CN110459855A - One kind being based on 6/6-UPU type parallel antenna structure system - Google Patents
One kind being based on 6/6-UPU type parallel antenna structure system Download PDFInfo
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- CN110459855A CN110459855A CN201910724468.8A CN201910724468A CN110459855A CN 110459855 A CN110459855 A CN 110459855A CN 201910724468 A CN201910724468 A CN 201910724468A CN 110459855 A CN110459855 A CN 110459855A
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Abstract
The present invention relates to one kind to be based on 6/6-UPU type parallel antenna structure system.It is coupled an antenna mount by an antenna reflector and constitutes, antenna mount is that six servo motors or hydraulic cylinder respectively drive six linear expansion driving devices, six linear expansion driving devices it is upper, lower end is hinged respectively each by the upper mounting plate lower surface of universal hinge (Hooke's hinge) and above-mentioned hexagon and lower platform upper surface is hinged, it can reach pitching: -2 °~182 °, orientation: 0 °~360 ° (assuming that horizontal plane position antenna elevation angle is 0 ° or 180 °), on, lower platform position differs 60 °, and it is parallel to each other, 6 sets of linear expansion device both ends pass through respectively 12 universal hinges (Hooke's hinge) with it is upper, lower platform link, constitute a kind of antenna structure system based on 6/6-UPU type parallel institution.The present invention is able to achieve antenna " cross and push up " and is continuously tracked, and reaches hemispherical work airspace free-position and is continuously tracked.
Description
Technical field
The present invention relates to one kind to be based on 6/6-PU type parallel antenna structure system.For space remote sensing, satellite " three
It is distant " antenna structure system of technology (remote sensing, telemetering, remote control technology) and satellite communication.Antenna structure system and SERVO CONTROL system
System, feed feeder system (referred to as: day is watched, presented) composition antenna system, realize remote sensing, telemetry and telecommand acquisition of information and instruction,
Realize the transmitting of satellite communication information and processing.The telemetering in the effective airspace of the aircraft such as satellite, carrier rocket can especially be obtained
Signal and data are realized and antenna system are continuously tracked without top " blind area " excessively, satisfactorily resolve antenna hemispherical work airspace, that is, bow
Face upward: -2 °~182 °, orientation: the free-position of 0 °~360 ° (assuming that horizontal plane position antenna elevation angle is 0 ° or 180 °) is continuous
Tracking.Technical solution of the present invention belongs to electromechanical integration technology area.
Background technique
Antenna-reflected body portion generally has: main reflector panel, back frame structure, centerbody, counterweight structure, subreflector
With focus control and its support construction or feedforward support construction composition；Antenna seating portion generally has: antenna pedestal support construction, driving
Shafting and transmission device, feeder line and cable winding device, Data Detection transfer device and safety guard composition.
Currently, well known space remote sensing, satellite " three is distant " technology (remote sensing, telemetering, remote control technology) use warp in the world
Elevation-azimuth type (EL-AZ type) antenna of allusion quotation, elevation-azimuth type antenna can not " mistake there is one in antenna zenith position
" blind cone " region for being continuously tracked of top ", the size (cone-apex angle of i.e. blind cone) in blind cone region depend on antenna and aircraft away from
From with the horizontal flying speed of aircraft.The problem of " cross and push up " is continuously tracked not yet is satisfactorily resolved so far to low rail remote sensing antenna.First
The concept in an antenna tracking " area Mang Zhui " is introduced, classical elevation-azimuth type antenna pedestal is when tracking target, antenna azimuth
Speed: (in formula: V is the horizontal velocity of target flight to b=V/ (R*cose)；R is linear distance of the antenna to target；E is antenna
The elevation angle；B is antenna bearingt angular speed), when target passes through near antenna zenith, the elevation angleBut
Motor driven power is limited, and the angular speed of antenna rotation is also limited, and under certain driving power, antenna can only be with
There is " area Mang Zhui " that can not be continuously tracked near elevation-azimuth type antenna zenith in a certain elevation angle of track target below.
Currently, engineering in practice elevation-azimuth type (EL-AZ type) antenna antenna zenith position can not there is one
" blind cone " region that " cross and push up " is continuously tracked can not be realized using classical elevation-azimuth type antenna in antenna zenith position " mistake
Top " is continuously tracked.It can only select the position construction ground satellite station for avoiding satellite transit track by antenna zenith tracking blind area
Antenna.
