CN2842764Y - Ordered winding device for flexible-structure antenna feed-source flexible cord - Google Patents
Ordered winding device for flexible-structure antenna feed-source flexible cord Download PDFInfo
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- CN2842764Y CN2842764Y CN 200520079459 CN200520079459U CN2842764Y CN 2842764 Y CN2842764 Y CN 2842764Y CN 200520079459 CN200520079459 CN 200520079459 CN 200520079459 U CN200520079459 U CN 200520079459U CN 2842764 Y CN2842764 Y CN 2842764Y
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- reel
- gentle
- soft rope
- rope
- driver
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Abstract
The utility model relates to a soft rope ordered winding device in the technology of a space moving target with the dynamic accurate position and posture position control in a large range. The control of the space moving target at present is conducted in a small range, such as various industrial robots can only control the target in the small range of a plurality of meters and the movement of the object is realized by a hydraulic cylinder and other rigid components. The utility model aims to provide the new soft rope ordered winding device controlling the space moving target. The structure is composed of a rolling cylinder 19 wound with a soft rope 1 and a backward rotating axle 20. Spiral grooves uniformly distributed on the rolling cylinder 19 are engaged with the soft rope 1. The utility model has the advantage that a soft component is used for transmission and the soft rope is connected with the space moving target. The cost is low. The soft rope can be safety and orderly wound on the rolling cylinder and the working state is stable and reliable. Tests prove that the dynamic position of centimeter-level accuracy and the posture positioning control of 1 to 2 DEG of the target object are realized in the cylinder space range with the diameter of 40 meters and the height of 20 meters are realized.
Description
One, affiliated field:
The utility model relates to flexible structure antenna feed and accurately decides the appearance control technology, specially refers to a kind of flexible structure antenna feed Suo Youxu coiler device that softens.
Two, background technology:
Present implementation space moving target is decided appearance control and is also all carried out among a small circle, as the various robots of industrial quarters, they can only be handled among a small circle at several meters target object, what it realized object of which movement is the flexible of rigid members such as hydraulic cylinder, cylinder, electronic cylinder and rotary joint, can't realize the control of moving target on a large scale.
Three, technology contents:
The purpose of this utility model is to overcome the problem that exists in the above-mentioned background technology, develop the gentle Suo Youxu coiler device of a kind of novel flexible structural antenna feed, to cooperate flexible structure antenna feed accurately to decide the appearance control technology effectively, realization expansion space moving target is decided the range of application that appearance is controlled.
The technical solution of the utility model for realizing that above-mentioned technical purpose adopts:
The flexible structure antenna feed Suo Youxu coiler device that softens, it is characterized in that: form by the driver reel 19 and the gyroaxis 20 that are wound with gentle rope 1, on the rotating reel 19 uniform groove is arranged, this groove and gentle rope 1 coincide, rotating gyroaxis 20 is parallel with driver reel 19, and gyroaxis 20 surface contacts with gentle rope 1 with groove on the driver reel 19.
Technical solution of the present utility model also comprises:
The gentle Suo Youxu coiler device of described control space movement target is characterized in that: is 0 °-10 ° from the gentle rope 1 of driver reel 19 to transition angle pulley 13 teeter angle theta, and reel 19 both sides A, C point are equidistant to transition angle pulley 13.
The gentle Suo Youxu coiler device of described control space movement target, it is characterized in that: is 0 °-5 ° from the gentle rope 1 of driver reel 19 to transition angle pulley 13 horizontal preferable swing angle theta, and driver reel 19 both sides A, C point are equidistant to transition angle pulley 13.
The gentle Suo Youxu coiler device of described control space movement target, it is characterized in that: the groove on the driver reel 19 is a helical groove.
The gentle Suo Youxu coiler device of described control space movement target is characterized in that: the groove on the driver reel 19 is the semicircle helical groove that matches with gentle rope 1 diameter.
Advantage of the present utility model and effect:
1, because the gentle coiling of rope on the driver reel is designed to the individual layer winding method, when gentle rope is walked around the transition angle pulley and is wrapped on the driver reel, along with gentle rope around going into point, lay out change in location a little, gentle rope is not always perpendicular to the center line of reel.When disalignment was big, gentle rope can break away from the constraint of driver reel groove, reeled brokenly on reel, brought difficulty for calculating and control.Adopt gentle Suo Youxu coiler device, solved the irregular coiling problem that exists among flexible member-gentle Suo Chuandong.
