CN211266846U - High-precision double-shaft sun tracking system for concentrating solar cell - Google Patents

Abstract

The utility model provides a high-precision concentrating solar cell dual-axis sun tracking system, comprising a concentrating optical component, a pitch axis component, an azimuth axis component and a base, wherein the azimuth axis component is mounted on the base , the pitch axis assembly is installed at the output end of the azimuth axis assembly, and the condensing optical assembly is installed at the output end of the pitch axis assembly. The beneficial effects of the utility model are that the system precision and stability are improved, the all-weather high-precision tracking of the system is ensured, and the cost is reduced.

Description

A high-precision concentrating solar cell dual-axis sun tracking system

technical field

The utility model relates to photovoltaic power generation, in particular to a high-precision concentrating solar cell biaxial sun tracking system.

Background technique

Photovoltaic solar cells (PV) can directly convert solar energy into electrical energy, and its performance is reliable and easy to commercialize. At present, there is a trend of low-cost power generation and large-scale promotion, so it is developing rapidly. Although PV power generation currently accounts for 0.1% of global power generation, the International Energy Agency (IEA) forecasts PV power generation to reach 5% in 2030 and continue to grow to 11% in 2050. However, PV cells are limited by the properties of materials, and although different technologies have been developed for several generations, their working efficiency is still at a low level. Although increasing the number of PV cells can increase the area that receives sunlight and increase the total output power, this approach will greatly increase the economic cost of power generation. Concentrating photovoltaic cell (CPV) technology has received increasing attention in order to increase the solar radiation received per unit area of the cell without increasing the number of PV cells. The technology consists of three parts: triple-junction photovoltaic cells, optical components, and tracking mechanisms. The optical components are based on the principle of reflection (such as a parabolic mirror) or the principle of refraction (such as a Fresnel lens), which can focus sunlight 1000 times on a triple-junction photovoltaic cell, thus greatly improving the working efficiency of the CPV cell.

However, because CPV technology focuses sunlight at a high magnification, it has very strict requirements on the position of the focal point for receiving light. If the sunlight deviates from the normal of the optical component, the received light intensity of the battery will be drastically reduced or even not received. If the light is too strong, it will burn out the battery in severe cases. Therefore, it is necessary to cooperate with the tracking device to achieve all-weather high-precision tracking to ensure the normal operation of the CPV system.

Existing sun tracking systems differ in mechanical structure, photoelectric sensors, etc. In the mechanical structure, single-axis or double-axis structure is mostly used. The single-axis structure usually adopts the east-west direction tracking, and the dual-axis structure usually adopts the azimuth-elevation direction tracking. Photoelectric sensors mostly use photosensitive devices, which are simple in structure and low in cost. The patent with publication number CN108490983A proposes a mechanical all-season solar tracker, and proposes a swing drive mechanism to solve the problem that the existing solar photoelectric tracking device is easily affected by sunlight and causes misoperation, but the structure is complicated, and the cumulative error is relatively high. It is only suitable for photovoltaic power generation technology, not for concentrating solar cell technology. The patent with publication number CN109379028A proposes a small solar uniaxial tracking bracket with simple structure and low cost, which is also only suitable for photovoltaic power generation technology, but not suitable for concentrating solar cell technology. The patent with publication number CN108444503A proposes a large-scale sun position tracking sensor, which adopts the principle of geometric optics and uses a CCD camera to process shadows. The patent with publication number CN110138326A proposes a new type of dual-axis photovoltaic tracker. The tracking strategy adopts photoresistor closed-loop tracking, and its control accuracy is limited by sensors and is not suitable for all-weather tracking.

Therefore, how to provide a low-cost and high-precision tracking system is a technical problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

In order to solve the problems in the prior art, the utility model provides a high-precision concentrating solar cell biaxial sun tracking system and method.

