Fluidic actuator system and method.

PEDRO DAVID FRAGOSO LÓPEZ

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PEDRO DAVID FRAGOSO LOPEZ | 00001000000405457619 | Administration Service

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FLUID ACTUATOR METHOD AND SYSTEM

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of US provisional patent application No. 62 / 110,275, filed on January 30, 2015, under the title FLUIDIC ACTUATOR SYSTEM AND METHOD. This provisional application is hereby incorporated in its entirety by this reference and for all purposes.

This application also refers to U.S. applications with serial number 14 / 064,070 and 14 / 064,072, both filed on October 25, 2013, which claim the benefit of U.S. provisional patent applications No. 61 / 719,313 and 61 / 719,314, both filed on October 26, 2012. All these applications are incorporated herein in their entirety by this reference and for all purposes.

BACKGROUND OF THE INVENTION

Conventional solar panel arrangements are static and do not move or are configured to track the sun during the day to provide an optimal capture of solar energy. Arrangements of static solar panels are often undesirable because they cannot move and adapt to the changing angle of the sun during the day and during the year.

On the other hand, conventional mobile solar panel arrangements are also often undesirable due to their high installation cost, the complexity of the mechanisms that move the solar panels and the relatively high energy cost associated with the operation of the solar panels. For example, some systems include motors that move individual solar panels or groups of solar panels. The installation and maintenance of these engines and other moving parts are complex and expensive.

In view of the foregoing, there is a need for an improved solar panel drive method and system in an effort to overcome the above-mentioned obstacles and deficiencies of conventional solar panel drive systems.

BRIEF DESCRIPTION OF THE FIGURES

Figure la is an example of a side view drawing illustrating a mode of a bellows.

Figure Ib is an example of a top view drawing of the bellows of Figure la.

Figure 2a is an enlarged side view of the bellows convolutions of Figures la and Ib in a first configuration.

Figure 2b is an enlarged side view of the bellows of Figure 2b, where the bellows is in a second configuration.

Figure 3 is an example of perspective drawing illustrating an embodiment of an actuator assembly.

Figure 4 is an example of an enlarged and detailed perspective drawing illustrating the actuator assembly of Figure 3.

Figure 5a is a flow chart of a method for constructing an actuator assembly.

Figure 5b is another flow chart of a method for constructing an actuator assembly.

Figure 6 is a side view drawing of an actuator assembly in a first, second and third configuration.

Figures 7a, 7b and 7c are perspective drawings of an actuator assembly coupled to a solar panel and various bases in accordance with some embodiments.

Figure 8 is a perspective drawing of a portion of an actuator assembly and a base according to one embodiment.

Figures 9a, 9b and 9c respectively illustrate a perspective, front and side view of a single shaft actuator assembly according to another embodiment.

Figure 10 illustrates a pair of the actuator assemblies illustrated in Figures 9a-c mounted on poles and coupled to a solar panel.

Figures lia and 11b illustrate actuator assemblies in accordance with additional embodiments.

Figure 12 illustrates an actuator assembly with a central axis according to one embodiment.

Figures 13a 13b, 13c, 13d and 13e illustrate actuator assemblies comprising bellows and springs according to some examples of embodiments.

Figures 14a and 14b illustrate actuator assemblies in accordance with additional embodiments.

Figures 15a and 15b illustrate solar panel arrangements according to some modalities.

Figure 16 is a block diagram of a portion of

<td>an array system of</td><td>panels</td><td colspan="2">solar agree</td><td>with</td><td>a</td>

<td>modality.</td><td></td><td></td><td></td><td></td><td></td>

<td>Figures 17a,</td><td>17b and</td><td>17c illustrate</td><td colspan="2">eg emplos</td><td>from</td>

<td>modalities of how to</td><td>they can</td><td>interconnect</td><td>the</td><td colspan="2">bellows</td>

through lines in an array of solar panels.

Figures 18a and 18b illustrate examples of modalities of a restrictor comprising a body defining a fluid passage with a pair of ports.

Figures 19a and 19b illustrate an example of an actuator assembly with two bellows.

Figures 20a and 20b illustrate another example of bellows according to an additional embodiment.

Figure 21 illustrates a further example of an actuator assembly with two bellows.

Figures 22a, 22b and 22c illustrate a base plate of the example actuator assembly of Figure 21.

Figures 23a, 23b and 23c illustrate a top plate of the example actuator assembly of Figure 21.

Figure 24 illustrates another example of an actuator assembly with two bellows.

Figures 25a, 25b and 25c illustrate a base plate of the example actuator assembly of Figure 24.

Figures 26a, 26b and 26c illustrate a top plate of the example actuator assembly of Figure 24.

Figures 27a, 27b and 27c illustrate a motherboard according to another embodiment.

Figures 28a, 28b and 28c illustrate a motherboard according to even another embodiment.

Figures 29a and 29b illustrate an example of a V-plate actuator mode in a first and second configuration.

Figures 30a and 30b illustrate a bending spacer according to one embodiment.

Figures 31a and 31b illustrate two examples of flexure capture modalities.

Figure 32 illustrates an actuator assembly comprising rigid stops in a first, second and third configuration.

Figures 33a and 33b illustrate the actuator assembly of Figures 3 and 4 further comprising a tension washer in accordance with one embodiment.

Figures 34a and 34b illustrate two examples of embodiments of an actuator assembly coupled to a pole.

Figure 35 illustrates an example of a solar array comprising a plurality of coupled actuator assemblies and solar panels coupled by a rail system.

Figure 36 is a block diagram of a portion of an array of solar panels according to one embodiment.

Figure 37 is a block diagram of a portion of an array of solar panels according to another embodiment.

Figure 38 is a block diagram of a portion of an array of solar panels according to an additional embodiment.

Figure 39 is a block diagram of a portion of an array of solar panels according to even another embodiment.

Figures 40a and 40b illustrate a V-plate actuator according to an embodiment that is in a first and second configuration.

Figures 41a, 41b, 41c, 41d and 41e are block diagrams of a portion of an array of solar panels according to five examples of modalities.

Figures 42a and 42b illustrate an example of actuator assembly with a locking mechanism according to one embodiment.

Figure 43 illustrates an example of actuator assembly with a locking mechanism according to another embodiment.

Figures 44a and 44b illustrate the locking mechanism of Figure 43 in a lock and unlock configuration.

Figure 45 illustrates an actuator assembly comprising a flexion extension closure and a groove track and pin tracked according to one embodiment.

It should be noted that the figures are not drawn to scale and that the elements of similar structures or functions are generally represented by similar reference numbers for illustrative purposes in all figures. It should also be noted that the figures are only desired to facilitate the description of the preferred modalities. The figures do not illustrate every aspect of the modalities described and do not limit the scope of the present description.

THE INVENTION

One aspect of the description includes a pneumatic drive solar panel arrangement system that includes a plurality of separate drive assemblies that each include a top plate and a bottom plate; and a first and second bellows extending, c ^ da one, between the upper and lower plates in a respective upper head and lower head, and are coupled thereto, where the first and second bellows are configured to inflate pneumatically separately. , where pneumatic inflation expands

I bellows for a length; a plurality of solar panels coupled to the actuator assemblies, the solar panels are configured to be operated based on the inflation of one or more bellows associated with the plurality of actuator assemblies.

One embodiment includes a first pneumatic channel operatively coupled to each of the first bellows of the plurality of actuator assemblies and configured to inflate each of the first bellows simultaneously and a second pneumatic channel operatively coupled to each of the second bellows of the plurality of actuator assemblies and configured to inflate each of the second bellows simultaneously. In another embodiment, each of the actuator assemblies comprises no more than two bellows. In a further embodiment, selective inflation of the first and second bellows drives at least a portion of the solar panels around a first axis.

In one embodiment, one or more of the actuator assemblies comprise a first and second flexion that extend, each, between the upper and lower plates and are respectively coupled thereto. In another embodiment, one or more of the actuator assemblies comprise a first and second rigid stops coupled to the bottom plate. In a further embodiment, one or more of the actuator assemblies comprise a plurality of restriction panels that extend, each, between the first and second bellows and are respectively coupled thereto.

In one embodiment, the first and second bellows comprise an elongated hollow body with a series of convolutions that extend along a central axis between a lower end and an upper end and where the first and second bellows are configured to expand and contract. along the central axis. In another embodiment, one or more of the actuator assemblies further comprise a locking mechanism configured to releasably hold the upper plate and the lower plate in position regardless of an inflation state of the first and second bellows.

In another aspect, the description includes a pneumatically operated solar panel actuator assembly that includes an upper plate and a lower plate and a first and second bellows, each extending between the upper and lower plates in an upper head and respective lower head, and are coupled thereto; The first and second bellows are configured to inflate pneumatically separately, where the pneumatic inflation expands the bellows along a length.

In one embodiment, the actuator assembly comprises no more than two bellows. In another embodiment, selective inflation of the first and second bellows drives at least one solar panel coupled to the upper plate. In a further embodiment, the actuator assembly comprises a flexion that extends between the upper and lower plates and is coupled thereto. In even another embodiment, the actuator assembly comprises a flex spacer that surrounds at least a portion of the flex.

