CN204375903U - 3-UPU bis-turn one moves type parallel institution antenna pedestal - Google Patents
3-UPU bis-turn one moves type parallel institution antenna pedestal Download PDFInfo
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- CN204375903U CN204375903U CN201420505700.1U CN201420505700U CN204375903U CN 204375903 U CN204375903 U CN 204375903U CN 201420505700 U CN201420505700 U CN 201420505700U CN 204375903 U CN204375903 U CN 204375903U
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- parallel institution
- antenna pedestal
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Abstract
The utility model relates to a kind of 3-UPU bis-turn and moves type parallel institution antenna pedestal.Three servomotors drive three cover linear telescopic drive units respectively, and the upper and lower end of this three covers linear telescopic drive unit is connected with upper and lower platform respectively by universal hinge, and the version of 3 side chains is identical with size, and arranges in being separated by 120 °; Two shaft axis of two universal hinges of the moving sets of each side chain are mutually orthogonal respectively, connect 3 all parallel lower platform planes of universal hinge shaft axis of lower platform equilateral triangle angle point, and intersect at a bit on upper and lower Platform center line, form " coplanar concurrent " geometric properties.The utility model can satisfactorily resolve the remote sensing telemetered signal and data that obtain the aircraft such as satellite, carrier rocket, realize antenna and " cross and push up " spatial domain Continuous Tracking, reach work spatial domain, i.e. orientation: 0 ° ~ 360 ° pitching: the problem such as free-position Continuous Tracking of < ± 90 °.
Description
Technical field
The utility model relates to a kind of 3-UPU bis-turn and moves type parallel institution antenna pedestal.For the antenna pedestal of space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) and satellite communication.Antenna structure system and servo-control system, feed feeder system (be called for short: sky, watch, present) form antenna system, realize remote sensing, telemetry and telecommand acquisition of information and instruction, realize satellite communication information and transmit and process.Especially telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket can be obtained, realize without aircraft such as the Continuous Tracking satellite launchers crossing top " blind area ", satisfactorily resolve antenna in its work spatial domain, i.e. pitching: < ± 90 °, orientation: the Continuous Tracking of 0 ° ~ 360 ° (suppose the electrical boresight of antenna be vertically antenna elevation angle towards position, sky greatly be 0 °).Technical solutions of the utility model belong to electromechanical integration technology area.
Background technology
Antenna pedestal is generally made up of antenna pedestal supporting construction, driving shaft system and transmission device, feeder line and cable winding device, Data Detection transfer device and safety guard.
At present, in the world known space remote sensing, satellite " three is distant " technology (remote sensing, remote measurement, telecontrol engineering) adopt classical elevation-azimuth type (EL-AZ type) antenna, elevation-azimuth type antenna also exists in antenna zenith position " blind cone " region that could " cross and push up " Continuous Tracking, and the size (i.e. the cone-apex angle of blind cone) in blind cone region depends on the horizontal flying speed of Distance geometry aircraft of antenna and aircraft.Low rail remote sensing antenna is not yet satisfactorily resolved so far to the problem of " crossing top " Continuous Tracking.First introduce the concept in an antenna tracking " Mang Zhui district ", classical elevation-azimuth type antenna pedestal is when tracking target, and antenna bearingt angular speed: β=V/ (R*cos ε) is (in formula: V is the horizontal velocity of target flight; R is the air line distance that antenna arrives target; ε is antenna elevation angle; β is antenna bearingt angular speed), when target is passed through near antenna zenith, ε → 90 °, the elevation angle, cos ε → 0, β → ∞.But motor driving power is limited, the angular speed that antenna rotates also is limited, and under certain driving power, antenna can only follow the tracks of the target at below a certain elevation angle, and existing near elevation-azimuth type antenna zenith cannot " the Mang Zhui district " of Continuous Tracking.
At present, in engineering reality elevation-azimuth type (EL-AZ type) antenna also exist one in antenna zenith position cannot " blind cone " region of " cross top " Continuous Tracking, classical elevation-azimuth type antenna cannot be adopted to realize in antenna zenith position Continuous Tracking of " crossing top ".Can only select to avoid satellite transit track and build satellite ground station antenna through the place of antenna zenith.