The utility model provides a high-precision concentrating solar cell dual-axis solar tracking system, comprising a concentrating optical component, a pitch axis component, an azimuth axis component and a base, wherein the azimuth axis component is mounted on the base , the pitch shaft assembly is installed at the output end of the azimuth shaft assembly, the condensing optical assembly is installed at the output end of the pitch shaft assembly, and the azimuth shaft assembly includes an azimuth shaft box body and an azimuth shaft box installed in the azimuth shaft box The azimuth axis motor and the azimuth axis worm gear mechanism in the body, the azimuth axis box body is installed on the base, and the azimuth axis worm gear mechanism includes the azimuth axis worm and the azimuth axis worm gear meshing with each other, the azimuth axis motor Connected with the azimuth axis worm, the azimuth axis worm gear is connected with the pitch axis assembly, the axis of the azimuth axis worm gear is perpendicular to the horizontal plane, and the pitch axis assembly includes a pitch axis box body and is installed in the pitch axis box. The pitch axis motor, the pitch axis worm gear mechanism and the pitch axis offset frame are installed in the body, the pitch axis box body is mounted on the azimuth axis worm gear, and the pitch axis worm gear and worm mechanism includes meshed pitch axis worm and pitch axis worm gear , the pitch axis motor is connected with the pitch axis worm, the pitch axis worm gear is connected with the pitch axis offset frame, the condensing optical assembly is installed on the pitch axis offset frame, the pitch axis The axis of the worm gear is parallel to the horizontal plane.

As a further improvement of the present invention, the condensing optical assembly includes a condensing optical bracket assembly and a Fresnel lens, a concave lens, and a four-quadrant silicon photocell sensor mounted on the condensing optical bracket assembly. The bracket assembly is installed on the pitch axis offset frame, and the incident light is focused on the concave lens after passing through the Fresnel lens, and finally a beam of collimated light is formed to irradiate on the four-quadrant silicon photocell sensor.

As a further improvement of the present utility model, the high-precision concentrating solar cell dual-axis solar tracking system further includes a microcontroller, a power supply module, an RTC module, a GPS module for obtaining the latitude and longitude of the current tracking system, and a GPS module for obtaining the attitude of the current base. A pull angle IMU module, the output end of the GPS module is connected to the IMU module, the output end of the IMU module is connected to the microcontroller, and the output end of the four-quadrant silicon photocell sensor is connected to the microcontroller The power supply module is connected with the RTC module, the microcontroller, the azimuth axis motor, and the pitch axis motor, respectively, and the output end of the RTC module is connected with the microcontroller, and the microcontroller passes through the azimuth axis. The motor drive unit is connected to the azimuth axis motor, the azimuth axis motor is connected to the microcontroller through an azimuth axis encoder, the microcontroller is connected to the pitch axis motor through a pitch axis motor drive unit, and the The pitch axis motor is connected with the microcontroller through the pitch axis encoder.

As a further improvement of the present invention, the azimuth axis assembly further includes an azimuth axis photoelectric slot sensor for performing position definition and zero calibration on the azimuth axis, and the output end of the azimuth axis photoelectric slot sensor is connected to the microcontroller. connection, the bottom of the pitch axis box body is provided with a rod body used in cooperation with the azimuth axis photoelectric groove sensor.

As a further improvement of the present invention, the pitch axis assembly further includes a first pitch axis photoelectric slot sensor and a second pitch axis photoelectric slot sensor for performing position definition and zero calibration on the pitch axis, the first pitch axis The photoelectric slot sensor and the second pitch axis photoelectric slot sensor are respectively installed on both sides of the pitch axis box, and the pitch axis offset frame is provided with the first pitch axis photoelectric slot sensor or the second pitch axis photoelectric slot sensor. A receiving device used in conjunction with a pitch axis photoelectric slot sensor, wherein the output ends of the first pitch axis photoelectric slot sensor and the second pitch axis photoelectric slot sensor are respectively connected to the microcontroller.

As a further improvement of the present invention, the installation position of the first pitch-axis photoelectric slot sensor forms an angle of 135° with the horizontal plane, and the installation position of the second pitch-axis photoelectric slot sensor forms an angle of -10° with the horizontal plane. .

