CN201194250Y - Six degree of freedom parallel mechanism antenna seat - Google Patents

Six degree of freedom parallel mechanism antenna seat Download PDF

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Publication number
CN201194250Y
CN201194250Y CN 200820057537 CN200820057537U CN201194250Y CN 201194250 Y CN201194250 Y CN 201194250Y CN 200820057537 CN200820057537 CN 200820057537 CN 200820057537 U CN200820057537 U CN 200820057537U CN 201194250 Y CN201194250 Y CN 201194250Y
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antenna
platform
lower
parallel mechanism
degrees
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CN 200820057537
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Chinese (zh)
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亮 刘
杨明德
龙 沈
龚振邦
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上海大学;上海创投机电工程有限公司
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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

六自由度并联机构天线座 Six degrees of freedom parallel mechanism antenna base

技术领域 FIELD

本实用新型涉及一种基于六自由度并联机构天线座。 The present invention relates to a six degree of freedom parallel mechanism based on the antenna pedestal. 用于航天遥感、卫星"三遥" 技术(遥感、遥测、遥控技术)和卫星通信的天线结构系统中。 For remote sensing spacecraft, satellites "three remote" antenna configuration system technology (remote sensing, telemetry, telematics) and satellite communications. 采用六自由度并联机构天线座结构的天线结构系统与伺服控制系统、馈源馈线系统(简称:天、伺、馈) 组成天线系统,实现遥感、遥测和遥控信息获取和指令,实现卫星通信信息传递和处理。 Using six degrees of freedom parallel mechanism antenna base of the antenna structure and system of the servo control system, feed the feeder system configuration (abbreviation: days, wait, fed) composed antenna system, remote sensing, telemetry and remote access to information and instructions, to achieve the satellite communication information transmission and processing. 尤其是能够获取卫星、运载火箭等飞行器有效空域的遥测信号和数据,实现无过顶"盲区"的连续跟踪天线系统,圆满解决天线半球工作空域任意姿态连续跟踪。 In particular, the telemetry signal can be acquired and the data of the aircraft effective airspace satellite, rocket, etc., over the top-free "blind zone" continuous tracking antenna system, a satisfactory solution to the antenna hemispheres airspace arbitrary pose continuous tracking. 本实用新型技术方案属于机电一体化技术领域。 The present invention belongs to the technical solution of mechanical and electrical integration technology field. 背景技术 Background technique

天线座一般有天线座支撑结构、驱动轴系及传动装置、馈线和线缆缠绕装置、数据检测传递装置和安全保护装置组成。 Antenna base generally antenna base support structure, and gear drive train, and the feeder cable winding device, a data transmission detecting means and security device component.

目前,世界上公知的航天遥感、卫星"三遥"技术(遥感、遥测、遥控技术)所采用经典的俯仰-方位型(EL-AZ型)天线,俯仰-方位型天线在天线天顶位置存在着一个无法"过顶"连续跟踪的"盲锥"区域,盲锥区域的大小(即盲锥的锥顶角)取决于天线与飞行器的距离和飞行器水平飞行速度。 Currently, the well-known space remote sensing satellite "three remote" technique (remote sensing, telemetry, telematics) the classical pitch using the - azimuth type (EL-AZ type) antenna elevation - azimuth antenna is present in the antenna zenith position with a not "over the top" continuous track "cone blind" zone, the size of the cone blind area (i.e., blind cone taper angle) depends on the antenna and the aircraft and the aircraft from horizontal flight speed. 对低轨遥感天线至今尚未圆满解决"过顶" 连续跟踪的问题。 LEO antenna for remote sensing has not yet been satisfactorily resolved "over the top" continuous tracking of the problem. 先引入一个天线跟踪"盲锥区"的概念,经典的俯仰-方位型天线座 First introduced a tracking antenna "blind cone zone" concept, the classic pitch - azimuth antenna pedestal

在跟踪目标时,天线方位角速度:P=V/ (R*COSS)(式中:V为目标飞行的水平速度; R为天线到目标的直线距离;S为天线仰角;P为天线方位角速度),当目标从天线天 When tracking a target, antenna azimuth speed: P = V / (R * COSS) (formula Where: V is the horizontal speed of the object flying; R & lt antenna to the linear distance to the target; S is the antenna elevation; P is the antenna azimuth velocity) when the target from the antenna day