The remote sensing remote measurement low orbit satellite Antenna Design of traditional classical selects elevation-azimuth type (EL-AZ type) antenna pedestal, there is top " Mang Zhui district " in it, elevation-azimuth type antenna cannot cross top " Mang Zhui 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 prior art Problems existing provides a kind of parallel institution antenna pedestal, realize the Continuous Tracking antenna system without crossing top " blind area ", satisfactorily resolve Antenna Operation spatial domain and " cross and push up " Continuous Tracking, realize the demand of satellite-signal and the uninterrupted continuous operation of data.It is easily convenient to separate because the equation of motion solving 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 to have rigidity is large, precision is high, speed is fast, bearing capacity is large, structure is simple, lightweight and control the particular advantages such as convenient, and the anti-solution of the equation of motion of parallel institution solves easily convenient, be easy to realize SERVO CONTROL.Be applied to the design of remote sensing remote measurement low orbit satellite antenna, give full play to the feature of parallel institution.Adopt 3-UPU type parallel institution as antenna mount, space three is adopted to overlap by upper and lower two platforms of linear telescopic drive unit connection, three cover linear telescopic drive unit upper ends, lower end are connected with upper and lower platform respectively by universal hinge (U), form 3-UPU parallel institution, realize 3-UPU type parallel institution antenna pedestal.Upper mounting plate is connect by flange-interface and various forms of antenna reflector, and lower platform and ground are fixed, and also can connect with other carriers (as: skeleton such as vehicle, naval vessel and aircraft) and form motorized antenna seat.
The efficient working range (scope of antenna pitching angle) that 3-UPU of the present utility model bis-turn moves the antenna pedestal of type parallel institution is determined by upper and lower platform size (upper and lower platform equilateral triangle circumradius ratio), bar hard-over that is long and universal hinge (U).Article 3, branched structure is identical with size, arranges for 120 ° in being separated by; Two shaft axis that each side chain connects the universal hinge (U) of moving sets (P) are mutually orthogonal, connect 3 all parallel lower platform planes of universal hinge (U) shaft axis of lower platform equilateral triangle angle point, and intersect at a bit on upper and lower Platform center line, form these 3 shaft axis coplanar and, form " coplanar concurrent " geometrical relationship on junction two central platform line a bit; 3 universal hinge (U) shaft axis connecting upper mounting plate equilateral triangle angle point intersect at a bit on upper and lower Platform center line, form " concurrent noncoplanar " geometrical relationship, the configuration of this space mechanism makes the utility model have 2 rotations, 1 movement, the 3-UPU bis-turn of 3DOF moves type parallel institution antenna pedestal altogether.
By the analysis of spatial mechanism to 3-UPU type parallel institution, Structure Configuration Synthesis and theory deduction, the bar that Rational choice three overlaps linear drive apparatus is long, collapsing length, space angle and upper, lower platform size and universal hinge (U) hard-over, realize Antenna Operation spatial domain and reach pitching: < ± 90 °, orientation: the work spatial domain rotational angle movement position of 0 ° ~ 360 ° (suppose the electrical boresight of antenna be vertically antenna elevation angle towards position, sky greatly be 0 °) is without Singularity problem, realize space remote sensing, telemetry and telecommand antenna is at the antenna structure system of work spatial domain Continuous Tracking.The antenna system that this utility model and corresponding feed system and servo-control system are formed, realize telemetered signal and the data in the effective spatial domain of the aircraft such as satellite, carrier rocket, satisfactorily resolve Passing zenith tracing " blind area " problem, realize work spatial domain and move type (2 rotations without the one two turn of following the tracks of blind area, 1 moves, altogether 3DOF) antenna pedestal.
