CN115332758B - Liftable six-degree-of-freedom platform for ship-borne radar antenna - Google Patents
Liftable six-degree-of-freedom platform for ship-borne radar antenna Download PDFInfo
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- CN115332758B CN115332758B CN202211113662.0A CN202211113662A CN115332758B CN 115332758 B CN115332758 B CN 115332758B CN 202211113662 A CN202211113662 A CN 202211113662A CN 115332758 B CN115332758 B CN 115332758B
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- 230000005540 biological transmission Effects 0.000 claims description 54
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 24
- 230000007246 mechanism Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 230000008602 contraction Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 230000006399 behavior Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/084—Pivotable antennas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/08—Means for collapsing antennas or parts thereof
- H01Q1/10—Telescopic elements
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Support Of Aerials (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention belongs to the technical field of ship-borne radar freedom degree control equipment, and particularly relates to a liftable six-freedom degree platform for a ship-borne radar antenna. Comprises a lifting table, a freedom degree control assembly, a first rotary table and a second rotary table; the first turntable and the second turntable are rotatably arranged, and the upper end surfaces of the two turntables are coplanar and concentric; the lower end surface of the lifting table is parallel to the upper end surfaces of the two turntables; the freedom degree control assembly comprises a first linear expansion device and a second linear expansion device; the device has the advantages of stable structure, strong supporting capability, uniform stress of each part of structure, strong bearing capability, stable and smooth movement process, convenient and flexible control of movement speed and the like; the six degrees of freedom of the platform space are controllable, the movement is flexible, and the pose can be accurately adjusted; and the lifting platform does not need an extra guide member, the size of the lifting platform after contraction can be greatly reduced, the space size of a mechanism can be further reduced, and the hiding and maintenance management of the antenna radar are facilitated.
Description
Technical Field
The invention belongs to the technical field of ship-borne radar freedom degree control equipment, and particularly relates to a liftable six-freedom degree platform for a ship-borne radar antenna.
Background
The ship-based radars are a general term of various radars arranged on ships, can detect and track sea and air targets, provide target data for weapon systems, guide the ship-based aircraft to fly and land on the ship, avoid the offshore obstacles, ensure the safe sailing of the ship, tactical maneuver and the like. When the modern ship-based high maneuvering radar works, the radar antenna is lifted to a certain height, and the antenna array surface is adjusted to a certain posture, so that the influence of other equipment on the ship deck on the antenna beam is reduced. After the work is finished, the radar antenna needs to be restored to a specific angle. Therefore, in the service process of the ship-borne radar, the antenna is quickly and reliably erected in a maneuvering mode, and the withdrawing and position and posture control are important. The prior radar antenna pose control mostly adopts a pitching mechanism, the mechanism is long in transmission chain, low in motion efficiency and few in freedom degree, so that the motion is inflexible, precise and complex motion control is difficult to realize, and the precise locking of the large antenna radar to a target is influenced. Especially for the middle and large-sized radar antenna, the existing pitching mechanism has poor rigidity and insufficient stability, and the accurate high-speed movement of the radar antenna is limited. In addition, for erection and withdrawal of the existing carrier-based radar antenna, a common shear fork lifting mechanism or a parallelogram lifting mechanism is poor in rigidity, low in bearing capacity and unstable in movement, mobility of the carrier-based radar antenna is greatly affected, and movement control requirements of the large-scale radar antenna on the mechanism are difficult to meet.