As a further improvement of the present invention, the IMU module is installed on the base.

As a further improvement of the present utility model, the azimuth axis box body includes an azimuth axis reduction box body, an azimuth axis reduction box end cover I, and an azimuth axis reduction box end cover II, and the two ends of the azimuth axis worm gear are connected to the The azimuth axis reduction box end cover I and the azimuth axis reduction box end cover II are connected, and the azimuth axis reduction box end cover I and the azimuth axis reduction box end cover II are respectively fixed on the azimuth axis reduction box body by bolts, so The azimuth axis reduction box end cover I and the azimuth axis reduction box end cover II are eccentric end covers. The center distance between the azimuth axis worm and the azimuth axis worm gear can be adjusted by the bolt hole position, so as to achieve the purpose of eliminating the meshing gap of the worm gear and worm. Box end cover II, the two ends of the pitch axis worm gear are respectively connected with the pitch axis reduction box end cover I and the pitch axis reduction box end cover II through bearings, the pitch axis reduction box end cover I and the pitch axis reduction box. The end covers II are respectively connected with the pitch axis reduction box body by bolts. The pitch axis reduction box end cover I and the pitch axis reduction box end cover II are eccentric end covers. By adjusting the pitch axis reduction box end covers I, Adjust the center distance between the pitch axis worm and the pitch axis worm gear by using the bolt holes corresponding to the pitch axis gear box end cover II and the pitch axis gear box body, so as to achieve the purpose of eliminating the meshing gap of the worm gear and the worm gear.

As a further improvement of the present invention, the high-precision concentrating solar cell dual-axis sun tracking system further includes an error calibration device, and the error calibration device includes a camera support, a high-definition camera, a light tube support column, and a shadow receiving tray support , shadow receiving disc, light tube cover, light tube and ultra-fine high-hard tungsten rod, the high-definition camera and light tube support column are respectively installed on the camera support, the shadow receiving plate support is installed on the light tube On the support column, the shadow receiving plate is installed on the shadow receiving plate support, the light tube sleeve is installed on the shadow receiving plate, the light tube is installed on the light tube sleeve, and the super light tube is installed on the light tube sleeve. The thin and high-hard tungsten rod is installed on the shadow receiving disk, and the ultra-fine high-hardness tungsten rod is located in the light barrel. The axis of the light barrel, the axis of the light barrel sleeve, the center of the shadow receiving disk, Ultra-fine high-hard tungsten rod, high-definition camera collinear setting.

As a further improvement of the present invention, the error calibration device or the condensing optical assembly is installed on the pitch axis offset frame of the pitch axis assembly.

The beneficial effects of the utility model are: through the above scheme, the accuracy and stability of the system are improved, the all-weather high-precision tracking of the system is ensured, and the cost is reduced.

Description of drawings

FIG. 1 is an axonometric view of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

2 is an exploded view of the azimuth axis of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

3 is an exploded view of the elevation axis of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

4 is an axonometric view of a concentrating optical assembly of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

FIG. 5 is a working principle diagram of a concentrating optical component of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

6 is an axonometric view of an error calibration device of a high-precision concentrating solar cell biaxial sun tracking system of the present invention.

7 is a hardware system block diagram of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

8 is a graph showing the experimental error results of a high-precision concentrating solar cell dual-axis sun tracking system of the present invention.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, a high-precision concentrating solar cell dual-axis sun tracking system is mainly composed of four parts: concentrating optical component 1, pitch axis component 2, azimuth axis component 3, and base 4. The base 4 plays a supporting role for the dual-axis sun tracking system, and the cavity of the base is used for arranging the wiring and placing the controller. The azimuth shaft assembly 3 is bolted to the base 4 through the 6 bolt holes on the end cover II13 of the azimuth shaft reduction box in FIG. 2 . The pitch axis support base 30 in FIG. 3 is matched with the stepped surface of the output end of the azimuth axis worm gear 19 in FIG. 2 and then bolted to the pitch axis assembly 2 . The condensing optical assembly 1 is bolted to the bolt holes on the pitch axis offset bracket I25 and the pitch axis offset bracket II38 in FIG. 3 .

