Solar tracking device and system and method of using device

Abstract

A solar tracking device, a method of using the same, and a solar tracking system comprising the device, the device comprising a base (10), a first arm (20), a second arm (30), and a support frame (40), the first arm (20) being rotatable relative to the base (10) about a first axis of rotation (S1), the second arm (30) being rotatable relative to the first arm (20) about a second axis of rotation (S2), the support frame (40) being rotatable relative to the second arm (30) about a third axis of rotation (S3), the included angle alpha between the second rotating shaft (S2) and the third rotating shaft (S3) is larger than 0 degree and smaller than 45 degrees, the bearing frame (40) can rotate around a fourth rotating shaft (S4) relative to the base (10), the fourth rotating shaft (S4) is perpendicular to the first rotating shaft (S1), and the second rotating shaft (S2), the third rotating shaft (S3) and the fourth rotating shaft (S4) intersect at the same point. According to the solar tracking device, the non-orthogonal universal joint mechanism is used as a movement mechanism, so that the light facing surface of the photovoltaic panel cannot be shielded, and large-range movement guide can be provided for the photovoltaic panel.

Description

Solar tracking device, solar tracking system, and method of use thereof

[0001] Citation of Related Applications

[0002] This application claims priority to patent application entitled “A Motion System” filed on August 2, 2023, application number PCT / CN2023 / 110859, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of motion mechanisms, and more particularly to a solar tracking device, a solar tracking system, and a method of using the same. Background Art

[0004] FIG1 shows a solar tracking system, which includes a base 1, a support frame 4, a photovoltaic panel 5, and a drive device 6. The base 1 is a support pole fixed to, for example, the ground, the support frame 4 is rotatably mounted on the base 1, and the photovoltaic panel 5 is fixed to the support frame 4. The drive device 6 includes a motor and a gear assembly, and the drive device 6 is used to drive the support frame 4 to rotate relative to the base 1, thereby adjusting the angle of the photovoltaic panel 5 relative to the horizontal plane, or adjusting the angle of the photovoltaic panel 5 relative to the incident sunlight. Similar solar tracking systems can be found, for example, in the following patents or patent disclosures: WO2023025772A1, US20230133308A1, and US11454693B2.

[0005] The angle of the photovoltaic panel 5 relative to the horizontal plane can be adjusted in real time according to the angle of sunlight, significantly improving the efficiency of the photovoltaic panel 5 in absorbing light energy and converting it into electricity. However, this also has negative consequences. For example, in windy conditions, the support frame 4 and the gear assembly in the drive unit 6 will be subjected to very heavy loads. Even if the photovoltaic panel 5 is adjusted to a horizontal position, adverse airflow in severe conditions may still place very heavy loads on the various transmission components of the solar tracking system, especially the gear assembly in the drive unit 6.

[0006] Summary of the Invention

[0007] The purpose of the present application is to overcome or at least alleviate the deficiencies of the above-mentioned prior art and to provide a solar tracking device, a solar tracking system and a method of using the same with a simple structure and high reliability.

[0008] According to a first aspect of the present application, a solar tracking device is provided, comprising a base, a first arm, a second arm, and a support frame, characterized in that:

[0009] The first arm can rotate around a first rotation axis relative to the base, the second arm can rotate around a second rotation axis relative to the first arm, and the support frame can rotate around a third rotation axis relative to the second arm. The support frame is used to install photovoltaic panels.

[0010] The included angle between the second rotation axis and the third rotation axis is α, 0°<α<45°,

[0011] When the first arm rotates relative to the base and the second arm rotates relative to the first arm, the support frame can rotate relative to the base around a fourth rotation axis, which is perpendicular to the first rotation axis, and the second rotation axis, the third rotation axis and the fourth rotation axis intersect at the same point.

[0012] In at least one embodiment, the support frame is disposed above the base, and the fourth rotating shaft is located above the support frame.

[0013] In at least one embodiment, 20°<α<40°, and preferably, α is substantially equal to 30°.

[0014] In at least one embodiment, the solar tracking device further comprises a first actuation mechanism and a second actuation mechanism;

[0015] The first actuating mechanism is used to drive the first arm to rotate relative to the base, and the second actuating mechanism is used to drive the second arm to rotate relative to the support frame, or

[0016] The first actuating mechanism is used to drive the first arm to rotate relative to the base, and the second actuating mechanism is used to drive the second arm to rotate relative to the first arm, or

[0017] The first actuating mechanism is used to drive the second arm to rotate relative to the first arm, and the second actuating mechanism is used to drive the second arm to rotate relative to the supporting frame.

[0018] In at least one embodiment, the first actuation mechanism includes a first motor and a first gear assembly, and the second actuation mechanism includes a second motor and a second gear assembly;

[0019] In the case where the first actuating mechanism is used to drive the first arm to rotate relative to the base, and the second actuating mechanism is used to drive the support frame to rotate relative to the second arm,

[0020] The stator of the first motor is fixed to the base, the input end of the first gear assembly is non-rotatably connected to the rotor of the first motor, the output end of the first gear assembly is non-rotatably connected to the first arm, the stator of the second motor is fixed to the support frame, the input end of the second gear assembly is non-rotatably connected to the rotor of the second motor, and the output end of the second gear assembly is non-rotatably connected to the second arm;

[0021] In the case where the first actuating mechanism is used to drive the first arm to rotate relative to the base, and the second actuating mechanism is used to drive the second arm to rotate relative to the first arm,

[0022] The stator of the first motor is fixed to the base, the input end of the first gear assembly is non-rotatably connected to the rotor of the first motor, the output end of the first gear assembly is non-rotatably connected to the first arm, the stator of the second motor is fixed to the first arm, the input end of the second gear assembly is non-rotatably connected to the rotor of the second motor, and the output end of the second gear assembly is non-rotatably connected to the second arm;

[0023] In the case where the first actuating mechanism is used to drive the second arm to rotate relative to the first arm, and the second actuating mechanism is used to drive the support frame to rotate relative to the second arm,

[0024] The stator of the first motor is fixed to the first arm, the input end of the first gear assembly is connected to the rotor of the first motor in a non-rotatable manner, the output end of the first gear assembly is connected to the second arm in a non-rotatable manner, the stator of the second motor is fixed to the support frame, the input end of the second gear assembly is connected to the rotor of the second motor in a non-rotatable manner, and the output end of the second gear assembly is connected to the second arm in a non-rotatable manner.

[0025] In at least one embodiment, the solar tracking device further comprises an actuation mechanism comprising a power source and a gear assembly.

[0026] The power comes from driving the first arm to rotate relative to the base, and driving the second arm to rotate relative to the first arm.

[0027] The gear assembly is used to make the magnitude of the rotational speed of the first arm relative to the base equal to the magnitude of the rotational speed of the second arm relative to the first arm.

[0028] In at least one embodiment, the power source includes a motor, the gear assembly includes a first gear portion, a second gear portion, a third gear portion, a fourth gear portion, and a fifth gear portion,

[0029] The stator of the motor is fixed to the first arm, and the rotor of the motor is connected to the first tooth portion so as to be non-rotatable relative to the first tooth portion.

[0030] The second tooth portion is fixed to the second arm coaxially with the second rotating shaft.

[0031] The third tooth portion and the fourth tooth portion are both coaxial with the second rotating shaft and are mounted on the first arm so as to be rotatable relative to the first arm, and the third tooth portion cannot rotate relative to the fourth tooth portion.

[0032] The fifth tooth portion is fixed to the base coaxially with the first rotating shaft.

[0033] The second tooth portion and the third tooth portion are both engaged with the first tooth portion, and the fourth tooth portion is engaged with the fifth tooth portion.

[0034] The first tooth portion, the second tooth portion, the fourth tooth portion, and the fifth tooth portion are external tooth portions, and the third tooth portion is an internal tooth portion.

[0035] In at least one embodiment, the power source includes a first motor and a second motor, the gear assembly includes a first gear portion, a second gear portion, a third gear portion, a fourth gear portion, a fifth gear portion, a sixth gear portion, and a seventh gear portion,

[0036] The stator of the first motor is fixed to the base, and the rotor of the first motor is connected to the sixth tooth portion in a non-rotatable manner.

[0037] The fifth tooth portion and the seventh tooth portion are both coaxial with the first rotating shaft and are rotatably sleeved outside the base relative to the base.

[0038] The stator of the second motor is fixed to the first arm, and the rotor of the second motor is connected to the first tooth portion so as to be non-rotatable relative to the first tooth portion.

[0039] The second tooth portion is fixed to the second arm coaxially with the second rotating shaft.

[0040] The third tooth portion and the fourth tooth portion are both coaxial with the second rotating shaft and are mounted on the first arm so as to be rotatable relative to the first arm. The third tooth portion cannot rotate relative to the fourth tooth portion.

