CN113851840B - Multilayer coaxial direct driving mechanism for mechanical phased array antenna - Google Patents
Multilayer coaxial direct driving mechanism for mechanical phased array antenna Download PDFInfo
- Publication number
- CN113851840B CN113851840B CN202110910957.XA CN202110910957A CN113851840B CN 113851840 B CN113851840 B CN 113851840B CN 202110910957 A CN202110910957 A CN 202110910957A CN 113851840 B CN113851840 B CN 113851840B
- Authority
- CN
- China
- Prior art keywords
- antenna structure
- antenna
- motor
- bearing
- motor driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
-
- 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
- H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
- H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
- H01Q3/32—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by mechanical means
-
- 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
Landscapes
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention relates to the technical field of precise servo transmission, and discloses a multilayer coaxial direct driving mechanism for a mechanical phased array antenna, wherein the multilayer coaxial direct driving mechanism comprises an antenna unit, a motor driving device, a sensor feedback device, a bearing device and a wheel track transmission device; the antenna unit is connected with the motor driving device; the bearing device is fixedly connected with the motor driving device; the wheel rail transmission device is connected with the antenna unit; the sensor feedback device is connected with the motor driving device. The invention has the beneficial effects that: the direct driving rotary executing technology is adopted to eliminate the intermediate link of mechanical belt transmission, and the driving motor is directly coupled to the antenna load feed layer and the radiation layer to directly drive the antenna in a zero transmission mode, so that the antenna has the characteristics of low profile, higher static/dynamic rigidity, high-speed dynamic response, excellent speed regulation and control and zero maintenance.
Description
Technical Field
The invention belongs to the technical field of precise servo transmission, and particularly relates to a multilayer coaxial direct driving mechanism for a mechanical phased array antenna.
Background
The antenna is relatively rotated along with the carrier in the motion process through feed, radiation and polarization to realize two-dimensional scanning and polarization matching of wave beams, so that the main wave beam of the antenna is always aligned with a set satellite, satellite signals are captured, a real-time stable communication link is established with the satellite, when the signals are attenuated and shielded, the heading and pointing precision can be automatically kept all the time according to the feedback of the heading, speed and attitude transformation of the carrier, the satellite can be quickly captured again when the signals are recovered through a servo control system, recovery communication is quickly established, and the position of the antenna can be finely adjusted through manual intervention of an upper computer to enable communication.
The existing vehicle-mounted mechanical phased array antenna mostly adopts a belt transmission and gear transmission framework, and the transmission chain mode has poor rigidity due to the existence of an intermediate transmission conversion link, has response lag and nonlinear errors, and does not meet the requirements of high-rigidity and large-dynamic disturbance on-board environment. High-frequency resonance can be caused by elastic deformation and poor rigidity, bandwidth inconsistency of a servo control system is caused by response lag, and control accuracy is insufficient.
Disclosure of Invention
The invention aims to solve the problems, and provides a multilayer coaxial direct driving device which adopts a direct driving rotation executing technology to eliminate a mechanical belt transmission intermediate link, directly couples a driving motor on an antenna load feed layer and a radiation layer, directly drives a zero transmission mode of an antenna, and has the characteristics of low profile, higher static/dynamic rigidity, high-speed dynamic response, excellent speed regulation and control and zero maintenance.
A multilayer coaxial direct driving mechanism for a mechanical phased array antenna comprises an antenna unit, a motor driving device, a sensor feedback device, a bearing device and a wheel track transmission device;
the antenna unit is connected with the motor driving device;
the bearing device is fixedly connected with the motor driving device;
the wheel rail transmission device is connected with the antenna unit;
the sensor feedback device is connected with the motor driving device.
Preferably, the multilayer coaxial direct driving mechanism for the mechanical phased array antenna further comprises a base and a shell, and a cavity is formed between the base and the shell; and an antenna unit, a motor driving device, a sensor feedback device, a bearing device and a wheel rail transmission device are arranged in the cavity.
Preferably, the base and the housing are fixedly connected by a screw.
Preferably, the motor driving device adopts a split fan-shaped arc direct-drive motor, and comprises a motor rotor and a motor stator; the motor rotor is fixedly connected with the antenna unit, and the sensor feedback device is aligned with the motor rotor; the motor stator is fixedly connected with the shell; the antenna unit is aligned with the set satellite along with the carrier in the motion process through the motor driving device.
