Linear actuating device and heliostat

Abstract

The invention discloses a linear actuating device, an elevation angle driving device and a heliostat adopting the linear actuating device. The linear actuating device comprises a cylinder body, a push rod, a telescopic structure, a driver and a transmission structure. The telescopic structure is arranged between the cylinder body and the push rod and is configured to drive the push rod to do telescopic motion in the cylinder body when the input end of the telescopic structure rotates. The driver drives the input end of the telescopic structure to rotate through the transmission structure. And the output end of the transmission structure is sleeved and rotationally connected with the input end of the telescopic structure. The positioning structure comprises a positioning piece and a positioning groove, one of the positioning piece and the positioning groove is arranged at the output end of the transmission structure, the other one of the positioning piece and the positioning groove is arranged at the input end of the telescopic structure, and the positioning piece extends into the positioning groove so that the output end of the transmission structure can rotate to drive the input end of the telescopic structure to rotate; the positioning piece and the positioning groove are configured in the mode that when the torque borne by the positioning piece when the positioning piece stretches into the positioning groove is larger than the safety torque, the positioning piece retreats from the positioning groove.

Description

Technical Field

[0001] The present invention belongs to the technical field of linear actuation, and in particular relates to a linear actuation device and a heliostat. Background Art

[0002] When a driving device is used to drive an object to perform telescopic motion relative to another object, sometimes the resistance between the two objects is too great, resulting in an overload of the driving device and thus damage to the driving device.

[0003] For example, in the field of solar thermal power generation technology, the heliostat adjusts its elevation and azimuth angles according to the movement of the sun to accurately focus sunlight onto the absorber. The adjustment of the elevation angle of the heliostat is performed by an elevation drive device, and the high reliability of the elevation drive device is an effective guarantee for the precise tracking of the heliostat. However, in current practical applications, damage to the elevation drive device due to excessive load often occurs. Summary of the invention

[0004] In view of the above problems, the present invention provides a linear actuator and a heliostat, wherein the special structural design in the linear actuator can automatically protect the driver from damage when the load is excessive. The technical solution of the present invention is: A linear actuator, comprising: A cylinder body, wherein a first external structure is provided on the cylinder body; A push rod, the push rod is slidably connected to the cylinder body, and a second external structure is provided on the portion of the push rod extending out of the cylinder body; A telescopic structure is disposed between the cylinder body and the push rod, and the telescopic structure is configured to drive the push rod to perform telescopic movement relative to the cylinder body when the input end of the telescopic structure rotates; A driver and a transmission structure, wherein the output end of the driver is connected to the input end of the transmission structure, the output end of the transmission structure is connected to the input end of the telescopic structure, and the driver drives the input end of the telescopic structure to rotate through the transmission structure; Wherein, one of the output end of the transmission structure and the input end of the telescopic structure is sleeved on the other; Furthermore, at least one positioning structure is provided between the output end of the transmission structure and the input end of the telescopic structure, and the positioning structure includes a positioning member and a positioning groove, one of the positioning member and the positioning groove is provided at the output end of the transmission structure, and the other is provided at the input end of the telescopic structure, and the positioning member extends into the positioning groove to realize the rotation of the output end of the transmission structure and drive the rotation of the input end of the telescopic structure; the positioning member and the positioning groove are configured so that when the torque applied to the positioning member when extending into the positioning groove is greater than the safety torque, the positioning member exits the positioning groove.

[0005] In a linear actuation device provided in a certain embodiment, the positioning member is a ball screw, and a ball in the ball screw extends into the positioning groove.

[0006] In a linear actuating device provided in a certain embodiment, the component sleeved on the output end of the transmission structure and the input end of the telescopic structure is an outer component, and the component rotatably connected to the inner part of the outer component is an inner component; One of the positioning member and the positioning groove is arranged on the inner side wall of the outer member, and the other is arranged on the outer side wall of the inner member.

[0007] In a linear actuating device provided in a certain embodiment, an output end of the transmission structure is sleeved on an input end of the telescopic structure.