FIG. 2 is an exploded view of the azimuth axis component of a high-precision concentrating solar cell dual-axis sun tracking system. One side of the azimuth shaft worm bearing I14 is matched with the corresponding bearing hole of the azimuth shaft reduction box 11, the other side is installed on the shoulder of the input end of the azimuth shaft worm 15, and the azimuth shaft worm bearing II16 side is installed at the output of the azimuth shaft worm 15. The other side is installed at the bearing hole corresponding to the azimuth shaft worm end cover 17. The azimuth shaft worm end cover 17 is installed on the azimuth shaft reduction box 11 by bolting. The handwheel I18 and the azimuth shaft worm 15 The stepped surface of the output end is bolted, and the coupling I10 is placed in the corresponding cavity of the azimuth axis reduction box 11. The motor 9 is bolted to the azimuth axis reduction box 11, the azimuth axis worm gear 19 is placed in the corresponding cavity of the azimuth axis reduction box 11, and the azimuth axis worm wheel bearing I12 is installed on one side at the shoulder of the output end of the azimuth axis worm wheel 19, and the other side It is installed at the bearing hole position of the end cover II13 of the azimuth shaft reducer. One side of the azimuth shaft worm gear bearing II20 is installed at the shoulder of the output end of the azimuth shaft worm gear 19, and the other side is installed at the bearing hole position of the end cover I5 of the azimuth shaft reducer. place. The azimuth axis reduction box end cover I5 and the azimuth axis reduction box end cover II13 are eccentric end covers. By adjusting the bolt holes corresponding to the end cover and the azimuth axis reduction box body 11, the center distance between the azimuth axis worm 15 and the azimuth axis worm wheel 19 can be adjusted. , so as to achieve the purpose of eliminating the meshing gap of the worm gear. The azimuth shaft protection cover 7 cooperates with the azimuth shaft reduction box 11 , and its function is to prevent dust and add grease to the azimuth shaft worm 15 . The photoelectric slot sensor I6 is installed at the corresponding hole position of the azimuth shaft reduction box 11, and is used for the position definition and zero position calibration of the azimuth shaft assembly 3 in Fig. 1 . The bridge-type wire pressing plate I8 is installed at the corresponding hole position of the azimuth axis reduction box 11 for arranging the wiring.

