KR20120003585A

KR20120003585A - Two axis high rigidity driving equipment controling azimuth angle and elevation angle with anti-back lash

Info

Publication number: KR20120003585A
Application number: KR1020100064266A
Authority: KR
Inventors: 안병양
Original assignee: (주)에어포인트
Priority date: 2010-07-05
Filing date: 2010-07-05
Publication date: 2012-01-11

Abstract

PURPOSE: A biaxial operation apparatus with high rigidity which controls a horizontal tilting angle and includes an anti-backlash function is provided to acquire high torque by determining a low speed rotation deceleration structure according to the strength of an ejector pin and link. CONSTITUTION: A biaxial operation apparatus with high rigidity is fixed in a support stand such as an iron structure, a fixed wall surface, and etc. through a fixing rack(102). An object which requires antenna and solar cell direction control is fixed in an object holder(106). A linear driving apparatus(200) comprises a drive motor. A linear movement part(105) performs linear movements by the rotation of the drive motor. The object holder performs a tilting operation with an angle compensation link(104) as an axis. A low speed rotation apparatus(300) performs a linear movement of a screw shaft by passing a first gear and second gear according to the rotation of the drive motor. A horizontal angle is controlled by rotating with a link rotary shaft as the center of rotation.

Description

TWO AXIS HIGH RIGIDITY DRIVING EQUIPMENT CONTROLING AZIMUTH ANGLE AND ELEVATION ANGLE WITH ANTI-BACK LASH}

1 is a configuration of a high rigidity two axis drive device,

2 is a configuration diagram of a linear motion drive device,

3 is a low-speed rotation drive device,

4 is a high torque anti backlash low speed rotary device

* Description of the symbols for the main parts of the drawings *

101: drive body 102: fixed base 103: rotation axis

104: angle compensation link 105: linear motion 106: object holder

200: linear drive device 201: drive motor 202: drive gear

203: linear motion portion 204: support portion 205: driven gear

206: body 207: support 300: low speed rotation device

301: drive motor 302, 402: mill pin or roller 303,403: support

304: secondary gear 305: axis of rotation 306,406: link

307, 407: spring elastic portion 308, 408: screw shaft 309, 404: primary gear.

310: fixed frame 401: fixed part 405: link rotation center

409: sliding part

The present invention relates to the control of the horizontal angle and the tilting angle by the rotation of the motor, and more particularly, to electrically control the azimuth and tilting angle of the antenna used in the base station and the repeater system of the mobile communication system. It is not limited to the system, but it can be applied to any system that controls the horizontal angle (azimuth angle) and the tilt angle (elevation angle) using the rotational force of the motor. The base station antenna or repeater antenna is designed and operated to have the horizontal and vertical beam characteristics electronically in the service area in order to distribute the maximum power in the ground space where the subscriber is distributed. Base station or relay station antennas are usually installed and operated on high structures such as rooftops or steel towers in order to secure a wide coverage area and improve service quality. Antenna orientation toward a desired direction has a great impact on service quality. Base stations or repeater antennas located on rooftops or pylons are fixed on the wall, or structures are built on the pylons or walls and the antennas are fixed on them. After installation, the antenna is required to adjust the direction of the antenna if necessary due to the influence of the surrounding environment, such as wind, new construction of the building, changes in trees.

In the mobile communication system, in order to adjust the tilt angle and horizontal angle of a base station or repeater, a person climbed directly on a rooftop or a steel tower to adjust manually, and this caused various inconveniences. In order to solve this drawback, a technique for adjusting the horizontal angle and the tilting angle has been proposed as an electronic control device, and is generally configured by using an electric motor and a gear. In general, two motors are generally used to control the horizontal angle and the tilting angle, and gears connected to the rotating shaft of the motor and gears engaged therewith are used to convert the rotational force of the motor into a rotational or moving direction. The gear is a device that transmits power by engaging two rotating bodies with unevenness, and the root and the end of the two gears which are intentionally engaged due to manufacturing errors or for the purpose of smoothing the engagement of the two rotating bodies. It is manufactured with a slight play, not designed to match exactly the dimensions. As a result, the distance between two gears rotated n wheels in the forward direction is not exactly the same as the distance rotated n wheels in the reverse direction, and a slight difference occurs. The motor driving device converts the rotational motion of the motor into a reciprocating motion or a rotational motion in another direction through the gear. As a result, it is accompanied by an error due to backlash.