In one embodiment, the actuator assembly comprises a first and second rigid stops coupled to the bottom plate. In another embodiment, the actuator assembly comprises one or more restriction panels that extend between the first and second bellows and are coupled thereto. In a further embodiment, the first and second bellows comprise an elongated hollow body with a series of convolutions that extend along a central axis between a lower end and an upper end and where the first and second bellows are configured to expand and contract along the central axis.

In one embodiment, the actuator assembly further comprises a locking mechanism configured to securely release the upper plate and the lower plate in position regardless of an inflation state of the first and second bellows. In another embodiment, the actuator assembly further comprises a plurality of washers that surround and are coupled to a portion of one or more of the first and second bellows.

DETAILED DESCRIPTION OF THE PREFERRED MODES

Because the currently available solar panel drive systems are deficient, a fluid drive system as described herein may prove desirable and provide a basis for a wide range of applications, such as moving solar panels around one or more. More axes efficiently and profitably. This result can be achieved, in accordance with an embodiment described herein, by a bellows 100 as illustrated in Figure la and Ib which may be part of an actuator assembly 300 as illustrated in Figure 3. Although Several examples of embodiments described herein refer to bellows 100, additional embodiments may refer to any pressurized actuator and suitable elastic fluid filling. For example, in some embodiments, such a pressurized actuator and elastic fluid filling may have a protuberant design, may comprise one or more inflexible spheres, or the like (eg, as illustrated in Figures 40a and 40b).

With respect to Fig. La and Ib, the bellows 100 is shown to include a hollow elongated body 110 with a series of convolutions 105 extending along a central axis C between a lower end 115 and an upper end 120. convolutions 105 are defined by a plurality of ridges 111 and roots 112. The lower end 115 is defined by a port 118 and a lower head 116 having a plurality of truncations 117. The upper end 120 comprises an upper head 121 which includes a plurality of truncations 121. Figure Ib illustrates the upper head 121 with four truncations 122 in respective square planes around the upper head 121. As described in more detail herein, the Truncations 117, 122 of the upper and lower head 116, 121 can be used to couple the bellows 100 into an actuator assembly 300 as shown in Figure 3. Some modalities may have different head configurations with any number of square planes or be completely round. Heads configurations can also include a variety of retention features to ensure matching or mounting to actuator pressure plates. The number of convolutions can be chosen depending on the desired range of actuator movement or stiffness. The shape and diameter of the bellows convolutions can be chosen depending on the desired range of motion, stiffness, dead load, design load or the like.

Bellows 100 may be made of any suitable material including polymers, copolymers, terpolymers and polymer blends (both miscible and immiscible), thermoplastic elastomers, thermosetting polymers, thermoplastics, block copolymers, graft copolymers, polymer compounds and the like. Specific examples include high density polyethylene (HDPE), crosslinked polyethylene (PEX), polypropylene (PP), low density polyethylene (LDPE), polyethylene terephthalate (PET), polyethylene naphthalate (PEN), polystyrene (PS), polyetherimide (PEI) ), polyphenylene ether (PPE), thermoplastic polyurethane (TPU), thermoplastic elastomers (TPE), polycarbonate, acrylic, nylon and the like. In several embodiments, bellows 100 may be made of different materials defined by layers or additives. For example, one embodiment may comprise bellows 100 with an outer layer of HDPE doped with carbon black to provide UV resistance, on a more rigid structural PET layer and with a third inner layer of HDPE, LDPE or the like, which can act As a flexible internal camera. In other embodiments, bellows 100 may be made of two or more materials in sequence. For example, one embodiment may comprise a bellows with convolutions of HDPE and PP that alternate sequentially or the like.

In some embodiments it may be convenient for bellows 100 to comprise one or more of ultraviolet (UV) stabilizer, UV absorber, antioxidant, thermal stabilizer, carbon black, glass fill, fiber reinforcement, electrostatic heatsink, lubricant concentrate or the like. . The materials of the bellows 100 can be selected according to a desired manufacturing technique, bellows resistance, durability of the bellows, range of motion, elasticity, sun resistance, temperature resistance, wear resistance and the like. In some embodiments, where bellows 100 are employed in a location that experiences sun exposure, it may be desirable to include a UV protection coating or a UV stabilizer in bellows 100. Alternatively, bellows 100 may be wrapped in a cover or other protective environment.

Bellows 100 can be manufactured by any suitable manufacturing process, including extrusion blow molding (EBM), injection blow molding and stretching (ISBM), blow molding of a plurality of layers, coextrusion blow molding, blow molding co-injection blow molding, suction blow molding, 3-D blow molding, sequential coextrusion blow molding, vacuum formation, injection molding, thermoforming, rotational molding, process cooling, three-dimensional printing, immersion molding or the like.

The bellows 100 may have any suitable thickness in several portions including between about, 002 inches and, 125 inches and between about, 0005 inches and, 25 inches. In several embodiments, the thickness of several portions of the bellows 100 can be selected based on a desired manufacturing technique, bellows strength, bellows durability, range of motion, elasticity, sun resistance, temperature resistance and the like. .

In several embodiments, the hollow bellows 100 may be configured to inflate and / or deflate with a fluid (e.g., air, a liquid or the like), which may cause the bellows 100 to change in size, shape and / or configuration. . In addition, the bellows 100 can be deformed so that the bellows

100 They can change size, shape and / or configuration. For example, Figures 2a and 2b are side views of bellows 100 in a first and second configuration, respectively. In the first configuration of Figure 2a, the distance DI between adjacent root portions 112 is greater than the distance D2 between adjacent root portions in the second configuration of Figure 2b.

The bellows 100 can change between the first and second configuration in several suitable ways. For example, bellows 100 can naturally adopt the first configuration (Figure 2a) when they have no pressure or are at a neutral pressure and can adopt the second configuration (Figure 2b) by physical compression and / or negative pressurization of bellows 100. In addition, bellows 100 can naturally adopt the second configuration (Figure 2b) when they have no pressure or are at a neutral pressure and can adopt the first configuration (Figure 2a) by physical expansion and / or positive pressurization of bellows 100.

Additionally, the bellows 100 may be in the second configuration (Figure 2b) at a first pressurization and are expanded to the first configuration (Figure 2a) by pressurization at a second pressure that is greater than the first pressure. Additionally, the bellows 100 may be in the first configuration (Figure 2a) at a first pressurization and contract to the second configuration (Figure 2b) by pressurization at a second pressure that is less than the first pressure. In other words, bellows 100 can be expanded and / or contracted by selective pressurization and / or by physical compression or expansion.

In some embodiments, it may be convenient for the convolutions 110 to engage in a contact and / or rolling form in various configurations. For example, Figure 2a shows the first configuration where the convolutions are not in contact, while Figure 2b shows the second configuration where the convolutions engage in a contact region 205. In some embodiments, the contact region 205 may provide a rolling contact between the convolutions 110, which may be beneficial during the movement of the bellows 100 as described in more detail herein. Additionally, this contact region 205 may be beneficial because it can reduce the tension in the bellows 100 during compression and may increase the stiffness of the bellows 100 in certain configurations.

Although certain examples of modalities of bellows 100 are illustrated herein, these examples of modalities should not be considered as limiting a wide variety of bellows shapes, sizes and geometries that are within the scope and spirit of the present invention, including the bellows 100 illustrated in Figures 20a and 20b. For example, in some embodiments, the convolutions may have different shapes and sizes, including differences within a pattern or the like. Additionally, bellows 100 may have a curved or rounded contour as shown in Figures la, Ib, 2a and 2b, or may include edges, square portions or the like.

With respect to Figures 3 and 4, the bellows 100 may be a portion of an actuator assembly 300. As shown in Figures 3 and 4, the actuator assembly 300 may include four separate bellows 100 extending, each one, between a lower plate 310 and an upper plate 320. A plurality of restriction panels 330 can extend between the bellows 100 and support them. A plurality of washers 340 may surround a portion of bellows 100 and be coupled thereto. In addition, a flexion 350 can be extended between the lower and upper plates 310, 320 and be coupled thereto by corresponding bolts 351, 352 (shown in Figure 4).

Flexion 350 can be captured by washers 340 or support panels 330, thus restricting them to bellows 100 constituting the actuator assembly. For example, Figures 19a and 19b illustrate examples of embodiments of an actuator assembly 300 that includes two bellows 100, a plurality of support panels 330 that engage a portion of the bellows 100, where the bends 350 are captured by the support panels 330.

In several embodiments, the upper and lower heads 116, 121 of the bellows 100 may reside within corresponding coupling holes 311, 321 of the upper and lower plates 310, 320. In other words, the lower heads 116 of the bellows 100 may extend to and engage lower coupling holes 311 of the lower plate 310 and the upper heads 121 of the bellows 100 may extend to and engage upper coupling holes 321 of the 320 top plate. In various embodiments, the truncations 117, 121 of the upper and lower heads 116, 121 may correspond and fit the shape of the coupling holes 311, 321 as to reduce or prevent rotation of the bellows within the coupling holes 311 , 321. In addition, inflation of the bellows 100 can expand the upper and lower heads 116, 121 such that the upper and lower heads 116, 121 are additionally engaged and coupled to the coupling holes 311, 321. Retention features can be formed in bellows 100, including in the upper and lower heads 116, 121 for indexing or gearing with the upper plate, manufacturing template, test accessory or the like, (eg Figures la, Ib, 20a or 20b)

In various embodiments, the upper and lower plates 310, 320 may comprise any suitable material, including a polymer, metal, wood, composite, a combination of materials or the like. In addition, although a specific configuration of the upper and lower plates 310, 320 is shown herein, other embodiments may include plates with a suitable configuration. For example, several suitable embodiments of the upper and lower plates 310, 320 may be configured to connect with the bellows 100 and also distribute a point load from the flexion 350. The plates 310, 320 may also comprise and take advantage of existing structures, such as mounting batteries, extension beams or the like.

