Three-rotation decoupling parallel alignment mechanism for directional antenna

Abstract

This invention discloses a three-rotation decoupled parallel attitude adjustment mechanism for directional antennas. The mechanism comprises three motion chains between a base and a moving platform, each with its own actuator. These chains drive the moving platform to rotate in different axial directions, achieving a one-to-one correspondence between input and output actions. This overcomes the drawbacks of traditional three-rotation parallel mechanisms, such as complex control, strong coupling, and cumbersome analysis and calculation. Furthermore, by optimizing the chain structure and rotation axis arrangement, the overall structure of the parallel mechanism is more compact. While maintaining the directional antenna's attitude adjustment range, it significantly reduces the installation space, making it well-suited for vehicle-mounted installations in confined spaces like tunnels. Additionally, the actuators have a locking function, and the control method is very simple, allowing for precise manual control of the mechanism's joints.

Description

Technical Field

[0001] This invention relates to the field of parallel mechanism technology, and in particular, to a three-rotation decoupling parallel attitude adjustment mechanism for a directional antenna. In addition, it also relates to a directional antenna employing the above-mentioned three-rotation decoupling parallel attitude adjustment mechanism. Background Technology

[0002] Industrial robots are classified into serial robots and parallel robots according to their structural form. Their kinematic prototypes correspond to serial mechanisms and parallel mechanisms, respectively. A serial mechanism refers to a series combination of several basic mechanisms with one degree of freedom connected sequentially, where the output motion of each preceding mechanism is the input motion of the following mechanism. A parallel mechanism, on the other hand, is a closed-loop mechanism with two or more degrees of freedom, where the moving platform and the fixed platform are connected by two or more branches. It is an important branch of kinematics. Compared with serial mechanisms, parallel mechanisms have advantages such as compact structure, good stability, high strength, strong load-bearing capacity, and small cumulative error. Therefore, they have high research value and a large application space, and are mainly used in typical application scenarios such as motion simulators, parallel machine tools, radar antenna attitude adjustment platforms, and high-speed robots. A directional antenna is an antenna that transmits and receives electromagnetic waves very strongly in one or a few specific directions, while transmitting and receiving electromagnetic waves in other directions is zero or extremely weak. It has high forward gain and the ability to suppress backward signals. Due to its directional nature, the coverage area of ​​a directional antenna is relatively small. To improve the adaptability of directional antennas and reduce dependence on installation location, current methods mainly use parallel mechanisms to achieve attitude adjustment. However, existing parallel mechanisms generally use a single driver to control the movement of multiple branches. The movement of these branches is strongly coupled, making motion control difficult and the analytical calculation process complex, thus failing to achieve a single motion output from the parallel mechanism. Furthermore, the structure of existing parallel mechanisms is still relatively complex and requires a large installation space, making them unsuitable for vehicle-mounted installations in narrow spaces such as tunnels. Summary of the Invention

[0003] This invention provides a three-rotation decoupled parallel attitude adjustment mechanism for directional antennas to solve the technical problem that existing parallel mechanisms cannot achieve single motion output.

[0004] According to one aspect of the present invention, a three-rotation decoupled parallel attitude adjustment mechanism for a directional antenna is provided, comprising a base, a moving platform, a first motion branch, a second motion branch, and a third motion branch. The base is fixedly mounted on a designated mounting surface. The moving platform serves as the output end of the mechanism's attitude adjustment motion. The first, second, and third motion branches are respectively connected to the base and the moving platform. Each motion branch is individually equipped with a driver for driving the moving platform to perform rotational movements in different axial directions.

[0005] Furthermore, the first motion chain includes a first arc-shaped link and a second arc-shaped link. The first end of the first arc-shaped link is connected to the base through a first revolute joint, and the second end is connected to the first end of the second arc-shaped link through a second revolute joint. The second end of the second arc-shaped link is connected to the moving platform through a third revolute joint. The rotation axes of the first and second revolute joints are perpendicular to each other, and the rotation axes of the second and third revolute joints are perpendicular to each other. In the initial state, the rotation axes of the three revolute joints are perpendicular to each other in pairs, and the three rotation axes intersect at the rotation center of the moving platform. The driver is located at the first revolute joint.

