EP0567545B1 - Vorrichtung zur ausrichtung und einstellung der position eines gegenstandes, insbesondere einer sende-/empfangsantenne für elektromagnetische wellern, in wenigstens einer von drei richtungen im raum - Google Patents

Vorrichtung zur ausrichtung und einstellung der position eines gegenstandes, insbesondere einer sende-/empfangsantenne für elektromagnetische wellern, in wenigstens einer von drei richtungen im raum Download PDF

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Publication number
EP0567545B1
EP0567545B1 EP92903888A EP92903888A EP0567545B1 EP 0567545 B1 EP0567545 B1 EP 0567545B1 EP 92903888 A EP92903888 A EP 92903888A EP 92903888 A EP92903888 A EP 92903888A EP 0567545 B1 EP0567545 B1 EP 0567545B1
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EP
European Patent Office
Prior art keywords
orientation
motors
antenna
mechanical
positioning
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EP92903888A
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English (en)
French (fr)
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EP0567545A1 (de
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Pierre Robert
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NOUVELLE SOTEREM Ste
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ROBERT Pierre
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    • 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
    • H01Q3/08—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 for varying two co-ordinates of the orientation

Definitions

  • the subject of the present invention is a device for orientation and adjustment, in at least one of the three directions of space, of the position of a part in particular of an antenna for receiving or transmitting electromagnetic waves.
  • This invention applies generally to all cases where it is necessary to orient and adjust, in at least one of the three directions of space, the position of at least one part and mainly bulky, heavy or bulky parts.
  • this device can be used in different fields of application, either as an orientation and adjustment device according to any one of the three orthogonal directions of the space associated with machine tools, elevators. , cranes, or all types of lifting, tilting, etc., or as a device for orienting and adjusting parts (guns, radars, antennas, turrets, etc.) which are carried on vehicles of all kinds: trucks, tanks, ships, missiles, planes, rockets, satellites.
  • the antennas currently used have variable directivity. One distinguishes on the one hand the isotropic antennas which radiate in all the directions of space, and on the other hand the omnidirectional antennas which radiate almost uniformly in the directions close to a generally horizontal plane.
  • the directivity properties are essential and they are characterized by various parameters and mainly by the radiation intensity and by the gain.
  • the gain is here defined as the relative ratio of the radiation intensity as a function of the direction to the maximum radiation intensity which would be produced by a reference antenna to which the same power would be supplied.
  • the reference antenna is often a half-wave antenna made up of a simple conducting wire half a wavelength long and fed in its center.
  • these antennas also have characteristics of energy efficiency, shapes and aerodynamics, dimensions, resistance to external agents, as well as an ability to maintain satisfactory properties in an appropriate frequency band.
  • the size of the antennas is a function of the wavelength of the waves they receive or that they emit and the value of its gain which is proportional to the square of the operating frequency.
  • antennae are often used with often parabolic reflectors which can reach several tens of meters in diameter.
  • the increase in the diameter of the antennas when they are mechanically orientable, has the consequence of increasing the mass to be maneuvered and the inertia, and therefore necessitating the use of devices for orienting and positioning the large antenna.
  • This device consists of a support B on which are arranged two structures C, D, possibly independent which allow positioning of the antenna A in two orthogonal directions of space.
  • a first direction which is parallel to an axis called azimuth and a second direction which is parallel to an axis called site.
  • the structure C arranged on the support B by suitable means comprises a toothed crown E with which a pinion F is engaged.
  • This pinion F is coupled to the output of a reduction gear G associated with a motor H to set in motion this structure C in a direction parallel to the axis of azimuth.
  • the structure C arranged above the ring gear E, is a casing which comprises two bearings IJ arranged symmetrically on either side of a median plane and supporting the structure D.
  • the structure D is composed of a shaft mechanical O carrying at its ends two arms K and L.
  • This casing comprises a motor M coupled to a reduction gear N whose output is associated by kinematics appropriate to the mechanical connecting shaft O.
  • This shaft O placed perpendicular to the azimuth axis and parallel to the site axis is arranged in the bearings and it is associated by a kinematics suitable for the pinion P by the toothed crown Q to set in motion the two arms K and L, in a direction parallel to l 'site axis.
