JP5899015B2 - Antenna driving device and parabolic antenna - Google Patents

Description

  The present invention relates to an antenna driving device and a parabolic antenna.

  In order to transmit and receive radio waves to and from an artificial satellite (hereinafter simply referred to as “satellite”) launched into outer space and orbiting the earth, a large parabolic antenna is installed at the ground base station. Yes. Therefore, for example, when constructing a system using an ultra-small satellite having a mass of 50 kg or less, the manufacturing cost of a large parabolic antenna becomes very expensive compared to the manufacturing cost of the satellite itself, and a general-purpose system is constructed. It has become a problem when doing.

  The parabolic antenna is provided with an antenna driving device that automatically drives an antenna device that transmits and / or receives radio waves in order to automatically track satellites that orbit the earth. In order to automatically track the satellite, it is necessary to accurately perform repetition of driving and stopping of the antenna device and speed control during driving. Therefore, in order to reduce the manufacturing cost of a large-sized parabolic antenna, development of an inexpensive antenna driving device that can accurately perform these is required.

  For example, Patent Document 1 discloses an antenna drive including three drive mechanisms that rotate and drive an antenna device around an AZ (azimuth) axis, an EL (elevation) axis, and a cross EL axis that are orthogonal to each other at one point. An apparatus is disclosed. However, if drive mechanisms for rotating and driving the antenna device are provided independently around the three axes, there is a problem that the manufacturing cost of the antenna drive device increases.

  In Patent Document 1, a driving mechanism includes a driving swivel gear attached to an outer peripheral surface of a structure that supports an antenna device, a small gear provided to mesh with the driving swivel gear, and a small gear. Although the point constituted by the drive motor for rotational driving is described, there is no disclosure of a technique for accurately performing the driving / stopping of the antenna device and the forward / reverse operation with high accuracy.

  On the other hand, Patent Document 2 discloses an AZ (azimuth) drive device and an EL (elevation) drive for rotating a parabolic antenna device in an azimuth plane and an elevation angle plane, that is, around two axes orthogonal to each other. An antenna driving device including the device is disclosed. Regarding the antenna driving device, the EL driving device is described in that the driving force generated by the motor is transmitted to the antenna device via a transmission mechanism including a gear device. There is no disclosure of a technique for performing repetition or forward / reverse operation with high accuracy.

Japanese Patent No. 4578491 JP 2001-332917 A

  An object of the present invention is to provide an antenna driving device and a parabolic antenna that can be configured at low cost and can accurately drive the antenna device.

The present invention relates to an antenna driving device for rotating an antenna device around an axis,
A driving unit that generates a driving force, transmits the driving force to the antenna device, and rotates the antenna device around the axis;
A driving force generator including a plurality of electric motors associated with each of a plurality of predetermined speed ranges with respect to a speed at which the antenna device should be rotated;
A driving force transmission unit including one or a plurality of clutch mechanisms capable of switching between a connected state in which the driving force generated by the electric motor is transmitted to the antenna device and an unconnected state in which the driving force from the electric motor to the antenna device is cut off. A drive unit including:
The motor in the corresponding speed range is operated according to the speed at which the antenna device should be rotated, and the one or more clutch mechanisms are controlled so that the driving force generated by the motor is transmitted to the antenna device. and a control unit seen including,
The control unit controls the one or more clutch mechanisms so that an output shaft of another motor is rotated by a driving force generated by one motor .

  According to the present invention, the control unit switches the electric motor that generates a driving force to be transmitted to the antenna device according to a change in speed at which the antenna device should be rotated from one electric motor to another electric motor. The driving force generated by the other motor is applied to the antenna device in a state where the other motor is operated so that the number of rotations of the other motor is substantially the same as the number of rotations corresponding to the number of rotations of the one motor. The one or more clutch mechanisms are controlled to be transmitted.

  In the invention, it is preferable that the plurality of electric motors are realized by induction motors.

Further, in the present invention, the driving force transmission unit is
A driven gear provided to be rotatable integrally with the antenna device;
Two driving gears meshing with the driven gear;
An intermediate transmission unit that transmits the driving force generated by the driving force generation unit to the two driving gears;
In the two drive-side gears, when no load is applied, the tooth surface of one drive-side gear contacts one tooth surface of the driven-side gear, and the tooth surface of the other drive-side gear is connected to the driven-side gear. It is provided so that it may space apart with respect to the one tooth surface and the tooth surface arrange | positioned on the same side in the rotation direction of the said driven gear.

  Further, the present invention is characterized in that the driving force transmitting portion is provided so as to be able to mesh with the driven gear, and includes a rotation blocking portion that meshes with the driven gear and blocks the rotational operation of the driven gear. To do.

The present invention further includes a calculation unit that calculates a speed at which the antenna device should be rotated and transmits a calculation result to the control unit.
The control unit acquires a speed at which the antenna device should be rotated based on a calculation result transmitted from the calculation unit.

The present invention also includes an antenna device,
A parabolic antenna comprising the antenna driving device.

  According to the present invention, the drive unit for rotating the antenna device is configured to include a plurality of electric motors respectively associated with a plurality of predetermined speed ranges with respect to the speed at which the antenna device is to be rotated, The control unit operates a target motor that is a motor corresponding to a speed range corresponding to a speed at which the antenna device should be rotated, and transmits a driving force generated by the target motor to the antenna device. The clutch mechanism is controlled.

  In this way, it is configured to operate an electric motor suitable for the speed at which the antenna device should be rotated, so that the antenna device can be driven with high accuracy and the satellite can be automatically automatically operated in a wide speed range from low speed to high speed. Can be tracked. Also, by providing an electric motor for each of a plurality of speed ranges, the speed range in which the antenna device can be rotated can be widened, so that the tracking performance of the satellite can be improved.

  Further, according to the present invention, when the electric motor that generates the driving force to be transmitted to the antenna device according to the change in the speed at which the antenna device should be rotated is switched from one electric motor to another electric motor, The other motor is operated so that the rotation speed of the other motor is substantially the same as the rotation speed corresponding to the rotation speed of the one motor, and in this state, the driving force generated by the other motor is an antenna. The one or more clutch mechanisms are controlled to be transmitted to the device. Therefore, when the electric motor to be operated is switched, it is possible to reduce an impact generated when the clutch mechanism is switched from the unconnected state to the connected state.

