Solarcity Corporation

Soitec Solar Gmbh

Vayardo Lalo Ruiz

Kevin C Chu

Wayne H Miller

Jeremy Dittmer

Benjamin D Sumers

Daniel I Fukuba

Jerry Dejong

Victor Ocegueda

Anthony Wlodarczyk

Merritt J Jenkins

Jessica Riley

Chris Paretich

Salomon Trujillo

Wasiq Bokhari

Noe Esparza

The present invention relates to transferring torque between a first unit, which is typically a mobile machine or a robot, and a second unit, which is typically a fixed or stationary machine. The units are arranged such that a drive coupler of the first unit designed for delivering torque about a drive axis can engage the driven coupler, which belongs to the second unit and has a driven axis, along an engagement direction that is nearly perpendicular to the direction of the driven axis. A lateral displacement mechanism in provided is the first unit to achieve a first-order coaxial alignment between the drive and driven axes. Additional measures such as compliance mechanisms are provided for improving engagement, coupling and reducing the level of axial misalignment in the apparatus and methods of the invention.

Torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers

The present invention relates to a highly-available and fault-tolerant solar tracking system and the process required to manage such a system. A fleet of multiple, redundant mobile robots managed by a task coordinator is deployed to track solar panels in a solar farm in alignment with the sun. Each robot has a control unit for engaging with a coupler connected to one or multiple solar panels and adjusting their orientation, as well as communicating with the task coordinator to receive tasks. The task coordinator senses various events such as robot failure/deterioration, as well as various environmental conditions, and sends tasks reconciled with event types. The system is highly-available and fault-tolerant as it remains operational as long as there is one operational robot. The task coordinator assigns tasks to the mobile robots so as to optimize battery life or other factors, such as, e.g., overall maintenance costs across the fleet.

Solar tracking system employing multiple mobile robots

Techniques for transferring torque between a first unit, such as a mobile machine or a robot, and a second unit, such as a fixed or stationary machine. The units are arranged such that a drive coupler of the first unit designed for delivering torque about a drive axis can engage the driven coupler, which belongs to the second unit and has a driven axis, along an engagement direction that is nearly perpendicular to the direction of the driven axis. A lateral displacement mechanism of the first unit achieves a first-order coaxial alignment between the drive and driven axes. Additional measures are provided for improving engagement, coupling and reducing the level of axial misalignment. Techniques disclosed are tolerant of imprecise alignment between the drive and driven couplers.

Dual-mode torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers

Methods and apparatus are described for a two-axis tracking mechanism for a concentrated photovoltaic system. Two or more components forming the support structure of the two-axis tracker mechanism, which are assembled in the field and manufactured to allow one or more lasers to align the support structure of the two-axis tracker mechanism in three dimensions, vertical (X) dimension, horizontal (Y) dimension, and diagonal (Z) dimension, at a site where the concentrated photovoltaic system is to be installed. Adjustable leveling mechanisms are built into the two or more components forming the support structure.

Assembling and aligning a two-axis tracker assembly in a concentrated photovoltaic system

Methods and apparatus are described for a two axis tracking mechanism for a concentrated photovoltaic system. Two or more paddle structures containing multiple CPV modules are installed onto each tilt axle on the common roll axle as part of the two-axis tracking mechanism's solar array. The two or more paddle structures couple across the common roll axle on that tilt axle. The common roll axle and each paddle assembly are manufactured in simple modular sections that assemble easily in the field while maintaining the alignment of the tracker assembly.

Components of a two-axis tracking assembly in a concentrated photovoltaic system

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Santa Clara, CA, United States of America

Vayardo Lalo Ruiz