  • the connecting shaft and the ring gear along the so-called "elevation" axis located in the casing has the consequence of requiring a bulky, heavy and bulky casing and placing the entire architecture holding and supporting the antenna above this casing.
  • the location of the architecture for supporting and supporting the antenna and the source is of a mechanical design which increases the inertia by increasing the distance from the antenna's center of gravity to the evaluation axis.
  • this connecting shaft which mechanically secures the two arms prevents any autonomous relative movement of one arm relative to another, which considerably limits the possibilities of adjusting the antenna installation plane.
  • This structure has antenna support arms which are not independent. It is a compact block which effectively comprises two symmetrical drives on each side, but there are not two motors by toothed ring with backlash by electrical servo-control of the motors.
  • This device is very far from that of the present invention since it does not describe a structure of great stiffness, animated without mechanical play.
  • the object of the present invention is to provide a device for orientation and adjustment, in at least one direction of space, of the position of a moving part which is different from the devices currently known by having a simple mechanical design. , easy maintenance and great flexibility of use.
  • Figure 1 is a schematic view, in cross section, of a conventional device for positioning an antenna and which illustrates the prior art.
  • Figure 2 is a schematic view, in cross section, of an antenna positioning device according to the invention whose electronic beam was shown on the one hand in a horizontal position and on the other hand in a vertical position.
  • Figure 3 is a schematic view illustrating the drive members and the drive means of the device in a direction parallel to the azimuth axis.
  • Figure 4 is a schematic view illustrating the drive members and the drive means of the device in a direction parallel to the site axis.
  • Figure 5 is a schematic view, in cross section, of the interior arrangement of the antenna positioning means in a direction parallel to the azimuth axis and in a direction parallel to the site axis.
  • FIG. 6 is a schematic view which illustrates the principle of the synchronization of the arms which incorporates a play catch-up.
  • FIG. 7 is a schematic view which illustrates the principle of the motorization of the azimuth axis which incorporates a play take-up.
  • FIG. 8 is a schematic view which illustrates the principle of backlash according to the invention when the external torque is less than twice the polarization value of the motor torque.
  • Figure 9 is a schematic view which illustrates the principle of backlash according to the invention when the external torque is greater than twice the polarization of the engine torque.
  • Figure 10 is a schematic view which illustrates an alternative embodiment in which the polarization of the torque is achieved by means of a mechanical connection between two high speed motor members.
  • Figure 11 is a schematic view, in cross section, which illustrates an alternative embodiment according to which the device comprises a shaft ensuring the mechanical connection between the two motor members coupled to pinions which are engaged with a crown.
  • FIG. 12 is a schematic view in longitudinal section of a pinion made up of two distinct sectors.
  • Figure 13 is a view which shows a device according to the invention which incorporates an orientation structure of the antenna in a direction perpendicular to the azimuth axis and to the site axis.
  • FIG. 14 is a schematic view made in section along the line XIII-XIII of FIG. 13.
  • Figure 15 is a schematic view which illustrates the operation of the antenna in any direction of space through the third axis which allows a gimbal type operation.
  • FIG. 16 is a schematic view which illustrates the operation of the antenna in an altazimuth direction, and for which the 3 ° cone corresponds to the zone where the azimuthal speed becomes very large.
  • Figure 17 is a schematic view which illustrates the "gimbal" operation of the antenna orientation means.
  • Figure 18 is a schematic view which illustrates the operation of the antenna in a direction of the azimuthal space seen along a vertical.
  • FIG. 19 is a schematic view which illustrates the determination of the so-called waiting points as a function of the trajectory of a mobile such as a satellite.
  • Figure 20 is a schematic view which illustrates a trajectory of a mobile, which requires a rotation of 90 ° of the azimuth axis during cardan type operation to find the meeting point.
  • a device for orientation and adjustment, in at least one direction, of a moving part which, here, is a transmitting or receiving antenna. electromagnetic waves.
  • such a positioning device can be used in all other types of applications in which it is necessary to position at least one movable part in at least one of the three orthogonal directions of space, whatever whatever its conformation and its dimensions.
  • This device comprises a support of a conventional type such as a mast or a barrel 1 which is surmounted by a structure 2 fixed to it by any known means such as bolts, and which comprises a horizontal toothed crown 3 surmounted by a housing 4.
