CN108172997B - Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism - Google Patents
Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism Download PDFInfo
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- CN108172997B CN108172997B CN201810148174.0A CN201810148174A CN108172997B CN 108172997 B CN108172997 B CN 108172997B CN 201810148174 A CN201810148174 A CN 201810148174A CN 108172997 B CN108172997 B CN 108172997B
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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
Abstract
An antenna attitude adjusting device based on a non-coupling three-branch two-rotation parallel mechanism comprises a fixed platform, a movable platform and three branch moving chains for connecting the fixed platform and the movable platform; the first branch kinematic chain comprises a first moving pair, a second rotating pair I, a third moving pair I and a fourth universal joint I which are sequentially connected from the fixed platform to the movable platform; the second branch kinematic chain comprises a first arc-shaped moving pair, a second revolute pair II, a third moving pair II and a fourth universal joint II which are sequentially connected from the fixed platform to the movable platform; the third branch kinematic chain comprises a first revolute pair and a second revolute pair III, the axes of which are vertically intersected; the rotation axes of the tail ends of the three branch moving chains are parallel to the plane of the moving platform and are parallel to each other. The first branch moving chain and the second branch moving chain respectively adjust the elevation angle and the azimuth angle of the antenna on the movable platform. The device solves the problems of complex kinematic solution, difficult control design and the like caused by strong kinematic coupling of a parallel mechanism for satellite antenna gesture adjustment in the prior art.
Description
Technical Field
The invention relates to the fields of mechanics and robots, in particular to an antenna posture adjusting device based on a non-coupling three-branch two-rotation parallel mechanism.
Background
With the advanced development of robotics, robotics are a development guide for future robotics. The parallel robot is used as a branch of the robot field, has strong load capacity and high motion precision, and has various mechanisms, so that the parallel robot becomes a research hot spot in the fields of mechanics and even robots. The research results of the parallel mechanism are also widely applied, such as a Delta mechanism applied to a high-speed sorting robot, a Stewart platform applied to a flight simulator, and a rope type parallel mechanism applied to a sky-eye feed source device. However, most parallel mechanisms are hindered in popularization and application due to strong motion coupling, and uncoupled parallel mechanisms just solve the problem. For the uncoupled parallel mechanism, the speed jacobian matrix is a diagonal matrix, the input and output of the mechanism are in one-to-one correspondence and do not interfere with each other, and the workload of control design is greatly reduced.
The radio technical revolution has led to the exploration of sky signal transmission by people, and the antenna is used as a thousand-in-the-eye downwind ear for people to explore the sky, and is almost ubiquitous in application. In the working process of the antenna, the demodulator has higher requirement on the quality of the signal, so that the gesture of the antenna needs to be adjusted in real time, and the signal receiving device obtains the strongest signal. The conventional antenna attitude adjustment factors include the elevation angle and azimuth angle of the antenna.
The application publication date is 2014, 12 and 17, and an invention patent with publication number CN104218301A discloses a 3-UPU two-to-one-shift parallel mechanism antenna structure system; the application publication date is 2015, 06 and 03, and the invention patent with publication number CN101924266A discloses a 3-RPS three-dimensional rotating type parallel mechanism antenna base. The above-mentioned invention patent greatly improves the attitude adjustment problem of the antenna in different aspects, however, the adopted mechanism type has stronger motion coupling. One output motion of the mechanical moving platform needs a plurality of power inputs to coordinate, the kinematics solving is complex, and the control design is difficult.
Disclosure of Invention
The invention aims to provide an antenna posture adjustment device based on a non-coupling three-branch two-rotation parallel mechanism, which solves the problems of complex kinematics solution, difficult control design and the like caused by strong motion coupling of the parallel mechanism in the prior art by the non-coupling three-branch two-rotation parallel mechanism and improves the posture adjustment problem of an antenna.