The upper and lower plates 310, 320 can be made in any suitable manner. For example, in one embodiment, a cold rolling process may be used together with metal stamping to create a C-channel plate with the appropriate interaction features for the upper and lower plates 310, 320 as described herein. The plates 310, 320 can also be formed from standard hot and cold rolled sections. Plate features can be die cut, CNC drilled, laser cut, water jet cut, ground and subjected to any other suitable manufacturing method. A plate 310, 320 may also comprise a plurality of standard sections or custom parts. Plates of this nature can be joined together with a variety of fasteners including rivets, nuts and bolts, welds or the like. For example, the upper and lower plates 310, 320 according to an additional embodiment are illustrated in Figures 21, 22a-c, 23a-c, 24, 25a-c, 26a-c, 27a-c and 28a-c.

In another embodiment, the manufacture of the upper and lower plates 310, 320 may include the creation and processing of composite panels. For example, a composite upper or lower plate 310, 320 may comprise an intermediate plate of a plurality of materials that takes advantage of a low-weight and inexpensive core material and of the stiffness and strength of the thinner sheets of coating material that can adhere to any side of the central substrate. These composite panels are frequently used as building material or flooring of high rigidity, high strength, low weight and low cost.

In some embodiments, a composite upper or lower plate 310, 320 may comprise a honeycomb polymer core that can withstand compression and shear loads, sandwiched between two metal liners that can withstand high tensile stresses caused by the crease. It is possible to join the upper or lower plate 310, 320 with bolts, columns with thermal insert, ultrasonic welding or the upper or lower plates 310, 320 can be assembled with an adhesive.

When using metal stamping, the upper or lower plates 310, 320 can be manufactured with metal coatings stamped with curvatures of a plurality of planes and an injection molding polymer core. The structure that this geometry creates can give greater rigidity to an upper and lower plate 310, 320 by the volume of material used and provides an opportunity to reduce the expensive metal cladding material. Stiffness features such as ribs, protrusions, deep cavities and belts can also be incorporated into the design of the upper or lower plates 310, 320 in some embodiments.

In some embodiments, plates 310, 320 do not have to be single flat elements. For example, the bottom plate 320 may be two parallel individual surfaces, each, to the two opposite flanges of the post 710 such that the bellows interfaces point 180 degrees in opposite direction of each other instead of 0 degrees as in the previous settings. The body of each of the bellows 100 would then be folded 90 degrees to match the top plate 310 when the actuator is level. In this case, the plate may not be an element that folds but one that is compressed. The plates 310, 320 can also take a V-shape with a main angle imposed by the desired range of motion of the actuator.

For example, Figures 29a and 29b illustrate an actuator assembly 2900 in accordance with an additional embodiment that includes a top plate 2905 with a first and second portions 2905A, 2905B which are rotatably coupled in a joint 2910. A first and second Bellows 100 are coupled to corresponding lower sides of the first and second portions 2905A, 2905B and to one side of a post 2915. As illustrated in Figure 29a, the stack, 2915 may be a compression element against which the bellows 100 react. The upper plates 2905A and B can be designed to be flat as shown in Figure 29a, or at an angle greater than 90 degrees from each other as shown in 29b. In several embodiments, the angle between these two plates does not change with the movement of the tracker; instead, the angle of one relative to the other can be adjusted at the time of design to alter the range of motion and the length of each bellows 100.

In several embodiments, it may be convenient to restrict the bellows 100 so that they do not deform and / or twist when the bellows 100 are inflated and / or deflated within the actuator assembly 300 or when external loads are applied and it may be convenient to restrict the bellows 100 with respect to bellows 100 adjacent and radially around flexion 350. Accordingly, in some embodiments, bellows 100 may be restricted with one or both of restriction panels 330 and washers 340. For example, as shown in Figure 3, washers 340 may reside within a root portion 112 of the bellows 100 and configured to restrict the movement of the bellows 100. In addition, the washers 340 may also be configured to slidably reside in the restriction panels 330, which further provides restriction of the bellows 100 as the bellows 100 inflate and / or deflate within the actuator assembly 300.

The washers 340 may be held in a position around the neutral axis of flexion as a measure of alignment control. This can be achieved with insert blocks, adhesives, molded features on the washers, bending or plate. These items can be part of the previously produced subassembly, or join after sending them to the installation location. In some embodiments, these items can be designed to meet a plurality of objectives including: acting as rigid stops, limiting lateral and transverse flexion, resisting dead or design loads for cases where bellows have low pressure or high pressure. In one of these modalities, for a single axis configuration, the blocks with tapered flanges to adjust to the range of motion of the actuator can be inserted between restriction panels and capture the central flex. These blocks can be placed between two push-ups in the single axis configuration or outside them. These blocks may be made of polymer, a sheet of solid or folded metal or any other suitable material and may be formed in any suitable manner. For example, one embodiment of a flexion spacer 3000 is illustrated in Figures 30a and 30b. Another embodiment of a flex spacer 2400 is illustrated in Figure 24. In addition, examples of modalities of flexural coupling grooves 2500, 2600, 2700, 2800 are illustrated respectively in Figures 25a, 25c, 26a, 26c, 27a, 27c, 28a and 28c.

Although the actuator assembly 300 of Figures 3 and 4 is shown with eight washers 340 and two restriction panels 330, other embodiments may have no restrictions or may have any suitable amount of restrictions. For example, in one embodiment, washers 340 may be associated with each root portion 112 of a bellows 110. The amount of restrictions can be selected based on a maximum operating pressure of the bellows 100, a desired stiffness of the bellows 100, an anticipated external load by wind or the like. In addition, the design of the restriction panels 330 and washers 340 shown in Figures 3 and 4 should not be considered to limit the various types of possible restrictions that may be applied to an actuator assembly 300 in additional embodiments. For example, additional embodiments may include restrictions that include a cable, a rope, a polymer microfilament or the like (eg, as illustrated in Figures 33a and 33b). Additional embodiments may include restrictions that are integrated into the body of bellows 100 (eg, molded into bellows 100).

In various embodiments, the flexion 350 can be a tension flexion that supports antagonistic forces of the actuator assembly 300 as the bellows 100 inflate and / or deflate, while also providing a fold or flex in response to the movement of the actuator assembly 300 as described in more detail herein. In some embodiments, the flex 350 may comprise a galvanized steel cable cord that is coupled to the upper or lower plates 310, 320 by curly Nicopress fittings or any other suitable steel cord attachment. In additional embodiments, the flexion 350 may comprise a universal spherical joint, a fiberglass rod, a Spectra rope, a Dyneema rope, a steel spring flexion, a central shaft flexion, a tetrahedral link or the like. In addition, there may be a plurality of pushups. For example, two tension bends are used in a single axis configuration.

In another embodiment, as shown in Figure 8, the flexion 350 may comprise a universal joint 800, defined by a first and second arms 805, 510 respectively coupled to the upper and lower plates 310, 320 and coupled to each of a pair of axles 815. As shown in this embodiment, the actuator assembly 300 may be arranged on a table support 830 defined by an upper part 831 and a plurality of legs 832 extending downward from the upper part 831.

An actuator assembly 300 can be assembled in several suitable ways. For example, Figure 5a illustrates a method 510 for assembling an actuator assembly 300 according to one embodiment. Method 510 begins in block 511, where flexion 350 is coupled with lower plate 310 and in block 512, bellows 100 are positioned in coupling holes 311 of lower plate 310. For example, as described herein, the lower head 116 of each bellows 100 can be inserted into a respective coupling hole 311 of the lower plate 310.

In block 513, restrictions such as restriction panels 330 and / or washers 340 can be applied to bellows 100 and in block 514, upper plate 320 is applied to upper end 120 of bellows 100. For example, as described in the present, the upper head 121 of the bellows 100 can be inserted into the respective coupling holes 321 of the upper plate 320. In block 515, bellows 100 are compressed and flexion 350 is coupled with upper plate 320. For example, in some embodiments, flexion 350 can be coupled by means of a Nicopress accessory, by stamping, by a zinc plug or the like.

An actuator assembly 300 may also comprise pressure connections, thread connections, one-way thrust pin connections, articulated fasteners or any other suitable mechanism or connection to facilitate quick and inexpensive assembly of an actuator assembly 300. By For example, the flex coupling slots 2500, 2600, 2700, 2800 are illustrated respectively in Figures 25a, 25c, 26a, 26c, 27a, 27c, 28a and 28c. In addition, an example of flex capture 3100 is illustrated in Figure 31a, which includes a large groove 3105 and a smaller groove 3110, which allows corresponding portions of a flex 350 to pass through the large and smaller grooves 3105 , 3110, where a flange 353 of flexion 350 is captured in a grip portion 3115.

In another example, a rotating catch 3150 is illustrated in Figure 31b, which may comprise a capture slot 3160 and a pair of capture legs 3165. The rotating capture 3150 can be rotatably coupled to one of the top plate and / or bottom 310, 320 and configured to capture and hold a portion of flexion 350 in capture slot 3160, within a flexion coupling slot 2500 and retained by a flange 353 of flexion 350. The legs 3165 can be locked with respective leg coupling slots 2505.