  • a support of a conventional type such as a mast or a barrel 1 which is surmounted by a structure 2 fixed to it by any known means such as bolts, and which comprises a horizontal toothed crown 3 surmounted by a housing 4.
  • This casing 4 comprises, in its lower part, below a so-called elevation axis, two pairs of separate motors 5 a 5 b and 5 c , 5 d arranged symmetrically on either side of a horizontal median plane.
  • each of the motors 5 a , 5 b , 5 c , 5 d is associated with a reduction gear 6 a , 6 b , 6 c , 6 d coupled to a pinion 7 a , 7 b , 7 c , 7 d .
  • the paired pinions 7 a and 7 b and the paired pinions 7 c and 7 d are arranged symmetrically on either side of a vertical median plane parallel to an axis called the azimuth as illustrated in FIG. 4. They mesh on the ring gear 3 ensuring a displacement of the structure 2 in a direction parallel to the azimuth axis in a determined direction such as that represented by the arrow F1.
  • the casing 4 has, in its lower part, below a so-called elevation axis, two other pairs of motors 8 a , 8 b and 8 c , 8 d arranged symmetrically on either side of a parallel vertical median plane to the azimuth axis.
  • the output of these motors 8 a , 8 a , 8 c , 8 d is associated with a reduction gear 9 a , 9 b , 9 c , 9 d coupled to a pinion 10 a , 10 b , 10 c , 10 d .
  • the pair of pinions 10 a , 10 b , and the pair of pinions 10 c , 10 d are arranged symmetrically on either side of a vertical median plane parallel to an axis of azimuth as shown in FIG. 5.
  • the pinions 10 a , 10 b associated with the reducers 9a, 9b coupled to the motors 8 a , 8 b mesh on a vertical toothed ring 11 a associated with an arm 12 a in order to ensure its displacement in a direction parallel to the site axis in a determined direction such as that illustrated by arrow F2.
  • the pinions 10 c , 10 d associated with the reducers 9 c , 9 d coupled to the motors 8 c , 8 d mesh with a ring gear 11 b associated with an arm 12 b in order to ensure its displacement in a direction parallel to the 'site axis in a direction determined in accordance with that represented by arrow F3. It is understood that the direction of movement F1 of the arm 12 a may be different from the direction of movement F3 of the arm 12 a .
  • each arm 12 a , 12 b is autonomous so that each of these arms 12 a , 12 b can be moved independently.
  • each of the arms 12 a , 12 b there is a support plate 13 which has a fixed central orifice 14. This plate 13 is fixed by bolts 15 and carries rods 16 which support an antenna 17.
  • the antenna comprises in order to ensure its operation of the elements, not shown to simplify the figures, which are on the one hand powered elements and on the other hand unpowered elements.
  • the elements supplied are the antenna elements which are connected directly to the transmitter or to the receiver associated with the antenna. Unpowered elements are not connected directly but are coupled to elements connected by induction or electromagnetic radiation.
  • the elements supplied are either wires of length substantially close to a wavelength and they are called in this case doublets or half a wavelength, or antennas with long wires, or plates or volumes of various forms. For short wavelengths these supplied elements can be either more or less flared waveguides, or helices.
  • the non-powered elements are either guiding elements when they are placed in front of the powered elements, or wires generally of half a wavelength.
  • the reflective elements are either conductive planes, or arrays of wires which play the same function or else reflectors of appropriate shapes such as a dish of paraboloid of revolution at the focus on which is placed a primary source which can be a doublet for example.
  • the casing 4 has an internal space 20 which extends from its upper end to a dimension Z situated below the elevation axis.
  • This internal space 20 of flared shape determines a housing inside which is placed a support such as a barrel 22 which includes the electronic elements necessary for the operation of the antenna.
  • the barrel 22 can be housed in the internal space 20 between two extreme positions.
  • a first vertical position in which the antenna emits or receives waves in a substantially vertical direction is a first vertical position in which the antenna emits or receives waves in a substantially vertical direction.
  • a second horizontal position after rotation by appropriate means, 90 ° in a determined direction, in which the antenna emits or receives electromagnetic waves in a substantially horizontal direction.
  • the positioning of the barrel 22 inside the space 20 allows the antenna 17 and the barrel 22 to be brought closer to the elevation axis.
