CN106252822B - Intelligent polar orbit satellite antenna based on six-foot walking - Google Patents
Intelligent polar orbit satellite antenna based on six-foot walking Download PDFInfo
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- CN106252822B CN106252822B CN201610769904.XA CN201610769904A CN106252822B CN 106252822 B CN106252822 B CN 106252822B CN 201610769904 A CN201610769904 A CN 201610769904A CN 106252822 B CN106252822 B CN 106252822B
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- worm wheel
- polar orbit
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses an intelligent polar orbit satellite antenna based on hexapod walking, which comprises an antenna reflector, a transmission mechanism, a hexapod intelligent walking device and a controller which are sequentially connected from top to bottom; the transmission mechanism comprises a base, a worm wheel, a worm, a supporting seat, a connecting block and a power source, wherein the connecting block is symmetrically arranged on two sides of the worm wheel, the bottom of the connecting block is fixedly connected with the worm wheel shaft, and the top of the connecting block is connected with the antenna reflector; the six-foot intelligent walking device comprises a chassis and a six-foot walking parallel mechanism, can realize tracking, communication and data transmission of polar orbit satellites without tracking blind areas in a hemispherical airspace, has autonomous walking movement capability, solves the engineering practical problems of antenna destruction resistance, quick replacement, quick antenna supplement, field intelligent autonomous walking movement and the like, and improves the survivability and the maneuverability of field mobile polar orbit satellite tracking and communication antennas.
Description
Technical Field
The invention relates to the technical field of earth station intelligent polar orbit satellite antennas for tracking polar orbit satellites, in particular to an intelligent polar orbit satellite antenna based on hexapod walking. The invention belongs to the technical field of electromechanical integration.
Background
At present, an earth station intelligent polar orbit satellite antenna system for tracking polar orbit satellites generally uses an EL-AZ type antenna and an X-Y type antenna, and the EL-AZ type antenna has a fatal technical defect that the polar orbit satellite cannot be tracked normally in a 'dead zone' area due to the technical problem that a tracking dead zone exists near the zenith of the zenith. The X-Y type antenna has no tracking 'blind area' problem in the antenna mechanism at the antenna zenith position, and can realize the tracking problem of polar orbit satellites. However, the EL-AZ type antenna and the X-Y type antenna are generally both land-based fixed antennas, and flexible land-based maneuvering cannot be realized. The antenna has larger defects in the aspects of anti-destruction, quick replacement and quick supplementation of the war time, so that the defects and the defects of the survivability and the maneuverability of the field mobile polar orbit satellite tracking and communication antenna are caused.
Disclosure of Invention
The invention mainly aims to provide an intelligent polar orbit satellite antenna based on hexapod walking, which can realize flexible land-based autonomous walking maneuver, improve the survivability and the maneuverability of the antenna, and realize tracking, communication and data transmission of polar orbit satellites of a hemispherical airspace without tracking blind areas.
In order to achieve the above purpose, the invention provides an intelligent polar orbit satellite antenna based on hexapod walking, which comprises an antenna reflector, a transmission mechanism, a hexapod intelligent walking device and a controller which are sequentially connected from top to bottom;
the transmission mechanism is used for driving the antenna reflector to rotate around the central platform of the six-foot intelligent walking device in parallel; the transmission mechanism comprises a base, a worm wheel, a worm, a supporting seat, a connecting block and a power source, wherein the base is fixed on the six-foot intelligent walking device, the supporting seat is fixed on the base, the worm wheel is rotationally connected on the supporting seat through a worm wheel shaft, the worm is arranged below the worm wheel and meshed with the worm wheel, the power source is connected with one end of the worm, the connecting block is symmetrically arranged on two sides of the worm wheel, the bottom of the connecting block is fixedly connected with the worm wheel shaft, and the top of the connecting block is connected with the antenna reflector;
the six-foot intelligent walking device comprises a chassis and a six-foot walking parallel mechanism, wherein the six-foot walking parallel mechanism is arranged in the circumferential direction of the chassis, and the base is fixed on the upper surface of the chassis, and the six-foot walking parallel mechanism is used for driving the chassis to incline or walk;
and the controller is fixed on the side of the chassis and is connected with the six-foot walking parallel mechanism.