In order to solve the problem that a person must climb directly during the installation and maintenance of the above, the prior application technology by the electronic control is the application number 10-2004-0004255, application number 10-2005-0119675, 10-2007-0075523, 10- 2005-0106615, 10-2001-0053575 and the like are already known. However, the above prior art relates to a control for electronically controlling the antenna direction and controls the direction regardless of the mechanical precision. In other words, it is not intended to solve the play or backlash caused by the gear-to-gear characteristics mentioned above, but to recognize the backlash, which is a mechanical property, and to control the direction electronically. By compensating for the backlash phenomenon, implementation complexity and high cost are incurred. In addition, it is impossible to obtain a high torque by electrical control in the case of a rotating device requiring a large force with simple electrical direction control.

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems as described above, the control of the horizontal angle and tilting angle in the base station, the antenna for the repeater of the mobile communication system to electrically control the motor having a two-axis high strength and a motor It adopts the internal female and male thread to make the backlash phenomenon generated by the characteristics of the gear irregularities that transmit the rotational force of high precision separated from the gear precision, and absorbs the backlash phenomenon depending on the precision of the gear by adding the spring elastic part. It is to provide an antenna drive device having an anti-backlash function. In addition, by adopting geared motor with high reduction ratio and encoding in the system, high torque and high accuracy can be obtained, so that the antenna direction must be changed due to wind, weather or surroundings generated during operation or during initial installation. To provide a device that can control the direction without providing direct access to the antenna while providing high precision.

In order to achieve the above object, a high rigidity two-axis driving device for an antenna system is composed of a linear drive device, a high torque anti-backlash reduction device, an angle compensation link, and the like, and will be described below with reference to the accompanying drawings. do.

1 is a representative of the high rigidity two-axis drive unit is fixed to the support wall of the fixed wall, steel structure, etc. on which the device is to be mounted through the fixing table 102, the desired object requiring the antenna, solar cell, direction control is the object holder ( 106). When the driving motor 201 in the linear driving device 200 rotates, the linear movement unit 105 makes a linear movement, and the object holder 106 makes tilting with the angle compensation link 104 as an axis. When the drive motor rotates, the low speed rotation device 300 controls the horizontal angle by converting the screw shaft into a linear motion through the primary gear and the secondary gear and converting the rotational axis about the link rotation shaft.

2 shows the linear drive device 200. The support parts 204 and 207 are fixedly coupled to the body 206. The driven gear 205 has a precision female thread inside and the linear motion part 203 has a precision male screw. The precision female thread inside the driven gear meshes with the precision male thread of the linear motion part to change the direction of the force. When the drive motor 201 rotates, the drive gear 202 connected to the drive motor rotates, and the drive gear 202 rotates the driven gear 205. As the driven gear 205 rotates, the precision female thread inside the driven gear rotates, and the linear motion part 203, which is passed through the precision male screw, reciprocates. Therefore, the backlash during linear motion is independent of the precision of drive gear and driven gear, and it depends only on the precision of the internal male thread of the driven gear and the precision male thread of the linear motion part. The drive motor can use a geared motor including a speed reducer, and a motor with an encoder and a high reduction ratio can be used for high torque and high precision position control.

FIG. 3 illustrates a low-speed rotating device having a high torque anti-backlash function using a gear and a link. The primary gear 309 connected to the drive motor 301 and the secondary gear 304 rotating in engagement with the primary gear are shown. It consists of. The support portions 303 and 403 of the links must be rigid to withstand the rotational load, and the spring resilient portions 307 and 407 are leaf springs, eliminating the backlash between the links 306 and 406 and the mill pins 302 and 402. To prevent it. The fixing frame 310 serves to fix the body 101. When the driving motor 301 is driven, the rotational force of the primary gear 309 is transmitted to the secondary gear 304, and the inside of the secondary gear has a precision female screw in the same direction as the screw shaft, so that the screw shaft having a precision male thread ( 308 and 408 are converted to linear motion. The linear motion of the screw shaft transmits a force to the spring resilient portion by the mil pins 302 and 402, which is the body 101 about the axis of rotation 305 via the supports 303 and 403 and the links 306 and 406. Rotate to adjust the horizontal angle. Since the torque of the deceleration structure is determined by the strength of the link and the pin, it may bring about a reducer effect having a high torque. In addition, the rotational accuracy is limited to the accuracy of the female and male threads on the screw shaft, and anti-backlash effect can be obtained regardless of the precision of the primary and secondary gears. The application of geared motors with high deceleration ratios and encoders makes it possible to implement low-speed rotating devices with high torque anti-backlash for high torque and high precision position control.

