CN104269644A - Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism - Google Patents
Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism Download PDFInfo
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- CN104269644A CN104269644A CN201410454302.6A CN201410454302A CN104269644A CN 104269644 A CN104269644 A CN 104269644A CN 201410454302 A CN201410454302 A CN 201410454302A CN 104269644 A CN104269644 A CN 104269644A
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Abstract
The invention relates to a three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism. A three-degree-of-freedom displacement adjustment device is mounted on the mounting reference plane to be provided with a satellite component through a base, and the three adjustment directions of the three-degree-of-freedom displacement adjustment device are parallel to the direction of an assembly coordinate system; a mounting-clamping mechanism comprises a circular base, a connecting rod I, a connecting rod II, a transfer rod and a mounting-clamping clamp plate; the circular base is mounted on the three-degree-of-freedom displacement adjustment device, the circular base and one end of the connecting rod I form a revolute pair, the other end of the connecting rod I and one end of the connecting rod II form a revolute pair, the other end of the connecting rod II is fixedly connected with the transfer rod, and one end of the mounting-clamping clamp plate is a clamping end used for clamping the satellite component to be mounted; two circular arc adjustment grooves are formed in the other end of the mounting-clamping clamp plate, the transfer rod is inserted in the connecting rod II and fixed to form a whole with the connecting rod II, and two cylindrical rods are designed at the other end of the transfer rod, are inserted in the two circular arc adjustment grooves of the mounting-clamping clamp plate respectively and can rotate relative to the adjustment grooves.
Description
Technical field
The invention belongs to a kind of regulating mechanism of high precision part Three Degree Of Freedom translation adjustment, be applied to spaceborne high precision part and debug field.
Background technology
Current domestic and international spaceborne most structure member lacks special regulating mechanism last meticulous debuging in process, the method that product makes its microdisplacement is manually patted in usual use, the advantage of this method debugs the posture adjustment that the relative freedom and flexibility in direction can need to carry out according to scene multiple directions, shortcoming be for the displacement of each adjustment and direction wayward, the translation adjustment in steadily Three Degree Of Freedom direction reliably cannot be realized, and manually debug owing to relying on, therefore can only little to product weight when carry out posture adjustment.
The space product larger for weight is debug, Domestic Scientific Research mechanism has possessed the posture adjustment being undertaken under high precision part 6DOF state by development parallel institution, and also there is the application example by the 6DOF industrial robot of heavy-load type, large parts product being carried out to high accuracy posture adjustment in external Aero-Space enterprise.The advantage of these high precision part regulating mechanisms is that to debug gesture stability accurate, the pose conversion under 6DOF can be realized, but it is very complicated that shortcoming is regulating mechanism, floor space is large, usual employing anchoring bolt is fixed, little for volume, lightweight parts are debug and are seemed too heavy on the contrary, not easily realize being installed of product, the interference and collision of regulating mechanism and product easily occurs.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provides a kind of satellite high-precision parts regulating mechanism of Three Degree Of Freedom.
Technical solution of the present invention is: a kind of satellite high-precision parts regulating mechanism of Three Degree Of Freedom, comprises Three Degree Of Freedom displacement adjustment device, be installed mechanism and pedestal;
Three Degree Of Freedom displacement adjustment device is arranged on the datum clamp face of satellite component to be installed by pedestal, and ensures that three adjustment direction of Three Degree Of Freedom displacement adjustment device are parallel with assembling coordinate system direction, the described mechanism that is installed comprises cup dolly, connecting rod I, connecting rod II, adapting rod and the clamping plate that are installed, cup dolly is arranged on Three Degree Of Freedom displacement adjustment device, cup dolly and connecting rod I one end form revolute pair, the other end of connecting rod I and one end of connecting rod II form revolute pair, the other end of connecting rod II is fixedly connected with adapting rod, be installed one end of clamping plate is bare terminal end, for clamping satellite component to be installed, the other end arranges two circular arc regulating tanks, adapting rod inserts in connecting rod II and also fixedly makes itself and connecting rod II form an entirety, the other end of adapting rod is designed with two place's cylindrical bars, they insert in two place's circular arc regulating tanks of the clamping plate that are installed respectively, and both relatively rotating can be realized, thus the clamping plate that make to be installed can rotate relative to connecting rod II and the round dot rotated can regulate arbitrarily the position of inserting in connecting rod II according to adapting rod.
