CN105552554B - A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block - Google Patents
A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block Download PDFInfo
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- CN105552554B CN105552554B CN201510939299.1A CN201510939299A CN105552554B CN 105552554 B CN105552554 B CN 105552554B CN 201510939299 A CN201510939299 A CN 201510939299A CN 105552554 B CN105552554 B CN 105552554B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
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Abstract
The invention mainly relates to a kind of posture adjusting device and method, more particularly, to a kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block.Posture adjusting device includes support platform, electrical servo sliding equipment I, electrical servo sliding equipment II and electrical servo sliding equipment III, electrical servo sliding equipment I, electrical servo sliding equipment II and electrical servo sliding equipment III are fixedly connected in support platform, the installation direction of electrical servo sliding equipment I and electrical servo sliding equipment III and the installation direction of electrical servo sliding equipment II are mutually perpendicular to, and electrical servo sliding equipment II is connect with one end of electrical servo sliding equipment I or electrical servo sliding equipment III.The adjusting of three degree of freedom can be realized by controlling the collapsing length of electrical servo sliding equipment, and so that posture adjusting device is compact-sized, occupy little space on vertical direction, be well adapted for operating condition of the car antenna structure to limited height.
Description
Technical field
The invention mainly relates to a kind of posture adjusting device and methods, are suitable for radar antenna side block more particularly, to one kind
Three Degree Of Freedom posture adjusting device and attitude-adjusting method.
Background technology
Radar is the electronic equipment using electromagnetic wave detection target.As current aircraft is hidden (including aircraft, guided missile etc.)
The continuous development of body technology, the radar that air defense early warning is responsible on ground also develop towards the directions such as enlargement and quick response.As
Weaponry, ground radar can be divided into fixed and mobile two class from mobility.For bigbore radar antenna, need to divide
Block processing could meet transport requirement.It reaches after setting up place, after Antenna unit is adjusted to correct pose, carries out docking and be assembled into
It is whole, to work.
Antenna docking at present is mainly using crane lifting, the method for artificial Butt Assembling.This method underaction is light,
Time-consuming, and efficiency is low, influences mobility；And merging precision is mostly dependent on the operation level of site operation personnel and existing warp
It tests, merging precision stability is difficult to ensure that.
In big component attitude adjusting Butt Assembling, big component is supported using multiple locators for foreign countries, is controlled by automating
System realizes the pose adjustment and docking of big component.German Bao Jie companies, SERRA companies of Spain and M.Torris companies etc. fly
Machine numeric terminal equipment manufacturers propose various three coordinates supporting mechanisms respectively, are used to implement the pose of Large Aircraft Components
Adjustment and Butt Assembling.But the posture adjustment assembly system based on locator, Redundant Control is typically necessary, control method is carried
Higher requirement is gone out.
Domestic aspect, China Electronic Science and Technology Corporation the 38th Tang Weimin, use with CCD camera and laser scanning thunder
Up to the measurement row for core, and using the docking system being made of carrying platform, lifting column, sliding block and turntable etc., construct one
Antenna automatic butt system, the Zhou Hong of Chengdu Zhong electricity Jin Jiang Rivers company et al. is covered, one kind is devised and employs parallelogram mechanism
The six degree of freedom buttjunction platform being formed by combining is successfully realized the automatic butt of certain model metre wave radar antenna.Background satellite
Bear great waves of environmental project research institute et al. have developed a set of satellite using indoor GPS technology and six degree of freedom 6-SPS parallel institutions
Automatic butt system.Jin Qingmian of industry Shen Fei companies of Air China et al., using the tooling controlled by PLC and with laser tracker and
Laser collimator is core measuring system, and the automatic butt of airframe each section is tested.
The work in-process heart, positioning and orientation machinery, measuring machine, the fields such as make-up machinery obtain parallel institution at present
Using.In recent years, parallel institution is used to support the research in terms of posture adjustment and also achieves certain achievement, such as Tongji University is directed to
3RPS parallel institutions have carried out correlative study for motor support rack；It 2001, contains English etc. and Stewart parallel institutions is used
In vehicle radar antenna automatic horizontal control system, so as to provide one for application of the parallel institution in automatic leveling support system
Feasible reference frame；The large-scale astronomical telescope that Bochum, Germany Rule university built in 1999 in campus, it is used
The parallel institution of Stewart platforms is as posture adjustment supporting mechanism, etc..In addition, parallel institution can be not using redundant drive with regard to energy
Enough realize the posture adjustment campaign of six degree of freedom, control is simple.In view of above research, it is seen that parallel institution has for large component
The potential of posture adjustment assembly system.
Invention content
The invention mainly solves the technical problem of providing a kind of Three Degree Of Freedom posture adjusting device and methods so that posture adjusting device
It is compact-sized, it occupies little space on vertical direction, has been well adapted for operating condition of the car antenna structure to limited height.
In order to solve the above technical problems, a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block of the invention, institute
It states Three Degree Of Freedom posture adjusting device and includes support platform, electrical servo sliding equipment I, electrical servo sliding equipment II and electrical servo
Sliding equipment III, the electrical servo sliding equipment I, electrical servo sliding equipment II and electrical servo sliding equipment III are fixed
It is connected in support platform, the installation direction of the electrical servo sliding equipment I and electrical servo sliding equipment III is watched with electronic
The installation direction for taking sliding equipment II is mutually perpendicular to, the electrical servo sliding equipment II and electrical servo sliding equipment I or electricity
One end connection of dynamic servo sliding equipment III.The electrical servo sliding equipment I, electrical servo sliding equipment II and electrical servo
Sliding equipment III is respectively positioned on same plane and planar acts.
As the present invention advanced optimize, the electrical servo sliding equipment I include mounting base I, guide rail I, slider I,
Electric cylinder I and connector I, the mounting base I are fixed in support platform, and the guide rail I is fixedly connected in mounting base I, institute
The one end for stating electric cylinder I is fixed and ins succession multiple slider Is, and the slider I is movably connected on guide rail I, the electric cylinder I it is another
End is fixedly connected with connector I.
As advanced optimizing for the present invention, the electric cylinder I can be electronic thick stick, hydraulic cylinder or pneumatic cylinder.
As advanced optimizing for the present invention, the electrical servo sliding equipment II and electrical servo sliding equipment III and electricity
Dynamic servo sliding equipment I is identical.
As advanced optimizing for the present invention, the support platform is equipped with multiple reinforcing ribs.
Three Degree Of Freedom posture adjustment is realized using a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block,
It is characterized in that：The attitude-adjusting method includes：
It moves left and right：
Step 1：Electrical servo sliding equipment I and electrical servo sliding equipment III is kept to be failure to actuate；
Step 2：Electrical servo sliding equipment II acts；
It moves up and down：
Step 1：Electrical servo sliding equipment II is kept to be failure to actuate；
Step 2：Electrical servo sliding equipment I and electrical servo sliding equipment III act, and electrical servo sliding equipment I
It is identical with the stroke of electrical servo sliding equipment III；
Rotation：
Step 1：Electrical servo sliding equipment II is kept to be failure to actuate；
Step 2：Electrical servo sliding equipment I and electrical servo sliding equipment III act, and electrical servo sliding equipment I
It is differed with the stroke of electrical servo sliding equipment III.
The present invention is a kind of to be suitable for the Three Degree Of Freedom posture adjusting device of radar antenna side block and having the beneficial effect that for attitude-adjusting method：
(1) driving device planar acts, you can realizes the pose adjustment of antenna array three degree of freedom；(2) posture adjusting device structure
Simply, it is easy to control；(3) posture adjusting device is compact-sized, occupies little space on vertical direction, has well adapted to car antenna knot
Structure is to the operating condition of limited height.
Description of the drawings
The present invention will be further described in detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is a kind of structure diagram of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block of the invention.
Fig. 2 is the schematic diagram that electrical servo sliding equipment connects in Fig. 1.
Fig. 3 is the structural upright schematic diagram of electrical servo sliding equipment I 2 in Fig. 1.
Fig. 4 is the structure diagram of electrical servo sliding equipment I 2 in Fig. 1.
In figure：Support platform 1；Reinforcing rib 1-1；Electrical servo sliding equipment I 2；I 2-1 of mounting base；I 2-2 of guide rail；Slider I
2-3；I 2-4 of electric cylinder；I 2-5 of connector；Electrical servo sliding equipment II 3；II 3-1 of mounting base；II 3-2 of guide rail；II 3- of sliding block
3；II 3-4 of electric cylinder；II 3-5 of connector；Electrical servo sliding equipment III 4；III 4-1 of mounting base；III 4-2 of guide rail；III 4- of sliding block
3；III 4-4 of electric cylinder；III 4-5 of connector；Locking pin 5；Connecting seat 6.
Specific embodiment
Specific embodiment one：Illustrate present embodiment with reference to Fig. 1,2,3,4, one kind described in present embodiment is suitable for
The Three Degree Of Freedom posture adjusting device of radar antenna side block is slided including support platform 1, electrical servo sliding equipment I 2, electrical servo
Mechanism II 3 and electrical servo sliding equipment III 4.
The electrical servo sliding equipment I 2, electrical servo sliding equipment II 3 and electrical servo sliding equipment III 4 are fixed
Be connected in support platform 1, the installation direction of the electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 with it is electronic
The installation direction of servo sliding equipment II 3 is mutually perpendicular to, wherein electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4
For controlling the movement on certain level direction, electrical servo sliding equipment II 3 is for control and electrical servo sliding equipment I 2
Movement in the horizontal direction vertical with III 4 control directions of electrical servo sliding equipment.The electrical servo sliding equipment I 2,
Electrical servo sliding equipment II 3 and electrical servo sliding equipment III 4 are respectively positioned on same plane and planar act.
The one of the electrical servo sliding equipment II 3 and electrical servo sliding equipment I 2 or electrical servo sliding equipment III 4
End connects, and the connector on two electrical servo sliding equipments is flexibly connected by locking pin 5, and equipped with connecting seat 6.
Specific embodiment two：Illustrate present embodiment with reference to Fig. 1,2,3,4, electrical servo described in present embodiment slides
Mechanism I 2 includes I 2-1 of mounting base, I 2-2 of guide rail, slider I 2-3, I 2-4 of electric cylinder and connector I 2-5, I 2-1 of mounting base
It is fixed in support platform 1, for electrical servo sliding equipment I 2 to be fixed on support platform 1；I 2-2 of guide rail is fixed
It is connected on I 2-1 of mounting base, multiple slider I 2-3 that in succession are fixed in one end of I 2-4 of electric cylinder, and the slider I 2-3 is uniform
It is distributed in one end of I 2-4 of electric cylinder；The slider I 2-3 is movably connected on I 2-2 of guide rail, and slider I 2-3 can be in I 2- of guide rail
It is slided on 2, so as to which I 2-4 of electric cylinder be driven to move；The other end of I 2-4 of electric cylinder is fixedly connected with I 2-5 of connector, uses
In connection antenna.
Specific embodiment three：Illustrate present embodiment with reference to Fig. 1,2,3,4, I 2-4 of electric cylinder can described in present embodiment
Think electronic thick stick, hydraulic cylinder or pneumatic cylinder, effect is to realize to stretch, all to realize that flexible device can replace.
Specific embodiment four：Illustrate present embodiment with reference to Fig. 1,2,3,4, electrical servo described in present embodiment slides
Mechanism II 3 and electrical servo sliding equipment III 4 are identical with electrical servo sliding equipment I 2, have easily controllable each electrical servo to slide
The stroke of motivation structure.
The electrical servo sliding equipment II 3 includes II 3-1 of mounting base, II 3-2 of guide rail, II 3-3 of sliding block, II 3- of electric cylinder
4 and connector II 3-5, II 3-1 of mounting base are fixed in support platform 1, and II 3-2 of guide rail is fixedly connected on mounting base
On II 3-1, multiple II 3-3 of sliding block that in succession are fixed in one end of II 3-4 of electric cylinder, and II 3-3 of sliding block, which is movably connected in, to be led
On II 3-2 of rail, one end of II 3-4 of electric cylinder is fixedly connected with II 3-5 of connector.The electrical servo sliding equipment III 4
Including III 4-1 of mounting base, III 4-2 of guide rail, III 4-3 of sliding block, III 4-4 of electric cylinder and connector III 4-5, III 4-1 of mounting base
It is fixed in support platform 1, III 4-2 of guide rail is fixedly connected on III 4-1 of mounting base, one end of III 4-4 of electric cylinder
Fixed multiple III 4-3 of sliding block that in succession, III 4-3 of sliding block are movably connected on III 4-2 of guide rail, and the one of III 4-4 of electric cylinder
End is fixedly connected with III 4-5 of connector.
Specific embodiment five：Illustrate present embodiment with reference to Fig. 1,2,3,4, described in present embodiment in support platform 1
Equipped with multiple reinforcing rib 1-1, for strengthening the stability of support platform 1.
Specific embodiment six：Illustrate present embodiment with reference to Fig. 1,2,3,4, present embodiment is fitted using described one kind
Realize Three Degree Of Freedom posture adjustment for the Three Degree Of Freedom posture adjusting device of radar antenna side block, can realize translation in both direction and
Rotation on another direction passes through the flexible so as to drive corresponding radar antenna side block mobile or revolve of electrical servo sliding equipment
Turn, it is characterised in that：The attitude-adjusting method includes：
It moves left and right：
Step 1：Electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 is kept to be failure to actuate, i.e., is not stretched；
Step 2：Electrical servo sliding equipment II 3 acts, and flexible by electrical servo sliding equipment II 3 can be realized
It moves left and right；
It moves up and down：
Step 1：Electrical servo sliding equipment II 3 is kept to be failure to actuate, i.e., is not stretched；
Step 2：Electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 act, and electrical servo sliding equipment
I 2 is identical with the stroke of electrical servo sliding equipment III 4, i.e. electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 is stretched
It contracts and collapsing length is equal, and electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 should be extended or be contracted
It is short, it is impossible to which that an electrical servo sliding equipment elongation, another electrical servo sliding equipment shorten.
Rotation：
Step 1：Electrical servo sliding equipment II 3 is kept to be failure to actuate, i.e., is not stretched；
Step 2：Electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4 act, and electrical servo sliding equipment
I 2 and the stroke of electrical servo sliding equipment III 4 differ, i.e. electrical servo sliding equipment I 2 and electrical servo sliding equipment III 4
Collapsing length is unequal or an electrical servo sliding equipment elongation, another electrical servo sliding equipment shorten.
Although the present invention is disclosed as above with preferred embodiment, it is not limited to the present invention, any to be familiar with this
The people of technology without departing from the spirit and scope of the present invention, can do various changes and modification, therefore the protection of the present invention
Range should be subject to what claims were defined.
Claims (6)
- A kind of 1. Three Degree Of Freedom posture adjusting device suitable for radar antenna side block, which is characterized in that the Three Degree Of Freedom posture adjustment dress It puts including support platform (1), electrical servo sliding equipment I (2), electrical servo sliding equipment II (3) and electrical servo skate machine Structure III (4), the electrical servo sliding equipment I (2), electrical servo sliding equipment II (3) and electrical servo sliding equipment III (4) It is fixedly connected in support platform (1), the peace of the electrical servo sliding equipment I (2) and electrical servo sliding equipment III (4) Dress direction and the installation direction of electrical servo sliding equipment II (3) are mutually perpendicular to, the electrical servo sliding equipment II (3) and electricity One end connection of dynamic servo sliding equipment I (2) or electrical servo sliding equipment III (4)；The electrical servo sliding equipment I (2), electrical servo sliding equipment II (3) and the equal position of electrical servo sliding equipment III (4) It acts in same plane and planar.
