CN106450653B - Parallel six-degree-of-freedom redundancy driving antenna structure system - Google Patents
Parallel six-degree-of-freedom redundancy driving antenna structure system Download PDFInfo
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- CN106450653B CN106450653B CN201610808413.1A CN201610808413A CN106450653B CN 106450653 B CN106450653 B CN 106450653B CN 201610808413 A CN201610808413 A CN 201610808413A CN 106450653 B CN106450653 B CN 106450653B
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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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- 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
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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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- 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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Abstract
The utility model provides a six degrees of freedom redundant drive antenna structure systems of parallel connection, includes antenna reflecting surface and antenna pedestal, the antenna reflecting surface connect on the antenna pedestal, the antenna pedestal include parallel arrangement's fixed platform and motion platform, fixed platform is the protruding round platform that the bore gradual change was reduced, divide equally on fixed platform and be arranged three guide rail unit in group, every guide rail unit comprises two guide rails, all be furnished with the drive slider on every guide rail, all the articulated flexible unit that has one-to-one on every drive slider, flexible unit all articulates to the motion platform, every motion point can follow four motion units and act in coordination, can effectively reduce odd special-shaped position, the bellied round platform shape cooperation drive slider of fixed platform can realize the upset of antenna, a plurality of drive sliders cooperate flexible unit cooperation not only makes the antenna can realize full angle tracking, can also realize negative angle degree, the stability, flexibility and the rigidity of mechanism will strengthen greatly.
Description
Technical Field
The invention belongs to the field of shipborne antenna devices, and particularly relates to a parallel six-degree-of-freedom redundancy driving antenna structure system.
Background
The antenna mount is a supporting and orienting device of the antenna, so that the antenna can accurately point to the target according to a preset track or move along with the target, and quickly and accurately follow the target, and the structure of the antenna mount greatly influences the performance index of the whole antenna.
With the continuous development of antenna technology, especially the rapid development of mobile carrier antenna devices, the performance requirements on the rotation angular speed, angular acceleration, precision, rigidity, reliability, dynamic characteristics and the like of the antenna devices are increasingly improved, and the performance indexes of the traditional antenna base are more difficult to meet the requirements. As the marine rights and interests of China are increasingly strengthened, the moving range of ships in China is gradually increased, and therefore the satellite communication technology is required to be continuously expanded, the shipborne antenna becomes necessary equipment for developing mobile communication, the shipborne antenna is required to have strong maneuverability, the inertia of the whole moving part is smaller, the whole airspace is free from blind areas, the moving range is larger, and the like. The common shipborne antenna adopts a series triaxial form, so that the load of the driving component at the bottommost layer is larger, inertia and eccentric moment are larger during movement, the natural frequency of the whole system is influenced, and the stability and rapidity of the system are further influenced. If the antenna is large in size, once ultra-wide and ultra-high, the requirement of land transportation cannot be met, and the existing antenna transmission chain is mostly in gear transmission, so that the antenna is heavy in weight, large in occupied space and difficult to adapt to the development trend of high speed, heavy load and precision of future antennas.
Disclosure of Invention
Aiming at a plurality of defects of the traditional antenna, the parallel type six-degree-of-freedom redundant driving antenna structure system is provided, the problem that the traditional antenna base passes through a top dead zone is solved, the problem that the traditional Stewart type parallel structure cannot realize negative angle pitching is solved, the continuous tracking of any attitude of an antenna working airspace without dead zone is realized, the stability and the rapidity of the system are improved, and the weight of the whole antenna system is reduced.
The technical scheme provided is as follows: the utility model provides a parallelly connected six degrees of freedom redundant drive antenna structure system, includes antenna reflecting surface 2 and antenna pedestal, antenna reflecting surface 2 connect on the antenna pedestal, it includes:
the antenna pedestal comprises a fixed platform 3 and a moving platform 4 which are arranged in parallel, the moving platform is positioned above the fixed platform, the fixed platform 3 is a raised round platform with gradually reduced caliber, three groups of guide rail units are evenly distributed on the fixed platform 3, each group of guide rail units consists of two guide rails, each guide rail is provided with a driving sliding block, each driving sliding block is hinged with one telescopic unit in one-to-one correspondence, two telescopic units which are adjacent to each other and positioned on different guide rail units are a group of telescopic units, each group of telescopic units upwards extends to form an inverted V shape and are hinged onto the moving platform 4, the positions of the telescopic units connected with the moving platform are moving points, each moving point is positioned on the moving platform and evenly distributed, and each moving point is staggered with each guide rail unit.
Further, one end of the first telescopic unit is hinged to the sliding block through a hook hinge, and the other end of the first telescopic unit is hinged to the moving platform through a spherical hinge.
Further, each guide rail extends in the radial direction of the outer peripheral surface of the base.
Further, the number of the guide rails 5 is the same as that of the first telescopic units, and an included angle is formed between the two guide rails of each group of guide rail units, and the included angle range is (0-30 °).