[0041] The second tooth portion and the third tooth portion are both engaged with the first tooth portion, the fourth tooth portion is engaged with the fifth tooth portion, and the sixth tooth portion is engaged with the seventh tooth portion.

[0042] The first tooth portion, the second tooth portion, the fourth tooth portion, the fifth tooth portion, and the sixth tooth portion are external tooth portions, and the third tooth portion and the seventh tooth portion are internal tooth portions.

[0043] In at least one embodiment, the actuating mechanism further comprises a clutch, and the power source is a motor.

[0044] When the clutch is in the closed state, the motor can drive one of the first arm and the second arm to rotate in the clockwise direction and the other to rotate in the counterclockwise direction.

[0045] When the clutch is in an open state, the motor can drive the first arm and the second arm to rotate in a clockwise direction or in a counterclockwise direction.

[0046] In at least one embodiment, the clutch includes a body fixed to a base,

[0047] The stator of the motor is fixed to the support frame, and the rotor of the motor is used to drive the second arm to rotate relative to the support frame around the first rotation axis.

[0048] The gear assembly includes a first tooth portion, a second tooth portion, a third tooth portion, a fourth tooth portion and a fifth tooth portion,

[0049] The second tooth portion is fixed to the second arm coaxially with the second rotating shaft.

[0050] The third tooth portion and the fourth tooth portion are both coaxial with the second rotating shaft and are mounted on the first arm so as to be rotatable relative to the first arm. The third tooth portion cannot rotate relative to the fourth tooth portion.

[0051] The fifth tooth portion is coaxially mounted on the base with the first rotating shaft.

[0052] The first tooth portion is disposed between the second tooth portion and the third tooth portion, and the first tooth portion is meshed with both the second tooth portion and the third tooth portion, and the fourth tooth portion is meshed with the fifth tooth portion.

[0053] The first tooth portion, the second tooth portion, the fourth tooth portion and the fifth tooth portion are external tooth portions, and the third tooth portion is an internal tooth portion.

[0054] When the clutch is in a closed state, the fifth tooth portion cannot rotate relative to the base; when the clutch is in an open state, the fifth tooth portion can rotate relative to the base.

[0055] According to a second aspect of the present application, a method for using a solar tracking device is provided. The solar tracking device is the solar tracking device according to the first aspect of the present application. The method comprises:

[0056] The first arm rotates at a first speed relative to the base, and the second arm rotates at a second speed relative to the support frame. The first speed and the second speed are equal, and one of the first speed and the second speed is in a clockwise direction and the other is in a counterclockwise direction, so that the solar tracking device performs a tracking mode and the support frame rotates around the fourth axis.

[0057] In at least one embodiment, the method further comprises:

[0058] When the first arm and the second arm move until the first rotation axis and the third rotation axis are collinear, the first arm rotates at a third speed relative to the base, and the second arm rotates at a fourth speed relative to the support frame, until the second rotation axis moves to be perpendicular to the fourth rotation axis, the solar tracking device executes the storage mode, and the support frame remains stationary relative to the base, wherein,

[0059] The third speed and the fourth speed are equal in magnitude, and both the third speed and the fourth speed are in a clockwise direction or in a counterclockwise direction.

[0060] According to a third aspect of the present application, a method for using a solar tracking device is provided. The solar tracking device is the solar tracking device according to the first aspect of the present application. The method includes: the rotor of the motor rotates, so that the solar tracking device executes a tracking mode, and the support frame rotates around a fourth axis.

[0061] According to a fourth aspect of the present application, a method for using a solar tracking device is provided. The solar tracking device is the solar tracking device according to the first aspect of the present application. The method comprises:

[0062] When the solar tracking device performs the tracking mode, the first motor does not work, the second motor works, and the support frame rotates around the fourth rotation axis;

[0063] Before the solar tracking device executes the storage mode, the first motor works and the second motor does not work until the second rotation axis moves to be perpendicular to the fourth rotation axis.

[0064] According to a fifth aspect of the present application, a method for using a solar tracking device is provided. The solar tracking device is the solar tracking device according to the first aspect of the present application. The method includes:

[0065] When the solar tracking device is in tracking mode, the clutch is closed, the motor is operated, and the support frame rotates around the fourth rotation axis;

[0066] Before the solar tracking device executes the storage mode, the clutch is opened and the motor is operated until the second rotating shaft moves to be perpendicular to the fourth rotating shaft.

[0067] According to a sixth aspect of the present application, a solar tracking system is provided: the solar tracking system comprises a first linkage assembly, a second linkage assembly, and a plurality of solar tracking devices according to the first aspect of the present application, wherein the first rotation axes of the plurality of solar tracking devices are arranged in parallel,

[0068] The first linkage assembly is used to simultaneously drive multiple first arms of multiple solar tracking devices to rotate relative to the base, and the second linkage assembly is used to simultaneously drive multiple second arms of multiple solar tracking devices to rotate relative to the support frame.

[0069] In at least one embodiment, the first linkage assembly includes a first linkage rod and a plurality of first linkage gear sets, the second linkage assembly includes a second linkage rod and a plurality of second linkage gear sets,

[0070] The input end of each first linkage gear set is non-rotatably connected to the first linkage rod, and the output end of each first linkage gear set is non-rotatably connected to the first arm of a solar tracking device.

[0071] The input end of each second linkage gear set is non-rotatably connected to the second linkage rod, and the output end of each second linkage gear set is non-rotatably connected to the second arm of a solar tracking device.

[0072] The first linkage rod and the second linkage rod are rotatable around their own axes.

[0073] In at least one embodiment, the first linkage assembly includes a first linkage rod and a plurality of first linkage struts, the second linkage assembly includes a second linkage rod and a plurality of second linkage struts,

[0074] The input end of each first linkage support rod is rotatably connected to the first linkage rod, and the output end of each first linkage support rod is non-rotatably connected to the first arm of a solar tracking device.

[0075] The input end of each second linkage support rod is rotatably connected to the second linkage rod, and the output end of each second linkage support rod is non-rotatably connected to the second arm of a solar tracking device.

[0076] The first linkage rod and the second linkage rod can perform reciprocating linear motion along their own axes.

[0077] According to a seventh aspect of the present application, a solar tracking system is provided: the solar tracking system comprises at least one guide frame and a plurality of solar tracking devices according to the first aspect of the present application, wherein the first rotation axes of the plurality of solar tracking devices are arranged in parallel, and the plurality of solar tracking devices share a same support frame.

[0078] The guide frame includes a guide frame fixed portion and a guide frame movable portion, wherein the guide frame fixed portion is fixed relative to the base, and the guide frame movable portion is fixedly connected to the support frame.

[0079] The movable portion of the guide frame can move relative to the fixed portion of the guide frame along an arc curve. The plane where the arc curve is located is perpendicular to the fourth rotation axis, and the fourth rotation axis passes through the center of the arc curve.

[0080] According to an eighth aspect of the present application, a solar tracking system is provided: the solar tracking system includes at least one first solar tracking device and at least one second solar tracking device, the second solar tracking device is the solar tracking device according to the first aspect of the present application, the first solar tracking device and the second solar tracking device share a same support frame,

[0081] The first solar tracking device includes a tracking mode actuator for driving the support frame to rotate, and the second solar tracking device includes a storage preparation actuator, which can drive the first arm and the second arm of the second solar tracking device to rotate.

[0082] When the solar tracking system is in tracking mode, the tracking mode actuating mechanism is in operation, the storage preparation driving mechanism is inoperative, and the support frame rotates around the fourth rotation axis;

[0083] Before the solar tracking system executes the storage mode, the tracking mode actuating mechanism does not work, and the storage preparation driving mechanism works until the second rotation axis moves to be perpendicular to the fourth rotation axis.

[0084] The beneficial effects of this application include:

[0085] (i) The solar tracking device according to the present application uses a non-orthogonal universal joint mechanism as a motion mechanism, which will not block the light-facing surface of the photovoltaic panel and can provide a wide range of movable guidance for the photovoltaic panel.

[0086] (ii) The center of gravity of the support frame of the solar tracking device according to the present application is lower than the fourth rotation axis, providing a stable system that is not easily unbalanced by disturbances such as airflow disturbances.

[0087] (iii) The solar tracking device according to the present application can maintain the support frame in a horizontal position without requiring a braking mechanism. This method employs a method of positioning the braking position at a singular point within the entire motion mechanism. By properly adjusting the rotational positions of the various components, the support frame can be braked with high reliability in a horizontal position.

[0088] (iv) The solar tracking device according to the present application is easy to use, and one or two motors can be configured for the device as needed to enable the solar tracking device to perform tracking mode or storage mode.