In some embodiments, the actuator assembly 300 can be constructed with an automatic assembly process. For example, Figure 5b illustrates a flow chart of a method 520 of an automatic assembly of the actuator assembly 300. As illustrated in Figure 5b, method 520 includes a flex assembly that includes detaching and corrugating a steel cable With an automatic cutting and corrugated machine.

Method 520 includes an inner washer joining passage that includes that the inner washers are threaded into the corrugated and in the flexion of the cable 350. The flexion 350 is also twisted to hold the washers in place.

Method 520 includes a bellows integration step where the outer washers are placed around the bellows 100 and are thermally embedded in the inner bellows 100. The bellows 100 are now joined together and the tension member by means of the restriction washers.

With reference to Figure 6, the actuator assembly 300 can be moved to assume a plurality of configurations depending on the inflation and / or deflation of the bellows 100. For example, the actuator assembly 300 can assume a first configuration A, where the plane TO of the upper plate 320 is parallel to the plane BA of the base plate 310. In the first configuration example A, the bellows 100 have the same length and have a straight central axis CE perpendicular to the upper and lower planes ΤΟ, BA. In this configuration, the bellows 100 may be at a neutral pressure, partially inflated or partially deflated.

The actuator assembly 300 can also assume the examples of configurations B and C. In such configurations B, C, the upper plate 320 is in a configuration where the plane TO of the upper plate 320 is no longer parallel to the plane BA of the plate base 310. For example, in configuration B, a first bellows 100A expands compared to configuration A, while the second bellows 100B is compressed compared to configuration A. The central axes CE of the first and second bellows 100A, 100B are curved. Therefore, the relative expansion and compression of the first and second bellows 100A, 100B in configuration B rotates the plane TO of the upper plate 320 to the right. In such a configuration, the first bellows 100A may be more inflated than in the first configuration A, and the second bellows 100B may be less inflated than that in the first configuration Ά.

In contrast, in configuration C, the second bellows 100B are expanded in comparison to configuration A, while the first bellows 100A is compressed compared to configuration A. The central axes CE of the first and second bellows 100A, 100B are curved Therefore, the relative expansion and compression of the first and second bellows 100A, 100B in configuration C rotates the plane TO of the upper plate 320 to the left. In such a configuration, the second bellows 100B may be more inflated than in the first configuration A, and the first bellows 100A may be less inflated than in the first configuration A.

Accordingly, by inflating and / or selectively deflating the bellows 100 of the actuator assembly 300, the plane TO of the upper plate 320 can be moved to various desired positions. In embodiments that have four bellows 100 as shown in Figures 3, 4 and 6, this selective inflation and / or deflation of the bellows 100 provides the movement of the upper plate 320 in two axes. Figure 32 illustrates an alternative embodiment of actuator assembly 300, comprising rigid stops 3200 as described above.

In one application, as illustrated in Figures 7a-c, the actuator assembly 300 can be used to move and position a solar panel 705 coupled to the top plate 320. Accordingly, Figures 7a-c illustrate three examples of modalities 700A , 700B, 700C of a 700 solar actuator assembly. For example, in a first embodiment 700A, as shown in Figure 7a, the solar actuator assembly 700 may include a pole 710 on which the actuator assembly 300 rests. The pole 710 may be supported by a base or arranged on the ground (e.g., by means of a ground post, ground screw or the like) according to some modalities. This pole can be buried in the floor for a variable length depending on the loading conditions on the site. The pole can be a steel component with I, C, cover or other cross section. The post can be treated with a zinc coating, hot dip galvanized or some other method of corrosion resistance.

In a second mode 700B, as shown in Figure 7b, the solar actuator assembly 700 may include a base 720 comprising a plurality of legs 721. In a third mode 700C, the solar actuator assembly 700 may include an architecture of base 730 that holds one or more weights 730. In one embodiment, weights 735 may comprise tanks that can be filled with fluid such as water. This mode may be convenient because the 700C solar actuator assembly can be lightweight to be transported and then held in place by filling the weights 735 with water or other ballast in a desired location.

Although several examples of embodiments herein describe the use of an actuator assembly 300 with solar panels 705, in additional embodiments, an actuator assembly 300 can be used to drive or otherwise move any suitable object, including concentrators, reflectors , refractors and the like.

In additional embodiments, the actuator assembly 300 may comprise one or more rigid stops (not shown) that may be configured to prevent the actuator assembly 300 from extending too much. For example, in some embodiments, the actuator assembly 300 may comprise one or more tension cords or belts coupled to the upper and lower plates 310, 320 and extending between them. In another example, positive projections may be provided as part of the actuator assembly 300 or near the actuator assembly 300 such that contact with the projections restricts the range of motion of the actuator assembly 300. In various embodiments, these rigid stops may be beneficial to avoid damage to the actuator assembly 300 in case of strong winds or exposure to other forces that may extend the actuator assembly 300 too much. The pressure against a rigid stop can also prevent the excitation of destructive resonant frequencies induced by oscillating loads (such as wind). In some embodiments, it may be beneficial to store the actuator assembly 300 against a rigid stop when exposure to undesirable forces is anticipated (eg, during a storm or the like). These rigid stops can also have a blocking feature to stop all the movement of the tracker when it is hit. This can serve as a storage mechanism that will prevent further damage to the tracker in case of strong winds.

In some embodiments, a two-axis actuator assembly 300 may include a number of rigid stops, for example, eight natural stops (eg, in N, NE, E, SE, S, SW, W, NW). As described in more detail herein, a single shaft actuator assembly 300 may include two rigid stops at two maximums of its range of motion. In additional embodiments, the actuator assembly 300 can be stored by raising the pressure of all bellows 100 in the actuator assembly 300 to increase the total stiffness of the actuator assembly 300. The rigid stops can also be locking, so that the mechanism Stop restricts movement in any direction, to store the tracker safely. The locking mechanism can be activated actively or passively when the tracker reaches the rigid stops. The locking mechanism can be activated when the tracker is at one end of any direction of its movement, or when it is at an intermediate point, for example, when the actuator is fixed.

In an exemplary embodiment, as illustrated in Figure 32, the base plate 3100 may comprise rigid stops 3200 that extend upward from the face of the base plate 320 and are configured to engage with a portion of the upper plate 320. As shown in Figure 32, a first rigid stop 3200A provides a stop when the actuator assembly 300 assumes the C configuration and a second rigid stop 3200B provides a stop when the actuator assembly 300 assumes the configuration B. As described in here, rigid stops 3200 may be present in modalities with two, four or any suitable amount of bellows 100. In addition, rigid stops may be present in any suitable portion of actuator assembly 300 including top plate 320 or the like.

Rigid storage, locks or stops can be provided in various suitable forms according to additional modalities. For example, in one embodiment, there may be a separate actuator closure in order to store it. For example, a separate small bellows can be used to drive a locking mechanism that holds an actuator assembly 300 rigidly or almost rigidly. In one embodiment, this mechanism may comprise a pin that meshes a corresponding hole or slot, or such mechanism may comprise a plurality of pins or serrated arrangements that engage corresponding features by enabling a plurality of locking positions. In another embodiment, such a mechanism may comprise respective brake pads that allow continuous locking regardless of the position of the tracker. An unusual load can also be used to engage a locking mechanism according to some modalities.

In some embodiments, a tilt of transverse plate can be used to lock, store or the like. For example, by using an asymmetric application of flex springs, a transverse angle can be controlled by a force of the actuator to engage a lock for situations of high load and / or low load. Therefore, a collective pressure of the bellows greater or less than the corresponding flexion can be used with a spring force to engage a locking mechanism that retains the position of the tracker for storage. An unusual load can also be used to engage the locking mechanism according to some modalities.

For example, Figures 42a and 42b illustrate an example of an actuator assembly 300 comprising a bottom plate 310, a top plate 320, at least one bellows 100 and a lock assembly 4200. The lock assembly 4200 comprises an assembly of spring 4205 that deflects a shaft 4210 connected to a lower portion of the upper plate 320. A locking arm 4215 is coupled to the upper plate 320 at a first end that includes a locking head 4220 at a second end, which is configured to engage a locking member 4225 coupled to the lower plate 310 and extending from it. .

Figure 42a illustrates the lock assembly 4200 in an unblocked configuration, where the upper and lower plates 310, 320 are substantially parallel and the spring assembly 4205 is in an extended configuration. As illustrated in Figure 42b, the upper plate 320 may be inclined with respect to the lower plate 310, which may cause the spring assembly 4200 to compress. In addition, the blocking head 4220 can engage the blocking member 4225 when the upper plate 320 is inclined, which can block the upper plate 320 in the inclined position, including being deflected by the spring assembly 4205.

In additional embodiments, a rod link lock can be used to store or lock an actuator assembly 300. For example, in one embodiment, a four rod link controlled by the actuator can be used to block the movement of the tracker. In such an embodiment, a four-rod link articulated between the upper and lower plates 310, 320 can be used to hold the position of the actuator assembly 300 for storage and the like. This mechanism can be operated by an external actuator, collective bellows pressure, unusual load or the like.