Further, the first telescopic unit is an electric cylinder, an air cylinder or a ball screw mechanism.
The book is provided with
Compared with the prior art, the invention has the beneficial effects that:
the mechanism can flexibly point to any direction in a working space, realizes continuous tracking of any attitude of an antenna working airspace without blind areas, and realizes negative angle pitching required by a shipborne antenna.
The fixed platform adopting the round platform shape can add 6 sharp drive modules, and the extending direction of sharp drive module is for extending along the radial direction of fixed platform outer peripheral face, and the extending direction of guide rail forms the contained angle with the extending direction of flexible unit, and guide rail cooperation slider constitutes sharp drive module and can stir the antenna pedestal along fixed platform's outer peripheral face.
The same motion point is supported by two telescopic units which form an inverted V shape, the triangular support can effectively ensure the stability of the same motion point, and the two telescopic units apply force to the same motion point to ensure that the antenna unit can finish various overturning and sliding actions.
The two telescopic units of each group of telescopic units are respectively connected to two groups of adjacent guide rail units, all groups of telescopic units are sequentially distributed, each group of telescopic units is guaranteed to have two telescopic units for telescopic action, two driving sliding blocks are used for sliding action, each movement point can follow the cooperative action of four movement units (two driving sliding blocks and two telescopic units), and odd-shaped positions can be effectively reduced.
The moving points are staggered with the guide rail units, so that the force application points are located at the centers of two adjacent guide rail units, and the stress balance is ensured.
The parallel mechanism generates rotation around any axis in space, so that the nearest distance between the flying object and the rotation is the lowest flying height, and infinite rotation angular speed is not generated.
The mechanism has six degrees of freedom, the driving slide blocks and the guide rails form a linear driving module, because the ship is located on the sea level and is in a fluctuation state all the time, the directional deviation of the antenna caused by the fluctuation of the ship body can be overcome while the requirement of azimuth pitching angle is met by adjusting 12 the input unit, the performances of stress, dynamic characteristics and the like of the mechanism are optimized, and the maneuvering performance of the antenna is fully exerted.
Through increasing the drive slider, make six branches coordinate six degrees of freedom that drive realization mechanism jointly through 12 inputs, realized redundant drive, the bellied round platform shape of fixed platform cooperates the drive slider and can realize the upset of antenna, and a plurality of drive sliders cooperate telescopic unit collaborative work not only makes the antenna realize full angle tracking, can also realize negative angle every single move, makes mechanism atress and motion be in the preferred state all the time, and stability, flexibility and the rigidity of mechanism will strengthen greatly.
Drawings
FIG. 1 is a schematic diagram of an antenna mount mechanism and an antenna assembly;
fig. 2 is a schematic diagram of an antenna base structure;
FIG. 3 is a pitch-15 schematic of the present invention;
the reference numerals in the figures are: the antenna comprises an antenna base 1, an antenna reflecting surface 2, a fixed platform 3, a moving platform 4, a guide rail 5, a driving sliding block 6, a hook hinge 7, a fixed rod 8, a movable rod 9 and a spherical hinge 10.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1 and 2, the shipborne parallel six-degree-of-freedom redundant driving antenna structure system comprises an antenna reflecting surface 2, an antenna emitter 2 is connected to an antenna base 1, the antenna base comprises a fixed platform 2 and a moving platform 4, the fixed platform 3 is fixed on a certain plane, the moving platform 4 is arranged above the fixed platform 3 in parallel, the fixed platform 3 is in a truncated cone shape with gradually reduced caliber and protruding, three groups of guide rail units are uniformly arranged on the outer peripheral surface of the fixed platform, each group of guide rail units consists of two guide rails forming a certain included angle, the included angle range is 0-30 degrees, each guide rail is provided with a driving sliding block, each guide rail extends along the radial direction of the outer peripheral surface of a base, and the driving sliding block and the guide rails form a linear driving module.
As shown in fig. 2, the fixed platform 3 and the moving platform 4 are connected by six telescopic units arranged around the central connecting line of the fixed platform 3 and the moving platform to form a Stewart parallel structure, specifically, each driving sliding block is hinged with a telescopic unit, two telescopic units which are adjacent and are positioned on different guide rail units are a group of telescopic units, each group of telescopic units extends upwards to form an inverted V shape and is hinged to the moving platform 4, the positions where the telescopic units are connected with the moving platform are moving points, each moving point is positioned on the moving platform and is uniformly distributed, each telescopic unit comprises a fixed rod 8 and a moving rod 9, one end of the fixed rod 8 is connected with the driving sliding block 6 through a hook hinge 7, and one end of the moving rod 9 is connected with the moving platform 4 through a spherical hinge 10.
As shown in fig. 2, the six telescopic units have identical structures, each moving branched chain is respectively and directly connected to the lower end surface of the moving platform 4 from the position of the guide rail of the side wall of the cone body of the fixed platform 3, the joints of the six moving branched chains and the moving platform 4 are all spherical hinges, and the six spherical hinges are positioned in the same plane.
