Flexible driving side pulling type double-shaft series full-automatic tracking photovoltaic support string

Abstract

The invention discloses a flexible driving side pulling type double-shaft linkage full-automatic tracking photovoltaic support string. When the bracket string is used, the transmission of tracking power is flexibly transmitted by a steel cable, so that two adjacent brackets can be changed up and down, left and right and front and back in a three-dimensional space, and any landform can be met. Tracking rotation of the photovoltaic module bracket adopts a stepping motor to drive a turbine worm reducer, and a main rope of a bidirectional self-locking wire locking device and each support module tray connected in series are driven to complete tracking. And the last bracket adopts the combination of eccentric installation and counterweight, and provides a stress for the main cable to retreat when the motor rotates reversely. By adopting the lever principle, the movable pulley block effectively reduces the tracking driving force, so that the length of the bracket string is increased, and the equipment cost is reduced. The device is simple in structure, time-saving and labor-saving, synchronous and equivalent in pulling and releasing of the two branch cables, high in wind resistance, convenient to install, almost free of loss, stable in operation, convenient to operate, low in cost and suitable for any landform and weather conditions.

Description

Technical Field

[0001] The patent of this invention belongs to the field of solar photovoltaic power generation, and involves a single solar dual-axis tracking device and a series combined bracket system. Specifically, it involves providing a flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string according to the terrain, landform, environmental meteorological conditions, technical performance requirements and economic performance. Background Art

[0002] In the existing dual-axis tracking brackets, all are independently controlled and tracked by a single unit. In order to reduce costs, the coverage area of ​​the photovoltaic module bracket can only be increased, resulting in poor storm resistance, high installation costs, and complex and harsh operating environment. Compared with mechanical accidents, the controller accident rate is much higher, which is bound to increase the number of maintenance points, thereby increasing operating costs. In order to improve storm resistance, reduce maintenance workload, reduce installation and operating costs, and meet the needs of affordable access to the Internet for solar power generation. The patent of the present invention adopts multiple flexible series connections to reduce the number of controllers, improve storm resistance, adapt to any terrain and landforms, reduce maintenance workload, reduce installation and operating costs, and promote the popularization of solar photovoltaic power generation. To achieve the above purposes, the patent of the present invention adopts the following approaches: First, reduce the area of ​​the solar module bracket of a single dual-axis tracking bracket to improve wind explosion resistance. Second, the tracking driving force between two adjacent units adopts flexible series connection to reduce installation technical requirements and meet changes in terrain and landforms. Third, an eccentric design and a counterweight added to one side of the string are used to provide a return driving force. Fourth, the inventor of this patent first proposed in ZL 2010 1 0503502.8, "A side-pull type solar automatic tracking device" to separate the tracking driving force from the rotating shaft and move it to a suitable position on the side of the solar bracket away from the rotating shaft. Obviously, this is the use of the lever principle, which greatly reduces the driving force, thereby increasing the number of units in the same string under the premise of unchanged driving power, and providing the possibility of reducing costs. "Side-pull type" also comes from this. Fourth, in order to realize the above technology, the inventor proposed flexible drive in ZL201610338787.1 "A fixed and adjustable solar bracket controlled by a pulley group", but because the patent uses the gravity moment difference between the south and north sides of the solar bracket to maintain balance, the angle adjustment is completed with only one branch cable, so the stability of operation is questioned and has not been put into practical use. After that, the ZL2021 2 3085480.0 "A fixed and adjustable photovoltaic bracket suitable for any terrain" was obtained through improvement. It adopts double-sided traction, that is, double-cable method, and uses a main cable to pull two cables. When the main cable moves, one cable is pulled and the other cable is released at the same time and in equal amounts, which greatly improves the stability of the photovoltaic component bracket during tracking or returning. On this basis, the ZL2021 2 3085480.0 technology was extended to the field of oblique single-axis tracking photovoltaic brackets, forming ZL202223111235.7 "A pulley block side-pull oblique single-axis tracking photovoltaic bracket". The present invention is aimed at the problems in the existing dual-axis fully automatic tracking photovoltaic bracket system and is applied to the dual-axis fully automatic tracking system through further technical innovation on the above basis. Summary of the invention

[0003] Based on the problems existing in the prior art, the patent of the present invention "A flexibly driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string" proposes a method that is suitable for any terrain, has strong storm resistance, low installation technical requirements, and low installation and operating costs. It solves the technical problem that the solar dual-axis automatic tracking bracket in the prior art has poor adaptability to terrain and wind conditions, and at the same time further reduces the bracket cost, tracking cost and operating cost, reduces the installation technical requirements, and also reduces the maintenance workload.

[0004] In order to solve the above technical problems, this application adopts the following technical solutions: A flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string is composed of multiple single brackets in series. All single brackets include columns, dual-axis rotation assemblies, solar panel brackets and tracking power transmission systems. A string of flexible drive side-pull dual-axis series fully automatic tracking photovoltaic brackets only uses one controller.

