CN205950748U - Interconnected triaxial robot is trailed to solar energy - Google Patents

Abstract

The utility model discloses an interconnected triaxial robot is trailed to solar energy, it includes actuating mechanism, principal post, subassembly, support, azimuth guiding mechanism, elevating angle guiding mechanism, vertical lift mechanism, the principal post is single principal post (9), vertical lift mechanism includes electromotive drive device (25), main wire rope (20), lift wire rope (22), standing block (21), running block, sliding sleeve, wire rope adjusting device, cable head, and single principal post is fixed and can be slided from top to bottom in the sliding sleeve, is provided with the recess that supplies lift wire rope to pass through on the sliding sleeve, electric transmission mechanism pulls main wire rope and carries out reciprocating motion, is provided with the cable head on the main wire rope, and lift wire rope's one end fastening is in the cable head, and the other end is fixed in wire rope adjusting device, and its electricity generation high quality, generated power and generated energy characteristic curve are mild, and the slewing rate is little, the generating efficiency is high, and solar energy penetrates (perpendicularly) directly on photovoltaic light and heat subassembly panel in the optimal time section all the time.

Description

Solar energy tracking interconnects three-axis robot

Technical field

The utility model is related to photovoltaic and photothermal solar equipment tracking technique field, especially relates to solar energy tracking interconnection Three-axis robot.

Background technology

Due to the rotation of the earth, with respect to the solar photovoltaic generation system of some fixed location, 1 year spring, summer, autumn and winter The four seasons, every light rise sunset, and how the lighting angle of the sun, at every moment all in change, effectively ensures solar panel energy Enough moment, it was faced by the long-term needs of present solar photovoltaic technology field that generating efficiency reaches optimum state just to the sun , solar tracking system is the key that photovoltaic and photothermal solar maximally utilizes, be improve photoelectric transformation efficiency machinery and ECU system, keeps solar panel at any time just to the sun, makes the light vertical irradiation solar energy at any time of sunshine The mechanized equipment of volt photo-thermal assembly, can improve the photovoltaic/thermal efficiency of photovoltaic and photothermal solar assembly, but in the market too Sun can still suffer from problems with by tracker：1st, double-shaft solar tracing machine is that two axles separately drive too much, the big high cost of power consumption, The transmission devices such as motor and various sensor and the consumption such as automatically controlled are big and can not mutually link；2nd, because whole transmission system loads Larger so that each several part weight of integrated steel-structure and transmission machinery is big, quantity is many；3rd, single-axis solar tracing machine is no high Degree angle tracking transmission device or Bearings tracking transmission device, its tracking error is big, tracking accuracy is not high, generating efficiency（Or light Volt photo-thermal overall efficiency）Low, in addition, also more important point, current solar electrical energy generation base is substantially and adopts array Formula is arranged, and all of photovoltaic and photothermal solar equipment is all setting height(from bottom) identical, and daily morning, noon, evening are too Positive irradiating angle changes at any time, will exist when between the photovoltaic and photothermal solar equipment in array, spacing is little, density is big Photovoltaic and photothermal " blind area ", blind area makes that cell panel light-receiving area is unbalanced to be also easy to produce cell panel solar flare phenomenon, not only results in light Volt photo-thermal power generation efficiency reduces, and long blind area can lead to cell panel service life reduction even to be damaged.

Utility model content

The purpose of this utility model is to overcome photovoltaic and photothermal solar device tracking system in above-mentioned prior art to exist Deficiency, provide a kind of improve solar energy utilization ratio, tracking accuracy is high, follow the tracks of plant equipment lightweight, three axle synchronous interactions, no Blind area, array place utilization of area rate high solar energy tracking interconnection three-axis robot occurs.

The technical problems to be solved in the utility model is adopted the technical scheme that：Solar energy tracking interconnects three axle machines People, including drive mechanism, principal post, assembly, support, orientation angle adjusting mechanism, height angle adjusting mechanism, vertical lifting mechanism, institute Stating principal post is single principal post, described vertical lifting mechanism include electric transmission machanism, main rope, lifting wire rope, fixed pulley group, Running block, sliding sleeve, wire rope adjustor, rope card, described single principal post is fixed in sliding sleeve and can oscilaltion slide, on sliding sleeve It is provided with the groove passing through for lifting wire rope, described electric transmissio mechanism traction main rope moves back and forth, king wire Rope card is provided with rope, one end of described lifting wire rope is fastened in rope card, and the other end bypasses fixed pulley group, sliding sleeve and list It is fixed on after the running block of principal post bottom in wire rope adjustor, described wire rope adjustor includes adjusting seat, adjustment Screw rod, one end of described adjustment screw rod is fixed on adjustment seat by adjusting nut, and the other end passes through to come directly towards the fixing lifting of screw Steel wire rope.