The telescopic unit can be an electric cylinder, an air cylinder or a ball screw mechanism, and the linear driving module formed by the guide rail and the driving sliding block is a ball screw linear driving module or a belt driving module.
And the included angle range of the two guide rails of each guide rail unit is (0-30 degrees).
The motion mechanism of the mechanism is described in detail with reference to fig. 1, 2 and 3:
when the antenna needs to be stored, the movable rod 9 contracts, the sliding block 6 moves to the lowest point of the guide rail 5, the moving platform 4 descends, the height of the mechanism is reduced to the lowest, at the moment, the integral rigidity of the mechanism is maximum, the worst sea condition can be resisted, according to different specific working conditions, when the target to be measured flies from a certain direction, the driving pair of each corresponding moving branched chain drives the moving branched chain to swing so as to adjust the posture of the antenna base to change the orientation of the antenna reflecting surface 2, the six telescopic units cooperatively move so as to adjust the posture of the antenna base and further change the orientation of the antenna reflecting surface 2, and each guide rail unit cooperatively moves so as to cooperatively enhance and adjust the pitching angle of the antenna base, so that the antenna can continuously track any posture of the target without blind area in the full working airspace range of-15 degrees to 90 degrees.
Claims (3)
1. The utility model provides a redundant drive antenna structure system of six degrees of freedom in parallel, includes antenna reflecting surface (2) and antenna pedestal, antenna reflecting surface (2) hookup on antenna pedestal (1), its characterized in that:
the antenna base comprises a fixed platform (3) and a moving platform (4) which are arranged in parallel,
the movable platform is located above the fixed platform, the fixed platform (3) is in a protruding round table shape with a gradually reduced caliber, three groups of guide rail units are evenly distributed on the fixed platform (3), each group of guide rail units consists of two guide rails (5), an included angle is formed between the two guide rails of each group of guide rail units, the included angle range is 0-30 degrees, each guide rail is provided with a driving sliding block (6), each guide rail extends along the radial direction of the peripheral surface of the base, the driving sliding blocks and the guide rails form a linear driving module, each driving sliding block is hinged with a telescopic unit in a one-to-one correspondence mode, each telescopic unit comprises a fixed rod (8) and a moving rod (9), one end of the fixed rod (8) is connected with the driving sliding block (6) through a hooke hinge (7), one end of the moving rod (9) is connected with the movable platform (4) through a spherical hinge (10), two telescopic units which are adjacent and are located on different guide rail units, each telescopic unit extends upwards to form an inverted V shape and is hinged to the movable platform (4), the telescopic units are connected with the movable platform, the telescopic units are located on the same spherical hinge points, the telescopic units are evenly distributed on the same plane, and the movable points are located on the movable platform.
2. A parallel six degree of freedom redundant driven antenna structure system of claim 1 wherein: one end of the telescopic unit is hinged on the sliding block through a hook hinge (7), and the other end of the telescopic unit is hinged on the moving platform through a spherical hinge (10).
3. A parallel six degree of freedom redundant driven antenna structure system of claim 1 wherein: the telescopic unit is an electric cylinder, an air cylinder or a ball screw mechanism.
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 |
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| 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 CN106450653A (en) | 2017-02-22 |
| CN106450653B true CN106450653B (en) | 2023-05-09 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109103565A (en) * | 2018-10-18 | 2018-12-28 | 燕山大学 | Detachable portable parallel antenna |
| CN110380214B (en) * | 2019-07-26 | 2024-09-24 | 中国电子科技集团公司第五十四研究所 | Multi-rod six-degree-of-freedom auxiliary surface adjusting device with movable and fixed platforms being plane trusses |
| 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 |
| 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 |
| CN111536932B (en) * | 2020-05-12 | 2022-02-15 | 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 |
| CN111650034B (en) * | 2020-06-24 | 2023-06-27 | 湖北工程学院 | Current-carrying frictional wear testing machine and testing system |
| CN115256353B (en) * | 2022-09-05 | 2024-08-30 | 中国科学院光电技术研究所 | Outer full rank and redundant multi-platform composite series-parallel closed-loop type movement mechanism |
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| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN101776197A (en) * | 2010-03-26 | 2010-07-14 | 燕山大学 | Six-cylinder driven tri-axial rotary platform |
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| CN206098665U (en) * | 2016-09-08 | 2017-04-12 | 中国电子科技集团公司第五十四研究所 | Redundant drive antenna structure system of parallel 6 -degree of freedom |
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| CN101262086A (en) * | 2008-04-21 | 2008-09-10 | 上海大学 | Parallel antenna structure system |
| CN101776197A (en) * | 2010-03-26 | 2010-07-14 | 燕山大学 | Six-cylinder driven tri-axial rotary platform |
| CN202712431U (en) * | 2012-08-27 | 2013-01-30 | 中国电子科技集团公司第五十四研究所 | Antenna sub-reflector system comprising fixed adjusting mechanism |
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| CN106450653A (en) | 2017-02-22 |
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