[0005] The column of "A flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string" is vertically fixed. A support column anchored to the ground. A dual-axis rotation assembly is fixed to the upper top of the column. The dual-axis rotation assembly is a whole composed of an hour angle rotation axis and an elevation angle rotation axis installed perpendicularly to each other. In the dual-axis rotation assembly, the two ends of the hour angle rotation axis are fixed to the north-south direction of the top of the column. The two ends of the elevation angle rotation axis are fixed to the upper part of the hour angle rotation axis through a U-shaped component installed in the middle part of the hour angle rotation axis, and the elevation angle rotation axis is perpendicular to the hour angle rotation axis. The hour angle bearing is installed at the symmetry center of the U-shaped lower part of the U-shaped component, and the hour angle rotation axis is installed in the hour angle bearing. The upper opening part of the U-shaped component is installed with an elevation angle rotation axis, and a support column is mounted at the symmetry center of the elevation angle rotation axis. This support column is fixed to the support column near the central longitudinal beam of the solar panel bracket.

[0006] The solar module bracket of the flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string is a frame structure composed of several cross beams perpendicular to the central longitudinal beam and fixed to the central longitudinal beam, and longitudinal beams parallel to the central longitudinal beam and fixed to the cross beam. Two support plates are fixed vertically and symmetrically upward near the center of the central longitudinal beam of the solar bracket. The support plates have several through holes and are fixed to the dual-axis rotating assembly through several through holes on the two support plates. Multiple flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic brackets, that is, single-unit brackets are connected in series through the main cable so that these single-unit brackets are arranged in sequence to form a flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string.

[0007] The tracking power transmission system of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic support string refers to a whole composed of an elevation angle rigid component and an elevation angle flexible component, a time angle rigid component and a time angle flexible component. The elevation angle rigid component described here includes an elevation angle horizontal support rod, a fixed pulley block, a fixed pulley combination, a front fixed pulley, a rear fixed pulley, a worm gear reducer and a controller.

[0008] The central part of the elevation angle horizontal support rod in the elevation angle rigid component in the tracking power transmission system of the flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic support string is rigidly fixed to the column, and the direction is parallel to the hour angle rotation axis, and the two cantilever ends are flexibly fixed with fixed pulley groups. A fixed pulley assembly is installed at the lower part or the upper part of the horizontal support rod installed on the column, and the fixed pulley assembly includes three fixed pulleys, one large and two small. The front fixed pulley and the rear fixed pulley in the elevation angle rigid component of the tracking power transmission system of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string are respectively installed at the lower part of the column of the head bracket and the tail bracket of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string. The worm gear reducer component in the elevation angle rigid component in the tracking power transmission system of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string is installed on the column of the first single bracket in the flexible drive side-pull type dual-axis tracking support string. The worm gear reducer in the rigid part of the flexible drive side-pull dual-axis tracking bracket consists of a worm gear reducer, an angle sensor, a bidirectional self-locking wire tensioner and a stepper motor. The stepper motor is controlled by a controller. The controller refers to a set of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements. The controller is connected to the worm gear reducer through a wire.

[0009] The flexible elevation components of the tracking power transmission system of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string include the elevation main cable, elevation branch cable, and the basket screws and movable pulleys connected in series on the elevation branch cable. One end of the elevation main cable is fixed to the two-way self-locking wire tensioner in the elevation worm gear reducer on the first column of the string, and the other end first passes downward through the front fixed pulley of the column and then upward through the large fixed pulleys installed on all the columns in the string, and finally ends at the north branch cable of the last side-pull dual-axis tracking bracket in the string. There are two elevation cables in the flexible component of the tracking power transmission system of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string. One end of each cable is fixed to the south and north sides of the solar panel bracket respectively, and the other end is connected in series with a basket screw and a movable pulley set respectively, and then passes through the fixed pulley set on the same side of the elevation horizontal support rod and the fixed pulley installed on the column in sequence, and then one cable is extended along the main cable for a length in the direction of the string head and then fixed with the main cable. The other cable is extended along the main cable for a length in the opposite direction of the string head and then fixed with the main cable. The last cable of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket in the string is led out from the fixed pulley installed on the column, and then goes down along the column, passes through the rear fixed pulley installed on the column, and then goes up along the column and fixed with the elevation main cable.

[0010] The time angle rigid components in the tracking power transmission system of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string include a time angle horizontal support rod, a fixed pulley block, a fixed pulley combination, a front fixed pulley and a rear fixed pulley, a worm gear reducer and a controller.