FIG. 3 is an exploded view of the pitch axis component of a high-precision concentrating solar cell dual-axis sun tracking system. One side of pitch axis worm bearing II 37 is matched with the corresponding bearing hole of pitch axis reduction box 45, the other side is installed at the shoulder of the input end of pitch axis worm 35, and one side of pitch axis worm bearing I32 is installed at the output of pitch axis worm 35 The other side is installed at the bearing hole corresponding to the pitch axis worm end cover 33, the pitch axis worm end cover 33 is installed on the pitch axis reduction box 45 by bolting, and the handwheel II 34 is connected to the pitch axis worm 35. The step surface of the output end is bolted, and the coupling II 23 is placed in the corresponding cavity of the pitch axis reduction box 45. The input motor 24 is bolted to the pitch axis reduction box 45, the pitch axis worm gear 42 is placed in the corresponding cavity of the pitch axis reduction box 45, and one side of the pitch axis worm gear bearing I41 is installed at the shaft shoulder of the output end of the pitch axis worm wheel 42, and the other The side is installed at the bearing hole position of the end cover II39 of the pitch axis gearbox, the one side of the pitch axis worm gear bearing II43 is installed at the shoulder of the output end of the pitch axis worm wheel 42, and the other side is installed at the bearing hole of the end cover I26 of the pitch axis gearbox location. The pitch axis reduction box end cover I26 and pitch axis reduction box end cover II39 are eccentric end caps, and the center distance between the pitch axis worm 35 and the pitch axis worm wheel 42 is adjusted by adjusting the bolt holes corresponding to the end cover and the pitch axis reduction box 45 , so as to achieve the purpose of eliminating the meshing gap of the worm gear. The pitch axis offset frame I25 and the pitch axis offset frame II38 are respectively matched with the stepped surfaces of the output end of the pitch axis worm gear 42 and then connected by bolts. The pitch axis protection cover 40 cooperates with the pitch axis reduction box 45 , and its function is to prevent dust and add grease to the pitch axis worm 35 . The photoelectric slot sensor II21 and the photoelectric slot sensor III36 are respectively installed in the corresponding holes of the pitch axis deceleration box 45. The photoelectric slot sensor II21 is installed at an angle of 135° with the horizontal plane, and the photoelectric slot sensor III36 is installed at the horizontal plane. At an included angle of -10°, the photoelectric slot sensor II21 and the photoelectric slot sensor III36 are used in conjunction with the receiving device on the pitch axis offset mount for the purpose of positioning and zeroing the pitch axis assembly 2 in Figure 1. Bridge-type pressure plate II22, bridge-type pressure plate III27, bridge-type pressure plate IV28, bridge-type pressure plate V31, and bridge-type pressure plate VI44 are respectively installed in the corresponding holes of pitch axis reduction box 45 for use in Lay out the traces. One end of the pitch axis support base 30 is connected with the corresponding bolt holes of the pitch axis reduction box 45 by bolts, and the other end is connected with the stepped surface of the output end of the azimuth axis worm gear 19 in FIG. 2 through bolts. The steel rod 29 is installed at the corresponding hole position of the pitch axis reduction box 45, and is used in conjunction with the photoelectric slot sensor I6 in FIG. 2 .

Figure 4 is an axonometric view of a concentrating optical assembly of a high-precision concentrating solar cell dual-axis sun tracking system. The four-quadrant silicon photocell sensor 47 is installed in the center of the four-quadrant silicon photocell sensor support 46, and the short support column I45, short support column II48, short support column III49, and short support column IV are respectively installed on the four-quadrant silicon photocell sensor support 46 Corresponding to the position of the bolt holes, the concave lens holder 44 is installed on the top of the short support column I45, the short support column II48, the short support column III49 and the short support column IV, the concave lens 51 is installed at the center of the concave lens holder 44, and the long support column I43, The long support column II50, the long support column III52, and the long support column IV53 are respectively installed at the corresponding bolt holes of the concave lens holder 44, and the Fresnel lens holder 42 is installed on the long support column I43, the long support column II50, and the long support column III52. , The top of the long support column IV53, the Fresnel lens 54 is installed in the center of the Fresnel lens holder 42.

FIG. 5 is a working principle diagram of a concentrating optical component of a high-precision concentrating solar cell dual-axis sun tracking system. As can be seen from FIG. 5 , the incident light is focused on the concave lens 51 after passing through the Fresnel lens 54 , and finally a beam of collimated light is irradiated on the four-quadrant silicon photocell sensor 47 . The distance between the Fresnel lens 54 and the concave lens 51 depends on their focal lengths, and the distance between the concave lens 51 and the four-quadrant silicon photocell sensor 47 depends on the receiving performance index of the four-quadrant silicon photocell sensor 47 .

FIG. 6 is an axonometric view of an error calibration device of a high-precision concentrating solar cell dual-axis sun tracking system. The high-definition camera 66 is installed in the center of the camera support 64. The light tube support column I63, the light tube support column II65, the light tube support column III67, and the light tube support column IV68 are respectively installed at the corresponding bolt holes of the camera support 64. The shadows The receiving tray support 69 is bolted to the light tube support column I63, the light tube support column II65, the light tube support column III67, and the light tube support column IV68, the shadow receiving plate 70 is installed on the shadow receiving plate support 69, and the light tube sleeve 62 One end is connected with the shadow receiving plate 70 by bolts, and the other end is tightly connected with the light tube 61 .