  Further, according to the present invention, since the plurality of electric motors are realized by induction motors (induction motors), respectively, the cost can be reduced as compared with the case where an expensive electric motor such as a servo motor is used.

  According to the present invention, the driving force generated by the driving force generator is transmitted through the intermediate transmission unit, the two driving gears, and the driven gear, and the two driving gears are in a no-load state. The tooth surface of one drive side gear contacts one tooth surface of the driven gear, and the tooth surface of the other drive side gear is separated from the tooth surface corresponding to the one tooth surface of the driven gear. It is provided as follows.

  As described above, since the two driving gears are provided with different phases with respect to the driven gear, backlash of the driven gear can be reduced. Therefore, the forward / reverse operation of the antenna device can be performed with high accuracy.

  In addition, according to the present invention, the rotation blocking portion for blocking the rotation operation of the driven gear is configured to block the rotation operation of the driven gear by meshing with the driven gear. When using a pin to prevent rotational movement of the driven gear, it is necessary to accurately position the pin insertion hole provided in the driven gear at a predetermined position. Therefore, when the rotation of the driven gear is blocked, it is not necessary to accurately position the driven gear at a predetermined position. Therefore, the operation of blocking the rotation of the driven gear can be easily and quickly performed. Can do.

  Further, according to the present invention, the direction of the antenna device can be introduced to the position of the tracking target satellite based on the estimation result of the position of the tracking target satellite and the rotation position around the axis of the antenna device. .

  Further, according to the present invention, it is possible to realize a parabolic antenna that is inexpensive and can accurately drive the antenna device.

It is sectional drawing which shows the whole structure of the parabolic antenna 10 which concerns on one Embodiment of this invention. 3 is a system diagram schematically illustrating an example of a configuration of an azimuth driving unit 31. FIG. It is a systematic diagram which shows simply an example of a structure of the driving force generation part 40 and the driving force interruption part 42. It is a figure for demonstrating switching operation | movement of each electric motor 51a-51c by the control part 33. FIG. It is a figure for demonstrating the meshing state of the 1st and 2nd drive side gearwheels 48a and 48b and the driven side gearwheel 50a. 3 is a diagram illustrating an example of a configuration of a rotation blocking unit 55 in the azimuth driving unit 31. FIG.

  FIG. 1 is a cross-sectional view showing an overall configuration of a parabolic antenna 10 according to an embodiment of the present invention. The parabolic antenna 10 according to the present embodiment is installed in a ground base station and is used to transmit and / or receive radio waves with a satellite orbiting the earth. The parabolic antenna 10 is used to receive radio waves from a satellite that transmits image data acquired to monitor, for example, the distribution of global warming gas and the occurrence of forest fires.

  The parabolic antenna 10 according to the present embodiment includes a predetermined vertical axis J1 and horizontal axis J2 for an antenna device 11 having a function of transmitting and / or receiving radio waves in order to automatically track satellites that orbit the earth. The antenna driving device 12 is configured to automatically rotate around. Specifically, the parabolic antenna 10 includes an antenna device 11, an antenna driving device 12, and a base 13 that is fixedly installed on the ground.

  As shown in FIG. 1, the antenna device 11 has a parabolic reflector 21a, is provided so as to be coaxial with the antenna main body 21 that transmits and / or receives radio waves, and the vertical axis J1, and a base 13 A disk-shaped turntable 22 that is rotatably supported around the vertical axis J1, a support stand 23 that is installed on the turntable 22 and rotates integrally with the turntable 22, and is supported at an intermediate portion in the longitudinal direction. An antenna support 24 is supported by the base 23 so as to be rotatable around the horizontal axis J2, and the antenna body 21 is fixed to one end 24a in the longitudinal direction. In the present embodiment, the antenna device 11 is configured such that the vertical axis J1 and the horizontal axis J2 are arranged on the same plane.

  The antenna driving device 12 generates a driving force, transmits the driving force to the antenna device 11, and rotates the antenna body 21 around the vertical axis J1, and generates a driving force. An elevation drive unit 32 that transmits force to the antenna device 11 to rotate the antenna body 21 around the horizontal axis J2, and an azimuth drive unit 31 and an elevation drive unit so that the antenna body 21 is oriented in a predetermined direction. And a control unit 33 that controls the operation of 32.

  In the present embodiment, as shown in FIG. 1, the azimuth drive unit 31 transmits the generated driving force to the turntable 22 in the antenna device 11 so that the turntable 22 rotates about the vertical axis J1. It is configured. As will be described in detail later, the azimuth drive unit 31 includes a driven gear 50a that is fixedly provided on the turntable 22 so that the center axis coincides with the vertical axis J1. A driving force is transmitted through the side gear 50a.

  When the driving force is transmitted by the azimuth driving unit 31, the turntable 22 rotates around the vertical axis J1 by the driving force. Since the antenna body 21 is provided on the turntable 22 so as to rotate integrally therewith, when the driving force is transmitted to the turntable 22 by the azimuth drive unit 31, the antenna body 21 is moved around the vertical axis J1. Can be rotated.

  Similarly, the elevation drive unit 32 is configured to transmit the generated driving force to the antenna support unit 24 in the antenna device 11 to rotate the antenna support unit 24 about the horizontal axis line J2. The elevation drive unit 32 includes an arc-shaped rack 50b (hereinafter referred to as a “driven gear 50b”) fixed to the other end 24b of the antenna support 24 so that the center axis coincides with the horizontal axis J2. The driving force is transmitted to the antenna support portion 24 through the driven gear 50b.

  When the driving force is transmitted by the elevation driving unit 32, the antenna support unit 24 rotates around the horizontal axis J2 by the driving force. Since the antenna body 21 is provided on the antenna support portion 24 so as to rotate integrally therewith, the driving force is transmitted to the antenna support portion 24 by the elevation drive portion 32, so that the antenna body 21 is horizontally placed. It can be rotated around the axis J2.