Preferably, the antenna unit comprises an antenna structure I, an antenna structure II, an antenna structure III and an antenna structure IV, and the antenna structure I, the antenna structure II, the antenna structure III and the antenna structure IV are sequentially stacked in the cavity from bottom to top; the antenna structure adopts a multilayer overlapped coaxial transmission structure, the structure is novel, and the ultralow profile characteristic of the whole machine is ensured.
Preferably, two wheel track transmission devices are arranged between the first antenna structure and the base, between the first antenna structure and the second antenna structure, between the second antenna structure and the third antenna structure, and between the third antenna structure and the fourth antenna structure; one wheel track transmission device is arranged at the left side of the first antenna structure, the second antenna structure, the third antenna structure and the fourth antenna structure, and the other wheel track transmission device is arranged at the right side of the first antenna structure, the second antenna structure, the third antenna structure and the fourth antenna structure; the wheel track driving device is used for ensuring that the relative movement of each layer of antenna structure is realized under the minimum friction force.
Preferably, the wheel track transmission device is rigidly connected with the base, the first antenna structure, the second antenna structure, the third antenna structure and the fourth antenna structure.
Preferably, the bearing device adopts a disc bearing and comprises a first bearing inner ring, a second bearing inner ring and a bearing outer ring; the bearing devices are arranged on the shells at two sides of the antenna unit, and two bearing devices are respectively arranged on the shells at two sides; the double inner ring and outer ring rotor and the single outer ring form can realize the fixed support of the motor driving device and ensure enough rigidity and strength.
Preferably, each bearing device is provided with two groups of motor driving devices; the motor driving device on each bearing device provides driving force for different antenna structures.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows:
(1) The multilayer coaxial direct driving mechanism adopts an integrated design of an electromechanical and magnetic integrated system, has compact structure and lower overall outline, and can realize conformal design with a machine body on an airborne platform and good aerodynamic performance.
(2) The multi-layer antenna unit structure is a thin-wall disc type structure, a split linear motor driving mode is innovatively adopted, the split linear motor structure is coupled with an antenna load, a transmission-free design scheme is adopted, a transmission system has high static/dynamic rigidity, low-speed stability and regulation performance in a stable tracking stage, and the split linear motor structure is particularly suitable for high-rigidity and large-dynamic interference environments of airborne communication equipment in the processes of taking off, landing, flying and the like of an airplane.
(3) And the maintenance of the airborne environment products is difficult and the cost is high. The direct drive zero transmission mode reduces mechanical abrasion and transmission errors, thoroughly solves the problems of common oil leakage, mechanical noise and belt aging gear abrasion of the motor, reduces the workload of repair and maintenance, and prolongs the average failure-free time of the system.
Drawings
Fig. 1 is a cross-sectional view showing the overall structure of the driving mechanism of the present invention.
Fig. 2 is a partial enlarged view of the area a in fig. 1.
Fig. 3 is a top view of the second antenna structure in the driving structure, and the motor driving device and the sensor feedback device corresponding to the second antenna structure.
In the figure: 1-antenna structure one; 2-antenna structure two; 3-antenna structure three; 4-antenna structure four; 5-wheel-rail transmission; 6-bearing means; 61-bearing outer ring; 62-bearing inner ring I; 63-a second bearing inner ring; 7-a housing; 8-motor driving means; 81-a motor stator; 82-a motor rotor; 9-sensor feedback means; 10-base.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Examples
As shown in fig. 1-2, a multi-layer coaxial direct drive mechanism for a mechanical phased array antenna comprises an antenna unit, a motor drive device, a sensor feedback device 9, a bearing device 6 and a wheel track transmission device 5; the antenna unit is connected with the motor driving device 8; the bearing device 6 is fixedly connected with the motor driving device 8; the wheel rail transmission device 5 is connected with the antenna unit; the sensor feedback device 9 is connected to the motor drive device 8.
The multilayer coaxial direct driving mechanism for the mechanical phased array antenna further comprises a base and a shell, and a cavity is formed between the base 10 and the shell 7; an antenna unit, a motor driving device 8, a sensor feedback device 9, a bearing device 6 and a wheel track transmission device 5 are arranged in the cavity.
The base 10 and the shell 7 are fixedly connected through screws.
