JP2019047443A - Antenna device with shake correction function - Google Patents

Abstract

To provide an antenna device with a shake correction function with a small size and in a low cost, capable of controlling an attitude of an antenna in accordance with shake.SOLUTION: An antenna device with a shake correction function comprises: a swing support mechanism that swingably support a movable body to a solid state as a center of a swing support point on a center axis of an antenna; and a swing driving mechanism that swings the movable body on the basis of a detection result of an attitude detection sensor of the antenna. A connection mechanism is provided that connects a follower member moved to a direction intersecting with the center axis by the swing driving mechanism and a portion separated from the swing support point in a column part of the antenna in a stat where a relative displacement on the basis of a difference of a movement direction is permitted. The swing driving mechanism includes at least two actuators so as to move the follower member to the direction intersecting with the center axis. In each actuator and the follower member, a connection portion with the other actuator can be moved along the movement direction of the follower member by the driving of one actuator during the driving of one actuator.SELECTED DRAWING: Figure 1

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an antenna device with a shake correction function that can control the posture according to a shake when a shake occurs due to the influence of weather or the like.

  The antenna device radiates an electric signal flowing in a conducting wire from an antenna into space as radio waves, or receives a radio wave in a space through an antenna and leads it as an electrical signal to the conducting wire, and is used for various communication devices. As such an antenna device, for example, an antenna device installed in a relay station of a mobile telephone communication network may be exposed to wind and rain and shake. If the attitude of the antenna changes with this shaking, transmission and reception of radio waves will be disturbed. For this reason, when a shake occurs in the antenna, it is required to control the attitude of the antenna according to the shake.

As a technique of such attitude control of an antenna, there is one described in Patent Document 1. Patent Document 1 discloses a support device capable of controlling the attitude of a parabolic antenna mounted on an airship. In the antenna supporting device, for example, a rail-like trajectory having the same curvature as the curved surface of the parabolic antenna is constructed in a parallel-girder shape, and two movers fixed to the parabolic antenna can slide along the rail-like trajectory When the sway of the airship is detected by the gyro sensor, the two movers slide along the rail-like tracks by the drive unit such as the step motor based on the detection signal to control the attitude of the parabolic antenna. It is supposed to be.
Further, as a device for controlling the attitude of the antenna, there is also a description in Patent Document 2. In this device, both ends of a rod-like antenna are supported by piezoelectric elements such as a plurality of piezoelectric elements, one of the piezoelectric elements is elongated and deformed to push up one end of the antenna, and the other piezoelectric element is contracted and deformed. By lowering the other end of the antenna, the antenna can be tilted.

Unexamined-Japanese-Patent No. 2002-252517 Japanese Patent Application Publication No. 2007-166001

  However, as described in Patent Document 1, a rail-like track is formed in a well-girder shape, and the structure in which the mover slides in each case tends to be large. Therefore, a small and inexpensive device is required. It is considered possible to reduce the size by using a piezoelectric element as described in Patent Document 2 as a driving source, but further size reduction is required.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a compact and inexpensive antenna device with a shake correction function that can control the attitude of the antenna according to the shake.

  The antenna device with a shake correction function according to the present invention comprises a movable body having an antenna, a fixed body, and a rocking member for supporting the movable body on the fixed body so as to be pivotable about a pivot point on the central axis of the antenna. A motion support mechanism, a posture detection sensor that detects a change in posture due to a tilt of the central axis of the antenna, and a swing drive mechanism that swings the movable body based on the detection result of the posture detection sensor, The movable body includes a support portion which holds the antenna and is provided along the central axis of the antenna, a driven member which is moved in a direction intersecting the central axis by the swing drive mechanism, and the driven member. Connecting machine that allows relative displacement based on the difference in movement direction of the driven member and the part of the support column part separated from the rotation support point with respect to the part of the support column part separated from the swing support point The rocking drive mechanism has at least two actuators for moving the driven member in different directions crossing the central axis, and each actuator and the driven member When the actuator of (1) is driven, the connection portion with another actuator is movable along the moving direction of the driven member by the drive of the one actuator.

Since the change in attitude of the antenna can be detected by the attitude detection sensor and driven by the rocking drive mechanism, even when the attitude of the antenna changes due to wind or rain, this can be controlled to maintain an appropriate attitude. . In this case, the connection mechanism can absorb the displacement due to the difference between the moving direction of the driven member driven by the actuator and the swinging direction of the support, and the drive of the actuator can be smoothly transmitted to the antenna. The combination of the drive of the actuator can correct the sway of the antenna properly. Here, the relative displacement between the driven member and the support includes not only the linear relative displacement along the central axis but also the inclination of the support relative to the moving direction of the driven member.
A motor, a piezoelectric element, a shape memory element or the like can be used as an actuator of the rocking drive mechanism, so that inexpensiveness and miniaturization can be achieved.

  As a preferred embodiment of the antenna device with a shake correction function according to the present invention, the actuator is provided with a piece that can be moved linearly by driving the actuator, and the driven member is driven by another driven actuator. It is good also as composition provided with the slot which supports the piece freely along the direction of movement.

  The other actuator does not inhibit the movement of the piece that can be moved linearly by the drive of one actuator, and the combination of the drive of both the actuators enables the antenna to swing in any direction, ensuring that swing It can be corrected.

  In a preferred embodiment of the antenna device with a shake correction function according to the present invention, the driven member is formed in an annular shape surrounding the support column, and the connection mechanism is provided on an inner peripheral portion of the driven member. The elastic member may be in contact with the outer peripheral surface of the portion.