Described Three Degree Of Freedom displacement adjustment device comprises X to adjustable plate, Y-direction adjustable plate, Z-direction adjustable plate, Y-direction displacement adjustment screw, displacement adjustment screw mount pad, displacement stop baffle plate, X to displacement adjustment screw, bearing guide rod, bearing guide rod mount pad, Z-direction displacement adjustment screw and bearing slider;
Z-direction adjustable plate is as the bottom of whole device, and its surrounding at right angle setting Z-direction displacement adjustment screw, realizes the leveling of whole device and moving up and down of Z-direction; Z-direction adjustable plate upper surface surrounding installs bearing guide rod mount pad, and between two bearing guide rod mount pads of Y-direction, install bearing guide rod, bearing slider installed by bearing guide rod, and Y-direction adjustable plate is arranged on bearing slider; Y-direction adjustable plate upper surface surrounding installs bearing guide rod mount pad, and between two bearing guide rod mount pads of X-direction, install bearing guide rod, bearing slider installed by bearing guide rod, and X is arranged on bearing slider to adjustable plate; Y-direction adjustable plate, X install Y-direction displacement adjustment screw and X respectively to displacement adjustment screw on the swing offset direction, below of adjustable plate, both direction displacement adjustment screw promotes stop baffle plate by installing respectively, move corresponding adjustable plate move along bearing guide rod by promoting stop catch strip, thus realize the Y-direction of mechanism and X to movement.
Described pedestal is arranged the interface that many groups are different, every group interface is for adjusting the different installation sites of Three Degree Of Freedom displacement adjustment device.
The present invention compared with prior art beneficial effect is:
This regulating mechanism can realize regulating the Three Degree Of Freedom trace of product, and displacement and direction all can be ensured very well, and has been successfully applied to debuging reflector assembly in China's model satellite antenna tower portion process of assembling.The assembly precision of this product requires high, needs to carry out microdisplacement to reflector and debugs, propose very high request to operator's level of skill in assembling process.This Three Degree Of Freedom regulating mechanism assist operators can regulate the displacement in X, Y, Z tri-directions that reflector is parallel to assembling coordinate system and fix, there is for these model antenna tower the feature of several reflectors simultaneously, devise special base, the assembling coordinate system of direction of displacement all with respective that many groups distinct interface Three Degree Of Freedom displacement adjustment device being placed in pedestal can realize debuging several reflectors is parallel, achieves the function of a tractor serves several purposes.Simultaneously in order to balance different position and the relation adjusting displacement of being installed of reflector, realize the function of a tractor serves several purposes better, the mode of being installed have employed the more flexible and changeable design such as many bar connections, arc-shaped slot, the scope of application of this resetting equipment is significantly improved.This regulating mechanism certain model satellite positive sample antenna tower product to debug result of use in process good.And because all there is certain versatility in mechanism itself, dissimilar product is debug, the scope of the product that is installed by means of only the installation form and mechanism that change substrate for other, can realize more wide debuging utilization.
The present invention is intended to the regulating mechanism on little for volume, lightweight satellite high-precision part design 3DOF direction, makes up the existing shortcoming manually debuging the wayward displacement of widget mode and also eliminates and drop into large automatic regulating mechanism and carry out the needs that widget debugs.The posture adjustment finally realizing product puts in place.
Accompanying drawing explanation
The antenna reflector scheme of installation that Fig. 1 a will debug for the present invention, Fig. 1 b, 1c are respectively E reflector backboard, A reflector backboard schematic diagram;
Fig. 2 is Three Degree Of Freedom displacement adjustment device schematic diagram of the present invention;
Fig. 3 is the mechanism's partial schematic diagram that is installed of the present invention;
Fig. 4 is that of the present invention pair of plate is installed mechanism's partial schematic diagram;
Fig. 5 is pedestal schematic diagram of the present invention;
The schematic diagram of Fig. 6 when to be the present invention debug the signal of single plate structure plate.
Embodiment
Below in conjunction with drawings and Examples, the present invention is elaborated.
As shown in Figure 6, the satellite high-precision parts regulating mechanism of a kind of Three Degree Of Freedom of the present invention, adopts split type principle design, comprises Three Degree Of Freedom displacement adjustment device 1, be installed mechanism 2 and pedestal 3; Debug reflector for diverse location on antenna tower body multiple to be below described.