The remote sensing telemetering low orbit satellite Antenna Design of traditional classical generally uses elevation-azimuth type (EL-AZ type) antenna pedestal,
It existed in top " area Mang Zhui ", and elevation-azimuth type antenna can not cross top " area Mang Zhui " airspace in satellite and satellite is continuously tracked, and realized
The demand of the uninterrupted continuous work of signal.
Summary of the invention
It is an object of the invention to prior art there are the problem of a kind of parallel antenna structure system is provided, realize nothing
That crosses top " blind area " is continuously tracked antenna system, satisfactorily resolves antenna hemisphere work airspace any attitude and is continuously tracked, realization is defended
The demand of star signal and the uninterrupted continuous work of data.The anti-solution of the equation of motion due to solving parallel institution is relatively easy to, and is easy to
Realize SERVO CONTROL.
In order to achieve the above object, insight of the invention is that using parallel institution have rigidity is big, precision is high, speed is fast,
The particular advantages such as large carrying capacity, structure be simple, light-weight and control is convenient, and the equation of motion of parallel institution counter solves solution
It is convenient to be easy, it is easy to accomplish SERVO CONTROL.Applied to the design of remote sensing telemetering low orbit satellite antenna, parallel institution has been given full play to
The characteristics of.Using 6/6-UPU type parallel institution as antenna pedestal, it is coupled using six sets of space linear expansion driving device upper and lower
Two platforms, six sets of linear expansion driving device upper ends are connect each by universal hinge (Hooke's hinge) with upper mounting plate respectively, under
End is connect each by universal hinge (Hooke's hinge) with lower platform respectively, constitutes platform mechanism.Six sets of linear expansion devices are by dividing
Not Tong Guo 12 universal hinges (Hooke's hinge) and upper and lower platform linkage, realize 6/6-UPU type mechanism antenna mount.Upper mounting plate passes through
Flange-interface is coupled with various forms of antenna reflectors, and lower platform is fixed with ground, can also with other carrier racks (such as:
The skeletons such as vehicle, naval vessel and aircraft) it is coupled composition motorized antenna system.Pass through the space machine to 6/6-UPU type parallel institution
Structure analysis, comprehensive and theory deduction, the bar length, collapsing length and space angle of six sets of linear drive apparatus of Rational choice, are realized
Antenna Operation airspace reaches pitching: -2 °~182 °, orientation: 0 °~360 ° (assuming that it is 0 ° or 180 ° that horizontal plane, which is pitch angle)
Space remote sensing, telemetry and telecommand day are realized without Singularity problem in the large rotation angular movement position in hemispherical work airspace
The antenna structure system that line hemispherical work airspace is continuously tracked.The invention and corresponding feed system and servo-control system structure
At antenna system, realize the telemetered signal and data of satellite, the effective airspace of aircraft such as carrier rocket, satisfactorily resolved top with
Track " blind area " problem realizes a kind of extraordinary antenna system of the hemispherical work airspace without tracking blind area.
Conceived according to foregoing invention, the present invention adopts the following technical solutions:
A kind of parallel antenna structure system is coupled an antenna mount by an antenna reflector and constitutes, feature
Being the structure of the antenna mount is: six servo motors respectively drive six linear expansion driving devices, six straight lines
The upper and lower end of retractable driving device each by universal hinge (Hooke's hinge) and upper and lower Platform hinge, is constituted a kind of based on 6/ respectively
6-UPU type parallel antenna structure system.
The upper end of six above-mentioned linear expansion driving devices passes through universal hinge (Hooke's hinge) and described flat respectively
One convex block of platform bottom surface is hinged, and its lower end passes through Hooke's hinge (universal hinge) and described and one piece of lower platform upper surface respectively
A convex block be hinged.
Above-mentioned upper mounting plate and lower platform is hexagon, and upper and lower platform hexagon position differs 60 °, and is parallel to each other
Installation.
Above-mentioned upper mounting plate is fixedly connected with antenna reflector, and the lower platform and ground rack or antenna carrier rack connect
It connects.
The structure of above-mentioned antenna reflector is: back frame structure is with outside a centerbody, back frame structure upper surface is set up
Main reflector panel, centerbody and back frame structure install subreflector and feed by a support construction.
The beneficial effects of the present invention are: classical elevation-azimuth type (EL-AZ type) antenna can satisfactorily be solved in antenna
It crosses zenith " area Mang Zhui " airspace and satellite problem is continuously tracked, realize space remote sensing, satellite remote sensing telemetered signal and satellite communication letter
Number and the uninterrupted continuous work of information demand.And the antenna of same bore, technical indicator, inventive antenna structural system
Weight is significantly lower than classical elevation-azimuth type (EL-AZ type) antenna weights, especially more obvious in large aperture antenna, only
For the 70%-50% of elevation-azimuth type (EL-AZ type) antenna weights, production cost is greatly saved.
Detailed description of the invention
Fig. 1: being the structural block diagram of antenna system.
Fig. 2: being the structural schematic diagram of 6/6-UPU type parallel antenna structure system of the invention.
Fig. 3: the posture schematic diagram that the antenna elevation angle for being antenna structure system shown in Fig. 2 is -2 ° is (assuming that horizontal plane position
Antenna elevation angle is 0 ° or 180 °).
Fig. 4: being the schematic diagram of inventive antenna structural system antenna reflector.
Fig. 5: being the top view of Fig. 4.
Fig. 6: being the structural schematic diagram of inventive antenna structural system antenna mount.
Fig. 7: being the top view of Fig. 6.
Fig. 8: being the bottom view of Fig. 6.
Specific embodiment
A preferred embodiment of the present invention is described with reference to the drawings as follows:
Showing antenna system (1) in Fig. 1 is by antenna structure system (2) and corresponding feed system (3), SERVO CONTROL system
System (4) and its corresponding matched electronic equipment collectively constitute, and realize automatic tracking satellite and aircraft, complete satellite or aircraft
Signal and data transmitting, analysis and processing.
Referring to figs. 2 and 3, this parallel antenna structure system is made of antenna reflector (5) and antenna mount (6).
It (is feedovered without subreflector, only with Fig. 5, this antenna structure system antenna reflector (5) by subreflector referring to fig. 4
Rear feed pattern has subreflector) and its support construction (7), main reflector panel (8), back frame structure (9) and centerbody (10) group
At.
Referring to Fig. 6, Fig. 7 and Fig. 8, this antenna structure system antenna mount (6) is driven by upper mounting plate (11), six sets of linear expansions
Dynamic device (12) and its servo motor (13), lower platform (14) and ground rack (15) composition.Servo-control system is according to tracking
It is required that instruction servo motor (13) drives six sets of space linear expansion device (12), to drive upper mounting plate (11) to realize antenna-reflected
The satellite or aircraft that body tracks needed for being directed toward realize signal, information exchange or reception by feed system.
Above-mentioned linear expansion driving device (12) and its servo motor (13) can be worm drive (such as: bolt and nut
Transmission mechanism), nut is directly driven by servo motor or drives its rotation by transmission device, so that screw rod straight line be made to move
It is dynamic；It is also possible to servo motor to directly drive or drive an oil pump to provide power oil by transmission device, is driven by power oil
Dynamic oil cylinder makes piston rod move linearly.
Claims (5)
1. one kind is based on 6/6-UPU type parallel antenna structure system, an antenna pedestal is coupled by an antenna reflector (5)
Frame (6) is constituted, it is characterised in that the structure of the antenna mount (6) is: six servo motors (13) respectively drive six straight lines
Retractable driving device (12), the upper end of six linear expansion driving devices (12) and one piece of upper mounting plate (11) pass through universal hinge
(Hooke's hinge) connection, and lower end and one piece of lower platform (14) pass through universal hinge (Hooke's hinge) and connect, six sets of linear expansion devices
Both ends respectively with upper and lower platform linkage, are made up of a kind of based on 6/6-UPU type parallel institution day 12 universal hinges (Hooke's hinge)
Line obtains one group of mechanism structure parameter, so that the parallel institution antenna can be realized antenna through analysis, calculating and trajectory planning
Work airspace reaches pitching: -2 °~182 °, orientation: super the half of 0 °~360 ° (assuming that it is 0 ° or 180 ° that horizontal plane, which is pitch angle)
The antenna that hemispherical work airspace or more is continuously tracked is realized in the large rotation angular movement in ball airspace.
2. parallel antenna structure system according to claim 1, it is characterised in that upper mounting plate (11) He Xiaping
Platform (14) is hexagon, and upper and lower two hexagon positions differ 60 °, and the installation that is parallel to each other.
3. parallel antenna structure system according to claim 1, it is characterised in that six linear expansions driving
Device (12) upper end is hinged each by a convex block of universal hinge (Hooke's hinge) and the upper mounting plate (11) bottom surface respectively, and
Its lower end is hinged each by universal hinge (Hooke's hinge) and a convex block with one piece of lower platform (14) upper surface respectively.