  When driving the support column by the actuator, the elastic member between the support column and the driven member elastically deforms and absorbs the deviation based on the difference in the moving direction between the linear movement of the driven member and the swing of the support column. Thus, the force can be smoothly transmitted between the driven member and the support column in different moving directions. In addition, since the driven member and the support portion do not come in direct contact with each other, breakage of these parts can be prevented, and the durability of the device is improved.

In a preferred embodiment of the antenna device with a shake correction function according to the present invention, four of the actuators are provided, and each two of them are arranged to form a pair facing each other at an angle of 180 ° across the central axis. It is good.
Since two actuators facing each other at 180 ° with respect to the central axis are driven as one set, a large driving force can be generated, and the weight balance of the movable body can be improved.

  In a preferred embodiment of the antenna device with a shake correction function according to the present invention, the actuator is a motor, and a conversion mechanism for converting the rotation of the actuator into linear movement is provided between the actuator and the block. Good. In this case, the conversion mechanism may be composed of an external thread formed on the rotary shaft of the actuator and a threaded portion formed on the piece.

  A general purpose motor can be used as an actuator, and can be manufactured inexpensively. Also, the conversion mechanism is more inexpensive if it is a combination of a male screw and a female screw.

In a preferred embodiment of the antenna device with a shake correction function according to the present invention, the actuator may be a stepping motor.
Since the driven member can be accurately positioned by the stepping motor, the sway of the antenna can be corrected with high accuracy.

  In a preferred embodiment of the antenna device with a shake correction function according to the present invention, the antenna has a reflecting surface which is a concave surface from the center to the radially outer side on the upper surface of the umbrella shape. The support portion may be provided on the opposite side, and the rocking fulcrum may be provided at the center of gravity of the movable body in the support portion.

  Since the rocking fulcrum is provided at the center of gravity of the movable body, the driving force to the support can be minimized. Further, in particular, when the antenna device is disposed sideways, the weight balance is good, and a stable shake correction function can be exhibited. In this case, a center of gravity position adjusting member (for example, a weight) with respect to the antenna may be provided in the support column so that the center of gravity of the movable body coincides with the swinging fulcrum.

In a preferred embodiment of the antenna device with a shake correction function according to the present invention, the swing support mechanism comprises two swings extending in a direction orthogonal to the central axis and mutually orthogonal when viewed from one end of the central axis. It is preferable that the gimbal member is configured to be pivotable with the intersection of the motion axes as the pivot.
In this case, the gimbal member is made of a spring material, and the rocking fulcrum may move within the range of elasticity of the spring material.

  As in the rail-shaped track and the mover in the antenna device described in Patent Document 1, if the antenna is swung while sliding the mover along the rail-shaped track, the space between the mover and the rail-shaped track And wear and the like occur due to sliding, so it can not be used for a device that is highly durable and is required. In addition, with a large mechanism such as this rail-shaped track, the entire apparatus becomes large. In the present embodiment, since the rocking support mechanism is constituted by the gimbal member, there is no sliding portion when controlling the attitude of the antenna, which is excellent in durability and advantageous for downsizing.

In a preferred embodiment of the antenna device with a shake correction function according to the present invention, an expandable and deformable member is closed between the antenna and the fixed body to enclose the swing support mechanism and the swing drive mechanism. A cover may be provided.
In this case, the cover may be a bellows-like cylinder.

  Since the space between the antenna and the fixed body is closed by the cover, it is possible to ensure waterproofness even in use in an environment exposed to wind and rain, and improve the durability to the external environment. In addition, since the cover is elastically deformable following the swing, it does not inhibit the swing of the antenna. The waterproof structure can be simplified by making the cover a bellows-like cylinder.

  According to the present invention, it is possible to provide a compact and inexpensive antenna device with a shake correction function that can control the attitude of the antenna according to the shake.

It is an exploded perspective view of an antenna device with a shake amendment function of a 1st embodiment of the present invention. It is a longitudinal cross-sectional view on the central axis which shows the assembled state of the antenna apparatus of 1st Embodiment, and is corresponded to the cross section which follows the AA of FIG. It is a perspective view of the state which removed the antenna and fixed body in the antenna apparatus of 1st Embodiment. It is a top view of the antenna device of a 1st embodiment. It is the schematic diagram seen from the side which shows the function of the reflective surface of an antenna. It is a longitudinal cross-sectional view of the antenna apparatus whole which follows the BB line of FIG. It is a longitudinal cross-sectional view of the antenna apparatus whole in alignment with the DD line of FIG. It is a perspective view of the gimbal member which is a rocking support mechanism used for the antenna device of a 1st embodiment. It is sectional drawing of the principal part which shows the example which provided the magnetic levitation mechanism by a magnet between a support | pillar part and a base board part. It is a principal part perspective view which shows a part of rocking drive mechanism of the antenna apparatus of 2nd Embodiment. It is a longitudinal cross-sectional view which follows the EE line of FIG. It is a principal part perspective view which shows a part of rocking drive mechanism of the antenna apparatus of 3rd Embodiment. It is a longitudinal cross-sectional view of the principal part of FIG. 12, and shows the cross section of the same direction as the cross section of FIG. It is a principal part perspective view which shows a part of rocking drive mechanism of the antenna apparatus of 4th Embodiment.