[0089] (v) The solar tracking system according to the present application can connect multiple solar tracking devices and control the movement of the multiple solar tracking devices through a unified power source. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] FIG1 is a schematic diagram of a solar tracking device in the prior art.

[0091] FIG2 is a schematic diagram of a solar tracking device according to a first embodiment of the present application.

[0092] FIG3 is a side view of FIG2 .

[0093] FIG. 4 is a cross-sectional view of FIG. 3 .

[0094] FIG5 is a schematic diagram comparing the stable states of the solar tracking device under three different settings.

[0095] FIG6 is a schematic diagram of two different movement positions of the solar tracking device in the tracking mode according to the first embodiment of the present application.

[0096] FIG7 is a schematic diagram of the solar tracking device according to the first embodiment of the present application performing a storage preparation process.

[0097] 8 to 10 schematically illustrate three possible configurations of the driving mechanism of the solar tracking device according to the first embodiment of the present application.

[0098] FIG11 is a schematic diagram of a solar tracking device according to a second embodiment of the present application.

[0099] 12 and 13 are schematic diagrams of a solar tracking device according to a second embodiment of the present application at two different viewing angles.

[0100] FIG14 is a schematic diagram of FIG12 cut away along the axial direction.

[0101] FIG. 15 is a schematic diagram of FIG. 12 cut along a plane perpendicular to the second rotation axis S2 .

[0102] FIG16 is a schematic diagram of a solar tracking device according to a third embodiment of the present application.

[0103] FIG17 is a schematic diagram of a solar tracking device according to a third embodiment of the present application.

[0104] FIG18 is a cross-sectional view of FIG17 .

[0105] FIG19 is a schematic diagram of a solar tracking device according to a fourth embodiment of the present application.

[0106] FIG20 is a schematic diagram of a partial structure of a solar tracking device according to a fourth embodiment of the present application.

[0107] 21 and 22 are cross-sectional views of a partial structure of a solar tracking device according to a fourth embodiment of the present application at two different viewing angles.

[0108] FIG23 is a schematic diagram of a solar tracking system according to a first embodiment of the present application.

[0109] FIG24 is a schematic diagram of a partial structure of a solar tracking system according to the first embodiment of the present application.

[0110] 25 and 26 are schematic diagrams of two variations of the solar tracking system according to the first embodiment of the present application.

[0111] FIG27 is a schematic diagram of a partial structure of a solar tracking system according to a second embodiment of the present application.

[0112] Description of reference numerals:

[0113] D solar tracking device; 10 base;

[0114] 20 first arm; 21 first arm first joint; 22 first arm second joint; 23 first arm extension;

[0115] 30 second arm; 31 second arm first joint; 32 second arm second joint; 33 second arm extension;

[0116] 40 supporting frame; 41 root portion; 42 skeleton portion;

[0117] 50 photovoltaic panels; S1 first rotating shaft; S2 second rotating shaft; S3 third rotating shaft; S4 fourth rotating shaft;

[0118] M motor; M1 first motor; M2 second motor;

[0119] L1 first linkage component; L2 second linkage component;

[0120] LF guide frame; LF1 guide frame fixed part; LF2 guide frame movable part. DETAILED DESCRIPTION

[0121] The following describes exemplary embodiments of the present application with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present application, and are not intended to exhaust all possible embodiments of the present application, nor to limit the scope of the present application.

[0122] First embodiment of the solar tracking device

[0123] First, referring to FIG. 2 to FIG. 10 , a solar tracking device D and a method of using the same according to a first embodiment of the present application are introduced.

[0124] The solar tracking device D of this embodiment includes a base 10 , a first arm 20 , a second arm 30 , a support frame 40 and a photovoltaic panel 50 .

[0125] The base 10 in this embodiment is in the shape of a column, and preferably, the base 10 is fixed perpendicularly to the horizontal plane to the ground or the surface of a building, etc. It should be understood that in other possible embodiments, the base 10 can also be formed in other shapes to adapt to the installation environment.

[0126] The first arm 20 is mounted on the base 10 so as to be rotatable around the first rotation axis S1 relative to the base 10; the second arm 30 is mounted on the first arm 20 so as to be rotatable around the second rotation axis S2 relative to the first arm 20; the support frame 40 is mounted on the second arm 30 so as to be rotatable around the third rotation axis S3 relative to the second arm 30 (it is worth noting that the rotation mentioned here is relative. If the base 10 is used as a fixed reference object, during the operation of the solar tracking device D, the support frame 40 will not rotate around the third rotation axis S3, but the second arm 30 will rotate relative to the support frame 40); the photovoltaic panel 50 is fixed to the support frame 40.

[0127] Specifically, in this embodiment, the first arm 20 includes a first-arm first joint portion 21, a first-arm second joint portion 22, and a first-arm extension portion 23 connecting them. The first-arm first joint portion 21 and the first-arm second joint portion 22 are both hollow cylindrical, and the central axes of the two cylindrical portions form a certain angle (angle α will be further described below), so that the first arm 20 as a whole is formed into a bent arm shape.

[0128] The second arm 30 includes a first joint portion 31, a second joint portion 32, and a second arm extension portion 33 connecting the first joint portion 31 and the second joint portion 32. The first joint portion 31 and the second joint portion 32 are both hollow cylindrical, and the central axes of the two cylindrical portions form a certain angle (angle α will be further described below), so that the second arm 30 as a whole is formed into a bent arm shape.

[0129] It should be understood that the present application does not limit the specific shapes of the first arm first joint portion 21, the first arm second joint portion 22, the second arm first joint portion 31 and the second arm second joint portion 32. In other possible embodiments, they may not be hollow structures.

[0130] The support frame 40 includes a root portion 41 and a frame portion 42 that are fixedly connected to each other. The frame portion 42 is in the shape of a partition plate, and the root portion 41 is in the shape of a short column. The root portion 41 is connected to a substantially middle area of ​​the frame portion 42.

[0131] The first joint portion 21 of the first arm surrounds the outer periphery of the base 10, with a bearing provided therebetween; the second joint portion 22 of the first arm surrounds the outer periphery of the second joint portion 32 of the second arm, with a bearing provided therebetween; the first joint portion 31 of the second arm surrounds the outer periphery of the root portion 41 of the support frame 40, with a bearing provided therebetween.

[0132] The angle between the second rotation axis S2 and the third rotation axis S3 is α, 0°<α<45°. Preferably, 20°<α<40°. In this embodiment, α is approximately equal to 30°, so that the photovoltaic panel 50 can rotate within the range of ±60°. The fourth rotation axis S4 is perpendicular to the first rotation axis S1 (or the third rotation axis S3). The third rotation axis S3, the second rotation axis S2 and the fourth rotation axis S4 intersect at the virtual rotation center O. When the support frame 40 moves to be parallel to the horizontal plane, the first rotation axis S1 and the third rotation axis S3 are collinear.

[0133] Combined with the content of patent application PCT / CN2023 / 110859, it can be seen that the base 10, first arm 20, second arm 30, and support frame 40 form a non-orthogonal universal joint. In theory, this allows the support frame 40 (or photovoltaic panel 50) to move within a range of -2α and +2α relative to the first rotation axis S1 on a virtual sphere around a virtual rotation center O. It is worth noting that, depending on the needs of use, the method for using the solar tracking device D described below will only provide the support frame 40 with the degree of freedom of rotation around the fourth rotation axis S4 within a range of -2α and +2α. That is, according to the method for using the solar tracking device D described below, the support frame 40 in Figure 3 will rotate around the fourth rotation axis S4 within a range of -2α and +2α in the inward and outward directions of the paper.

[0134] The above-mentioned non-orthogonal universal joint is located entirely below the photovoltaic panel 50 , and can provide a large swing range for the photovoltaic panel 50 without blocking the light-facing surface of the photovoltaic panel 50 .

[0135] As can be seen from FIG3 , with the vertical direction as a reference, the fourth rotation axis S4 is located above the support frame 40 (or photovoltaic panel 50 ), which makes the support frame 40 unexpectedly stable during rotation. This will be explained below with reference to FIG5 .

[0136] Figure 5 shows three situations: situation (i) corresponds to the situation in which the fourth rotation axis S4 in this embodiment is located above the support frame 40 (or photovoltaic panel 50); situation (ii) corresponds to the situation in which the rotation axis S is located below the photovoltaic panel 50; and situation (iii) corresponds to the situation in which the rotation axis S passes through the photovoltaic panel 50. Among them, situations (ii) and (iii) are commonly used solutions in the prior art.