Three Degree Of Freedom displacement adjustment device 1 realizes X, Y, Z axis adjustment of displacement, realize evolution when together using with pedestal 3 thus the reflector of many places diverse location is debug, and guarantee that direction of displacement is parallel with respective assembling coordinate system, namely Three Degree Of Freedom displacement adjustment device 1 is arranged on antenna tower top board 1a as shown in Figure 1 by pedestal 3; Simultaneously, when designing regulating mechanism part, need to balance different position and the correlation adjusting displacement of being installed of several reflectors, avoid the problem occurring that somewhere reflector cannot be installed or adjustment of displacement amount is inadequate, realize the function of a tractor serves several purposes better, mechanism have employed the more flexible and changeable design such as many bar connections, arc-shaped slot meet being installed of variety classes reflector being installed.On Material selec-tion, consider that complete equipment need be arranged on antenna tower top.Therefore, under the prerequisite ensureing rigidity, select aluminum alloy materials as far as possible, alleviate weight of equipment.
As shown in Figure 3, the mechanism 2 that is installed comprises cup dolly 21, connecting rod I 22, connecting rod II 23, adapting rod 24 and the clamping plate 25 that are installed, cup dolly 21 is arranged on Three Degree Of Freedom displacement adjustment device 1, cup dolly 21 and connecting rod I 22 one end form revolute pair, the other end of connecting rod I 22 and one end of connecting rod II 23 form revolute pair, the other end of connecting rod II 23 is fixedly connected with adapting rod 24, be installed one end of clamping plate 25 is bare terminal end, for clamping satellite component to be installed, the other end arranges two circular arc regulating tanks, adapting rod 24 to insert in connecting rod II 23 and fixedly makes itself and connecting rod II form an entirety by screw, and the other end of adapting rod 24 is designed with two place's cylindrical bars, they insert and are installed in two place's circular arc regulating tanks of clamping plate 25, and both relatively rotating can be realized, thus the clamping plate 25 that make to be installed can rotate relative to connecting rod II 23 and the position that the round dot rotated can insert in connecting rod II 23 according to adapting rod 24 regulates arbitrarily.
Consider that the reflector 2a on this model satellite antenna tower divides A reflector and E reflector, E reflector only has a structure plates to may be used for being installed (as illustrated in figure 1 c, its reflector backboard 5a), A reflector then has two structure plates to may be used for being installed (as shown in Figure 1 b, its reflector backboard 4a), as shown in Figure 1a, number in the figure 3a is tower body supporting bracket.Therefore, the clamping plate 25 that are installed of Three Degree Of Freedom regulating mechanism need design two kinds of forms.Wherein, version during 1 structure plates that is installed as shown in Figure 3.When the reflector be installed be double structure board-like time, then the clamping plate that are installed by veneer change two plate into and to be installed clamping plate (as schemed shown in attached 4), very convenient.
Three Degree Of Freedom regulating mechanism move mode is selected: the X in plane, Y-direction move the mode being chosen as bearing slider and adding guide rail; The movement of Z-direction is chosen as the mode of screw adjustment.As shown in Figure 2, Three Degree Of Freedom displacement adjustment device 1 comprises X to adjustable plate 11, Y-direction adjustable plate 12, Z-direction adjustable plate 13, Y-direction displacement adjustment screw 14, displacement adjustment screw mount pad 15, displacement stop baffle plate 16, X to displacement adjustment screw 17, bearing guide rod 18, bearing guide rod mount pad 19, Z-direction displacement adjustment screw 110 and bearing slider 111; Z-direction adjustable plate 13 is as the bottom of whole device, and its surrounding at right angle setting Z-direction displacement adjustment screw 110, realizes the leveling of whole device and moving up and down of Z-direction; Z-direction adjustable plate 13 upper surface surrounding installs bearing guide rod mount pad 9, and between two bearing guide rod mount pads 9 of Y-direction, install bearing guide rod 18, bearing guide rod 18 is installed bearing slider 111, Y-direction adjustable plate 12 is arranged on bearing slider 111; Y-direction adjustable plate 12 upper surface surrounding installs bearing guide rod mount pad 9, installs bearing guide rod 18, bearing guide rod 18 is installed bearing slider 111, X and be arranged on bearing slider 111 to adjustable plate 11 between two bearing guide rod mount pads 9 of X-direction; Y-direction adjustable plate 12, X install Y-direction displacement adjustment screw 14 and X to displacement adjustment screw 17 respectively by displacement adjustment screw mount pad 15 on the swing offset direction, below of adjustable plate 11, both direction displacement adjustment screw promotes stop baffle plate 16 by installing respectively, when need to product carry out X to or Y-direction trace regulate time, the adjustment screw that can rotate on corresponding direction of displacement makes it move adjustable plate move along bearing guide rod by promoting stop catch strip, thus the X realizing mechanism moves to Y-direction.When mechanism moves to required position, the long spiro nail on displacement adjustment screw mount pad tightened thus withstands displacement stop baffle plate at two, realizing the fixing of product space.