[0006] Further, the second motion chain includes a first straight link, a second straight link, a third straight link, a fourth straight link, and a fifth straight link. The first end of the first straight link is connected to the base via a fourth revolute joint, and the second end is connected to the first end of the second straight link via a fifth revolute joint. The second end of the second straight link is connected to the first end of the third straight link via a prismatic joint. The second end of the third straight link is connected to the first end of the fourth straight link via a sixth revolute joint. The second end of the fourth straight link is connected to the first end of the fifth straight link via a seventh revolute joint. The second end of the fifth straight link is connected to the moving platform via an eighth revolute joint. The rotation axis of the fourth revolute joint is parallel to the rotation axis of the first revolute joint, the rotation axis of the fifth revolute joint is collinear with the rotation axis of the second revolute joint, the moving direction of the prismatic joint is parallel to the rotation axis of the third revolute joint, and the rotation axes of the sixth, seventh, and eighth revolute joints are all parallel to the rotation axis of the third revolute joint. The actuator is located at the fifth revolute joint.

[0007] Furthermore, the third motion chain includes a sixth, seventh, eighth, ninth, and tenth straight link. The first end of the sixth straight link is connected to the base via a ninth revolute joint, and the second end is connected to the first end of the seventh straight link via a tenth revolute joint. The second end of the seventh straight link is connected to the first end of the eighth straight link via an eleventh revolute joint, and the second end of the eighth straight link is connected to the first end of the ninth straight link via a twelfth revolute joint. The second end of the ninth straight link is connected to the first end of the tenth straight link via a thirteenth revolute joint, and the second end of the tenth straight link is connected to the moving platform via a fourteenth revolute joint. The rotation axis of the ninth revolute joint is collinear with the rotation axis of the first revolute joint. The rotation axes of the tenth, eleventh, and twelfth revolute joints are all parallel to the rotation axis of the second revolute joint, and the rotation axes of the thirteenth and fourteenth revolute joints are parallel to the rotation axis of the third revolute joint. The actuator is located at the thirteenth revolute joint.

[0008] Further, the driver includes a drive rod, a worm seat, a spring, a drive head, a worm, and a worm wheel. The spring and the drive head are disposed within the worm seat. The worm is rotatably mounted on the worm seat and meshes with the worm wheel for transmission. The worm wheel is used to output driving force. One end of the drive rod extends into the worm seat and is fixedly connected to the drive head. The spring is sleeved on the drive rod, and both ends respectively conform to the end face of the drive head and the inner cavity protrusion of the worm seat. The spring is in a compressed state in the initial state. The drive rod is provided with a spline, and the worm seat is provided with a spline groove. The drive rod and the worm seat achieve a clearance fit through the spline and the spline groove. The drive head is provided with a spline, and the worm is provided with a spline groove. The drive head and the worm achieve a clearance fit through the spline and the spline groove. The spline length on the drive head is greater than the spline length on the drive rod, so that the spline on the drive head is always located within the spline groove of the worm.

[0009] In the initial state, under the action of the spring force, the spline of the drive rod is located in the spline groove of the worm gear seat, and the drive rod is in a locked state; when the drive rod is pulled, the spline on the drive rod slides out of the spline groove on the worm gear seat, the drive rod is released from locking, and by rotating the drive rod, the worm can be driven to rotate, thereby driving the worm wheel to rotate.

