CN201194250Y - Six degree of freedom parallel mechanism antenna seat - Google Patents
Six degree of freedom parallel mechanism antenna seat Download PDFInfo
- Publication number
- CN201194250Y CN201194250Y CNU2008200575371U CN200820057537U CN201194250Y CN 201194250 Y CN201194250 Y CN 201194250Y CN U2008200575371 U CNU2008200575371 U CN U2008200575371U CN 200820057537 U CN200820057537 U CN 200820057537U CN 201194250 Y CN201194250 Y CN 201194250Y
- Authority
- CN
- China
- Prior art keywords
- antenna
- degree
- freedom parallel
- parallel connection
- connection mechanism
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The utility model relates to a parallel mechanism antenna bay with six degrees of freedom, comprising an upper platform and a lower platform, six straight line telescopic drive units which are coupled in turn are driven through six servo motors, wherein the upper end of the six straight line telescopic drive units is hinged with the upper platform, while the lower end is hinged with the lower platform, constituting a parallel mechanism with six degrees of freedom. The utility model completely acquires remote sensing signals and data of the secondary planet and the carrier rocket, provides an antenna mounting platform to cause the antenna to realize continuous track on 'across' air space, reach hemishere work airspace.
Description
Technical field
The utility model relates to a kind of based on the six-degree-of-freedom parallel connection mechanism antenna pedestal.The antenna structure system that is used for space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) and satellite communication.The antenna structure system that adopts six-degree-of-freedom parallel connection mechanism antenna pedestal structure and servo-control system, feed feeder system (be called for short: day, watch, present) composition antenna system, realize remote sensing, telemetry and telecommand information is obtained and instruct realization satellite communication information transmission and processing.Especially can obtain the telemetered signal and the data in the effective spatial domains of aircraft such as satellite, carrier rocket, realize not having the Continuous Tracking antenna system on top " blind area ", satisfactorily resolve any attitude Continuous Tracking in antenna hemisphere work spatial domain.Technical solutions of the utility model belong to electromechanical integration technology area.
Background technology
Antenna pedestal generally is made up of antenna pedestal supporting construction, driving shaft system and transmission device, feeder line and cable wind, Data Detection transfer device and safety guard.
At present, known in the world space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) adopt classical pitching-orientation type (EL-AZ type) antenna, pitching-orientation type antenna exists " blind awl " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, and the size in blind awl zone (being the cone-apex angle of blind awl) depends on the distance and the aircraft horizontal flight speed of antenna and aircraft.Low rail remote sensing antenna is not satisfactorily resolved so far as yet the problem of " crossing the top " Continuous Tracking.Introduce the notion of a sky line following " blind awl district " earlier, classical pitching-orientation type antenna pedestal is when tracking target, and (in the formula: V is the horizontal velocity of target flight to antenna bearingt angular speed: β=V/ (R*cos ε); R is the air line distance that antenna arrives target; ε is an antenna elevation angle; β is an antenna bearingt angular speed), when target near the antenna zenith by the time, elevation angle ε → 90 °, cos ε → 0, β → ∞.But motor-driven power is limited, and the antenna rotational angular also is limited, and under certain driving power, antenna can only be followed the tracks of the following target in a certain elevation angle, near pitching-orientation type antenna zenith, exist can't Continuous Tracking " blind awl district ".
At present, pitching in the engineering reality-orientation type (EL-AZ type) antenna exists " blind awl " zone that can't " cross and push up " Continuous Tracking in the antenna zenith position, can't adopt classical pitching-orientation type antenna to be implemented in the antenna zenith position and " cross and push up " Continuous Tracking.Can only select to avoid the satellite transit track and build the satellite ground station antenna through the place of antenna zenith.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical generally adopts pitching-orientation type (EL-AZ type) antenna pedestal, there was top " blind awl district " in it, pitching-orientation type antenna can't be crossed top " blind awl district " spatial domain Continuous Tracking satellite at satellite, realizes the demand of the uninterrupted continuous operation of signal.
Summary of the invention
The purpose of this utility model is that the problem that prior art exists provides a kind of six-degree-of-freedom parallel connection mechanism antenna pedestal, realize not having the Continuous Tracking antenna system on top " blind area ", satisfactorily resolve any attitude Continuous Tracking in antenna hemisphere work spatial domain, realize the demand of satellite-signal and the uninterrupted continuous operation of data.It is convenient easy to separate owing to the equation of motion of finding the solution parallel institution is counter, is easy to realize SERVO CONTROL.
