EP0498699B1 - Anordnung zur Ausrichtung einer Nutzlast, insbesondere einer Satellitenantenne - Google Patents

Anordnung zur Ausrichtung einer Nutzlast, insbesondere einer Satellitenantenne Download PDF

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Publication number
EP0498699B1
EP0498699B1 EP92400244A EP92400244A EP0498699B1 EP 0498699 B1 EP0498699 B1 EP 0498699B1 EP 92400244 A EP92400244 A EP 92400244A EP 92400244 A EP92400244 A EP 92400244A EP 0498699 B1 EP0498699 B1 EP 0498699B1
Authority
EP
European Patent Office
Prior art keywords
support
drive device
rotation drive
reducer
connecting ring
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 - Lifetime
Application number
EP92400244A
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English (en)
French (fr)
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EP0498699A1 (de
Inventor
Gilles Labruyère
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agence Spatiale Europeenne
Original Assignee
Agence Spatiale Europeenne
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Filing date
Publication date
Application filed by Agence Spatiale Europeenne filed Critical Agence Spatiale Europeenne
Publication of EP0498699A1 publication Critical patent/EP0498699A1/de
Application granted granted Critical
Publication of EP0498699B1 publication Critical patent/EP0498699B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole

Definitions

  • the present invention relates to a device simultaneously ensuring the rotational driving of a payload relative to a structure and the support of this load (therefore its guiding in rotation).
  • the invention relates to such a device, also called a "rotary drive table", which can be used in various applications, in particular in a satellite antenna pointing mechanism.
  • the drive units must have a very high rigidity, a high angular resolution, a small footprint and a large drive torque.
  • the invention aims to provide a support and drive device which meets these various requirements, and which can be used not only in the applications which have just been mentioned, but also in all fields where the qualities mentioned above prove to be advantageous.
  • FIG. 1 shows an antenna pointing device of the type described and shown in the aforementioned FR-A-2 646 023, which may advantageously be referred to for details of the structure and of the operating mode. .
  • an antenna reflector 10 mounted movable relative to the structure 12 of a spacecraft or a satellite using two articulated arms 14 and 16 and which are themselves articulated with respect to each other.
  • the three joints are each insured and motorized using a support and rotational drive device 18.
  • Each of these support and drive devices also called a rotary drive table, can be produced in accordance with the teachings of the invention.
  • FIG. 2 there is a device 18 for the rotary drive; about a rotating axis X-X, of a first member (not shown) fixed to a first annular connecting ring 20, relative to a second member (not shown) fixed to a second annular connecting ring 22.
  • the first ring 20 is for example connected to a payload which it is desired to drive in rotation relative to the structure of a satellite to which the second link ring 22 is connected.
  • These links are for example provided by two series of screws, 24 and 26 respectively, distributed around the periphery of the crowns 20 and 22.
  • the first ring 20 comprises an annular plate 30 which extends axially in the direction of the second connecting ring 22 by an external cylindrical shell 32.
  • the second ring 22 includes an annular plate 34 extended axially by an inner cylindrical ferrule 36.
  • the two ferrules 32 and 36 are coaxial, with a common axis X-X and are used for guiding the first ring 20 in rotation relative to the second ring 22.
  • the device 18 comprises a pair of annular bearings with tapered rollers 38 and 40 mounted in "O" (back-to-back), that is to say mounted in opposition, the tops of the cones formed by the lines of action of the rolling elements, perpendicular to the contacting surfaces, being turned one opposite the other.
  • the outer rings of the two bearings 38 and 40 are mounted tight in the cylindrical shell 32 using a clamping plate 42 and with the interposition of a spacer 44.
  • the plate 42 is tightened using screws 46 screwed in an external radial extension 48 of the ferrule 32.
  • the inner rings of the bearings are mounted tight using a clamping plate 50, a spacer 52 and screws 54 screwed in an inner radial extension 56 of the inner ferrule 36.
  • the mounting of the bearings gives the assembly very high bending stiffness.
  • tapered roller bearings Thanks to their geometry, the behavior of tapered roller bearings reduces friction compared to ball bearings of the same capacity and with equal axial preloads.
  • the mounting and tightening of the rings allows very precise control of the axial preload of the bearings.
  • the first ring 20 is driven in rotation relative to the second ring by an annular electric motor 58.
  • the motor 58 comprises an annular cylindrical stator 60 and a cylindrical annular rotor 62 which are coaxial with a common axis X-X.
  • the stator 60 is fixed to a support part 64.
  • the support 64 is a part of revolution comprising a part in the form of an annular plate 66 which is extended axially by a cylindrical portion 68.
  • the stator 60 is mounted clamped axially against the internal face of the plate 66 by means of a shoulder 70 of an annular protective plate 72 and by fixing screws 74.
  • the axial end portion 76 of the cylindrical portion 68 fixed by screws 78 to the axial end portion 80 of a cylindrical portion 82 which extends the portion in the form of an inner radial annular plate 84 of the second connecting piece 22 .
  • the stator 60 is thus fixed and linked in rotation to the second connecting ring 22. It is arranged axially opposite the second connecting ring 22 and extends axially beyond the radial plane in which the plate extends 50 of the first connecting ring 18.
  • the rotor 62 is fixed using screws 86 received in an internal radial shoulder 88 formed at the axial end of an extension 90 of the planet carrier of a reduction gear whose structure will be described later.
  • annular drive motor 58 is axially offset with respect to the reduction gear, this characteristic is not necessary and in fact depends on the design constraints, in particular on the size maximum allocated to the table.
  • the motor could be placed inside the reducer, within the thickness of the table, which would simplify the general arrangement of the device.
  • the motor 58 is an annular step motor.
  • the stepping control can be done by microsteps, on the one hand to increase the angular resolution of the device, on the other hand to reduce the intensity of the acceleration peaks inherent in the operation of the stepping motors.
  • the engine is for example of the 53 PP model marketed by the company SAGEM and comprising 1200 steps per revolution.
  • the speed reducer is an epicyclic reducer of the differential type whose principle of design tion is illustrated schematically in Figure 3.
  • the differential D consists of a planet carrier or eccentric P which is mounted to rotate about its axis X-X relative to a fixed support F.
  • the planet carrier P carries two internal gear wheels B and C which are therefore rotated by the planet carrier with eccentricity with respect to the axis X-X. Wheels B and C are linked. They are mounted rotating around their axis on the planet carrier P.
  • the first internal wheel B meshes with a first external wheel A rotatably mounted around the axis X-X of the reduction gear.
  • the second internal wheel D meshes with a second external wheel D of axis X-X, but fixed in rotation relative to the support F.
  • the whole of the differential is arranged inside the cylindrical space delimited radially by the ferrule inside 36 and axially by the height, or axial thickness, of the axial stack of the two tapered roller bearings 38 and 40.
  • the differential D is therefore placed "inside" the annular bearings 38 and 40 within the meaning of the invention.
  • the central body 91 of the planet carrier P is mounted rotating on the cylindrical extension 82 of the second connecting plate 22 using two ball bearings with inclined tracks 92 and 94.
  • the rings of the bearings 92 and 94 are immobilized axially by the clamping plates 96 and 98 tightened by the screws 100 and 102.
  • the two internal wheels B and C are rotatably mounted on the central body 91 of the planet carrier by a pair of ball bearings with inclined tracks 104 and 106 which carry an annular bush 108 which receives the wheels B and C.
  • the bearings 104 and 106 are tightened by plates 110 and 112 and the wheels B and C are tightened axially by a plate 114. Screws 116 and 118 are used for tightening.
  • the first external wheel A is fixed to the first connecting ring 18 which for this purpose comprises a second cylindrical ferrule 120 on which the wheel A is screwed using screws 122.
  • the second external wheel D is fixed to an internal radial shoulder 124 of the ferrule 36 using screws 126.
  • the entire reduction gear is thus housed inside the bearings 38 and 40 and a cylindrical hole or orifice 128 is left free in the center of the device 18, this central hole being coaxial with the axis X-X.
  • means are provided for measuring the angle of rotation.
  • proximity sensors coupled in pairs, that is to say two pairs associated with the motor and two pairs associated with the connecting rings.
  • the main dimensional characteristics of the device of the invention are, for example, an overall diameter of 300 mm and an axial height of 45 mm excluding the engine.
  • the table is very rigid and can carry payloads whose inertia is greater than 200 kg.m 2 , without requiring any other fixing point.
  • the angular resolution is better than 0.001 °, and the transmitted torque is more than 100 N.m.

Landscapes

  • Retarders (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Claims (9)

1. Vorrichtung (18) zum Lagern, Lagerantrieb und Drehantrieb einer Nutzlast gegenüber einer Struktur, dadurch gekennzeichnet, daß sie umfaßt:
- einen ersten, mit der Nutzlast verbundenen Verbindungskranz (20);
- einen zweiten, mit der Struktur verbundenen Verbindungskranz (22);
- ein Paar ringförmiger Wälzlager (38,40) zur Drehführung des ersten Verbindungskranzes (20) gegenüber dem zweiten Verbindungskranz (22);
- einen ringförmiger Motor (58), dessen Stator (60) an einem der beiden Verbindungskränze (22) befestigt ist und dessen Rotor (62) den anderen Verbindungskranz (20) über ein Untersetzungsgetriebe drehantreibt; und
- ein Untersetzungsgetriebe in Form eines Differentialumlaufgetriebes (D), das innerhalb des Paares von ringförmigen Wälzlagern (38, 40) angeordnet ist.
2. Vorrichtung zum Lagern und zum Drehantrieb nach Anspruch 1, dadurch gekennzeichnet, daß der Rotor (62) des Motors (58) mit dem Satellitenträger (P, 91) des Untersetzungsgetriebes verbunden ist, der die beiden inneren Räder (B, C) des Untersetzungsgetriebes trägt und drehantreibt, von denen jedes jeweils mit einem der beiden äußeren Räder (A, D) des Untersetzungsgetriebes in Eingriff steht, von denen jedes jeweils mit dem ersten (20) und dem zweiten (22) Verbindungskranz drehverbunden ist.
3. Vorrichtung zum Lagern und zum Drehantrieb nach Anspruch 2, dadurch gekennzeichnet, daß die inneren (B, C) und die äußeren Räder (A, D) sowie der Satellitenträger (P) des Untersetzungsgetriebes in dem radial und axial von den inneren Ringen der beiden ringförmigen Wälzlager begrenzten, zentralen Innenraum angeordnet sind.
4. Vorrichtung zum Lagern und zum Drehantrieb nach Anspruch 3, dadurch gekennzeichnet, daß der ringförmige Antriebsmotor (58) außerhalb des genannten Raumes angeordnet und gegenüber dem Untersetzungsgetriebe axial versetzt ist.
5. Vorrichtung zum Lagern und zum Drehantrieb nach einem der Ansprüche 2 oder 3, dadurch gekennzeichnet, daß der Satellitenträger eine im wesentlichen ringförmige Grundform aufweist, um in der Mitte der Vorrichtung einen freien zentralen Durchlaß (128) um die Drehachse (X-X) der Vorrichtung (18) auszusparen.
6. Vorrichtung zum Lagern und zum Drehantrieb nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das Paar ringförmiger Wälzlager von zwei Wälzlagern (38, 40) mit einander gegenüber in Form eines "O" angebrachten, konischen Rollen gebildet wird.
7. Vorrichtung zum Lagern und zum Drehantrieb nach einem der vorhergehenden Anspruche, dadurch gekennzeichnet, daß sie in einem Raumfahrzeug wie einer Rakete, einem Satelliten, einer Raumstation oder einer Raumfähre eingebaut ist.
8. Vorrichtung zum Lagern und zum Drehantrieb nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß sie zur Ausrichtung einer einen Satz Sensoren umfassenden Vorrichtung wie zum Beispiel eines Teleskops benutzt wird.
9. Vorrichtung zum Lagern und zum Drehantrieb nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß sie zum Drehantrieb eines Bauteils eines Roboters oder eines Automaten verwendet wird.
EP92400244A 1991-02-08 1992-01-30 Anordnung zur Ausrichtung einer Nutzlast, insbesondere einer Satellitenantenne Expired - Lifetime EP0498699B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9101438A FR2672737B1 (fr) 1991-02-08 1991-02-08 Dispositif de support et d'entrainement en rotation d'une charge utile par rapport a une structure, notamment pour un mecanisme de pointage d'antenne de satellite.
FR9101438 1991-02-08

Publications (2)

Publication Number Publication Date
EP0498699A1 EP0498699A1 (de) 1992-08-12
EP0498699B1 true EP0498699B1 (de) 1995-05-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP92400244A Expired - Lifetime EP0498699B1 (de) 1991-02-08 1992-01-30 Anordnung zur Ausrichtung einer Nutzlast, insbesondere einer Satellitenantenne

Country Status (6)

Country Link
US (1) US5214361A (de)
EP (1) EP0498699B1 (de)
JP (1) JP3095282B2 (de)
CA (1) CA2060773C (de)
DE (1) DE69202481T2 (de)
FR (1) FR2672737B1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10117460A1 (de) * 2001-04-06 2002-11-07 Siemens Ag Impulsgekoppelter Transmissionsantrieb
ITTO20111107A1 (it) * 2010-12-09 2012-06-10 Selex Sistemi Integrati Spa Base di antenna
US10938103B2 (en) 2018-05-22 2021-03-02 Eagle Technology, Llc Antenna with single motor positioning and related methods
US11352150B2 (en) * 2019-03-12 2022-06-07 Momentus Space Llc Spacecraft structure configured to store frozen propellant
CN114738628B (zh) * 2022-05-07 2022-10-28 禄可科技集团有限公司 一种移动拍摄的智能拍摄装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2221211A1 (de) * 1972-04-29 1973-11-15 Hoesch Werke Ag Waelzkoerperdrehverbindung mit getriebe
JPS5819005A (ja) * 1981-07-24 1983-02-03 Nec Corp 空中線駆動装置
US4643047A (en) * 1981-10-20 1987-02-17 Advanced Energy Concepts '81 Ltd. Speed reducing gearing mechanism employing trochoidally formed gear surfaces for rolling torque transmission
JPS5980549A (ja) * 1982-10-28 1984-05-10 Jidosha Denki Kogyo Co Ltd 差動変速装置
FR2550390B1 (fr) * 1983-08-03 1985-11-29 Legall Jean Claude Monture d'antenne a stabilisation passive
FR2588049B1 (fr) * 1985-10-02 1989-06-02 Snecma Dispositif pour orienter et positionner angulairement l'axe de rotation d'une charge tournante
JPH0755678B2 (ja) * 1988-06-20 1995-06-14 日本電気株式会社 宇宙航行体の展開機構
US5064340A (en) * 1989-01-20 1991-11-12 Genmark Automation Precision arm mechanism
JPH0314951A (ja) * 1989-03-15 1991-01-23 Toshiba Corp 変速装置
FR2646023B1 (fr) * 1989-04-18 1991-06-14 Europ Agence Spatiale Dispositif de pointage d'antenne, satellite equipe d'un tel dispositif et procede de pointage d'antenne utilisant un tel dispositif

Also Published As

Publication number Publication date
JPH0587195A (ja) 1993-04-06
FR2672737A1 (fr) 1992-08-14
DE69202481D1 (de) 1995-06-22
CA2060773C (fr) 1996-07-16
CA2060773A1 (fr) 1992-08-09
JP3095282B2 (ja) 2000-10-03
DE69202481T2 (de) 1996-01-25
EP0498699A1 (de) 1992-08-12
US5214361A (en) 1993-05-25
FR2672737B1 (fr) 1993-04-30

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