  FIG. 2 is a system diagram schematically illustrating an example of the configuration of the azimuth driving unit 31. The azimuth driving unit 31 and the elevation driving unit 32 are the same in other structures except that the configurations of the driven side gear 50a and the driven side gear 50b are different. Only the structure will be described, and the description of the structure of the elevation drive unit 32 will be omitted.

  The azimuth driving unit 31 includes a driving force generation unit 40 that generates a driving force for rotating the antenna device 11, and a driving force transmission unit 41 that transmits the driving force generated by the driving force generation unit 40 to the antenna device 11. It is comprised including.

  The driving force transmission unit 41 includes a driving force interrupting unit 42, an input gear 43, a first transmission shaft 44, a first bevel gear 45a, a second bevel gear 45b, a second transmission shaft 46, and a second transmission shaft 46. The first worm gear 47a, the second worm gear 47b, the first drive side gear 48a, the second drive side gear 48b, the phase adjustment coupling 49, and the rotary base 22 in the antenna device 11 are fixedly provided. And a driven side gear 50a.

  As shown in FIG. 2, the driving force generated by the driving force generator 40 is input to the input gear 43 via the driving force interrupter 42. The input gear 43 extends along the axis J3 and is fixedly provided at one end in the longitudinal direction of the first transmission shaft 44 rotatably supported around the axis J3 so as to be coaxial with the first transmission shaft 44. A first bevel gear 45 a is fixed to the other end portion of the first transmission shaft 44 in the longitudinal direction so as to be coaxial with the first transmission shaft 44.

  The second bevel gear 45b extends along the axis J4, and is fixed to the central portion in the longitudinal direction of the second transmission shaft 46 rotatably supported around the axis J4 so as to be coaxial with the second transmission shaft 46. Provided so as to mesh with the first bevel gear 45a. A first worm gear 47a is fixed to one end of the second transmission shaft 46 in the longitudinal direction so as to be coaxial with the second transmission shaft 46, and the other end of the second transmission shaft 46 in the longitudinal direction. The second worm gear 47b having the same configuration as the first worm gear 47a is fixedly provided so as to be coaxial with the second transmission shaft 46.

  The first drive side gear 48a is provided rotatably about the axis L2 so as to mesh with the first worm gear 47a and mesh with the driven gear 50. Further, the second drive side gear 48b is configured in the same manner as the first drive side gear 48a, and in the same manner as described above, the second drive side gear 48b meshes with the second worm gear 47b and also meshes with the driven side gear 50a. It is provided so as to be rotatable about an axis L3 parallel to L2. The driven gear 50 is fixed to the turntable 22 in the antenna device 11 so as to be rotatable around an axis L1 that is parallel to the axes L2 and L3 and coincides with the vertical axis J1.

  When a driving force for rotating the input gear 43 around the axis line J3 in the rotation direction indicated by the arrow A1 is input from the driving force generation unit 40, the driving force transmission unit 41 receives the input gear 43, the first transmission shaft 44, and The first bevel gear 45a is integrally rotated in the rotation direction A1, thereby the second bevel gear 45b meshing with the first bevel gear 45a is moved to the second bevel gear 45b around the axis J4 by an arrow B1. A driving force for rotating in the rotation direction shown is transmitted.

  When the driving force is transmitted to the second bevel gear 45b, the second bevel gear 45b, the second transmission shaft 46, and the first and second worm gears 47a and 47b rotate together in the rotation direction B1. The first driving side gear 48a meshed with the first worm gear 47a is transmitted with a driving force for rotating the first driving side gear 48a about the axis L2 in the rotational direction indicated by the arrow C1, and A driving force for rotating the second driving gear 48b around the axis L3 in the rotational direction indicated by the arrow D1 is transmitted to the second driving gear 48b meshing with the worm gear 47b.

  As a result, the first and second drive side gears 48a and 48b rotate around the respective axes L2 and L3 in synchronization with the rotation directions C1 and D1 and mesh with the first and second drive side gears 48a and 48b. A driving force for rotating the driven gear 50a around the axis L1 in the rotation direction indicated by an arrow E1 is transmitted to the driven gear 50a. As a result, the driving force is transmitted to the turntable 22 to which the driven gear 50a is fixed, and the antenna body 21 is rotated in the rotation direction E1 together with the turntable 22.

  The driving force transmission unit 41 receives the input gear 43 and the first transmission shaft 44 when a driving force for rotating the input gear 43 around the axis J3 in the rotation direction indicated by the arrow A2 is input from the driving force generation unit 40. The first bevel gear 45a and the first bevel gear 45a rotate together in the rotation direction A2, and thereby the second bevel gear 45b meshes with the first bevel gear 45a, and the second bevel gear 45b is moved around the axis J4 by an arrow B2. A driving force for rotating in the rotational direction indicated by is transmitted.

  When the driving force is transmitted to the second bevel gear 45b, the second bevel gear 45b, the second transmission shaft 46, and the first and second worm gears 47a and 47b rotate together in the rotation direction B2. The first driving gear 48a meshed with the first worm gear 47a is transmitted with a driving force for rotating the first driving gear 48a about the axis L2 in the rotational direction indicated by the arrow C2, and A driving force for rotating the second driving gear 48b around the axis L3 in the rotation direction indicated by the arrow D2 is transmitted to the second driving gear 48b meshing with the worm gear 47b.

  As a result, the first and second drive gears 48a and 48b rotate around the respective axes L2 and L3 in synchronization with the rotation directions C2 and D2, and mesh with the first and second drive gears 48a and 48b. The driving force for rotating the driven gear 50a around the axis L1 in the rotation direction indicated by the arrow E2 is transmitted to the driven gear 50a. Accordingly, the driving force is transmitted to the turntable 22 to which the driven gear 50a is fixed, and the antenna body 21 is rotated in the rotation direction E2 together with the turntable 22.