An exemplary embodiment of a rod linkage locking mechanism 4300 is illustrated in Figures 43, 44a and 44b associated with the actuator assembly 300 comprising a bottom plate 310, a top plate 320 and at least one bellows 100. lock assembly 4300 comprises a spring assembly 4305 that deflects a shaft 4310 connected to a lower portion of the upper plate 320. A blocking arm 4315 is coupled to the upper plate 320 at a first end and extends towards a blocking assembly 4300 that includes a blocking head 4331, a rod link assembly 4332 and a link foot 4333 that engages with the spring assembly 4305 and the shaft 4310 and is driven by these.

The shaft 4310 is illustrated in a first configuration in Figure 44a, where the link foot 4333 is pushed up, which in turn causes the link assembly 4332 to rotate the lock head 4331 to a disengaged or open position. . However, Figure 44b illustrates axis 4310 in a second configuration where link foot 4333 assumes a lower configuration, which in turn causes link assembly 4332 to rotate locking head 4331 to a locked position or closed, which locks the lock arm 4315. Moving the rod link locking mechanism 4300 from the open or disengaged position in Figure 44a to the closed or locked configuration of Figure 44b can be caused by reducing the distance between the upper and lower plates 310, 320, which causes shaft 4315 to extend further through bottom plate 310.

In additional embodiments, a flexion extension lock 4500 as illustrated in Figure 45 can be used to store or lock an actuator assembly. For example, in such an embodiment, the extension of the direct flexion or storage lock can be controlled by the force of the bellows or the actuator. A collective pressure of the bellows greater or less than the corresponding bending with a spring force can be used to engage a locking mechanism that retains the position of the tracker for storage. An unusual load can also be used to engage the locking mechanism 4500 according to various modalities.

In addition to the two-axis actuator assembly 300 as illustrated in Figures 3 and 4, additional embodiments of an actuator assembly 300 can be configured to operate in a shaft configuration as illustrated in Figures 9a-c, 19a, 19b , 21 and 24. For example, with reference to Figures 9a-c, the actuator assembly 300 may comprise a pair of bellows 100 extending between an upper and lower plate 310, 320. As described above, the actuator assembly 300 may include a plurality of restriction panels 330 that can extend between the bellows 100 and support them. A plurality of washers 340 may surround a portion of bellows 100 and be coupled thereto.

Other methods for restricting the internal convolutions of the bellows 100 may be present in additional embodiments. For example, bellows 100 can be restricted with an extensible and flexible rope, cord or rope that wraps around the internal convolutions of bellows 100 and connects adjacent bellows 100, instead of or in addition to washers and restriction panels. For example, FIG. 33a and 33b illustrate an example of an actuator assembly 300 comprising a wrapper 3300 that wraps around the internal convolutions of the bellows 100 and connects adjacent bellows 100. In another embodiment, the bellows restrictions may take the form of a hollow liner or tube where the bellows 100 slidably reside. In said embodiment, the bellows may not bend, but instead can extend linearly.

In addition, a flexion 350 can be extended between the lower and upper plates 310, 320 and can be coupled to the base plate 310 by means of heads 953. In some embodiments, the flex 350 can be extended between the lower and upper plates 310, 320 by two strokes 952 on opposite sides of a crown portion 952 extending along the upper plate 320 as illustrated in Fig. 9a-c. In additional embodiments, there may be one or more separate push-ups, for example, as illustrated in Figs. 3 and 4.

Even with reference to Fig. 9a-c, the actuator assembly 300 with two bellows 100 may be configured to move a solar panel 705 that is coupled to the upper handle 320 by corresponding supports 921, 922 that are mounted perpendicularly to each other and they extend along corresponding lengths of solar panel 705 (for example, as illustrated in Figs. 10 and 35). As described above in relation to Fig. 6, the bellows 100 of the actuator assembly of an axis 300 may be configured to be inflated and / or deflated to move the solar panel 705 as shown in the arrows of Fig. 9b. The support 922 can be any light steel channel. This channel may have a cross section C, Z, or some other convenient cross section. This channel can be roll-shaped, bent, or it can be manufactured in any other way. This channel can also use a corrosion resistant coating such as zinc coating, hot dipped galvanized or the like, to stop corrosion. This channel can have a variety of lengths depending on the size of the tracker and the spacing of the posts. The support 922 holding the solar panels can be mounted on the upper plates of the actuator using bolts, nuts, and through holes through all the components, or it can be mounted using a clamping system that would use friction to hold all the components in the place. The support 921 may be wrapped in the same actuator design as part of the top plate. It can also have the same cut and material as support 922. Solar panel 705 may be mounted on bracket 922 using fasteners, bolts, staples, or some other method of attachment. This fastening method can also electrically join the panels with the support.

In addition, the actuator assembly 300 may comprise a damper 905 as illustrated in Fig. 9a-c. Fig. 9a-c show an embodiment where the shock absorber 905 extends between the lower plate 310 and a support 921 that moves with the upper plate 320. The shock absorber 905 can be configured to gently move the solar panel 705 providing resistance that reduces sudden or abrupt movement of solar panel 705. In other words, a damper 905 may be configured to respond to dynamic loading modes (eg, wind-induced oscillating modes) and assist with the smooth oscillations of an actuator assembly 300. In addition, the inclusion of shock absorbers 905 may be beneficial because it may allow an actuator assembly 300 to operate at a lower operating pressure, which may result in reduced tension on the actuator assembly 300, including tension on the bellows 100, and the like.

In additional embodiments, the shock absorber 905 can be configured in any way. For example, the damper 905 may be coupled to the upper and lower plate 310, 320; the shock absorber 905 may be coupled to the bottom plate 310 and the second support 922; or similar. In some embodiments, the shock absorber 905 may comprise an air / gas spring, oil damper, or the like. In additional embodiments, the bellows 100 may be filled with a fluid such as water, or the like, to generate a suitable damping effect. In some modes, specifically in some types of friction-based rotary dampers, the damping coefficient may be modulated by varying the collective force applied by the bellows. By increasing the collective pressure of bellows, the stiffness provided by the shock absorber can increase, which may be convenient for cases of large dynamic loads. The damper can have a linear or rotating shape according to several modalities.

In additional embodiments, a shock absorber can be located internally or integrated directly into a fluidic actuator or elastic bellows 100. For example, the material of the actuator can have a high damping coefficient, the actuator can be partially filled with a material compatible with a high damping coefficient, a block of porous material can be inserted into the actuator that restricts the passage of fluids inside and outside. of said material thus achieving damping, a block of elastomeric material that changes volume in response to external pressure with a considerable damping coefficient, The actuator may be wrapped in an elastomeric buffer material, and so on.

In additional embodiments, a shock absorber can be integrated with the bending or rotating system or between washers. For example, the bending may be coated with an elastomeric damping material that could also serve to maintain the separation of the washers and end plates, or the elastomeric damping blocks may be sandwiched between washer plates.

As described herein, the actuator assembly 300 may be coupled to the ground or other structure by a post 710. For example, the actuator assembly 300 may be associated with or comprise structures illustrated in Fig. 7a- c, or similar. The actuator can be mounted on this post using bolts, nuts and washers through the member flange, or through the net. The bottom plate of the actuator can have built-in mounting features or mounting brackets can be used.

In some embodiments, one or more of the actuator assemblies 300 may be coupled together. For example, as shown in Fig. 10, a pair of actuator assemblies of a single 300 may be coupled by one or more solar panels 710 and / or supports 922 extending between the actuator assemblies 300. Similarly , Fig. 35 illustrates another embodiment 3500 comprising a plurality of actuator assemblies 300 coupled together by one or more solar panels 710 and / or supports 922 extending between actuator assemblies 300. In such embodiments, two or more actuator assemblies 300 can be move together to move a simple 705 solar panel array. As shown in various embodiments, said actuator assembly system 1000 may be anchored in the ground 1020 by posts 710, or the like. The supports 922 can be linked together using bolts and nuts with a connection support, or with a stacking feature between the two lengths of the support 922 that eliminates the need for an additional part. For example, FIG. 34a and 34b illustrate an actuator assembly 300 coupled to a pole 710 by a bolt assembly 3400.

Although a specific embodiment of a flexion 350 is illustrated in Figs. 9a-c and Fig. 10, in additional embodiments, a flexion 350 for an actuator assembly of an axis 300 may comprise a parallel string bending, a flat bending, a pivot that supports load, a four-bar link, a tetrahedral link, or the like. Said push-ups may comprise any suitable material including a metal, plastic, fiber reinforced composite or the like.

For example, Fig. Lia illustrates one embodiment of an actuator assembly 300 with a flexible flat flex 1110 extending between the lower and upper plate 310, 320. Fig. 11b illustrates another embodiment of an actuator assembly 300 comprising a flexible tetrahedral link 1120 defined by a rope 1121 extending between the lower and upper plate 310, 320. Fig. 12 illustrates another embodiment of an actuator assembly 300 comprising a pivot 1210 extending between the lower and upper plate 310, 320.

In accordance with other embodiments, actuator assemblies 300 may include several other suitable structures and take several other suitable forms. For example, FIG. 13a-e and 14a-b illustrate other embodiments of actuator assemblies 300. In one embodiment, as illustrated in Fig. 13a, a bellows 100 and compression spring 1305 may be placed on opposite sides of a flexion 1305 and extend between a lower and upper plate 310, 320. Therefore, inflation and / or deflation of the bellows 100 can drive the upper plate 320, the upper plate 320 being inclined by the spring 1305. Additional modes may have any of a plurality of bellows 100 and / or suitable springs 1305.