Disclosure of Invention
The invention aims to provide a liftable six-degree-of-freedom platform for a carrier-borne radar antenna, which is used for realizing position adjustment and lifting control of the carrier-borne radar antenna, in particular to a large and medium-sized radar antenna.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
A liftable six-degree-of-freedom platform for a ship-borne radar antenna comprises a lifting platform 1, a degree-of-freedom control assembly, a first rotary table 6 and a second rotary table 7;
the first rotary table 6 and the second rotary table 7 are rotatably arranged, and the upper end surfaces of the two rotary tables are coplanar and concentric; the lower end surface of the lifting table 1 is arranged in parallel with the upper end surfaces of the two turntables;
the degree of freedom control assembly includes: a plurality of first linear expansion devices 3 with two ends respectively hinged with the lower end face of the lifting table 1 and the upper end face of the first rotating disc 6, and a plurality of second linear expansion devices 8 with two ends respectively hinged with the lower end face of the lifting table 1 and the upper end face of the second rotating disc 7;
the plurality of first linear expansion devices 3 are obliquely arranged and uniformly arranged in an annular array by taking the central axes of the two turntables as symmetry axes; the second linear expansion devices 8 are obliquely arranged and uniformly arranged in an annular array by taking the central axes of the two turntables as symmetry axes; the first linear expansion device 3 is inclined in the opposite direction to the second linear expansion device 8.
In a further improvement or preferred embodiment of the foregoing liftable six-degree-of-freedom platform for a ship-borne radar antenna, the first linear expansion device 3 and the second linear expansion device 8 refer to piston rods, or air cylinders, or hydraulic cylinders.
In the further improved or preferred implementation mode of the liftable six-degree-of-freedom platform for the ship-borne radar antenna, the first linear expansion device 3 is connected with the lower end face of the lifting platform 1 and the upper end face of the first rotary table 6, and the second linear expansion device 8 is connected with the lower end face of the lifting platform 1 and the upper end face of the second rotary table 7 through a hinged ball structure 2; the first linear expansion devices 3 and the second linear expansion devices 8 are the same in number, the first linear expansion devices 3 and the second linear expansion devices 8 in each pair are arranged in pairs one by one, and the hinge points of the first linear expansion devices 3 and the second linear expansion devices 8 in each pair are adjacent to the lower end face of the lifting platform 1.
In the further improved or preferred embodiment of the above-mentioned liftable six-degree-of-freedom platform for the ship-borne radar antenna, the first turntable 6 and the second turntable 7 rotate in opposite directions at the same angular velocity when rotating.
The further improvement or the preferred embodiment of the foregoing liftable six-degree-of-freedom platform for the ship-borne radar antenna further comprises a rotation transmission assembly for driving the first turntable 6 and the second turntable 7 to rotate reversely at the same angular speed;
the rotation transmission assembly includes: the secondary sun gear 17, the secondary planet gears 18, the secondary planet carrier 19, the primary sun gear 20, the primary planet gears 21, the primary planet carrier 22, the transmission shaft 23, the primary annular gear 24 and the supporting seat 27;
the transmission shaft 23 and the first rotating disc 6 are connected through keys to realize synchronous rotation; the primary sun gear 20 and the secondary sun gear 17 are rotatably sleeved on the transmission shaft 23 after being connected through keys; the primary planet carrier 22 and the transmission shaft 23 are connected through keys to realize synchronous rotation.
The center of the second turntable 7 is provided with a second annular gear 7a, and the second annular gear 7a is meshed with the second-stage planetary gears 18; the primary annular gear 24 is fixedly arranged on the supporting seat 27, and the primary annular gear 24 is meshed with the primary planet gears 21;
the primary inner gear ring 24, the primary planet carrier 22, the primary planet gears 21 and the primary sun gear 20 form a primary planetary transmission structure; the secondary sun gear 17, the secondary planet gears 18, the secondary planet carrier 19 and the second turntable 7 form a secondary planetary transmission structure;
in the primary planetary transmission structure, a transmission shaft 23 drives a primary planet carrier 22 to rotate, and the primary planet carrier 22 drives a secondary sun gear 17 through a primary sun gear 20;
in the secondary planetary gear, the secondary sun gear 17 drives the second turntable 7 via the secondary planet gears 18.