Figure 7 is a hardware system block diagram of a high-precision concentrating solar cell dual-axis sun tracking system. Among them, the GPS module is used to obtain the latitude and longitude of the current tracking system, the IMU module is used to obtain the Euler angle of the current attitude of the base 4, the four-quadrant silicon photocell sensor 47 is used as a photosensitive device, and the azimuth axis encoder and the pitch axis encoder are used to realize For closed-loop control of the motor, the output end of the GPS module is connected to the IMU module, the output end of the IMU module is connected to the microcontroller, and the output end of the four-quadrant silicon photocell sensor 47 is connected to the microcontroller The power supply module is connected with the RTC module, the microcontroller, the azimuth axis stepping motor 9 and the pitch axis stepping motor 24 respectively, and the output end of the RTC module is connected with the microcontroller, and the The microcontroller is connected to the azimuth axis stepping motor 9 through the azimuth axis motor drive unit, the azimuth axis stepping motor 9 is connected to the microcontroller through the azimuth axis encoder, and the microcontroller is connected to the micro controller through the pitch axis motor The drive unit is connected to the pitch-axis stepping motor 24, and the pitch-axis stepping motor 24 is connected to the microcontroller through a pitch-axis encoder.

Fig. 8 is a graph of experimental error results of a high-precision concentrating solar cell dual-axis sun tracking system. Using the system of the utility model, an outdoor tracking experiment was carried out in Shenzhen (latitude and longitude: 22°35′10″N 113°58′2″E, altitude: 50 m) in July 2019 to verify that the system error compensation The parameters (the tilt azimuth of the azimuth axis, the tilt angle of the azimuth axis, the declination angle of the straight line between the elevation axis and the vertical azimuth axis, the tilt angle of the solar panel reference plane relative to the elevation axis) are 0.62°, -0.57°, 0.42°, respectively. , 1.25°, the tracking accuracy is within 0.188°.

In addition, the main part of the whole system is shown in Figure 1, and the error calibration device shown in Figure 6 is used to test and calibrate the system error, and the condensing optical assembly 1 shown in Figure 1 is replaced during use. The working principle of Figure 6 is: the tracking system tracks the sun in real time, and the error calibration device is aimed at the sun. Due to the principle of geometric optics, the ultra-fine and high-hard tungsten rod in the light tube forms a shadow line on the shadow receiving disk, and the high-definition camera captures the shadow line After the image, the length of the shadow line is calibrated by the method of image processing, and then the angle between the ultra-fine and high-hard tungsten rod and the sunlight is obtained by using the trigonometric function formula, and then the system tracking error is calibrated.

The utility model provides a high-precision concentrating solar cell dual-axis sun tracking system. On the basis of the existing dual-axis tracking technology, the structural part is designed with an eccentric end cover, a concentrating optical component and an error calibration device, and the hardware part is added Based on GPS module, IMU module and four-quadrant silicon photocell sensor, a low-cost and high-precision dual-axis sun tracking system is proposed. The eccentric end cover of the sun tracking system eliminates the meshing gap of the worm gear and worm, and ensures the mechanical transmission accuracy of the system; the concentrating optical component improves the quality of the light received by the sensor and improves the accuracy of the sensor; the error calibration device improves the measurement accuracy of the system; four Quadrant silicon photocell sensors improve sensor accuracy.

The utility model provides a high-precision concentrating solar cell biaxial sun tracking system and method, which eliminates the meshing gap of the worm gear and worm by using the high-precision worm gear and worm to match the eccentric end cover, and ensures the mechanical transmission accuracy of the system. By using a four-quadrant silicon photocell sensor to replace the traditional photosensitive sensor, the problem of easy saturation of photoelectric conversion of the photosensitive sensor is improved. At the same time, the four-quadrant silicon photocell sensor is equipped with a condensing optical component, which improves the quality of the light received by the sensor and improves the accuracy of the sensor. By adding an IMU module to the base, the error caused by the placement of the base is eliminated. By designing an error calibration device, a system error calibration method based on image processing is presented, which helps to improve the system accuracy.