In another embodiment, as illustrated in Fig. 13b, an extension spring 1310 may be placed within a bellows 100 that extends between a lower and upper plate 310, 320. Therefore, inflation and / or deflation of the bellows 100 can drive the upper plate 320, the upper plate 320 being inclined by the spring 1310. Additional modes may have any of a plurality of bellows 100 and / or suitable springs 1310.

In a further embodiment, as illustrated in Fig.

13c, a bellows 100 and extension spring 1315 can be extended between a lower and upper plate 310, 320, a portion of the upper plate 320 being rotatably held in a pivot 1320. The spring 1315 may be close to the pivot 1320 and the bellows 100 may be distant from the pivot 1320 compared to the spring 1315, or vice versa. Therefore, inflation and / or deflation of the bellows 100 can drive the upper plate 320, the upper plate 320 being inclined by the spring 1315. Additional modes may have any of a plurality of bellows 100 and / or suitable springs 1315. The pivot 1320 can be present in any position in the upper plate 320.

In a further embodiment, as illustrated in Fig.

13d, an extension spring 1325 can be wrapped around a bellows 100 that extends between a lower and upper plate 310, 320. Therefore, inflation and / or deflation of the bellows 100 can drive the upper plate

320, the upper plate 320 being inclined by the spring 1325. Additional modes may have any of a plurality of bellows 100 and / or suitable 1325 springs.

In yet another embodiment, as illustrated in Fig. 13e, an inclination assembly 1330 may be coupled to an upper plate 320 that is rotatably secured in a pivot 1320. In some embodiments, the pivot 1320 and inclination assembly 1330 they can be placed at opposite ends of the upper plate 320. The tilt assembly 1330 may comprise an elongate housing 1335 extending between an upper and lower side of a lower plate 310, with a bellows 100 placed on the upper side of the lower plate 310 inside the housing 1335 and a compression spring 1340 placed on the lower side of the lower plate 310 inside the housing 1335. The tilt assembly 1330 can be rotatably coupled to the upper plate 320 by an extension 1345. Inflation and / or deflation of the bellows 100 can drive the upper plate 320, the upper plate 320 being inclined by the spring 1340 of the tilt assembly 1330. Additional modes may have any of a plurality of tilt assemblies 1330, bellows 100 and / or suitable 1340 springs.

In another embodiment, as illustrated in Fig. 14a, an actuator assembly 300 may comprise a bellows 100 extending between a lower and upper plate 310, 320, the lower and upper plates 310, 320 being rotatably inclined by a torsional spring 1410 surrounding a pivot 1415. Therefore, inflation and / or deflation of the bellows 100 can drive the upper plate 320, the upper plate 320 being inclined by the spring 1410. Additional modalities may have any of a plurality of bellows 100 and / or suitable springs 1410.

A further embodiment, as illustrated in Fig. 14b, may include a leaf spring 1430 that is coupled to a bottom plate 310 in a coupling 1420. Therefore, inflation and / or deflation of the bellows 100 can drive the crossbow suspension 1430, the crossbow suspension 1430 being self-inclined. Additional modalities may have any of a plurality of suitable bellows 100.

As illustrated in the modalities of Fig. 13a-e and 14a-b, several modalities may include one or more springs that replace and / or incline one or more bellows 100. These modalities are only provided as examples of the many possible modalities within of the scope and spirit of the present invention. In addition, while 13a-e and 14a-b modes can be used in single shaft actuator assemblies 300, in additional embodiments, actuator assemblies 300 comprising springs can be adapted for use in actuator assemblies 300 configured to move in Two or more axes.

As described herein, in several embodiments one or more actuator assemblies 300 may be configured to operate a solar panel 705 (see, for example, Fig. 6, 7a-c and 10). In additional embodiments, it may be convenient to operate a plurality of solar panels grouped 705 together substantially in unison. For example, as the sun moves in the sky during the day, it may be convenient for an array of solar panels 705 to track the sun so that it can move so that panels 705 are optimally positioned to collect the maximum amount of solar energy.

Although certain examples of embodiments of an actuator assembly 300 shown herein comprise a specific amount of bellows 100 (eg, four, two, one, zero), these examples should not be construed as limiting the wide variety of configurations. of an actuator assembly 300 that are within the scope and spirit of the present invention. For example, several embodiments of an actuator assembly 300 may include any of a plurality of suitable bellows 100 (eg, 3, 5, 6, 7, 8 or more); they can include a single bellows 100; or there may be no bellows 100. The orientation of the bellows 100 and the direction of the force it exerts can also change. The rotational movement of an actuator assembly 300 can be achieved with bellows 100 that provide a force that is not parallel and in the same direction, as shown in Figures 3 and 4, but the bellows 100 may be oriented in the same swimming of the pivot point of the rotational drive, so that the forces are parallel but in opposite directions, or the bellows 100 may be oriented so that they deviate 90 degrees from the pivot point, 10 so that the forces are perpendicular, or in many other orientations where the moments created by each bellows 100 in an actuator assembly 300 have different directions.

Figs. 15a and 15b illustrate two embodiments of an array of panels 1500 that each comprise a plurality of actuator assemblies 300 that each includes a solar panel 705. The actuator assembly 300 may be interconnected by lines 1510, which are configured to provide fluid to the bellows 100 of the assemblies of 20 actuators 300. The array of panels 1500 may be controlled by the control module 1520 which is coupled to the network of lines 1510.

As shown in Fig. 16, the control module 1520 may comprise a compressor 1610 that includes a filter 1611, the compressor 1610 being operatively coupled to an accumulator 1620, which is operatively coupled to a four-port manifold 1630. The manifold 1630 It is operatively connected with four 1640A-D output lines, but for clarity purposes, only 1600 elements (surrounded by the dotted box) connected to the first 1640A output line are shown. Therefore, according to several modalities, the set of system elements 1600 can be provided four times in parallel. In other words, the elements 1600 are shown connected with the first output line 1640A, but an identical or similar set of said elements 1600 can also be operatively connected with the output lines 1640B, 1640C, 1640D as described in more detail in the present. Alternatively, the amount of channels and control elements 1600 may be a value other than four. For example, in embodiments where an actuator assembly 300 has two bellows 100, there may be two channels. For example, Fig. 36 illustrates an exemplary embodiment of a system 3600 with two channels corresponding to a corresponding bellows 100 of a plurality of actuator assemblies 300. In addition, other filtration and / or drying components may be present downstream from the compressor 1610 in accordance with additional embodiments.

Therefore, each of the collector output lines

1640 it can be operatively connected with an inlet valve 1650, which is operatively connected with a channel level accumulator 1660. The channel level accumulator 1660 is operatively connected with an outlet valve 1670, and pressure sensor 1680 and a plurality of bellows 100 that are associated respectively with a different actuator assembly 300. The elements 1600 that are operatively coupled to the outlet line of the manifold 1640A may be configured to maintain substantially the same pressure and / or deflation / inflation state for each of the bellows 100 attached thereto. In several embodiments, this can alternatively be achieved with a bidirectional valve instead of an inlet and outlet valve.

In several embodiments of a two-channel system, an additional transfer valve may be convenient. Said valve may allow flow between the two channels when activated. This may allow the system to move to a flat position without the need for compressor air. This would allow half of all movements to occur without the use of the compressor and without the associated energy consumption. For example, Fig. 37 It illustrates a system 3700 comprising a bidirectional transfer valve 3710 that operatively connects two downstream channels of the inlet and outlet valves 1650, 1670 and an air source 3705.

According to several embodiments, the bellows 100 connected to an outlet line of the given manifold 1640 are each in the same relative position within an actuator assembly 300. For example, as shown in Figs. 15a and 15b, in In various embodiments, each of the actuator assemblies 300 of an array of panels 1500 has four bellows 100 that are placed in lines and columns in a common orientation (eg, square to each other). Therefore, it is assumed that each actuator assembly 300 may have a bellows 100 in a front-right, front-left, rear-right and rear-left position.

With reference to Fig. 16, in various embodiments, each of the bellows 100 associated with the first outlet line of manifold 1640A may be in the same position in a corresponding actuator assembly 300. For example, all bellows 100 shown in Fig. 16 may be in the front-right position of actuator assemblies 300A-D. Similarly, the other output lines 1640B-D may be associated respectively with the bellows 100 in the other positions (not shown in Fig. 16).

For example, it is assumed that the first outlet line of the manifold 1640A is associated with the right front bellows 100 of each actuator assembly 300A-D; the second outlet line of the manifold 1640B is associated with the front-left bellows 100 of each actuator assembly 300A-D; the third outlet line of the manifold 1640C is associated with the rear-right bellows 100 of each actuator assembly 300A-D; and the fourth outlet line of manifold 1640D is associated with the rear-left bellows 100 of each actuator assembly 300AD. In said embodiment, then, the actuator assemblies 300 of an array of panels 1500 can be operated simultaneously while essentially maintaining the same orientation. In other words, by varying the pressure applied by the lines of the manifold 1640A-D, the array of panels 1500 may be configured to collectively track the sun, or otherwise move in unison for other purposes.