顶附近通过时,仰角£~>90°, coss—0, (3~>oo。但电机驱动功率是有限的,天线转动 Passes near the top, the elevation angle £ ~> 90 °, coss-0, (3 ~> oo. But the motor drive power is limited, the rotation antenna

的角速度也是有限的,在一定的驱动功率下,天线只能跟踪某一仰角以下的目标,在俯仰-方位型天线天顶附近存在无法连续跟踪的"盲锥区"。 The angular velocity is limited, at a certain drive power, antenna elevation below can only track a target in pitch - type antenna near the zenith position there is not a continuous track of "blind cone."

目前,工程实际中俯仰-方位型(EL-AZ型)天线在天线天顶位置存在着一个无法"过顶"连续跟踪的"盲锥"区域,无法采用经典的俯仰-方位型天线实现在天线天顶位置"过顶"连续跟踪。 Currently, the engineering practice pitch - bearing type (EL-AZ-type) antenna there is a not "over the top" continuous tracking "blind cone" region in antenna zenith position, not classic pitch - azimuth antenna to achieve antenna zenith position "over the top" continuous tracking. 只能选择避开卫星运行轨道经过天线天顶的地方建造卫星地面站天线。 Only choose to avoid the satellite orbit after local zenith antenna built satellite earth station antenna.

传统经典的遥感遥测低轨卫星天线设计一般采用俯仰-方位型(EL-AZ型)天线座,其存在过顶"盲锥区",俯仰-方位型天线无法在卫星过顶"盲锥区"空域连续跟踪卫星,实现信号不间断连续工作的需求。 The classic telemetry antenna designs generally use LEO satellite elevation - azimuth type (EL-AZ-type) antenna base, top "blind cone" which existed, elevation - azimuth antenna not over the top "blind cone" satellite airspace continuous tracking satellite signal needs to achieve uninterrupted continuous operation. 发明内容 SUMMARY

本实用新型的目的在于已有技术存在的问题提供一种六自由度并联机构天线座, 实现无过顶"盲区"的连续跟踪天线系统,圆满解决天线半球工作空域任意姿态连续跟踪,实现卫星信号和数据不间断连续工作的需求。 Object of the present invention the presence of the prior art problems to provide a six degrees of freedom parallel mechanism antenna base, overhead-free "blind zone" continuous tracking antenna system, a satisfactory solution to the antenna hemispheres airspace arbitrary pose continuous tracking the satellite signal to achieve and data needs continuous uninterrupted work. 由于求解并联机构的运动方程反解便捷容易,易于实现伺服控制。 Solving the equation of motion due to the parallel mechanism inverse solution easy and convenient, easy to implement servo control.

为了达到上述目的,本实用新型的构思是:利用并联机构具有刚度大、精度高、 速度快、承载能力大、结构简单、重量轻和控制便捷等独特优点,而且并联机构的运动方程反解求解便捷容易,易于实现伺服控制。 To achieve the above object, the present invention contemplated are: the use of a parallel mechanism having a rigidity, high precision, high speed, large load capacity, simple structure, convenient light weight and control other unique advantages, and inverse solution for solving the equations of motion parallel mechanism easy and convenient, easy to implement servo control. 应用于遥感遥测低轨卫星天线的设计, LEO applied remote sensing satellite antenna design,

充分发挥了并联机构的特点。 Give full play to the characteristics of parallel mechanisms. 采用空间六自由度并联机构(Stewart平台机构)作为天线座架,采用空间六套直线伸縮驱动装置联结上、下两个平台,通过球铰或万向铰 Spatial parallel mechanism with six degrees of freedom (Stewart platform means) as an antenna mount, using six sets of spatially linear telescopic drive coupling, the two platforms by ball joints or universal joints