[0008] In a linear actuating device provided in a certain embodiment, the telescopic structure is a screw pair, the screw pair includes a screw member and a nut member, the screw member extends into the nut member and is threadedly connected thereto; the screw member is rotatably connected to the cylinder body, and the nut member is fixedly connected to the push rod; the screw member is the input end of the telescopic structure.

[0009] In a linear actuating device provided in a certain embodiment, the push rod has an inner cavity, and one end of the lead screw member extends into the inner cavity; The positioning structure is arranged on the portion of the lead screw member extending out of the inner cavity.

[0010] In a linear actuating device provided in a certain embodiment, the positioning member in the positioning structure is arranged on an outer side wall of the lead screw member.

[0011] In a linear actuating device provided in a certain embodiment, the transmission structure is a worm gear structure, including a worm gear and a worm gear; the worm gear is an output end of the transmission structure; The worm wheel is installed on the cylinder body, and the worm wheel is sleeved on the input end of the telescopic structure; the worm is meshed and connected with the worm wheel, and the output end of the driver is connected with the worm.

[0012] In a linear actuating device provided in a certain embodiment, the positioning groove in the positioning structure is provided on an inner side wall of the worm gear.

[0013] In the linear actuating device provided in a certain embodiment, two positioning structures are centrally symmetrically arranged along the rotation axis of the inner component and the outer component.

[0014] A heliostat, wherein the elevation angle driving device of the heliostat adopts any one of the linear actuating devices described above.

[0015] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: In the linear actuator and heliostat provided by the present invention, when the load is overloaded (manifested as the torque applied to the positioning member when extending into the positioning groove is greater than the safety torque), the positioning member will automatically withdraw from the positioning groove, releasing the lock between the output end of the transmission structure and the input end of the telescopic structure, thereby preventing the driver from being damaged due to the load overload. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiment.The drawings are only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention.

[0017] Figure 1 is a schematic diagram of a heliostat of the present invention; Figure 2 is a schematic diagram of a linear actuating device of the present invention; Figure 3 is a cross-sectional schematic diagram of a linear actuating device of the present invention; Figure 4 and Figure 5 is a partial cross-sectional schematic diagram of a linear actuating device of the present invention; Figure 6 is a cross-sectional schematic diagram of another position of a linear actuating device of the present invention; Figure 7 is a schematic diagram of a worm gear of the present invention; Figure 8 It is a schematic diagram of a worm gear of the present invention.

[0018] Description of reference numerals: 1: reflector; 2: mirror frame mechanism; 3: connecting seat; 4: elevation drive device / linear actuator; 5: cylinder body; 6: telescopic structure; 7: transmission structure; 8: first external structure; 9: fixed seat; 10: worm box; 11: pin shaft; 12: push rod; 13: screw pair; 14: second external structure; 15: screw member; 16: nut member; 17: shortening direction limit block; 18: elongation direction limit block; 19: positioning member; 20: axial bearing group; 21: worm wheel; 22: worm; 23: worm wheel radial bearing; 24: axial nut; 25: coupling; 26: motor; 27: worm radial bearing group; 28: positioning groove; 29: column. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0020] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0021] Example 1 See also Figures 2 to 8 This embodiment provides a linear actuator 4, including a cylinder body, a push rod 12, a telescopic structure 6, a driver and a transmission structure 7. A first external structure 8 is provided on the cylinder body. The push rod 12 is slidably connected in the cylinder body, and a second external structure 14 is provided on the part of the push rod 12 extending out of the cylinder body. The telescopic structure 6 is provided between the cylinder body and the push rod 12, and the telescopic structure 6 is configured to drive the push rod 12 to perform telescopic motion relative to the cylinder body when the input end of the telescopic structure 6 rotates. The output end of the driver is connected to the input end of the transmission structure 7, and the output end of the transmission structure 7 is connected to the input end of the telescopic structure 6. The driver drives the input end of the telescopic structure 6 to rotate through the transmission structure 7.