According to a preferred embodiment of the invention: the chassis comprises an upper disc and a lower disc which are distributed up and down, the upper disc and the lower disc are parallel to each other and are hexagonal in shape, the area of the upper disc is larger than that of the lower disc, and the upper disc and the lower disc are further provided with an angle difference.
According to a preferred embodiment of the invention: the six-foot walking parallel mechanism comprises six leg mechanisms which are identical in mechanism, each leg mechanism comprises a triangular support and three movable pair actuators, the tops of the three movable pair actuators are respectively connected with three vertexes of the triangular support, the bottoms of the three movable pair actuators are connected with a spherical hinge, two corner points of the triangular support are connected with two corner points of a hexagonal upper disc, the other corner point of the triangular support is connected with a corner point corresponding to the hexagonal lower disc, the movable pair actuators comprise a motor, a screw rod and a screw sleeve, the motor is connected with one end of the screw rod, the other end of the screw rod is arranged at one end of the screw sleeve and in threaded connection with the screw sleeve, and the other end of the screw sleeve is connected with the spherical hinge.
According to a preferred embodiment of the invention: the outside of the thread bush is also provided with a sheath.
According to a preferred embodiment of the invention: the top of the movable auxiliary actuator is also connected with the top of the triangular bracket through a U-shaped connecting pair.
According to a preferred embodiment of the invention: the rotation angle of the worm wheel is 0-180 degrees.
According to a preferred embodiment of the invention: the angle difference between the upper disc and the lower disc is 30 degrees.
The invention has the beneficial effects that: the chassis of the six-foot intelligent walking device is controlled by the controller to incline or walk, so that the antenna reflector can realize tracking, communication and data transmission of polar orbit satellites in a hemispherical airspace under the combined action of the transmission mechanism, and the walking movement capability of the six-foot intelligent walking device solves the actual engineering problems of antenna destruction resistance, quick replacement, quick antenna supplementation and the like, and improves the survivability and the maneuverability of field mobile polar orbit satellite tracking and communication antenna destruction resistance.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a six-foot walk-based intelligent polar orbit satellite antenna according to the present invention;
FIG. 2 is a schematic diagram of a hexapod intelligent walking device based on a hexapod intelligent polar orbit satellite antenna of the present invention;
FIG. 3 is a schematic diagram of a six-foot walk parallel mechanism of the intelligent polar orbit satellite antenna based on six-foot walk of the present invention;
fig. 4 is a schematic structural diagram of a transmission mechanism of the intelligent polar orbit satellite antenna based on six-foot walking.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
In the invention, the antenna system consists of an antenna subsystem, a servo subsystem and a feed source subsystem. The antenna subsystem consists of an antenna reflector and an antenna base.
Referring to fig. 1-4, the intelligent polar orbit satellite antenna based on hexapod walking comprises an antenna reflector 1, a transmission mechanism 2, a hexapod intelligent walking device 3 and a controller 4 which are sequentially connected from top to bottom;
the transmission mechanism 2 is used for driving the antenna reflector 1 to rotate around the six-foot intelligent walking device 3; the transmission mechanism 2 comprises a base 21, a worm wheel 22, a worm 23, a supporting seat 24, a connecting block 25 and a power source 26, wherein the base 21 is fixed on the six-foot intelligent walking device 3, the supporting seat 24 is fixed on the base 21, the worm wheel 22 is rotationally connected to the supporting seat through a worm wheel shaft 27, the worm 23 is arranged below the worm wheel 22 and meshed with the worm wheel 22, the power source 26 is connected with one end of the worm 23, the connecting block 25 is symmetrically arranged on two sides of the worm wheel 22, the bottom of the connecting block 25 is fixedly connected with the worm wheel shaft 27, and the top of the connecting block 25 is connected with the antenna reflector 1; in the present invention, the rotation angle of the worm wheel is 0 to 180 °, and the antenna is assumed to be oriented at 90 °.
The six-foot intelligent walking device 3 comprises a chassis 31 and a six-foot walking parallel mechanism 32, wherein the six-foot walking parallel mechanism 32 is arranged in the circumferential direction of the chassis 31, and the base 21 is fixed on the upper surface of the chassis 31, and the six-foot walking parallel mechanism 32 is used for driving the chassis 31 to incline or walk;
the controller 4 is fixed on the side of the chassis 31 and connected to the six-foot walking parallel mechanism 32.