(虎克铰)联结构成Stewart平台机构,实现六自由度并联机构天线座架。 (Hooke joint) constituting the coupling means of the Stewart platform to achieve six degrees of freedom parallel mechanism antenna mounts. 上平台通过法兰接口与各种形式的天线反射体联结,下平台与地基固定,也可以与其他载体 Flange connection via the internet with various forms of coupling antenna reflector, the fixed lower platform and the foundation, but also with other carriers

(如:车辆、舰船和飞行器等骨架)联结构成机动天线系统。 (Such as: vehicles, ships and aircraft etc. backbone) constituting a motor coupled antenna system. 通过对空间六自由度并联机构(Stewart平台机构)的空间机构分析、综合和理论推导,合理选取六套直线驱动装置的杆长、伸縮长度和空间角度,解决大范围转动角度运动位置无奇异位问题, 实现航天遥感、遥感遥测天线半球空域连续跟踪天线结构系统。 By spatial parallel mechanism with six degrees of freedom (Stewart platform mechanism) space agencies analysis, theoretical analysis and synthesis, rational selection lever length six sets of linear drive, stretching the length and angle of the space, to solve the rotational movement position of wide range of angles without singularity issue and realize the space remote sensing, remote sensing and telemetry antenna structure hemisphere airspace continuous tracking antenna system. 该实用新型与相应的馈源系统和伺服控制系统构成的天线系统,实现卫星、运载火箭等飞行器有效空域的遥测信号和数据,圆满解决过顶跟踪"盲区"问题,实现"过顶"连续跟踪的天线系统。 The antenna system of this invention with the respective servo control system and a feed system constituted Telemetry data signal and the aircraft airspace effective satellites, rockets and the like, a satisfactory solution to track over the top "blind" and implement the "over the top" continuous tracking the antenna system. 根据上述实用新型构思,本实用新型采用下述技术方案: According to the inventive concepts, the present invention adopts the following technical scheme:

一种六自由度并联机构天线座,包括一个上平台和一个下平台,其特征在于由六个伺服电机分别驱动六个直线伸縮驱动装置,该六个直线伸縮驱动装置的上端与一块上平台铰连,而下端与一块下平台铰连,构成六自由度并联机构天线座。 6 - DOF parallel mechanism antenna pedestal, comprising a platform and a lower platform, characterized in that the servomotors are driven by the six six telescopic linear drive means, the upper end of the six linear drive means with a telescopic platform hinge even, at the lower end with a hinged platform, six degrees of freedom parallel mechanism configured antenna pedestal.

上述的六个直线伸縮驱动装置的每相邻两个上端通过球铰或万向铰与所述上平台下底面的一个凸块铰连,而每相邻两个下端通过球铰或万向铰与所述与一块下平台上表面的一个凸块铰连。 Two adjacent an upper end of each of the above six telescopic linear drive via a ball bearing or a universal joint with a protrusion on the bottom surface of the lower platform hinged, by a lower end of each two adjacent ball joints or universal joints It hinged on a projection surface of the platform and a lower. 或者所述六个直线伸縮驱动装置(4)的每相邻两个上端通过球铰或万向铰与所述上平台G)下底面的两个凸块铰连,而每相邻两个下端通过球铰或万向铰与所述与一块下平台(6)上表面的两个凸块铰连,上、下平台上的凸块相隔一定距离。 Or two adjacent an upper end of each of the six linear telescopic drive means (4) by ball joints or universal joints to the upper platform G) at the bottom of the hinged two projections, while the lower end of each adjacent two two lugs connected to the joint surface (6) by ball joints or universal joints to the lower platform and an upper, bumps on the lower platform a distance.

上述的上、下两个平台均为三角形或者六边形,上、下两三角形位置相差60°, 且相互平行安装。 The above-described, the two platforms are triangular or hexagonal, the upper and lower positions differ triangle 60 °, and is installed parallel to each other. 上述的上平台与天线反射体固定连接,所述下平台与地基机架或天线载体机架连接。 Said upper platform connected to the antenna reflector is fixed, the lower platform and the foundation of the antenna carrier rack or rack connection.