Compared with other prior art, the advantages of the present utility model are as follows:

(1) The designed transmission structure eliminates the meshing clearance of the worm gear and ensures the mechanical transmission accuracy of the system;

(2) The designed four-quadrant silicon photocell and concentrating optical components improve the quality of light received by the sensor and improve the accuracy of the sensor;

(3) The IMU module used eliminates the error caused by the placement of the base;

(4) The designed error calibration device helps to improve the system accuracy.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (9)

1. The utility model provides a high accuracy spotlight solar cell biax sun tracker which characterized in that: including spotlight optical assembly, pitch shaft subassembly, azimuth axis subassembly and base, wherein, the azimuth axis subassembly is installed on the base, the pitch axis subassembly is installed at the output of azimuth axis subassembly, spotlight optical assembly installs the output of pitch axis subassembly, the azimuth axis subassembly includes the azimuth axis box and installs azimuth axis motor, azimuth axis worm gear mechanism in the azimuth axis box, the azimuth axis box is installed on the base, azimuth axis worm gear mechanism is including engaged with azimuth axis worm and azimuth axis worm wheel, the azimuth axis motor with the azimuth axis worm is connected, the azimuth axis worm wheel with the pitch axis subassembly is connected, the axis perpendicular to horizontal plane of azimuth axis worm wheel, the pitch axis subassembly includes the pitch axis box and installs pitch axis motor, azimuth axis worm gear in the pitch axis box, The optical fiber collecting device comprises a pitching shaft worm gear mechanism and a pitching shaft offset frame, wherein a pitching shaft box body is arranged on an azimuth shaft worm gear, the pitching shaft worm gear mechanism comprises a pitching shaft worm and a pitching shaft worm gear which are meshed with each other, a pitching shaft motor is connected with the pitching shaft worm, the pitching shaft worm gear is connected with the pitching shaft offset frame, a light-gathering optical assembly is arranged on the pitching shaft offset frame, and the axis of the pitching shaft worm gear is parallel to the horizontal plane.

2. The high-precision concentrator solar cell dual-axis solar tracking system of claim 1, wherein: the condensing optical assembly comprises a condensing optical support assembly, a Fresnel lens, a concave lens and a four-quadrant silicon photocell sensor, wherein the Fresnel lens, the concave lens and the four-quadrant silicon photocell sensor are arranged on the condensing optical support assembly, the condensing optical support assembly is arranged on the pitching axis offset frame, incident light passes through the Fresnel lens and then is focused on the concave lens, and finally a bundle of collimated light is formed and irradiated on the four-quadrant silicon photocell sensor.

3. The high-precision concentrator solar cell dual-axis solar tracking system of claim 2, wherein: the high-precision concentrating solar cell double-shaft solar tracking system further comprises a microcontroller, a power supply module, an RTC module, a GPS module for acquiring the longitude and latitude of the current tracking system, and an IMU module for acquiring the attitude Euler angle of the current base, wherein the IMU module is arranged on the base, the output end of the GPS module is connected with the IMU module, the output end of the IMU module is connected with the microcontroller, the output end of the four-quadrant silicon photocell sensor is connected with the microcontroller, the power supply module is respectively connected with the RTC module, the microcontroller, an azimuth axis motor and a pitching axis motor, the output end of the RTC module is connected with the microcontroller, the microcontroller is connected with the azimuth axis motor through an azimuth axis motor driving unit, the azimuth axis motor is connected with the microcontroller through an azimuth axis encoder, and the microcontroller is connected with the pitching axis motor through a pitching axis motor driving unit, the pitch shaft motor is connected with the microcontroller through a pitch shaft encoder.