[0022] Among them, one of the output end of the transmission structure 7 and the input end of the telescopic structure 6 is sleeved in the other. At least one positioning structure is provided between the output end of the transmission structure 7 and the input end of the telescopic structure 6, and the positioning structure includes a positioning member 19 and a positioning groove 28. One of the positioning member 19 and the positioning groove 28 is provided at the output end of the transmission structure 7, and the other is provided at the input end of the telescopic structure 6. The positioning member 19 extends into the positioning groove 28 to realize that the rotation of the output end of the transmission structure 7 drives the rotation of the input end of the telescopic structure 6; the positioning member 19 and the positioning groove 28 are configured so that when the torque received by the positioning member 19 when extending into the positioning groove 28 is greater than the safety torque, the positioning member 19 withdraws from the positioning groove 28.

[0023] When the load is overloaded (manifested as the torque applied to the positioning member 19 when it extends into the positioning groove 28 is greater than the safety torque), the positioning member 19 will automatically withdraw from the positioning groove 28, releasing the lock between the output end of the transmission structure 7 and the input end of the telescopic structure 6, thereby preventing the driver from being damaged due to the load overload.

[0024] The linear actuator 4 of this embodiment is further described below.

[0025] like Figure 3 As shown, the linear actuator 4 mainly includes a cylinder body, a telescopic structure 6, a transmission structure 7 and other components.

[0026] The cylinder body includes a cylinder body 5, a first external structure 8, a fixing seat 9, and a worm housing 10. The first external structure 8 has two pins 11 arranged opposite to each other. The first external structure 8 is arranged at the front end of the cylinder body (with Figure 3 The left end is the front end), two pins 11 are symmetrically arranged on both sides of the first external structure 8, and the cylinder body is rotatably connected to the external component A through the two pins 11, wherein the axes of the two pins 11 are arranged perpendicular to the axis of the cylinder body 5.

[0027] The second external structure 14 is arranged at the front end of the push rod 12. The second external structure 14 is a solid structure and is provided with a connecting hole. The connecting hole is used to realize a rotation connection with the external component B, wherein the axis of the connecting hole is arranged perpendicular to the axis of the push rod 12.

[0028] The telescopic structure 6 can adopt a screw pair 13, which includes a screw member 15 and a nut member 16. The screw member 15 extends into the nut member 16 and is threadedly connected thereto. The screw member 15 is rotatably connected to the cylinder body, and the nut member 16 is fixedly connected to the push rod 12. The screw member 15 is the input end of the telescopic structure 6. The push rod 12 has an inner cavity, and one end of the screw member 15 extends into the inner cavity; the positioning structure is provided on the portion of the screw member 15 extending out of the inner cavity, and the positioning member 19 in the positioning structure is provided on the outer side wall of the screw member 15.

[0029] In the actual application process of the linear actuator, the second external structure 14 arranged at the front end of the push rod 12 needs to be connected to the external component B, and the cylinder body is rotatably connected to the external component A through two pins 11. Therefore, when the screw member 15 rotates on the cylinder body, the external component B can limit the self-rotation of the push rod 12. At the same time, since the push rod 12 is fixedly connected to the nut member 16, when the screw member 15 rotates, the nut member 16 can only move along the axial direction of the screw member 15, thereby driving the push rod 12 to perform telescopic movement relative to the cylinder body. Of course, in other embodiments, a slide groove can also be provided on the inner wall of the cylinder body 5, and a protrusion that cooperates with the slide groove can be provided on the radial outer wall of the nut. Due to the cooperation between the protrusion and the slide groove, the nut member 16 cannot rotate around its own axis in the cylinder body 5, so that when the screw member 15 rotates on the cylinder body, the nut member 16 can only drive the push rod 12 to move along the axial direction of the screw member 15, that is, the push rod 12 performs telescopic movement relative to the cylinder body.

[0030] For details, see Figure 3 , Figure 4 As shown, the screw member 15 is rotatably connected to the fixed seat 9 through the axial bearing group 20 and limits the axial movement of the screw member 15, that is, the screw member 15 can only rotate around its own axis and cannot move axially. The screw member 15 is connected to the output end of the transmission structure 7 to receive the kinetic energy transmitted by the motor 26 (the driver in this embodiment uses the motor 26). The screw member 15 is connected with a shortening direction limit block 17 and an elongation direction limit block 18. Along the axial direction of the screw member 15, the nut member 16 is located between the shortening direction limit block 17 and the elongation direction limit block 18. The shortening direction limit block 17 and the elongation direction limit block 18 limit the moving position of the nut member 16, thereby limiting the telescopic distance of the push rod 12.

[0031] Preferably, the screw pair 13 may be a ball screw pair to improve the transmission accuracy in the telescopic structure.

[0032] In the output end of the transmission structure 7 and the input end of the telescopic structure 6, the component sleeved on the outside is the outer component, and the component rotatably connected to the inner part of the outer component is the inner component. One of the positioning member 19 and the positioning groove 28 is provided on the inner side wall of the outer component, and the other is provided on the outer side wall of the inner component. In this embodiment, the output end of the transmission structure 7 can be sleeved on the input end of the telescopic structure 6.

[0033] The transmission structure can adopt a worm gear structure, including a worm wheel 21 and a worm 22; wherein the worm wheel 21 is the output end of the transmission structure 7. The worm wheel 21 is mounted on the cylinder body, and the worm wheel 21 is sleeved on the input end of the telescopic structure 6 (the input end of the telescopic structure 6 is specifically the lead screw 15; therefore, the inner part is the lead screw 15, and the outer part is the worm wheel 21.). The worm 22 is meshedly connected with the worm wheel 21, and the output end of the driver is connected with the worm 22. The positioning groove 28 in the positioning structure is provided on the inner side wall of the worm wheel 21.

[0034] Thus, when the driver drives the worm 22 to rotate, the worm 22 drives the worm wheel 21 to rotate. When the positioning member 19 extends into the positioning groove 28, the rotation of the worm wheel 21 drives the screw member 15 to rotate; when the positioning member 19 withdraws from the positioning groove 28, the rotation of the worm wheel 21 does not drive the screw member 15 to rotate.

[0035] For more details, see Figure 5 , Figure 6 The motor 26 drives the worm 22 to rotate through the coupling 25, the worm 22 drives the worm wheel 21 to rotate, and the worm wheel 21 drives the lead screw 15 to rotate through the positioning member 19. The worm 22 is fixed in the worm housing 10 through the worm radial bearing group 27, and is fixedly connected to the output shaft of the motor 26 through the coupling 25. The motor 26 drives the worm 22 to rotate, and the worm 22 drives the worm wheel 21 to rotate.

[0036] The positioning member 19 can be a ball screw, and the ball in the ball screw extends into the positioning groove 28. A spring (or other elastic element) is arranged inside the ball screw, and a ball is connected to the front end of the spring. When the pressure on the ball outside is greater than the force applied to it by the spring inside the ball screw, the ball can be retracted into the ball screw.

[0037] Therefore, when the load is overloaded, the marble in the ball screw withdraws from the positioning groove 28, so that the lock between the worm wheel 21 and the screw member 15 is released, and the rotation of the worm wheel 21 no longer drives the rotation of the screw member 15; when the load is not overloaded, the marble in the ball screw extends into the positioning groove 28 under the action of the internal spring of the ball screw, and the worm wheel 21 and the screw member 15 are re-locked, and the rotation of the worm wheel 21 drives the screw member 15 to rotate again.

[0038] Specifically, Figure 7 As shown, the inner ring of the worm wheel 21 is provided with one or more positioning grooves 28, such as Figure 8As shown, one or more positioning members 19 are provided on the outer circumferential surface of the screw member 15 and the worm wheel 21. In a free state, the ball of the ball screw protrudes from the outer circumferential surface of the screw member 15. Under the action of a suitable external force, the ball will retract into the ball screw and be flush with or lower than the outer circumferential surface of the screw member 15. Preferably, two positioning structures are provided along the rotation axis of the screw member 15 and the worm wheel 21 and are arranged symmetrically.

[0039] like Figures 3 to 8 As shown, the positioning groove 28 on the inner ring of the worm wheel 21 is matched with the positioning piece 19 on the screw member 15, the ball of the positioning piece 19 is embedded in the positioning groove 28 of the inner ring of the worm wheel 21, and the worm wheel 21 is fixed to the fixed seat 9 through the worm wheel radial bearing 23, and the screw member 15 is located on the end of the worm wheel 21 away from the worm wheel radial bearing 23 and is threadedly matched with an axial nut 24, and the axial nut 24 is threadedly connected with the screw member 15 to limit the screw member 15 from a large axial movement relative to the worm wheel 21, but the worm wheel 21 can rotate around its own axis.

[0040] Example 2 See also Figures 1 to 8 This embodiment provides a heliostat, and the elevation angle driving device 4 of the heliostat adopts the linear actuator 4 of Example 1.

[0041] The elevation angle driving device 4 of the heliostat is configured to control the elevation angle of the reflector 1 of the heliostat. The reflector 1 is fixed by the mirror frame mechanism 2 of the heliostat, and the mirror frame mechanism 2 and the connecting seat 3 can rotate. In the elevation angle driving device 4, the first external structure 8 on the cylinder body is connected to the mirror frame mechanism 2, and the second external structure 14 on the push rod 12 is connected to the connecting seat 3, and both connections are rotational connections, and the rotation axes of the two are parallel to each other; the connection at these two places restricts the push rod 12 to only perform telescopic movement in the cylinder body, and the push rod 12 and the cylinder body cannot rotate. When the push rod 12 in the elevation angle driving device 4 is extended and retracted relative to the cylinder body, the mirror frame mechanism 2 is driven to rotate relative to the connecting seat 3, thereby driving the heliostat to rotate, and realizing the adjustment of the elevation angle of the heliostat.

[0042] Specifically, Figure 1 As shown, the heliostat mainly includes a reflector 1, a mirror frame mechanism 2, a connecting seat 3, an elevation drive device 4 and an azimuth drive device (the azimuth drive device can be specifically a rotary reducer, which is used to drive the mirror frame mechanism 2 to rotate around the central axis of the column 29 to adjust the azimuth angle of the reflector 1 of the heliostat), a column 29 and other components.

[0043] The elevation drive device 4 realizes the rotation of the mirror frame mechanism 2 relative to the connecting seat 3 by the telescopic movement of the push rod 12 in the cylinder body. The reflector 1 is arranged on the mirror frame mechanism 2. The rotation of the mirror frame mechanism 2 is the elevation movement of the heliostat (i.e. the change of the altitude angle of the heliostat).

[0044] Since the heliostat of the tower solar thermal power generation has very high driving accuracy requirements on the elevation drive device 4, the screw pair 13 can adopt a ball screw pair and cooperate with the transmission structure 7 to ensure that the heliostat can reliably track the sun at an elevation angle.

[0045] See also Figure 5 , Figure 6 When the elevation drive device 4 operates within the rated dynamic load, the marble of the positioning member 19 is embedded in the positioning groove 28 of the inner ring of the worm gear 21, ensuring that there is no relative rotation between the worm gear 21 and the lead screw member 15. The worm gear 21 drives the lead screw member 15 to rotate, so that the push rod 12 of the elevation drive device 4 can be normally extended and retracted, ensuring that the heliostat can track the sun normally.

[0046] When the elevation drive device 4 is subjected to the rated static load, the rated axial force borne by the push rod 12 is converted into the rated torque through the nut member 16 and transmitted to the screw member 15. The screw member 15 transmits the rated torque to the worm wheel 21, and the self-locking performance of the elevation drive device 4 under the rated static load is ensured by the self-locking performance of the worm wheel 21 and the worm 22, so as to ensure the normal operation of the elevation drive device 4.

[0047] When the rated static load borne by the elevation drive device 4 exceeds the limit (for example, when the reflector 1 is subjected to strong wind force), the excess axial force borne by the push rod 12 is converted into excess torque through the nut member 16 and transmitted to the screw member 15, and the screw member 15 transmits the excess torque to the worm gear 21. At this time, the marble of the positioning member 19 will disengage from the positioning groove 28 of the inner ring of the worm gear 21, so that the worm gear 21 and the screw member 15 can rotate relative to each other, thereby disconnecting the torque transmission between the worm gear 21 and the screw member 15, thereby protecting the screw pair 13, the worm gear structure and the motor 26 from damage due to excessive load, thereby protecting the elevation drive device 4 from long-term and reliable operation.