本实用新型的有益效果是:可以圆满地解决经典的俯仰-方位型(EL-AZ型)天线在天线过天顶"盲锥区"空域连续跟踪卫星问题,实现航天遥感、卫星遥感遥测信号和卫星通信信号和信息不间断连续工作的需求。 This has the beneficial effect is: can a complete solution to the classic pitch - bearing type (EL-AZ-type) antenna in the antenna over the zenith "blind cone zone" airspace continuous tracking satellite issue and realize the space remote sensing, satellite telemetry signals and satellite communication signals uninterrupted continuous operation and information needs. 而且同样口径、技术指标的天线,本实用新型天线结构系统的重量明显低于经典的俯仰-方位型(EL-AZ型)天线重量, 尤其在大口径天线时更加明显,仅为俯仰-方位型(EL-AZ型)天线重量的70%—50%, 大大节省了生产成本。 And the same diameter, antenna specifications, the weight of the antenna structure of the present invention is significantly lower than the classical system of elevation - azimuth type (EL-AZ-type) antenna weight, especially in the more obvious large-diameter antenna, only the pitch - type orientation (EL-AZ type) 70% -50% by weight of antennas, significant savings in the cost of production. 附图说明 BRIEF DESCRIPTION

图1:是本实用新型的六自由度并联机构天线座与天线反射体的联结结构示意图。 Figure 1: is a schematic structural view of a novel six degrees of freedom parallel mechanism reflector antenna base and the antenna coupling.

图2:是图1所示天线结构系统的天线水平指平姿态示意图 Figure 2: is a horizontal antenna structure shown in FIG antenna system refers to a schematic view of a flat posture

图3:是本实用新型的六自由度并联机构天线座的结构示意图。 Figure 3: a schematic view of the structure of the present invention is a six degrees of freedom parallel mechanism Antenna.

图4:是图3的俯视图。 Figure 4: is a top view of FIG. 3.

图5:是图3的仰视图。 Figure 5: is a bottom view of FIG. 3.

具体实施方式 Detailed ways

本实用新型的一个优选实施例结合附图说明如下:在图1示出六自由度并联机构天线座2与天线反射体1在天线结构系统中的联结关系。 The present invention a preferred embodiment described in conjunction with the accompanying drawings as follows: six degrees of freedom parallel mechanism is shown coupled to antenna base 2 and the relationship between the reflector antenna system 1 in the antenna structure in FIG.

参见图2示出六自由度并联机构天线座2与天线反射体1组成天线结构系统在天 Referring to FIG. 2 shows the six degrees of freedom parallel mechanism 2 and the antenna base of the antenna reflector system of the antenna structure 1 day Composition

线水平指平姿态。 Line refers to a horizontal level attitude.

参见图3、图4和图5,本六自由度并联机构天线座2由上平台3、六套直线伸縮驱动装置4及其伺服电机5、下平台6和地基机架7组成。 Referring to FIG 3, FIG 4 and FIG 5, the six degrees of freedom parallel mechanism from the antenna base 2 platform 3, six sets of telescopic linear drive servo motor 4 and 5, the platform 6 and the frame 7 foundation composition. 伺服控制系统根据跟踪要求指令伺服电机5驱动空间六套直线伸縮装置4,以驱动上平台3实现天线系统指向所需跟踪的卫星或飞行器,由馈源系统实现信号、信息交换或接收。 The tracking servo control system in accordance with instructions from the servo motor 5 drives required space six sets of linear expansion device 4 to drive the platform to the satellite antenna system 3 implements or vehicles to be traced, by a feed system for signal, or the exchange of information received.

参见图1和图2,本六自由度并联机构天线座2通过上平台3与天线反射体1联结固定,可以通过定位结构加紧固件联结,也可以用焊接方式联结。 Referring to Figures 1 and 2, the six degrees of freedom parallel mechanism 2 through the antenna base and the antenna reflector 3 on a platform coupled to the fixed body 1, can be added to the fastener coupling by positioning structure may be coupled by welding.