In order to achieve the above object, design of the present utility model is: utilize parallel institution have that rigidity is big, precision is high, speed is fast, bearing capacity is big, simple in structure, in light weight and control distinct advantages such as convenient, and the equation of motion of parallel institution counter separate find the solution convenient easily, be easy to realize SERVO CONTROL.Be applied to the design of remote sensing remote measurement low orbit satellite antenna, given full play to the characteristics of parallel institution.Adopt space six-degree-of-freedom parallel connection mechanism (Stewart platform mechanism) as antenna mount, adopt space six cover linear telescopic drive units to connect upper and lower two platforms, connect formation Stewart platform mechanism by ball pivot or universal hinge (Hooke's hinge), realize the six-degree-of-freedom parallel connection mechanism antenna mount.Upper mounting plate connects by flange-interface and various forms of antenna reflector, and lower platform and ground are fixed, and also can connect with other carriers (as: skeletons such as vehicle, naval vessel and aircraft) to constitute motor-driven antenna system.By to the analysis of spatial mechanism of space six-degree-of-freedom parallel connection mechanism (Stewart platform mechanism), comprehensive and theoretical derivation, rationally choose bar length, collapsing length and the space angle of six cover linear drive apparatus, solving on a large scale, the rotational angle movement position does not have unusual position problem, realization space remote sensing, remote sensing telemetering antenna hemisphere spatial domain Continuous Tracking antenna structure system.The antenna system that this utility model and corresponding feed system and servo-control system constitute, realize the telemetered signal and the data in the effective spatial domains of aircraft such as satellite, carrier rocket, satisfactorily resolve the top and followed the tracks of " blind area " problem, realized the antenna system of " crossing the top " Continuous Tracking.
According to above-mentioned utility model design, the utility model adopts following technical proposals:
A kind of six-degree-of-freedom parallel connection mechanism antenna pedestal, comprise a upper mounting plate and a lower platform, it is characterized in that driving six linear telescopic drive units respectively by six servomotors, the upper end of these six linear telescopic drive units and a upper mounting plate are hinged, and lower end and a lower platform are hinged, and constitute the six-degree-of-freedom parallel connection mechanism antenna pedestal.
Every adjacent two upper ends of six above-mentioned linear telescopic drive units are hinged by a projection of ball pivot or universal hinge and described upper mounting plate bottom surface, and every adjacent two lower ends are by a projection hinge of ball pivot or universal hinge and described and a lower platform upper surface.Every adjacent two upper ends of perhaps described six linear telescopic drive units (4) are hinged by two projections of ball pivot or universal hinge and described upper mounting plate (3) bottom surface, and two projections hinges of ball pivot or universal hinge and described and a lower platform (6) upper surface are passed through in every adjacent two lower ends, and the projection on the upper and lower platform is separated by a distance.
Above-mentioned upper and lower two platforms are triangle or hexagon, and upper and lower two triangle position differs 60 °, and the installation that is parallel to each other.
Above-mentioned upper mounting plate is fixedlyed connected with antenna reflector, and described lower platform is connected with ground frame or antenna carrier frame.
The beneficial effects of the utility model are: can solve classical pitching-orientation type (EL-AZ type) antenna satisfactorily and cross zenith " blind awl district " spatial domain Continuous Tracking satellite problem at antenna, realize the demand of space remote sensing, satellite remote sensing telemetered signal and satellite communication signal and the uninterrupted continuous operation of information.And the antenna of same bore, technical indicator, the weight of the utility model antenna structure system is starkly lower than classical pitching-orientation type (EL-AZ type) antenna weight, especially more obvious when large aperture antenna, only, saved production cost greatly for 70%-50% of pitching-orientation type (EL-AZ type) antenna weight.
Description of drawings
Fig. 1: the connecting structure schematic diagram that is six-degree-of-freedom parallel connection mechanism antenna pedestal of the present utility model and antenna reflector.
Fig. 2: the antenna level that is antenna structure system shown in Figure 1 refers to flat attitude schematic diagram
Fig. 3: the structural representation that is six-degree-of-freedom parallel connection mechanism antenna pedestal of the present utility model.
Fig. 4: the vertical view that is Fig. 3.
Fig. 5: the upward view that is Fig. 3.
Embodiment
A preferred embodiment accompanying drawings of the present utility model is as follows: at Fig. 1 six-degree-of-freedom parallel connection mechanism antenna pedestal 2 and the connection relation of antenna reflector 1 in antenna structure system are shown.
Referring to Fig. 2 six-degree-of-freedom parallel connection mechanism antenna pedestal 2 is shown and refers to flat attitude in the antenna level with antenna reflector 1 composition antenna structure system.
Referring to Fig. 3, Fig. 4 and Fig. 5, this six-degree-of-freedom parallel connection mechanism antenna pedestal 2 is made up of upper mounting plate 3, six cover linear telescopic drive units 4 and servomotor 5, lower platform 6 and ground frame 7.Servo-control system drives space six cover linear telescopic devices 4 according to tracer request instruction servomotor 5, points to the satellite or the aircraft of required tracking to drive upper mounting plate 3 realization antenna systems, realizes signal, information exchange or reception by feed system.
Referring to Fig. 1 and Fig. 2, this six-degree-of-freedom parallel connection mechanism antenna pedestal 2 connects fixing by upper mounting plate 3 and antenna reflector 1, can add securing member by location structure and connect, and also can connect with welding manner.
Above-mentioned linear telescopic drive unit 4 and servomotor 5 thereof can be worm drive (as: screw-and-nut mechanisms), and its nut is directly driven by servomotor or passes through its rotation of actuator drives, thereby the screw rod straight line is moved; Also can be that servomotor directly drives or provides power oil by oil pump of actuator drives, drive oil cylinder by power oil piston rod is moved as straight line.
Claims (4)
1. six-degree-of-freedom parallel connection mechanism antenna pedestal, comprise a upper mounting plate and a lower platform, it is characterized in that driving six linear telescopic drive units (4) respectively by six servomotors (5), the upper end of these six linear telescopic drive units (4) and described upper mounting plate (3) are hinged, and lower end and described lower platform (6) are hinged, and constitute the six-degree-of-freedom parallel connection mechanism antenna pedestal.
2. six-degree-of-freedom parallel connection mechanism antenna pedestal according to claim 1, it is characterized in that the projection hinge of every adjacent two upper ends of described six linear telescopic drive units (4), and every adjacent two lower ends are by a projection hinge of ball pivot or universal hinge and described and a lower platform (6) upper surface by ball pivot or universal hinge and described upper mounting plate (3) bottom surface; Every adjacent two upper ends of perhaps described six linear telescopic drive units (4) are hinged by two projections of ball pivot or universal hinge and described upper mounting plate (3) bottom surface, and two projections hinges of ball pivot or universal hinge and described and a lower platform (6) upper surface are passed through in every adjacent two lower ends, and the projection on the upper and lower platform is separated by a distance.
3. six-degree-of-freedom parallel connection mechanism antenna pedestal according to claim 1 is characterized in that described upper and lower two platforms (3,6) are triangle or hexagon, and upper and lower two triangle position differs 60 °, and the installation that is parallel to each other.
4. six-degree-of-freedom parallel connection mechanism antenna pedestal according to claim 1 is characterized in that described upper mounting plate (3) fixedlys connected with antenna reflector (1), and described lower platform (6) is connected with ground frame (7) or antenna carrier frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200575371U CN201194250Y (en) | 2008-04-21 | 2008-04-21 | Six degree of freedom parallel mechanism antenna seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200575371U CN201194250Y (en) | 2008-04-21 | 2008-04-21 | Six degree of freedom parallel mechanism antenna seat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201194250Y true CN201194250Y (en) | 2009-02-11 |
Family
ID=40393782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200575371U Expired - Fee Related CN201194250Y (en) | 2008-04-21 | 2008-04-21 | Six degree of freedom parallel mechanism antenna seat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201194250Y (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211748A (en) * | 2010-04-08 | 2011-10-12 | 岜公司 | Hexapod platform and jack that can be used in the hexapod platform |
| CN102290630A (en) * | 2011-07-06 | 2011-12-21 | 清华大学 | Large radio telescope feed source receiving cabin structure with redundant drive |
| CN102610918A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
| CN104792513A (en) * | 2015-05-04 | 2015-07-22 | 长春速建新技术开发有限公司 | Six freedom degree catenary simulation device |
| CN105227082A (en) * | 2015-09-30 | 2016-01-06 | 黑龙江兴安新能源股份有限公司 | A kind of carrying of the Foldable solar energy cell panel with Stewart mechanism support body |
| CN104058110B (en) * | 2014-06-04 | 2016-08-10 | 清华大学 | Remote sensing satellite system |
| CN109066050A (en) * | 2018-08-02 | 2018-12-21 | 林瑞 | A kind of communications satellite antenna bracket and its antenna adjustment method |
| CN109768364A (en) * | 2018-12-18 | 2019-05-17 | 张宇 | A kind of communication engineering antenna holder |
| CN110277643A (en) * | 2019-06-14 | 2019-09-24 | 庆安集团有限公司 | Unmanned plane antenna system, unmanned plane and UAV system |
| CN110459855A (en) * | 2015-10-23 | 2019-11-15 | 上海创投机电工程有限公司 | One kind being based on 6/6-UPU type parallel antenna structure system |
| CN110970735A (en) * | 2015-09-28 | 2020-04-07 | 上海创投机电工程有限公司 | Antenna structure system based on 3/6-SPU type parallel mechanism |
| CN111509388A (en) * | 2020-04-30 | 2020-08-07 | 庆安集团有限公司 | Ground radar antenna system |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
-
2008
- 2008-04-21 CN CNU2008200575371U patent/CN201194250Y/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211748A (en) * | 2010-04-08 | 2011-10-12 | 岜公司 | Hexapod platform and jack that can be used in the hexapod platform |
| CN102290630A (en) * | 2011-07-06 | 2011-12-21 | 清华大学 | Large radio telescope feed source receiving cabin structure with redundant drive |
| CN102290630B (en) * | 2011-07-06 | 2013-10-16 | 清华大学 | Large radio telescope feed source receiving cabin structure with redundant drive |
| CN102610918A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102610918B (en) * | 2012-03-28 | 2014-05-07 | 广西大学 | Parallel adjusting mechanism for radio telescope containing RRR closed loop subchain |
| CN102904017B (en) * | 2012-06-28 | 2016-04-06 | 上海创投机电工程有限公司 | Hemispherical work spatial domain parallel antenna structure system |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN104058110B (en) * | 2014-06-04 | 2016-08-10 | 清华大学 | Remote sensing satellite system |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
| CN104218301B (en) * | 2014-09-03 | 2019-07-26 | 上海创投机电工程有限公司 | Bis- turn of one shifting type parallel antenna structure system of 3-UPU |
| CN104792513A (en) * | 2015-05-04 | 2015-07-22 | 长春速建新技术开发有限公司 | Six freedom degree catenary simulation device |
| CN110970735A (en) * | 2015-09-28 | 2020-04-07 | 上海创投机电工程有限公司 | Antenna structure system based on 3/6-SPU type parallel mechanism |
| CN105227082A (en) * | 2015-09-30 | 2016-01-06 | 黑龙江兴安新能源股份有限公司 | A kind of carrying of the Foldable solar energy cell panel with Stewart mechanism support body |
| CN110459855A (en) * | 2015-10-23 | 2019-11-15 | 上海创投机电工程有限公司 | One kind being based on 6/6-UPU type parallel antenna structure system |
| CN109066050A (en) * | 2018-08-02 | 2018-12-21 | 林瑞 | A kind of communications satellite antenna bracket and its antenna adjustment method |
| CN109768364A (en) * | 2018-12-18 | 2019-05-17 | 张宇 | A kind of communication engineering antenna holder |
| CN109768364B (en) * | 2018-12-18 | 2021-07-13 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Antenna boom for communication engineering |
| CN110277643A (en) * | 2019-06-14 | 2019-09-24 | 庆安集团有限公司 | Unmanned plane antenna system, unmanned plane and UAV system |
| CN111509388A (en) * | 2020-04-30 | 2020-08-07 | 庆安集团有限公司 | Ground radar antenna system |
| CN111536932A (en) * | 2020-05-12 | 2020-08-14 | 中国电子科技集团公司第五十四研究所 | Method for measuring parallel mechanism pedestal type antenna pointing direction by using inclinometer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201194250Y (en) | Six degree of freedom parallel mechanism antenna seat | |
| CN101262086B (en) | Parallel antenna structure system | |
| CN102904017B (en) | Hemispherical work spatial domain parallel antenna structure system | |
| CN204375903U (en) | 3-UPU bis-turn one moves type parallel institution antenna pedestal | |
| CN104157977A (en) | Antenna structure system based on 3-RPS three-dimensional rotation type parallel mechanism | |
| CN104218301A (en) | 3-UPU two-to-one parallel mechanism antenna structure system | |
| CN101494318B (en) | Method and apparatus for automatically adjusting Ka waveband mobile satellite communications antenna attitude | |
| EP2789050B1 (en) | Pedestal for tracking antenna | |
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| CN102424113B (en) | Miniature photoelectric hanging cabin | |
| CN101924266B (en) | Spherical three-degree-of-freedom parallel mechanism antenna structure system | |
| CN105226370A (en) | 6/6-UPU type parallel antenna structure system | |
| CN204375963U (en) | 3-RPS Three dimensional rotation type parallel institution antenna pedestal | |
| CN103386680B (en) | A kind of parallel two degrees of freedom indicator device | |
| CN201699121U (en) | Antenna pedestal with spherical-surface three-degree-of-freedom parallel mechanism | |
| CN110661078B (en) | Vehicle-ground high-speed laser communication device | |
| CN102109852A (en) | All-day automatic tracking system | |
| CN203039087U (en) | Hyper-hemispherical work airspace parallel mechanism antenna pedestal | |
| CN113300121B (en) | Changeable polarization antenna transmission device capable of overturning | |
| CN101553698A (en) | A heliostat support and drive mechanism | |
| CN108758301B (en) | Double-stage driving gyro stabilization cradle head and control method thereof | |
| CN202230392U (en) | All-weather solar intelligent tracking system | |
| CN202464136U (en) | Photoelectric nacelle | |
| CN204187226U (en) | CAN security protection servo turntable | |
| CN105406167A (en) | 3/6-UPU type parallel mechanism antenna structure system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090211 Termination date: 20120421 |