CN106450653A - Parallel type six-freedom-degree redundant driving antenna structural system - Google Patents
Parallel type six-freedom-degree redundant driving antenna structural system Download PDFInfo
- Publication number
- CN106450653A CN106450653A CN201610808413.1A CN201610808413A CN106450653A CN 106450653 A CN106450653 A CN 106450653A CN 201610808413 A CN201610808413 A CN 201610808413A CN 106450653 A CN106450653 A CN 106450653A
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- antenna
- platform
- parallel
- unit
- telescopic
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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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
-
- 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
-
- 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
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- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
Disclosed is a parallel type six-freedom-degree redundant driving antenna structural system. The parallel type six-freedom-degree redundant driving antenna structural system comprises an antenna reflective surface and an antenna pedestal, wherein the antenna reflective surface is linked on the antenna pedestal; the antenna pedestal comprises a fixed platform and a movable platform which are arranged in parallel; the fixed platform is a convex circular table with gradually decreased caliber; three groups of guiding rail units are uniformly distributed on the fixed platform; each guiding rail unit group consists of two guiding rails; each guiding rail is equipped with a driving sliding block; a telescopic unit is hinged on each driving sliding block in a one-to-one correspondence manner; all the telescopic units are hinged to the movable platform; each movement point can perform coordination action by following four movement units, so that special forms and positions can be effectively reduced; the convex circular table shape of the fixed platform is matched with the driving sliding blocks to realize overturn of the antenna; the multiple driving sliding blocks are matched with the telescopic units to perform a coordination operation, so that not only all-around tracking of the antenna, but also negative angle pitching of the antenna can be realized; and consequently, the stability, flexibility and rigidity of the mechanism are highly reinforced.
Description
Technical field
The invention belongs to ship-board antenna device field is and in particular to arrive a kind of parallel six degrees of freedom redundant drive sky knot
Construction system.
Background technology
Antenna mount is support and the orienting device of antenna, in order to enable the antenna to according to predetermined track or to follow mesh
Mark motion, points to target exactly, and quickly and accurately follows target motion, and its structure affects antenna to a great extent
The performance indications of whole machine.
With the continuous development of antenna technology, the especially fast development of mobile vehicle antenna equipment, to antenna equipment
The performance requirement such as rotational angular velocity, angular acceleration and precision, rigidity, reliability, dynamic characteristic is increasingly lifted, and traditional antenna
The performance indications of seat have more been difficult to meet these requirements.As the increasingly reinforcement with China's maritime rights and interests, China's naval vessel activity
Scope is gradually increased the continuous expansion it is therefore desirable to communication technology of satellite, and ship-board antenna has become the indispensability of development mobile communication
Equipment, ship-board antenna needs mobility strong, and the inertia of whole moving component is less, full spatial domain non-blind area, and range of movement is bigger etc.
Requirement becomes increasingly conspicuous.And typically ship-board antenna, using series connection three axle forms, leads to the load of bottom driver part larger, motion
When inertia and eccentric moment larger, the intrinsic frequency of impact whole system, and then affect the stability of system and rapidity.If my god
Linear dimension is larger, once ultra-wide superelevation is it is impossible to meet the requirement of overland transport, and current antenna drive chain mostly is gear and passes
Move, weight is big, it is big to take up room, there is hysterisis error, be difficult to adapt to future antenna high speed, heavily loaded, accurate development trend.
Content of the invention
The many deficiencies existing for above-mentioned mentioned traditional antenna, there is provided a kind of parallel six degrees of freedom redundancy is driven
Dynamic antenna structure system, solves the problems, such as that traditional antenna seat crosses top " blind area ", solves traditional Stewart type parallel-connection structure no
Method realizes the problem of negative angle pitching, realizes the continuous tracking of Antenna Operation spatial domain any attitude non-blind area, improves system
Stability and rapidity, reduce the weight of whole antenna system.