上述的直线伸缩驱动装置4及其伺服电机5可以是螺旋传动(如:螺杆螺母传动机构),其螺母由伺服电机直接驱动或者通过传动装置驱动其旋转,从而使螺杆直线移动;也可以是伺服电机直接驱动或者通过传动装置驱动一个油泵提供动力油,由动力油驱动油缸使活塞杆作直线移动。 The above-described linear telescopic drive the servo motor 4 and 5 may be a screw drive (eg: a screw nut drive mechanism), which nut is directly driven by a servomotor or via a transmission driven rotation thereof, thereby linearly moving the screw; may be servo or a direct drive motor to power the oil pump driven by a drive means driven by the power cylinder oil the piston rod moves linearly.

Claims (4)

  1. 1、一种六自由度并联机构天线座,包括一个上平台和一个下平台,其特征在于由六个伺服电机(5)分别驱动六个直线伸缩驱动装置(4),该六个直线伸缩驱动装置(4)的上端与所述的上平台(3)铰连,而下端与所述的下平台(6)铰连,构成六自由度并联机构天线座。 1 A six degrees of freedom parallel mechanism antenna pedestal, comprising a platform and a lower platform, characterized in that the six servo motors (5) drive the six linear telescopic drive means (4), the telescopic drive six linear platform means (4) with said upper end (3) hinged, while the lower end of the lower platform (6) hinged, six degrees of freedom parallel mechanism configured antenna pedestal.
  2. 2、 根据权利要求1所述的六自由度并联机构天线座,其特征在于所述六个直线伸縮驱动装置(4)的每相邻两个上端通过球铰或万向铰与所述上平台(3)下底面的一个凸块铰连,而每相邻两个下端通过球铰或万向铰与所述与一块下平台(6)上表面的一个凸块铰连;或者所述六个直线伸縮驱动装置(4)的每相邻两个上端通过球铰或万向铰与所述上平台(3)下底面的两个凸块铰连,而每相邻两个下端通过球铰或万向铰与所述与一块下平台(6)上表面的两个凸块铰连,上、下平台上的凸块相隔一定距离。 2, six degrees of freedom parallel mechanism according to the antenna base according to claim 1, characterized in that the upper end of each of said two adjacent telescoping six linear drive means (4) by ball joints or universal joints of the platform (3) a hinged bottom surface of the projection, and a projection on the hinged lower end of each surface of the two adjacent ball joints or universal joints by the platform and a lower (6); said six or each of two adjacent upper linear telescopic drive means (4) at the bottom surface of the two projections hinged by ball joints or universal joints of the platform (3), the lower end of each of two adjacent ball joints or by and the universal joints and a lower platform (6) hinged two projections even surface, the bumps on the lower platform a distance.
  3. 3、 根据权利要求l所述的六自由度并联机构天线座,其特征在于所述上、下两个平台(3、 6)均为三角形或者六边形,上、下两三角形位置相差60。 3, in accordance with six degrees of freedom parallel mechanism of the antenna holder as claimed in claim l, wherein said upper and lower platforms (3, 6) are triangular or hexagonal, the upper and lower positions differ triangle 60. ,且相互平行安装。 And mounted parallel to each other.
  4. 4、 根据权利要求l所述的六自由度并联机构天线座,其特征在于所述上平台(3)与天线反射体(1)固定连接,所述下平台(6)与地基机架(7)或天线载体机架连接。 4. The antenna base six degrees of freedom parallel mechanism according to claim l, characterized in that said platform (3) and the antenna reflector (1) is fixedly connected to the lower platform (6) and the foundation frame (7 ) or an antenna connected to the carrier rack.
CN 200820057537 2008-04-21 2008-04-21 Six degree of freedom parallel mechanism antenna seat CN201194250Y (en)

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Cited By (8)

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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 Over a redundant driving large Radio Telescope receiving tank structure
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 Foldable solar battery panel bearing rack body with Stuart mechanism
CN104058110B (en) * 2014-06-04 2016-08-10 清华大学 Remote sensing satellite system

Cited By (11)

* Cited by examiner, † Cited by third party
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 Over a redundant driving large Radio Telescope receiving tank structure
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
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
CN102904017B (en) * 2012-06-28 2016-04-06 上海创投机电工程有限公司 Ultra hemispheres spatial parallel mechanism system antenna structure
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
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 Foldable solar battery panel bearing rack body with Stuart mechanism

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