CN206098665U - Redundant drive antenna structure system of parallel 6 -degree of freedom - Google Patents
Redundant drive antenna structure system of parallel 6 -degree of freedom Download PDFInfo
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- CN206098665U CN206098665U CN201621043143.1U CN201621043143U CN206098665U CN 206098665 U CN206098665 U CN 206098665U CN 201621043143 U CN201621043143 U CN 201621043143U CN 206098665 U CN206098665 U CN 206098665U
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Abstract
The utility model provides a redundant drive antenna structure system of parallel 6 -degree of freedom, including antenna reflecting surface and antenna pedestal, antenna reflecting surface hookup on the antenna pedestal, the antenna pedestal include parallel arrangement's fixed platform and motion platform, the prominent round platform that fixed platform reduces for the bore gradual change, equally divide on fixed platform and arranged three group's guide rail units, every group guide rail unit comprises two guide rails, all join in marriage on every guide rail and be equipped with the drive slider, every drive on slider all one -to -one articulated have an extension means, extension means articulates to the motion platform on, every fortune moving point can follow four motion unit teamwork, can effectively reduce unusual morpheme, the upset of antenna can be realized to the bellied round platform shape of fixed platform cooperation drive slider, the collaborative work of a plurality of drive sliders cooperations extension means not only makes the antenna can to realize full angle tracking, can also realize the every single move of negative angle degree, the stability of mechanism, flexibility and rigidity will very strengthen.
Description
Technical field
This utility model belongs to ship-board antenna device field, and in particular to a kind of parallel six degrees of freedom redundant drive day
Knot construction system.
Background technology
Antenna mount is the support of antenna and orienting device, to enable the antenna to according to predetermined track or follow mesh
Mark motion, points to exactly target, and quickly and accurately follows target to move, and its structure affects to a great extent antenna
The performance indications of whole machine.
With the continuous development of antenna technology, the especially fast development of mobile vehicle antenna equipment, to antenna equipment
The performance requirement such as rotational angular velocity, angular acceleration and precision, rigidity, reliability, dynamic characteristic is increasingly lifted, and traditional antenna
The performance indications of seat have more been difficult to meet these requirements.Such as with the increasingly reinforcement of China's maritime rights and interests, China's naval vessel activity
Scope gradually increases, it is therefore desirable to the continuous expansion of communication technology of satellite, and ship-board antenna becomes the indispensability of development mobile communication
Equipment, ship-board antenna needs mobility strong, and the inertia of whole moving component is less, full spatial domain non-blind area, and range of movement is bigger etc.
Requirement becomes increasingly conspicuous.And general ship-board antenna causes the load of bottom driver part larger using three axle forms of series connection, move
When inertia and eccentric moment it is larger, affect whole system natural frequency, and then affect system stability and rapidity.If my god
Linear dimension is larger, once ultra-wide superelevation, it is impossible to meet the requirement of overland transport, and at present antenna drive chain mostly is gear biography
Dynamic, weight is big, it is big to take up room, there is hysterisis error, it is difficult to adapt to future antenna development trend at a high speed, heavily loaded, accurate.
Utility model content
For many deficiencies that above-mentioned mentioned traditional antenna is present, there is provided a kind of parallel six degrees of freedom redundancy is driven
Dynamic antenna structure system, solves the problems, such as that traditional antenna seat crosses top " blind area ", solve traditional Stewart types parallel-connection structure without
Method realizes the problem of negative angle pitching, realizes the continuous tracking of Antenna Operation spatial domain any attitude non-blind area, improves system
Stability and rapidity, reduce the weight of whole antenna system.
The technical scheme of offer is：There is provided a kind of parallel six degrees of freedom redundant drive antenna structure system, including day
Line reflection face 2 and antenna pedestal, described antenna reflective face 2 is connected on antenna pedestal, and it includes：
Described antenna pedestal includes fixed platform 3 and the motion platform 4 be arrangeding in parallel, and motion platform is located in fixed platform
Side, fixed platform 3 is the round platform of the projection that bore gradual change is reduced, and divides equally in fixed platform 3 and is disposed with three groups of rail units, often
Group rail unit is made up of two guide rails, and driving slide block is fitted with each guide rail, and each drives and corresponded on slide block
Be hinged with a telescopic unit, adjacent and on different rail units two telescopic units are one group of telescopic unit, per group
Telescopic unit all upwardly extends the composition shape of falling V and is hinged on motion platform 4, and the position that telescopic unit is connected with motion platform is
Motor point, each motor point is located on motion platform and is uniformly distributed, and each described motor point is staggered with each rail unit.
Further, first described telescopic unit one end is hinged on slide block by Hooke's hinge, the first telescopic unit
The other end is hinged on the moving platform by ball pivot.
Further, radial direction of each guide rail along base outer perimeter face extends.
Further, the number of described guide rail 5 is identical with the number of the first telescopic unit, two of every group of rail unit
Angle is carried between guide rail, angular range is that 30 ° are less than or equal to more than 0 °.