4. parallel antenna structure system according to claim 1, it is characterised in that the upper mounting plate (11) and antenna
Reflector (5) is fixedly connected, and the lower platform (14) connect with ground rack (15) or antenna carrier rack.
5. parallel antenna structure system according to claim 1, it is characterised in that the knot of the antenna reflector (5)
Structure is: it is with back frame structure (9) outside a centerbody (10), back frame structure (9) upper surface sets up main reflector panel (8), in
Heart body (10) installs subreflector (7) by a support construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724468.8A CN110459855A (en) | 2015-10-23 | 2015-10-23 | One kind being based on 6/6-UPU type parallel antenna structure system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910724468.8A CN110459855A (en) | 2015-10-23 | 2015-10-23 | One kind being based on 6/6-UPU type parallel antenna structure system |
| CN201510694704.8A CN105226370A (en) | 2015-10-23 | 2015-10-23 | 6/6-UPU type parallel antenna structure system |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510694704.8A Division CN105226370A (en) | 2015-10-23 | 2015-10-23 | 6/6-UPU type parallel antenna structure system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110459855A true CN110459855A (en) | 2019-11-15 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510694704.8A Pending CN105226370A (en) | 2015-10-23 | 2015-10-23 | 6/6-UPU type parallel antenna structure system |
| CN201910724468.8A Pending CN110459855A (en) | 2015-10-23 | 2015-10-23 | One kind being based on 6/6-UPU type parallel antenna structure system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510694704.8A Pending CN105226370A (en) | 2015-10-23 | 2015-10-23 | 6/6-UPU type parallel antenna structure system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113571905A (en) * | 2021-08-16 | 2021-10-29 | 中国电子科技集团公司第五十四研究所 | Split seat frame type overhead tracking antenna |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742008A (en) * | 2017-01-03 | 2017-05-31 | 北京大白科技有限公司 | A kind of airborne six degree of freedom head based on Stewart parallel institutions |
| CN108155480A (en) * | 2017-12-25 | 2018-06-12 | 西安电子科技大学 | A kind of multibeam antenna adjustment platform and its control system and method |
| CN110289498B (en) | 2019-07-26 | 2024-02-13 | 中国电子科技集团公司第五十四研究所 | Uniform block high-precision auxiliary reflecting surface device with two-stage pose adjusting function |
| CN113571904B (en) * | 2021-08-16 | 2024-11-19 | 中国电子科技集团公司第五十四研究所 | A large antenna capable of achieving overhead tracking |
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| US4937447A (en) * | 1989-02-24 | 1990-06-26 | Allied-Signal Inc. | Air turbulence detection |
| US6987492B1 (en) * | 2004-07-14 | 2006-01-17 | L-3 Communications Corporation | Tetrahedral positioner for an antenna |
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| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
| CN204375903U (en) * | 2014-09-03 | 2015-06-03 | 上海创投机电工程有限公司 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
-
2015
- 2015-10-23 CN CN201510694704.8A patent/CN105226370A/en active Pending
- 2015-10-23 CN CN201910724468.8A patent/CN110459855A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4937447A (en) * | 1989-02-24 | 1990-06-26 | Allied-Signal Inc. | Air turbulence detection |
| US6987492B1 (en) * | 2004-07-14 | 2006-01-17 | L-3 Communications Corporation | Tetrahedral positioner for an antenna |
| CN201194250Y (en) * | 2008-04-21 | 2009-02-11 | 上海大学 | Six degrees of freedom parallel mechanism antenna base |
| CN102904017A (en) * | 2012-06-28 | 2013-01-30 | 上海创投机电工程有限公司 | Antenna structure system of parallel mechanism in super-hemisphere working airspace |
| CN104218301A (en) * | 2014-09-03 | 2014-12-17 | 上海创投机电工程有限公司 | 3-UPU two-to-one parallel mechanism antenna structure system |
| CN204375903U (en) * | 2014-09-03 | 2015-06-03 | 上海创投机电工程有限公司 | 3-UPU bis-turn one moves type parallel institution antenna pedestal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113571905A (en) * | 2021-08-16 | 2021-10-29 | 中国电子科技集团公司第五十四研究所 | Split seat frame type overhead tracking antenna |
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| CN105226370A (en) | 2016-01-06 |
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Addressee: Shanghai Chuangtou Electromechanical Engineering Co., Ltd. Document name: Notification of Publication and of Entering the Substantive Examination Stage of the Application for Invention |
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