Hereinafter, an embodiment of an antenna device with a shake correction function according to the present invention will be described with reference to the drawings.
In the following description, three directions orthogonal to one another are taken as an X-axis direction, a Y-axis direction, and a Z-axis direction, one side of the X-axis direction is + X, and the other side is -X. In the description, + Y is attached to one side of the direction, -Y is attached to the other side, + Z is attached to one side of the Z-axis direction, and -Z is attached to the other side. Moreover, in FIG. 1 etc., it is set as the state which turned the antenna of the umbrella-shape shape upwards, and let this upper side be one Z side of Z-axis. The state shown in the longitudinal sectional view of FIG. 2 and the like is the stationary state of the antenna, and among the shaking in each direction, rotation around the X axis corresponds to so-called pitching (pitching), and rotation around the Y axis is It corresponds to so-called yawing (rolling). In the following description, this stationary state will be described unless otherwise specified.

<Overall structure of the first embodiment>
1 to 8 show a first embodiment.
The antenna device 100 with a shake correction function of the first embodiment supports the movable body 20 having the antenna 10, the fixed body 30 fixed to various structures, and the movable body 20 so as to be able to rock on the fixed body 30. The rocking support mechanism 40, the posture detection sensor 50 for detecting a change in the posture of the antenna 10, and the rocking drive mechanism 60 for rocking the movable body 20 based on the detection result of the posture detection sensor 50 are provided. The various structures on which the antenna device 100 is installed include not only fixed structures such as steel towers and buildings, but also movable structures such as vehicles and ships. In the case of a fixed structure, when the antenna 10 shakes due to the influence of wind and weather etc., the attitude of the antenna 10 is controlled so as to correct the vibration, and in the case of a movable structure The attitude of the antenna 10 can be controlled to arrange the antenna 10 in a fixed orientation at all times.
The details of these will be described below.

(Structure of antenna 10)
The antenna 10 is made of a metal plate such as aluminum, and in the example shown in FIGS. 1 and 2, is formed in an umbrella shape as a whole. As shown in FIGS. 4 and 5, the antenna 10 has a circular plan view when viewed from one end on the + Z side in the Z-axis direction, and the center of the circle is on the + Z side in the Z-axis direction. It protrudes to form a vertex 11. The upper surface (the surface on the + Z side in the Z-axis direction) of the antenna 10 is formed in a concave curved shape from the vertex 11 to the peripheral edge, and the concave curve connecting the vertex 11 and one point on the peripheral edge is the Z axis It has the shape of a rotating body obtained by rotating it as a center. The upper surface of the antenna 10 having the concave surface shape is a reflection surface 12 for reflecting radio waves. In this antenna 10, a line connecting the apex 11 and the circular center of the periphery is taken as a central axis C of the antenna 10. In the stationary state shown in FIG. 2 and the like, the central axis C of the antenna 10 coincides with the Z axis.

Then, as shown in FIG. 5, radio waves arriving from the periphery are reflected on the upper surface of the antenna 10 and concentrated at one point (focal point F) on the central axis C of the antenna 10. It is the structure where the radiator (It is also called a radiator and a feed part) of illustration abbreviation is arranged.
Further, the movable body 20 and the fixed body 30 are disposed around the central axis C of the antenna 10 or the extension thereof. Therefore, the central axis C (including the extension thereof) is the central axis of the antenna 10 and also the central axis of the antenna device 100 in the stationary state shown in FIG. Further, in the stationary state shown in FIG. 2 and the like, the central axis C of the antenna 10 coincides with the Z axis, and when the antenna 10 shakes, the central axis C inclines with respect to the Z axis.

(Structure of movable body 20)
Movable body 20 includes antenna 10, support column 21 fixed to the back surface of antenna 10 (surface opposite to reflective surface 12), and driven member 22 moved by swing drive mechanism 60 as described later. The driven member 22 and the support 21 are connected to swing the support 21 along with the movement of the driven member 22, and based on the difference between the moving direction of the driven member 22 and the swinging direction of the support 21. And a connection mechanism 23 for absorbing the displacement.
In the embodiment, the support portion 21 is fixed so as to extend along the central axis C of the antenna 10, and is formed in a tubular shape having a square cross section in the direction orthogonal to the central axis C.
In addition, a posture detection sensor 50 such as a gyroscope for detecting a change in the posture of the antenna 10 is attached to the support portion 21 and electricity is supplied to a control unit or the like in a higher order via a flexible cable (not shown). Connected.

The driven member 22 is an annular flat plate in this embodiment, and the surface direction is disposed in a direction orthogonal to the Z-axis direction so as to surround the lower end portion (end portion on the -Z side in the Z direction) of the support portion 21 There is. Further, an elastic member (hereinafter, the elastic member is given the reference numeral 23) is provided as a connection mechanism 23 between the inner peripheral portion of the driven member 22 and the lower end portion of the support portion 21.
In this case, a rectangular hole 22a is formed at the center of the driven member 22, and the lower end of the support 21 is inserted into the hole 22a. In this case, each side of the hole 22 a of the driven member 22 is arranged to face each surface of the outer peripheral surface of the support 21, and between the inner peripheral surface of the driven member 22 and the outer peripheral surface of the support 21. There is a space between them. Therefore, a rectangular annular space is formed between the driven member 22 and the support column 21 when viewed from the + Z direction in the Z-axis direction, and each side of the hole 22 a of the driven member 22 is formed in the space. Four elastic members 23 are provided so as to be bridged with each surface of the outer peripheral surface of the support column 21.
Each side of the hole 22a of the driven member 22 and each surface of the outer peripheral surface of the support column 21 are provided toward the + X side and -X side in the X axis direction, and + Y side and -Y side in the Y axis direction. Therefore, four elastic members 23 are respectively provided on the + X side and the −X side in the X-axis direction and on the + Y side and the −Y side in the Y-axis direction.