4 is a diagram showing a screw shaft linear motion conversion unit by the rotation of the secondary gear. As shown in the drawing, the secondary gear having the internal high precision female thread and the high precision male screw performing the linear motion by the rotation of the female screw are shown. A screw shaft 408, a mil pin 402 for rotating the link, a sliding portion 409 to withstand the pushing force of the mil pin, and a fixed portion 401 with bearings for fixing and simultaneously supporting a force to the body And a spring elastic portion 407. There is a gap between the sliding pin of the mill pin and the link, but the spring elastic eliminates this gap to provide anti-backlash. The gap between the mil pins and the sliding part is designed to have a proper difference to eliminate the gap between the mil pins and the sliding part.

When the gear rotates, the screw shaft moves left and right according to the rotation direction of the gear, and two milpins are assembled with the link to rotate the link around the link axis of rotation. The reduction ratio varies depending on the pitch of the screw, and the rigidity of the structure is determined by the distance difference between the center distance between the screw shaft mill pins and the sliding portion of the link in which the mill pins are assembled, and the spring constant of the spring elastic part.

Although the idea made by the present invention has been described in detail according to the above embodiment, the present invention is not limited to the above embodiment and can be variously changed without departing from the gist of the present invention.

As described above, the high rigid two-axis drive device according to the present invention does not depend on the precision of the backlash caused by the play of the two gears used in the device for converting the rotational force of the motor to the other direction by the gear. By inserting a precision female thread inside the gear and operating in conjunction with the corresponding male thread, it is possible to absorb the backlash phenomenon of the naturally occurring gear from the precision of the male and female screws, thereby increasing the precision and minimizing the backlash. have. At the same time, it is possible to achieve high torque and high precision by adopting a reducer to the drive motor or by designing a motor with an embedded encoder, thereby achieving an effect capable of high precision tilting angle control.

In addition, in the low-speed rotating device that controls the rotational motion of the motor for horizontal angle control, the backlash phenomenon caused by the play between the primary gear and the secondary gear is transferred to the high precision internal thread inside the secondary gear and the high precision external thread on the screw shaft. Backlash effect can be obtained. In addition, the backlash may occur in the gap between the pin and the link, which is a component that transfers the reciprocating motion of the screw shaft to the rotational motion of the link, and the backlash may be removed by absorbing it from the spring elastic part. Since the low speed rotation deceleration structure is determined by the strength of the link and the pin, it is possible to obtain a two-axis drive device that obtains a high torque.

High rigidity 2 with high torque and high precision anti-backlash through a high rigidity 2-axis drive unit that controls the precision of gears, which is the component adopted to control the tilting angle and horizontal angle, by screw precision A shaft drive can be obtained.

Claims

High rigidity 2-axis drive system that consists of linear drive device and low speed rotation device to control high and low angle (tilting angle) and azimuth angle (horizontal angle).

A linear drive device including a drive motor, a drive gear for transmitting the rotational force of the drive motor, a driven gear for receiving the rotational force of the drive gear, and a linear motion unit for converting the rotational force of the driven gear into a linear motion;

The driving motor, the primary gear that transmits the rotational force of the drive motor, the secondary gear that receives the rotational force of the primary gear, the screw shaft that converts the rotational force of the secondary gear into linear motion, and the linear motion of the screw shaft into rotational motion. Low speed rotating device characterized in that;

High-strength biaxial drive device with anti-backlash function, characterized in that provided with

2. The driven gear according to claim 1, wherein the driven gear has an internally high precision female thread and is coupled to a linear motion part having a male thread to rely on the precision of the internal thread of the driven gear and the external thread regardless of the precision of the drive gear and the driven gear. , The linear drive device characterized in that it has an anti-backlash function by operating

The method of claim 1,

A secondary gear having internally a precision female thread;

A screw shaft having a precision male thread and being linearly bitten by the precision female thread;

A mill pin, an elastic part, a support part, and a link part for transmitting the pushing force of the screw shaft which has a linear motion to the rotating shaft;

A low speed rotating device having a high torque anti-backlash function, characterized in that for converting a linear motion into a rotary motion;

According to claim 1,

The low speed rotating device is provided with a mill pin (which may be composed of a roller to reduce friction) and a spring elastic part for preventing the play between the mill pin and the sliding part. Low speed rotating device.

The method of claim 1,

In the low-speed rotating device, the reduction ratio is changed according to the pitch of the precision screw, and the elasticity of the structure is determined by the distance difference between the center distance between the screw shaft mill pins and the sliding part of the link where the pin is assembled and the spring elastic coefficient of the spring elastic part. Low speed rotating device characterized in that

The method of claim 1,

The low speed rotating device and the linear drive device are high-performance two-axis drive devices that enable high torque and high precision position control by applying a geared motor with high reduction ratio and encoder.