representation of the second embodiment of the present invention;

Fig. 6 is a schematic structural view of a fixed platform in a second embodiment of the present invention;

Fig. 7 is a schematic structural diagram of the first branch chain in the second embodiment of the present invention;

In the figure: 11-fixed platform, 12-moving platform, 13-first branch chain, 14-second branch chain, 15-solar concentrator, 111-base, 112-restricted branch chain, 113-first column , 114-the second column, 131-the first input piece, 132-the first connection piece, 141-the second input piece, 142-the second connection piece, a1-Hooke strand, b1, c1, d1, e1, f1 , g1-motion pair,

21-fixed platform, 22-moving platform, 23-first branch chain, 24-second branch chain, 25-solar concentrator, 211-base, 212-restricted branch chain, 213-hinge, 214-column, 231-first input part, 232-first connecting part, 241-second input part, 242-second connecting part, a2-Hooke twist, b2, c2, d2, e2, f2, g2-kinematic pair.

detailed description

The rotation decoupling two-axis solar concentrator parallel tracking mechanism proposed by the present invention is described in detail as follows in conjunction with the accompanying drawings and embodiments:

The present invention proposes a rotationally decoupled two-axis solar concentrator parallel tracking mechanism, which is characterized in that the mechanism includes a fixed platform, a moving platform on which the solar concentrator is installed, and a first branch chain and a second branch chain. chain; the fixed platform includes: a base, a limit branch chain connected with the moving platform, with a Hooke twist a at the top, and two columns or hinges with moving pairs or rotating pairs; the moving platform is connected with Hooke's twist a limit branch chain, and further connected with the fixed platform through the first branch chain and the second branch chain to form a parallel mechanism; the moving platform can be respectively around the outer circle of the Hooke twist a on the limit branch chain 1. The rotating shaft of the inner ring rotates, that is, it has two rotational degrees of freedom, and the two rotational movements are decoupled.

The first branch chain includes: a first input piece, a first connecting piece, and kinematic pairs b, c, d. One end of the first input piece is connected to the fixed platform through the kinematic pair b, and the other end is connected to the first kinematic pair c. One end of the connecting piece is connected, and the other end of the first connecting piece is connected with the moving platform through a kinematic pair d, wherein the kinematic pair b is a driving pair.

The second branch chain includes: a second input piece, a second connecting piece, and kinematic pairs e, f, g. One end of the second input piece is connected to the fixed platform through the kinematic pair e, and the other end is connected to the second kinematic pair through the kinematic pair f. One end of the connecting piece is connected, and the other end of the second connecting piece is connected with the moving platform through a kinematic pair g, wherein the kinematic pair e is a driving pair.

The limiting branch chain is connected to the moving platform through the Hooke twist a, the first branch chain and the second branch chain are respectively connected to the moving platform through the ball pair d and the ball pair g, and the inner ring rotation axis of the Hooke twist a passes through the ball pair g center of the ball. The moving platform in the mechanism can rotate around the rotation axes of the outer ring and the inner ring that limit the Hooke's twist a on the branch chain respectively, that is, it has two rotational degrees of freedom, and the two rotational movements are decoupled.

In actual work, through the driving pair b in the first branch chain and the driving pair e in the second branch chain, the first input part and the second input part are driven to move on the fixed platform column or hinge, and the first input part and the second input part are driven to move on the fixed platform column or hinge. The connecting piece and the second connecting piece respectively drive the moving platform to rotate around the rotation axis of the inner and outer circles of the Hooke twist a on the branch chain, so as to realize two decoupled rotational movements of the moving platform, thereby adjusting the attitude of the moving platform . When the azimuth and height of the sun in the sky change, the attitude of the moving platform can be adjusted so that the sun's rays can always be vertically incident on the mirror surface of the solar concentrator, thereby improving the utilization rate of solar energy.