These elastic members 23 are configured by leaf springs in the embodiment, and as shown in FIG. 7, the attachment members 23 a fixed to the inner peripheral surface of the hole 22 a of the driven member 22 project toward the support 21. The arc plate portion 23 b is integrally formed, and the arc plate portion 23 b is in contact with the outer peripheral surface of the support portion 21. That is, the outer surface of the arc plate portion 23b of each elastic member 23 contacts the four side surfaces on the + X side and -X side in the X axis direction of the support 21 and on the + Y side and -Y side in the Y axis direction. ing. For this reason, the elastic members 23 are in contact with the circumference of the support column 21 at intervals of 90 ° from four directions, and each elastic member 23 applies an equal elastic force to the support column 21 from four directions. Thus, in the normal standing state, the support column 21 is disposed on the Z axis at the center of the hole 22 a of the driven member 22.
Since the elastic member 23 is only in contact with the support 21, the support 21 is displaced in the Z-axis direction with respect to the driven member 22 and in a direction inclined with respect to the surface direction of the driven member 22. Becomes possible. That is, these elastic members 23 are connected in a state where relative displacement between the driven member 22 and the support column 21 is allowed.

(Structure of fixed body 30)
As shown in FIGS. 1 and 2, the fixed body 30 has a housing 31 for housing the rocking drive mechanism 60 and the like, and a cover 300 formed of a bellows-like cylinder surrounding between the housing 31 and the antenna 10. ing.
The housing 31 is configured such that a disk-shaped case 32 and a cylindrical body 33 surrounding the periphery of the support 21 of the movable body 20 are integrally formed. The case 32 has a circular plate-shaped base plate portion 34, an annular peripheral wall portion 35 fixed so as to stand up from the peripheral edge portion, and an upper plate portion provided parallel to the base plate portion 34 from the upper end of the peripheral wall portion 35 And 36. The cylindrical body 33 is formed to have a rectangular cross section, and the lower end portion thereof is fixed to the upper plate portion 36 of the case 32. In this case, the four side plates of the cylindrical body 33 are disposed in parallel with the side surfaces of the support portion 21. As described above, the side surfaces of the support column 21 are disposed on the + X side and the −X side in the X-axis direction, and on the + Y side and the −Y side in the Y-axis direction. It is disposed on the + X side and the −X side of Y, and on the + Y side and the −Y side in the Y axis direction.

The upper plate portion 36 is formed in an annular shape that connects between the upper end of the peripheral wall portion 35 and the outer peripheral surface of the cylindrical body 33, and is integrally fixed to penetrate the lower end portion of the cylindrical body 33. Therefore, the case 32 of the housing 31 and the space inside the cylindrical body 33 communicate with each other.
In the embodiment, the outer diameter of the case 32 of the housing 31 is formed to be substantially the same as the outer diameter of the antenna 10. A cover 300 is provided between the case 32 and the peripheral portion of the antenna 10.

  The cover 300 is a bellows-like cylinder in this embodiment, and is provided in a state where the peripheral edge of the case 32 of the fixed body 30 and the peripheral edge of the antenna 10 are connected. Therefore, a bellows-like cylinder (cover) 300 is provided along the central axis C. The bellows-like cylindrical body 300 is stretchable along the central axis C as a whole, and the upper end fixed to the antenna 10 is inclined with respect to the lower end fixed to the case 32 It is also possible to stretch as you do.

(Structure of the rocking support mechanism 40)
The swing support mechanism 40 in this embodiment is constituted by a gimbal member formed of a spring material. That is, as shown in FIG. 8, the gimbal member 40 has a triple concentrically arranged outer ring portion 41, an intermediate ring portion 42 and an inner ring portion 43, and the outer ring portion 41 and the intermediate ring portion 42 Are mutually connected by two connecting portions 44 along the X-axis direction, and the intermediate ring portion 42 and the inner ring portion 43 are mutually connected by two connecting portions 45 along the Y-axis direction. In this case, in the no-load state, the triple ring portions 41 to 43 are disposed on the same plane, and the two connecting portions 44 along the X axis direction are provided at positions facing each other 180 ° in the circumferential direction. The two connecting portions 45 along the are also provided at positions 180 degrees opposite to each other in the circumferential direction. That is, the two connecting portions 44 along the X-axis direction and the two connecting portions 45 along the Y-axis direction are respectively formed in a linear shape, and are disposed orthogonal to each other in the X-axis direction and the Y-axis direction.

The inner ring portion 43 and the intermediate ring portion 42 can swing relative to each other around the X axis while twisting the connecting portion 44 along the X axis direction, and the intermediate ring portion 42 and the outer ring portion 41 in the Y axis direction Relative twisting is possible around the Y axis while twisting the connecting portion 45 along. Therefore, by combining the swinging in both the X-axis direction and the Y-axis direction, the inner ring portion 43 and the outer ring portion 41 swing around any axis on the plane including the X-axis and the Y-axis. It can be done. That is, the connecting portion 44 along the X-axis direction and the connecting portion 45 along the Y-axis direction respectively constitute the swing axes S1 and S2.
The point of extension of the swing axes S1 and S2 is a swing point P.