[0010] Furthermore, when the actuator at the first rotary joint is in the unlocked state, and the actuators at the fifth and thirteenth rotary joints are in the locked state, the moving platform only has the rotational degree of freedom in the direction of the rotation axis of the first rotary joint;

[0011] When the actuator at the fifth rotary joint is in the unlocked state, and the actuators at the first and thirteenth rotary joints are in the locked state, the moving platform only has the rotational degree of freedom in the direction of the rotation axis of the second rotary joint;

[0012] When the actuator at the thirteenth rotary joint is in the unlocked state, and the actuators at the first and fifth rotary joints are in the locked state, the moving platform only has the rotational degree of freedom in the direction of the rotation axis of the third rotary joint.

[0013] Furthermore, at the first rotating joint, the worm gear seat is fixedly mounted on the base, and the worm wheel is fixedly mounted on the first arc-shaped connecting rod.

[0014] Furthermore, at the fifth rotating joint, the worm gear seat is fixedly mounted on the second straight connecting rod, and the worm wheel is fixedly mounted on the first straight connecting rod.

[0015] Furthermore, at the thirteenth rotating joint, the worm gear seat is fixedly mounted on the ninth connecting rod, and the worm wheel is fixedly mounted on the tenth connecting rod.

[0016] In addition, the present invention also provides a directional antenna, which uses the three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described above for attitude adjustment.

[0017] The present invention has the following effects:

[0018] The present invention relates to a three-rotation decoupled parallel attitude adjustment mechanism for directional antennas. Three motion chains are set between the base and the moving platform, and each motion chain is equipped with a separate driver, which can drive the moving platform to rotate in different axial directions. This enables a one-to-one correspondence between input and output actions, overcoming the disadvantages of traditional three-rotation parallel mechanisms such as complex control, strong coupling, and cumbersome analysis and calculation, while retaining the advantages of parallel mechanisms such as high strength and good stability.

[0019] In addition, by optimizing the design of the branch structure and the arrangement of the rotation axis, the overall structure of the parallel mechanism is made more compact. While ensuring the attitude adjustment range of the directional antenna, the installation space of the attitude adjustment mechanism is greatly reduced, making it well-suited for vehicle-mounted installation in narrow spaces such as tunnels.

[0020] In addition, each of the three motion chains is driven individually by a driver with a locking function, making the control method very simple and allowing for precise manual control of the joints.

[0021] In addition, the directional antenna of the present invention also has the advantages mentioned above.

[0022] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 This is a schematic diagram of the three-rotation decoupling parallel attitude adjustment mechanism for directional antennas according to the present invention.

[0025] Figure 2 This is a schematic diagram of the structure of the driver of the present invention when it has a worm gear seat.

[0026] Figure 3 This is a schematic diagram of the structure of the driver of the present invention without a worm gear seat. Attached Figure Description

[0028] 1. Base; 2. Moving platform; 3. First kinematic link; 4. Second kinematic link; 5. Third kinematic link; 6. Driver; 31. First arc-shaped link; 32. Second arc-shaped link; 33. First revolute joint; 34. Second revolute joint; 35. Third revolute joint; 41. First straight link; 42. Second straight link; 43. Third straight link; 44. Fourth straight link; 45. Fifth straight link; 46. Fourth revolute joint; 47. Fifth revolute joint; 48. Sliding joint; 49. Sixth revolute joint; 410. Seventh revolute joint; 411. Eighth revolute joint; 51. Sixth connecting rod; 52. Seventh connecting rod; 53. Eighth connecting rod; 54. Ninth connecting rod; 55. Tenth connecting rod; 56. Ninth revolute joint; 57. Tenth revolute joint; 58. Eleventh revolute joint; 59. Twelfth revolute joint; 510. Thirteenth revolute joint; 511. Fourteenth revolute joint; 61. Drive rod; 62. Worm gear seat; 63. Spring; 64. Drive head; 65. Worm; 66. Worm wheel; 67. Handle. Detailed Implementation

[0029] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0030] Understandable, such as Figure 1 As shown, a preferred embodiment of the present invention provides a three-rotation decoupled parallel attitude adjustment mechanism for a directional antenna, including a base 1, a moving platform 2, a first motion branch 3, a second motion branch 4, and a third motion branch 5. The base 1 is fixedly installed on a designated mounting surface. The moving platform 2 serves as the output end of the mechanism's attitude adjustment motion and is used to install the attitude adjustment object, such as a directional antenna. The first motion branch 3, the second motion branch 4, and the third motion branch 5 are respectively connected to the base 1 and the moving platform 2. Each motion branch is individually equipped with a driver 6 for the moving platform 2 to perform rotational movements in different axial directions.