First embodiment structure of the present invention as shown in Figure 1, 2, this mechanism comprises a fixed platform 11, a movable platform 12 that can install solar concentrator, and the first branch chain 13 and the second branch chain 14; The base 111 of the predetermined platform 11 is an isosceles right triangle, and there is a limiting branch chain 112 with a Hooke twist a1 at the apex of the right angle. One end of the limiting branch chain 112 is fixedly connected to the base 111, and the other end passes through Hooke. The strand a1 is connected on the moving platform 12; at the other two vertices of the fixed platform 11, there are respectively a first column 113 and a second column 114 with a moving pair, and one end of the first column 113 and the second column 114 is fixedly connected to the On the base 111, the other end is respectively connected with the first branch chain 13 and the second branch chain 14 through a moving pair; the moving platform 12 is an isosceles right triangle, and the apex of the right angle is connected to the above-mentioned limiting branch chain 112, and can Rotate around the rotation axis of the inner and outer rings of the Hooke twist a1 on the limit branch chain 112, and the other two vertices are respectively connected with the first branch chain 13 and the second branch chain 14 through the kinematic pair d1 and the kinematic pair g1; The branch chain 13 and the second branch chain 14 are identical in structure, and are arranged at 90 degrees in space. As shown in Figures 1 and 3, the first branch chain 13 includes: a first input piece 131, a first connecting piece 132, and kinematic pairs b1, c1, d1, and one end of the first input piece 131 connects with the first kinematic pair b1 The column 113 is connected, and the kinematic pair b1 is the driving moving pair, and the other end is connected to one end of the first connecting piece 132 through the kinematic pair c1, the kinematic pair c1 is a passive ball pair, and the other end of the first connecting piece 132 is connected to the moving piece through the kinematic pair d1. The platform 12 is connected, and the kinematic pair d1 is a passive ball pair; the second branch chain 14 includes: a second input piece 141, a second connecting piece 142 and a kinematic pair e1, f1, g1, and one end of the second input piece 141 passes through The pair e1 is connected to the second column 114, the motion pair e1 is a driven moving pair, and the other end is connected to one end of the second connecting piece 142 through the moving pair f1, the moving pair f1 is a passive ball pair, and the other end of the second connecting piece 142 passes through The motion pair g1 is connected with the moving platform 12, and the motion pair g1 is a passive ball pair. The limiting branch chain 112 is connected to the moving platform 12 through the Hooke twist a1, the first branch chain 13 and the second branch chain 14 are respectively connected to the moving platform 12 through the ball pair d1 and the ball pair g1, and the inner ring rotation axis of the Hooke twist a1 Pass through the center of the sphere pair g1. As shown in FIG. 4 , a solar concentrator 15 is fixedly installed directly on the moving platform 12 .

The second embodiment of the present invention is shown in FIGS. 5 and 6 . The mechanism includes a fixed platform 21 , a movable platform 22 on which a solar concentrator can be installed, and a first branch chain 23 and a second branch chain 24 . The base 211 of the fixed platform 21 is an isosceles right-angled triangle, and there is a limiting branch chain 212 with a Hooke twist a2 at the apex of the right angle. One end of the limiting branch chain 212 is fixedly connected to the base 211, and the other end passes through the The gamma a2 is connected on the moving platform 22; at the other two vertices of the fixed platform 11 there are respectively a hinge 213 with a rotating pair and a column 214 with a moving pair, and one end of the hinge 213 is fixedly connected to the base 211 , the other end is connected to the first branch chain 23 through a rotating pair, one end of the column 214 is fixedly connected to the base 211, and the other end is connected to the second branch chain 24 through a moving pair; the moving platform 22 is the same as that of the first embodiment The moving platform 12 has the same structure; the first branch chain 23 and the second branch chain 24 are arranged at 90 degrees in space; Part 232 and kinematic pair b2, c2, d2, one end of the first input member 231 is connected to the hinge 213 through the kinematic pair b2, the kinematic pair b2 is a driven revolving pair, and the other end is connected to one end of the first connecting piece 232 through the kinematic pair c2, The kinematic pair c2 is a passive ball pair, the other end of the first connector 232 is connected to the moving platform 22 through the kinematic pair d2, and the kinematic pair d2 is a passive ball pair; the second branch chain 24 is the same as the first embodiment in the first embodiment. The two branches 14 have the same structure. The limiting branch chain 212 is connected to the moving platform 22 through the Hooke twist a2, the first branch chain 23 and the second branch chain 24 are respectively connected to the moving platform 22 through the ball pair d2 and the ball pair g2, and the inner ring rotation axis of the Hooke twist a2 Pass through the center of the sphere pair g2.

Claims (2)

1. A rotating and decoupled two-axis solar concentrator parallel tracking mechanism is characterized in that the mechanism includes a fixed platform, a moving platform for installing the solar concentrator, and the first branch chain and the second branch chain; The fixed platform includes: a base, a limiting branch chain with a Hooke twist a at the top, and two columns or hinges with a moving pair or a rotating pair; the moving platform is connected to the fixed platform through the limiting branch chain, and through The first branch chain and the second branch chain are further connected with the fixed platform to form a parallel mechanism; the moving platform can respectively rotate around the rotation axis of the outer ring and the inner ring that limit the Hooke twist a on the branch chain, that is, there are two rotational degrees of freedom, and the two rotational motions are decoupled; The first branch chain includes: a first input piece, a first connecting piece, and kinematic pairs b, c, d. One end of the first input piece is connected to the fixed platform through the kinematic pair b, and the other end is connected to the first kinematic pair c. One end of the connecting piece is connected, and the other end of the first connecting piece is connected with the moving platform through the kinematic pair d, wherein the kinematic pair b is a driving pair, the kinematic pair b is a moving pair or a rotating pair, the kinematic pair d is a ball pair, and the kinematic pair c for the ball pair; The limiting branch chain is connected to the moving platform through the Hooke twist a, the first branch chain and the second branch chain are respectively connected to the moving platform through the ball pair d and the ball pair g, and the inner ring rotation axis of the Hooke twist a passes through the ball pair g's center of the sphere. 2. The mechanism according to claim 1, wherein the second branch chain comprises: a second input piece, a second connecting piece, and a kinematic pair e, f, g, and one end of the second input piece passes through the kinematic pair e is connected to the fixed platform, the other end is connected to one end of the second connecting piece through the kinematic pair f, and the other end of the second connecting piece is connected to the moving platform through the kinematic pair g, wherein the kinematic pair e is the driving pair.