  • the barrel 22 is placed in a lower position so that it is subjected to stresses exerted by the smaller external elements. This reduction in the effects of external stresses and in particular those resulting from the torque, due to the phenomenon of wind resistance is appreciable because it reduces the risk of damage.
  • each of the four motors 5 a , 5 b , 5 c , and 5 d respectively drives a pinion 7 a , 7 b , 7 c , 7 d which meshes with the horizontal ring gear by generating an azimuthal displacement of the casing 4.
  • each of the four motors 8 a , 8 b , 8 c , 8 d respectively drives the pinion 10 a , 10 b , 10 c , 10 d .
  • the pinions 9 a , 9 b mesh with the toothed crown 11 a and the pinions 9 c , 9 d mesh with the toothed crown 11 b by generating a possibly independent displacement of each of the arms 12 a , 12 b autonomous according to a direction perpendicular to the azimuth axis and parallel to the site axis.
  • the pinions 7 a , 7 b , 7 c , 7 d which attack the horizontal toothed crown 3 and the pinions 10 a , 10 b , 10 s , 10 d which attack the two vertical toothed crowns 11 a , 11 b are of small dimensions.
  • the forces exerted on the teeth of the crown are divided at least by four and thus the modulus of the stresses is reduced.
  • the combined effect of the number of pinions and their small dimensions as well as the increase in the reduction ratio makes it possible to obtain a reduction in the torque of the reducers associated with the pinions.
  • the value of the torque of each gearbox is therefore divided at least by four.
  • the reduction in the size of the motor members (motors and associated reducers) as well as of the pinions promotes their distribution and their arrangement in the lower part of the casing 4 below the so-called elevation axis.
  • the housing of the barrel 22 inside the space 20 offers the possibility of having the devices associated with the antenna and with the electronic means ensuring its functioning and in particular, as shown in FIG. 2, rotating joints are placed at proximity to fut 22 as well as power and data transmission cables for information received or transmitted.
  • the motors 5 a , 5 b , 5 c , 5 d are controlled in pairs. This enslavement in pairs makes it possible to make up for the clearances by taking account of the external torques exerted at the level of the antenna and in particular of the torque resulting from the phenomenon of catch in the wind.
  • the mechanical play is compensated by an increase in torque of + DC, the torque of the motors 5 a , 5 b and by a decrease in torque of -DC the torque of the motors 5 c , 5 d .
  • the lash adjuster is achieved by a total torque variation which is zero since it compensates for the increase of DC motor torque of the engine 5, 5b by a corresponding decrease in the engine torque -DC motors 5c, 5 d .
  • the pair of motors 56 c and 56 d which in this case is not subject to any variation in its motor torque, provides an almost zero motor torque.
  • the ring gear is only subjected to the two opposing motor torques of each pair of motors 5 a , 5 b and 5 c , 5 d .
  • the two opposing couples catch up on the play and provide prestress to the ring gear.
  • This cancellation of the mechanical play increases the precision of the positioning of the antenna in this direction of space and, therefore, increases the quality of reception or emission of electromagnetic waves.
  • the backlash is done here at the motors and thus the accuracy is increased compared to a conventional mechanical backlash performed at the drive means.
  • This control of the position and speed of the slave motors by the master motor is advantageously achieved by means of a control of the type described in the document FR A-2-585.523.
  • the two motors are operated from their own power source.
  • a first family is delivered on the rotor of the master motor of 100 pulses.
  • the first 50 pulses are counted before the fastest rotor of the master or slave motor has completed a full revolution.
  • a second family is delivered on the rotor of the 200-pulse slave motor.
  • the first 100 pulses are counted before the fastest rotor of the master or slave motor has completed a full revolution.
  • This ratio defines the reduction ratio and is determined as a function of the speed values (Wm) and (We) which it is desired to obtain.
  • the speed of the slave motor rotor (We) is controlled and maintained identical to that (Wm) of the rotor of the master motor.
  • a control signal is delivered to vary the speed of the slave motor until these families of pulses are in phase and the desired speeds (Wm) and (We) are obtained.
  • the control of the position and the speed of the slave motors by a master motor is obtained by a motor torque loop which has a large bandwidth.
  • the stiffness of a connection is defined by the quotient of the axial force acting on the connection element by the variation in the length of the resulting element.
  • This stiffness of the electronic link depends on the precision with which the control between the rotors of the motors is carried out.
  • electronic means of the capacitive, inductive or other type are provided to detect any abnormal variation of a duration greater than a predetermined duration in which the device is in an abnormal operating range. .
  • this detection can determine the value of a limit angle comprised between the arms.
  • it may be the detection of an excessive stress which is exerted on the arms or any other parameters on which the proper functioning of the antenna depends.
  • This information is transmitted by known means to a microprocessor which comprises at least one memory having specific data and adapted to their management.
  • a pair of reducers 30 a , 30 b is associated with a ring gear 31 a secured to the arm 32 a and a pair of reducers 30 c , 30 d , is associated with a ring gear 31 b secured to the arm 32 b .
  • These two pairs of reducers 30 a , 30 b , 30 c , 30 d are arranged in the space 20 of the casing below 1 "elevation axis.
  • the inputs of the reducers 30 a and 30 c and of the reducers 30 b and 30 d are respectively coupled by a connecting pinion 33 a , 33 b .
  • the mechanical stiffness of the pinions 33 a , 33 b is advantageously divided by the reduction ratio existing between these reducers 30 a , 30 b , 30 c , 30 d , just as the inertia is divided by the square of the reduction ratio.
  • a mechanical connecting shaft 34 connects by a suitable kinematics the reducers 30 a and 30 c .
  • This connecting shaft 34 is coupled to a ring gear 35 on which a pinion 36 associated with the output of a motor 37 meshes.
  • a kinematic connection between the motor and the connecting shaft by any means other mechanical arrangement such as a combination of possibly toothed belts and / or chains with sprockets or other equivalent means.
  • this variant can also be implemented to allow movement in a direction parallel to the azimuth axis of the casing.
  • each reduction gear 40 a , 40 b is associated with a pinion 41 a , 41 b which meshes with a toothed ring secured to an arm 42 a , 42 b .
  • These two reducers 40 a , 40 b are mechanically connected by a shaft 43 on which is arranged a toothed crown 44 on which a pinion 45 meshes with the output of a motor 46.
  • a key (or other equivalent member) is inserted on the connecting shafts existing between the reducers.
  • pinions 50 which comprise two distinct sectors which each delimit a half pinion 51 and 52.
  • a mechanical device secured to an elastic means such as a spring, selectively keeps the teeth of one of the half pinions 51 of the ring gear apart while the teeth of the other half pinion 52 are engaged. with the crown gear.
  • the force for spacing the teeth of one of the half pinions 51 is very high compared to the force transmitted to the ring gear to allow the meshing of the teeth of the other half pinion 52. This is the reason for which, to better distribute the forces exerted on each half pinion 51, 52, there is a torsion shaft 53 coaxial with the axis of the pinion 54.
  • Another conceivable solution consists in engaging the pinions in the teeth of the crown by a radial force exerted by means of suitable mechanical devices such as a spring or any preferentially elastic pressure means.
  • toothed crowns which have excellent concentricity. Such toothed rings must be robust and resistant to significant forces and constraints and perfectly machined.
  • the device according to the invention allows positioning of the antenna in a direction perpendicular to the azimuth axis and to the site axis.
  • FIGS. 13 and 14 represent an embodiment in which each of the two vertical arms 60 and 61, advantageously autonomous and arranged symmetrically on either side of a vertical median plane, is surmounted by a horizontal plate 62 on which are subjected by appropriate means the antenna and its was not represented.
  • the arm 60 has at each of its ends an electric actuator 63 and 64 and the arm 61 has at each of its ends a hinge 65 and 66.
  • These electric jacks 63, 64 allow pivoting, in a direction perpendicular to the azimuth axis and perpendicular to the site axis, of the antenna and its support (not shown).
  • the positioning of the antenna and its sound is automatically replaced in a direction parallel to the azimuth axis by a positioning in a direction parallel to the direction of space which is perpendicular both to the azimuth axis and to the site axis.
  • This third axis is of course initially initialized at the origin, so as to be in perfect coincidence with the satellite observed.
  • the antenna in two of the three directions of space independently of the third and advantageously to modify the position and the orientation of the antenna in at least one of these three directions of the space depending on the satellite position.