Further improvements to the foregoing liftable six degree of freedom platform for a carrier-borne radar antenna or preferred embodiments, the number of teeth Z of the primary sun gear 20 20 : the number of teeth Z of the primary ring gear 24 24 : the number of teeth Z of the primary planet wheel 21 21 ＝52：100：24；
The number of teeth Z of the secondary sun gear 17 17 : tooth number Z of secondary ring gear 7 : tooth number Z of two-stage planet 18 ＝52：152：50。
In the further improved or preferred embodiment of the above-mentioned liftable six-degree-of-freedom platform for the ship-borne radar antenna, the upper side of the second turntable 7 is provided with an annular supporting groove 7b; the first rotary disk 6 is rotatably provided in the annular supporting groove 7b by a first rolling support 15; a second rolling support 16 is arranged between the second turntable 7 and the secondary planet carrier 19.
A further improvement or preferred embodiment of the aforementioned liftable six degree of freedom platform for a carrier radar antenna, the drive shaft 23 is driven by means of a worm wheel 11 and worm 10.
The beneficial effects are that:
1. the structure is stable, the supporting capacity is strong, the stress of each part of the structure is uniform, the bearing capacity is strong, the movement process is stable and smooth, and the control of the movement speed is convenient and flexible;
2. the six degrees of freedom of the platform space are controllable, the movement is flexible, and the pose can be accurately adjusted;
3. the planetary transmission is matched with the worm gear transmission, so that the stable, efficient, accurate and smooth transmission process is ensured, the self-locking effect of the worm gear and worm is realized, the lifting platform can be prevented from falling due to external load, and the movement reliability is ensured;
4. the lifting platform does not need an extra guide member, the size of the lifting platform after contraction can be greatly reduced, the space size of the mechanism can be further reduced, and the antenna radar can be conveniently concealed and maintained and managed.
Drawings
FIG. 1 is a schematic diagram of an expanded state of a liftable six-degree-of-freedom platform for a shipboard radar antenna;
FIG. 2 is a schematic diagram of a contracted state of a liftable six-degree-of-freedom platform for a shipboard radar antenna;
FIG. 3 is an assembly schematic of a liftable six degree of freedom platform for a carrier-borne radar antenna;
wherein the reference numerals include:
the lifting platform 1, the hinge ball structure 2, the first linear expansion device 3, the first rotary table 6, the second rotary table 7, the second annular gear 7a, the annular supporting groove 7b, the second linear expansion device 8, the universal wheel structure 9, the worm 10, the worm wheel 11, the locking bolt 13, the locking pressing plate 14, the first rolling support 15, the second rolling support 16, the second sun gear 17, the second planet gear 18, the second planet carrier 19, the first sun gear 20, the first planet gear 21, the first planet carrier 22, the transmission shaft 23, the first annular gear 24 and the supporting seat 27.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The application discloses a six degrees of freedom platforms of liftable for carrier-borne radar antenna mainly is used for solving current radar antenna bearing capacity and control performance not enough, is difficult to satisfy the problem of large-and-medium-sized radar antenna installation user demand. The liftable six-degree-of-freedom platform is stable in support, convenient to control, convenient to adjust and small in occupied space.
As shown in fig. 1, 2 and 3, the main structure of the liftable six-degree-of-freedom platform for the ship-borne radar antenna comprises a lifting platform 1, a degree-of-freedom control assembly, a first rotary table 6 and a second rotary table 7;
the first rotary table 6 and the second rotary table 7 are rotatably arranged, and the upper end surfaces of the two rotary tables are coplanar and concentric; the lower end surface of the lifting table 1 is arranged in parallel with the upper end surfaces of the two turntables;
the degree of freedom control assembly includes: a plurality of first linear expansion devices 3 with two ends respectively hinged with the lower end face of the lifting table 1 and the upper end face of the first rotating disc 6, and a plurality of second linear expansion devices 8 with two ends respectively hinged with the lower end face of the lifting table 1 and the upper end face of the second rotating disc 7;
the plurality of first linear expansion devices 3 are obliquely arranged and uniformly arranged in an annular array by the central axes of the two turntables; the second linear expansion devices 8 are obliquely arranged and uniformly arranged in an annular array by the central axes of the two turntables; the first linear expansion device 3 is inclined in the opposite direction to the second linear expansion device 8.