[0048] When the static load borne by the elevation drive device 4 returns to the rated static load and the elevation drive device 4 needs to perform a telescopic action again, the motor 26 drives the worm gear 21 to rotate, and the marble of the positioning member 19 is re-embedded in the positioning groove 28 of the inner ring of the worm gear 21, thereby synchronously driving the lead screw member 15 to rotate, so that the elevation drive device 4 performs a telescopic action to ensure that the heliostat tracks the sun again.

[0049] By adopting the elevation angle driving device 4 in this embodiment, while ensuring the high-precision sun tracking of the heliostat elevation angle, the elevation angle driving device 4 can also be made to work more reliably and with a longer service life.

[0050] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the protection scope of the present invention.

Claims

1. A linear actuator, characterized in that: include: A cylinder body, wherein a first external structure is provided on the cylinder body; A push rod, the push rod is slidably connected to the cylinder body, and a second external structure is provided on the portion of the push rod extending out of the cylinder body; A telescopic structure is disposed between the cylinder body and the push rod, and the telescopic structure is configured to drive the push rod to perform telescopic movement relative to the cylinder body when the input end of the telescopic structure rotates; A driver and a transmission structure, wherein the output end of the driver is connected to the input end of the transmission structure, the output end of the transmission structure is connected to the input end of the telescopic structure, and the driver drives the input end of the telescopic structure to rotate through the transmission structure; Wherein, one of the output end of the transmission structure and the input end of the telescopic structure is sleeved on the other; Furthermore, at least one positioning structure is provided between the output end of the transmission structure and the input end of the telescopic structure, and the positioning structure includes a positioning member and a positioning groove, one of the positioning member and the positioning groove is provided at the output end of the transmission structure, and the other is provided at the input end of the telescopic structure, and the positioning member extends into the positioning groove to realize the rotation of the output end of the transmission structure and drive the rotation of the input end of the telescopic structure; the positioning member and the positioning groove are configured so that when the torque applied to the positioning member when extending into the positioning groove is greater than the safety torque, the positioning member exits the positioning groove.

2. The linear actuator according to claim 1, characterized in that The positioning member is a ball screw, and the ball in the ball screw extends into the positioning groove.

3. The linear actuator according to claim 1, characterized in that: In the output end of the transmission structure and the input end of the telescopic structure, the component sleeved on the outside is the outer component, and the component rotatably connected to the inner part of the outer component is the inner component; One of the positioning member and the positioning groove is arranged on the inner side wall of the outer member, and the other is arranged on the outer side wall of the inner member.

4. The linear actuator according to claim 1, characterized in that: The output end of the transmission structure is sleeved on the input end of the telescopic structure.

5. The linear actuator according to claim 4, characterized in that: The telescopic structure is a screw pair, which includes a screw member and a nut member. The screw member extends into the nut member and is threadedly connected thereto. The screw member is rotationally connected to the cylinder body, and the nut member is fixedly connected to the push rod. The screw member is the input end of the telescopic structure.

6. The linear actuator according to claim 4, characterized in that: The push rod has an inner cavity, and one end of the lead screw member extends into the inner cavity; The positioning structure is arranged on the portion of the lead screw member extending out of the inner cavity.

7. The linear actuator according to claim 6, characterized in that: The positioning member in the positioning structure is arranged on the outer side wall of the lead screw member.

8. The linear actuator according to claim 1, characterized in that: The transmission structure is a worm gear structure, including a worm gear and a worm gear; the worm gear is the output end of the transmission structure; The worm wheel is installed on the cylinder body, and the worm wheel is sleeved on the input end of the telescopic structure; the worm is meshed and connected with the worm wheel, and the output end of the driver is connected with the worm.

9. The linear actuator according to claim 8, characterized in that: The positioning groove in the positioning structure is arranged on the inner side wall of the worm wheel.

10. The linear actuator according to claim 3, characterized in that: Two positioning structures are centrally symmetrically arranged along the rotation axes of the inner component and the outer component.

11. A heliostat, characterized in that: The elevation angle driving device of the heliostat adopts the linear actuator device according to any one of claims 1 to 10.

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