There is provided technical scheme be：Provide a kind of parallel six degrees of freedom redundant drive antenna structure system, including sky
Line reflection face 2 and antenna pedestal, described antenna reflective face 2 is connected on antenna pedestal, and it includes：
Described antenna pedestal includes the fixed platform 3 be arrangeding in parallel and motion platform 4, and motion platform is located in fixed platform
Side, the round platform of the projection that fixed platform 3 reduces for bore gradual change, three groups of rail units are respectively disposed with fixed platform 3, often
Group rail unit is made up of two guide rails, and each guide rail is fitted with driving slide block, and each drives and corresponds on slide block
Be hinged with a telescopic unit, two telescopic units that are adjacent and being located on different rail units are one group of telescopic unit, every group
Telescopic unit all upwardly extends the composition shape of falling V and is hinged on motion platform 4, and the position that telescopic unit is connected with motion platform is
Motor point, each motor point is located at and is uniformly distributed on motion platform, and each described motor point is staggered with each rail unit.
Further, first described telescopic unit one end is hinged on slide block by Hooke's hinge, the first telescopic unit
It is hinged on the moving platform that the other end passes through ball pivot.
Further, each guide rail extends along the radial direction in base outer perimeter face.
Further, the described number of guide rail 5 is identical with the number of the first telescopic unit, two of every group of rail unit
Between guide rail carry angle, angular range be (0-30 °].
Further, the first described telescopic unit is electric cylinders, cylinder or ball screw framework.
This
The present invention having the beneficial effects that compared with prior art：
Mechanism can neatly point to any direction in working space, realizes Antenna Operation spatial domain any attitude no blind
The continuous tracking in area, and achieve the negative angle pitching of ship-board antenna requirement.
6 linear drives modules can be set up using round table-like fixed platform, the bearing of trend of linear drives module is
Radial direction along fixed platform outer peripheral face extends, and the bearing of trend of guide rail forms angle with the bearing of trend of telescopic unit,
Guide rail cooperation slide block composition linear drives module can stir antenna pedestal along the outer peripheral face of fixed platform.
It is supported by two telescopic units forming the shape of falling V at same motor point, gusseted can be effectively ensured
Stability at same motor point, two telescopic units force in that to ensure at same motor point that antenna element can complete various
Upset, sliding movement.
Two telescopic units of every group of telescopic unit are connected respectively on two groups of adjacent rail units, have been sequentially allocated institute
There is group telescopic unit it is ensured that every group of telescopic unit has two telescopic units in order to expanding-contracting action, also two drive slide block to use
With sliding movement, four moving cells can be followed in each motor point（Two drive slide block, two telescopic units）Co-operating,
Singularities can effectively be reduced.
Motor point is staggered with rail unit it is ensured that the point of application is located at two adjacent rail unit central authorities it is ensured that stress
Balance.
To produce the rotation around any axis in space, the therefore minimum distance between airbound target and rotation is it to parallel institution
Minimum flight altitude, therefore it will not produce infinitely great rotational angular velocity.
Mechanism has a six-freedom degree, drives slide block and set of rails to be in line driving module, because ship is located at sea level
The upper moment all in fluctuation status, by adjusting 12 input blocks while realizing azimuth pitch angle requirement, Neng Gouke
The antenna that clothes are caused due to hull fluctuation points to skew, makes the performances such as mechanism's stress, dynamic characteristic reach optimum, gives full play to
The mobility of antenna.
Drive slide block by increasing, make six side chains pass through 12 inputs and jointly coordinate to drive six freedom realizing mechanism
Degree it is achieved that redundant drive, the upset that the raised truncated conical shape cooperation of fixed platform drives slide block can realize antenna, multiple drives
Movable slider cooperation telescopic unit collaborative work not only allows antenna to realize full angle tracking, can also realize negative angle and bow
Face upward, make mechanism's stress and motion be in preferable states all the time, the stability of mechanism, flexibility and rigidity will greatly enhance.