The chassis 31 of the six-foot intelligent walking device 3 is controlled by the controller 4 to incline or walk, so that the antenna reflector 1 can track, communicate and transmit data of polar orbit satellites in a hemispherical airspace under the combined action of the transmission mechanism 2, and the walking movement capability of the six-foot intelligent walking device 3 solves the practical engineering problems of antenna destruction resistance, quick replacement, quick antenna replenishment and the like, and improves the survivability and the maneuverability of field mobile polar orbit satellite tracking and communication antenna destruction resistance.
Specifically, the chassis 31 of the present invention includes an upper disc 311 and a lower disc 312 which are vertically distributed, the upper disc 311 and the lower disc 312 are parallel to each other, and each have a hexagonal shape, the area of the upper disc 311 is larger than that of the lower disc 312, and the upper disc 311 and the lower disc 312 have an angle difference. In the embodiment of the present invention, the angle difference between the upper disc 311 and the lower disc 312 is 30 °. The angle difference is provided to facilitate the fixation of the triangular shaped bracket 321 of the leg and foot mechanism.
Specifically, the six-foot walking parallel mechanism 32 includes six leg mechanisms that are identical, each leg mechanism includes a triangle support 321 and three moving pair actuators 322, the tops of the three moving pair actuators 322 are respectively connected with three vertices of the triangle support 321, the bottoms of the three moving pair actuators 322 are connected with a spherical hinge, two of the corner points of the triangle support 321 are connected with two corner points of the hexagonal upper disc 311, the other corner point of the triangle support 321 is connected with a corner point corresponding to the hexagonal lower disc 312, wherein the moving pair actuators 322 include a motor 3221, a screw rod 3222 and a screw sleeve 3223, the motor 3221 is connected with one end of the screw rod 3222, the other end of the screw rod 3222 is threaded at one end of the screw sleeve 3223, and the other end of the screw sleeve 3223 is connected with the spherical hinge 3224. The three movable auxiliary actuators 322 form a space miter cone framework, which is stable in structure and convenient to adjust, and has multi-directional freedom degrees. The screw rod 3222 is driven to rotate by the motor 3221, so that the threaded sleeve 3223 can be driven to extend or retract, and the acting point of the spherical hinge 3224 is changed.
Preferably, to further improve safety, the exterior of the threaded sleeve 3223 is also provided with a sheath 3225.
Preferably, in order to facilitate the adjustment of the position of the movable auxiliary actuator 322, the top of the movable auxiliary actuator 322 is further connected to the vertex of the triangular bracket 321 through a U-shaped connection pair 323.
The specific working process of the invention is as follows: according to a preset or predicted running orbit of a certain polar orbit satellite, the elapsed time and the longitude and latitude position of an earth station, the pointing angle of a local antenna for tracking the initial point position of the polar orbit satellite antenna is calculated, the horizontal axis of a chassis and the theoretical pointing direction of the polar orbit satellite to be tracked are in an orthogonal position by controlling a six-foot walking parallel mechanism, the angle of the transmission antenna pointing to the tracking initial point position of the polar orbit satellite enters a tracking standby state, and the polar orbit satellite is waited to enter the preset orbit. When the polar orbit satellite enters the trackable starting point position, the antenna realizes the operations of tracking, communication, data transmission and the like of the polar orbit satellite through the transmission device for controlling the horizontal shafting until the polar orbit satellite leaves the polar orbit satellite ending position point to finish tracking.
The above is merely a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that do not undergo the inventive work should be covered in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.