Further, the first described telescopic unit is electric cylinders, cylinder or ball screw framework.This
This utility model beneficial effect compared with prior art is：
Mechanism can neatly point to any direction in work space, realize Antenna Operation spatial domain any attitude without blind
The continuous tracking in area, and realize the negative angle pitching of ship-board antenna requirement.
6 linear drives modules can be set up using round table-like fixed platform, the bearing of trend of linear drives module is
Radial direction along fixed platform outer peripheral face extends, and the bearing of trend of guide rail forms angle with the bearing of trend of telescopic unit,
Guide rail coordinates slide block composition linear drives module to stir antenna pedestal along the outer peripheral face of fixed platform.
It is supported by two telescopic units for constituting the shape of falling V at same motor point, gusseted can be effectively ensured
Stability at same motor point, two telescopic units force in guarantee antenna element at same motor point can complete various
Upset, sliding movement.
Two telescopic units of every group of telescopic unit are connected respectively on two groups of adjacent rail units, have been sequentially allocated institute
There is a group telescopic unit, it is ensured that every group of telescopic unit has two telescopic units to expanding-contracting action, and also two drive slide block to use
With sliding movement, each motor point can follow four moving cells (two drive slide block, two telescopic units) co-operating,
Singularities can effectively be reduced.
Motor point is staggered with rail unit, it is ensured that the point of application is located at two adjacent rail unit central authorities, it is ensured that stress
Balance.
Parallel institution is to produce the rotation around any axis in space, therefore the minimum distance between airbound target and rotation is it
Minimum flight altitude, therefore it will not produce infinitely great rotational angular velocity.
Mechanism has a six-freedom degree, drives slide block and set of rails to be in line driving module, because ship is located at sea level
During the upper moment is all in fluctuation status, by 12 input blocks of adjustment while azimuth pitch angle requirement is realized, Neng Gouke
Take the antenna caused because hull fluctuates and point to skew, be optimal the performances such as mechanism's stress, dynamic characteristic, give full play to
The mobility of antenna.
Slide block is driven by increasing, is made six side chains pass through 12 inputs and is coordinated to drive six freedom for realizing mechanism jointly
Degree, realizes redundant drive, and the raised truncated conical shape of fixed platform coordinates the upset for driving slide block to realize antenna, multiple drives
Movable slider coordinates telescopic unit collaborative work not only to allow antenna to realize that full angle is tracked, and can also realize that negative angle is bowed
Face upward, make mechanism's stress and motion all the time in preferable states, the stability of mechanism, motility and rigidity will be greatly enhanced.
Description of the drawings
Fig. 1 is antenna seat mechanism and antenna scheme of installation；
Fig. 2 is antenna subarrays schematic diagram；
Fig. 3 is this practical -15 ° of schematic diagram of utility model pitching；
Reference in figure is：Antenna pedestal 1, antenna reflective face 2, fixed platform 3, motion platform 4, guide rail 5, driving are slided
Block 6, Hooke's hinge 7, fixed pole 8, lever 9, ball pivot 10.
Specific embodiment
This practical utility model is described in further details below in conjunction with accompanying drawing：
As shown in Figure 1, 2, a kind of boat-carrying parallel six degrees of freedom redundant drive antenna structure system, including antenna reflective face
2, described antenna radiator 2 is bound up on antenna pedestal 1, and described antenna pedestal includes fixed platform 2 and motion platform 4, fixed
Platform 3 is fixed on a certain plane, and motion platform 4 is set in parallel in the top of fixed platform 3, described fixed platform 3 be bore gradually
Become the truncated cone-shaped of diminution and projection, divide equally on the outer peripheral face of fixed platform and be disposed with three groups of rail units, three groups of rail units
It is evenly arranged on the stationary platform, every group of rail unit is all made up of two guide rails for forming an angle, angular range is (0-
30 °], driving slide block is fitted with each guide rail, each guide rail along base outer perimeter face radial direction extend, drive slide block with
Set of rails is in line driving module.
As shown in Fig. 2 fixed platform 3 and motion platform 4 are by the six roots of sensation telescopic unit around the two line of centres setting
It is linked to constitute Stewart type parallel-connection structures, is specifically, on each driving slide block a telescopic unit, phase is hinged with
Adjacent and on different rail units two telescopic units are one group of telescopic unit, and every group of telescopic unit all upwardly extends composition
The shape of falling V is simultaneously hinged on motion platform 4, and the position that telescopic unit is connected with motion platform is motor point, and each motor point is located at
It is uniformly distributed on motion platform, every telescopic unit all includes fixed pole 8, lever 9, and one end of fixed pole 8 is by Hooke's hinge 7 and driving
Slide block 6 is connected, and one end of lever 9 is connected by ball pivot 10 with motion platform 4.
As shown in Fig. 2 six described telescopic unit structures are identical, each movement branched chain is respectively by fixed platform 3
Vertebra body sidewall guide rail at set out and be continuously connected to the lower surface of motion platform 4, six movement branched chains and the connection of motion platform 4
It is all ball pivot, and in six ball pivots are generally aligned in the same plane.
Described telescopic unit can be electric cylinders, cylinder or ball screw framework, described guide rail with drive slide block group
Into linear drives module be ball-screw linear drives module or for belt drives module.