[0031] It is understood that the three-rotation decoupled parallel attitude adjustment mechanism for directional antennas in this embodiment has three motion chains set between the base 1 and the moving platform 2, and each motion chain is equipped with a separate driver 6, which can drive the moving platform 2 to perform rotational movements in different axial directions. This enables a one-to-one correspondence between input and output movements, overcoming the disadvantages of traditional three-rotation parallel mechanisms such as complex control, strong coupling, and cumbersome analysis and calculation, while retaining the advantages of parallel mechanisms such as high strength and good stability.

[0032] Specifically, the first motion chain 3 includes a first arc-shaped link 31 and a second arc-shaped link 32. The first end of the first arc-shaped link 31 is connected to the base 1 through a first rotating joint 33, and the second end is connected to the first end of the second arc-shaped link 32 through a second rotating joint 34. The second end of the second arc-shaped link 32 is connected to the moving platform 2 through a third rotating joint 35. The rotation axes of the first rotating joint 33 and the second rotating joint 34 are perpendicular to each other, and the rotation axes of the second rotating joint 34 and the third rotating joint 35 are perpendicular to each other. In the initial state, the rotation axes of the three rotating joints are perpendicular to each other in pairs, and the three rotation axes intersect at the rotation center of the moving platform 2. The driver 6 is located at the first rotating joint 33.

[0033] It can be understood that the first motion chain 3 constructs the first rotation mechanism between the base 1 and the moving platform 2 through two arc-shaped connecting rods and three rotating joints. In the initial state, the rotation axes of the three rotating joints are perpendicular to each other and intersect at the rotation center of the moving platform 2, making the structure of the first motion chain 3 more compact and effectively reducing the installation space.

[0034] Additionally, the second kinematic link 4 includes a first straight link 41, a second straight link 42, a third straight link 43, a fourth straight link 44, and a fifth straight link 45. The first end of the first straight link 41 is connected to the base 1 via a fourth revolute joint 46, and the second end is connected to the first end of the second straight link 42 via a fifth revolute joint 47. The second end of the second straight link 42 is connected to the first end of the third straight link 43 via a prismatic joint 48. The second end of the third straight link 43 is connected to the first end of the fourth straight link 44 via a sixth revolute joint 49, and the second end of the fourth straight link 44 is connected to the first end of the fourth straight link 45 via a seventh revolute joint 46. The moving joint 410 is connected to the first end of the fifth straight link 45, and the second end of the fifth straight link 45 is connected to the moving platform 2 through the eighth rotating joint 411. The rotation axis of the fourth rotating joint 46 is parallel to the rotation axis of the first rotating joint 33. The rotation axis of the fifth rotating joint 47 is collinear with the rotation axis of the second rotating joint 34. The moving direction of the prismatic joint 48 is parallel to the rotation axis of the third rotating joint 35. The rotation axes of the sixth rotating joint 49, the seventh rotating joint 410 and the eighth rotating joint 411 are all parallel to the rotation axis of the third rotating joint 35. The driver 6 is located at the fifth rotating joint 47.