  As described above, the azimuth driving unit 31 transmits the driving force generated by the driving force generating unit 40 to the turntable 22 by the driving force transmitting unit 41, thereby moving the antenna body 21 around the vertical axis J1 in the rotation direction E1. , E2. Similarly, the elevation driving unit 32 transmits the driving force generated by the driving force generating unit 40 to another driven gear 50b provided at the other end 24b of the antenna support unit 24, whereby the antenna body 21 is rotated around the horizontal axis J2 in the rotation directions F1 and F2 (see FIG. 1).

  FIG. 3 is a system diagram schematically showing an example of the configuration of the driving force generator 40 and the driving force interrupter 42. Hereinafter, the driving force generating unit 40 and the driving force interrupting unit 42 in the azimuth driving unit 31 and the elevation driving unit 32 will be described in detail.

  The driving force generator 40 rotates the antenna body 21 around a vertical axis J1 (in the case of the azimuth driving unit 31) or a horizontal axis J2 (in the case of the elevation driving unit 32) (hereinafter referred to as “axis J”). The power rotation speed V includes a plurality of electric motors 51a to 51c associated with each of a plurality of predetermined speed ranges.

  Specifically, the driving force generator 40 has a low speed motor 51a used when the antenna body 21 is rotated around the axis J in a low speed range, and the antenna body 21 is faster than the low speed around the axis J. A medium speed motor 51b used when rotating in the medium speed range, and a high speed motor 51c used when rotating the antenna body 21 around the axis J in a high speed range faster than the medium speed; It is configured with. The speed ranges of low speed, medium speed, and high speed may overlap each other. Hereinafter, when it is not necessary to distinguish between the electric motors 51a to 51c, they are referred to as electric motors 51.

  The driving force interrupting section 42 switches between a connected state in which the driving force generated by the electric motor 51 is transmitted to the input gear 43 and a non-connected state in which the driving force generated by the electric motor 51 is not transmitted to the input gear 43. The clutch mechanisms 52a and 52b are provided. Each clutch mechanism 52a, 52b is realized by, for example, an electromagnetic clutch.

  The specific structure will be described. The output shaft 71c of the high-speed electric motor 51c is connected to the drive-side gear 54 of the third reduction gear 53c. The third speed reducer 53 c is configured to include the input gear 43, decelerates the rotation input to the drive side gear 54, and outputs it to the first transmission shaft 44 connected to the input gear 43. In this way, the driving force generated by the high speed electric motor 51c is output to the first transmission shaft 44 via the third speed reducer 53c.

  The output shaft 71b of the medium speed electric motor 51b is connected to the second speed reducer 53b. The second speed reducer 53b decelerates the rotational speed on the input side and outputs it to the output shaft 71d. One end of the output shaft 71d is connected to the drive-side gear 54 of the third reduction gear 53c so as to be coaxial with the output shaft 71c of the high-speed electric motor 51c. The second clutch mechanism 52b is provided on the output shaft 71d. The second clutch mechanism 52b is connected to the second reducer 53b, and the second reducer 53b is connected to the second reducer 53b. The input driving force is switched to a non-connected state in which the driving force is not transmitted to the third reduction gear 53c. Thus, the driving force generated by the medium speed electric motor 51b is output to the first transmission shaft 44 via the second reduction gear 53b, the second clutch mechanism 52b, and the third reduction gear 53c. .

  The output shaft 71a of the low speed electric motor 51a is connected to the first speed reducer 53a. The first speed reducer 53a decelerates the rotational speed on the input side and outputs it to the output shaft 71e. One end of the output shaft 71e is connected to the second speed reducer 53b. The first clutch mechanism 52a is provided on the output shaft 71e, and a connection state in which the driving force input to the first reduction gear 53a is transmitted to the second reduction gear 53b and the first reduction gear 53a. The input driving force is switched to a non-connected state in which the driving force is not transmitted to the second reduction gear 53b. As described above, the driving force generated by the low speed electric motor 51a is the first reduction gear 53a, the first clutch mechanism 52a, the second reduction gear 53b, the second clutch mechanism 52b, and the third reduction gear 53c. To the first transmission shaft 44.

  The driving force transmission unit 41 further includes first to third reduction gears 53a to 53c and output shafts 71d and 71e. In the present embodiment, in the driving force transmission unit 41, the rotational speed of the high-speed motor 51c is reduced to 1/4000 by the driving force transmission unit 41 and transmitted to the turntable 22, and the rotational speed of the medium-speed motor 51b is The speed is reduced to 1/80000 and transmitted to the turntable 22, and the rotation speed of the low-speed motor 51a is reduced to 1/1600000 and transmitted to the turntable 22. In other words, both the first and second reduction gears 53a and 53b reduce the rotational speed on the input side to 1/20 and output it to the output shafts 71e and 71d.

  The operations of the electric motors 51 a to 51 c and the clutch mechanisms 52 a and 52 b are controlled by a control signal transmitted from the control unit 33. The control unit 33 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and according to a program stored in advance in the ROM, the motors 51a to 51c and the clutch mechanisms 52a. , 52b are controlled.

  In the present embodiment, the control unit 33 controls the operations of the electric motors 51a to 51c and the clutch mechanisms 52a and 52b based on a speed command signal input from an external control device (arithmetic unit) (not shown). It is configured.

  The external control device calculates the orbit of the tracking target satellite, specifically, the estimation result of the satellite position for each predetermined time interval (for example, one second interval), and two (not shown) attached to the antenna device 11. The orientation of the antenna body 21 is tracked based on the direction of the antenna body 21 detected by the rotary encoder, that is, the rotational position of the antenna body 21 around the vertical axis J1 and the rotational position of the antenna body 21 around the horizontal axis J2. The rotation speed Vaz around the vertical axis J1 and the rotation speed Vel around the horizontal axis J2 of the antenna body 21 are calculated for introduction and tracking at the position of the satellite, respectively, and a speed command signal including the calculation result is sent to the control unit. To 33.

  When the rotational speed Vaz acquired from the speed command signal is within a predetermined low speed range with respect to the azimuth driving unit 31, the control unit 33 uses the rotational speed w1 for rotating the antenna body 21 at the rotational speed Vaz. The first and second motors are driven so that the output shaft 71a of the low-speed motor 51a rotates, and the driving force generated by the low-speed motor 51a is input to the input gear 43. The clutch mechanisms 52a and 52b are put into a connected state.