Claims (5)
1. The intelligent polar orbit satellite antenna based on six-foot walking is characterized by comprising an antenna reflector, a transmission mechanism, a six-foot intelligent walking device and a controller which are sequentially connected from top to bottom;
the transmission mechanism is used for driving the antenna reflector to rotate around the six-foot intelligent walking device; the transmission mechanism comprises a base, a worm wheel, a worm, a supporting seat, a connecting block and a power source, wherein the base is fixed on the six-foot intelligent walking device, the supporting seat is fixed on the base, the worm wheel is rotationally connected on the supporting seat through a worm wheel shaft, the worm is arranged below the worm wheel and meshed with the worm wheel, the power source is connected with one end of the worm, the connecting block is symmetrically arranged on two sides of the worm wheel, the bottom of the connecting block is fixedly connected with the worm wheel shaft, and the top of the connecting block is connected with the antenna reflector;
the six-foot intelligent walking device comprises a chassis and a six-foot walking parallel mechanism, wherein the six-foot walking parallel mechanism is arranged in the circumferential direction of the chassis, and the base is fixed on the upper surface of the chassis, and the six-foot walking parallel mechanism is used for driving the chassis to incline or walk;
the controller is fixed on the side of the chassis and is connected with the six-foot walking parallel mechanism;
the chassis comprises an upper disc and a lower disc which are distributed up and down, the upper disc and the lower disc are parallel to each other and are in regular hexagon shapes, the area of the upper disc is larger than that of the lower disc, and the upper disc and the lower disc are also provided with an angle difference;
the six-foot walking parallel mechanism comprises six leg foot mechanisms which are identical in mechanism, each leg foot mechanism comprises a triangular support and three movable pair actuators, the tops of the three movable pair actuators are respectively connected with three vertexes of the triangular support, the bottoms of the three movable pair actuators are connected with a spherical hinge, two corner points of the triangular support are connected with two corner points of a hexagonal upper disc, the other corner point of the triangular support is connected with a corner point corresponding to a hexagonal lower disc, the movable pair actuators comprise a motor, a screw rod and a screw sleeve, the motor is connected with one end of the screw rod, the other end of the screw rod is arranged at one end of the screw sleeve in a threaded mode, and the other end of the screw sleeve is connected with the spherical hinge.
2. The intelligent polar orbit satellite antenna based on hexapod walking according to claim 1, wherein the outer part of the screw sleeve is further provided with a sheath.
3. The intelligent polar orbit satellite antenna based on hexapod walking according to claim 2, wherein the top of the moving pair actuator is further connected with the vertex of the triangular bracket through a U-shaped connection pair.
4. The hexapod-based intelligent polar orbit satellite antenna according to claim 1, wherein the worm gear has a rotation angle of 0-180 °.
5. The hexapod-based intelligent polar orbit satellite antenna according to claim 1, wherein the angular difference between the upper and lower plates is 30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769904.XA CN106252822B (en) | 2016-08-30 | 2016-08-30 | Intelligent polar orbit satellite antenna based on six-foot walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769904.XA CN106252822B (en) | 2016-08-30 | 2016-08-30 | Intelligent polar orbit satellite antenna based on six-foot walking |
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| Publication Number | Publication Date |
|---|---|
| CN106252822A CN106252822A (en) | 2016-12-21 |
| CN106252822B true CN106252822B (en) | 2023-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610769904.XA Active CN106252822B (en) | 2016-08-30 | 2016-08-30 | Intelligent polar orbit satellite antenna based on six-foot walking |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108987886B (en) * | 2018-08-02 | 2020-07-17 | 铭宸(唐山)航天电子装备科技有限公司 | Satellite antenna for communication transmission |
| CN113246869B (en) * | 2021-06-22 | 2023-04-28 | 中国电子科技集团公司第三十八研究所 | Fixing device for radar base |
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|---|---|---|---|---|
| US3945015A (en) * | 1973-11-22 | 1976-03-16 | Michel Gueguen | Satellite tracking antenna having a dish moveably supported at three points |
| CN2525688Y (en) * | 2001-08-06 | 2002-12-11 | 赵京 | Polarizing angle automatic regulator for satellite signal receiving antenna |
| CN102820537A (en) * | 2012-08-27 | 2012-12-12 | 中国电子科技集团公司第五十四研究所 | X-Y axis antenna mount |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
-
2016
- 2016-08-30 CN CN201610769904.XA patent/CN106252822B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3945015A (en) * | 1973-11-22 | 1976-03-16 | Michel Gueguen | Satellite tracking antenna having a dish moveably supported at three points |
| CN2525688Y (en) * | 2001-08-06 | 2002-12-11 | 赵京 | Polarizing angle automatic regulator for satellite signal receiving antenna |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN102820537A (en) * | 2012-08-27 | 2012-12-12 | 中国电子科技集团公司第五十四研究所 | X-Y axis antenna mount |
Non-Patent Citations (2)
| Title |
|---|
| 一种行走操作一体化的六足步行机器人;潘阳,高峰;《国际会议》;20120713;第1-5页 * |
| 微机控制的极轨卫星全自动跟踪接收系统;陈曦;《海洋预报》;19960905(第03期);全文 * |
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| CN106252822A (en) | 2016-12-21 |
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