[0137] From the perspective of whether the system is stable and balanced, assuming that the original state (or equilibrium state) of the photovoltaic panel 50 is horizontal, interference factors such as airflow disturbances can cause the photovoltaic panel 50 to rotate around the rotation axis and deviate from the original equilibrium state. The shaded arrows in Figure 5 indicate the direction of the airflow, and the dotted lines indicate the possible deflection states of the photovoltaic panel under the influence of the airflow. In case (i), the center of gravity of the photovoltaic panel 50 is lower than the fourth rotation axis S4. After deviating from the equilibrium state, the photovoltaic panel 50 tends to try to restore the original equilibrium state. Therefore, the solution corresponding to case (i) is considered to be a stable system. In case (ii), the center of gravity of the photovoltaic panel 50 is higher than the rotation axis S. After deviating from the original equilibrium state, the photovoltaic panel 50 cannot restore the original equilibrium state without external force. Therefore, the solution corresponding to case (ii) is considered to provide an unstable system. In case (iii), the center of gravity of the photovoltaic panel 50 is located at the rotation axis S. The photovoltaic panel 50 is in a state of random equilibrium. Therefore, the solution corresponding to case (iii) is considered to provide a neutral equilibrium system.

[0138] In summary, the center of gravity of the support frame 40 (or photovoltaic panel 50) of the solar tracking device D according to the present application is lower than the fourth rotation axis S4, making the solar tracking device D a stable system with high reliability and not easily disrupted by interference such as airflow disturbances.

[0139] Next, the method of using the solar tracking device D according to this embodiment will be described with reference to Figures 6 and 7. The method of using the solar tracking device D includes a tracking mode and a storage mode.

[0140] FIG6 illustrates the operating state of the solar tracking device D in tracking mode. In FIG6 , condition (i) is when the support frame 40 (or photovoltaic panel 50) is horizontal, and condition (ii) is when the support frame 40 (or photovoltaic panel 50) is at its maximum deflection angle. For example, the rotation angle of the photovoltaic panel 50 is assumed to be +60°.

[0141] The tracking mode of the solar tracking device D is defined as the swinging of the support frame 40 around the fourth rotation axis S4 between the maximum deflection angles (corresponding to -60° and +60° in this embodiment). Generally, the solar tracking device D performs tracking mode to follow the sun's angle of illumination to maximize solar energy capture efficiency. In tracking mode, the first arm 20 rotates relative to the base 10 at a first speed V1, and the second arm 30 rotates relative to the support frame 40 at a second speed V2. The first speed V1 and the second speed V2 are equal, with one of the first speed V1 and the second speed V2 being clockwise and the other counterclockwise.

[0142] In environments with severe airflow, for example, the solar tracking device D operates in a stowed mode, securing the support frame 40 at an angle perpendicular to the first rotation axis S1, typically parallel to the horizontal plane. Even in strong airflow (the shaded arrows in FIG. 7 indicate the direction of the airflow), the support frame 40 remains in the stowed position.

[0143] FIG7 shows a process of the solar tracking device D switching to the storage mode. This process, ie, the process of the solar tracking device D switching from the non-storage mode to the storage mode, is hereinafter referred to as the storage preparation process.

[0144] In Figure 7, situation (i) is the non-storage mode, while situation (ii) is the storage mode. The main difference between these two modes lies in the angle β between the second rotation axis S2 and the fourth rotation axis S4. In situation (i), the angle β is not a right angle, while in situation (ii), the angle β is a right angle (it should be understood that this is an angle in three-dimensional space, not an angle on the paper).

[0145] In the stowed mode, the first rotation axis S1 and the third rotation axis S3 are collinear. The position of the solar tracking device D in the stowed mode corresponding to situation (ii) is also called a singularity. At this position, the support frame 40 cannot rotate about the fourth rotation axis S4, thereby braking the support frame 40 without the need for additional braking devices.

[0146] Regarding the aforementioned storage preparation process, first (if support frame 40 is previously at a certain angle to the horizontal plane), the solar tracking device D must be moved in tracking mode until the support frame 40 is horizontal, or in other words, the first rotation axis S1 and the third rotation axis S3 are collinear. Next, referring to situation (i) in Figure 7 , the first arm 20 is rotated relative to the base 10 at a third speed V3, and the second arm 30 is rotated relative to the support frame 40 at a fourth speed V4, with the third speed V3 and the fourth speed V4 being equal and both in a clockwise or counterclockwise direction, until the angle β between the second rotation axis S2 and the fourth rotation axis S4 forms a right angle.

[0147] Next, the actuation mechanism of the solar tracking device D according to this embodiment will be described with reference to Figures 8 to 10 . The actuation mechanism includes a first actuation mechanism A1 and a second actuation mechanism A2. First actuation mechanism A1 includes a first motor M1 and a first gear assembly G10, while second actuation mechanism A2 includes a second motor M2 and a second gear assembly G20.

[0148] FIG8 provides a first possible configuration for the actuator mechanism. In this configuration, the first actuator mechanism A1 is used to drive the first arm 20 to rotate relative to the base 10, and the second actuator mechanism A2 is used to drive the second arm 30 to rotate relative to the support frame 40. The stator of the first motor M1 is fixed to the base 10, the input end of the first gear assembly G10 is connected to the rotor of the first motor M1 in a torsionally fixed manner (i.e., they cannot rotate relative to each other), and the output end of the first gear assembly G10 is connected to the first arm 20 in a torsionally fixed manner. The stator of the second motor M2 is fixed to the support frame 40, the input end of the second gear assembly G20 is connected to the rotor of the second motor M2 in a torsionally fixed manner, and the output end of the second gear assembly G20 is connected to the second arm 30 in a torsionally fixed manner.

[0149] Figure 9 provides a second possible actuation mechanism configuration. In this configuration, the first actuation mechanism A1 is used to drive the first arm 20 to rotate relative to the base 10, and the second actuation mechanism A2 is used to drive the second arm 30 to rotate relative to the first arm 20. The stator of the first motor M1 is fixed to the base 10, the input end of the first gear assembly G10 is non-rotationally connected to the rotor of the first motor M1, and the output end of the first gear assembly G10 is non-rotationally connected to the first arm 20. The stator of the second motor M2 is fixed to the first arm 20, the input end of the second gear assembly G20 is non-rotationally connected to the rotor of the second motor M2, and the output end of the second gear assembly G20 is non-rotationally connected to the second arm 30.

[0150] Figure 10 provides a third possible actuation mechanism configuration. In this configuration, the first actuation mechanism A1 is used to drive the second arm 30 to rotate relative to the first arm 20, and the second actuation mechanism A2 is used to drive the second arm 30 to rotate relative to the support frame 40. The stator of the first motor M1 is fixed to the first arm 20, the input end of the first gear assembly G10 is non-rotationally connected to the rotor of the first motor M1, and the output end of the first gear assembly G10 is non-rotationally connected to the second arm 30. The stator of the second motor M2 is fixed to the support frame 40, the input end of the second gear assembly G20 is non-rotationally connected to the rotor of the second motor M2, and the output end of the second gear assembly G20 is non-rotationally connected to the second arm 30.

[0151] Second embodiment of the solar tracking device

[0152] 11 to 15 , a solar tracking device D and a method of using the same according to a second embodiment of the present application are described.

[0153] This embodiment is a variation of the first embodiment. The main difference between this embodiment and the first embodiment is that there is only one motor in the actuating mechanism of this embodiment, and the solar tracking device D can only execute the tracking mode, but not the storage mode like the first embodiment.

[0154] 11 , the actuator mechanism includes a motor M, a first gear assembly G10, a second gear assembly G20, and a third gear assembly G30. The motor M can simultaneously drive the first gear assembly G10 and the second gear assembly G20 to rotate, and transmit the reverse rotation to the first arm 20 and the second arm 30, respectively.

[0155] 12 to 15 , the first gear assembly G10 includes a first tooth portion G1 and a second tooth portion G2 , the second gear assembly G20 includes a first tooth portion G1 and a third tooth portion G3 , and the third gear assembly G30 includes a fourth tooth portion G4 and a fifth tooth portion G5 .

[0156] The first toothing G1 is an external toothing of a pinion. The rotor of the electric motor M is connected to the first toothing G1 in a rotationally fixed manner.

[0157] The second toothing G2 is an external toothing of a gear which is connected to the second arm 30 in a rotationally fixed manner, or the second toothing G2 is a part of the second arm 30 .

[0158] The third tooth portion G3 and the fourth tooth portion G4 are inner and outer teeth provided on the same annular member. The annular member is coaxially mounted on the first arm 20 and rotatably relative to the first arm second joint 22 .