In order to achieve the above purpose, the invention adopts the following technical scheme: the antenna attitude adjusting device based on the uncoupled three-branch two-rotation parallel mechanism comprises a fixed platform, a movable platform and a branch moving chain arranged between the fixed platform and the movable platform, wherein the branch moving chain comprises a first branch moving chain, a second branch moving chain and a third branch moving chain so as to form the uncoupled three-branch two-rotation parallel mechanism;
the first branch kinematic chain comprises a first moving pair, a second rotating pair I, a third moving pair I and a fourth universal joint I which are sequentially connected from a fixed platform to a movable platform, the first moving pair is provided with a linear guide rail arranged on the fixed platform, the moving direction of the first moving pair is perpendicular to the plane of the fixed platform, one ends of the first moving pair and the third moving pair I are connected through the second rotating pair I, the other ends of the third moving pair I are connected with one rotating shaft of the fourth universal joint I, the fourth universal joint I is connected with the movable platform through the other rotating shaft, the rotating axis of the second rotating pair I and the rotating shaft of the fourth universal joint I are parallel to and perpendicular to the plane of the fixed platform, the rotating shaft axis of the fourth universal joint I is used for connecting the movable platform and is parallel to the plane of the movable platform, and the moving direction of the third moving pair I is perpendicular to the rotating shaft axes and the rotating axes at two ends of the third moving pair I;
the second branch kinematic chain comprises a first arc-shaped moving pair, a second revolute pair II, a third moving pair II and a fourth universal joint II which are sequentially connected from the fixed platform to the movable platform, the first arc-shaped moving pair is provided with an arc guide rail arranged on the fixed platform, the moving direction of the first arc-shaped moving pair is parallel to the fixed platform plane, one ends of the first arc-shaped moving pair and the third moving pair II are connected through the second revolute pair II, the other ends of the third moving pair II are connected with one rotating shaft of the fourth universal joint II, the fourth universal joint II is connected with the movable platform through the other rotating shaft, the rotating axis of the second revolute pair II is parallel to the fixed platform plane, the axis of the rotating shaft connected with the third moving pair II in the fourth universal joint II is perpendicular to the fixed platform plane, the rotating shaft axis connected with the movable platform is parallel to the fixed platform plane, and the moving direction of the third moving pair II is parallel to the rotating axis of the second revolute pair II and the rotating shaft connected with the third moving pair II in the fourth universal joint II;
the third branch kinematic chain comprises a first revolute pair and a second revolute pair III which are connected with each other and have axes which are vertically intersected, the first revolute pair is connected with the fixed platform, the rotation axis of the first revolute pair is vertical to the plane of the fixed platform, the second revolute pair III is connected with the movable platform, and the rotation axis of the second revolute pair III is parallel to the plane of the movable platform;
the first moving pair in the first branch moving chain and the first arc-shaped moving pair in the second branch moving chain are used as driving pairs and are driven by corresponding power mechanisms respectively.
As the preferable antenna posture adjusting device based on the uncoupled three-branch two-rotation parallel mechanism, the following is adopted: the axis of the rotating shaft of the movable platform is connected with the fourth universal joint I, the axis of the rotating shaft of the movable platform is connected with the fourth universal joint II, and the rotating axis of the second revolute pair III are mutually parallel, and the axis of the rotating shaft of the movable platform is connected with the fourth universal joint II and the rotating axis of the second revolute pair III are overlapped.
As the preferable antenna posture adjusting device based on the uncoupled three-branch two-rotation parallel mechanism, the following is adopted: the power mechanism is a servo motor.
As the preferable antenna posture adjusting device based on the uncoupled three-branch two-rotation parallel mechanism, the following is adopted: the satellite antenna is mounted on the movable platform through bolts.
The beneficial effects of the invention are as follows: the uncoupled three-branch two-rotation parallel mechanism provided by the invention has the advantages that the movable platform can output two-degree-of-freedom rotation motion, the motion jacobian matrix of the mechanism is a diagonal matrix, the input and output motions of the mechanism are in one-to-one correspondence and do not interfere with each other, and the problems of complex kinematics solution, complex motion control design process and the like caused by the strong motion coupling of the common parallel mechanism are solved. The mechanism is applied to the antenna, can respectively control the elevation angle and the azimuth angle of the antenna, solves the problem of 'overhead' dead zone of the antenna, has less number of kinematic pairs, simple structure, greatly reduces the processing difficulty, and reduces the actual production requirement and the production price.
Drawings
FIG. 1 is a schematic diagram of a non-coupling three-branch two-rotation parallel mechanism provided by the invention;
FIG. 2 is a schematic diagram of an antenna attitude adjustment device based on a decoupled three-branch two-turn parallel mechanism;
the marks in the figure: 10. a fixed platform, 20, a movable platform, 30 and an antenna;
l1, a first branch kinematic chain, P11, a first movable pair, R12, a second revolute pair I, P13, a third movable pair I, U14, a fourth universal joint I, 1-1, a linear guide rail, M1 and a servo motor;
l2, a second branch kinematic chain, P21, a first arc-shaped moving pair, R22, a second revolute pair II, P23, a third moving pair II, U24, a fourth universal joint II, 2-1, an arc-shaped guide rail, M2 and a servo motor;
l3, a third branch kinematic chain, R31, a first revolute pair, R32 and a second revolute pair III.
Detailed Description
The technical scheme of the invention is further described by the specific embodiments with reference to the accompanying drawings.
