MEPION

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The invention relates to a big-angle clever photo voltaic tracker, which includes a shifting platform and a fixed platform, and a first department chain I, a second department chain II, a 3rd branch chain III, and a fourth department chain are put in between the shifting platform and the mounted platform. IV, the first department I and the third branch III have the identical construction and are symmetrically arranged, and the second department II and the fourth branch IV have the same structure and are symmetrically arranged; the first department I includes the first connecting rod, and the primary connecting rod The higher finish of the rod is related with the moving platform by the ball pair, the lower finish of the first connecting rod is linked with the first Hooke hinge, and the primary Hooke hinge is connected with the mounted platform by means of the first connecting block by means of the primary moving pair; the second department chain II Including the second connecting rod, the upper end of the second connecting rod is connected with the moving platform by way of the second Hooke hinge, the lower finish of the second connecting rod is linked with the second connecting block by means of the rotating pair, and the second connecting block and the fastened platform are moved by means of the second Secondary connection.

The four branch chains of the present invention type a space parallel closed-loop structure with the moving platform and the fixed platform, which might realize two-dimensional translation and two-dimensional rotational motion in area. 本发明属于并联机器人领域，特别涉及一种应用于定位、气象、雷达等环境下能够实现精确跟踪的四自由度单平台大转角智能太阳追踪器。 The invention belongs to the sector of parallel robots, and in particular relates to a four-diploma-of-freedom single-platform giant-rotation-angle clever sun tracker that may understand iTagPro product exact monitoring in environments akin to positioning, meteorology, iTagPro product and radar. 并联机构通常由动平台、静平台及两平台之间的若干支链组成，具有刚度大、速度快、精度高的优点，在工业机器人、运动模拟器、并联机床等领域得到广泛应用。

近些年，国外已将陆续将部分机构构型应用于工业生产中（如:delta机构），而国内则较少，而且很少应用在生产生活中。 The parallel mechanism is usually composed of a dynamic platform, a static platform and several branch chains between the two platforms. It has some great benefits of excessive rigidity, quick velocity and high precision. It is extensively used in industrial robots, movement simulators, parallel machine tools and different fields. In recent years, foreign international locations have successively applied some mechanism configurations to industrial manufacturing (equivalent to: delta mechanism), whereas there are fewer domestic ones, and they are not often used in manufacturing and life. 在运动模拟器、姿态调平、太阳能追踪以及并联机床等领域，通常需要实现大位移、大转角，实现较大工作空间范围内的运动。

Within the fields of movement simulators, perspective leveling, solar monitoring, iTagPro product and iTagPro product parallel machine tools, it is normally necessary to achieve giant displacements, giant rotation angles, and ItagPro motions inside a large working space. 国内太阳能发电普遍采用固定式太阳能电池安装方式，尽管这种安装方式结构简单、成本较低，但是无法精确跟踪太阳位置，光能转换效率较低。 现有研究中，也存在部分运动型太阳能机构，单轴或双轴等多为串联机构精度不高。 其中双轴的跟踪精度相对较高，太阳板能达到的转换效率相对较大，但遇到恶劣天气难以保证装置的安全性。