CN112701477B - High-precision, heavy-load and low-power-consumption stable pointing mechanism - Google Patents
High-precision, heavy-load and low-power-consumption stable pointing mechanism Download PDFInfo
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- CN112701477B CN112701477B CN202011470557.3A CN202011470557A CN112701477B CN 112701477 B CN112701477 B CN 112701477B CN 202011470557 A CN202011470557 A CN 202011470557A CN 112701477 B CN112701477 B CN 112701477B
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- movable platform
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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
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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
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
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Abstract
The invention relates to the technical field of mechanical precision transmission, and discloses a high-precision, heavy-load and low-power-consumption stable pointing mechanism which comprises a bottom plate and a movable platform, wherein three sliding pairs are arranged between the bottom plate and the movable platform; upper end spherical hinges are respectively arranged between the movable platform and the three sliding pairs; and a lower end spherical hinge is arranged between the bottom plate and the two sliding pairs, and a cylindrical hinge is arranged between the bottom plate and the other sliding pair. And the movable platform is provided with a bearing spherical hinge, and the bearing spherical hinge is connected with the bottom plate. The invention adopts 1 cylindrical hinge, 3 sliding pairs and 6 spherical hinges to form a space parallel mechanism, the bearing spherical hinge connected with the center of the movable platform bears larger weight load, only a small inertial load needs to be driven through the sliding pairs, the power consumption is reduced, the control precision is improved, the high-precision pointing and stabilization with large load and low power consumption are realized, and the stability and the precision of the pointing system in long-term operation are ensured.
Description
Technical Field
The invention relates to the technical field of mechanical precision transmission, in particular to a stable pointing mechanism with high precision, large load and low power consumption.
Background
The high-precision stable pointing system is a key core component of various pointing systems, has the function of keeping the high-precision pointing of the system, and has the basic principle of combining a high-precision transmission mechanism and an intelligent control system, keeping the high-precision pointing of the system and realizing the stability and the precision of the pointing system in long-term work.
A high-precision stable platform has been developed abroad, a research foundation of similar parallel transmission mechanisms is developed domestically, and a brand-new space parallel mechanism needs to be developed to solve the problems of low pointing precision and large volume under a large load.
Disclosure of Invention
The invention aims to provide a high-precision, heavy-load and low-power-consumption stable pointing mechanism aiming at the technical problems in the prior art, which can realize high-precision pointing and stabilization of heavy load and low power consumption and can solve the technical problem of high-precision pointing of the existing system.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a stable pointing mechanism with high precision, heavy load and low power consumption, which comprises a bottom plate and a movable platform, wherein three sliding pairs are arranged between the bottom plate and the movable platform; upper end spherical hinges are respectively arranged between the movable platform and the three sliding pairs; and a lower end spherical hinge is arranged between the bottom plate and the two sliding pairs, and a cylindrical hinge is arranged between the bottom plate and the other sliding pair.
Furthermore, a bearing spherical hinge is arranged on the movable platform and connected with the bottom plate.
Furthermore, the three upper end spherical hinges are connected, and the lower end spherical hinge and the cylindrical hinge are connected to form a regular triangle respectively.
Furthermore, the bearing ball hinge is positioned at the center of the movable platform.
Furthermore, the sliding pair adopts an electric cylinder or a hydraulic cylinder, an upper end spherical hinge is arranged between a piston rod of the sliding pair and the movable platform, and a lower end spherical hinge or a cylindrical hinge is arranged between the tail part and the bottom plate.
Furthermore, a bearing cylinder is arranged between the bottom plate and the movable platform, the bottom end of the bearing cylinder is fixed with the bottom plate, and the bearing ball hinge is arranged between the top end of the bearing cylinder and the movable platform.
Furthermore, the top end of the bearing cylinder and the center of the movable platform are provided with the bearing ball hinge.
Further, an included angle formed between two adjacent electric cylinders is 120 degrees.
Compared with the prior art, the invention has the beneficial effects that:
a spatial parallel mechanism is formed by adopting 1 cylindrical hinge, 3 sliding pairs and 6 spherical hinges between a bottom plate and a movable platform, a larger weight load is borne by the force bearing spherical hinge connected with the center of the movable platform, only a small inertial load needs to be driven by the sliding pairs, the power consumption is reduced, the control precision is improved, the high-precision pointing and stabilization of large load and low power consumption are realized, and the stability and the precision of a pointing system in long-term work are ensured.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
fig. 1 is a schematic diagram of a high-precision, heavy-load, low-power-consumption stable pointing mechanism according to the present invention.
Fig. 2 is a diagram of an embodiment of a stable pointing mechanism with high accuracy, large load and low power consumption according to the present invention.
Fig. 3 is a front view of an embodiment of a high precision, heavy load, low power consumption stable pointing mechanism of the present invention.
Fig. 4 is a top view of an embodiment of a high precision, heavy load, low power consumption stable pointing mechanism of the present invention.
The reference numerals are explained below: 1-upper end spherical hinge, 2-electric cylinder, 3-bearing cylinder, 4-lower end spherical hinge, 5-bottom plate, 6-cylindrical hinge, 7-central spherical hinge and 8-movable platform.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, the present invention provides a stable pointing mechanism with high precision, large load and low power consumption, which adopts 1 cylindrical hinge, 3 sliding pairs and 6 spherical hinges to form a spatial parallel mechanism, that is, the stable pointing mechanism includes 3 upper end spherical hinges (S3, S4, S5), 3 sliding pairs (P1, P2, P3), 2 lower end spherical hinges (S1, S2), a bottom plate B, a cylindrical hinge R1, a force bearing spherical hinge S6 and a movable platform M.
Three sliding pairs (P1, P2 and P3) are arranged between the movable platform M and the bottom plate B, and the movable platform M and the three sliding pairs (P1, P2 and P3) are connected through three upper end spherical hinges (S4, S3 and S5). The bottom plate B is connected with the sliding pair (P1, P2) through two lower end spherical hinges (S2, S1), and the bottom plate B is connected with the sliding pair P3 through a cylindrical hinge R1.
Furthermore, the three upper end spherical hinges (S3, S4 and S5) are connected, and the lower end spherical hinges (S2 and S1) and the cylindrical hinge R1 are connected to form a regular triangle respectively, so that the stability of the whole pointing mechanism can be ensured.
Furthermore, a bearing spherical hinge S6 is arranged on the movable platform M, and the bearing spherical hinge S6 is connected with the bottom plate B. Specifically, the bearing ball hinge S6 is positioned at the central position of the movable platform M, so that the weight of the mechanism can be borne, and the reliability and stability of the structure are ensured.
Furthermore, the sliding pairs (P1, P2, P3) can move telescopically, namely the sliding pairs are parts which move telescopically. Specifically, the sliding pair adopts an electric cylinder or a hydraulic cylinder, the upper end spherical hinge is arranged between a piston rod of the sliding pair and the movable platform M, and the lower end spherical hinge or the cylindrical hinge is arranged between the tail part and the bottom plate B, so that the sliding pair is reliable and stable in operation and is easy to realize.
In the embodiment of the invention, the movable platform M is driven by the connecting rods of the three sliding pairs (P1, P2 and P3) through the upper end spherical hinges (S4, S3 and S5), the lower end spherical hinges (S2 and S1) and the cylindrical hinge R1 in the telescopic process, so that the movable platform M rotates at a certain angle by taking the bearing spherical hinge S6 as the spherical center. The load of the link drive of the three sliding pairs (P1, P2 and P3) is small, so that the difficulty of controlling the pointing accuracy of the mechanism is overcome.
In the embodiment of the invention, the upper end spherical hinges (S3, S4 and S5), the lower end spherical hinges (S1 and S2) and the cylindrical hinge R1 only bear the movement load of the mechanism, the bearing spherical hinge S6 bears the weight load of the mechanism, and the bearing spherical hinge S6 is positioned at the central position of the movable platform M and is directly fixed with the bottom plate B, so that the mechanism can bear large load, the driving power of the mechanism is reduced, and the bearing capacity and the control precision of the pointing mechanism are improved.
Referring to fig. 2-4, the mechanism comprises a bottom plate 5 and a movable platform 8 which are connected through three electric cylinders 2. Wherein, the piston rods of the two electric cylinders 2 are connected with the movable platform 8 by an upper end spherical hinge 1, and the tail part is connected with the bottom plate 5 by a lower end spherical hinge 4. The piston rod of the rest electric cylinder 2 is connected with the movable platform 8 by an upper end spherical hinge 1, and the tail part of the rest electric cylinder is connected with the bottom plate 5 by a cylindrical hinge 6.
Further, a bearing cylinder 3 is further arranged between the bottom plate 5 and the movable platform 8, the bottom end of the bearing cylinder 3 is fixed to the bottom plate 5, a central spherical hinge 7 (namely, a bearing spherical hinge) is installed at the top end of the bearing cylinder 3, the central spherical hinge 7 is connected to the central position of the movable platform 8, the weight load of the mechanism can be uniformly and reliably borne, and the movable platform 8 can rotate around the spherical center position of the central spherical hinge 7.
Further, the included angle that forms between two adjacent electronic jars 2 is 120, can guarantee like this connect reliably and stably between bottom plate 5 and the movable platform 8 to guarantee the stability of directional mechanism.
In the embodiment of the invention, the power source of the movable platform 8 is three electric cylinders 2, the piston rods of the electric cylinders 2 can output linear displacement, and the deflection angle of the movable platform 8 is determined by different linear displacements output by the piston rods of the three electric cylinders 2. The embodiment of the invention can realize the two-degree-of-freedom motion of the movable platform 8 in space and the rotation around the X axis and the Y axis, and the coordinate definition is shown in figure 2.