[0011] The central part of the horizontal support rod in the time angle rigid component of the tracking power transmission system of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string is rigidly fixed to the column, and the direction is parallel to the elevation rotation axis, and the two cantilever ends are flexibly fixed with fixed pulley groups. A fixed pulley assembly is installed at the lower part or the upper part of the horizontal support rod installed on the column, and the fixed pulley assembly includes three fixed pulleys, one large and two small. The front fixed pulley and the rear fixed pulley in the time angle rigid component of the tracking power transmission system of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string are respectively installed at the lower part of the column of the head bracket and the tail bracket of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string. The worm gear reducer in the time angle rigid component of the tracking power transmission system of the flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string is installed on the column of the first flexible drive side-pull type dual-axis tracking support in the plurality of flexible drive side-pull type dual-axis tracking support strings. The worm gear reducer of the rigid component in the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string described here includes a worm gear reducer, an angle sensor, a bidirectional self-locking wire tensioner and a stepper motor. The stepper motor is controlled by a controller. The controller refers to a set of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements. The controller is connected to the worm gear reducer through a wire.

[0012] The flexible components of the tracking power transmission system of the flexible drive side-pull double-axis linkage fully automatic tracking photovoltaic support string include the main cable of the hour angle, the branch cable of the hour angle, and the basket screw and movable pulley group connected in series on the branch cable of the hour angle. One end of the main cable of the hour angle is fixed to the bidirectional self-locking wire tightener in the hour angle worm gear reducer at the head of the string, and the other end first passes through the front fixed pulley downward and then passes through the large fixed pulley installed on all the columns in the string in turn, and finally ends at the west branch cable of the bracket of the last single bracket component in the string. There are two paths of the branch cable of the flexible components of the tracking driving force transmission system of the flexible drive side-pull double-axis linkage fully automatic tracking photovoltaic support monomer. One end of each branch cable is fixed to the east and west sides of the solar module bracket respectively, and the other end is connected in series with a basket screw and a movable pulley group respectively, and then passes through the fixed pulley group on the same side of the hour angle horizontal support rod and the fixed pulley installed on the column in turn, and then a branch cable is extended along the main cable for a length in the direction of the head of the string and fixed with the main cable of the hour angle. The other branch cable is extended along the hour angle main cable for a certain length in the opposite direction of the string head and then consolidated with the hour angle main cable. The hour angle branch cable of the last flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket unit in the string is led out from the fixed pulley installed on the column, and then goes down along the column, passes through the rear fixed pulley installed on the column, and then goes up along the column and consolidated with the hour angle main cable.

[0013] The connection between the solar module bracket and the dual-axis rotating assembly of the last side-pull dual-axis tracking bracket in the flexible-drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string adopts a combination of eccentric mode and counterweight (P) mode. The gravity difference on both sides provides the driving force for tracking return.

[0014] The present invention also has the following technical features and advantages 1. The lever principle is adopted to effectively reduce the tracking driving force. The driving force of the existing dual-axis fully automatic tracking is directly applied to the rotating shaft. The present invention adopts the lever principle to move the action point of the tracking driving force from the rotating shaft to the side away from the rotating shaft, which effectively reduces the tracking driving force.

[0015] 2. Use one side of the PV panel bracket as the power arm, which is the origin of the "side-pull type".

[0016] 3. The use of movable pulleys has further reduced the tracking driving force by multiples. The movable pulleys are connected in series in the branch cables, which reduces the tracking driving force by multiples on the basis of lever labor saving. The reduction of the tracking driving force can make the double-axis tracking bracket string accommodate more single brackets without increasing the power of the main cable, which is conducive to reducing equipment costs.

[0017] 4. Stable operation. The corresponding two side cables of the tracking bracket are driven by the same main cable, ensuring that when one cable is pulled, the other cable is released synchronously and equally, so that the tracking bracket maintains force balance on both sides at any moment of tracking, ensuring the stability of the solar bracket during tracking and rotation.

[0018] 5. Effectively increase tracking accuracy. The distance from the point where the driving force of the photovoltaic module bracket rotates to the rotation axis is called the tracking accuracy radius. This invention effectively increases the tracking accuracy radius, thereby effectively improving the tracking accuracy. Theoretically, the tracking accuracy can reach infinity, that is, the tracking error can approach zero.

[0019] 6. Good storm resistance performance. Compared with the traditional dual-axis tracking bracket, since the tracking power source and tracking controller are freed from a single bracket, the photovoltaic module bracket does not need to be made large, which makes it possible to improve the storm resistance.

[0020] 7. Adapt to any terrain. When the flexible main cable is used to transmit the tracking driving force, the two adjacent dual-axis tracking brackets can be allowed to change in three-dimensional space, and can even turn 180° to adapt to any terrain.

[0021] 8. Using turnbuckles helps eliminate the thermal expansion and contraction of the main cable and branch cables, ensuring stable and accurate operation. Just add a few turnbuckles to the main cable, which is particularly practical for subsidence terrain.

[0022] 9. This patent adopts stepper motor drive with high precision.

[0023] 10. The invention adopts a worm gear reducer to overcome the reverse rotation caused by strong winds and further improve the storm resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the single-body support structure of the flexible-driven side-pull dual-axis linkage fully automatic tracking photovoltaic support string.

[0025] Figure 2 Schematic diagram of the rotating assembly of the flexible-driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string.