As shown in the figure, the antenna posture adjusting device based on the uncoupled three-branch two-rotation parallel mechanism comprises a fixed platform 10, a movable platform 20, an antenna 30 and the uncoupled three-branch two-rotation parallel mechanism, wherein the antenna 30 is mounted on the movable platform 20 through bolts, the uncoupled three-branch two-rotation parallel mechanism is arranged between the fixed platform 10 and the movable platform 20, and the movement of the movable platform 20 is controlled to realize the posture adjustment of the antenna 30, and the antenna posture adjustment comprises the adjustment of the azimuth angle and the elevation angle of the antenna 30.
The uncoupled three-branch two-rotation parallel mechanism is provided with three branch moving chains, wherein the first branch moving chain L1 and the second branch moving chain L2 are used as driving chains and driven by respective servo motors M1 and M2, and the third branch moving chain L3 is used as an exact constraint chain to play a constraint role on the movable platform 20.
The first branch kinematic chain L1 comprises a first kinematic pair P11, a second revolute pair I R12, a third kinematic pair I P13 and a fourth universal joint I U14 which are sequentially connected from the fixed platform 10 to the movable platform 20, the first kinematic pair P11 is provided with a linear guide rail 1-1 which is vertically arranged on the fixed platform 10, the first kinematic pair P11 is an initiative pair of the mechanism, the movement of the first kinematic pair P11 is driven by a servo motor M1 which is arranged, the movement direction of the first kinematic pair P11 is perpendicular to the plane of the fixed platform 10, one ends of the first kinematic pair P11 and the third kinematic pair I P13 are connected through a second revolute pair I R12, the other end of the third kinematic pair I P13 is connected with one rotating shaft of the fourth universal joint I U14, the fourth universal joint I U14 is connected with the movable platform 20 through another rotating shaft, the axes of the second revolute pair I R12, the axes of the rotating shafts of the third kinematic pair I P13 connected in the fourth universal joint I U14 are parallel to the plane 10 and are perpendicular to the planes, one end of the rotating shafts of the third universal joint I U14 is connected with the rotating shafts I12, and the two ends of the rotating shafts I are all the rotating pairs I are parallel to the rotating shafts of the rotating shafts I20.
The second branch kinematic chain L2 comprises a first arc-shaped moving pair P21, a second revolute pair II R22, a third moving pair II P23 and a fourth universal joint II U24 which are sequentially connected from the fixed platform 10 to the movable platform 20, the first arc-shaped moving pair P21 is provided with an arc guide rail 2-1 arranged on the fixed platform 10, the first arc-shaped moving pair P21 serves as another driving pair of the mechanism, the first arc-shaped moving pair P21 is driven by another servo motor M2, the moving direction of the first arc-shaped moving pair P21 is parallel to the plane of the fixed platform 10, one ends of the first arc-shaped moving pair P21 and the third moving pair II P23 are connected through a rotating shaft of the second revolute pair II R22, the other end of the third moving pair II P23 is connected with the rotating shaft of the fourth universal joint II U24 through another rotating shaft and the movable platform 20, the rotating axis of the second revolute pair II R22 is parallel to the plane of the fixed platform 10, the axis of the fourth universal joint II U24 is connected with the rotating shaft of the third moving pair II P23, and the axis of the fourth universal joint II is parallel to the plane of the rotating pair II 20, and the rotating shaft of the rotating pair II is connected with the rotating shaft of the fourth universal joint II P24 is parallel to the plane of the rotating platform 20, and the rotating shaft of the rotating pair II is parallel to the rotating shaft of the rotating platform 20, and the rotating shaft of the third universal joint II P23 is parallel to the rotating shaft of the rotating platform 20.
The third branch kinematic chain L3 includes a first revolute pair R31 and a second revolute pair iii R32, which are connected and whose axes are perpendicularly intersected, the first revolute pair R31 is connected to the fixed platform 10, whose rotational axis is perpendicular to the plane of the fixed platform 10, and the second revolute pair iii R32 is connected to the movable platform 20, whose rotational axis is parallel to the plane of the movable platform 20.
The axis of the rotating shaft of the movable platform 20 is connected to the fourth universal joint iu 14, the axis of the rotating shaft of the movable platform 20 is connected to the fourth universal joint ii U24, and the rotation axis of the second revolute pair iii R32 are parallel to each other, and the axis of the rotating shaft of the movable platform 20 is connected to the fourth universal joint ii U24, and the rotation axis of the second revolute pair iii R32 coincides with each other.
Preferably, the linear guide rail 1-1 has a vertically arranged screw rod, the screw rod is driven to rotate by a corresponding servo motor M1, and drives a slider mounted on the screw rod to move linearly up and down, so as to form a first moving pair P11, and one end of the second rotating pair ir 12 is fixed on the slider.
Preferably, a sliding block is installed on the arc-shaped track groove of the arc-shaped guide rail 2-1, the sliding block is driven by the servo motor M2 to move along the arc-shaped track groove, the first arc-shaped moving pair P21 is formed, and one end of the second rotating pair II R22 is installed on the sliding block.
When the antenna posture is adjusted, the servo motor M1 drives the movable platform 20 through the first branch moving chain L1, so that the elevation angle of the antenna 30 is changed; the servo motor M2 drives the movable platform 20 through the second branch moving chain L2, thereby changing the azimuth angle of the antenna 30. According to the invention, the azimuth angle and the elevation angle of the antenna 30 are respectively and independently controlled by corresponding driving, so that the problems of poor decoupling performance, low rigidity and poor precision of the conventional antenna attitude angle control are solved, the mechanism is simple in kinematics solution, easy in motion control design and free from accumulated errors. Meanwhile, the device has fewer kinematic pairs and simple structure. Greatly reduces the processing difficulty and reduces the actual production requirement and the production price.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. Antenna gesture adjusting device based on two rotation parallel mechanism of no coupling three branches, including fixed platform, movable platform and the branch motion chain of setting between fixed platform and movable platform, its characterized in that: the branch moving chain comprises a first branch moving chain, a second branch moving chain and a third branch moving chain so as to form a non-coupling three-branch two-rotation parallel mechanism;
the first branch kinematic chain comprises a first moving pair, a second rotating pair I, a third moving pair I and a fourth universal joint I which are sequentially connected from a fixed platform to a movable platform, the first moving pair is provided with a linear guide rail arranged on the fixed platform, the moving direction of the first moving pair is perpendicular to the plane of the fixed platform, one ends of the first moving pair and the third moving pair I are connected through the second rotating pair I, the other ends of the third moving pair I are connected with one rotating shaft of the fourth universal joint I, the fourth universal joint I is connected with the movable platform through the other rotating shaft, the rotating axis of the second rotating pair I and the rotating shaft of the fourth universal joint I are parallel to and perpendicular to the plane of the fixed platform, the rotating shaft axis of the fourth universal joint I is used for connecting the movable platform and is parallel to the plane of the movable platform, and the moving direction of the third moving pair I is perpendicular to the rotating shaft axes and the rotating axes at two ends of the third moving pair I;
the second branch kinematic chain comprises a first arc-shaped moving pair, a second revolute pair II, a third moving pair II and a fourth universal joint II which are sequentially connected from the fixed platform to the movable platform, the first arc-shaped moving pair is provided with an arc guide rail arranged on the fixed platform, the moving direction of the first arc-shaped moving pair is parallel to the fixed platform plane, one ends of the first arc-shaped moving pair and the third moving pair II are connected through the second revolute pair II, the other ends of the third moving pair II are connected with one rotating shaft of the fourth universal joint II, the fourth universal joint II is connected with the movable platform through the other rotating shaft, the rotating axis of the second revolute pair II is parallel to the fixed platform plane, the axis of the rotating shaft connected with the third moving pair II in the fourth universal joint II is perpendicular to the fixed platform plane, the rotating shaft axis connected with the movable platform is parallel to the fixed platform plane, and the moving direction of the third moving pair II is parallel to the rotating axis of the second revolute pair II and the rotating shaft connected with the third moving pair II in the fourth universal joint II;
the third branch kinematic chain comprises a first revolute pair and a second revolute pair III which are connected with each other and have axes which are vertically intersected, the first revolute pair is connected with the fixed platform, the rotation axis of the first revolute pair is vertical to the plane of the fixed platform, the second revolute pair III is connected with the movable platform, and the rotation axis of the second revolute pair III is parallel to the plane of the movable platform;
the first moving pair in the first branch moving chain and the first arc-shaped moving pair in the second branch moving chain are used as driving pairs and are driven by corresponding power mechanisms respectively.
2. The antenna attitude adjustment device based on the uncoupled three-branch two-rotation parallel mechanism according to claim 1, wherein: the axis of the rotating shaft of the movable platform is connected with the fourth universal joint I, the axis of the rotating shaft of the movable platform is connected with the fourth universal joint II, and the rotating axis of the second revolute pair III are mutually parallel, and the axis of the rotating shaft of the movable platform is connected with the fourth universal joint II and the rotating axis of the second revolute pair III are overlapped.
3. The antenna attitude adjustment device based on the uncoupled three-branch two-rotation parallel mechanism according to claim 1, wherein: the power mechanism is a servo motor.
4. The antenna attitude adjustment device based on the uncoupled three-branch two-rotation parallel mechanism according to claim 1, wherein: the antenna is mounted on the movable platform through bolts.
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| CN201810148174.0A CN108172997B (en) | 2018-02-13 | 2018-02-13 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
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| CN201810148174.0A CN108172997B (en) | 2018-02-13 | 2018-02-13 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
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| CN108172997B true CN108172997B (en) | 2023-08-15 |
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