Every group of rail unit, the angular range of two guide rails of each rail unit for (0-30 °].
It is described in detail according to the movement mechanism of pair mechanism of Fig. 1,2,3：
When antenna needs collection, lever 9 is shunk, and slide block 6 moves to the minimum point of guide rail 5, and motion platform 4 declines, mechanism
To minimum, now mechanism's integral rigidity is maximum, can resist most severe sea condition for height reduction, different according to concrete operating mode, when mesh to be measured
When mark flies here from a certain orientation, the driving secondary motion of each corresponding movement branched chain drives this movement branched chain to swing to adjust antenna
Seat attitude change antenna reflective face 2 towards orientation, six telescopic unit synergy movements, with adjust antenna pedestal attitude further
Change antenna reflective face 2 towards orientation, each rail unit synergy movement to coordinate to strengthen the luffing angle of adjustment antenna pedestal,
Realize continuous tracking of the antenna to target any attitude non-blind area in the range of -15 ° to 90 ° full work spatial domains.
Claims (5)
1. a kind of parallel six degrees of freedom redundant drive antenna structure system, including antenna reflective face (2) and antenna pedestal, it is described
Antenna reflective face (2) is connected on antenna pedestal (1), it is characterised in that：
Described antenna pedestal includes fixed platform (3) and the motion platform (4) be arrangeding in parallel, and motion platform is located in fixed platform
Side, the truncated cone-shaped of the projection that fixed platform (3) reduces for bore gradual change is divided equally in fixed platform (3) and is disposed with three groups of guide rails
Unit, every group of rail unit is made up of two guide rails (5), and driving slide block (6) is fitted with each guide rail, and each drives slide block
On be all hinged with a telescopic unit correspondingly, adjacent and on different rail units two telescopic units are stretched for one group
Contracting unit, every group of telescopic unit all upwardly extends the composition shape of falling V and is hinged on motion platform (4), and telescopic unit is flat with motion
The connected position of platform is motor point, and each motor point is located on motion platform and is uniformly distributed, described motor point and rail unit
It is staggered.
2. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1, it is characterised in that：Institute
The telescopic unit one end stated is hinged on slide block by Hooke's hinge (7), and the other end of telescopic unit is hinged on by ball pivot (10)
On motion platform.
3. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1, it is characterised in that：Respectively
Radial direction of the individual guide rail along base outer perimeter face extends.
4. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1, it is characterised in that：Often
Angle is carried between two guide rails of group rail unit, angular range is that 30 ° are less than or equal to more than 0 °.
5. a kind of parallel six degrees of freedom redundant drive antenna structure system according to claim 1, it is characterised in that：Institute
The telescopic unit stated is electric cylinders, cylinder or ball screw framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621043143.1U CN206098665U (en) | 2016-09-08 | 2016-09-08 | Redundant drive antenna structure system of parallel 6 -degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621043143.1U CN206098665U (en) | 2016-09-08 | 2016-09-08 | Redundant drive antenna structure system of parallel 6 -degree of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN206098665U true CN206098665U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621043143.1U Active CN206098665U (en) | 2016-09-08 | 2016-09-08 | Redundant drive antenna structure system of parallel 6 -degree of freedom |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106450653A (en) * | 2016-09-08 | 2017-02-22 | 中国电子科技集团公司第五十四研究所 | Parallel type six-freedom-degree redundant driving antenna structural system |
| CN108682955A (en) * | 2018-05-11 | 2018-10-19 | 安徽尼古拉电子科技有限公司 | A kind of integrated terminal antenna based on Beidou navigation technology |
| CN111806641A (en) * | 2020-07-21 | 2020-10-23 | 上海海事大学 | Three-degree-of-freedom wave compensation platform with variable working space |
| CN113118745A (en) * | 2021-04-22 | 2021-07-16 | 河南科技大学 | Automatic screwing assembly device and assembly method for large-diameter threaded part |
-
2016
- 2016-09-08 CN CN201621043143.1U patent/CN206098665U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106450653A (en) * | 2016-09-08 | 2017-02-22 | 中国电子科技集团公司第五十四研究所 | Parallel type six-freedom-degree redundant driving antenna structural system |
| CN106450653B (en) * | 2016-09-08 | 2023-05-09 | 中国电子科技集团公司第五十四研究所 | Parallel six-degree-of-freedom redundancy driving antenna structure system |
| CN108682955A (en) * | 2018-05-11 | 2018-10-19 | 安徽尼古拉电子科技有限公司 | A kind of integrated terminal antenna based on Beidou navigation technology |
| CN111806641A (en) * | 2020-07-21 | 2020-10-23 | 上海海事大学 | Three-degree-of-freedom wave compensation platform with variable working space |
| CN113118745A (en) * | 2021-04-22 | 2021-07-16 | 河南科技大学 | Automatic screwing assembly device and assembly method for large-diameter threaded part |
| CN113118745B (en) * | 2021-04-22 | 2022-03-22 | 河南科技大学 | Automatic screwing assembly device and assembly method for large-diameter threaded part |
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