In the present application, if the rotational degrees of freedom of the first turntable 6 and the second turntable 7 are not considered, according to the spatial mechanism degree of freedom calculation method, it is assumed that there are n total first linear expansion devices 3 and second linear expansion devices, each linear expansion device can be simplified into two movable components, 2n total components, and the total number of movable components is 2n+1, and the spatial total degree of freedom is 2n+1×6=12n+6; since the two ends of the linear expansion device are hinged on the plane, the hinge structure limits 3 translational degrees of freedom, and totally limits 2n×3=6n degrees of freedom; the two movable components in the linear expansion device form sliding pairs, each sliding pair limits 2 translational degrees of freedom and 2 rotational degrees of freedom, and the two movable components in the linear expansion device limit 2n×2=4n degrees of freedom altogether, meanwhile, the rotation motion of the two movable components in the linear expansion device around the expansion direction of the movable components does not influence the motion of the lifting platform, 2n local degrees of freedom are generated, the movable components are removed during motion analysis, and the final degree of freedom of the lifting platform is 2n+1x6-6n-4n-2n=6, namely the lifting platform 1 in the figure has six degrees of freedom.
By controlling the linear expansion device, the mechanism can obtain a definite six-degree-of-freedom motion gesture. In the use process, the radar is arranged on the lifting platform 1, and the position and the gesture of the radar in the movement space of the lifting platform are precisely controllable.
As a preferred embodiment, the first linear expansion device 3 and the second linear expansion device 8 in the present application may use a piston rod, or a cylinder, or a hydraulic cylinder, or the like linear expansion device according to actual equipment and conditions.
In order to ensure stable and unobstructed movement in all directions, in the embodiment, the first linear expansion device 3 is connected with the lower end surface of the lifting table 1 and the upper end surface of the first rotary table 6, and the second linear expansion device 8 is connected with the lower end surface of the lifting table 1 and the upper end surface of the second rotary table 7 through a hinged ball structure 2; the first linear expansion devices 3 and the second linear expansion devices 8 are the same in number and are arranged in pairs one by one, the first linear expansion devices 3 and the second linear expansion devices 8 in each pair are adjacent to each other at the hinge point of the lower end face of the lifting platform 1, and each hinge point is preferably located on a circle drawn by taking the intersection point of the central axes of the two turntables and the lower end face of the lifting platform 1 as the circle center.
In addition to the above functions, in order to facilitate the control of the lifting platform 1 to lift and descend, so as to facilitate the retraction and hiding of the carrier-borne radar antenna, the lifting motion of the lifting platform can be driven by the reverse rotation of the first rotating disc 6 and the second rotating disc 7.
In order to ensure that the relative rotation process of the two turntables is stable and smooth, simultaneously reduce the overall height of the equipment as much as possible, simplify the control scheme, the application also provides a rotation transmission assembly for driving the first turntables 6 and the second turntables 7 to reversely rotate at the same angular speed;
as shown in fig. 3, the rotation transmission assembly includes: the secondary sun gear 17, the secondary planet gears 18, the secondary planet carrier 19, the primary sun gear 20, the primary planet gears 21, the primary planet carrier 22, the transmission shaft 23, the primary annular gear 24 and the supporting seat 27;
the transmission shaft 23 and the first rotating disc 6 are connected through keys to realize synchronous rotation; in practice, various positioning and locking structures, such as the locking bolt 13 and the locking pressure plate 14 in fig. 3, should be provided if necessary to prevent detachment.