The antenna unit comprises an antenna structure I1, an antenna structure II 2, an antenna structure III 3 and an antenna structure IV 4, wherein the antenna structure I1, the antenna structure II 2, the antenna structure III 3 and the antenna structure IV 4 are sequentially stacked in the cavity from bottom to top; the antenna structure I is placed on the base 10, the antenna structure II is stacked on the antenna structure I1, the antenna structure III 3 is stacked on the antenna structure II 2, and the antenna structure IV 4 is stacked on the antenna structure III 3; the antenna structure adopts a multilayer overlapped coaxial transmission structure, the structure is novel, and the ultralow profile characteristic of the whole machine is ensured.
Two wheel track transmission devices 5 are arranged between the first antenna structure 1 and the base 10, between the first antenna structure 1 and the second antenna structure 2, between the second antenna structure 2 and the third antenna structure 3 and between the third antenna structure 3 and the fourth antenna structure 4; one wheel track transmission device 5 is placed on the left side of the antenna structure one 1, the antenna structure two 2, the antenna structure three 3 and the antenna structure four 4, and the other wheel track transmission device 5 is placed on the right side of the antenna structure one 1, the antenna structure two 2, the antenna structure three 3 and the antenna structure four 4.
The wheel track transmission device 5 is rigidly connected with the base 10, the first antenna structure 1, the second antenna structure 2, the third antenna structure 3 and the fourth antenna structure 4; the wheel-rail drive 5 is used to ensure that the relative movement of the antenna structures of the various layers is achieved with minimal friction.
The first antenna structure 1, the second antenna structure 2, the third antenna structure 3 and the fourth antenna structure 4 are sequentially a feed layer antenna unit, a radiation layer antenna unit, an initial polarization layer antenna unit and a terminal polarization layer antenna unit.
The motor driving device 8 adopts a split type fan-shaped arc direct-drive motor and comprises a motor rotor 82 and a motor stator 81; the motor rotor 82 is fixedly connected with the antenna unit, and the sensor feedback device 9 is aligned with the motor rotor 82; the motor stator 81 is fixedly connected with the shell 7; the antenna unit is aligned with the set satellite along with the carrier in the motion process through the motor driving device.
The motor rotor 82 is an iron core winding, and the motor stator 81 is magnetic steel.
The bearing device 6 adopts a disc bearing and comprises a first bearing inner ring 61, a second bearing inner ring 62 and a bearing outer ring 63; the bearing devices 6 are arranged on the two side shells of the antenna unit, and two bearing devices are respectively arranged on the two side shells; the double inner ring and outer ring rotor and the single outer ring form can realize the fixed support of the motor driving device and ensure enough rigidity and strength.
Two groups of motor driving devices 8 are arranged on each bearing device 6; the motor driving device 8 on the bearing device 6 provides driving force for different antenna structures respectively; four antenna structures require four bearing arrangements and eight sets of motor drives.
As shown in fig. 3, the sensor feedback device 9 is aligned with a motor rotor 82, the motor rotor 82 is connected to the antenna structure, and the motor stator 81 is connected to the motor rotor 82.
The multilayer coaxial direct drive mechanism for a mechanical phased array antenna: the wheel track driving device is rigidly connected with each layer of antenna structure, the track surface is sequentially provided with a base 10, an antenna structure I1, an antenna structure II 2 and an antenna structure III 3, and the wheel track driving device 5 ensures smooth relative movement of each layer of antenna structure; in driving, each antenna structure is fixedly connected with motor rotors 82 of motor driving devices at two sides of the cavity, and a motor stator 81 of the motor driving device 8 is fixedly connected with the shell 7, so that the distance between the motor stator 81 and the motor rotors 82 of the motor driving device is ensured; in the transmission structure, every two motor driving devices 8 are fixedly connected with a bearing device 6, and the bearing device 6 adopts a specially customized double inner ring rotor and single outer ring form so as to increase the overall rigidity; in the drive feedback, a specially customized sensor feedback device 9 is synchronously installed with the axial direction of the drive motor device, and the relative installation angle is ensured not to be disturbed. The integral multi-layer coaxial direct driving mechanism is compact in design, and has good rigidity to meet the requirement of recording high-frequency vibration working conditions.
The working mode of the multilayer coaxial direct driving mechanism is as follows: the antenna unit is aligned with the set satellite all the time along with the carrier in the motion process through the motor driving device, the sensor feedback device completes closed loop control to achieve accurate alignment of satellite signals, the bearing device achieves fixed support of loads, sufficient rigidity and strength are guaranteed, and the wheel track driving device guarantees relative operation among all layers of antenna structures.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed. It is intended that insubstantial changes or modifications from the invention as described herein be covered by the claims below, as viewed by a person skilled in the art, without departing from the true spirit of the invention.
Claims (5)
1. The multilayer coaxial direct driving mechanism for the mechanical phased array antenna is characterized by comprising an antenna unit, a motor driving device, a sensor feedback device, a bearing device, a wheel track transmission device, a base and a shell;
the antenna unit is connected with the motor driving device;
the bearing device is fixedly connected with the motor driving device;
the wheel rail transmission device is connected with the antenna unit;
the sensor feedback device is connected with the motor driving device;
a cavity is formed between the base and the shell; an antenna unit, a motor driving device, a sensor feedback device, a bearing device and a wheel rail transmission device are arranged in the cavity;
the motor driving device adopts a split type fan-shaped arc-shaped direct-drive motor and comprises a motor rotor and a motor stator; the motor rotor is fixedly connected with the antenna unit, and the sensor feedback device is aligned with the motor rotor; the motor stator is fixedly connected with the shell;
the bearing device adopts a disc bearing and comprises a first bearing inner ring, a second bearing inner ring and a bearing outer ring; the bearing devices are arranged on the shells at two sides of the antenna unit, and two bearing devices are respectively arranged on the shells at two sides; and each bearing device is provided with two groups of motor driving devices.
2. A multi-layer coaxial direct drive mechanism for a mechanical phased array antenna as claimed in claim 1, wherein said base and said housing are fixedly connected by screws.
3. A multi-layer coaxial direct drive mechanism for a mechanical phased array antenna as claimed in claim 1, wherein said antenna element comprises a first antenna structure, a second antenna structure, a third antenna structure and a fourth antenna structure, said first antenna structure, said second antenna structure, said third antenna structure and said fourth antenna structure being stacked in said cavity from bottom to top.
4. A multi-layer coaxial direct drive mechanism for a mechanical phased array antenna as claimed in claim 3, wherein two of said wheel track drives are provided between said first antenna structure and said base, between said first antenna structure and said second antenna structure, between said second antenna structure and said third antenna structure, and between said third antenna structure and said fourth antenna structure; one wheel track transmission device is arranged on the left side of the antenna structure I, the antenna structure II, the antenna structure III and the antenna structure IV, and the other wheel track transmission device is arranged on the right side of the antenna structure I, the antenna structure II, the antenna structure III and the antenna structure IV.
5. A multi-layer coaxial direct drive mechanism for a mechanical phased array antenna as claimed in claim 4, wherein said wheel track transmission is rigidly connected to said base, said first antenna structure, said second antenna structure, said third antenna structure and said fourth antenna structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910957.XA CN113851840B (en) | 2021-08-10 | 2021-08-10 | Multilayer coaxial direct driving mechanism for mechanical phased array antenna |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110910957.XA CN113851840B (en) | 2021-08-10 | 2021-08-10 | Multilayer coaxial direct driving mechanism for mechanical phased array antenna |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113851840A CN113851840A (en) | 2021-12-28 |
| CN113851840B true CN113851840B (en) | 2023-09-22 |
Family
ID=78975715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110910957.XA Active CN113851840B (en) | 2021-08-10 | 2021-08-10 | Multilayer coaxial direct driving mechanism for mechanical phased array antenna |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113851840B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4739337A (en) * | 1985-09-09 | 1988-04-19 | Mobile Satellite Corporation | Mobile mechanically steerable satellite tracking antenna |
| EP2463954A1 (en) * | 2010-12-09 | 2012-06-13 | Selex Sistemi Integrati S.p.A. | Antenna base |
| CN209675488U (en) * | 2019-05-29 | 2019-11-22 | 航天神禾科技(北京)有限公司 | A kind of backpack SOTM satellite antenna |
| CN112366853A (en) * | 2020-10-20 | 2021-02-12 | 溧阳市宏达电机有限公司 | Direct drive motor integrated with satellite antenna |