As shown in Figure 5, pedestal 3 is arranged the interface that many groups are different, every group interface is for adjusting the different installation sites of Three Degree Of Freedom displacement adjustment device 1.Pedestal 3 mainly plays three effects: one is fixing Three Degree Of Freedom displacement adjustment device 1; Two is the stiff ends regulated as regulating mechanism Z-direction; Three is by the many groups distinct interface on it, realizes debuging different reflector when regulating mechanism is arranged on distinct interface, and ensures that adjustment direction is parallel with assembling coordinate system direction.Design drawing as shown in Figure 5.Before portion's dress starts, be arranged on by pedestal 3 on antenna tower top board 1a, the position of itself immobilizes, and when needing the reflector adjusting diverse location, only needs the distinct interface be arranged on by Three Degree Of Freedom displacement adjustment device 1 on pedestal 3.In accompanying drawing 5, different English alphabet represents different interfaces, and a group interface has four points of connection, for installing 4 place's Z-direction adjustment screw 110 on Z-direction adjustable plate 13.
Final product design debugs schematic diagram as shown in Figure 6.Pedestal 3 is arranged on antenna tower top board 1a, Three Degree Of Freedom displacement adjustment device 1 is installed on pedestal 3, can ensure after above two parts are in place that the direction of displacement that the three degree of freedom direction of debuging and product needed are debug is consistent, be connected with Three Degree Of Freedom displacement adjustment device 1 by the mechanism 2 one end product clamping other end that is installed afterwards, finally realize the product posture adjustment of Three Degree Of Freedom.
The present invention to debug in process enforcing location adjustment in accordance with the following steps to certain model Statellite antenna.
Step 1: the pedestal in accompanying drawing 5 is installed on antenna tower top board according to reference for assembling quadrant mark.
Step 2: be installed on pedestal by the Three Degree Of Freedom displacement adjustment device in accompanying drawing 2 according to the reflector locations that will install, the quadrantal heading completing direction of displacement and the assembling of debuging since then overlaps, thus realizes the accurate of posture adjustment direction.
Step 3: the mechanism one end that is installed in accompanying drawing 3 is installed on Three Degree Of Freedom displacement adjustment device.
Step 4: use the mechanism that is installed to be installed to wanting the product of posture adjustment, and ensure firm.
Step 5: use the adjustment screw on Three Degree Of Freedom displacement adjustment device to make posture adjustment platform realize micro-translation in the X, Y, Z direction, thus realize the Three Degree Of Freedom high accuracy posture adjustment to product.
The content be not described in detail in specification of the present invention belongs to professional and technical personnel in the field's known technology.
Claims (3)
1. a satellite high-precision parts regulating mechanism for Three Degree Of Freedom, is characterized in that: comprise Three Degree Of Freedom displacement adjustment device (1), the mechanism that is installed (2) and pedestal (3);
Three Degree Of Freedom displacement adjustment device (1) is arranged on the datum clamp face of satellite component to be installed by pedestal (3), and ensures that three adjustment direction of Three Degree Of Freedom displacement adjustment device (1) are parallel with assembling coordinate system direction, the described mechanism that is installed (2) comprises cup dolly (21), connecting rod I (22), connecting rod II (23), adapting rod (24) and the clamping plate that are installed (25), cup dolly (21) is arranged on Three Degree Of Freedom displacement adjustment device (on 1, cup dolly (21) and connecting rod I (22) one end form revolute pair, the other end of connecting rod I (22) and one end of connecting rod II (23) form revolute pair, the other end of connecting rod II (23) is fixedly connected with adapting rod (24), be installed one end of clamping plate (25) is bare terminal end, for clamping satellite component to be installed, the other end arranges two circular arc regulating tanks, adapting rod (24) inserts in connecting rod II (23) and also fixedly makes itself and connecting rod II (23) form an entirety, the other end of adapting rod (24) is designed with two place's cylindrical bars, they insert in two place's circular arc regulating tanks of the clamping plate that are installed (25) respectively, and both relatively rotating can be realized, thus the clamping plate (25) that make to be installed can rotate relative to connecting rod II (23) and the position that the round dot rotated can insert in connecting rod II (23) according to adapting rod (24) regulates arbitrarily.