The primary planet carrier 22 and the transmission shaft 23 are connected through keys to realize synchronous rotation, and the primary sun gear 20 and the secondary sun gear 17 are connected through keys and then are rotatably sleeved on the transmission shaft 23;
the center of the second turntable 7 is provided with a second annular gear 7a, and the second annular gear 7a is meshed with the second-stage planetary gears 18; the primary annular gear 24 is fixedly arranged on the supporting seat 27, and the primary annular gear 24 is meshed with the primary planet gears 21;
the primary inner gear ring 24, the primary planet carrier 22, the primary planet gears 21 and the primary sun gear 20 form a primary planetary transmission structure; the secondary sun gear 17, the secondary planet gears 18, the secondary planet carrier 19 and the second turntable 7 form a secondary planetary transmission structure;
in the primary planetary transmission structure, a transmission shaft 23 drives a primary planet carrier 22 to rotate, and the primary planet carrier 22 drives a secondary sun gear 17 through a primary sun gear 20;
in the secondary planetary gear, the secondary sun gear 17 drives the second turntable 7 via the secondary planet gears 18.
It should be noted that, the above description is only used for explaining the basic structure of the present application, the behaviors describe the number combination of the gears therein, in practical implementation, in order to improve the transmission stability, one or more planetary gears may be adopted according to practical requirements, and the common processing modes such as uniformly setting the plurality of planetary gears may be used to ensure the stability and effectiveness of the transmission.
The external driving force drives the first rotary disc 6 and the second rotary disc 7 to reversely rotate after the external driving force sequentially passes through the transmission shaft 23 and the two-stage planetary transmission to carry out movement and power transmission, so as to drive the lifting platform to move up and down.
As a preferable scheme, the first rotating disc 6 and the second rotating disc 7 are rotated reversely at the same angular speed, so that the control process can be simplified, the efficiency can be improved conveniently, and the device control is simpler.
For this purpose, the number of teeth Z of the primary sun gear 20 in the present application 20 : the number of teeth Z of the primary ring gear 24 24 : the number of teeth Z of the primary planet wheel 21 21 =52: 100:24, a step of detecting the position of the base; the number of teeth Z of the secondary sun gear 17 17 : tooth number Z of secondary ring gear 7 : tooth number Z of two-stage planet 18 ＝52：152：50。
The primary ring gear 24 in the primary planetary transmission structure is fixed, the primary sun gear 20 is output, and the primary planet carrier 22 is input, so that the transmission ratio of the primary planetary transmission is:
wherein w is 20 Is the rotation speed, w, of the first-stage sun gear 20 22 Is the rotation speed of the first-stage planet carrier, w 24 For the rotation speed of the first-stage inner gear ring, according to the installation mode of the first-stage planetary transmission system, w is known 24 =0, substituting each gear ratio, the final result is:
in the two-stage planetary transmission structure, the number Z of teeth of the secondary sun gear 17 can be selected 17 =52, two-stage ring gear Z 7 =152, number of teeth Z of the second-order planetary gear 18 In the secondary planetary transmission structure, the secondary sun gear 17 is the power input, the secondary planet carrier is fixed, and the second turntable 7 outputs, so that the transmission ratio of the secondary planetary transmission is:
at this time, the rotation speed of the second turntable 7 is opposite to the direction of the second-stage sun gear 7, namely opposite to the direction of the transmission shaft 23, and after the two-stage planetary transmission is connected in series, K 1 ×K 2 = -1, the rotation speed of the finally output second turntable 7 is alwaysThe rotating speed of the first rotating disc 6 is guaranteed to be the same, the directions are opposite, and then the lifting and the contraction of the mechanism are more conveniently realized.
The foregoing is a description of the necessary technical content and the general preferred embodiments based on the technical solution of the present application, and in the specific implementation, the specific design and improvement can be performed in consideration of different requirements of equipment silence, protection, wear resistance, and the like, but the basic structure and the processing manner thereof do not deviate from the basis of the technical solution of the present application.
For example, in order to facilitate driving and controlling the two turntables, and simplify assembly and handling, in practice, an annular supporting groove 7b may be provided on the upper side of the second turntable 7; the first rotating disc 6 is rotatably provided in the annular supporting groove 7b by the first rolling support 15, thereby realizing free rotation. A second rolling support 16 is arranged between the second turntable 7 and the secondary planet carrier 19.
The first rolling support 15 and the second rolling support 16 are similar to plane rotating bearings in structure and function, and are mainly used for converting relative motion into rolling friction form, so as to protect equipment structure, and are common connecting support structures, and generally comprise an annular positioning piece and a plurality of rollers or balls arranged on the annular positioning piece.
Meanwhile, the technical scheme relates to a part of connection and fixation mode and implicit relative motion content, and can be freely applied according to the specific implementation mode and the existing treatment scheme in the application.
For example, in the present application, the primary ring gear 24 is fixedly disposed on the supporting seat 27, where the primary ring gear may be an independent device, or may be directly machined from the supporting seat 27, as shown in fig. 3, if the primary ring gear adopts an independent structure, the primary ring gear may be connected by using a conventional bolt set 25 or other connection fixing structures or processes.
Meanwhile, as a preferable scheme, the transmission shaft 23 and an external driving device are preferably driven by the worm wheel 11 and the worm 10, so that the self-locking effect of a worm and gear structure can be utilized, and the automatic falling can not be caused when the lifting platform is lifted and bears pressure, so that the stability and reliability of the movement process are ensured.
Further, in order to avoid the integral mass of the device directly acting on the transmission shaft and the gear train thereof, it is preferable that a universal wheel structure is arranged at the bottom of the first rotary disk 6 and/or the second rotary disk 7;
when the first turntable 6 is supported by the second turntable 7, the above structure is further simplified to provide the universal wheel structure 9 only at the bottom of the second turntable 7.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (4)
1. The liftable six-degree-of-freedom platform for the ship-borne radar antenna is characterized by comprising a lifting platform (1), a degree-of-freedom control assembly, a first rotary table (6) and a second rotary table (7);
the first rotary table (6) and the second rotary table (7) are rotatably arranged, and the upper end surfaces of the two rotary tables are coplanar and concentric; the lower end surface of the lifting table (1) is arranged in parallel with the upper end surfaces of the two turntables;
the degree of freedom control assembly includes: a plurality of first linear expansion devices (3) with two ends respectively hinged with the lower end face of the lifting table (1) and the upper end face of the first rotating disc (6), and a plurality of second linear expansion devices (8) with two ends respectively hinged with the lower end face of the lifting table (1) and the upper end face of the second rotating disc (7);
the plurality of first linear expansion devices (3) are obliquely arranged and uniformly arranged in an annular array by taking the central axes of the two turntables as symmetry axes; the second linear expansion devices (8) are obliquely arranged and uniformly arranged in an annular array by taking the central axes of the two turntables as symmetry axes; the inclination directions of the first linear expansion device (3) and the second linear expansion device (8) are opposite;
the first linear expansion device (3) is connected with the lower end surface of the lifting table (1) and the upper end surface of the first rotary table (6), and the second linear expansion device (8) is connected with the lower end surface of the lifting table (1) and the upper end surface of the second rotary table (7) through a hinge ball structure respectively; the first linear expansion devices (3) and the second linear expansion devices (8) are the same in number, the first linear expansion devices (3) in each pair are arranged in pairs, and the hinge points of the second linear expansion devices (8) on the lower end face of the lifting platform (1) are adjacent;
the first rotary table (6) and the second rotary table (7) rotate reversely at the same angular speed when rotating;
the rotary transmission assembly is used for driving the first rotary table (6) and the second rotary table (7) to reversely rotate at the same angular speed;
the rotation transmission assembly includes: the device comprises a secondary sun gear (17), a secondary planet gear (18), a secondary planet carrier (19), a primary sun gear (20), a primary planet gear (21), a primary planet carrier (22), a transmission shaft (23), a primary annular gear (24) and a supporting seat (27);
the transmission shaft (23) and the first rotating disc (6) are connected through keys to realize synchronous rotation; the primary sun gear 20 and the secondary sun gear (17) are rotatably sleeved on the transmission shaft (23) after being connected through keys; the primary planet carrier 22 and the transmission shaft (23) are connected through keys to realize synchronous rotation;
the center of the second turntable (7) is provided with a second annular gear (7 a), and the second annular gear (7 a) is meshed with the second-stage planetary gear (18); the primary annular gear (24) is fixedly arranged on the supporting seat (27), and the primary annular gear (24) is meshed with the primary planet gear (21);
the primary inner gear ring (24), the primary planet carrier (22), the primary planet wheels (21) and the primary sun wheel (20) form a primary planetary transmission structure; the secondary sun gear (17), the secondary planet gears (18), the secondary planet carrier (19) and the second turntable (7) form a secondary planetary transmission structure;
in the primary planetary transmission structure, a transmission shaft (23) drives a primary planet carrier (22) to rotate, and the primary planet carrier (22) drives a secondary sun gear (17) through a primary sun gear (20);
in the secondary planetary transmission structure, a secondary sun gear (17) drives a second rotary table (7) through a secondary planet gear (18).