In addition, the panel array 1500 of Fig. 16 may also be adapted to modalities of a panel array 1500 that includes actuator assemblies 300 with one or more bellows 100 or other pneumatically driven elements. For example, in an embodiment with two bellows 100, the manifold 1630 may be associated with two output lines 1640 coupled to two sets of corresponding elements 1600. Therefore, other embodiments may include a manifold 1630 with any number of output lines 1640 (for example, 1, 2, 3, 4, 5, 6, or the like).

As described herein, the relative relationship between bellows pressures 100 in an actuator assembly 300 can be used to place a solar panel 705 coupled with the upper plate 320 of the actuator assembly 300. Higher or lower overall pressures can be use with similar relative pressure differences between the bellows 100 that are used so that the actuator assembly 300 assumes several suitable configurations. Higher overall pressures may result in increased stiffness of the bellows 100, which may be convenient for dynamic or similar loading conditions. Lower overall pressures may result in reduced stiffness of the bellows 100 and may be beneficial in reducing tension in the components of the array of panels 1500. In some modalities, the overall pressure can be changed dynamically for several reasons, including the elimination of dangerous resonance modes, adaptation of environmental conditions such as rain, snow or wind, or the reduction of the energy consumption of the array of panels 1500 reducing the overall operating pressure. Varying the pressure in the bellows 100 can also serve to drive a storage or other mechanism. For example, in one embodiment, high bellows pressures can compress a spring that is in line with bending, or integrated into the retaining plates. This action can activate a blocking feature for use in situations where high rigidity is convenient. In addition, the spring can be extended where the bellows 100 are poorly pressurized, also blocking the actuator assembly 300 to maintain or suspend the safety modes. Storage mechanisms can be activated actively or passively. The storage mechanisms can also be operated from a separate control source (specific electrical signal) or from a pressure signal or combination of pressure signals already used to control the angle and stiffness of the actuator.

In several embodiments (for example, as shown in Fig. 15a) a single unit 1520 can control a plurality of actuator assemblies 300 in an array of panels 1500. In such embodiments, one or more sensors can

<td>control</td><td>collectively</td><td>the</td><td>plurality</td><td colspan="2">of assemblies of</td>

<td colspan="3">300 actuators in the array</td><td>of panels</td><td> 1500.</td><td>For example,</td>

<td>in some</td><td>modalities,</td><td>may</td><td>have one</td><td>or more</td><td>sensors</td>

<td>Pressure,</td><td>sensors</td><td>flow</td><td>sensors</td><td>from</td><td>temperature,</td>

inclinometers, or the like, which are operative to amortize control over a plurality of actuator assemblies 300.

In some embodiments, one or more accumulators can be located in several suitable locations in the array of 1500 panels, including joint location with sensors that may be beneficial to ensure that control detection is not substantially affected by pressure contradictions, delays in the pressure normalization or drops or pressure spikes due to a valve or other causes. Therefore, control detection can be isolated from dynamic events that are downstream of said accumulators. For example, if the wind moved the actuator assemblies 300 in the array of panels 1500 so that the pressures in the array of panels 1500 fluctuate, said pressure changes may be isolated from the control sensors by the accumulators.

In additional embodiments, scanning sensors can be used to control actuator assemblies 300 in the array of panels 1500. For example, in some embodiments, sensors such as a solar sensor, inclinometer, and / or the like can be placed in one or more actuator assemblies 300 to monitor the position and configuration of the one or more actuator assemblies 300. In such embodiments, each actuator assembly 300 may not need sensors associated with it, and instead only a small subset of the actuator assemblies 300 must be associated with the sensors. In some embodiments, a control system may use feedback from inverter data or other energy production data to adjust the position of actuator assemblies 300.

Scanning sensors may be convenient in several embodiments since the sampled detection can adapt to changes in an array of 1500 panels over time, including the addition or removal of actuator assemblies 300 from the 1500 array array; placement or other movement of actuator assemblies 300 in the array of panels 1500; deformation or other change to the materials in the arrangement of panels 1500, or the like.

In addition, such scanning detection may be beneficial because it can detect dynamic loading conditions so that the system can adjust system pressure and / or rigidity. For example, if the wind moved actuator assemblies 300 in the array of panels 1500 so that the pressures in the array of panels 1500 fluctuated, said scanning sensors could detect the change and stiffness of the array of panels 1500 by increasing the overall pressure. to resist environmental conditions that cause pressure fluctuations.

In several embodiments, the array of panels 1500 may comprise an air compressor that is operative to introduce pressurized fluid into the array of panels 1500, which can be used to selectively drive and / or inflate the bellows 100. Said compressor and other components of the 1500 panel arrangement can be operated by a programmed electrical connection, by battery, by solar energy or similar. In some embodiments, to adapt cases in which said energy sources are lost or spent, or if the compressor fails, the array of panels 1500 may comprise a pressurized fluid backup that can be used in the array of panels 1500. For example, Compressed air can be stored in a tank, accumulator or reservoir. Storage of compressed air can also allow the compressor tank system to supply air at a speed greater than the capacity of the compressor.

Although Fig. 16 illustrates an embodiment of how bellows 100 are interconnected and associated with a given outlet line of manifold 1640, bellows 100 can be interconnected in any other way. For example, with reference to Fig. 17a, bellows 100 in one embodiment may be coupled along a line 1510 by corresponding restrictors 1710. In another embodiment, as illustrated in Fig. 17b, a plurality of bellows 100 may be connected along a length of a line 1510 by means of a cup 1720 and line extensions 1715 that are coupled to caps 1725 in bellows 100. In a further embodiment, as illustrated in the Fig. 17c, the bellows 100 may be coupled by corresponding loops 1730 of the line 1510 that enters / exits respectively the covers 1735 that are coupled to each of the bellows 100, or instead of covers 1725, a restrictor 1710 may be integrated in the same bellows 100. In additional embodiments, any of the plurality of loops 1730 or the like may enter / exit the covers 1735.

In addition, in several embodiments, bellows 100 may be inter-coupled in any way, including more than one combination of the coupling examples shown and described herein. For example, some embodiment of an array of panels 1500 may include a trunk and branch configuration, wherein the primary lines 1510 have a larger diameter and the secondary lines 1510 (for example, extensions 1715 of Fig. 17b) which are closer to the bellows 100 have a smaller diameter. In said embodiment, the trunk lines 1510 may provide less restricted flow while the branch lines 1510 may provide greater flow restriction.

Lines 1510 may comprise any material to contain a desired fluid. For example, in several embodiments, the lines can be polyurethane, polyvinylchloride (PVC), high density polyethylene (HDPE), crosslinked polyethylene (PEX), polyamide, steel, galvanized steel, iron, copper, aluminum, or the like. The lines 1510 may be flexible and / or rigid in some embodiments. In some embodiments, lines 1510 may be configured to serve as elasticity in joints with deformable seals; 1510 lines can provide closure elasticity and / or elasticity can be external.

In several embodiments, an array of panels 1500 may include one or more types of suitable lines 1510 and joint material, and in some embodiments, a given portion of a line 1510 or joint may comprise a plurality of materials. For example, a metal core may be covered in a polymer to provide support against deformation during bending or for environmental protection. In additional embodiments, the lines 1510 may be mesh or fiber reinforcement. A polymeric tube can have a layer of metal sheet for slip resistance. A line may be covered with a secondary cover to prevent excessive weather-related degradation, such as ultraviolet radiation. The selective use of said cover allows the use of a continuous line of non-weather-resistant material economically through intermittent protection areas, such as the case of linking between collinear solar arrays with spaces between arrays or between contiguous solar arrays.

The lines 1510 of the array of panels 1500 may be coupled in several suitable ways. For example, the connectors can be connected to the inside and / or outside of the corresponding lines 1510 or other components. In various embodiments, compression connections, glued connection, welded connections, adhesive connections, or the like can be used.

In several embodiments, it may be beneficial to use a flow restriction device or structure in several positions in an array of panels 1500. For example, as shown in Fig. 17a, a restrictor 1710 can be placed between the bellows 100 and a line 1510. In other embodiments, a flow restriction device or structure may also be present in a cover 1725, 1735, a cup 1720 or in various positions in a line 1510.

The use of flow restriction devices or structures may limit the flow rate in / out of the bellows 100 to inhibit unwanted pressure drops and / or pressure increases in the bellows 100, which may be beneficial for maintaining the drive. Smooth actuator assemblies 300 and make the array of 1500 panels more tolerant of fluid leakage and / or breakage in the array of 1500 panels.

For example, the interconnected bellows system 100 of an array of panels 1500 may maintain operation even when a failure occurs in the bellows 100, cap 1725, 1735, or the like, where a leak or break occurs downstream of a restriction device. flow.

Furthermore, in some examples of a single-axis configuration, where the upper parts of a plurality of actuators 300 are mechanically attached to each other (for example, as described in Figs. 10 and 35) bellows level restrictions may cause a large pressure difference between the corresponding bellows 100 in actuators 300 that are mechanically linked in the case of a serious leak in a single bellows 100. This may be inconvenient as it can potentially cause damage to mechanical stresses in members linked with actuators.

Alternatively, in other examples of a single-axis configuration of an actuator 300 with two bellows 100, it may be advantageous to allow flow between mechanically linked actuators through the use of relatively large internal diameter lines. Restrictions can be used when the pneumatic connection for a group of mechanically linked actuators joins a pneumatic line that supplies a plurality of actuator groups. Doing so can isolate the impact of leakage failures to the only mechanically linked group, allowing the continued operation of other groups on the same line while avoiding considerable stresses on the mechanical structures and potential damage to them.