  Similarly, if the rotational speed Vaz acquired from the speed command signal is within a predetermined medium speed range, the control unit 33 rotates at a rotational speed w2 for rotating the antenna body 21 at the rotational speed Vaz. The second clutch so that the medium speed motor 51b is driven so that the output shaft 71b of the motor 51b rotates, and the driving force generated by the medium speed motor 51b is input to the input gear 43. The mechanism 52b is brought into a connected state, and the first clutch mechanism 52a is brought into a non-connected state.

  If the rotational speed Vaz acquired from the speed command signal is within a predetermined high speed range, the control unit 33 sets the high speed electric motor 51c at the rotational speed w3 for rotating the antenna body 21 at the rotational speed Vaz. The high-speed electric motor 51c is driven so that the output shaft 71c rotates, and the first and second clutch mechanisms 52a and 52b are brought into an unconnected state.

  As described above, the control unit 33 selects and drives the electric motor 51 to be driven according to the rotational speed Vaz at which the antenna body 21 is to be rotated, and the driving force generated by the selected electric motor 51 is input. Control is performed so that the states of the clutch mechanisms 52 a and 52 b are switched so as to be transmitted to the gear 43. The control unit 33 similarly controls the elevation drive unit 32.

  FIG. 4 is a diagram for explaining the switching operation of the electric motors 51 a to 51 c by the control unit 33. First, the case where the rotational speed V at which the antenna body 21 is to be rotated is accelerated will be described.

  When the rotational speed V acquired from the speed command signal is in the low speed range, the control unit 33 operates the first and second clutch mechanisms 52a and 52b to be in a connected state and causes the low speed motor 51a to operate. Electric power is supplied to drive the low speed electric motor 51a at the rotation speed w1 corresponding to the rotation speed V.

  At this time, the driving force generated by the low-speed motor 51a is transmitted to the rotary base 22 via the driving force transmission unit 41, and the antenna body 21 is rotated, and the medium-speed motor 51b and the high-speed motor 51c are rotated. Is also transmitted. Therefore, when the driving force is transmitted to the antenna main body 21 of the low-speed motor 51a, the output shaft 71b of the medium-speed motor 51b rotates at the rotational speed reduced by the first reduction gear 53a, and the high-speed motor 51c The output shaft 71c rotates at the rotational speed decelerated by the first and second speed reducers 53a and 53b.

  When the rotational speed V acquired from the speed command signal increases to the speed v2, the control unit 33 switches the first clutch mechanism 52a from the connected state to the unconnected state, and instantaneously supplies power to the medium-speed motor 51b. The medium speed electric motor 51b is activated. Thereafter, the drive of the low-speed motor 51a is stopped by the control unit 33.

  Thus, when switching from the low-speed motor 51a to the medium-speed motor 51b, the second clutch mechanism 52b for transmitting the driving force of the medium-speed motor 51b to the turntable 22 is already in a connected state. Further, since the output shaft 71b of the medium speed electric motor 51b is rotated by the low speed electric motor 51a, the electric power is instantaneously supplied to the medium speed electric motor 51b with the first clutch mechanism 52a disconnected. The speed electric motor 51b can be smoothly driven without an impact.

  Similarly, when the rotation speed V acquired from the speed command signal is in the medium speed range, the control unit 33 maintains the second clutch mechanism 52b in the connected state and disconnects the first clutch mechanism 52a. In this state, the medium speed electric motor 51b is driven at the rotational speed w2 corresponding to the rotational speed V.

  At this time, the driving force generated by the medium-speed motor 51b is transmitted to the rotary base 22 via the driving force transmission unit 41, and the antenna body 21 is rotated and also transmitted to the high-speed motor 51c. Therefore, when the driving force is transmitted to the antenna main body 21 of the medium speed electric motor 51b, the output shaft 71c of the high speed electric motor 51c rotates at the rotational speed reduced by the second reduction gear 53b.

  When the rotational speed V acquired from the speed command signal increases to the speed v5, the control unit 33 switches the second clutch mechanism 52b from the connected state to the unconnected state and instantaneously supplies power to the high-speed motor 51c. Then, the high-speed electric motor 51c is started. Thereafter, the drive of the medium speed electric motor 51 b is stopped by the control unit 33.

  No clutch mechanism is provided between the high speed motor 51c and the third reduction gear 53c, and when switching from the medium speed motor 51b to the high speed motor 51c, the output shaft 71b of the high speed motor 51c. Is rotated by the medium-speed motor 51b, so that the high-speed motor 51c is smoothly driven without impact by instantaneously supplying power to the high-speed motor 51c with the second clutch mechanism 52b disconnected. be able to.

  Thereafter, when the rotational speed V acquired from the speed command signal is higher than the speed v5, the control unit 33 maintains the first and second clutch mechanisms 52a and 52b in the unconnected state, and the high-speed motor 51c is driven at a rotational speed w3 corresponding to the rotational speed V.

  In the present embodiment, the rotational speed V at which the antenna body 21 is to be rotated is defined as 1,000 times the 1-time speed (23 hours 56 minutes 4 seconds) of a star. That is, the rotational speed V = 1,000 corresponds to a speed when the antenna body 21 is rotated at a single speed of the star.

Further, the rotation speeds w1 to w3 of the respective electric motors 51a to 51c corresponding to the rotation speed V at which the antenna body 21 should be rotated are the rotation speed w1 [Hz] of the low speed motor 51a, and w1 = V × 3.713847 ×. ^10-2 is calculated by the rotational speed of the medium-speed electric motor 51b w2 [Hz] is calculated by ^{w2 = V × 1.856923 × 10 -3} , the rotational speed of the high speed motor 51c w3 [Hz], w3 = V × 9.284617 × 10 ⁻⁵

In the present embodiment, the rotational speed v2 at the time of switching from the low speed motor 51a to the medium speed motor 51b is selected as v2 = 1,616. That is, when the rotational speed w1 of the low-speed electric motor 51a increases to 60 Hz (= 1,616 × 3.713847 × 10 ⁻² ), the control unit 33 responds to the reduction ratio 1/20 of the first reduction gear 53a. The medium speed electric motor 51b is driven at a rotational speed w2 = 3 Hz (= 1,616 × 1.885623 × 10 ⁻³ ).