  • interpolation is performed by calculating means by a polynomial and preferably by a third degree polynomial passing through the three points P1, P2 and P3.
  • the antenna scans an angular sector AZ1-AZ2 to find itself in a direction which allows to follow the trajectory of the satellite again, that is to say at the point P of waiting for the satellite which has been calculated. It is understood that the antenna scans this angular sector in a time suitable for being in position when passing from the satellite to point P.
  • Figure 19 illustrates a transition to the zenith of the satellite at an angle of 4.2 °.
  • the antenna scans an extreme angular sector of 90 ° in a direction perpendicular to the azimuth axis and the site axis. This movement of the antenna takes place here in a time close to 8.4 seconds, ie at a linear speed of 12 meters per second. This speed is sufficient to allow the antenna to be at point P in phase with the passage of the satellite.
  • the positioning device according to the invention operates as illustrated in FIG. 17 in cardan joint.
  • This transformation of the value of the angles is done by calculating means of the microprocessor type which includes in memory appropriate information for the processing of these data. Likewise, this microprocessor performs the calculation by known mathematical methods such as resolutions, interpolations or similar techniques, of the stroke of the jacks which allow appropriate positioning of the antenna.
  • the trajectory of the satellite is perfectly known and it is thus possible to control the positioning of the antenna and its sound in the directions of the space appropriate at the appropriate time.
  • the antenna is positioned and its was in a position such as that shown in Figure 17. In this position, one can follow the evolution of the trajectory of the satellite by positioning the antenna in a direction perpendicular to the azimuth axis and a direction parallel to the site axis.
  • the synchronization of the tilting of the antenna is controlled by regulation in position of the electric motors which supply the associated jacks.
  • This synchronization here is advantageously identical to that which has been described above and will therefore not be repeated.

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Claims (15)

  1. Vorrichtung zur Ausrichtung und Einstellung der Position eines Gegenstands in zumindest einer Raumrichtung, mit einer Halterung (1) für zumindest eine Struktur (2, 4), mit:
    - Positionierungs- und Ausrichtungseinrichtungen, die über eine geeignete Mechanik mit Antriebseinrichtungen verbunden sind,
    - Motoren (5a, 5b, 5c, 5d, 6a, 6b, 6c, 6d, 8a, 8b, 8c, 8d, 9a, 9b, 9c, 9d, 30a, 30b, 30c, 30d, 37, 40a, 40b, 46), die einzeln vorgesehen sind und dazu dienen, die Positionierungs- und Ausrichtungseinrichtungen (3, 11a, 11b, 12a, 12b, 31a, 31b, 32a, 32b, 35, 42a, 42b, 44, 60, 61) dienen,
    - Einrichtungen zum Koordinieren der Wirkung der Motoren (5a, 5b, 5c, 5d, 6a, 6b, 6c, 6d, 8a, 8b, 8c, 8d, 9a, 9b, 9c, 9d, 30a, 30b, 30c, 30d, 37, 40a, 40b, 46),
    - einer Einrichtung zum Beseitigen des mechanischen Spiels, das zwischen den Motoren (5a, 5b, 5c, 5d, 6a, 6b, 6c, 6d, 8a, 8b, 8c, 8d, 9a, 9b, 9c, 9d, 30a, 30b, 37, 40a, 40b, 46) und den Antriebseinrichtungen (7a, 7b, 7c, 7d, 10a, 10b, 10c, 10d, 33a, 33b, 36, 41a, 41b, 45), die damit in Eingriff stehen, vorliegt,
    dadurch gekennzeichnet, daß die Einrichtungen zum Positionieren und Ausrichten durch unabhängige, verschiebliche Arme (12a und 12b) gebildet werden, die an Zahnkränzen (11a und 11b) befestigt sind, mit denen die Elektromotoren (8a und 8c) in Eingriff stehen, die miteinander über eine Regelung verbunden sind, wobei weitere Motoren (8b und 8d) mit den Zahnkränzen (11a und 11b) in Eingriff stehen, um einen gegenläufigen Einfluß auszuüben, um Spiel auszugleichen.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Abtriebsseite der Motoren (6a, 6b, 6c, 6d, 9a, 9b, 9c, 9d, 30a, 30b, 30c, 30d, 37, 40a, 40b, 46) sich in "direktem Eingriff" mit den Antriebseinrichtungen (7a, 7b, 7c, 7d, 10a, 10b, 10c, 10d, 33a, 33b, 36, 41a, 41b, 45) befindet, die über eine geeignete Mechanik miteinander verbunden sind.
  3. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie drei voneinander unabhängige Strukturen aufweist, eine Struktur (2), die über eine geeignete Mechanik mit Antriebseinrichtungen (5a, 5b, 5c, 5d, 6a, 6b, 6c, 6d) verbunden ist, eine Struktur (4), die autonome Arme (12a, 12b, 32a, 32b, 42a, 42b) aufweist, die zueinander bezüglich einer Mittelebene symmetrisch angeordnet sind und jeweils mit einer Antriebseinrichtung (8a, 8b, 8c, 8d, 9a, 9b, 9c, 9d, 30a, 30b, 30c, 30d, 40a, 40b) verbunden sind, und eine Struktur, die unabhängige Halterungen (62a und 62b) aufweist, die zueinander bezüglich einer Mittelebene symmetrisch angeordnet sind und jeweils mit einer Schwenkeinrichtung (63, 64, 65, 66) verbunden sind.
  4. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die mit den Armen (12a, 12b, 32a, 32b, 42a, 42c) verbundene Struktur (4) durch ein Gehäuse gebildet wird, das einen Innenraum (20) aufweist, der eine Aufnahme begrenzt und sich vom freien Ende bis zu einer im unteren Teil unter einer Hebeachse gelegenen Seite erstreckt.
  5. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie eine nichtmechanische Regelungsverbindung zwischen zumindest einem übergeordneten Motor (5a, 5b, 8c, 8d) und zumindest einem untergeordneten Motor (5c, 5d, 8c, 8d) aufweist, um die Bewegung der autonomen Bewegungs- und Ausrichtungseinrichtungen (3, 11a, 11b, 12a, 12b) zu koordinieren.
  6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß sie eine Einrichtung zum Erfassen der Veränderungen von Parametern aufweist, etwa der Winkelabweichung der autonomen Arme (12a und 12b) im Hinblick auf einen vorbestimmten Grenzwert.
  7. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß die Starrheit der nichtmechanischen Regelungsverbindung zumindest gleich der Starrheit einer gleichwirkenden mechanischen Verbindung ist.
  8. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Regelung eine Regelung hinsichtlich Position und Geschwindigkeit ist.
  9. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß das Gehäuse (4) zumindest zwei Untersetzungen (40a, 40b) aufweist, die in seinem unteren Teil unter der Hebeachse bezüglich einer Mittenebene angeordnet sind, wobei der Abtrieb jedes Untersetzungsgetriebes (40a, 40b) über eine geeignete Mechanik mit den Antriebseinrichtungen verbunden ist, die sich im Eingriff mit der entsprechenden Einrichtung zur Ausrichtung und Positionierung (41a, 41b, 42a, 42b) befinden, und dadurch, daß eine mit der Verbindungseinrichtung (44, 45) verbundene Welle (43) mit zumindest einem Motor (46) die mechanische Verbindung zwischen den Untersetzungsgetrieben (40a, 40b) sicherstellt.
  10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, daß mit den beiden Untersetzungsgetrieben ein einzelner Motor (46) im Eingriff steht.
  11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, daß das Gehäuse (4) in seinem unteren Teil unter der Hebeachse zwei Motorpaare (5a, 5b, 5c, 5d, 8a, 8b, 8c, 8d) aufweist, die bezüglich einer Mittenebene zueinander symmetrisch angeordnet sind und die über eine geeignete Mechanik mit den Antriebseinrichtungen (7a, 7b, 7c, 7d, 10a, 10b, 10c, 10d), die mit den zugehörigen Einrichtungen zur Ausrichtung (3, 11a, 11b, 12a, 12b) im Eingriff stehen, verbunden sind, und dadurch, daß sie eine Regelungseinrichtung aufweist zum paarweisen Regeln einerseits zweier Motoren (5a - 5d, 8a - 8d) gemäß einer relativen einer Zunahme entsprechenden Abweichung, und andererseits zweier Motoren (5c - 5b, 8c - 8b) gemäß einer relativen, einer Verringerung entsprechenden Abweichung, die gleich der Zunahme ist, so daß ihre Summe Null wird, um das mechanische Spiel auszugleichen.
  12. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie elastische Einrichtungen aufweist, um die Lage der Ritzel (33a, 33b, 41a, 41b) sicherzustellen, die über eine geeignete Mechanik mit den Antriebseinrichtungen (30a, 30b, 30c, 30d, 40a, 40b) verbunden sind.
  13. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie Ritzel (50) aufweist, die in zwei unterschiedliche Sektoren unterteilt sind, die zwei Halbritzel (51, 52) begrenzen.
  14. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie zumindest einen Teil aufweist, der einer mechanischen Verbindungswelle zwischen den zwei Untersetzungsgetrieben zugeordnet ist, die über eine geeignete Mechanik mit den Antriebseinrichtungen verbunden sind, um ein Polarisationspaar zu bilden.
  15. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß sie Informationsverarbeitungseinrichtungen aufweist, die zumindest einen Speicher aufweisen, der Informationen hat, die dazu geeignet sind, die relative Bewegung der Struktur in unterschiedlichen und zueinander rechtwinkligen Raumrichtungen zu bestimmen und zu führen.
EP92903888A 1991-01-17 1992-01-17 Vorrichtung zur ausrichtung und einstellung der position eines gegenstandes, insbesondere einer sende-/empfangsantenne für elektromagnetische wellern, in wenigstens einer von drei richtungen im raum Expired - Lifetime EP0567545B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9100528A FR2671885B1 (fr) 1991-01-17 1991-01-17 Dispositif d'orientation et d'ajustement, selon au moins l'une des trois directions de l'espace, de la position d'une piece notamment d'une antenne d'emission ou de reception d'ondes electromagnetiques.
FR9100528 1991-01-17
PCT/FR1992/000041 WO1992013304A1 (fr) 1991-01-17 1992-01-17 Dispositif d'orientation et d'ajustement selon au moins l'une des trois directions de l'espace, de la position d'une piece notamment d'une antenne d'emission ou de reception d'ondes electromagnetiques

Publications (2)

Publication Number Publication Date
EP0567545A1 EP0567545A1 (de) 1993-11-03
EP0567545B1 true EP0567545B1 (de) 1996-07-10

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EP92903888A Expired - Lifetime EP0567545B1 (de) 1991-01-17 1992-01-17 Vorrichtung zur ausrichtung und einstellung der position eines gegenstandes, insbesondere einer sende-/empfangsantenne für elektromagnetische wellern, in wenigstens einer von drei richtungen im raum

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EP (1) EP0567545B1 (de)
AT (1) ATE140323T1 (de)
DE (1) DE69212141T2 (de)
ES (1) ES2092094T3 (de)
FR (1) FR2671885B1 (de)
WO (1) WO1992013304A1 (de)

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EP1986016A1 (de) * 2007-04-25 2008-10-29 Saab Ab Vorrichtung und Methode zur Steuerung einer Satellitenverfolgungsantenne
US8169377B2 (en) 2009-04-06 2012-05-01 Asc Signal Corporation Dual opposed drive loop antenna pointing apparatus and method of operation
GB2505066A (en) * 2012-06-27 2014-02-19 Sub10 Systems Ltd Positioning gear, bracket and system having gear segments

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1267117A (de) * 1970-03-13 1972-03-15
US3987451A (en) * 1975-02-07 1976-10-19 Texas Instruments Incorporated Beam type planar array antenna system
DE3789162T2 (de) * 1986-05-21 1994-06-01 Nippon Electric Co Nachführungssteuervorrichtung für dreiachsige Antennentragesysteme.
US4858490A (en) * 1987-10-13 1989-08-22 Hughes Aircraft Company Two motor redundant drive mechanism

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Publication number Publication date
ES2092094T3 (es) 1996-11-16
ATE140323T1 (de) 1996-07-15
WO1992013304A1 (fr) 1992-08-06
FR2671885A1 (fr) 1992-07-24
FR2671885B1 (fr) 1996-11-22
DE69212141D1 (de) 1996-08-14
DE69212141T2 (de) 1997-02-20
EP0567545A1 (de) 1993-11-03

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