4. The high-precision concentrator solar cell dual-axis solar tracking system of claim 3, wherein: the azimuth axis assembly further comprises an azimuth axis photoelectric groove type sensor for limiting the position of the azimuth axis and calibrating the zero position, the output end of the azimuth axis photoelectric groove type sensor is connected with the microcontroller, and a rod body matched with the azimuth axis photoelectric groove type sensor for use is arranged at the bottom of the pitching shaft box body.

5. The high-precision concentrator solar cell dual-axis solar tracking system of claim 3, wherein: the pitch shaft assembly further comprises a first pitch shaft photoelectric groove type sensor and a second pitch shaft photoelectric groove type sensor which are used for limiting the position of the pitch shaft and calibrating the zero position, the first pitch shaft photoelectric groove type sensor and the second pitch shaft photoelectric groove type sensor are respectively installed on two sides of the pitch shaft box body, a receiving device which is matched with the first pitch shaft photoelectric groove type sensor or the second pitch shaft photoelectric groove type sensor for use is arranged on the pitch shaft offset frame, and the output ends of the first pitch shaft photoelectric groove type sensor and the second pitch shaft photoelectric groove type sensor are respectively connected with the microcontroller.

6. The high-precision concentrator solar cell dual-axis solar tracking system of claim 5, wherein: the installation position of the first pitching axis photoelectric groove type sensor forms an included angle of 135 degrees with the horizontal plane, and the installation position of the second pitching axis photoelectric groove type sensor forms an included angle of-10 degrees with the horizontal plane.

7. The high-precision concentrator solar cell dual-axis solar tracking system of claim 1, wherein: the azimuth axis box body comprises an azimuth axis reduction box body, an azimuth axis reduction box end cover I and an azimuth axis reduction box end cover II, wherein two ends of an azimuth axis worm wheel are respectively connected with the azimuth axis reduction box end cover I and the azimuth axis reduction box end cover II through bearings; the pitch shaft box body comprises a pitch shaft speed reduction box body, a pitch shaft speed reduction box end cover I and a pitch shaft speed reduction box end cover II, two ends of a pitch shaft worm gear are respectively connected with the pitch shaft speed reduction box end cover I and the pitch shaft speed reduction box end cover II through bearings, the pitch shaft speed reduction box end cover I and the pitch shaft speed reduction box end cover II are respectively connected with the pitch shaft speed reduction box body through bolts, the pitch shaft speed reduction box end cover I and the pitch shaft speed reduction box end cover II are eccentric end covers, and the center distance between the pitch shaft worm and the pitch shaft worm gear is adjusted by adjusting bolt hole positions corresponding to the pitch shaft speed reduction box body and the pitch shaft speed reduction box end cover I and the pitch shaft speed reduction box end cover II, so that the purpose of.

8. The high-precision concentrator solar cell dual-axis solar tracking system of claim 1, wherein: the high-precision concentrating solar cell double-shaft sun tracking system also comprises an error calibration device, wherein the error calibration device comprises a camera support, a high-definition camera, a light cylinder support column, a shadow receiving disc support, a shadow receiving disc, a light cylinder sleeve, a light cylinder and a superfine high-hardness tungsten rod, the high-definition camera and the light cylinder supporting column are respectively arranged on the camera support, the shadow receiving disc support is arranged on the light cylinder supporting column, the shadow receiving pan is mounted on the shadow receiving pan support, the optical cylinder sleeve is mounted on the shadow receiving pan, the light cylinder is arranged on the light cylinder sleeve, the ultra-fine high-hardness tungsten rod is arranged on the shadow receiving disk, the ultra-fine high-hardness tungsten rod is positioned in the optical cylinder, and the axis of the optical cylinder, the axis of the optical cylinder sleeve, the center of the shadow receiving disc, the ultra-fine high-hardness tungsten rod and the high-definition camera are arranged in a collinear manner.

9. The high-precision concentrator solar cell dual-axis solar tracking system of claim 8, wherein: the error calibration device or the light-gathering optical assembly is mounted on a pitching shaft offset frame of the pitching shaft assembly.

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