The rotation speed v5 at the time of switching from the medium speed motor 51b to the high speed motor 51c is selected as v5 = 32,311. That is, when the rotation speed w2 of the medium speed electric motor 51b increases to 60 Hz (= 32, 311 × 1.885623 × 10 ⁻³ ), the control unit 33 responds to the reduction ratio 1/20 of the second reduction gear 53b. Thus, the high-speed electric motor 51c is driven at a rotational speed w3 = 3 Hz (= 32, 311 × 9.284617 × 10 ⁻⁵ ).

In the present embodiment, the upper limit of the rotational speed w3 of the high-speed electric motor 51c is set to 60 Hz. Therefore, when the rotation speed V at which the antenna body 21 should be rotated exceeds V = 646,230 (= 60 ÷ 9.284617 × 10 ⁵ ), the control unit 33 causes the high-speed motor 51c to rotate. Drive at a speed w3 = 60 Hz.

  Next, the case where the rotational speed V at which the antenna body 21 is to be rotated is decelerated will be described. When the rotational speed V acquired from the speed command signal is in the high speed range, the control unit 33 operates the first and second clutch mechanisms 52a and 52b so as not to be connected, and also uses the high speed motor 51c. Is supplied with electric power to drive the high-speed electric motor 51c at a rotational speed w3 corresponding to the rotational speed V.

When the rotational speed V acquired from the speed command signal decreases to the speed v6 (however, v5 <v6), the medium speed motor 51b is activated. In the present embodiment, the speed v6 at the startup of the medium speed electric motor 51b is selected as v6 = 37,697. That is, at the stage where the rotational speed w3 of the high-speed motor 51c has decreased to 3.5 Hz (= 37,697 × 9.284617 × 10 ⁻⁵ ), the control unit 33 activates the medium-speed motor 51b, The medium-speed motor 51b is driven at a rotational speed w2 = 3 Hz (= 37,697 × 1.885623 × 10 ⁻³ ) according to the reduction ratio 1/20 of the reduction gear 53b. At this time, the second clutch mechanism 52b is maintained in an unconnected state.

  Then, until the rotational speed V acquired from the speed command signal drops to a speed v4 smaller than the speed v5, the control unit 33 keeps the second clutch mechanism 52b in an unconnected state, When the rotational speed V acquired from the speed command signal is lowered to the speed v4 when the 51b and the high-speed electric motor 51c are respectively driven at the rotational speeds w2 and w3 corresponding to the rotational speed V, the second clutch mechanism 52b is brought into an unconnected state. While switching to the connected state, driving of the high-speed motor 51c is stopped. The speed v4 is selected to an appropriate value less than v5 (= 32, 311).

  Thus, in this embodiment, the rotation speed of the clutch plate on the high-speed motor 51c side and the rotation speed of the clutch plate on the medium-speed motor 51b side are the same or substantially the same, in other words, the second In consideration of the reduction ratio 1/20 of the speed reducer 53b, the medium speed motor 51b and the high speed motor so that the medium speed motor 51b rotates at a rotational speed w2 corresponding to the rotational speed w3 of the high speed motor 51c. Since the second clutch mechanism 52b is switched from the unconnected state to the connected state with the respective 51c being driven, the second clutch mechanism 52b is switched when switching from the high-speed motor 51c to the medium-speed motor 51b. The connection can be switched smoothly without impact.

  Similarly, when the rotational speed V acquired from the speed command signal is in the medium speed range, the control unit 33 enters the first clutch mechanism 52a in an unconnected state and enters the second clutch mechanism 52b in a connected state. In addition, the electric power is supplied to the medium speed electric motor 51b and the medium speed electric motor 51b is driven at the rotation speed w2 corresponding to the rotation speed V.

When the rotational speed V acquired from the speed command signal decreases to the speed v3 (where v2 <v3), the low-speed motor 51a is activated. In this embodiment, the speed v3 at the time of starting of the low speed electric motor 51a is selected as v3 = 1,885. That is, at the stage where the rotational speed w2 of the medium speed electric motor 51b is lowered to 3.5 Hz (= 1,885 × 1.885623 × 10 ⁻³ ), the control unit 33 activates the low speed electric motor 51a, The low-speed motor 51a is driven at a rotational speed w1 = 3 Hz (= 1,885 × 3.713847 × 10 ⁻² ) according to the reduction ratio 1/20 of the reduction gear 53a. At this time, the first clutch mechanism 52a is maintained in an unconnected state.

  Then, the controller 33 keeps the first clutch mechanism 52a in an unconnected state until the rotational speed V acquired from the speed command signal drops to a speed v1 smaller than the speed v2, and the controller 33 controls the low speed motor 51a. When the motor 51b for medium speed is driven at the rotational speeds w1 and w2 corresponding to the rotational speed V, respectively, and the rotational speed V acquired from the speed command signal decreases to the speed v1, the first clutch mechanism 52a is moved from the unconnected state. While switching to the connected state, driving of the medium speed electric motor 51b is stopped. The speed v1 is selected to an appropriate value less than v2 (= 1,616).

  In this way, in the present embodiment, the rotation speed of the clutch plate on the medium-speed motor 51b side and the rotation speed of the clutch plate on the low-speed motor 51a side are the same or substantially the same, in other words, the first In consideration of the reduction ratio 1/20 of the speed reducer 53a, the low speed motor 51a and the medium speed motor so that the low speed motor 51a rotates at a rotational speed w1 corresponding to the rotational speed w2 of the medium speed motor 51b. Since the first clutch mechanism 52a is switched from the unconnected state to the connected state with the respective 51b being driven, when the medium speed motor 51b is switched to the low speed motor 51a, the first clutch mechanism 52a is The connection can be switched smoothly without impact.