[0035] It can be understood that the second kinematic branch 4 constructs a second rotation mechanism between the base 1 and the moving platform 2 through five connecting rods, five revolute joints and one prismatic joint. Furthermore, the rotation axis of the fourth revolute joint 46 is parallel to the rotation axis of the first revolute joint 33, the rotation axis of the fifth revolute joint 47 is collinear with the rotation axis of the second revolute joint 34, the movement direction of the prismatic joint 48 is parallel to the rotation axis of the third revolute joint 35, and the rotation axes of the sixth revolute joint 49, the seventh revolute joint 410 and the eighth revolute joint 411 are all parallel to the rotation axis of the third revolute joint 35. Under the premise of ensuring no kinematic interference with the first kinematic branch 3, the structure of the second kinematic branch 4 is made more compact.

[0036] Additionally, the third motion chain 5 includes a sixth straight link 51, a seventh straight link 52, an eighth straight link 53, a ninth straight link 54, and a tenth straight link 55. The first end of the sixth straight link 51 is connected to the base 1 via a ninth revolute joint 56, and the second end is connected to the first end of the seventh straight link 52 via a tenth revolute joint 57. The second end of the seventh straight link 52 is connected to the first end of the eighth straight link 53 via an eleventh revolute joint 58, and the second end of the eighth straight link 53 is connected to the first end of the ninth straight link 54 via a twelfth revolute joint 59. The second end of the ninth straight link 54... The first end of the tenth straight link 55 is connected to the first end of the thirteenth rotary joint 510. The second end of the tenth straight link 55 is connected to the moving platform 2 through the fourteenth rotary joint 511. The rotation axis of the ninth rotary joint 56 is collinear with the rotation axis of the first rotary joint 33. The rotation axes of the tenth rotary joint 57, the eleventh rotary joint 58, and the twelfth rotary joint 59 are all parallel to the rotation axis of the second rotary joint 34. The rotation axes of the thirteenth rotary joint 510 and the fourteenth rotary joint 511 are parallel to the rotation axis of the third rotary joint 35. The driver 6 is located at the thirteenth rotary joint 510.

[0037] It is understood that the third motion branch 5 constructs the third rotation mechanism between the base 1 and the moving platform 2 through five connecting rods and six revolute joints. Furthermore, the rotation axis of the ninth revolute joint 56 is collinear with the rotation axis of the first revolute joint 33, the rotation axes of the tenth revolute joint 57, the eleventh revolute joint 58, and the twelfth revolute joint 59 are all parallel to the rotation axis of the second revolute joint 34, and the rotation axes of the thirteenth revolute joint 510 and the fourteenth revolute joint 511 are parallel to the rotation axis of the third revolute joint 35. Under the premise of ensuring that there is no motion interference with the first motion branch 3 and the second motion branch 4, the structure of the third motion branch 5 is made more compact.

[0038] It is understood that by optimizing the design of the branch structure and the arrangement of the rotation axis, the present invention makes the overall structure of the parallel mechanism more compact. While ensuring the attitude adjustment range of the directional antenna, it greatly reduces the installation space of the attitude adjustment mechanism, making it well-suited for vehicle-mounted installation in narrow spaces such as tunnels.