The mechanism structure of the high-precision stabilizing platform with large load and low power consumption, provided by the embodiment of the invention, adopts 1 cylindrical hinge, 3 sliding pairs and 6 spherical hinges to form a space parallel mechanism, so that high-precision pointing and stabilization of various pointing systems are realized, the mechanism can bear large load, high-precision pointing of various pointing systems is realized under low power consumption, the stability and the accuracy of the pointing systems in long-term operation are ensured, the mechanism can be applied to antenna systems which need high-precision pointing and are used in land, sea and air bases, and the mechanism can be widely applied to the military and civil fields.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a high accuracy, heavy load, stable pointing mechanism of low-power consumption which characterized in that: the pointing mechanism comprises a bottom plate and a movable platform, and three sliding pairs are arranged between the bottom plate and the movable platform; upper end spherical hinges are respectively arranged between the movable platform and the three sliding pairs; a lower end spherical hinge is arranged between the bottom plate and the two sliding pairs, and a cylindrical hinge is arranged between the bottom plate and the other sliding pair;
the movable platform is provided with a bearing spherical hinge, and the bearing spherical hinge is connected with the bottom plate;
and a bearing cylinder is also arranged between the bottom plate and the movable platform, the bottom end of the bearing cylinder is fixed with the bottom plate, and a bearing ball hinge is arranged between the top end of the bearing cylinder and the movable platform.
2. A high precision, high load, low power consumption stable pointing mechanism as claimed in claim 1, wherein: the three upper end spherical hinges are connected with each other, and the lower end spherical hinge is connected with the cylindrical hinge to form a regular triangle respectively.
3. A high accuracy, high load, low power consumption stable pointing mechanism as claimed in claim 2, wherein: the bearing spherical hinge is positioned at the center of the movable platform.
4. A high accuracy, high load, low power consumption stable pointing mechanism as claimed in claim 3, characterized in that: the sliding pair adopts an electric cylinder or a hydraulic cylinder, an upper end spherical hinge is arranged between a piston rod of the sliding pair and the movable platform, and a lower end spherical hinge or a cylindrical hinge is arranged between the tail part and the bottom plate.
5. The high precision, high load, low power consumption stable pointing mechanism of claim 4, wherein: the top end of the bearing cylinder and the center of the movable platform are provided with the bearing ball hinge.
6. The high accuracy, high load, low power consumption stable pointing mechanism of claim 5, wherein: an included angle formed between every two adjacent electric cylinders is 120 degrees.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011470557.3A CN112701477B (en) | 2020-12-14 | 2020-12-14 | High-precision, heavy-load and low-power-consumption stable pointing mechanism |
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| CN202011470557.3A CN112701477B (en) | 2020-12-14 | 2020-12-14 | High-precision, heavy-load and low-power-consumption stable pointing mechanism |
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| CN112701477A CN112701477A (en) | 2021-04-23 |
| CN112701477B true CN112701477B (en) | 2023-04-07 |
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| CN101244560B (en) * | 2008-03-22 | 2010-06-23 | 燕山大学 | Three freedoms parallel robot mechanism with different structure drive branches |
| IT1394602B1 (en) * | 2009-05-19 | 2012-07-05 | Univ Bologna Alma Mater | ROTATIONAL MECHANISMS IN CLOSED CHAIN WITH UNCOUPLED AND HOMOCINETIC IMPLEMENTATION. |
| CN202100903U (en) * | 2010-12-24 | 2012-01-04 | 汕头大学 | Three-rotation and one-movement DOF (degree of freedom) parallel-connection mechanism driven by rope rod in mixed way |
| CN102284868B (en) * | 2011-06-02 | 2013-03-20 | 常州大学 | Six-freedom-degree space series-parallel operating platform |
| CN102785241B (en) * | 2012-08-23 | 2015-03-11 | 常州大学 | Single degree-of-freedom three-dimensional motion device |
| CN104227698A (en) * | 2013-06-19 | 2014-12-24 | 上海瀚创机器人技术有限公司 | Parallel displacement mechanism with two degrees of freedom |
| CN107552131A (en) * | 2017-09-21 | 2018-01-09 | 北京科技大学 | A kind of drive assembly of intelligent crushing machine |
| CN107598902A (en) * | 2017-10-30 | 2018-01-19 | 天津工业大学 | A kind of six-degree-of-freedom parallel connection mechanism |
| CN108481306B (en) * | 2018-02-10 | 2021-10-22 | 西安电子科技大学 | Large-load six-degree-of-freedom compliant parallel robot system |
| CN109533401B (en) * | 2018-12-07 | 2020-11-17 | 银河航天(北京)通信技术有限公司 | Ball hinge and spacecraft pointing mechanism |
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- 2020-12-14 CN CN202011470557.3A patent/CN112701477B/en active Active
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