For example, Fig. 38 illustrates a system 3800 comprising a supply line 3805 originating from a controller, to which a plurality of rows 3810 are connected to supply line 3805, including lines 3810A, 3810B and 3810N . A plurality of harnesses 3815 are connected to each row 3810, and each harness 3815 comprises a plurality of bellows 100. Restrictions 3820 are placed between the bellows 100 of each harness 3815 and the corresponding row 3815.

In another example, Fig. 39 illustrates a system 3900 comprising a supply line 3905 originating from a controller, to which a plurality of rows 3910 are connected to supply line 3905, including lines 3910A, 3910B and 3910N Each supply line comprises a series of harnesses 3915 that are separated by a connector 3925. Restrictions 3920 are placed between the harness series 3915 and the supply line 3905. Each row 2910 ends in a plug 3930.

The size of the restriction can be selected based on maximizing the degree of restriction while maintaining sufficient flow capacity to move the actuator to the desired maximum speed during normal operation (eg, leak free speed and / or low leakage ). A higher degree of restriction may have the benefit of limiting the volumetric flow rate even in a case of severe leakage, allowing the compressor to compensate for the leaking air and allowing the rest of the system to continue operating.

Flow restriction devices may include any suitable device or structure. For example, FIG. 18a and 18b illustrate two embodiments of a restrictor 1800 comprising a body 1810 defining a fluid passage 1820 with a pair of ports 1830 that provide the fluid inlet and / or outlet in the fluid passage 1820. Fig. 18a illustrates An example of a flexible fluid passage 1820A and Fig. 18b illustrates an example of a serpentine fluid passage 1820B. In various embodiments, said restrictor 1800 may be a portion of a bellows 100, cover 1725, 1735, or the like. In other embodiments, a restrictor 1800 may comprise a fluid passage of a plurality of layers 1820 or the like.

In additional embodiments, a flow restriction device or structure may comprise a measuring hole, which may include a small gap (for example, .004-. 050 '' in diameter) or another hole size that is smaller in diameter. to the lines around 1510, or similar. In additional embodiments, lines 1510 may be configured to provide flow restriction by adapting an internal diameter of the pipe over a length so as to achieve the desired flow resistance. In other words, lines 1510 can act as an enlarged large diameter measuring hole.

In some embodiments, protruding V-plate actuators can be placed antagonistically in a V configuration with a flexion or pivot at the pivot point. The elastic cylinders can be inflated in an antagonistic manner so as to affect a strong pressure to the position ratio. The cylinders can be constructed in a plurality of ways including blow molding, rotational molding, fabric tube with sealed ends, a sewn fabric envelope with separate waterproof chamber and the like. A plurality of protruding actuators can be stacked for greater range of motion.

For example, FIG. 40a and 40b illustrate an example of an actuator assembly comprising a first and second actuator 4005A, 4005B, which are respectively placed in chambers 4011A, 4011B of a cavity by a body 4015 and a spike 4025 which is rotatably coupled to the body of sector 4015 on an axis 4030. The body of sector 4015 is defined by a pair of radial arms 4016 and an arc edge 4017. The radial arms 4016 extend from the axis 4030 with the edge of the arch 4017 extending between the opposite ends of the radial arms 4016.

The spike 4025 is coupled to a portion of a plate 4020, which in this example is coupled at an angle of approximately 90 degrees from one side of the plate 4020 substantially in the center of the plate 4020. The sector body 4015 can maintain a fixed position to the ground (for example, by means of a post or similar) and the plate 4020 can be rotated by inflation and / or selective deflation of one of both actuators 4005.

In the configuration example shown in Fig.

40a, plate 4020 is shown in a flat configuration where an upper face of plate 4020 is generally parallel to the ground or perpendicular to gravity. In said configuration, the first and second actuator 4005A, 4005B can be inflated substantially in the same amount, which makes them of equal width within the corresponding chambers 4011A, 4011B. On the contrary, Fig. 40b illustrates an inclined configuration where the first actuator 4005A is less inflated than the second actuator 4005B, which can cause the volume of the first chamber 4011A to decrease and the volume of the second chamber 4012 to increase. Therefore, the barb 4025 is rotated inside the cavity 4010, which in turn causes the plate 4020 to tilt.

In a further embodiment, the V-plate ball actuators can be positioned antagonistically in a V configuration with a flexion or pivot at the pivot point. The elastic balls can be inflated antagonistically and in a configuration hollowed out by hemispherical end plates, one of which can be concave, the other can be convex. A plurality of ball actuators can be stacked for greater range of motion.

In yet another embodiment, the V-plate bellows actuators can be positioned antagonistically in a V configuration with a flexion or pivot at the pivot point. Elastic bellows can be placed in an arc around the approximate center of a pivot or flex. Ribs can be used as spikes on a wheel to restrict the movement of the bellows. Angled rib assemblies can be attached to bellows bellows and corresponding actuator pivot or pivot.

Furthermore, although several examples of pneumatic architectures were illustrated according to some examples of modalities (for example, Fig. 16, 17a-c, 38 and 39) any suitable pneumatic architectures can be used according to additional modalities. For example, one mode may be without the use of a central compressor and instead the use of smaller compressors at the level of the row controller. In some embodiments, such configuration can save the expense and complexity of a source air distribution system.

Fig. 41a-e illustrate other examples of pneumatic architectures modalities. For example, in the system 4100A of Fig. 41a, a compressor 1611 may be associated with a bellows east 100E in a tracker 300, and a compressor 1611 may be associated with a bellows west 100W. The corresponding 1670 exhaust valves can be provided for each set of bellows 100. The movement of the tracker 300 can be achieved by direct pressurization of the bellows 100 at the appropriate pressure by turning the appropriate compressor 1611 on or off, or by reducing the pressure using the exhaust valve 1670.

Similarly, Fig. 41b illustrates an example of a system 4100B, wherein a compressor 1611 is used to directly pressurize bellows 100 to move a tracker 300 and a diverter valve 4150 is used to allow a single compressor 1611 to operate in both sets of bellows 100. Exhaust valves 1670 can operate as described above in relation to Fig. 41a. In this example 4100B, the compressor 1611 can feed the diverter valve 4150 that pushes air into the east or west bellows channel to drive the bellows 100. Similarly, Fig. 41c illustrates an example of additional mode 4100C, where a single compressor 1611 and exhaust valve 1670 are coupled to a diverter valve 4150, which can be used to drive bellows 100.

Fig. 41d illustrates an example of additional mode 4100D where a pair of corresponding compressors 1611 can also serve an exhaust valve function and thus replace the exhaust valves 1670. For example, the change in the direction of rotation of each Compressor 1611 can inject or draw air from bellows 100 thus changing the pressure and orientation of tracker 300. This mode can be implemented without valves. Alternatively, a bidirectional compressor can replace the east and west compressors 1611 of Fig. 41d and be operatively connected to the east and west bellows 100W, 100E. In yet another embodiment, a bidirectional compressor can replace the east and west compressors 1611 of Fig. 41d and be operatively connected to the east and west bellows 100W, 100E with a conventional compressor connected to the bidirectional compressor and the west bellows 100W or 100E east bellows.

Fig. 41e illustrates yet another example of mode 4100E, which may comprise a single compressor 1611 and diverter valve 4150. For example, changing the direction of operation of the compressor and the condition of the diverter valve

4150, the air can be injected into or removed from any set of bellows 100 thereby controlling the pressure ratio and orientation of the tracker 300. Changing the direction of rotation of the compressor 1611 can be operative to draw air from the bellows 100 and the valve derailleur 4150 switches between the two bellows channels.

In several modes the storage of compressed air can be configured to prevent or reduce the loss of parasitic energy. For example, in some embodiments, a control system can communicate with the air generation system only to run the 1611 compressor when there is DC overgeneration (within certain limits). When the inverters are cut, energy is lost (not exported to the grid) so that the energy used for compression is free In such modalities, it may be convenient to have a large air storage capacity. Such modalities may allow a tracking system to improve the overall energy performance of a solar array only by generating compressed air when there is excess energy available from the solar array.

In a conventional solar implementation there may be a greater portion of available DC power compared to AC power. In this state, excess DC generation dissipates as heat. Operating the compressor only during these times, the energy cost for the 1611 compressor is really negative since the energy consumed has no value (cannot be exported) and the consumption of that energy will reduce the temperature of the solar modules thus reducing its speed of degradation and thus extending its duration.

In addition, in other embodiments, a system may comprise a plurality of compressors 1611 configured for air storage at different pressures. For example, in one embodiment, a system may comprise a high pressure compressor 1611 and a low pressure compressor 1611. The high pressure compressor 1611 may be configured to maximize storage capacity for a given volume and the second low pressure compressor 1611 may be configured to increase system efficiency during normal low demand tracking operation. Such modalities can reduce the total energy used by the tracking system thus increasing the effective solar efficiency.

The modalities described allow various modifications and alternative forms, and specific examples of modalities of the present invention were shown by way of illustration in the drawings and these were described in detail herein. However, it is understood that the modalities described are not limited to the forms or methods described but instead, the present description covers all modifications, equivalents and alternatives.

NEW OF THE INVENTION

Having described the present invention, it is considered as a novelty and, therefore, what is contained in the following is claimed as property:

CLAIMS