Brief description
Fig. 1 is antenna seat mechanism and antenna scheme of installation；
Fig. 2 is antenna subarrays schematic diagram；
Fig. 3 is -15 ° of schematic diagrames of pitching of the present invention；
The reference of in figure is：Antenna pedestal 1, antenna reflective face 2, fixed platform 3, motion platform 4, guide rail 5, driving are slided
Block 6, Hooke's hinge 7, fixed pole 8, lever 9, ball pivot 10.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details：
As shown in Figure 1, 2, a kind of boat-carrying parallel six degrees of freedom redundant drive antenna structure system, including antenna reflective face
2, described antenna radiator 2 is bound up on antenna pedestal 1, and described antenna pedestal includes fixed platform 2 and motion platform 4, fixing
Platform 3 is fixed on a certain plane, and motion platform 4 is set in parallel in above fixed platform 3, and described fixed platform 3 is for bore gradually
Become reduce and projection truncated cone-shaped, three groups of rail units, three groups of rail units are respectively disposed with the outer peripheral face of fixed platform
It is evenly arranged on the stationary platform, every group of rail unit is all made up of two guide rails forming an angle, angular range is (0-
30 °], each guide rail is fitted with driving slide block, each guide rail along base outer perimeter face radial direction extend, drive slide block with
Set of rails is in line driving module.
As shown in Fig. 2 fixed platform 3 and motion platform 4 pass through the six roots of sensation telescopic unit around the two line of centres setting
It is linked to form Stewart type parallel-connection structure, is specifically, drive at each and be hinged with a telescopic unit, phase on slide block
Two telescopic units that are adjacent and being located on different rail units are one group of telescopic unit, and every group of telescopic unit all upwardly extends composition
The shape of falling V is simultaneously hinged on motion platform 4, and the position that telescopic unit is connected with motion platform is motor point, and each motor point is located at
It is uniformly distributed on motion platform, every telescopic unit all includes fixed pole 8, lever 9, one end of fixed pole 8 is passed through Hooke's hinge 7 and driven
Slide block 6 is connected, and one end of lever 9 is connected with motion platform 4 by ball pivot 10.
As shown in Fig. 2 described six telescopic unit structures are identical, each movement branched chain is respectively by fixed platform 3
Vertebra body sidewall guide rail at set out and be continuously connected to motion platform 4 lower surface, six movement branched chain and motion platform 4 connection
It is all ball pivot, and in six ball pivots are generally aligned in the same plane.
Described telescopic unit can be electric cylinders, cylinder or ball screw framework, described guide rail with drive slide block group
The linear drives module becoming is ball-screw linear drives module or is belt drives module.
Every group of rail unit, the angular range of two guide rails of each rail unit be (0-30 °].
It is described in detail according to the movement mechanism of Fig. 1,2,3 pair mechanism：
When antenna needs collection, lever 9 is shunk, and slide block 6 moves to guide rail 5 minimum point, and motion platform 4 declines, mechanism
Height reduction is extremely minimum, and now mechanism's integral rigidity is maximum, can resist severe sea condition, different according to concrete operating mode, when mesh to be measured
When a certain orientation flies here, the driving secondary motion of each corresponding movement branched chain drives this movement branched chain to swing to adjust antenna to mark
Seat attitude change antenna reflective face 2 towards orientation, six telescopic unit cooperative motions, with adjust the attitude of antenna pedestal and then
Change antenna reflective face 2 towards orientation, each rail unit cooperative motion to coordinate to strengthen the luffing angle of adjustment antenna pedestal,
Realize the continuous tracking to target any attitude non-blind area in the range of -15 ° to 90 ° full work spatial domains for the antenna.