| CN112682490A (en) * | 2020-12-22 | 2021-04-20 | 正成集团科技有限公司 | Stack type transmission device suitable for low-profile communication terminal |
| CN213043064U (en) * | 2020-10-28 | 2021-04-23 | 黄聪 | VICTS phased array antenna based on disc motor |
| CN213460079U (en) * | 2020-12-22 | 2021-06-15 | 正成集团科技有限公司 | Low-profile antenna suitable for low-profile communication terminal |
| CN113219873A (en) * | 2021-05-11 | 2021-08-06 | 上海埃威航空电子有限公司 | Phased array antenna motion control device and control method thereof |
-
2021
- 2021-08-10 CN CN202110910957.XA patent/CN113851840B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4739337A (en) * | 1985-09-09 | 1988-04-19 | Mobile Satellite Corporation | Mobile mechanically steerable satellite tracking antenna |
| EP2463954A1 (en) * | 2010-12-09 | 2012-06-13 | Selex Sistemi Integrati S.p.A. | Antenna base |
| CN209675488U (en) * | 2019-05-29 | 2019-11-22 | 航天神禾科技(北京)有限公司 | A kind of backpack SOTM satellite antenna |
| CN112366853A (en) * | 2020-10-20 | 2021-02-12 | 溧阳市宏达电机有限公司 | Direct drive motor integrated with satellite antenna |
| CN213043064U (en) * | 2020-10-28 | 2021-04-23 | 黄聪 | VICTS phased array antenna based on disc motor |
| CN112682490A (en) * | 2020-12-22 | 2021-04-20 | 正成集团科技有限公司 | Stack type transmission device suitable for low-profile communication terminal |
| CN213460079U (en) * | 2020-12-22 | 2021-06-15 | 正成集团科技有限公司 | Low-profile antenna suitable for low-profile communication terminal |
| CN113219873A (en) * | 2021-05-11 | 2021-08-06 | 上海埃威航空电子有限公司 | Phased array antenna motion control device and control method thereof |
Non-Patent Citations (4)
| Title |
|---|
| Ajith Kumar M. M. ; Amalendu Patnaik ; Christos G. Christodoulou.Design and Testing of a Multifrequency Antenna With a Reconfigurable Feed.《IEEE Antennas and Wireless Propagation Letters》.2014,730 - 733. * |
| VHF海上移动通信基地台同轴开槽天线的研究;房少军、文楠;《全国飞机与船舶通信导航学术研讨会》;35-39 * |
| 船载天线伺服系统设计;王锴;《中国优秀硕士学位论文全文数据库(电子期刊)》;全文 * |
| 薛程 ; 王激扬 ; 边力军 ; 黄曜明 ; .小口径固定站卫星天线自动寻星方案.电信工程技术与标准化.2011,(05),45-49. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113851840A (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103267210B (en) | Six-freedom-degree parallel pointing platform | |
| CN103777645B (en) | Device is followed the tracks of for astronomical telescope dual redundant telescope | |
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| CN110265765A (en) | A kind of low profile servo mechanism for variable incidence continuous transverse antenna | |
| CN112113781B (en) | Large-scale multi-degree-of-freedom pose adjusting device in vacuum low-temperature environment | |
| CN113851840B (en) | Multilayer coaxial direct driving mechanism for mechanical phased array antenna | |
| CN111307175B (en) | High-dynamic three-axis simulation turntable | |
| CN103560315A (en) | SOTM satellite antenna | |
| CN107792345B (en) | Compact steering engine and rudder engine room | |
| CN110254209B (en) | Omnidirectional driving wheel for mobile robot | |
| CN103386680A (en) | Parallel two-degree of freedom orienting device | |
| CN114267933A (en) | Wheel rail type three-axis stable following radar antenna base | |
| US20200039011A1 (en) | Machining center | |
| CN112034893A (en) | T-shaped structure searching and turning platform | |
| CN213460079U (en) | Low-profile antenna suitable for low-profile communication terminal | |
| CN215220969U (en) | Low-profile three-axis airborne satellite communication antenna | |
| CN108594423B (en) | Flexible airborne system for supporting and precisely driving azimuth axis of ultra-large telescope | |
| CN112682490B (en) | Stack type transmission device suitable for low-profile communication terminal | |
| CN208137524U (en) | A kind of large radius rotary system based on orthodrome ride | |
| CN105798898A (en) | Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof | |
| US11254017B1 (en) | Mechanical positioning structure | |
| CN107901032A (en) | Friction free rope drives passive de-coupling mechanism and its decoupling antifriction method | |
| CN111873698A (en) | Omnidirectional vehicle with angle-variable omnidirectional wheels | |
| CN108459623B (en) | High-precision flexible electric servo pointing mechanism | |
| CN114323526A (en) | Linear motor driven six-degree-of-freedom vibration simulation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |