EP2446505A1

EP2446505A1 - Holder for a movable sensor

Info

Publication number: EP2446505A1
Application number: EP10735182A
Authority: EP
Inventors: Bernhard Ahring; Horst Christof
Original assignee: EADS Deutschland GmbH
Current assignee: Airbus Defence and Space GmbH
Priority date: 2009-06-23
Filing date: 2010-06-21
Publication date: 2012-05-02
Also published as: US8847845B2; RU2012101942A; KR20120138617A; JP2012531144A; WO2010149140A1; US20120119973A1; DE102009030239A1

Abstract

The invention relates to a holder for a movable sensor (1), which can be directed towards a sensor target (T), on a supporting structure (2), which holder contains at least two sensor-side bearings (22, 24; 26) at a distance to each other, at least two supporting-structure-side bearings (32, 34; 36) at a distance to each other, at least two length-adjustable actuating drive units (4, 5; 6), wherein each of the actuating drive units (4, 5; 6) is provided between an associated sensor-side bearing (22, 24; 26) and an associated supporting-structure-side bearing (32, 34; 36), and a center bearing (7; 8), which is designed in such a way that the center bearing supports the sensor (1) on the supporting structure (2) so that the sensor can be swiveled about a kinematic swivel center point about at least two spatial axes (X, Y; Z).

Description

Holder for a movable sensor

TECHNICAL AREA

The present invention relates to a holder for a movable sensor, which can be aligned with a target, on a support structure. Such sensors may be, for example, radar sensors, camera sensors or in general transmitters and / or receivers of electromagnetic radiation.

The term "sensor" for an alignable functional element in the context of the present application is therefore not limited to receiving devices, but may also include transmitting devices or combined transmit / receive devices for electromagnetic radiation.

In order to align such sensors to a target, a movable support for the sensor is required. In particular, if the support structure itself is also movable, for example, part of an aircraft, a spacecraft, a watercraft or a land vehicle, this holder must be able to track the sensor so that it remains aligned with the target. This is also true when the target moves.

PRESENTATION OF THE INVENTION

Object of the present invention is to provide a holder for a movable sensor which can be aligned with a target on a supporting structure, wherein the holder has a compact structure, allows rapid alignment of the sensor to the target and further rapid tracking of the sensor allowed with moving target and / or moving support structure. This object is achieved by the holder specified in claim 1.

For this purpose, the holder is provided with at least two spaced-apart sensor-side bearings, at least two spaced-apart support structure side bearings, at least two variable in length

Actuator units, each of the actuator units is provided between an associated sensor-side bearing and an associated support structure side bearing, and a central bearing which is designed such that it supports the sensor about a kinematic pivot center and at least two spatial axes pivotally mounted on the support structure.

ADVANTAGES

Such a sensor holder has a very light and compact design. Its kinematics enable optimum tracking of the sensor (eg a radar antenna) in a space that is very limited in space, for example an aircraft nose. The pivoting about at least two spatial axes, which are preferably perpendicular to each other, allows pivoting of the sensor in each direction within the predetermined by the corresponding construction pivoting range about the respective axis of space. Accordingly, the tracking of the sensor can be carried out continuously in each of these directions. The middle bearing, which may be formed, for example, as a universal joint, ensures the pivoting of the sensor and the actuator units, which may be formed for example by variable in length handlebar or struts and may have a servo drive, allow the pivotal movement about the two spatial axes.

Preferably, a control device for controlling the respective servo drives of the actuator units is provided, which controls the change in length of the respective actuator unit and thus the pivoting movement of the sensor controls. Such a kinematics allows for a lightweight and compact design, a continuous sensor tracking in all directions with optimum force and low to rotating masses. Even with constantly changing coordinates of the target and a moving support structure, such as a flying plane or a moving ship or land vehicle, allows the kinematics of the holder according to the invention, the sensor, for example, a radar antenna continuously track within the structurally predetermined pivoting range.

Further preferred and advantageous design features of the holder according to the invention are the subject of the dependent claims.

An advantageous development of the holder according to the invention is characterized in that at least three spaced-apart sensor side bearings are provided that at least three spaced support structure side bearings are provided that at least three variable length actuator units are provided, each of the actuator units between an associated sensor-side bearing and a associated bearing structure side bearing is provided and that the middle bearing is designed such that it supports the sensor about the kinematic pivot center about three spatial axes pivotally mounted on the support structure.

This advantageous development of the holder additionally makes it possible to pivot the sensor relative to the support structure about the third spatial axis. This makes it possible for a sensor that is designed as a radar antenna or a

Radar antenna has to not only track the sensor, but also keep the polarization plane of the antenna always aligned with respect to the target constant. Of course, this also applies to other types of sensors, which are preferably to be held in a constant alignment with the target, which also applies, for example, to imaging sensors in the field Wavelength range of visible light or in another wavelength range applies.

If such a holder is used, for example, in an aircraft, then according to this advantageous development, both movements of the

Aircraft around the pitch axis (transverse axis) and the yaw axis (vertical axis), as well as movements of the aircraft to be compensated for its roll axis (longitudinal axis). Similarly, movements of the sensor target can be compensated.

Preferably, the sensor-side bearings each have a kinematic center, by which the respective bearing permits a pivoting movement about three spatial axes. The sensor-side bearings are preferably designed as ball-joint-like bearings.

In a further preferred embodiment, the kinematic bearing centers of the sensor-side bearings are located in a common plane.

It is also advantageous if the supporting-structure-side bearings each have a kinematic bearing center about which the respective bearing permits a pivoting movement about three spatial axes. Again, the support structure side bearing are preferably designed as ball-joint-like bearings.

Preferably, the kinematic bearing centers of the bearing structure side bearings are located in a common plane.

It is also advantageous if the kinematic pivot center of the central bearing is located in the plane of the kinematic bearing centers of the sensor-side bearing or in the plane of the kinematic bearing centers of the bearing structure side bearing. Advantageously, the sensor has a transmitting and / or receiving antenna. In a particularly preferred embodiment of the invention, the sensor is designed as a radar sensor and has, for example, a radar antenna. However, the invention is not limited to a radar sensor, but the holder according to the invention is also suitable for other sensors, such as imaging sensors or other types of antennas or, for example, for a depth sounder. In this case, the invention is not limited to that the sensor has or represents a receiver or an antenna thereof, but it is an alignable functional element, which can be formed according to the definition of the term "sensor" in this application by a transmitting device or an antenna thereof or this may comprise or may represent a combination of transmitting and receiving device or related antennas. As a transmitting device in this sense, for example, an energy radiator (for example, a laser emitter) to understand a beam weapon.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

It shows:

Fig. 1 shows a first embodiment of the holder according to the invention;

FIG. 1A shows an enlarged detail of FIG. 1, illustrating the middle bearing; FIG. 2A to 2D, the holder according to the invention according to claim 1 in four different pivot positions.

Fig. 3 shows a second embodiment of the present invention;

Fig. 4 different conditions of use for the holder according to the second embodiment shown in Fig. 3.

PRESENTATION OF PREFERRED EMBODIMENTS

1 shows a first embodiment of the holder 1 according to the invention, which supports a sensor 2 on a support structure 3. A sensor-side support plate 10 is for this purpose connected to a sensor rear wall 20 of the sensor 2.

The sensor-side support plate 10 of the holder 1 has two spaced-apart sensor-side bearings 22, 24, on which actuator units 4, 5 are articulated. The sensor-side bearings 22, 24 are designed ball-joint-like and thus allow a relative pivoting of the respective actuator unit 4, 5 with respect to the sensor-side support plate 10 in all directions about a bearing center.

The sensor-side support plate 10 further comprises a central or central bearing 7, which supports the sensor-side support plate 10 on a bearing block 12 about two mutually perpendicular spatial axes X, Y.

The bearing block 12 is provided on a support structure-side support plate 14, which in turn is attached to the support structure 3.

The support structure-side support plate 14 has two spaced-apart support structure side bearings 32, 34, by means of which the actuator units 4 and 5 are pivotally mounted on the support structure side support plate 14 pivotally about a respective bearing center point.

The actuator units 4, 5 each have an outer housing body 40, 50 and an inner housing body 42, 52. The inner one

Housing body 42, 52 is received in the associated outer housing body 40, 50 longitudinally displaceable. The free end of the inner housing body 42, 52 is articulated by means of the associated sensor-side bearing 22, 24 on the sensor-side support plate 10, as already described. The respective free end of the outer housing body 40, 50 is mounted by means of the associated support structure side bearing 32, 34 in the manner already described on the support structure side support plate 14 articulated.

The actuator units 4, 5 each have a - not shown - actuator, which causes an axial Relatiwerschiebung between the respective outer housing body 40, 50 and the respective inner housing body 42, 52. For example, the actuator units 4, 5 may have a known rack drive, worm drive or another translation drive. For particularly fast axial relative movements, it is advantageous to provide a linear drive.

In the example shown in FIG. 1, it can be seen that the bearing center points of the sensor-side bearings 22, 24 and the bearing center of the central bearing 7 lie in a common plane. In order to make it possible to pivot the sensor 2 relative to the support structure 3 by means of the actuator units 4, 5, at least one of the sensor-side bearings 22, 24 must be from the first axis X and at least the second of the bearings 24, 22 must be from the axis Y be laterally criticized.

As shown in Fig. 1A, the central bearing 7 is formed as a universal joint, whereby a gimbal bearing is formed, which pivot about a kinematic pivot point, the pivot point being defined by the intersection of the X and Y axes. The pivoting about the pivot point is effected by a length adjustment of at least one of the actuator units 4, 5, whereby the distance between each associated with an actuator unit associated sensor side bearing 22, 24 and this actuator unit associated support structure side bearing 32, 34 is shortened or extended.

This pivotability of the sensor 2 relative to the support structure 3 about the pivot point of the central bearing 7 in any direction, Figs. 2A to 2D. Therein, FIG. 2A shows a position in which the sensor 2 is pivoted upward. Fig. 2B shows a position in which the sensor 2 (in the direction Z) is pivoted to the bottom right, and Fig. 2C, a position in which the sensor 2 is pivoted to the bottom left. Fig. 2D shows a position in which the sensor 2 is pivoted directly downwards.

An alternative embodiment of the present invention is shown in FIG. Again, the attitude 1 'on a sensor-side support plate 10 which is connected to the sensor 2 and which is connected via a central bearing 8 with a bearing block 12 which is mounted on a support structure-side support plate 14, by means of which the entire support on the Support structure 3 is attached.

However, in contrast to the embodiment of FIG. 1, the middle bearing 8 is embodied as a ball joint in the embodiment of the invention shown in FIG. 3, so that this middle bearing 8 surrounds the sensor 2 about the kinematic pivot center of the middle bearing about three spatial axes X, Y, Z pivotally mounted on the support structure 3. The kinematic pivot center of this ball joint-like central bearing 8 is the intersection of the three spatial axes X, Y, Z. The holder 1 ¹ comprises three actuator units 4, 5, 6, which are constructed in the same manner as described in connection with FIG. 1 actuator units 4, 5 and in the same way by means of sensor-side bearings 22, 24, 26 and support structure side Bearings 32, 34, 36 are mounted on the sensor-side support plate 10 and on the support structure-side support plate 14 ball joint-like manner. The three sensor-side bearings 22, 24, 26 form on the sensor-side support plate 10, the corners of a triangle, wherein the ball joint-like central bearing 8 is located in the interior of the triangle. Both the bearing centers of the sensor-side bearings 22, 24, 26, and the pivot point of the central bearing 8 lie in a common plane. The attachment of the central bearing 8 in the center of the sensor 2 causes when rotating the sensor 2 mass forces via a central point of rotation, namely the bearing center of the central bearing 8, are introduced and so imbalances can be reduced or even prevented.

The respective other end of the actuator unit 4, 5, 6 is mounted by means of a respective ball-joint-like support structure side bearing 32, 34, 36 on the support structure side support plate 14 in the same manner as has been described in connection with the embodiment of FIG. Also, the support structure side bearings 32, 34, 36 form the corners of a triangle, wherein the longitudinal axis Z passes through this triangle. Although in the example shown, the support structure side bearings 32, 34, 36 are in a common plane, so this is not necessarily functional.

The advantage of the holder 1 shown in Fig. 3 is that the sensor 2 can be pivoted with this holder not only about the two spatial axes X, Y, as is the case in the embodiment of FIG. 1, but that the sensor by means of the holder 1 ^{1 is} also pivotable about the longitudinal axis Z around. Considering as an example the attachment of the sensor 2 by means of the holder 1 'on a support structure 3, which is part of an aircraft, then corresponds to the longitudinal axis Z of the roll axis (longitudinal axis) of the aircraft or at least parallel to this. The vertical axis X is parallel to the yaw axis (vertical axis) of the aircraft and the transverse axis Y is parallel to the pitch axis (transverse axis) of the aircraft. In this case, pitch movements of the aircraft can be compensated for by pivoting the sensor 2 about the axis Y by means of the holder 1 '.

Yaw movements of the aircraft can be compensated by the sensor 2 is pivoted about the vertical axis X, and rolling movements of the aircraft can be compensated by a pivoting of the sensor 2 about the longitudinal axis Z. Thereby, not only is it possible to compensate for pitching and yawing of the aircraft such that the sensor orthogonal axis M of the sensor 2 is set to a target T and is tracked by compensating for the pitching and yawing movements of the aircraft, but it is also possible that rolling movements of the aircraft are compensated by a rotation of the sensor 2 about the axis Z, so that the sensor 2 with respect to the target T is not rotated about the sensor axis M. This is advantageous, for example, in the case of sensors which have a predetermined polarization plane. By the holder 1 'shown in Fig. 3, the polarization plane of the sensor 2 with respect to the target T remains stable even when the aircraft performs a rolling motion about the longitudinal axis Z.

These advantages of the embodiment of FIG. 3 will be apparent from the illustration in Fig. 4. There are shown different attitudes of an aircraft 9. In illustration A, the longitudinal axis Z of the aircraft is aligned directly with the target T. A compensation of pitch or yaw movements of the aircraft is not required in this case. However, the aircraft can roll about its longitudinal axis Z, as symbolized by the arrow a. As has already been described, this rolling movement can be compensated by pivoting the sensor 2 about the aircraft longitudinal axis Z. The illustration B shows an aircraft 9 whose longitudinal axis Z no longer points to the target T, which has meanwhile also moved away from the original position, as shown by the dashed line. The aircraft 9 also has in this position with respect to the direction z on the target a yaw motion, performed by the angle ß. However, the yaw angle β can be compensated for by pivoting the sensor 2 by means of the holder Y about the axis X. In addition, the aircraft 9 can also perform a rolling movement in the position shown at B, as shown by the arrow b; This rolling movement is compensated by the holder 1 ¹ by rotation of the sensor 2 about the axis Z.

Finally, the illustration C of the aircraft 9 in FIG. 4 shows a further change in the location of the destination T, assuming that the aircraft does not change its flight direction and attitude shown in FIG. First, the sensor 2 of the aircraft 9 had targeted the target T in the direction represented by the arrow Ci. The target T has thereupon changed its position along the dashed arrow line, whereby by controlled pivoting of the sensor 2 about the axes X and Y a tracking of the bearing directed to the target T bearing takes place, as shown by the arrow C ₂ .

Even if the aircraft in this tracking of the bearing direction performs a rolling motion, which is symbolized by the arrow c, the bearing to the moving target T is not lost and the polarization plane E of the sensor 2 does not change with respect to the moving target T.

The holder of the invention thus allows both a compensation of the position of the target, to which the sensor is aligned, even if the target moves. In addition, the holder according to the invention also allows a compensation of the position and the position of the sensor, if it is attached to a moving carrier (aircraft, ship, land vehicle or spacecraft). In the development according to FIG. 3, it is even possible to have a Relative movement between the sensor and the sensor target to prevent the sensor axis, even if the carrier (or the sensor target) performs a rolling movement about the respective longitudinal axis, so that an undesired pivoting of the plane of polarization about the connecting axis M between the sensor and sensor target is avoided.

Reference signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

LIST OF REFERENCE NUMBERS

They denote:

1 bracket

1 'bracket

2 sensor

3 supporting structure

4 actuator units

5 actuator units

6 actuator units

7 middle bearing (universal joint)

8 middle bearing (ball joint)

9 aircraft

10 sensor-side support plate

12 bearing block

14 support structure side support plate

20 sensor back wall

22 sensor-side bearings

24 sensor-side bearings

26 sensor-side bearings

30 supporting structure base

32 load-bearing bearings

34 load-bearing bearings

36 load-bearing bearings

40 outer housing body

42 inner housing body

50 outer housing body

52 inner housing body T sensor target

M connection axis

X space axis

Y space axis

Z space axis

Claims

claims

A holder (1) for a movable sensor (2), which can be aligned with a sensor target (T), on a support structure (3), with at least two sensor-side bearings spaced apart from one another

(22, 24; 26); at least two spaced support structure side

Storing (32, 34, 36); - At least two variable-length actuator units (4, 5, 6), wherein each of the actuator units (4, 5, 6) between an associated sensor-side bearing (22, 24, 26) and an associated support structure side bearing (32, 34, 36) is provided , and - a middle bearing (7; 8), which is designed such that it

Sensor (2) about a kinematic pivot center about at least two spatial axes (X, Y; Z) pivotally mounted on the

Supporting structure (3) stores.

2. Holder according to claim 1, characterized in that at least three spaced-apart sensor-side bearing

(22, 24, 26) are provided; that at least three spaced support structure side bearings (32, 34, 36) are provided; in that at least three variable-length actuator units (4, 5, 6) are provided, each of the actuator units (4, 5, 6) being connected between an associated sensor-side bearing (22, 24, 26) and an associated bearing-structure-side bearing (32, 34, 36). is provided, and in that the middle bearing (8) is designed in such a way that it supports the sensor (2) pivotably around the three-dimensional center axis (X, Y, Z) about the three-dimensional pivot axis about the kinematic pivoting center on the support structure (3).

3. Holder according to claim 1 or 2, characterized in that the sensor-side bearings (22, 24, 26) each have a kinematic bearing center by which the respective bearing allows a pivoting movement about three spatial axes.

4. Holder according to claim 3, characterized in that the sensor-side bearings (22, 24, 26) are designed as ball-joint-like bearings.

5. Holder according to claim 2, 3 or 4, characterized in that the kinematic bearing centers of the sensor-side bearings (22, 24, 26) are located in a common plane.

6. Holder according to one of the preceding claims, characterized in that the support structure side bearing (32, 34, 36) each have a kinematic bearing center, by which the respective bearing allows a pivoting movement about three spatial axes.

7. Holder according to claim 6, characterized in that the support structure side bearing (32, 34, 36) are formed as ball-joint-like bearings.

8. Holder according to claim 6 or 7, characterized in that the kinematic bearing centers of the support structure side bearing (32, 34, 36) are located in a common plane.

9. Holder according to claim 5 or 8, characterized in that the kinematic pivot center of the central bearing (7; 8) in the plane of the kinematic bearing centers of the sensor-side bearing

(22, 24, 26) or in the plane of the support structure side bearing (32, 34, 36) is located.

10. Holder according to one of the preceding claims, characterized in that the sensor (2) has a transmitting and / or receiving antenna, preferably a radar antenna.