In the rocking support mechanism (gimbal member) 40 configured in this manner, each ring portion 41 to 43 is formed in a rectangular frame shape, and as shown in FIG. The 20 support portions 21 are fixed in a fitted state, and the outer peripheral portion of the outer ring portion 41 is fixed to the inner peripheral surface of the cylindrical body 33 of the fixed body 30. The attachment position of the gimbal member 40 is an intermediate position in the height direction (Z-axis direction) of the support column 21 as shown in FIG.
As described above, the antenna 10 is made of metal such as aluminum alloy, while the support 21 of the movable body 20 and the housing 31 of the fixed body 30 and the cylindrical body 33 are made of synthetic resin or the like. Therefore, in this embodiment, when viewed from the direction orthogonal to the central axis C as shown in FIG. And spaced apart.
Further, the position of the center of gravity of the movable body 20 as a whole constituted by the antenna 10, the support portion 21 and the driven member 22 coincides with the rocking fulcrum P. In this case, the driven member 22 also functions as a gravity center adjusting member for the antenna 10, and the weight of the driven member 22 and the weight of the antenna 10 are provided in balance via the swinging fulcrum P (that is, of the antenna 10). The distance from the center of gravity G to the rocking fulcrum P is equal to the distance from the center of gravity of the driven member 22 to the rocking fulcrum P).

(Structure of the rocking drive mechanism 60)
The swing drive mechanism 60 is provided in the housing 31 of the fixed body 30, more specifically in the case 32, and drives the plurality of actuators 61A, 61B and these actuators 61A, 61B for the driven members of the movable body 20. And a transmission mechanism 62 for transmitting information to the information processing system 22.
The actuators 61A and 61B are stepping motors in the embodiment, and are fixed on a support base 37 formed on the base plate portion 34 of the fixed body 30 as shown in FIG. It is arranged. An external thread portion 64 a is formed at the tip of the rotation shaft 64. On the other hand, a nut member (piece) 65 fitted to the external thread portion 64a of the actuator 61A, 61B is attached to the driven member 22.

  In this case, the longitudinal direction of the rotation shaft 64 of the actuators 61A and 61B and the surface direction of the driven member 22 are disposed along the direction orthogonal to the Z axis. Further, in the embodiment, two actuators 61A, 61B are provided, and the rotary shafts 64 of the respective actuators 61A, 61B are arranged along the X axis direction or the Y axis direction and arranged toward the central axis C of the antenna 10. ing. When viewed from the + Z side in the Z-axis direction shown in FIG. 7, the rotary shafts 64 of the actuators 61A and 61B are disposed on the + X side in the X-axis direction and on the −Y side in the Y-axis direction. They are 90 ° apart around axis C.

  On the other hand, the driven member 22 is disposed with its surface direction parallel to the base plate portion 34 of the case 32. Further, two nut members 65 fitted to the male screw portions 64a of the two actuators 61A and 61B are attached to the driven member 22. These nut members 65 are moved in the length direction (X-axis direction or Y-axis direction) of the rotary shaft 64 by the rotation of the rotary shaft 64 of the actuators 61A and 61B, but drive of each of the two actuators 61A and 61B It is slidably supported relative to the driven member 22 so as not to interfere with mutual movement. That is, the driven member 22 is formed with a groove 66 for movably supporting each nut member 65 in the direction orthogonal to the rotation shaft 64.

An actuator (referred to as an X-axis actuator) 61A in which the rotation shaft 64 is in the X-axis direction drives a nut member 65 fitted in the male screw portion 64a of the rotation shaft 64 to move in the X-axis direction. The groove 66 is formed along the Y axis direction orthogonal to the moving direction (X axis direction) of the driven member 22 by the drive of the X axis actuator 61A with respect to the nut member 65, and the nut member 65 is in the Y axis direction. Is slidably supported by the
On the other hand, an actuator (referred to as a Y-axis actuator) 61B in which the rotation shaft 64 is in the Y-axis direction drives a nut member 65 fitted in the male screw portion 64a of the rotation shaft 64 to move in the Y-axis direction. With respect to the nut member 65, the groove 66 is formed along the X axis direction orthogonal to the moving direction (Y axis direction) of the driven member 22 by the drive of the Y axis actuator 61B, and the nut member 65 is in the X axis direction. Is slidably supported by the

  Therefore, when the nut member 65 is driven to move in the X-axis direction by the X-axis actuator 61A, the Y-axis actuator 61B is operated so as not to prevent the movement of the driven member 22 by the nut member 65 in the X-axis direction. By sliding the nut member 65 fitted on the rotary shaft 64 in the X-axis direction along the groove 66, the connection portion with the driven member 22 is moved. Conversely, when the nut member 65 is driven to move in the Y-axis direction by the Y-axis actuator 61 B, the X-axis actuator does not prevent movement of the driven member 22 by the nut member 65 in the Y-axis direction. The nut member 65 fitted to the rotation shaft 64 of the 61A slides in the Y-axis direction along the groove 66, whereby the connection portion with the driven member 22 is moved.

In this manner, when both the actuators 61A and 61B drive the nut member 65 in the X-axis direction or the Y-axis direction, the driven member 22 is in the plane (X-Y plane) by the combination of the two actuators 61A and 61B. It can be moved in any direction along
In this embodiment, the transmission mechanism 62 for transmitting the drive of the actuators 61A and 61B to the driven member 22 engages with the external thread portion 64a formed on the rotation shaft 64 of each of the actuators 61A and 61B and the external thread portion 64a. A nut member 65 is provided, and the nut member 65 is configured to be movable in the direction orthogonal to the rotation shaft 64 of the actuators 61A and 61B that drive the nut member.
Further, in this embodiment, the external thread portion 64a of the rotary shaft 64 of the actuators 61A and 61B and the internal thread portion 65a of the nut member 65 convert the rotation of the rotary shaft 64 into linear movement in the surface direction of the driven member 22. It constitutes a conversion mechanism.