Further, it is additionally provided with counterweight balancing mechanism, including counter weight, counterweight column tube, post top sheave, counterweight steel wire Rope, described counter weight is arranged in counterweight column tube, and post top sheave is arranged on the top of counterweight column tube, counterweight armored rope one end It is fixed on the counter weight upper end in counterweight column tube, the other end bypasses post top sheave and is fixed on single principal post.

Further, described assembly and support include photovoltaic and photothermal assembly, photo-thermal light reflection subassembly, photovoltaic module, main Frame, photo-thermal light reflection support, assistant support.

The beneficial effects of the utility model：Compared with prior art, 1. solar energy resources utilization rate is high, solar electrical energy generation base Ground (factory, field) land utilization ratio is high, and solar photovoltaic assembly arranges（Array）Density is big, is not in blind area；2. solar energy Volt, photo-thermal power generation quality are high, its generated output and generating rating curve are gentle, and rate of change is little；3. photovoltaic, photo-thermal are sent out Electrical efficiency is high, and solar energy is in best time direct projection all the time（Vertically）In photovoltaic and photothermal element panels.

Brief description

Fig. 1 is main structure diagram of the present utility model,

Fig. 2 is the structure enlarged diagram of the elevation angle tracking drive mechanism of Fig. 1,

Fig. 3 is that the right side of Fig. 1 regards structure enlarged diagram,

Fig. 4 is the X-X partial enlargement structural representation of Fig. 1,.

In in figure, 1, motor 2, reductor 3, worm type of reduction gearing 4, shaft coupling 5, bearing block 6, mutual shaft coupling 7, Elevation angle tracking drive mechanism 700, slide block 701, slippery fellow 702, elbow guide rail 703, top bolt 704, pawl bar 705th, ratchet 706, main fulcrum bearing 707, upper pin 708, bearing bracket stand 709, walk wheel 710, pole socket 711, tooth bar push rod 712, Sector gear 713, guide rail screw mandrel 8, spring equalizing device 9, single principal post 10, balance rope sheave 11, support main shaft 12, photo-thermal Light reflection support 13, photo-thermal light reflection subassembly 14, steel wire rope 15, photovoltaic and photothermal assembly 16, main support 17, assistant support 18th, photovoltaic module 19, single principal post base 20, main rope 21, fixed pulley group 22, lifting wire rope 23, running block 24th, rope card 25, electric transmission machanism 26, sliding sleeve 27, wire rope adjustor 28, counter weight 29, counterweight column tube 30, Hook plate 31, post top sheave group 32, counterweight armored rope 33, adjustment nut 34, adjustment screw rod 35, adjustment seat 36, top spiral shell Silk 37, bolt.

Specific embodiment

In order that those skilled in the art more fully understand the technical solution of the utility model, combine tool below according to accompanying drawing Body embodiment is describing in further detail the present invention.

As shown in Figure 1,2,3, 4, described solar energy tracking interconnects robot, including drive mechanism, principal post, Bearings tracking Transmission mechanism, elevation angle tracking drive mechanism 7, vertical lifting mechanism, described principal post is single principal post 9, described vertical lifting mechanism, It includes electric transmission machanism 25, main rope 20, lifting wire rope 22, fixed pulley group 21, running block 23 sliding sleeve 26, steel wire Rope adjusting apparatus 27, rope card 24, described single principal post is fixed in sliding sleeve and can oscilaltion slide（Sliding sleeve is fixed on concrete foundation In）, sliding sleeve is provided with the groove passing through for lifting wire rope（In figure does not mark）, described electric transmissio mechanism traction king wire Rope moves back and forth, and main rope being provided with rope card, and one end of described lifting wire rope is fastened in rope card, the other end around It is fixed in wire rope adjustor after the running block crossing fixed pulley group, sliding sleeve and single principal post bottom, described steel wire rope is adjusted Engagement positions include adjusting seat 35（It is fixing that adjustment seat passes through bolt 37）, adjustment screw rod 34, described adjustment screw rod one end pass through adjust Whole nut 33 is fixed on adjustment seat, and the other end passes through to come directly towards screw 36 fixation lifting wire rope 22.Drive mechanism passes through shaft coupling Device 4（On the worm screw of worm type of reduction gearing 3）, mutual shaft coupling 6, bearing block 5 be connected with some Bearings tracking transmission mechanisms, Described drive mechanism includes motor 1（Preferably variable-frequency motor）, reductor 2（Preferably multiple-stage harmonic motor）；Described Bearings tracking Transmission mechanism includes turbine worm type of reduction gearing 3, single principal post base 19, single principal post 9 and be arranged on the support on single principal post Main shaft 11 and main support 16（It is provided with photovoltaic and photothermal assembly 15）；Described elevation angle drive mechanism includes slide block 700, slippery fellow 701st, elbow guide rail 702, top bolt 703, ratchet bar 704, ratchet 705, main fulcrum bearing 706, tooth bar push rod 711, sector Wheel 712, guide rail screw mandrel 713, ratchet is arranged in main fulcrum bearing and connects ratchet bar, and described top bolt is arranged on single principal post Height and position corresponding with ratchet bar, slide block is movably arranged on slippery fellow（I.e. slide block can move freely on slippery fellow）, slide block is even Connect one end of elbow guide rail, the other end of elbow guide rail is hinged on the corresponding position in lower end of tooth bar push rod with the upper end of guide rail screw mandrel Put, guide rail screw mandrel is engaged with the nut in ratchet, the upper end tooth bar of tooth bar push rod is engaged with the sector gear on support main shaft.

In order to balance the change of the main support power brought and moment when following the tracks of the sun, reduce power of motor so that entirety Steel construction and equipment lightweight, present invention additionally comprises spring equalizing device 8（In figure is to be symmetrical arranged）, described spring equalizing device One end is fixed on single principal post, and the other end is fixed on balance rope sheave 10 by balance rope.

Preferably, described main support two ends are also symmetrically arranged with assistant support 17（It is provided with photovoltaic module 18）, secondary Photo-thermal light reflection support 12 is symmetrically tiltedly installed with support（It is provided with photo-thermal light reflection subassembly 13）, consisting of V-arrangement Face solar concentrator, is connected by steel wire rope 14 between photo-thermal light reflection support, steel wire rope is in photovoltaic（Photo-thermal）Inter-module is taken The top of seam, the effect of steel wire rope is to ensure that precision and the Salar light-gathering lightweight structure of Salar light-gathering.

In addition, described tooth bar push rod is also associated with bearing bracket stand 708, in bearing bracket stand, wheel 709 is connected with away by upper pin 707, And tooth bar push rod is then cased with pole socket 710, pole socket is bolted on single principal post, and its effect is while following the tracks of azimuth Tooth bar push rod 711 upper end tooth bar promotes sector gear 712, support main shaft 11 and main support etc. to follow the tracks of solar energy elevation angle, walks wheel It is pressed in and walk about up and down with the rotation of single principal post on elbow guide rail（There is support roller lower section）.

In addition, in order that the utility model each several part lightweight, mitigating electric transmission machanism load, vertical lift when Wait ensure stabilization of equipment performance, be additionally provided with counterweight balancing mechanism, including counter weight 28, counterweight column tube 29, post top sheave group 31, Counterweight armored rope 32, decelerator rope card（In figure is not drawn into）, described counter weight is arranged in counterweight column tube, and post top sheave is arranged On the top of counterweight column tube, counterweight armored rope one end is fixed on the upper end of the counter weight in counterweight column tube, and the other end bypasses Post top sheave is fixed on the hook plate 30 on single principal post.

Certainly, the utility model also includes electric controller, sensor（Conventional sensor have photocell, photo resistance, Photoelectric tube and bimetal strip etc.), described controller includes the control parts such as PLC, and its effect is longitude and latitude according to nest point etc. Information calculate 1 year in every day not in the same time the sun be located elevation angle and azimuth, by each moment in 1 year too Positive position stores to be carried out precise control drive mechanism and carries out Bearings tracking, elevation angle tracking adjustment in PLC etc., additionally include The LOAD FOR such as wind load, moment of friction, angular acceleration, wherein said Bearings tracking adjusting range is 0-180 °, described height Degree angle tracking adjusting range is 0-90 °.