[0026] Figure 3 Schematic diagram of the planing surface A′-A′ of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string rotation assembly along the center of the column and the axis of the hour angle rotation axis Figure 4 Schematic diagram of the eccentricity and counterweight of the single bracket of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string Figure 5 Schematic diagram of the tracking power transmission method of the flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string.

[0027] The meaning of the symbols in the figure is: (A) - Column; (B) - double-axis rotation assembly, (B-1) - hour angle shaft, (B-1-1) - hour angle bearing, (B-1-21 and B-1-21) - hour angle shaft bracket, (B-1-3) - U-shaped bracket, (B-2) - elevation shaft, (B-2-1) - elevation bearing; (C) - solar panel bracket, (C-1) - central longitudinal beam, (C-1-1) - support column, (C-2) - transverse axis, (C-3) - longitudinal axis; (D-1) - elevation angle horizontal support rod, (D-2) - hour angle horizontal support rod; (E-11, E-12, E-21, E-22) - Fixed pulley block; (F-1*)-fixed pulley combination, (F-11)-small fixed pulley, (F-12)-small fixed pulley, (F-13) -Large fixed pulley; (F-2*)-fixed pulley combination, (F-21)-small fixed pulley, (F-22)-small fixed pulley, (F-23)-large fixed pulley; (G-11, G-12, G-21, G-22) - Turnbuckles; (H-11, H-12, H-21, H-22) - movable pulley block; (K1, K2)-worm gear reducer; (M1) - elevation angle main cable, (M2) - hour angle main cable; (N-11, N-12) - elevation angle cables; (N-21, N-22) - hour angle cables; (P) - counterweight; (Q) - controller; (R1)-Front fixed pulley; (R2)-Front fixed pulley (S1)-rear fixed pulley; (S2)-rear fixed pulley The specific contents of the present invention are further described in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0028] It should be noted that, unless otherwise specified, all components and devices in the present invention are components and devices known in the prior art.

[0029] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention. Example

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this embodiment provides a schematic diagram of driving power transmission of a flexible driven side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string suitable for any terrain.

[0031] Running process: In the following operation process, we use the local time of the installation location. The local time of any day of the year is automatically obtained by the controller through astronomical calculations.

[0032] 1. Tracking start state: The solar module brackets of all individual brackets of the flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string are pointing to the zenith position on the sun's orbit on that day, and the instantaneous angle is 0°. The elevation angle is when the plane of the solar photovoltaic module is parallel to the sun's rays at the zenith on that day.

[0033] 2. Tracking preparation process: At the scheduled time (such as -5:00), the controller is turned on, and the hour angle stepper motor starts to reverse rapidly to release the main cable. The stress of the main cable is provided by the counterweight torque and asymmetric torque added by the tail bracket. The tracking bracket starts to rotate eastward from the horizontal state in the east-west direction (i.e. the mid-sky position, hour angle 0°), and stops rotating and waits for tracking when it reaches the starting tracking angle of the day (such as -4:00, -60°).

[0034] 2. Tracking process: Tracking starts when the preset tracking start time (e.g. -4:00) is reached. The instant angle stepper motor rotates forward and the main cable is retracted. The hour angle sub-cable is retracted synchronously, and the other hour angle sub-cable is released synchronously and in equal amounts. The tracking bracket rotates along the hour angle axis at a nonlinear angular velocity to ensure tracking accuracy. This process continues until the end of the tracking for the day.

[0035] 3. Tracking end: When the tracking ends (e.g. 4:00, 60°), the tracking stops and the hour angle stepper motor stops. Stop rotation.

[0036] 4. Tracking waiting: The waiting period after the hour angle tracking is completed, such as the preset waiting time of 30 minutes. At this time, the hour angle stepper motor remains in a stopped state. At this time, the photovoltaic module can still generate electricity, but the power generation is getting lower and lower.

[0037] 5. Elevation angle tracking: During the waiting period (such as 4:01), the elevation angle stepper motor is started to run forward, and the elevation angle tracking process begins. The elevation angle tracking lasts for about one minute, and the elevation angle becomes the elevation angle corresponding to the zenith of the next day, and the elevation angle stepper motor stops.

[0038] 6. Hour angle returns to zenith: After the hour angle tracking waiting period ends (such as 4:31), the hour angle stepper motor starts to reverse, and the solar panel bracket quickly returns to the zenith from the position at the end of tracking (such as 4:00, 60°), and the instant angle is restored to 0°.

[0039] 7. End of all-day tracking: When the solar panel bracket returns to the mid-sky position the next day, the controller stops supplying power. The flexible drive side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string is in a dormant state, waiting to be started the next day.

Claims

1. A flexible driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string, which is formed by a plurality of independent single brackets connected in series by flexible driving; the single bracket comprises three parts: a column (A), a dual-axis rotation assembly (B), a solar module bracket (C) and a tracking power transmission system; the column (A) of the single bracket in the flexible driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string is a support column vertically fixed on the ground; the dual-axis rotation assembly (B) is fixed to the upper top of the column (A); the dual-axis rotation assembly (B) is a whole composed of an hour angle rotation axis (B-1) and an elevation angle rotation axis (B-2) installed vertically to each other; in the dual-axis rotation assembly (B), the lower parts of two hour angle rotation axis brackets (B-1-21 and B-1-22) are fixed to the north and south of the top of the column (A) The two ends of the hour angle shaft (B-1) are fixed to the upper parts of the two hour angle shaft brackets (B-1-21 and B-1-22); a U-shaped component (B-1-3) is installed in the middle part of the hour angle shaft (B-1); an hour angle bearing (B-1-1) is installed at the symmetric center of the U-shaped lower part of the U-shaped component (B-1-3); the hour angle shaft (B-1) is installed in the hour angle bearing (B-1-1); the upper opening part of the U-shaped component (B-1-3) is installed with an elevation angle shaft (B-2); the symmetric center of the elevation angle shaft (B-2) is equipped with an elevation angle bearing (B-2-1) matching the elevation angle shaft (B-2); the elevation angle bearing (B-2-1) is fixed to the support column (C-1-1) near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C); The solar module bracket (C) of each single bracket in the flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is a rigid frame structure composed of a plurality of cross beams (C-2) perpendicular to the central longitudinal beam (C-1) and vertically fixed to the central longitudinal beam (C-1) and a longitudinal beam (C-3) parallel to the central longitudinal beam (C-1) and fixed to the cross beam (C-2); the support column (C-1-1) fixed near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C) has its lower end fixed near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C) and its upper end fixed to the elevation bearing (B-2-1) mounted on the elevation shaft (B-2), so that the solar module bracket (C) is hinged to the dual-axis rotating assembly (B); the above-mentioned multiple single brackets are connected in series through flexible drive to form a flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string; The tracking power transmission system of the flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string is characterized in that: they are a whole composed of an elevation angle rigid component and an elevation angle flexible component, a time angle rigid component and a time angle flexible component; the elevation angle rigid component here comprises an elevation angle horizontal support rod (D-1), a fixed pulley group (E-11, E-12), a fixed pulley combination (F-1*), a front fixed pulley (R1), a rear fixed pulley (S1), a worm gear reducer (K1) and a controller (Q); The elevation angle rigid component in the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is also characterized in that: the central part of the elevation angle horizontal support rod (D-1) in the elevation angle rigid component is rigidly fixed to the column (A), the direction is parallel to the direction of the hour angle rotation axis, and the two cantilever ends are flexibly fixed with fixed pulley groups (E-11, E-12) respectively; a fixed pulley assembly (F-1*) is installed at the lower part or the upper part of the horizontal support rod (D-1) installed on the column (A), and the fixed pulley assembly (F-1*) includes three fixed pulleys (F-11, F-12, F-13) of one large and two small; the front fixed pulley (R1) and the rear fixed pulley (S1) in the elevation angle rigid component in the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string are respectively installed at the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket The lower part of the column (A) of the head single bracket and the tail single bracket of the string; the worm gear reducer component (K1) in the elevation rigid component of the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is installed on the column (A) of the head single bracket of the string in the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string; the worm gear reducer component (K1) in the rigid component of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string described here is composed of a worm gear reducer, an angle sensor, a bidirectional self-locking wire tensioner and a stepper motor; the stepper motor is controlled by a controller (Q); the controller (Q) described here refers to a collection of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements; the controller (Q) is connected to the worm gear reducer component (K) through a wire; The elevation angle flexible component of the tracking power transmission system of the flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string is characterized by: The elevation flexible components described herein include an elevation main cable (M1), elevation branch cables (N-11, N-12), and turnbuckles (G-11, G-12) and movable pulley blocks (H-11, H-12) connected in series to the elevation branch cables (N-11, N-12); one end of the elevation main cable (M1) is fixed to the bidirectional self-locking tensioner in the worm gear reducer assembly (K1), and the other end first passes downward through the front fixed pulley (R1) and then upward through the pulleys installed in sequence. The large fixed pulley (F-13) in the fixed pulley assembly (F-1*) installed on all the columns (A) in the group finally terminates on the north branch cable (N-11) of the last single bracket in the string; there are two elevation branch cables (N-11, N-12) in the flexible component of the tracking power transmission system of the flexible-driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string, one end of each branch cable is respectively fixed to the south and north sides of the solar module bracket (C), and the other end is fixed to the south and north sides of the solar module bracket (C). After connecting a turnbuckle (G-11, G-12) and a movable pulley block (H-11, H-12) in series at each end, the cable (N-11) is connected to the bracket head along the main cable for a certain length and then fixed to the main cable (M1). The head of the string is extended along the main cable (M1) in the opposite direction for a certain length and then fixed to the main cable (M1). The branch cable (N-12) of the basic bracket of the last flexible driven side-pull type dual-axis series automatic tracking photovoltaic bracket group in the string is led out from the small fixed pulley (F-12) in the fixed pulley combination (F-1*) installed on the column (A), and then goes down along the column (A) through the rear fixed pulley (S1) installed on the column (A), and then goes up along the column (A) and fixed to the elevation angle main cable (M1); The hour angle rigid components in the tracking power transmission system of the flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string include hour angle horizontal support rod (D-2), fixed pulley group (E-21, E-22), fixed pulley combination (F-2*), front fixed pulley (R2), rear fixed pulley (S2), worm gear reducer (K2) and controller (Q); The central part of the time angle horizontal support rod (D-2) in the time angle rigid component in the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic support string is rigidly fixed to the column (A) in a direction parallel to the elevation rotation axis direction, and the two cantilever ends are flexibly fixed with fixed pulley groups (E-21, E-22) respectively; a fixed pulley assembly (F-2*) is installed at the lower part or the upper part of the horizontal support rod (D-2) installed on the column (A), and the fixed pulley assembly (F-2*) includes three fixed pulleys (F-21, F-22, F-23) of which one is large and two are small; the front fixed pulley (R2) and the rear fixed pulley (S2) in the time angle rigid component in the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic support string are respectively installed at the head bracket and the rear fixed pulley of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic support string. The lower part of the column (A) of the tail bracket of the string; the worm gear reducer component (K2) in the angular rigid component of the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is installed on the column (A) of the first single bracket in the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string; the worm gear reducer component (K2) in the rigid component of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string mentioned here includes a worm gear reducer, an angle sensor, a bidirectional self-locking wire tensioner and a stepper motor; the stepper motor is controlled by a controller (Q); the controller (Q) mentioned here refers to a collection of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements; the controller (Q) is connected to the worm gear reducer component (K2) through a wire; The time angle flexible component of the tracking power transmission system of the flexible drive side-pull double-axis series fully automatic tracking photovoltaic bracket string is characterized in that: the time angle flexible component here comprises a time angle main cable (M2), a time angle branch cable (N-21, N-22) and a basket screw (G-21, G-22) and a movable pulley block (H-21, H-22) connected in series on the time angle branch cable (N-21, N-22); one end of the time angle main cable (M2) is fixedly connected to the time angle worm reducer. The other end first passes downward through the front fixed pulley (R2) and then upward through the large fixed pulley (F-23) in the fixed pulley assembly (F-2*) installed on all the single columns (A) in the string, and finally ends at the west branch cable (N-21) of the component bracket (C) of the last single bracket in the string; the hour angle branch cable in the flexible component of the tracking power transmission system of the flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string has two paths (N-21, N-22), one end of each branch cable is fixed to the east and west sides of the solar panel bracket (C), and the other end is connected in series with a basket screw (G-21, G-22) and a movable pulley group (H-21, H-22), and then passes through the fixed pulley group (E-21, E-22) on the same side of the horizontal support rod and the small fixed pulleys (F-21, F-22) in the fixed pulley combination (F-2*) installed on the column (A), and then the branch cable (N-21) is connected to the head of the string. The main cable (M2) is connected to the main cable (M2) after being extended along the main cable (M2) in the opposite direction of the string head. The branch cable (N-22) is connected to the main cable (M2) after being extended along the main cable (M2) in the opposite direction of the string head. The (N-22) of the last single bracket in the string is led out from the small fixed pulley (F-22) in the fixed pulley combination (F-2*) installed on the column (A), and then goes down along the column (A) through the rear fixed pulley (S2) installed on the column (A), and then goes up along the column (A) to be connected to the hour angle main cable (M2). The connection between the solar module bracket (C) and the dual-axis rotating assembly (B) of the last side-pull dual-axis tracking bracket in a flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string adopts a combination of an eccentric mode and a counterweight (P) mode.

2. The flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string as described in claim 1 is characterized in that: all the single brackets of several flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket strings are connected in series through the elevation angle main cable (M1) and the hour angle main cable (M2) to form a flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string. A flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string only uses one set of controllers (Q) to control the elevation angle and hour angle of all the solar module brackets (C) of the single brackets in the string at any moment of tracking; the positions of the columns (A) of two adjacent basic brackets can change in three-dimensional space with the change of terrain.

3. The dual-axis rotation assembly (B) of a flexible driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string as described in claim 1 is characterized in that: the dual-axis rotation assembly (B) is a whole composed of an hour angle rotation axis (B-1) and an elevation angle rotation axis (B-2) installed perpendicularly to each other; in the dual-axis rotation assembly (B), the lower parts of two hour angle rotation axis brackets (B-1-21 and B-1-22) are fixed to the north-south direction of the top of the column (A); the two ends of the hour angle rotation axis (B-1) are fixed to the upper parts of the two hour angle rotation axis brackets (B-1-21 and B-1-22); the middle part of the hour angle rotation axis (B-1) is installed A U-shaped component (B-1-3) is installed, and an angular bearing (B-1-1) is installed at the symmetrical center of the U-shaped lower part of the U-shaped component (B-1-3), and the angular rotation axis (B-1) is installed in the angular bearing (B-1-1); the upper opening part of the U-shaped component (B-1-3) is installed with an elevation rotation axis (B-2), and the symmetrical center of the elevation rotation axis (B-2) is equipped with an elevation bearing (B-2-1) matching the elevation rotation axis (B-2), and the elevation bearing (B-2-1) is fixed to a support column (C-1-1) near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C); The solar module bracket (C) of each single bracket in the flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is a rigid frame structure composed of a plurality of cross beams (C-2) perpendicular to the central longitudinal beam (C-1) and vertically fixed to the central longitudinal beam (C-1), and a longitudinal beam (C-3) parallel to the central longitudinal beam (C-1) and fixed to the cross beam (C-2); the support column (C-1-1) fixed near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C) has its lower end fixed near the geometric center of the central longitudinal beam (C-1) of the solar module bracket (C), and its upper end fixed to the elevation bearing (B-2-1) mounted on the elevation shaft (B-2), so that the solar module bracket (C) is hinged to the dual-axis rotating assembly (B); the above-mentioned multiple single brackets are connected in series through flexible drive to form a flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic bracket string.

4. A flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket as claimed in claim 1 The tracking power transmission system of the string is characterized in that: the tracking power transmission system of the flexible-driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string refers to a flexible driving system composed of an elevation angle rigid component and an elevation angle flexible component, a time angle rigid component and a time angle flexible component.

5. The elevation angle rigid component of the tracking power transmission system of the flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string as described in claim 4 has the following characteristics: the elevation angle rigid component here includes an elevation angle horizontal support rod (D-1), a fixed pulley group (E-11, E-12), a fixed pulley combination (F-1*), a front fixed pulley (R1), a rear fixed pulley (S1), a worm gear reducer (K1) and a controller (Q); the elevation angle horizontal in the elevation angle rigid component here The center of the support rod (D-1) is rigidly fixed to the column (A) in a direction parallel to the direction of the hour angle rotation axis, and the two cantilever ends are flexibly fixed with fixed pulley groups (E-11, E-12) respectively; a fixed pulley assembly (F-1*) is installed at the lower part or the upper part of the horizontal support rod (D-1) installed on the column (A), and the fixed pulley assembly (F-1*) includes three fixed pulleys (F-11, F-12, F-13) of which one is large and two are small; the flexible driven side-pull dual-axis series fully automatic tracking photovoltaic The front fixed pulley (R1) and the rear fixed pulley (S1) in the elevation angle rigid component of the tracking power transmission system of the bracket string are respectively installed on the lower part of the column (A) of the first and last single-unit brackets of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string; the worm gear reducer component (K1) in the elevation angle rigid component of the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string is installed on the column (A) of the first single-unit bracket of the string; the worm gear reducer component (K1) in the rigid component of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string described here includes a worm gear reducer, an angle sensor, a bidirectional self-locking tensioner and a stepper motor; the stepper motor is controlled by a controller (Q); the controller (Q) described here refers to a collection of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements; the controller (Q) is connected to the worm gear reducer component (K) through a wire.

6. The elevation angle flexible component of the tracking power transmission system of the flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string as described in claim 4 is characterized in that: the elevation angle flexible component here comprises an elevation angle main cable (M1), elevation angle branch cables (N-11, N-12) and basket screws (G-11, G-12) and movable pulley blocks (H-11, H-12) connected in series on the elevation angle branch cables (N-11, N-12); one end of the elevation angle main cable (M1) is fixedly connected to the turbine worm gear. The other end passes through the front fixed pulley (R2) downwards and then passes through the large fixed pulley (F-13) in the fixed pulley assembly (F-1*) installed on all the columns (A) in the string, and finally ends at the north branch cable (N-11) of the last single bracket in the string; the elevation branch cables in the flexible component of the tracking power transmission system of the flexible-driven side-pull dual-axis series fully automatic tracking photovoltaic bracket string have two paths (N -11, N-12), one end of each branch cable is fixed to the south and north sides of the solar panel bracket (C), and the other end is connected in series with a basket screw (G-11, G-12) and a movable pulley group (H-11, H-12), and then passes through the fixed pulley group (E-11, E-12) on the same side of the elevation horizontal support rod and the small fixed pulley (F-11, F-12) in the fixed pulley combination (F-1*) installed on the column (A), and then the branch cable (N-11) is moved towards the head of the string. The branch cable (N-12) is extended along the main cable (M1) for a certain length in the opposite direction of the string head and then fixed to the main cable (M1). The branch cable (N-12) of the last single bracket in the string is led out from the small fixed pulley (F-12) in the fixed pulley combination (F-1*) installed on the column (A), and then goes down along the column (A) through the rear fixed pulley (S1) installed on the column (A), and then goes up along the column (A) and fixed to the elevation main cable (M1).

7. The time angle rigid component in the tracking power transmission system of a flexible drive side-pull type dual-axis series fully automatic tracking photovoltaic support string as claimed in claim 4 is characterized by: the time angle rigid component in the tracking power transmission system of a flexible drive side-pull type dual-axis linkage fully automatic tracking photovoltaic support string comprises a time angle horizontal support rod (D-2), a fixed pulley group (E-21, E-22), a fixed pulley combination (F-2*), a front fixed pulley (R2), a rear fixed pulley (S2), a worm gear reducer (K1) and a controller (Q); The hour angle rigid component in the tracking power transmission system of the flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string also has the following characteristics: The central part of the hour angle horizontal support rod (D-2) in the hour angle rigid component is rigidly fixed to the column (A) in a direction parallel to the elevation angle rotation axis direction, and the two cantilever ends are flexibly fixed with fixed pulley groups (E-21, E-22) respectively; a fixed pulley assembly (F-2*) is installed at the lower part or the upper part of the horizontal support rod (D-2) installed on the column (A), and the fixed pulley assembly (F-2*) includes three fixed pulleys (F-21, F-22, F-23), one large and two small; the front fixed pulley (R2) and the rear fixed pulley (S2) in the hour angle rigid component in the tracking power transmission system of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string are respectively installed at the lower part of the column (A) of the head bracket and the tail bracket of the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string; the flexible driven side-pull type dual-axis series fully automatic tracking photovoltaic bracket string The worm gear reducer component (K2) in the angular rigid component of the tracking power transmission system of the series-connected fully automatic tracking photovoltaic bracket string is installed on the column (A) of the head bracket of the string; the worm gear reducer component (K2) in the rigid component of the flexible driven side-pull dual-axis series-connected fully automatic tracking photovoltaic bracket string described here includes a worm gear reducer, an angle sensor, a bidirectional self-locking wire tensioner and a stepper motor; the stepper motor is controlled by a controller (Q); the controller (Q) described here refers to a collection of control hardware and software that matches the stepper motor, worm gear reducer, angle sensor and tracking operation requirements; the controller (Q) is connected to the worm gear reducer component (K2) through a wire; when the height difference between (F-23) and (K2) meets the length requirement of the extension of (N-21), the front fixed pulley (R2) can be omitted.

8. The time angle flexible component in the tracking power transmission system of a flexible drive side-pull double-axis series fully automatic tracking photovoltaic support string as described in claim 4 is characterized in that: the time angle flexible component in the tracking power transmission system of a flexible drive side-pull double-axis series fully automatic tracking photovoltaic support string includes a time angle main cable (M2), a time angle branch cable (N-21, N-22) and a basket screw (G-21, G-22) and a movable pulley block (H-21, H-22) connected in series on the time angle branch cable (N-21, N-22); a flexible drive side-pull double-axis series fully automatic tracking photovoltaic support string The hour angle flexible component in the tracking power transmission system of the tracking photovoltaic bracket string also has the following characteristics: one end of the hour angle main cable (M2) is fixed to the bidirectional self-locking wire tensioner in the worm gear reducer assembly (K2), and the other end first passes downward through the front fixed pulley (R2) and then passes upward in turn through the large fixed pulley (F-23) in the fixed pulley assembly (F-2*) installed on all the single columns (A) in the string, and finally ends at the west branch cable (N-21) of the last side-pull dual-axis tracking bracket assembly bracket (C) in the string; the flexible drive side-pull dual-axis coupling There are two hour angle cables (N-21, N-22) in the flexible parts of the tracking power transmission system of the fully automatic tracking photovoltaic bracket. One end of each cable is fixed to the east and west sides of the solar panel bracket (C), and the other end is connected in series with a basket screw (G-21, G-22) and a movable pulley group (H-21, H-22). Then, it passes through the fixed pulley group (E-21, E-22) on the same side of the horizontal support rod and the small fixed pulleys (F-21, F-22) in the fixed pulley combination (F-2*) installed on the column (A). -21) is extended along the main cable for a certain length in the direction of the string head and then fixed with the main cable (M2); the branch cable (N-22) is extended along the main cable (M2) for a certain length in the opposite direction of the string head and then fixed with the main cable (M2). The hour angle branch cable (N-22) of the last flexible driven side-pull type dual-axis linkage fully automatic tracking photovoltaic bracket monomer in the string is led out from the small fixed pulley (F-22) in the fixed pulley combination (F-2*) installed on the column (A), and then goes down along the column (A) through the rear fixed pulley (S2) installed on the column (A), and then goes up along the column (A) and fixed with the hour angle main cable (M2).

9. The last or last few single brackets in a flexible drive side-pull dual-axis series fully automatic tracking photovoltaic bracket string as described in claim 1 have the following characteristics: the connection between the solar module bracket (C) of the last or last few single brackets in the pulley block side-pull dual-axis linkage fully automatic tracking photovoltaic bracket string and the dual-axis rotating assembly (B) adopts a combination of an eccentric mode and a counterweight (P) mode.

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