  Thereafter, when the rotational speed V acquired from the speed command signal is smaller than the speed v1, the control unit 33 maintains the first and second clutch mechanisms 52a and 52b in the connected state, and the low speed motor 51a. Is driven at a rotational speed w1 corresponding to the rotational speed V, and when the rotational speed V decreases to V = 8, the driving of the low-speed motor 51a is stopped.

  Thus, since the control part 33 provides and controls hysteresis when switching each electric motor 51a-51c, generation | occurrence | production of hunting can be prevented.

  As described above, according to the present embodiment, the motors 51 a to 51 c are provided for each speed range of low speed, medium speed, and high speed with respect to the speed at which the antenna body 21 should be rotated. Therefore, the antenna main body 21 can be accurately driven in a wide speed range from low speed to high speed by selecting an electric motor suitable for the output required in each speed range for each of the electric motors 51a to 51c. Thereby, the direction of the antenna body 21 can be accurately introduced into the position of the tracking target satellite and can be tracked.

  Further, by providing the motors 51a to 51c for each of a plurality of speed ranges in this manner, the range of the rotation speed of the antenna body 21 can be widened, and the tracking performance of the satellite can be improved.

  Each electric motor constituting the driving force generating unit 40 is preferably realized by an induction motor (induction motor). Thereby, compared with the case where expensive electric motors, such as a servomotor, are used, cost reduction can be achieved.

  Further, by using the induction motor, the life of the motor itself can be extended compared to the case of using a servo motor or the like. Further, unlike the servo motor, the induction motor is configured without using special parts, so that maintenance can be easily performed even if a malfunction such as a failure occurs.

  In the present embodiment, the speed at which the antenna body 21 should be rotated is divided into three stages, and the motors 51a to 51c are provided so as to correspond to each speed range, but the number of stages to be divided is 3 The number is not limited to two, and may be two or four or more.

  Furthermore, in this embodiment, the structure shown in FIG. 2 and FIG. 3 is employed in both the azimuth drive unit 31 and the elevation drive unit 32. However, the present invention is not limited to this. On the other hand, only the azimuth driving unit 31 or the elevation driving unit 32 may be employed.

  FIG. 5 is a view for explaining the meshing state of the first and second drive side gears 48a, 48b and the driven side gear 50a. In FIG. 5, the driving force transmission unit 41 of the azimuth driving unit 31 is illustrated in relation to FIG. 2, but the same structure is also adopted in the elevation driving unit 32.

  As shown in FIG. 5, when there is no load, the first driving gear 48a has a tooth surface 61a on the upstream side in the rotational direction C1 of the tooth 61, and a downstream side in the rotational direction E1 of the tooth 63 of the driven gear 50a. The second drive side gear 48b meshes with the driven gear 50a so as to come into contact with the tooth surface 63a of the second tooth, and the tooth surface 62a on the upstream side in the rotational direction D1 of the tooth 62 is rotated by the tooth 63 of the driven gear 50a. It meshes with the driven gear 50a so as to be separated from the tooth surface 63a on the downstream side in the direction E1.

  In the present embodiment, in the second drive side gear 48b, the tooth surface 62b on the downstream side in the rotational direction D1 of the tooth 62 contacts the tooth surface 63b on the upstream side in the rotational direction E1 of the tooth 63 of the driven gear 50a. Is engaged with the driven gear 50a.

  Therefore, when the driving force is input to the input gear 43, the driving force for rotating the first driving gear 48a in the rotation direction C1 is transmitted from the first worm gear 47a, and the second driving gear 48b. When the driving force for rotating in the rotational direction D1 is transmitted from the second worm gear 47b, the first driving side gear 48a has the tooth surface 61b on the downstream side in the rotational direction C1 of the tooth 61 and the driven side gear 50a. Since there is a gap between the tooth 63 and the tooth surface 63b on the upstream side in the rotation direction E1, the backside gear 50a generates a backlash that transmits a driving force to the driven gear 50a.

  On the other hand, in the second drive side gear 48b, the tooth surface 62b on the downstream side in the rotational direction D1 of the tooth 62 is in contact with the tooth surface 63b on the upstream side in the rotational direction E1 of the tooth 63 of the driven gear 50a. The driving force can be transmitted to the driven gear 50a without any delay.

  On the contrary, when a driving force is input to the input gear 43, a driving force for rotating the first driving gear 48a in the rotation direction C2 is transmitted from the first worm gear 47a, and the second driving gear. When a driving force for rotating in the rotational direction D2 with respect to 48b is transmitted from the second worm gear 47b, the second driving side gear 48b has a tooth surface 62a downstream of the tooth 62 in the rotational direction D2 and a driven side gear. Since there is a gap between the tooth 63 of the 50a and the tooth surface 63a on the upstream side in the rotation direction E2, a backlash that transmits the driving force to the driven gear 50a occurs after the gear 63a rotates by a minute angle. .

  On the other hand, in the first drive side gear 48a, the tooth surface 61a on the downstream side in the rotational direction C2 of the tooth 61 and the tooth surface 63a on the upstream side in the rotational direction E2 of the tooth 63 of the driven gear 50a are in contact. The driving force can be transmitted to the driven gear 50a without any delay.

  As described above, the two drive side gears 48a and 48b are provided so as to cause a phase difference between the two drive side gears 48a and 48b that transmit the drive force to the driven side gear 50a. Can be reduced. Thereby, the antenna main body 21 can be accurately rotated in the forward rotation direction (rotation direction E1) and the reverse rotation direction (rotation direction E2).

  In the present embodiment, in order to adjust the phase of the two drive side gears 48a and 48b, a phase adjustment coupling 49 is provided on the second transmission shaft 46 as shown in FIG. That is, the second transmission shaft 46 includes a first shaft portion 46a having a first worm gear 47a provided at one end portion in the longitudinal direction, and a second shaft portion 46b having a second worm gear 47b provided at one end portion in the longitudinal direction. The coupling 49 connects the other longitudinal end of the first shaft portion 46a and the other longitudinal end of the second shaft portion 46b so that the shaft portions 46a and 46b are coaxial. .

  In this embodiment, the coupling 49 is a coupling that can generate a large frictional force and fasten the two shaft portions 46a and 46b by performing a simple operation of tightening a bolt. Yes. As such a coupling 49, for example, a power lock (trade name) manufactured by Tsubaki Emerson Co., Ltd. can be used. Thus, in this embodiment, the phase of the two drive side gears 48a and 48b can be adjusted by a simple operation.

  FIG. 6 is a diagram illustrating an example of the configuration of the rotation prevention unit 55 in the driving force transmission unit 41. Similar to the above, FIG. 6 shows the driving force transmission unit 41 of the azimuth driving unit 31 in relation to FIG. 2, but the same structure is also adopted in the elevation driving unit 32.

  In addition to the above configuration, the driving force transmission unit 41 is provided so as to be able to mesh with the driven gear 50a as shown in FIG. 6, and engages with the driven gear 50a to prevent the driven gear 50a from rotating. A rotation blocking unit 55 is further included.

  The rotation prevention unit 55 includes teeth that can mesh with the driven gear 50a, a meshing unit 55a that is supported so as to be angularly displaceable about a predetermined axis J5 parallel to the axis L1, and a control transmitted from the control unit 33. Based on the signal, it includes a drive unit (not shown) that angularly displaces the meshing portion 55a around the axis J5, and is provided close to the driven gear 50a.

  Specifically, the meshing portion 55a is supported so as to be angularly displaceable between a rotation preventing position P0 where the teeth can mesh with the driven gear 50a and a retracted position P1 which does not hinder the rotational operation of the driven gear 50a. Yes. The meshing portion 55a is disposed at the retracted position P1 when the antenna device 11 is in an operating state, and is disposed at the rotation prevention position P0 when the antenna device 11 is not operating.

  In the present embodiment, when the automatic tracking process by the antenna driving device 12 ends, the control unit 33 drives the antenna driving device 12 so that the antenna main body 21 points in a predetermined default direction, and the antenna main body 21 changes the default direction. When directed, the rotation preventing portion 55 is driven to angularly displace the meshing portion 55a from the retracted position P1 to the rotation preventing position P0. As a result, the meshing portion 55a and the driven gear 50a mesh with each other, thereby preventing the rotation of the driven gear 50a around the axis L1.

  In the prior art, the pin insertion hole provided in the driven gear 50a and the pin insertion hole provided on the base 13 side that supports the turntable 22 are accurately aligned in the rotation direction of the turntable 22. Therefore, it is necessary to insert a rotation prevention pin into each pin insertion hole, and if the two pin insertion holes are not accurately aligned, the rotation operation of the turntable 22 could not be prevented. According to this embodiment, since it is comprised so that rotation operation of the turntable 22 may be blocked | interrupted by tooth | gear mesh | engagement, the accurate alignment operation | work currently performed when using the said pin becomes unnecessary. Therefore, it is possible to easily and quickly perform the work of preventing the rotation of the driven gear.

DESCRIPTION OF SYMBOLS 10 Parabolic antenna 11 Antenna apparatus 12 Antenna drive device 31 Azimuth drive part 32 Elevation drive part 33 Control part 40 Drive force generation part 41 Drive force transmission part 42 Drive force intermittent part 48a, 48b Drive side gear 50a Drive side gear 51a-51c Electric motor 52a, 52b Clutch mechanism

Claims (7)

In the antenna driving device for rotating the antenna device around the axis,
A driving unit that generates a driving force, transmits the driving force to the antenna device, and rotates the antenna device around the axis;
A driving force generator including a plurality of electric motors associated with each of a plurality of predetermined speed ranges with respect to a speed at which the antenna device should be rotated;
A driving force transmission unit including one or a plurality of clutch mechanisms capable of switching between a connected state in which the driving force generated by the electric motor is transmitted to the antenna device and an unconnected state in which the driving force from the electric motor to the antenna device is cut off. A drive unit including:
The motor in the corresponding speed range is operated according to the speed at which the antenna device should be rotated, and the one or more clutch mechanisms are controlled so that the driving force generated by the motor is transmitted to the antenna device. and a control unit seen including,
The antenna drive device according to claim 1, wherein the control unit controls the one or more clutch mechanisms such that an output shaft of another electric motor is rotated by a driving force generated by one electric motor .   The control unit is configured to switch a rotation speed of the other motor when the motor that generates a driving force to be transmitted to the antenna device according to a change in a speed at which the antenna device is rotated is switched from one motor to another motor. So that the driving force generated by the other electric motor is transmitted to the antenna device in a state where the other electric motor is operated so that the rotational speed is substantially the same as the rotational speed corresponding to the rotational speed of the one electric motor. The antenna driving apparatus according to claim 1, wherein the one or more clutch mechanisms are controlled.   The antenna driving apparatus according to claim 1, wherein each of the plurality of electric motors is realized by an induction motor. The driving force transmission unit is
A driven gear provided to be rotatable integrally with the antenna device;
Two drive-side gears meshed with the driven-side gear, and an intermediate transmission unit that transmits the drive force generated by the drive force generation unit to the two drive-side gears,
In the two drive-side gears, when no load is applied, the tooth surface of one drive-side gear contacts one tooth surface of the driven-side gear, and the tooth surface of the other drive-side gear is connected to the driven-side gear. It is provided so that it may space apart with respect to the one tooth surface and the tooth surface arrange | positioned on the same side in the rotation direction of the said driven gear. Antenna drive device.   5. The drive force transmission unit is provided so as to be capable of meshing with the driven gear, and includes a rotation blocking unit that meshes with the driven gear and prevents the driven gear from rotating. Antenna drive device. A calculation unit that calculates a speed at which the antenna device is to be rotated, and transmits a calculation result to the control unit;
The antenna drive according to claim 1, wherein the control unit acquires a speed at which the antenna device should be rotated based on a calculation result transmitted from the calculation unit. apparatus. An antenna device;
A parabolic antenna comprising the antenna driving device according to any one of claims 1 to 6.

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