Conceive according to above-mentioned utility model, the utility model adopts following technical proposals:
A kind of parallel antenna structure system, connect an antenna pedestal by an antenna reflector to form, it is characterized in that the structure of described antenna pedestal is: three servomotors drive the linear telescopic drive unit (as screw pair, hydraulic cylinder etc.) of three cover moving sets respectively, the upper and lower end of this three cover linear telescopic drive unit (moving sets) is connected by universal hinge (U) with upper and lower platform respectively, forms 3-UPU type parallel institution antenna pedestal.
The upper and lower end of above-mentioned three cover linear telescopic drive units is hinged respectively by universal hinge (U) and the projection above described upper, platform bottom surface, lower platform.
Above-mentioned upper and lower two platforms are equilateral triangle, and upper and lower two equilateral triangle position consistency, and the installation that is parallel to each other, 3 side chains are connected to the drift angle of two equilateral triangles.
The shaft axis of the universal hinge (U) at the two ends of the moving sets of every bar side chain is mutually orthogonal all separately, the pivot center place same plane of 3 universal hinges (U) that above-mentioned lower platform connects and be parallel to lower platform plane, and its 3 axis intersect at a bit, this point, by upper and lower equilateral triangle Platform center line, forms " coplanar concurrent " geometrical relationship; The shaft axis of the universal hinge (U) of the moving sets be at this moment connected with upper mounting plate intersects at a bit, and this point is by upper and lower equilateral triangle Platform center line, form the geometrical relationship of " concurrent noncoplanar ", the shaft axis of the universal hinge (U) be simultaneously connected with upper mounting plate forms the equilateral triangle that is parallel to upper mounting plate, and its position differs 60 ° with upper mounting plate equilateral triangle shaped position.
Above-mentioned upper mounting plate is fixedly connected with antenna reflector, and lower platform is connected with ground frame or antenna carrier frame.
The beneficial effects of the utility model are: can solve classical elevation-azimuth type (EL-AZ type) antenna satisfactorily and cross zenith " Mang Zhui district " spatial domain Continuous Tracking satellite problem at antenna, realize the demand of space remote sensing, satellite remote sensing telemetered signal and satellite communication signals and the uninterrupted continuous operation of information.And same bore, technical indicator antenna, the weight of the utility model antenna structure system is starkly lower than classical elevation-azimuth type (EL-AZ type) antenna weights, especially more obvious when large aperture antenna, be only the 40%-60% of elevation-azimuth type (EL-AZ type) antenna weights, greatly save production cost.
Accompanying drawing explanation
Fig. 1: be that 3-UPU of the present utility model bis-turn moves type parallel institution antenna subarrays schematic diagram.
Fig. 2: be that 3-UPU bis-shown in Fig. 1 turn moves attitude schematic diagram that type antenna elevation angle is E (suppose the electrical boresight of antenna be vertically antenna elevation angle towards position, sky greatly be 0 °).
Fig. 3: be the structural representation that the utility model 3-UPU bis-turn moves type parallel institution antenna pedestal.
Fig. 4: the cutaway view (slice location and direction are as diagram) being Fig. 3.
Fig. 5: another cutaway view (slice location and direction are as diagram) being Fig. 3.
Embodiment
A preferred embodiment accompanying drawings of the present utility model is as follows:
At Fig. 2, the utility model antenna pedestal (2) and antenna reflector (1) connection relation in antenna structure system are shown.
Illustrating that this antenna pedestal (2) and antenna reflector (1) form antenna structure system at antenna elevation angle see Fig. 3 is the attitude of E.
See Fig. 3, Fig. 4 and Fig. 5, this antenna pedestal (2) is made up of upper mounting plate (3), three covers linear telescopic drive unit (4) and servomotor (5), lower platform (6) and ground frame (7).Servo-control system drives space three to overlap linear telescopic device (4) according to tracer request instruction servomotor (5), realize to drive upper mounting plate (3) satellite or the aircraft that antenna system points to required tracking, realize signal, information exchange or reception by feed system.
See Fig. 2 and Fig. 3, this antenna pedestal (2) connects fixing by upper mounting plate (3) and antenna reflector (1), can add securing member connection, also can connect with welding manner by location structure.