In each of the nut members 65, a flange 65b extending in the surface direction of the driven member 22 is integrally formed at the lower end fitted in the groove 66 of the driven member 22, and the groove 66 of the driven member 22 is a driven member The back surface side of 22 is formed wider than the surface side, and a recess 66a into which the flange portion 65b of the nut member 65 is fitted is formed along the length direction. Since the rotary shafts 64 of the actuators 61A and 61B in the fixed state pass through the base plate portion 34, the movement of the both nut members 65 in the vertical direction (the Z-axis direction) is restrained, and therefore The driven member 22 is supported in a state in which the downward movement is restricted by the flange 65b of the nut member 65, and even when moved in the X-axis direction or the Y-axis direction by the drive of the actuators 61A and 61B. The plane direction is maintained in the direction orthogonal to the Z axis.
Each of the actuators 61A and 61B is electrically connected to a higher control unit or the like. Since these actuators 61A and 61B are provided on the fixed body 30, their wiring is easy.

(Action)
In the antenna device 100 configured as described above, when the antenna 10 vibrates, the posture detection sensor 50 detects a change in the posture of the antenna 10 due to the vibration, and based on the detection result, the rocking drive mechanism 60 By energizing the respective actuators 61A and 61B, the support 21 of the movable body 20 is caused to swing about one or both of the swing axes S1 and S2 of the gimbal member (swing support mechanism) 40. , The posture of the antenna 10 integral with the support 21 is controlled. In FIG. 2, the antenna 10 swings around the swinging support point P, for example, as indicated by a two-dot chain line. In the embodiment, the antenna 10 can freely swing within a range of, for example, ± 6 °. Further, since the driven member 22 is provided on the opposite side to the antenna 10 via the swinging fulcrum P, the antenna 10 swings in the direction opposite to the moving direction of the driven member 22.

  In the case of this embodiment, a general-purpose stepping motor is used as the actuators 61A and 61B of the rocking drive mechanism 60. Therefore, the actuator can be made compact and inexpensive. In addition, although there is a sliding portion slightly between the nut member 65 and the driven member 22, a gimbal member without a sliding portion is used as the swing support mechanism 40, so the rail-shaped track and movable of Patent Document 1 The durability can be greatly improved as compared with a sliding mechanism like a child.

In addition, since the gimbal member 40 is formed of a spring material, the gimbal member 40 may be bent by the weight of the movable body 20. For this reason, the rocking fulcrum P may be shifted to the + Z side or the -Z side in the Z-axis direction with respect to the center position of the gimbal member 40 shown in FIG. In the example shown in FIG. 2, the inner ring portion 43 of the gimbal member 40 may be displaced to the −Z side in the Z-axis direction with respect to the rocking fulcrum P.
Therefore, a magnetic levitation mechanism 55 using a magnet may be provided between the lower end portion of the support 21 and the base plate 34 of the fixed body 30 opposed to the support 21. For example, as shown in FIG. 9, a magnet 55A is provided on the back surface of the bottom plate 56 provided at the lower end of the support 21 and a repulsive force is generated between the base plate 34 and the magnet 55A of the support 21. The magnet 55B may be provided. Moreover, the repulsive force can be controlled by making either magnet 55A, 55B an electromagnetic coil.
Further, since the elastic member 23 is provided between the support 21 and the driven member 22, the support 21 and the driven member 22 do not come in direct contact with each other, thus preventing damage to these components. As a result, the durability of the antenna device 100 is improved.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention, and the following embodiments can be made.
The second and subsequent embodiments will be described below, but even if the shape is different from the first embodiment, elements having the same or similar functions and being in common may be assigned the same reference numerals to simplify the description. The first embodiment will be referred to as necessary.

Second Embodiment
10 and 11 show the main part of the antenna device of the second embodiment. In the first embodiment, the screw portion 64a is formed on the rotary shaft 64 of the actuators 61A and 61B of the rocking drive mechanism 60, and the nut member 65 supported by the driven member 22 is driven. Then, the pinion 71 is provided on the rotary shaft 64 of the actuators 61A and 61B of the swing drive mechanism 60 (only 61B is illustrated in FIG. 10, but 61A is also arranged in the same manner as the first embodiment). A rack member (piece) 72 is attached to the reference numeral 22. The rack member 72 is formed in the shape of a band plate extending in a direction orthogonal to the rotation shaft 64 of the actuators 61A and 61B, and rack teeth 72a meshing with the pinion 71 are formed on the upper surface thereof. 73, it is movably supported in the direction along the rotation axis 64 of the actuators 61A, 61B.

That is, in the second embodiment, the transmission mechanism 62 for transmitting the drive of the actuators 61A and 61B to the driven member 22 is a pinion 71 formed on the rotation shaft 64 of the actuators 61A and 61B and a rack member engaged with the pinion 71 The rack member 72 is supported by the groove portion 73 of the driven member 22 so as to be movable along the rotation shaft 64 of the actuators 61A and 61B.
Moreover, in this embodiment, the pinion 71 of the rotary shaft 64 of the actuators 61A and 61B and the rack teeth 72a of the rack member 72 convert the rotation of the rotary shaft 64 into linear movement of the driven member 22 in the surface direction. Configured.
The rack member 72 is integrally formed with a flange portion 72b extending in the surface direction of the driven member 22 at the lower end fitted in the groove 73 of the driven member 22, and the groove 73 of the driven member 22 is the driven member 22. The back side is formed wider than the front side, and a recess 73a into which the flange portion 72b of the rack member 72 is fitted is formed along the length direction.

In this embodiment, the pinion 71 and the rack teeth 72a on the upper surface of the rack member 72 mesh with each other, and the screw portion 64a does not penetrate into the nut member 65 as in the first embodiment. The lower base plate portion 34 is provided with a support mechanism 80 for receiving the driven member 22. The support mechanism 80 can support the driven member 22 horizontally (in a direction orthogonal to the Z-axis direction) while allowing movement of the driven member 22 in the surface direction, such as a free ball bearing, a ball caster, etc. And at least three are provided to support the driven member 22 horizontally. In the case of a free ball bearing, a freely rotatable ball 82 is held on a pedestal 81, and the driven member 22 is supported on the ball 82.
In addition, as the supporting mechanism, it is possible to use a magnetic levitation mechanism using the above-mentioned magnet, and the magnet is provided to face the back surface of the driven member 22 and the upper surface of the base plate portion 34 of the fixed body 30 The driven member 22 may be floated to a certain height by the repulsive force of these magnets.
Also in the antenna device according to the second embodiment, the antenna 10 (see FIG. 2 etc.) can be arbitrarily selected by the two actuators 61A and 61B in which the rotary shaft 64 is arranged in two directions (X-axis direction or Y-axis direction) Can swing smoothly in the direction of

Third Embodiment
12 and 13 show a third embodiment. The rocking drive mechanism 60 of the third embodiment is replaced by the pinion 71 of the second embodiment, and a spline rod portion 75 is provided on the rotary shaft 64 of the actuators 61A and 61B (only 61B is illustrated as in the second embodiment). Provided integrally. In the spline rod portion 75, a tooth groove longer than the pinion 71 is formed along the length direction of the rotation shaft 64, and in the length direction of the rotation shaft 64 in a state of meshing with the rack teeth 76a of the rack portion 76. Even if it moves, the meshing state can be maintained. For this reason, when moving the driven member 22 by one actuator, the spline rod portion 75 and the rack portion 76 of the other actuator can move relative to each other in the moving direction, and accordingly, the rack member of the second embodiment The groove 73 supporting the portion 72 is not necessary in the third embodiment.

In the third embodiment, the transmission mechanism 62 for transmitting the drive of the actuators 61A and 61B to the driven member 22 meshes with the spline rod portion 75 formed on the rotation shaft 64 of the actuators 61A and 61B. The rack portion 76 is configured by rack teeth 76 a.
In this embodiment, the spline rod portion 75 of the rotation shaft 64 of the actuators 61A and 61B and the rack teeth 76a of the rack portion 76 convert the rotation of the rotation shaft 64 into linear movement of the driven member 22 in the surface direction. The mechanism is configured.
Also in the antenna device of the third embodiment, since the spline rod portion 75 and the rack portion 76 are meshed relative to each other along the tooth groove of the spline rod portion 75, the spline rod portion 75 is orthogonal to the direction The antenna 10 (see FIG. 2 and the like) can be swung smoothly in any direction by the two actuators 61A, 61B arranged. Further, the rack portion 76 is fixed to the driven member 22 and does not have a groove or the like for sliding the rack portion 76, so the structure is also simpler.

Fourth Embodiment
In all of the first to third embodiments, rotary motors are used as the actuators 61A and 61B, and a conversion mechanism for converting the rotation thereof into linear movement of the driven member 22 is provided. Or the like may be used. In the fourth embodiment shown in FIG. 14, a cylinder is used as the actuators 61A and 61B (only the 61B is illustrated as in the second embodiment), and a block 69 is mounted on the reciprocating shaft 68 of the actuators 61A and 61B. It is attached. Like the nut member 65 of the first embodiment, the block body 69 is movably supported in the groove 66 of the driven member 22 along the direction orthogonal to the reciprocating shaft 68.
The block body 69 is moved in the longitudinal direction of the reciprocating shaft 68 by the actuators 61A and 61B, and the antenna 10 (see FIG. 2 etc.) is formed by the two actuators 61A and 61B in which the reciprocating shaft 68 is disposed in the orthogonal direction. Can be rocked in any direction.

  The nut member 65 in the first embodiment, the rack member 72 in the second embodiment, and the block body 69 in the fourth embodiment are all movably supported by the groove 66 formed in the driven member 22, Nut member 65 (first embodiment), rack member 72 (second embodiment) or block 69 (third embodiment) in the moving direction of the driven member 22 when the driven member 22 is moved by the actuators 61A and 61B. 1) can be moved relative to the driven member 22 respectively. In the present invention, the nut member 65 in the first embodiment, the rack member 72 in the second embodiment, and the block body 69 in the fourth embodiment, which are movably supported by the driven member as described above, are collectively referred to as a piece. .

(Other modifications)
In the present invention, various modifications can be made as follows.
For example, although two actuators 61A and 61B are provided in each embodiment, four actuators are arranged so that two actuators face each other 180 ° across the central axis C of the antenna 10 to form a set. Thus, four actuators may be arranged at intervals of 90 ° around the central axis C. In this case, when the two actuators arranged opposite to each other are made into one set, one set of actuators moves the driven member 22 in, for example, the X-axis direction, and the other set of actuators moves the driven member 22 in the Y-axis direction Moving. Accordingly, the driven member 22 generates a large driving force because driving in either direction when driving in the X-axis direction or driving in the Y-axis direction is driven by two actuators in one direction. It can be done. Further, since the four actuators are arranged at intervals of 90 ° around the central axis C, the weight balance of the movable body 20 is also improved.

  Although the actuator is configured to move the driven member in the direction crossing 90 ° in the X-axis direction and the Y-axis direction, it does not necessarily have to be the direction crossing 90 °, but at least by two different actuators. It is sufficient that the driven member 22 can be moved in an arbitrary direction crossing the support 21 by a combination of driving.

  In each embodiment, the driven member 22 is provided on the opposite side of the rocking fulcrum P from the antenna 10. However, the driven member 22 may be provided between the rocking fulcrum P and the antenna 10. In this case, the antenna 10 can be swung along the moving direction of the driven member 22, and the antenna 10 can be swung largely by a slight movement with respect to the driven member 22.

In addition, although a bellows-like cylinder is provided as the cover 300, it may not be a bellows-like one, but may be a sheet-like one that can freely expand and contract as long as it can follow the swing of the antenna 10 Between the antenna 10 and the fixed body 30 may be used.
Further, the entire antenna device may be covered with a box-shaped cover made of synthetic resin or the like. In that case, the box-like cover is formed of a material that transmits radio waves.

  In each of the embodiments, the antenna 10 is disposed at the top, and is disposed so that the central axis C is directed vertically, but may be disposed such that the central axis C is oriented horizontally. Even in that case, by arranging the center of gravity position adjusting member such as a weight on the movable body 20, if the rocking fulcrum P and the center of gravity of the movable body 20 coincide with each other, deflection of the gimbal member 40 can be suppressed. The rocking operation can be performed with high accuracy.

  DESCRIPTION OF SYMBOLS 10 antenna 11 apex part 12 reflective surface 20 movable body 21 support member 22 driven member 22a hole 23 elastic member (connection mechanism) 23a attachment portion 23b arc Plate portion 30 Fixed body 31 Housing 32 Case 33 Cylindrical body 34 Base plate portion 35 Peripheral wall portion 36 Upper plate portion 37 Support base 40 Gimbal member Support mechanism) 41: outer ring portion 42: middle ring portion 43: inner ring portion 44, 45: connection portion 50: posture detection sensor 55: magnetic levitation mechanism 55A, 55B: magnet 56: bottom plate 60: rocking drive mechanism, 61A, 61B: actuator, 62: transmission mechanism, 64: rotary shaft, 64a: male thread portion, 65: nut member (piece body), 65a: female thread portion, 65b, 72b: collar Part 72: Rack member (piece), 6, 73 Grooves 66a 73a Recesses 68 Reciprocating Shafts 69 Blocks (Pieces) 71 Pinions 72a, 76a Rack Teeth 75 Spline Rods 76 Racks 80 ... Support mechanism, 81 ... Base, 82 ... Ball, 100 ... Antenna device with shake correction function, 300 ... Bellows-like cylindrical body (cover), C ... Central axis, F ... Focus, G ... Center of gravity, P ... Swing fulcrum, S1, S2 ... rocking shaft.

Claims (9)

A movable body having an antenna, a fixed body, a rocking support mechanism for rockably supporting the movable body on the rocking fulcrum on the central axis of the antenna, the central axis of the antenna A posture detection sensor for detecting a change in posture due to the inclination of the movable body, and a rocking drive mechanism for rocking the movable body based on the detection result of the posture detection sensor,
In the movable body, a support portion which holds the antenna and is provided along the central axis of the antenna, a driven member which is moved in a direction intersecting the central axis by the swing drive mechanism, and the driven member Connection mechanism for connecting relative displacement based on the difference in the moving direction of the driven member and the part of the support column part separated from the support point of the support part And are provided,
The rocking drive mechanism has at least two actuators to move the driven member in different directions crossing the central axis,
Each actuator and the driven member are characterized in that, when the one actuator is driven, the connection portion with the other actuator can be moved along the moving direction of the driven member by the drive of the one actuator. Antenna device with shake correction function.   A groove is provided on the actuator, and the groove is configured to be linearly moved by the drive of the actuator, and the driven member supports the groove so as to be freely movable along the moving direction of the driven member by the other actuator. The antenna device with a shake correction function according to claim 1, characterized in that   The driven member is formed in an annular shape surrounding the support portion, and the connection mechanism is an elastic member provided on an inner peripheral portion of the driven member and in contact with an outer peripheral surface of the support portion. The antenna device with a shake correction function according to claim 1 or 2.   The actuator according to any one of claims 1 to 3, wherein four of the actuators are provided, and each two of the actuators are arranged so as to face each other at 180 ° with respect to the central axis. The antenna device with the shake correction function described.   The antenna device with a shake correction function according to claim 2, wherein the actuator is a motor, and a conversion mechanism for converting rotation of the actuator into linear movement is provided between the actuator and the piece.   The antenna device with a shake correction function according to claim 5, wherein the actuator is a stepping motor.   The antenna has a reflecting surface which is a concave surface from the center to the radially outward direction on the upper surface of the umbrella shape, and the support portion is provided on the opposite side to the reflecting surface of the antenna. The antenna device with a shake correction function according to any one of claims 1 to 6, wherein the rocking fulcrum is provided at a gravity center position of the movable body.   The rocking support mechanism is a gimbal that can rock with an intersection point of two rocking axes perpendicular to the central axis and orthogonal to each other when viewed from one end of the central axis. The antenna device with a shake correction function according to any one of claims 1 to 7, wherein the antenna device is constituted by a member.   An expandable / deformable cover is provided between the antenna and the fixed body, which encloses the rocking support mechanism and the rocking drive mechanism by closing the space between them. The antenna device with a shake correction function according to any one of 8.

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