2. the satellite high-precision parts regulating mechanism of a kind of Three Degree Of Freedom according to claim 1, it is characterized in that: described Three Degree Of Freedom displacement adjustment device (1) comprises X to adjustable plate (11), Y-direction adjustable plate (12), Z-direction adjustable plate (13), Y-direction displacement adjustment screw (14), displacement adjustment screw mount pad (15), displacement stop baffle plate (16), X is to displacement adjustment screw (17), bearing guide rod (18), bearing guide rod mount pad (19), Z-direction displacement adjustment screw (110) and bearing slider (111),
Z-direction adjustable plate (13) is as the bottom of whole device, and its surrounding at right angle setting Z-direction displacement adjustment screw (110), realizes the leveling of whole device and moving up and down of Z-direction; Z-direction adjustable plate (13) upper surface surrounding installs bearing guide rod mount pad (9), between two the bearing guide rod mount pads (9) being positioned at Y-direction, bearing guide rod (18) is installed, bearing guide rod (18) is installed bearing slider (111), Y-direction adjustable plate (12) is arranged on bearing slider (111); Y-direction adjustable plate (12) upper surface surrounding installs bearing guide rod mount pad (9), between two the bearing guide rod mount pads (9) being positioned at X-direction, bearing guide rod (18) is installed, bearing guide rod (18) is installed bearing slider (111), X is arranged on bearing slider (111) to adjustable plate (11); Y-direction adjustable plate (12), X install Y-direction displacement adjustment screw (14) and X respectively to displacement adjustment screw (17) on the swing offset direction, below of adjustable plate (11), both direction displacement adjustment screw promotes stop baffle plate (16) by installing respectively, drive corresponding adjustable plate to move along bearing guide rod by promoting stop baffle plate (16), thus realize the Y-direction of mechanism and X to movement.
3. the satellite high-precision parts regulating mechanism of a kind of Three Degree Of Freedom according to claim 1, it is characterized in that: described pedestal (3) is arranged the interface that many groups are different, every group interface is for adjusting the different installation sites of Three Degree Of Freedom displacement adjustment device (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454302.6A CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410454302.6A CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
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| CN104269644A true CN104269644A (en) | 2015-01-07 |
| CN104269644B CN104269644B (en) | 2017-05-10 |
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| CN201410454302.6A Active CN104269644B (en) | 2014-09-05 | 2014-09-05 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552554A (en) * | 2015-12-11 | 2016-05-04 | 哈尔滨工业大学 | Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna |
| CN108917700A (en) * | 2018-07-25 | 2018-11-30 | 中国空间技术研究院 | A kind of in-orbit pointing accuracy of Three Degree Of Freedom mechanism determines method |
| CN109955499A (en) * | 2019-04-04 | 2019-07-02 | 北京卫星制造厂有限公司 | A kind of recoverable airship outsole heat shield forming frock |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414104A2 (en) * | 2002-10-21 | 2004-04-28 | Orbit Communication Ltd. | Antenna stabilization system for two antennas |
| CN103116104A (en) * | 2013-02-26 | 2013-05-22 | 浙江中星光电子科技有限公司 | Detection device and detection method for ship-borne satellite signal receiving antenna |
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Medical six-degree-of-freedom automatic adjusting manipulator grinding and clamping device for surgical operation |
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2014
- 2014-09-05 CN CN201410454302.6A patent/CN104269644B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1414104A2 (en) * | 2002-10-21 | 2004-04-28 | Orbit Communication Ltd. | Antenna stabilization system for two antennas |
| CN103116104A (en) * | 2013-02-26 | 2013-05-22 | 浙江中星光电子科技有限公司 | Detection device and detection method for ship-borne satellite signal receiving antenna |
| CN103300906A (en) * | 2013-07-03 | 2013-09-18 | 青岛理工大学 | Medical six-degree-of-freedom automatic adjusting manipulator grinding and clamping device for surgical operation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105552554A (en) * | 2015-12-11 | 2016-05-04 | 哈尔滨工业大学 | Three-degree-of-freedom posture adjustment device and posture adjustment method applicable for edge block of radar antenna |
| CN105552554B (en) * | 2015-12-11 | 2018-07-03 | 哈尔滨工业大学 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
| CN108917700A (en) * | 2018-07-25 | 2018-11-30 | 中国空间技术研究院 | A kind of in-orbit pointing accuracy of Three Degree Of Freedom mechanism determines method |
| CN109955499A (en) * | 2019-04-04 | 2019-07-02 | 北京卫星制造厂有限公司 | A kind of recoverable airship outsole heat shield forming frock |
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| CN104269644B (en) | 2017-05-10 |
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