- 2. a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block according to claim 1, it is characterised in that： The electrical servo sliding equipment I (2) including mounting base I (2-1), guide rail I (2-2), slider I (2-3), electric cylinder I (2-4) and Connector I (2-5), the mounting base I (2-1) are fixed in support platform (1), and the guide rail I (2-2) is fixedly connected on installation On I (2-1) of seat, multiple slider Is (2-3) of ining succession are fixed in one end of the electric cylinder I (2-4), and slider I (2-3) activity is even It is connected on guide rail I (2-2), the other end of the electric cylinder I (2-4) is fixedly connected with connector I (2-5).
- 3. a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block according to claim 2, it is characterised in that： The electric cylinder I (2-4) can be electronic thick stick, hydraulic cylinder or pneumatic cylinder.
- 4. a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block according to claim 1, it is characterised in that： The electrical servo sliding equipment II (3) and electrical servo sliding equipment III (4) are identical with electrical servo sliding equipment I (2).
- 5. a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block according to claim 1, it is characterised in that： The support platform (1) is equipped with multiple reinforcing ribs (1-1).
- 6. Three Degree Of Freedom is realized using a kind of Three Degree Of Freedom posture adjusting device suitable for radar antenna side block described in claim 1 Posture adjustment, it is characterised in that：The attitude-adjusting method includes：It moves left and right：Step 1：Electrical servo sliding equipment I (2) and electrical servo sliding equipment III (4) is kept to be failure to actuate；Step 2：Electrical servo sliding equipment II (3) acts；It moves up and down：Step 1：Electrical servo sliding equipment II (3) is kept to be failure to actuate；Step 2：Electrical servo sliding equipment I (2) and electrical servo sliding equipment III (4) action, and electrical servo sliding equipment I (2) are identical with the stroke of electrical servo sliding equipment III (4)；Rotation：Step 1：Electrical servo sliding equipment II (3) is kept to be failure to actuate；Step 2：Electrical servo sliding equipment I (2) and electrical servo sliding equipment III (4) action, and electrical servo sliding equipment The stroke of I (2) and electrical servo sliding equipment III (4) differs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939299.1A CN105552554B (en) | 2015-12-11 | 2015-12-11 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939299.1A CN105552554B (en) | 2015-12-11 | 2015-12-11 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
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| Publication Number | Publication Date |
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| CN105552554A CN105552554A (en) | 2016-05-04 |
| CN105552554B true CN105552554B (en) | 2018-07-03 |
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| CN201510939299.1A Active CN105552554B (en) | 2015-12-11 | 2015-12-11 | A kind of Three Degree Of Freedom posture adjusting device and attitude-adjusting method suitable for radar antenna side block |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109212497A (en) * | 2018-10-30 | 2019-01-15 | 哈尔滨工业大学 | A kind of measurement of space six degree of freedom vehicle radar antenna pose deviation and interconnection method |
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| CN101817405A (en) * | 2010-03-30 | 2010-09-01 | 浙江大学 | Heavy-duty three-dimensional positioner |
| CN203743760U (en) * | 2014-02-19 | 2014-07-30 | 广州艾恩电子有限公司 | Motion platform with multiple freedom degrees |
| CN104269644A (en) * | 2014-09-05 | 2015-01-07 | 北京卫星制造厂 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009048091B4 (en) * | 2009-10-02 | 2015-04-09 | Bayerische Motoren Werke Aktiengesellschaft | Control method for electric power steering |
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2015
- 2015-12-11 CN CN201510939299.1A patent/CN105552554B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817405A (en) * | 2010-03-30 | 2010-09-01 | 浙江大学 | Heavy-duty three-dimensional positioner |
| CN203743760U (en) * | 2014-02-19 | 2014-07-30 | 广州艾恩电子有限公司 | Motion platform with multiple freedom degrees |
| CN104269644A (en) * | 2014-09-05 | 2015-01-07 | 北京卫星制造厂 | Three-degree-of-freedom high-precision satellite component assembly and adjustment mechanism |
Non-Patent Citations (1)
| Title |
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| "三自由度运动平台可视化设计研究与实现"，;佟志忠，等;《系统仿真学报》;20070228;第794-798页 * |
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