Operation principle：Worm type of reduction gearing is driven by the controlled motors such as PLC frequency converter, reductor etc., worm and gear subtracts Shaft coupling on the worm screw of fast device and the connection of mutual shaft coupling, provide power for next solar energy interconnection robot, and are fixed on snail Single principal post on the turbine of worm and gear decelerator is horizontally rotated towards East and West direction together with the bolt of top and follows the tracks of azimuth, comes directly towards bolt When rotating to pawl seat position, promote pawl seat, ratchet etc. to drive the ratchet rotation in main fulcrum bearing simultaneously, and the spiral shell in the middle of ratchet Mother pulls guide rail screw mandrel and two hinged elbow guide rails（For ensureing two elbow guide rail synchronous workings, its other end is each A slide block is had to move horizontally in foxy seat）, two elbow guide rails up arch, and make bearing bracket stand and walk wheel, upper pin and tooth bar and push away Bar up moves thus rotating sector gear, sector gear swinging mounting main shaft, main support, assistant support, photo-thermal light reflection support Follow the tracks of sun altitude Deng together, make sunlight vertical irradiation on photovoltaic, the panel of photo-thermal assembly, thus improving solar energy conversion Photoelectricity, the efficiency of photo-thermal, and the operation principle of vertical lifting mechanism is just as row seat each before and after lecture theater successively height etc. Difference is it is ensured that the student respectively arranging on seat will see blackboard and teacher（Teach）.This difference, is at any time, dynamically 's.The upper period of the day from 11 a.m. to 1 p.m, in the east, the front-seat robot that follows the tracks of reduces height to the sun as far as possible, and heel row is followed the tracks of robot and raised successively, respectively commits suicide Amount experiences the energy of the sun.The lower period of the day from 11 a.m. to 1 p.m, the sun has moved towards west, and front-seat tracking robot rises in good time, and heel row follows the tracks of machine People reduces height successively in good time, respectively（Row）From the energy enjoying the sun to the full.Noon, each row follows the tracks of robot approximate Cause.Operation principle under the manipulation of the electric-control systems such as PLC：Electric transmission machanism traction main rope and lifting wire rope are made back and forth Elevating movement, lifting wire rope bypasses the running block under fixed pulley group and single principal post, and its other end is stuck in steel wire rope adjustment dress In the adjustment screw rod put, electric transmission machanism follow procedure works, then the oscilaltion such as single principal post is followed the tracks of and run, steel wire rope adjustment dress That puts mainly adjusts each synchronism following the tracks of interconnection robot and harmony, counterweight column tube, counter weight, counterweight armored rope etc. Predominantly balance variable-frequency motor, the weight such as harmonic speed reducer, reduce power and weight of electric transmission machanism etc..

Claims (3)

1. solar energy tracking interconnection three-axis robot it is characterised in that：Including drive mechanism, principal post, assembly, support, azimuth Guiding mechanism, height angle adjusting mechanism, vertical lifting mechanism, described principal post is single principal post（9）, described vertical lifting mechanism includes Electric transmission machanism（25）, main rope（20）, lifting wire rope（22）, fixed pulley group（21）, running block（23）, sliding sleeve （26）, wire rope adjustor（27）, rope card（24）, described single principal post is fixed in sliding sleeve and can slide up and down, and sliding sleeve is arranged There is the groove passing through for lifting wire rope, described electric transmissio mechanism traction main rope moves back and forth, on main rope It is provided with rope card, one end of described lifting wire rope is fastened in rope card, and the other end bypasses fixed pulley group, sliding sleeve and single principal post It is fixed on after the running block of bottom in wire rope adjustor, described wire rope adjustor includes adjusting seat (35), adjustment Screw rod（34）, one end of described adjustment screw rod is passed through to adjust nut（33）It is fixed on adjustment seat, the other end passes through to come directly towards screw Fixing lifting wire rope.

2. solar energy tracking according to claim 1 interconnection three-axis robot it is characterised in that：It is additionally provided with counterweight balance Mechanism, including counter weight（28）, counterweight column tube（29）, post top sheave（31）, counterweight armored rope（32）, described counter weight setting In counterweight column tube, post top sheave is arranged on the top of counterweight column tube, and counterweight armored rope one end is fixed on counterweight column tube In counter weight upper end, the other end bypasses post top sheave and is fixed on single principal post.

3. solar energy tracking according to claim 1 interconnection three-axis robot it is characterised in that：Described assembly and support bag Include photovoltaic and photothermal assembly（15）, photo-thermal light reflection subassembly（13）, photovoltaic module（18）, main support（16）, photo-thermal light reflection support （12）, assistant support（17）.