[0159] The first tooth section G1 is disposed in the annular space between the second tooth section G2 and the third tooth section G3, and both the second tooth section G2 and the third tooth section G3 mesh with the first tooth section G1. Thus, the rotation of the first tooth section G1 transmits opposite rotation to the second tooth section G2 and the third tooth section G3, respectively.

[0160] The fifth toothing G5 is an external toothing of a gear which is connected to the base 10 in a rotationally fixed manner, or the fifth toothing G5 is a part of the base 10 .

[0161] The fourth tooth portion G4 and the fifth tooth portion G5 are both umbrella-shaped (or conical) tooth portions, the included angle between the central axes of the fourth tooth portion G4 and the fifth tooth portion G5 is α, and the fourth tooth portion G4 and the fifth tooth portion G5 are meshed.

[0162] When the motor M is working, the rotor of the motor M rotates, the first arm 20 rotates at a first speed V1 relative to the base 10, and the second arm 30 rotates at a second speed V2 relative to the support frame 40. The first speed V1 and the second speed V2 are equal, and one of the first speed V1 and the second speed V2 is in a clockwise direction and the other is in a counterclockwise direction. The solar tracking device D executes the tracking mode.

[0163] Third embodiment of the solar tracking device

[0164] 16 to 18 , a solar tracking device D and a method of using the same according to a third embodiment of the present application are described.

[0165] This embodiment is a variation of the second embodiment. The main difference between this embodiment and the second embodiment is that there are two motors in the actuating mechanism of this embodiment, and the solar tracking device D can execute a tracking mode and a storage mode.

[0166] 16 , the actuating mechanism includes a first motor M1 , a second motor M2 , a first gear assembly G10 , a second gear assembly G20 , a third gear assembly G30 , and a fourth gear assembly G40 .

[0167] Specifically, referring to Figures 17 and 18, the first gear assembly G10 includes a first tooth section G1 and a second tooth section G2, the second gear assembly G20 includes a first tooth section G1 and a third tooth section G3, the third gear assembly G30 includes a fourth tooth section G4 and a fifth tooth section G5, and the fourth gear assembly G40 includes a sixth tooth section G6 and a seventh tooth section G7. The stator of the first motor M1 is fixed to the base 10, and the rotor of the first motor M1 is connected to the sixth tooth section G6 in a torsionally fixed manner. The stator of the second motor M2 is fixed to the first arm 20, and the rotor of the second motor M2 is connected to the first tooth section G1 in a torsionally fixed manner.

[0168] The first tooth portion G1 is an outer tooth portion of a pinion gear. The sixth tooth portion G6 is an outer tooth portion of a pinion gear.

[0169] The second toothing G2 is an external toothing of a gear which is connected to the second arm 30 in a rotationally fixed manner, or the second toothing G2 is a part of the second arm 30 .

[0170] The third tooth portion G3 and the fourth tooth portion G4 are inner and outer teeth provided on the same annular member. The annular member is coaxially mounted on the first arm 20 and rotatably relative to the first arm second joint 22 .

[0171] The first tooth section G1 is disposed in the annular space between the second tooth section G2 and the third tooth section G3, and both the second tooth section G2 and the third tooth section G3 mesh with the first tooth section G1. Thus, the rotation of the first tooth section G1 transmits opposite rotation to the second tooth section G2 and the third tooth section G3, respectively.

[0172] The fifth tooth portion G5 and the seventh tooth portion G7 are respectively the outer tooth portion and the inner tooth portion of a gear. The gear is sleeved outside the base 10 and is coaxially connected to the base and can rotate relative to it.

[0173] The fourth tooth portion G4 and the fifth tooth portion G5 are both umbrella-shaped tooth portions. The included angle between the central axes of the fourth tooth portion G4 and the fifth tooth portion G5 is α, and the fourth tooth portion G4 and the fifth tooth portion G5 are meshed.

[0174] The sixth tooth portion G6 meshes with the seventh tooth portion G7.

[0175] In tracking mode, the first motor M1 is turned off and the second motor M2 is turned on. Since the first motor M1 is turned off, the fifth gear G5 cannot rotate relative to the base 10. Therefore, the fifth gear G5 in this embodiment is equivalent to the fifth gear G5 in the second embodiment. Therefore, the second motor M2 also operates equivalently to the motor M in the second embodiment, thus enabling the solar tracking device D to operate in tracking mode.

[0176] In storage mode, the first motor M1 is on and the second motor M2 is off. Since the second motor M2 is off, the first arm 20 and the second arm 30 cannot rotate relative to each other. At this time, the first motor M1 can only drive the first and second arms 20 and 30 to rotate synchronously about the first rotation axis S1 (or third rotation axis S3) when the first rotation axis S1 and the third rotation axis S3 are collinear. In other words, the storage preparation process is executed until the second rotation axis S2 rotates to be perpendicular to the fourth rotation axis S4.

[0177] Fourth embodiment of the solar tracking device

[0178] 19 to 22 , a solar tracking device D and a method of using the same according to a fourth embodiment of the present application are described.

[0179] This embodiment is a variation of the second and third embodiments. The actuating mechanism of this embodiment has one motor. However, by properly using the clutch C, the solar tracking device D according to this embodiment can execute both the tracking mode and the storage mode.

[0180] 19 , the actuating mechanism includes a motor M, a first gear assembly G10 , a second gear assembly G20 , a third gear assembly G30 , a fourth gear assembly G40 , and a clutch C.

[0181] 20 to 22 , the first gear assembly G10 includes a first tooth portion G1 and a second tooth portion G2 , the second gear assembly G20 includes a first tooth portion G1 and a third tooth portion G3 , and the third gear assembly G30 includes a fourth tooth portion G4 and a fifth tooth portion G5 .

[0182] A main body C0 of the clutch C is fixed to a base 10 .

[0183] The motor M and the fourth gear assembly G40 are not shown in Figures 20 to 22. The motor M is used to drive the second arm 30 to rotate about the third rotation axis S3 relative to the support frame 40. The fourth gear assembly G40 is used to transmit the torque of the motor M to the second arm 30. This application does not limit the specific arrangement of the motor M and the fourth gear assembly G40. For example, the stator of the motor M is fixed to the root 41 of the support frame 40, the rotor of the motor M is connected to the fourth gear assembly G40, and the fourth gear assembly G40 is also connected to the first joint portion 31 of the second arm.

[0184] The first tooth portion G1 is the outer tooth portion of a pinion and is rotatably mounted on the first arm 20. It is worth noting that, for various reasons, the first tooth portion G1 shown in this embodiment has a relatively large axial dimension overall, but this is not a requirement. Furthermore, it should be noted that the first tooth portion G1 shown in the figure is not connected to the motor.

[0185] The second toothing G2 is an external toothing of a gear which is connected to the second arm 30 in a rotationally fixed manner, or the second toothing G2 is a part of the second arm 30 .

[0186] The third tooth portion G3 and the fourth tooth portion G4 are the inner tooth portion and the outer tooth portion provided on the same annular member. The annular member is coaxial with the first arm second joint portion 22 and is mounted on the first arm 20 so as to be rotatable relative to the first arm second joint portion 22.

[0187] The first tooth section G1 is disposed in the annular space between the second tooth section G2 and the third tooth section G3, and both the second tooth section G2 and the third tooth section G3 mesh with the first tooth section G1. Thus, the rotation of the first tooth section G1 transmits opposite rotation to the second tooth section G2 and the third tooth section G3, respectively.

[0188] The fifth tooth portion G5 is an outer tooth portion of a gear, which is sleeved outside the base 10 and is coaxially connected to the base and can rotate relative to it.

[0189] The fourth tooth portion G4 and the fifth tooth portion G5 are both umbrella-shaped tooth portions. The included angle between the central axes of the fourth tooth portion G4 and the fifth tooth portion G5 is α, and the fourth tooth portion G4 and the fifth tooth portion G5 are meshed.

[0190] Next, it will be described how the clutch C helps the solar tracking device D of this embodiment to switch between the tracking mode and the storage mode.

[0191] The clutch C in this embodiment includes a main body C0 and a pin (not shown in the figure). The main body C0 is formed with a main body connecting portion C1, which in this embodiment is a blind hole. The disc-shaped main body of the fifth tooth portion G5 is formed with a second connecting portion C2, which in this embodiment is a through hole. The pin can pass through the second connecting portion C2 and be inserted into the main body connecting portion C1, thereby connecting the fifth tooth portion G5 to the main body C0 in a torsionally fixed manner. This connection state is referred to as the closed state of the clutch; the pin can also be disengaged from at least one of the second connecting portion C2 and the main body connecting portion C1, so that the fifth tooth portion G5 can rotate relative to the main body C0. This state is referred to as the open state of the clutch.

[0192] The present application does not limit the specific structure of the clutch C and the method of opening and closing the clutch. For example, in other possible embodiments, the opening and closing of the clutch C can also be achieved by electromagnetic force; for example, the clutch C can be a two-plate type, and torque transmission is achieved through, for example, friction between the plate-like coupling parts.

[0193] When the clutch is closed, the fifth tooth section G5 cannot rotate relative to the base 10. In this case, the motor is activated, causing the second arm 30 to rotate relative to the support frame 40 in the first direction. Simultaneously, torque is transmitted to the first arm 20 via the second tooth section G2, the first tooth section G1, and the third tooth section G3, enabling the first arm 20 to rotate relative to the base 10. The meshing relationship between the tooth sections enables the first arm 20 to rotate relative to the base 10 in the second direction, one of which is clockwise and the other counterclockwise. Consequently, in this case, the solar tracking device D is in tracking mode.

[0194] When the clutch is in the open state, the fifth tooth portion G5 can rotate relative to the base 10. It is worth noting that in order to execute the storage mode, before the clutch is opened, the first rotating shaft S1 and the third rotating shaft S3 must first be adjusted to be collinear. If the above two conditions are met, namely (1) the clutch is open and (2) the first rotating shaft S1 and the third rotating shaft S3 are in the collinear position, the storage preparation process can be executed.

[0195] During storage preparation, the motor drives the second arm 30 and the first arm 20 to rotate in the same direction until the second rotation axis S2 is perpendicular to the fourth rotation axis S4. After that, the motor is turned off and the solar tracking device D enters the storage mode.

[0196] Optionally, the main body C0 may have multiple main body connection portions C1, at least one of which is used to insert a pin and enable the solar tracking device D to enter tracking mode. At least another main body connection portion C1 is located at the position corresponding to the second connection portion C2 after the storage preparation process is completed. Therefore, after the storage preparation process is completed, the clutch can be closed again to increase system stability.

[0197] Fifth embodiment of the solar tracking device

[0198] This embodiment is a variation of the first, third, or fourth embodiments. The solar tracking device D according to this embodiment cannot actively execute tracking mode, or in other words, it does not have an actuator for driving the rotation of the first arm or the second arm in tracking mode. The solar tracking device D according to this embodiment must operate in conjunction with another solar tracking device D' that has active tracking functionality, for example, see the description of the third embodiment of the solar tracking system below. The solar tracking device D in this embodiment is primarily used to provide braking force within the system, or to maintain its stable stowed state in stowed mode.

[0199] The solar tracking device D of this embodiment only has an actuator A3 for executing the storage preparation process, so that when the system needs to execute the actuation mode, the actuator A3 can drive the first arm and the second arm of the solar tracking device D to rotate to the singular point position.

[0200] First embodiment of the solar tracking system

[0201] 23 to 26 , a solar tracking system and a method of using the same according to a first embodiment of the present application are described.

[0202] The solar tracking system of this embodiment includes multiple variations. The first variation will be described first with reference to Figures 23 and 24 . This solar tracking system includes multiple solar tracking devices D (two in the figure), a first linkage assembly L1, and a second linkage assembly L2. Multiple solar tracking devices D share a common support frame 40. The two linkage assemblies are used to provide driving force to the first arm 20 and the second arm 30, respectively. This driving force is uniformly transmitted to the multiple solar tracking devices D via the linkage assemblies.

[0203] The first linkage assembly L1 includes a first linkage rod LR1 and a plurality of first linkage gear sets LG1. The first linkage rod LR1 is in the shape of a long rod and extends parallel to the fourth rotating shaft S4. One end (also called the input end) of each first linkage gear set LG1 is connected to the first linkage rod LR1 in a torsion-proof manner, and the other end (also called the output end) is connected to the first arm 20 in a torsion-proof manner. For example, referring to Figure 24, the input end and the output end of the first linkage gear set LG1 are the teeth of two bevel gears. Similarly, the second linkage assembly L2 includes a second linkage rod LR2 and a plurality of second linkage gear sets LG2. The second linkage rod LR2 is in the shape of a long rod and extends parallel to the fourth rotating shaft S4. One end (also called the input end) of each second linkage gear set LG2 is connected to the second linkage rod LR2 in a torsion-proof manner, and the other end (also called the output end) is connected to the second arm 30 in a torsion-proof manner. For example, referring to Figure 24, the input end and the output end of the second linkage gear set LG2 are the teeth of two bevel gears.

[0204] It should be understood that the present application does not limit the specific structures of the first linkage gear set LG1 and the second linkage gear set LG2, and the linkage gear set referred to in the present application also includes the transmission form of worm gear.

[0205] The first linkage rod LR1 and the second linkage rod LR2 can both rotate around their own axes, for example, by being driven to rotate by a motor, so that the first arm 20 and the second arm 30 of each solar tracking device D can rotate in a controlled manner.

[0206] In the variation shown in FIG23 , a support frame 40 shared by multiple solar tracking devices D includes only one frame portion 42. In another variation shown in FIG25 , a support frame 40 shared by multiple solar tracking devices D includes multiple spaced-apart frame portions 42. This application does not limit the specific configuration of the support frame 40.

[0207] Figure 26 shows another variation of the solar tracking system of this embodiment, in which the first linkage assembly L1 includes a first linkage rod LR1 and a plurality of first linkage support rods LB1. The first linkage rod LR1 is in the shape of an elongated rod and extends parallel to the fourth rotation axis S4. One end (also called the input end) of each first linkage support rod LB1 is rotatably connected to the first linkage rod LR1, and the other end (also called the output end) is torsionally connected to the first arm 20. For example, the input end of the first linkage support rod LB1 is hinged to the first linkage rod LR1, while the output end of the first linkage support rod LB1 is fixedly connected to the first arm 20. Similarly, the second linkage assembly L2 includes a second linkage rod LR2 and a plurality of second linkage support rods LB2. The second linkage rod LR2 is in the shape of an elongated rod and extends parallel to the fourth rotation axis S4. One end (also called the input end) of each second linkage support rod LB2 is rotatably connected to the second linkage rod LR2, and the other end (also called the output end) is torsionally connected to the second arm 30.

[0208] The first linkage rod LR1 and the second linkage rod LR2 can both reciprocate along their respective axes, for example, by being driven by a linear motor. The first linkage support rod LB1 and the second linkage support rod LB2 can convert the linear motion of the linkage rods into rotational motion of the first arm 20 and the second arm 30, thereby enabling controlled rotation of the first arm 20 and the second arm 30 of each solar tracking device D.

[0209] Second embodiment of the solar tracking system

[0210] 27 , a solar tracking system and a method of using the same according to a second embodiment of the present application will be described.

[0211] The solar tracking system of this embodiment includes at least one solar tracking device D and at least one guide frame LF.

[0212] The guide frame LF includes a fixed portion LF1 and a movable portion LF2. The fixed portion LF1 is fixed relative to the base 10 of the solar tracking device D, for example, both the fixed portion LF1 and the base 10 are fixed to the ground. The movable portion LF2 is fixedly connected to the support frame 40.

[0213] The movable guide frame portion LF2 is movable relative to the fixed guide frame portion LF1 along a circular arc, the plane of the circular arc being perpendicular to the fourth rotation axis S4, and the fourth rotation axis S4 passing through the center of the circular arc. For example, the movable guide frame portion LF2 may be formed with an arc-shaped track, and the fixed guide frame portion LF1 may include sliding members (e.g., two small rollers) that engage the track. This application does not limit the specific structures of the fixed guide frame portion LF1 and the movable guide frame portion LF2.

[0214] During the operation of the driving device of the solar tracking device D, the support frame 40 is driven to swing, and the guide frame LF supports and guides the support frame 40 .

[0215] Third embodiment of the solar tracking system

[0216] This embodiment expands upon the fifth embodiment of the solar tracking device described above. The solar tracking system according to this embodiment includes at least one solar tracking device D' (also referred to as a first solar tracking device) capable of actively tracking, and at least one solar tracking device D described in the fifth embodiment (a second solar tracking device). Solar tracking device D' is fixedly connected to the support frame of solar tracking device D, or in other words, solar tracking device D' and solar tracking device D share the same support frame.

[0217] The solar tracking device D' can be any device in the prior art that can actively drive the support frame to rotate, and this application will not elaborate on it here.

[0218] In the tracking mode, the tracking mode drive mechanism of the first solar tracking device D' drives the support frame to rotate. The components of the second solar tracking device D only move in a follow-up manner, and the storage mode drive mechanism of the second solar tracking device D does not work.

[0219] Before the storage preparation process is performed, the tracking mode driving mechanism included in the first solar tracking device D' drives the support frame back to a horizontal state.

[0220] During the stowage preparation process, the tracking mode drive mechanism of the first solar tracking device D' stops operating, while the stowage mode drive mechanism of the second solar tracking device D activates, causing the first and second arms of the second solar tracking device D to move to the singular point position. The system then enters stowage mode.

[0221] The solar tracking system according to this embodiment can fully utilize the advantages of the solar tracking device D of the present application without changing or making excessive changes to the existing first solar tracking device D', so that the storage mode of the system has higher reliability.

[0222] It should be understood that the above-mentioned embodiments and some aspects or features thereof may be appropriately combined.

[0223] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present application. Those skilled in the art may, under the guidance of the present application, make various modifications and alterations to the above embodiments without departing from the scope of the present application. For example:

[0224] (i) The solar tracking device D may include a photovoltaic panel 50 ; however, in certain commercial applications, the solar tracking device D may not include the photovoltaic panel 50 , but rather the photovoltaic panel 50 may be provided by an intermediate consumer, for example.

[0225] (ii) The first speed V1 and the third speed V3 mentioned above may be equal or unequal in magnitude.

Claims

1. A solar tracking device comprising a base (10), a first arm (20), a second arm (30) and a support frame (40), characterized in that: The first arm (20) is capable of rotating relative to the base (10) around a first rotation axis (S1), the second arm (30) is capable of rotating relative to the first arm (20) around a second rotation axis (S2), the support frame (40) is capable of rotating relative to the second arm (30) around the third rotation axis (S3), and the support frame (40) is used to install a photovoltaic panel (50). The included angle between the second rotating shaft (S2) and the third rotating shaft (S3) is α, 0°<α<45°, When the first arm (20) rotates relative to the base (10) and the second arm (30) rotates relative to the first arm (20), the support frame (40) can rotate around a fourth rotation axis (S4) relative to the base (10), the fourth rotation axis (S4) is perpendicular to the first rotation axis (S1), and the second rotation axis (S2), the third rotation axis (S3) and the fourth rotation axis (S4) intersect at the same point.

2. The solar tracking device according to claim 1, characterized in that: The support frame (40) is arranged above the base (10), and the fourth rotating shaft (S4) is located above the support frame (40).

3. The solar tracking device according to claim 1, characterized in that: 20°<α<40°, and preferably, α is substantially equal to 30°.

4. The solar tracking device according to any one of claims 1 to 3, characterized in that: The solar tracking device further comprises a first actuating mechanism (A1) and a second actuating mechanism (A2); The first actuating mechanism (A1) is used to drive the first arm (20) to rotate relative to the base (10), and the second actuating mechanism (A2) is used to drive the second arm (30) to rotate relative to the support frame (40), or The first actuating mechanism (A1) is used to drive the first arm (20) to rotate relative to the base (10), and the second actuating mechanism (A2) is used to drive the second arm (30) to rotate relative to the first arm (20), or The first actuating mechanism (A1) is used to drive the second arm (30) to rotate relative to the first arm (20), and the second actuating mechanism (A2) is used to drive the second arm (30) to rotate relative to the supporting frame (40).

5. The solar tracking device according to claim 4, characterized in that: The first actuating mechanism (A1) includes a first motor (M1) and a first gear assembly (G10), and the second actuating mechanism (A2) includes a second motor (M2) and a second gear assembly (G20); In the case where the first actuating mechanism (A1) is used to drive the first arm (20) to rotate relative to the base (10), and the second actuating mechanism (A2) is used to drive the support frame (40) to rotate relative to the second arm (30), The stator of the first motor (M1) is fixed to the base (10), the input end of the first gear assembly (G10) is connected to the rotor of the first motor (M1) in a non-rotatable manner, the output end of the first gear assembly (G10) is connected to the first arm (20) in a non-rotatable manner, the stator of the second motor (M2) is fixed to the support frame (40), the input end of the second gear assembly (G20) is connected to the rotor of the second motor (M2) in a non-rotatable manner, and the output end of the second gear assembly (G20) is connected to the second arm (30) in a non-rotatable manner; In the case where the first actuating mechanism (A1) is used to drive the first arm (20) to rotate relative to the base (10), and the second actuating mechanism (A2) is used to drive the second arm (30) to rotate relative to the first arm (20), The stator of the first motor (M1) is fixed to the base (10), the input end of the first gear assembly (G10) is connected to the rotor of the first motor (M1) in a non-rotatable manner, the output end of the first gear assembly (G10) is connected to the first arm (20) in a non-rotatable manner, the stator of the second motor (M2) is fixed to the first arm (20), the input end of the second gear assembly (G20) is connected to the rotor of the second motor (M2) in a non-rotatable manner, and the output end of the second gear assembly (G20) is connected to the second arm (30) in a non-rotatable manner; In the case where the first actuating mechanism (A1) is used to drive the second arm (30) to rotate relative to the first arm (20), and the second actuating mechanism (A2) is used to drive the support frame (40) to rotate relative to the second arm (30), The stator of the first motor (M1) is fixed to the first arm (20), the input end of the first gear assembly (G10) is connected to the rotor of the first motor (M1) in a non-rotatable manner, the output end of the first gear assembly (G10) is connected to the second arm (30) in a non-rotatable manner, the stator of the second motor (M2) is fixed to the support frame (40), the input end of the second gear assembly (G20) is connected to the rotor of the second motor (M2) in a non-rotatable manner, and the output end of the second gear assembly (G20) is connected to the second arm (30) in a non-rotatable manner.

6. The solar tracking device according to any one of claims 1 to 3, characterized in that: The solar tracking device further includes an actuating mechanism comprising a power source and a gear assembly. The power is derived from driving the first arm (20) to rotate relative to the base (10), and driving the second arm (30) to rotate relative to the first arm (20). The gear assembly is used to make the magnitude of the rotation speed of the first arm (20) relative to the base (10) equal to the magnitude of the rotation speed of the second arm (30) relative to the The magnitude of the rotation speed of the first arm (20).

7. The solar tracking device according to claim 6, characterized in that: The power source includes a motor (M), the gear assembly includes a first gear portion (G1), a second gear portion (G2), a third gear portion (G3), a fourth gear portion (G4) and a fifth gear portion (G5), The stator of the motor (M) is fixed to the first arm (20), and the rotor of the motor (M) is connected to the first tooth portion (G1) in a non-rotatable manner. The second tooth portion (G2) is fixed to the second arm (30) coaxially with the second rotating shaft (S2). The third tooth portion (G3) and the fourth tooth portion (G4) are both coaxial with the second rotating shaft (S2) and mounted on the first arm (20) so as to be rotatable relative to the first arm (20), and the third tooth portion (G3) cannot rotate relative to the fourth tooth portion (G4). The fifth tooth portion (G5) is fixed to the base (10) coaxially with the first rotating shaft (S1). The second tooth portion (G2) and the third tooth portion (G3) are both engaged with the first tooth portion (G1), and the fourth tooth portion (G4) is engaged with the fifth tooth portion (G5). The first tooth portion (G1), the second tooth portion (G2), the fourth tooth portion (G4) and the fifth tooth portion (G5) are external tooth portions, and the third tooth portion (G3) is an internal tooth portion.

8. The solar tracking device according to claim 6, characterized in that: The power source includes a first motor (M1) and a second motor (M2), and the gear assembly includes a first gear portion (G1), a second gear portion (G2), a third gear portion (G3), a fourth gear portion (G4), a fifth gear portion (G5), a sixth gear portion (G6), and a seventh gear portion (G7). The stator of the first motor (M1) is fixed to the base (10), and the rotor of the first motor (M1) is connected to the sixth tooth portion (G6) in a non-rotatable manner. The fifth tooth portion (G5) and the seventh tooth portion (G7) are both coaxial with the first rotating shaft (S1) and are rotatably mounted outside the base (10) relative to the base (10). The stator of the second motor (M2) is fixed to the first arm (20), and the rotor of the second motor (M2) is connected to the first tooth portion (G1) in a non-rotatable manner. The second tooth portion (G2) is fixed to the second arm (30) coaxially with the second rotating shaft (S2). The third tooth portion (G3) and the fourth tooth portion (G4) are both coaxial with the second rotating shaft (S2) and mounted on the first arm (20) so as to be rotatable relative to the first arm (20), and the third tooth portion (G3) cannot rotate relative to the fourth tooth portion (G4). The second tooth portion (G2) and the third tooth portion (G3) are both engaged with the first tooth portion (G1), the fourth tooth portion (G4) is engaged with the fifth tooth portion (G5), and the sixth tooth portion (G6) is engaged with the seventh tooth portion (G7). The first tooth portion (G1), the second tooth portion (G2), the fourth tooth portion (G4), the fifth tooth portion (G5), and the sixth tooth portion (G6) are external tooth portions, and the third tooth portion (G3) and the seventh tooth portion (G7) are internal tooth portions.

9. The solar tracking device according to claim 6, characterized in that: The actuating mechanism further comprises a clutch (C), the power source is a motor (M), When the clutch (C) is in a closed state, the motor (M) can drive one of the first arm (20) and the second arm (30) to rotate in a clockwise direction and the other to rotate in a counterclockwise direction. When the clutch (C) is in an open state, the motor (M) can drive the first arm (20) and the second arm (30) to rotate in a clockwise direction or in a counterclockwise direction.

10. The solar tracking device according to claim 6, characterized in that: The clutch (C) includes a main body (C0), and the main body (C0) is fixed to the base (10). The stator of the motor (M) is fixed to the support frame (40), and the rotor of the motor is used to drive the second arm (30) to rotate relative to the support frame (40) around the first rotation axis (S1). The gear assembly includes a first tooth portion (G1), a second tooth portion (G2), a third tooth portion (G3), a fourth tooth portion (G4) and a fifth tooth portion (G5), The second tooth portion (G2) is fixed to the second arm (30) coaxially with the second rotating shaft (S2). The third tooth portion (G3) and the fourth tooth portion (G4) are both coaxial with the second rotating shaft (S2) and mounted on the first arm (20) so as to be rotatable relative to the first arm (20), and the third tooth portion (G3) cannot rotate relative to the fourth tooth portion (G4). The fifth tooth portion (G5) is coaxially mounted on the base (10) with the first rotating shaft (S1). The first tooth portion (G1) is disposed between the second tooth portion (G2) and the third tooth portion (G3), and the first tooth portion (G1) and the third tooth portion (G3) are The second tooth portion (G2) and the third tooth portion (G3) are meshed, and the fourth tooth portion (G4) and the fifth tooth portion (G5) are meshed, The first tooth portion (G1), the second tooth portion (G2), the fourth tooth portion (G4) and the fifth tooth portion (G5) are external tooth portions, and the third tooth portion (G3) is an internal tooth portion. When the clutch (C) is in a closed state, the fifth tooth portion (G5) cannot rotate relative to the base (10); when the clutch (C) is in an open state, the fifth tooth portion (G5) can rotate relative to the base (10).

11. A method for using a solar tracking device, characterized in that: The solar tracking device is a solar tracking device according to any one of claims 1 to 5, and the method comprises: The first arm (20) rotates at a first speed (V1) relative to the base (10), and the second arm (30) rotates at a second speed (V2) relative to the support frame (40), the first speed (V1) and the second speed (V2) are equal in magnitude, and one of the first speed (V1) and the second speed (V2) is in a clockwise direction and the other is in a counterclockwise direction, so that the solar tracking device performs a tracking mode, and the support frame (40) rotates around the fourth rotation axis (S4).

12. The method for using the solar tracking device according to claim 11, characterized in that: The method further comprises: When the first arm (20) and the second arm (30) move to the point where the first rotation axis (S1) and the third rotation axis (S3) are collinear, the first arm (20) rotates at a third speed (V3) relative to the base (10), and the second arm (30) rotates at a fourth speed (V4) relative to the support frame (40), until the second rotation axis (S2) moves to a position perpendicular to the fourth rotation axis (S4), the solar tracking device executes a storage mode, and the support frame (40) remains stationary relative to the base (10), wherein: The third speed (V3) and the fourth speed (V4) are equal in magnitude, and both the third speed (V3) and the fourth speed (V4) are in a clockwise direction or in a counterclockwise direction.

13. A method for using a solar tracking device, characterized in that: The solar tracking device is the solar tracking device according to claim 7, and the method includes: the rotor of the motor (M) rotates so that the solar tracking device performs a tracking mode, and the support frame (40) rotates around the fourth rotation axis (S4).

14. A method for using a solar tracking device, characterized in that: The solar tracking device is the solar tracking device according to claim 8, and the method comprises: When the solar tracking device is in tracking mode, the first motor (M1) does not work, the second motor (M2) works, and the support frame (40) rotates around the fourth rotation axis (S4); Before the solar tracking device executes the storage mode, the first motor (M1) works and the second motor (M2) does not work until the second rotating shaft (S2) moves to be perpendicular to the fourth rotating shaft (S4).

15. A method for using a solar tracking device, characterized in that: The solar tracking device is a solar tracking device according to claim 9 or 10, and the method comprises: When the solar tracking device is in tracking mode, the clutch (C) is closed, the motor (M) is operating, and the support frame (40) rotates around the fourth rotation axis (S4); Before the solar tracking device executes the storage mode, the clutch (C) is opened and the motor (M) works until the second rotating shaft (S2) moves to be perpendicular to the fourth rotating shaft (S4).

16. A solar tracking system, characterized in that: The solar tracking system comprises a first linkage assembly (L1), a second linkage assembly (L2) and a plurality of solar tracking devices (D) according to any one of claims 1 to 3, wherein the first rotation axes (S1) of the plurality of solar tracking devices (D) are all arranged in parallel. The first linkage assembly (L1) is used to simultaneously drive the plurality of first arms (20) of the plurality of solar tracking devices (D) to rotate relative to the base (10), and the second linkage assembly (L2) is used to simultaneously drive the plurality of second arms (30) of the plurality of solar tracking devices (D) to rotate relative to the support frame (40).

17. The solar tracking system according to claim 16, wherein: The first linkage assembly (L1) includes a first linkage rod (LR1) and a plurality of first linkage gear sets (LG1); the second linkage assembly (L2) includes a second linkage rod (LR2) and a plurality of second linkage gear sets (LG2); The input end of each first linkage gear set (LG1) is connected to the first linkage rod (LR1) in a non-rotatable manner, and the output end of each first linkage gear set (LG1) is connected to the first arm (20) of one of the solar tracking devices (D) in a non-rotatable manner. The input end of each second linkage gear set (LG2) is connected to the second linkage rod (LR2) in a non-rotatable manner, and the output end of each second linkage gear set (LG2) is connected to the second arm (30) of a solar tracking device (D) in a non-rotatable manner. The first linkage rod (LR1) and the second linkage rod (LR2) are capable of rotating around their own axes.

18. The solar tracking system according to claim 16, wherein: The first linkage assembly (L1) includes a first linkage rod (LR1) and a plurality of first linkage supports (LB1), and the second linkage assembly (L2) includes a second linkage rod (LR2) and a plurality of second linkage supports (LB2). The input end of each first linkage support rod (LB1) is rotatably connected to the first linkage rod (LR1), and the output end of each first linkage support rod (LB1) is non-rotatably connected to the first arm (20) of one of the solar tracking devices (D). The input end of each second linkage support rod (LB2) is rotatably connected to the second linkage rod (LR2), and the output end of each second linkage support rod (LB2) is non-rotatably connected to the second arm (30) of a solar tracking device (D). The first linkage rod (LR1) and the second linkage rod (LR2) can perform reciprocating linear motion along their own axes.

19. A solar tracking system, characterized in that: The solar tracking system comprises at least one guide frame (LF) and a plurality of solar tracking devices (D) according to any one of claims 1 to 10, wherein the first rotation axes (S1) of the plurality of solar tracking devices (D) are arranged in parallel, and the plurality of solar tracking devices (D) share the same support frame (40). The guide frame (LF) includes a guide frame fixed portion (LF1) and a guide frame movable portion (LF2), wherein the guide frame fixed portion (LF1) is fixed relative to the base (10), and the guide frame movable portion (LF2) is fixedly connected to the support frame (40). The guide frame movable portion (LF2) can move along an arc curve relative to the guide frame fixed portion (LF1), the plane where the arc curve is located is perpendicular to the fourth rotation axis (S4), and the fourth rotation axis (S4) passes through the center of the arc curve.

20. A solar tracking system, characterized in that: The solar tracking system comprises at least one first solar tracking device (D') and at least one second solar tracking device (D), wherein the second solar tracking device (D) is a solar tracking device according to any one of claims 1 to 6 and 8 to 10, and the first solar tracking device (D') and the second solar tracking device (D) share the same support frame (40). The first solar tracking device (D') includes a tracking mode actuator for driving the support frame (40) to rotate, and the second solar tracking device (D) includes a storage preparation actuator, which can drive the first arm and the second arm of the second solar tracking device (D) to rotate. When the solar tracking system executes the tracking mode, the tracking mode actuating mechanism operates, the storage preparation driving mechanism does not operate, and the support frame (40) rotates around the fourth rotation axis (S4); Before the solar tracking system executes the storage mode, the tracking mode actuating mechanism does not work, and the storage preparation driving mechanism works until the second rotating shaft (S2) moves to be perpendicular to the fourth rotating shaft (S4).

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