Above-mentioned linear telescopic drive unit (4) and servomotor (5) thereof can be moving sets (as: screw nut driven mechanisms), by servomotor Direct driver or by actuator drives, it rotates its nut, thus screw rod is moved linearly; Also can be servomotor Direct driver or provide power oil by actuator drives one oil pump, drive oil cylinder that piston rod is moved linearly by power oil.
Claims (4)
1. a 3-UPU bis-turn moves type parallel institution antenna pedestal, it is characterized in that the structure of described antenna pedestal (2) is: three servomotors (5) drive three covers linear telescopic drive unit (4) respectively, the upper and lower end of this three cover linear telescopic drive unit (4) connects and composes 3-UPU bis-turn respectively by universal hinge (U) and upper and lower platform (3,6) and moves type parallel institution antenna pedestal, article 3, the version of side chain is identical with size, and arranges in being separated by 120 °, two shaft axis of two universal hinges (U) of the moving sets (P) of each side chain are mutually orthogonal respectively, connect 3 all parallel lower platform planes of universal hinge (U) shaft axis of lower platform equilateral triangle angle point, and intersect at, on the lower platform line of centres a bit (O), form the geometrical relationship that this 3 shaft axis are coplanar, namely the axis connecting lower platform 3 universal hinges (U) forms " coplanar concurrent " geometric properties, the configuration of this space mechanism makes the utility model have 2 rotations, 1 movement, two turn one of totally 3 degrees of freedom is moved type parallel institution antenna pedestal.
2. parallel institution antenna pedestal according to claim 1, it is characterized in that described upper and lower two platforms (3,6) are equilateral triangle, upper and lower two equilateral triangle position consistency, and the installation that is parallel to each other, 3 side chains are connected to the drift angle of two equilateral triangles.
3. parallel institution antenna pedestal according to claim 1, it is characterized in that the upper end of described three covers linear telescopic drive unit (4) is connected respectively by the projection of universal hinge (U) with the lower surface of described upper mounting plate (3), its lower end is connected respectively by the projection of universal hinge (U) with the upper surface of described lower platform (6).
4. parallel institution antenna pedestal according to claim 1, it is characterized in that described upper mounting plate (3) is fixedly connected with antenna reflector (1), described lower platform (6) is connected with ground frame (7) or antenna carrier frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505700.1U CN204375903U (en) | 2014-09-03 | 2014-09-03 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420505700.1U CN204375903U (en) | 2014-09-03 | 2014-09-03 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
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| Publication Number | Publication Date |
|---|---|
| CN204375903U true CN204375903U (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420505700.1U Expired - Fee Related CN204375903U (en) | 2014-09-03 | 2014-09-03 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105226370A (en) * | 2015-10-23 | 2016-01-06 | 上海创投机电工程有限公司 | 6/6-UPU type parallel antenna structure system |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN107275787A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The rotary table for supporting directional aerial to turn to |
| CN107275786A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The direction switch base of directional aerial |
-
2014
- 2014-09-03 CN CN201420505700.1U patent/CN204375903U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105226370A (en) * | 2015-10-23 | 2016-01-06 | 上海创投机电工程有限公司 | 6/6-UPU type parallel antenna structure 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 |
| CN105425835A (en) * | 2015-12-30 | 2016-03-23 | 西安交通大学 | Dielectric high-elastic polymer actuator-based antenna pose adjustment and control system |
| CN105425835B (en) * | 2015-12-30 | 2018-01-16 | 西安交通大学 | A kind of antenna pose regulator control system based on the high-elastic polymer actuator of dielectric |
| CN105522562A (en) * | 2016-01-12 | 2016-04-27 | 常州大学 | Four-freedom degree single-action platform parallel mechanism capable of realizing grabbing motion |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN107275787A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The rotary table for supporting directional aerial to turn to |
| CN107275786A (en) * | 2017-06-22 | 2017-10-20 | 成都希塔科技有限公司 | The direction switch base of directional aerial |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150603 Termination date: 20190903 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |