CN101924266A - Spherical three-degree-of-freedom parallel mechanism antenna structure system - Google Patents
Spherical three-degree-of-freedom parallel mechanism antenna structure system Download PDFInfo
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- CN101924266A CN101924266A CN2010102011924A CN201010201192A CN101924266A CN 101924266 A CN101924266 A CN 101924266A CN 2010102011924 A CN2010102011924 A CN 2010102011924A CN 201010201192 A CN201010201192 A CN 201010201192A CN 101924266 A CN101924266 A CN 101924266A
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Abstract
The invention relates to a spherical three-degree-of-freedom parallel mechanism antenna structure system, which is formed by connecting an antenna reflector and an antenna base frame. The antenna base frame is formed by connecting an upper platform and a lower platform through three branch mechanisms with the same structure; each branch is formed by connecting an upper platform, an upper circular arc-shaped bracket, a lower circular arc-shaped bracket and a lower platform through three rotating pairs, wherein one rotating pair is connected with a motor; the upper platform is fixedly connected with the antenna reflector; the lower platform is connected with a foundation frame or an antenna carrier frame; and the motor drives the lower circular arc-shaped bracket, the upper circular arc-shaped bracket, the upper platform and the antenna reflector to rotate spherically with three degrees of freedom directly or by a transmission. The spherical three-degrees-of-freedom parallel mechanism antenna structure system can perfectly acquire remote sensing and remote detecting signals and data of satellites, carrier rockets and other aircrafts, and continuously track in overhead airspace of the antenna so as to reach hemispherical working airspace and over-semisphere working airspace.
Description
Technical field
The present invention relates to a kind of antenna structure system based on spherical three-degree-of-freedom parallel mechanism.The antenna structure system that is used for space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) and satellite communication.
Background technology
The antenna-reflected body portion generally has main reflector panel, back frame structure, centerbody, balance weight structure, and subreflector and focus control and supporting construction thereof or feedforward supporting construction are formed; The antenna mount part generally is made up of antenna pedestal supporting construction, driving shaft system and transmission device, feeder line and cable wind, Data Detection transfer device and safety guard.
At present, known in the world space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) adopt classical pitching-orientation type (EL-AZ type) antenna, pitching-orientation type antenna exists " blind awl " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, and the size in blind awl zone (being the cone-apex angle of blind awl) depends on the distance and the aircraft horizontal flight speed of antenna and aircraft.Low rail remote sensing antenna is not satisfactorily resolved so far as yet the problem of " crossing the top " Continuous Tracking.Introduce the notion of a sky line following " blind awl district " earlier, classical pitching-orientation type antenna pedestal is when tracking target, and (in the formula: V is the horizontal velocity of target flight to antenna bearingt angular speed: β=V/ (R*cos ε); R is the air line distance that antenna arrives target; ε is an antenna elevation angle; β is an antenna bearingt angular speed), when target near the antenna zenith by the time, elevation angle ε → 90 °, cos ε → 0, β → ∞.But motor-driven power is limited, and the antenna rotational angular also is limited, and under certain driving power, antenna can only be followed the tracks of the following target in a certain elevation angle, near pitching-orientation type antenna zenith, exist can't Continuous Tracking " blind awl district ".At present, pitching in the engineering reality-orientation type (EL-AZ type) antenna exists " blind awl " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, can't adopt classical pitching-orientation type antenna to be implemented in the antenna zenith position and " cross and push up " Continuous Tracking.Can only select to avoid the satellite transit track and build the satellite ground station antenna through the place of antenna zenith.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical generally adopts pitching-orientation type (EL-AZ type) antenna pedestal, there was top " blind awl district " in it, pitching-orientation type antenna can't be crossed top " blind awl district " spatial domain Continuous Tracking satellite at satellite, realizes the demand of the uninterrupted continuous operation of signal.
Summary of the invention
The objective of the invention is to overcome the problem that prior art exists, a kind of spherical three-degree-of-freedom parallel mechanism antenna structure system is provided, realize not having the Continuous Tracking antenna system on top " blind area ", satisfactorily resolve antenna (orientation AZ:0 °～360 ° in hemisphere work spatial domain, pitching EL:0 °～90 °) or hemisphere work spatial domain above (it is following that the angle of pitch is lower than horizontal plane) Continuous Tracking (supposing horizontal plane EL=0 °), the demand of realization satellite-signal and the uninterrupted continuous operation of data.It is convenient easy to separate owing to the equation of motion of finding the solution parallel institution is counter, is easy to realize SERVO CONTROL.
In order to achieve the above object, design of the present invention is: utilize parallel institution have that rigidity is big, precision is high, speed is fast, bearing capacity is big, simple in structure, in light weight and control distinct advantages such as convenient, and the equation of motion of parallel institution counter separate find the solution convenient easily, be easy to realize SERVO CONTROL.Be applied to the design of remote sensing remote measurement low orbit satellite antenna, given full play to the characteristics of parallel institution.Adopt the space spherical three-degree-of-freedom parallel mechanism as antenna mount, adopt space three cover drive units to connect upper and lower two platforms by revolute pair respectively and constitute space spherical three-degree-of-freedom mechanism, realize the spherical three-degree-of-freedom parallel mechanism antenna mount by upper and lower garden arc support.Upper mounting plate connects by flange-interface and various forms of antenna reflector, and lower platform and ground are fixed, and also can connect with other carriers (as: skeletons such as vehicle, naval vessel and aircraft) to constitute motor-driven antenna system.By to the analysis of spatial mechanism of space spherical three-degree-of-freedom parallel mechanism, comprehensive and theoretical derivation, rationally choose the spatial distribution pose β angle (the β angle is: upper and lower platform and upper and lower garden arc support connect the angle of revolute pair axis and plumb line) of garden arc radius, garden arc support revolute pair axis angle α and the upper and lower platform of the upper and lower garden of three covers arc support, solving on a large scale, the rotational angle movement position does not have unusual position problem, realization space remote sensing, remote sensing telemetering antenna hemisphere spatial domain Continuous Tracking antenna structure system.Antenna system with corresponding feed system and servo-control system constitute realizes the telemetered signal and the data in the effective spatial domains of aircraft such as satellite, carrier rocket, satisfactorily resolves the top and follows the tracks of " blind area " problem, realizes the antenna system of " crossing the top " Continuous Tracking.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of spherical three-degree-of-freedom parallel mechanism antenna structure system connects an antenna mount by an antenna reflector and constitutes, and it is characterized in that the structure of described antenna mount is: it is made of by three identical branch road mechanisms connections of structure upper and lower two platforms.Each described branch road mechanism contains one and goes up garden arc support and a following garden arc support, described upper mounting plate and describedly go up between the arc support of garden, the described garden arc support of going up is with described down between the arc support of garden and between described garden arc support down and the described lower platform, connect by three revolute pair hinges respectively, a motor directly connects or connects by a speed changer gyroaxis of arbitrary revolute pair in described three revolute pairs.
The revolute pair position that upper and lower two platforms of above-mentioned antenna pedestal the connect 120 ° of difference of being separated by evenly distribute, and make the revolute pair central distribution become equilateral triangle.Each branch road has 3 revolute pairs, and 3 branch roads pivot center of totally 9 revolute pairs all intersect at the same centre of sphere, the installation that is parallel to each other of upper and lower two platforms.
Above-mentioned upper mounting plate is fixedlyed connected with antenna reflector, and described lower platform is connected with ground frame or antenna carrier frame.
The structure of above-mentioned antenna reflector is: a centerbody is with back frame structure outward, and the back frame structure upper surface is laid main reflector panel, feed feeder system and subreflector thereof that centerbody fixes up an aerial wire by a supporting construction.
The invention has the beneficial effects as follows: can solve classical pitching-orientation type (EL-AZ type) antenna satisfactorily and cross zenith " blind awl district " spatial domain Continuous Tracking satellite problem, realize the demand of space remote sensing, satellite remote sensing telemetered signal and satellite communication signal and the uninterrupted continuous operation of information at antenna.And the antenna of same bore, technical indicator, the weight of antenna structure system of the present invention is starkly lower than classical pitching-orientation type (EL-AZ type) antenna weight, especially more obvious when large aperture antenna, only be the 70%-50% of pitching-orientation type (EL-AZ type) antenna weight, saved production cost greatly.
Description of drawings
Fig. 1: the structured flowchart that is antenna system.
Fig. 2: the structural representation that is spherical three-degree-of-freedom parallel mechanism antenna structure system of the present invention.
Fig. 3: the antenna level that is spherical three-degree-of-freedom antenna structure system shown in Figure 2 refers to flat attitude schematic diagram.
Fig. 4: the schematic diagram that is spherical three-degree-of-freedom antenna structure system antenna reflector of the present invention.
Fig. 5: the vertical view that is Fig. 4.
Fig. 6: the structural representation that is spherical three-degree-of-freedom antenna structure system antenna mount of the present invention.
Fig. 7: the vertical view that is Fig. 6.
Embodiment
The preferred embodiments of the present invention accompanying drawings is as follows:
Embodiment one:
Referring to Fig. 1, Fig. 2 and Fig. 3, this spherical three-degree-of-freedom parallel mechanism antenna structure system, connect an antenna pedestal 6 by an antenna reflector 5 and constitute, the structure of described antenna pedestal 6 is: it is by upper and lower two platforms 11,16, and three the branch road mechanisms identical by structure connect formation.At Fig. 1 antenna system 1 being shown is made of jointly antenna structure system 2 and corresponding feed system 3, servo-control system 4 and corresponding supporting electronic equipment thereof, realize automatic tracking satellite and aircraft, finish satellite or aircraft signal and data passes, analysis and processing.
Referring to Fig. 2 and Fig. 3, this spherical three-degree-of-freedom parallel mechanism antenna structure system is made up of antenna reflector 5 and antenna mount 6.
Embodiment two: present embodiment and embodiment one are basic identical, special feature is as follows: referring to Fig. 6 and Fig. 7, each described branch road mechanism contains one and goes up garden arc support 12 and a following garden arc support 13, described upper mounting plate 11 and described going up between the garden arc support 12, the described garden arc support 12 and described down between the garden arc support 13 of going up, and between described garden arc support 13 down and the described lower platform 16, connect by three revolute pair hinges respectively, a motor 14 directly connects or connects by a speed changer 15 gyroaxis of arbitrary revolute pair in described three revolute pairs.Described three branch road mechanisms axis of rotation of totally nine revolute pairs all intersect at the same centre of sphere.The revolute pair center position that described upper and lower two platforms 11,16 are connected with upper and lower garden arc support 12,13 respectively distributes and is equilateral triangle, and these upper and lower two equilateral triangle positions are identical or differ a certain equal angular, and the installation that is parallel to each other.
Referring to Fig. 4 and Fig. 5, this spherical three-degree-of-freedom antenna structure system antenna reflector 5 is made up of subreflector (the no subreflector that feedovers, only the rear feed pattern has subreflector) and supporting construction 7, main reflector panel 8, back frame structure 9 and centerbody 10.
Referring to Fig. 6 and Fig. 7, this spherical three-degree-of-freedom antenna structure system antenna mount 6 is made up of upper mounting plate 11, three cover speed changers 15 and servomotor 14, lower platform 16 and ground frame 17.Servo-control system directly drives respectively according to tracer request instruction servomotor 14 or overlaps drive units 15 by speed-changing driving device space three, drive down garden arc support 13, go up garden arc support 12 and upper mounting plate 11 realizes that antenna reflectors point to the satellite or the aircraft of required tracking, realize signal, information exchange or reception by feed system.
Three above-mentioned cover servomotor 14 and speed changers 15 thereof, can drive its rotation by cycloid transmission, Gear Planet Transmission iso-variable velocity device by servomotor, also can directly drive by servomotor, make that garden arc support 13 rotates on request down, garden arc support 12 and upper mounting plate 11 and antenna reflector are done space spherical three-degree-of-freedom rotation in the driving.
Claims (6)
1. spherical three-degree-of-freedom parallel mechanism antenna structure system, connecting an antenna pedestal (6) by an antenna reflector (5) constitutes, the structure that it is characterized in that described antenna pedestal (6) is: it is by upper and lower two platforms (11,16), and three the branch road mechanisms identical by structure connect formation.
2. spherical three-degree-of-freedom parallel mechanism antenna structure system according to claim 1, it is characterized in that each described branch road mechanism contains one and go up a garden arc support (12) and a following garden arc support (13), described upper mounting plate (11) and described going up between the garden arc support (12), the described garden arc support (12) and described down between the garden arc support (13) of going up, and between described garden arc support (13) down and the described lower platform (16), connect by three revolute pair hinges respectively, a motor (14) directly connects or connects by a speed changer (15) gyroaxis of arbitrary revolute pair in described three revolute pairs.
3. spherical three-degree-of-freedom parallel mechanism antenna structure system according to claim 2, it is characterized in that described three branch road mechanisms the axis of rotation of totally nine revolute pairs all intersect at the same centre of sphere.
4. spherical three-degree-of-freedom parallel mechanism antenna structure system according to claim 2, it is characterized in that the revolute pair center position distribution that described upper and lower two platforms (11,16) are connected with upper and lower garden arc support (12,13) respectively is equilateral triangle, these upper and lower two equilateral triangle positions are identical or differ a certain equal angular, and the installation that is parallel to each other.
5. spherical three-degree-of-freedom parallel mechanism antenna structure system according to claim 1 is characterized in that described upper mounting plate (11) fixedlys connected with antenna reflector (5), and described lower platform (16) is connected with ground or frame (17).
6. spherical three-degree-of-freedom parallel mechanism antenna structure system according to claim 1, the structure that it is characterized in that described antenna reflector (5) is: the outer back frame structure (9) that is with connection of a centerbody (10), described centerbody (10) and back frame structure (9) upper surface are equipped with main reflector panel (8), feed feeder system (3) and subreflector (7) thereof that described antenna reflector (5) fixes up an aerial wire supporting by a supporting construction.
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| CN 201010201192 CN101924266B (en) | 2010-06-12 | 2010-06-12 | Spherical three-degree-of-freedom parallel mechanism antenna structure system |
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| CN 201010201192 CN101924266B (en) | 2010-06-12 | 2010-06-12 | Spherical three-degree-of-freedom parallel mechanism antenna structure system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275161A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical motion mechanism |
| CN104466341A (en) * | 2014-10-13 | 2015-03-25 | 浙江理工大学 | Spherical antenna supporting mechanism |
| CN105563515A (en) * | 2016-03-24 | 2016-05-11 | 褚宏鹏 | Multi-branch-chain coupled spherical robot joint with two degrees of freedom |
| CN106654510A (en) * | 2016-11-04 | 2017-05-10 | 中国电子科技集团公司第五十四研究所 | Large working space variable driving parallel antenna seat mechanism |
| CN106275500B (en) * | 2016-08-22 | 2018-07-13 | 中国航空工业集团公司西安飞机设计研究所 | A kind of aircraft test platform Dao Shu mechanisms |
| CN117260988A (en) * | 2023-09-06 | 2023-12-22 | 中国矿业大学 | Multi-parallel optical mirror surface processing device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
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2010
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2762940Y (en) * | 2005-01-04 | 2006-03-08 | 浙江理工大学 | Spherical surface three-freedom parallel mechanism |
| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
Non-Patent Citations (1)
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| 周玉林等: "3自由度球面并联机构3-RRR静力全解", 《机械工程学报》, vol. 44, no. 6, 30 June 2008 (2008-06-30), pages 169 - 175 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275161A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical motion mechanism |
| CN104466341A (en) * | 2014-10-13 | 2015-03-25 | 浙江理工大学 | Spherical antenna supporting mechanism |
| CN104466341B (en) * | 2014-10-13 | 2017-01-25 | 浙江理工大学 | Spherical antenna supporting mechanism |
| CN105563515A (en) * | 2016-03-24 | 2016-05-11 | 褚宏鹏 | Multi-branch-chain coupled spherical robot joint with two degrees of freedom |
| CN106275500B (en) * | 2016-08-22 | 2018-07-13 | 中国航空工业集团公司西安飞机设计研究所 | A kind of aircraft test platform Dao Shu mechanisms |
| CN106654510A (en) * | 2016-11-04 | 2017-05-10 | 中国电子科技集团公司第五十四研究所 | Large working space variable driving parallel antenna seat mechanism |
| CN106654510B (en) * | 2016-11-04 | 2024-02-20 | 中国电子科技集团公司第五十四研究所 | Large-working-space variable-drive parallel antenna pedestal mechanism |
| CN117260988A (en) * | 2023-09-06 | 2023-12-22 | 中国矿业大学 | Multi-parallel optical mirror surface processing device |
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| CN101924266B (en) | 2013-07-17 |
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