2, owing to adopting flexible member, with low cost as elongated unit controls space movement target; Gentle rope can adopt flexible structures such as cable wire, rope, chain, and it is very convenient to change and keep in repair; And can increase and decrease its length arbitrarily within the specific limits.Thereby this technical scheme cheaply with the original elongated structure of rigidity of flexible elongated replacement, can realize on a large scale, the Pose Control of moving target in the large span easily.
3, gentle rope can be wound on the reel safe and orderlyly, stable working state is reliable; Through overtesting, prove that at a diameter be 40 meters, in 20 meters the cylindrical range of movement of height, that can realize the location of Centimeter Level precision of target object and 1-2 degree decides appearance control.
4, the control space on a large scale, the large span target travel scope of application is very wide, as can be used as the megamachine people of large shipbuilding factory hull assembling, the assembling of aircraft, spacecraft be can certainly be used for, the lifting of dock container, the transition of mine ore etc. can be used for.
Four, description of drawings:
Fig. 1 be whole gentle rope space on a large scale, large span dynamically accurately decides the appearance structural representation, Fig. 2 is gentle rope activation configuration schematic diagram, Fig. 3 realizes gentle Suo Youxu winding-structure partial schematic sectional view in the driver, Fig. 4 is the left view of Fig. 3, Fig. 5 is the schematic top plan view of the gentle Suo Youxu coiling equipment of control space movement target, and Fig. 6 is the range of movement schematic diagram of controlled motion target.
Label declaration: the 1-rope that softens, the 2-assembly pulley, 3-supports king-post, 4-driver, the 5-driver, 6-supports king-post distribution circle, 7-driver, 8-driver, the 9-driver, 10-driver, 11-controlled motion target, 12-bearing, 13-transition angle pulley, 14-shaft coupling, 15-decelerator, 16-brake, the 17-drive motors, 18-frame, 19-driver reel, the 20-gyroaxis, 21-weight, 22-space.
Five, embodiment:
Referring to Fig. 1, supporting on the king-post distribution circle 6 (the evenly distribution that distributing, but also uneven distribution) 6 are supported king-post 3, can certainly be designed to 3-9 and support king-post 3, fix a transition angle pulley 13 and driver below each support king-post 3, driver is driver (4,5,7-10), simultaneously on 2 weights 21 fixing gentle rope 1 also the transition angle pulley 13 by separately be connected to jointly on the space movement target 11.Each driver is controlled by computer, output is the folding and unfolding of gentle rope 1, gentle rope 1 is through transition angle pulley 13, be connected to jointly on the controlled motion target 11 by the assembly pulley 2 that supports king-post 3 upper ends again, moving target 11 is controlled in supporting king-post distribution circle 6 spaces and moves, and changes its position and attitude.The controlled scope that has the moving target 11 of antenna feed is the cylindrical space 22 concentric with supporting king-post distribution circle 6.
Referring to Fig. 2, on each driver mid frame 18, bearing 12 supporting driver reels 19, actuating force is to pass to decelerator 15 by drive motors 17 through shaft coupling 14 to slow down, and passes to reel 19 by shaft coupling 14 again, makes it to rotate and works.
Referring to Fig. 3 and Fig. 4, this is to realize gentle Suo Youxu winding-structure cross-sectional schematic on the driver.Assembly pulley 2 inputs that support king-post 3 upper ends are gentle ropes 1, walk around on the reel 19 that transition angle pulley 13 is connected to driver.The driver reel has the semicircle helical groove on 19 surfaces.Gyroaxis 20 is parallel with driver reel 19, and certain spacing is arranged, and the diameter of this spacing and gentle rope 1 coincide.When driver reel 19 clockwise rotated, gentle rope 1 was by the guide effect of gyroaxis 20 with driver reel 19, and winding is involved in the semicircle helical groove of driver reel 19, prevented that the gyroaxis 20 that gentle rope 1 breaks away from groove from contacting gentle rope 1 all the time.Arrow among the figure is represented rotation direction (certainly both forward and reverse directions rotate all can), and this structure has guaranteed the orderly coiling of gentle rope 1, lap wound and loose arrangement phenomenon can not occur.
Referring to Fig. 5, driver reel 19 is to horizontal range L between the transition angle pulley 13, gentle rope 1 left and right sides teeter angle theta is 0 °-10 ° (as 0 °, 1 °, 2 °, 3 °, 4 °, 5 °, 6 °, 7 °, 8 °, 9 °, 10 °), and preferable swing angle theta is 0 °-5 ° (as 0 °, 1 °, 2 °, 3 °, 4 °, 5 °).Driver reel 19 both sides A, C point are equidistant to transition pulley 13, constitute isosceles triangle thus.The diameter of driver reel 19 is D, and effective length is S, is wound between 2 of C, A on the reel 19 corresponding to the gentle rope 1 of angle theta.
Referring to Fig. 6, this is that the moving target 11 that has antenna feed is 40 meters at diameter, the schematic diagrames of work in 20 meters cylindrical space range of movement of height 22.
Claims (4)
1, the gentle Suo Youxu coiler device of flexible structure antenna feed, it is characterized in that: form by reel that is wound with gentle rope (1) (19) and gyroaxis (20), rotating reel has uniform groove on (19), this groove and gentle rope (1) coincide, rotating gyroaxis (20) is parallel with reel (19), and gyroaxis (20) surface contacts with gentle rope (1) with groove on the reel (19).
2, the gentle Suo Youxu coiler device of control space movement target according to claim 1, it is characterized in that: is 0 °-10 ° from the gentle rope (1) of reel (19) to transition pulley (13) teeter angle theta, and reel (19) both sides A, C point are equidistant to transition pulley (13).
3, the gentle Suo Youxu coiler device of control space movement target according to claim 2, it is characterized in that: is 0 °-5 ° from the gentle rope (1) of reel (19) to the horizontal preferable swing angle theta of transition angle pulley (13), and reel (19) both sides A, C point are equidistant to transition angle pulley (13).
4, the gentle Suo Youxu coiler device of control space movement target according to claim 1 is characterized in that: the groove on the reel (19) is the semicircle helical groove that matches with gentle rope (1) diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520079459 CN2842764Y (en) | 2005-09-29 | 2005-09-29 | Ordered winding device for flexible-structure antenna feed-source flexible cord |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520079459 CN2842764Y (en) | 2005-09-29 | 2005-09-29 | Ordered winding device for flexible-structure antenna feed-source flexible cord |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2842764Y true CN2842764Y (en) | 2006-11-29 |
Family
ID=37446635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520079459 Expired - Fee Related CN2842764Y (en) | 2005-09-29 | 2005-09-29 | Ordered winding device for flexible-structure antenna feed-source flexible cord |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2842764Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323420B (en) * | 2008-07-17 | 2010-06-02 | 清华大学 | Cable parallel mechanism automatic tracking steering transmission gear |
| CN101060192B (en) * | 2007-05-14 | 2012-05-30 | 西安电子科技大学 | Flexible antenna structure rigidity enhancement technology |
| CN104460822A (en) * | 2014-10-13 | 2015-03-25 | 上海交通大学 | Electric actuator with brake |
| CN105742819A (en) * | 2016-03-01 | 2016-07-06 | 广东轻工职业技术学院 | Apparatus and method for adjusting diameter of spiral antenna, and spiral antenna |
-
2005
- 2005-09-29 CN CN 200520079459 patent/CN2842764Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101060192B (en) * | 2007-05-14 | 2012-05-30 | 西安电子科技大学 | Flexible antenna structure rigidity enhancement technology |
| CN101323420B (en) * | 2008-07-17 | 2010-06-02 | 清华大学 | Cable parallel mechanism automatic tracking steering transmission gear |
| CN104460822A (en) * | 2014-10-13 | 2015-03-25 | 上海交通大学 | Electric actuator with brake |
| CN104460822B (en) * | 2014-10-13 | 2016-02-10 | 上海交通大学 | The electric actuator of band brake |
| CN105742819A (en) * | 2016-03-01 | 2016-07-06 | 广东轻工职业技术学院 | Apparatus and method for adjusting diameter of spiral antenna, and spiral antenna |
| CN105742819B (en) * | 2016-03-01 | 2018-09-28 | 广东轻工职业技术学院 | A kind of device, method and the helical antenna of adjustment helical antenna diameter |
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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: 20061129 Termination date: 20100929 |