Claims (5)
1. a kind of parallel six degrees of freedom redundant drive antenna structure system, including antenna reflective face (2) and antenna pedestal, described
Antenna reflective face (2) be connected in antenna pedestal (1) upper it is characterised in that：
Described antenna pedestal includes the fixed platform (3) be arrangeding in parallel and motion platform (4), and motion platform is located in fixed platform
Side, the truncated cone-shaped of the projection that fixed platform (3) reduces for bore gradual change, three groups of guide rails are respectively disposed with fixed platform (3)
Unit, every group of rail unit is made up of two guide rails (5), and each guide rail is fitted with driving slide block (6), and each drives slide block
On be all hinged with a telescopic unit correspondingly, two telescopic units that are adjacent and being located on different rail units are stretched for one group
Contracting unit, every group of telescopic unit all upwardly extends the composition shape of falling V and is hinged on motion platform (4), and telescopic unit is flat with motion
The position that platform is connected is motor point, and each motor point is located at and is uniformly distributed on motion platform, described motor point and rail unit
It is staggered.
2. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1 it is characterised in that：Institute
The first telescopic unit one end stated is hinged on slide block by Hooke's hinge (7), and the other end of the first telescopic unit passes through ball pivot
(10) hinged on the moving platform.
3. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1 it is characterised in that：Respectively
Individual guide rail extends along the radial direction in base outer perimeter face.
4. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1 it is characterised in that：Often
Group rail unit two guide rails between carry angle, angular range be (0-30 °].
5. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1 it is characterised in that：Institute
The first telescopic unit stated is electric cylinders, cylinder or ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610808413.1A CN106450653B (en) | 2016-09-08 | 2016-09-08 | Parallel six-degree-of-freedom redundancy driving antenna structure system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610808413.1A CN106450653B (en) | 2016-09-08 | 2016-09-08 | Parallel six-degree-of-freedom redundancy driving antenna structure system |
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| CN106450653A true CN106450653A (en) | 2017-02-22 |
| CN106450653B CN106450653B (en) | 2023-05-09 |
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| CN201610808413.1A Active CN106450653B (en) | 2016-09-08 | 2016-09-08 | Parallel six-degree-of-freedom redundancy driving antenna structure system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel antenna |
| CN110289498A (en) * | 2019-07-26 | 2019-09-27 | 中国电子科技集团公司第五十四研究所 | Uniform piecemeal high-precision subreflector device with two-stage pose adjustment function |
| CN110380214A (en) * | 2019-07-26 | 2019-10-25 | 中国电子科技集团公司第五十四研究所 | A kind of dynamic fixed platform is more bar six degree of freedom minor faces adjustment device of plane girder |
| CN111045438A (en) * | 2019-10-21 | 2020-04-21 | 武汉大学 | Shipborne self-stabilizing platform and control system and method thereof |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
| CN111650034A (en) * | 2020-06-24 | 2020-09-11 | 湖北工程学院 | Current-carrying friction and wear testing machine and testing system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel antenna |
| CN110289498A (en) * | 2019-07-26 | 2019-09-27 | 中国电子科技集团公司第五十四研究所 | Uniform piecemeal high-precision subreflector device with two-stage pose adjustment function |
| CN110380214A (en) * | 2019-07-26 | 2019-10-25 | 中国电子科技集团公司第五十四研究所 | A kind of dynamic fixed platform is more bar six degree of freedom minor faces adjustment device of plane girder |
| WO2021017373A1 (en) | 2019-07-26 | 2021-02-04 | 中国电子科技集团公司第五十四研究所 | Uniformly-partitioned high-precision sub-reflector device with two-stage pose adjustment function |
| CN110289498B (en) * | 2019-07-26 | 2024-02-13 | 中国电子科技集团公司第五十四研究所 | Uniform block high-precision auxiliary reflecting surface device with two-stage pose adjusting function |
| CN111045438A (en) * | 2019-10-21 | 2020-04-21 | 武汉大学 | Shipborne self-stabilizing platform and control system and method thereof |
| CN111045438B (en) * | 2019-10-21 | 2023-09-08 | 贵州省水利水电勘测设计研究院 | Shipborne self-stabilizing platform and control system and method thereof |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
| CN111650034A (en) * | 2020-06-24 | 2020-09-11 | 湖北工程学院 | Current-carrying friction and wear testing machine and testing system |
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| CN106450653B (en) | 2023-05-09 |
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