2. The liftable six-degree-of-freedom platform for the ship-borne radar antenna according to claim 1, wherein the first linear telescopic device (3) and the second linear telescopic device (8) are piston rods, or air cylinders, or hydraulic cylinders.
3. The liftable six-degree-of-freedom platform for a ship-borne radar antenna according to claim 1, characterized in that the number of teeth Z of the primary sun gear (20) 20 : the number of teeth Z of the primary ring gear (24) 24 : the number of teeth Z of the primary planet wheel (21) 21 =52：100：24；
The number of teeth Z of the secondary sun gear (17) 17 : tooth number Z of secondary ring gear 7 : tooth number Z of two-stage planet 18 =52：152：50。
4. The liftable six-degree-of-freedom platform for the ship-borne radar antenna according to claim 1, characterized in that the upper side of the second turntable (7) is provided with an annular supporting groove (7 b); the first turntable (6) is rotatably arranged in the annular supporting groove (7 b) through a first rolling supporting piece (15); a second rolling support (16) is arranged between the second turntable (7) and the second-stage planet carrier (19);
the transmission shaft (23) is driven by the worm wheel (11) and the worm (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211113662.0A CN115332758B (en) | 2022-09-14 | 2022-09-14 | Liftable six-degree-of-freedom platform for ship-borne radar antenna |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211113662.0A CN115332758B (en) | 2022-09-14 | 2022-09-14 | Liftable six-degree-of-freedom platform for ship-borne radar antenna |
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| CN115332758A CN115332758A (en) | 2022-11-11 |
| CN115332758B true CN115332758B (en) | 2024-04-12 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002016802A1 (en) * | 2000-08-22 | 2002-02-28 | Goo Teak Seo | Sransmission for performing reliable continuously-variable-speed operation through gear meshing, and vehicle-use continuously-variable transmission device using it |
| CN104421383A (en) * | 2013-09-04 | 2015-03-18 | 四川宏华石油设备有限公司 | Speed reducing device of self-elevating drilling platform elevating system |
| CN111509388A (en) * | 2020-04-30 | 2020-08-07 | 庆安集团有限公司 | Ground radar antenna system |
| CN115000677A (en) * | 2022-06-16 | 2022-09-02 | 西北工业大学 | Dual-input antenna unfolding driving device |
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2022
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|---|---|---|---|---|
| WO2002016802A1 (en) * | 2000-08-22 | 2002-02-28 | Goo Teak Seo | Sransmission for performing reliable continuously-variable-speed operation through gear meshing, and vehicle-use continuously-variable transmission device using it |
| CN104421383A (en) * | 2013-09-04 | 2015-03-18 | 四川宏华石油设备有限公司 | Speed reducing device of self-elevating drilling platform elevating system |
| CN111509388A (en) * | 2020-04-30 | 2020-08-07 | 庆安集团有限公司 | Ground radar antenna system |
| CN115000677A (en) * | 2022-06-16 | 2022-09-02 | 西北工业大学 | Dual-input antenna unfolding driving device |
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| 一种新型舰载雷达天线稳定转台系统;吴国泉, 何维贵, 杨添润;雷达与对抗;20001230(第04期);全文 * |
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| CN115332758A (en) | 2022-11-11 |
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