[0039] Understandable, such as Figure 2 and Figure 3As shown, the driver 6 specifically includes a drive rod 61, a worm seat 62, a spring 63, a drive head 64, a worm 65, and a worm wheel 66. The spring 63 and the drive head 64 are disposed within the worm seat 62. The worm 65 is rotatably mounted on the worm seat 62 and meshes with the worm wheel 66 for transmission. The worm wheel 66 is mounted on a rotating pair and is used to output driving force. One end of the drive rod 61 extends into the worm seat 62 and is fixedly connected to the drive head 64, specifically via a pin. The spring 63 is sleeved on the drive rod 61, and its two ends respectively conform to the end face of the drive head 64 and the inner cavity protrusion of the worm seat 62. The spring 63 is in a compressed state in the initial state. The drive rod 61 is provided with a spline, and the worm gear seat 62 is provided with a spline groove. The drive rod 61 and the worm gear seat 62 are clearance-fitted through the spline and the spline groove. The drive head 64 is provided with a spline, and the worm gear 65 is provided with a spline groove. The drive head 64 and the worm gear 65 are clearance-fitted through the spline and the spline groove. The spline length on the drive head 64 is greater than the spline length on the drive rod 61, so that the spline on the drive head 64 is always located within the spline groove of the worm gear 65. In the initial state, under the elastic force of spring 63, the spline of drive rod 61 is located in the spline groove of worm seat 62. At this time, drive rod 61 is locked and cannot rotate, and driver 6 is also locked. When drive rod 61 is pulled, causing the spline on drive rod 61 to slide out of the spline groove on worm seat 62, drive rod 61 is unlocked and can rotate. At this time, the spline on drive head 64 is still located in the spline groove of worm 65. By rotating drive rod 61, drive head 64 can be rotated. Drive head 64 drives worm 65 to rotate through the spline and spline groove, thereby driving worm wheel 66 to rotate, and thus driving the rotating pair to rotate. In the first rotating pair 33, worm seat 62 is fixedly installed on base 1, and worm wheel 66 is fixedly installed on first arc-shaped connecting rod 31. By rotating worm wheel 66, the first arc-shaped connecting rod 31 can be driven to rotate around the rotation axis of the first rotating pair 33. At the fifth revolute joint 47, the worm gear seat 62 is fixedly mounted on the second straight connecting rod 42, and the worm wheel 66 is fixedly mounted on the first straight connecting rod 41. Rotation of the worm wheel 66 drives the first straight connecting rod 41 to rotate around the rotation axis of the fifth revolute joint 47. At the thirteenth revolute joint 510, the worm gear seat 62 is fixedly mounted on the ninth straight connecting rod 54, and the worm wheel 66 is fixedly mounted on the tenth straight connecting rod 55. Rotation of the worm wheel 66 drives the tenth straight connecting rod 55 to rotate around the rotation axis of the thirteenth revolute joint 510.

[0040] It can be understood that when the actuator 6 at the first rotary joint 33 is in the unlocked state, and the actuators 6 at the fifth rotary joint 47 and the thirteenth rotary joint 510 are in the locked state, the moving platform 2 can only rotate around the rotation axis of the first rotary joint 33. That is, the moving platform 2 only has rotational freedom in the direction of the rotation axis of the first rotary joint 33. At this time, the second kinematic branch 4 and the third kinematic branch 5 follow the movement. However, when the actuator 6 at the fifth rotary joint 47 is in the unlocked state, and the actuators 6 at the first rotary joint 33 and the thirteenth rotary joint 510 are in the locked state, the moving platform 2 can only rotate around the rotation axis of the fifth rotary joint 47. The rotation axis of the fifth rotary joint 47 is collinear with the rotation axis of the second rotary joint 34. That is, the moving platform 2 only has rotational freedom in the direction of the rotation axis of the second rotary joint 34. At this time, the first kinematic branch 3 and the third kinematic branch 5 follow the movement. When the actuator 6 at the thirteenth rotary joint 510 is in the unlocked state, and the actuators 6 at the first rotary joint 33 and the fifth rotary joint 47 are in the locked state, the moving platform 2 can only rotate around the rotation axis of the thirteenth rotary joint 510. The rotation axis of the thirteenth rotary joint 510 is parallel to the rotation axis of the third rotary joint 35. That is, the moving platform 2 only has the rotational freedom in the direction of the rotation axis of the third rotary joint 35. At this time, the first kinematic branch 3 and the second kinematic branch 4 follow the movement.

[0041] It is understood that the three motion chains of the present invention are driven individually by a driver 6 with a locking function, the control method is very simple, and the joints of the mechanism can be manually and precisely driven.

[0042] Optionally, the driver 6 further includes a handle 67. One end of the drive rod 61 is capped with a radial through hole. The handle 67 is connected to the radial through hole and can rotate around the hole. When the handle 67 is rotated around the centerline axis of the drive rod 61, the drive rod 61 can be rotated, which facilitates manual drive control of the mechanism joint.

[0043] In addition, another embodiment of the present invention provides a directional antenna, preferably using the three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described above for attitude adjustment.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-rotation decoupling parallel attitude adjustment mechanism for directional antennas, characterized in that, It includes a base (1), a moving platform (2), a first motion branch (3), a second motion branch (4), and a third motion branch (5). The base (1) is fixedly installed on a designated mounting surface. The moving platform (2) serves as the output end of the mechanism's posture adjustment motion. The first motion branch (3), the second motion branch (4), and the third motion branch (5) are respectively connected to the base (1) and the moving platform (2). Each motion branch is individually equipped with a driver (6) to drive the moving platform (2) to perform rotational movements in different axial directions. The first motion chain (3) includes a first arc-shaped link (31) and a second arc-shaped link (32). The first end of the first arc-shaped link (31) is connected to the base (1) through a first rotating joint (33), and the second end is connected to the first end of the second arc-shaped link (32) through a second rotating joint (34). The second end of the second arc-shaped link (32) is connected to the moving platform (2) through a third rotating joint (35). The rotation axes of the first rotating joint (33) and the second rotating joint (34) are perpendicular to each other, and the rotation axes of the second rotating joint (34) and the third rotating joint (35) are perpendicular to each other. In the initial state, the rotation axes of the three rotating joints are perpendicular to each other, and the three rotation axes intersect at the rotation center of the moving platform (2). The driver (6) is located at the first rotating joint (33). The second kinematic link (4) includes a first straight link (41), a second straight link (42), a third straight link (43), a fourth straight link (44), and a fifth straight link (45). The first end of the first straight link (41) is connected to the base (1) through a fourth revolute joint (46), and the second end is connected to the first end of the second straight link (42) through a fifth revolute joint (47). The second end of the second straight link (42) is connected to the first end of the third straight link (43) through a prismatic joint (48). The second end of the third straight link (43) is connected to the first end of the fourth straight link (44) through a sixth revolute joint (49). The second end of the fourth straight link (44) is connected to the first end of the fourth straight link (45) through a seventh revolute joint (46). The moving joint (410) is connected to the first end of the fifth straight link (45), and the second end of the fifth straight link (45) is connected to the moving platform (2) through the eighth rotating joint (411). The rotation axis of the fourth rotating joint (46) is parallel to the rotation axis of the first rotating joint (33). The rotation axis of the fifth rotating joint (47) is collinear with the rotation axis of the second rotating joint (34). The moving direction of the moving joint (48) is parallel to the rotation axis of the third rotating joint (35). The rotation axes of the sixth rotating joint (49), the seventh rotating joint (410) and the eighth rotating joint (411) are all parallel to the rotation axis of the third rotating joint (35). The driver (6) is located at the fifth rotating joint (47). The third kinematic link (5) includes a sixth straight link (51), a seventh straight link (52), an eighth straight link (53), a ninth straight link (54), and a tenth straight link (55). The first end of the sixth straight link (51) is connected to the base (1) through a ninth revolute joint (56), and the second end is connected to the first end of the seventh straight link (52) through a tenth revolute joint (57). The second end of the seventh straight link (52) is connected to the first end of the eighth straight link (53) through an eleventh revolute joint (58), and the second end of the eighth straight link (53) is connected to the first end of the ninth straight link (54) through a twelfth revolute joint (59). The tenth straight link (55) is connected to the base (1) through a ninth revolute joint (56). The two ends are connected to the first end of the tenth straight link (55) through the thirteenth rotating joint (510). The second end of the tenth straight link (55) is connected to the moving platform (2) through the fourteenth rotating joint (511). The rotation axis of the ninth rotating joint (56) is collinear with the rotation axis of the first rotating joint (33). The rotation axes of the tenth rotating joint (57), the eleventh rotating joint (58), and the twelfth rotating joint (59) are all parallel to the rotation axis of the second rotating joint (34). The rotation axes of the thirteenth rotating joint (510) and the fourteenth rotating joint (511) are parallel to the rotation axis of the third rotating joint (35). The driver (6) is located at the thirteenth rotating joint (510).

2. The three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described in claim 1, characterized in that, The driver (6) includes a drive rod (61), a worm seat (62), a spring (63), a drive head (64), a worm (65), and a worm wheel (66). The spring (63) and the drive head (64) are disposed inside the worm seat (62). The worm (65) is rotatably mounted on the worm seat (62) and meshes with the worm wheel (66) for transmission. The worm wheel (66) is used to output driving force. One end of the drive rod (61) extends into the worm seat (62) and is fixedly connected to the drive head (64). The spring (63) is sleeved on the drive rod (61), and its two ends are respectively connected to the end face of the drive head (64) and the worm seat (62). The inner cavity protrusions of the spring (63) fit together. The spring (63) is in a compressed state in the initial state. The drive rod (61) is provided with a spline, and the worm seat (62) is provided with a spline groove. The drive rod (61) and the worm seat (62) achieve clearance fit through the spline and the spline groove. The drive head (64) is provided with a spline, and the worm (65) is provided with a spline groove. The drive head (64) and the worm (65) achieve clearance fit through the spline and the spline groove. The spline length on the drive head (64) is greater than the spline length on the drive rod (61), so that the spline on the drive head (64) is always located in the spline groove of the worm (65). In the initial state, under the elastic force of the spring (63), the spline of the drive rod (61) is located in the spline groove of the worm seat (62), and the drive rod (61) is locked. When the drive rod (61) is pulled, the spline on the drive rod (61) slides out of the spline groove on the worm seat (62), the drive rod (61) is unlocked, and the worm (65) can be rotated by rotating the drive rod (61), thereby driving the worm wheel (66) to rotate.

3. The three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described in claim 2, characterized in that, When the driver (6) at the first rotary joint (33) is in the unlocked state, and the drivers (6) at the fifth rotary joint (47) and the thirteenth rotary joint (510) are in the locked state, the moving platform (2) only has the rotational degree of freedom in the direction of the rotation axis of the first rotary joint (33); When the driver (6) at the fifth rotary joint (47) is in the unlocked state, and the drivers (6) at the first rotary joint (33) and the thirteenth rotary joint (510) are in the locked state, the moving platform (2) only has the rotational degree of freedom in the direction of the rotation axis of the second rotary joint (34); When the driver (6) at the thirteenth rotary joint (510) is in the unlocked state, and the drivers (6) at the first rotary joint (33) and the fifth rotary joint (47) are in the locked state, the moving platform (2) only has the rotational degree of freedom in the direction of the rotation axis of the third rotary joint (35).

4. The three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described in claim 2, characterized in that, At the first rotating joint (33), the worm seat (62) is fixedly mounted on the base (1), and the worm wheel (66) is fixedly mounted on the first arc-shaped connecting rod (31).

5. The three-rotation decoupling parallel attitude adjustment mechanism for directional antennas as described in claim 2, characterized in that, At the fifth rotating joint (47), the worm seat (62) is fixedly mounted on the second straight connecting rod (42), and the worm wheel (66) is fixedly mounted on the first straight connecting rod (41).

6. The three-rotation decoupling parallel attitude adjustment mechanism for a directional antenna as described in claim 2, characterized in that, At the thirteenth rotating joint (510), the worm seat (62) is fixedly mounted on the ninth connecting rod (54), and the worm wheel (66) is fixedly mounted on the tenth connecting rod (55).

7. A directional antenna, characterized in that, The attitude adjustment is performed using the three-rotation decoupled parallel attitude adjustment mechanism as described in any one of claims 1 to 6.

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