Radar accurate rotation and positioning control multi-joint servo driving structure

Abstract

The invention relates to the field of servo motors, and discloses a radar accurate rotation and positioning control multi-joint servo driving structure which comprises a mounting base, an elevation angle adjusting mechanism and a radar machine body, a butt joint cylinder is arranged in the center of the upper surface of the mounting base, and the elevation angle adjusting mechanism is mounted at the top of the butt joint cylinder; the elevation angle adjusting mechanism comprises a rotating rod rotating in the butt joint cylinder, a supporting seat is arranged at the top of the rotating rod, supporting plates are symmetrically arranged on the upper surface of the supporting seat, a fixing shaft is fixed between the two supporting plates, a fixing seat is arranged on the back of the radar machine body, and the fixing seat is rotationally installed on the fixing shaft. A semi-ring worm gear is welded to the surface of the fixing base, a servo motor at each joint drives a worm to rotate, each joint is driven to rotate accurately through cooperation of the worm and the worm gear, positioning of each joint is guaranteed through the self-locking performance of the worm gear and the worm, and the radar angle is prevented from being affected by external factors.

Description

Technical Field

[0001] The invention relates to the technical field of servo motors, and in particular to a multi-joint servo drive structure for precise rotation and positioning control of radars. Background Art

[0002] Radar is an electronic device that uses electromagnetic waves to detect targets. It transmits electromagnetic waves into space through a transmitter. If the electromagnetic waves encounter a target during propagation, they will be reflected back. After the reflected wave is received by the radar receiver, the distance, azimuth, altitude, speed and other parameters of the target can be calculated based on the time difference between the transmitted wave and the reflected wave, frequency change and other information. In order to perform multi-angle scanning, the existing radar must at least rotate the azimuth and elevation joints, and the rotation and positioning of the radar are mostly controlled by servo motors.

[0003] Therefore, the accuracy of the servo motor determines the accuracy of the radar. Since the worm gear is self-locking, the radar angle is mostly transmitted by the worm gear. However, due to the limited life of the high-intensity rotation servo motor, in order to ensure the accuracy of radar scanning, the servo motor needs to be regularly maintained and debugged. The existing servo drive is fixed at the joints of the radar, which is extremely inconvenient to disassemble. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multi-joint servo drive structure for precise rotation and positioning control of radar, which solves the problem of accurate installation of servo drives of various joints of the radar.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-joint servo drive structure for precise rotation and positioning control of a radar, comprising a mounting seat, an elevation adjustment mechanism and a radar body, a docking tube is arranged at the center of the upper surface of the mounting seat, the elevation adjustment mechanism is installed on the top of the docking tube, the elevation adjustment mechanism comprises a rotating rod rotating inside the docking tube, a supporting seat is arranged on the top of the rotating rod, support plates are symmetrically arranged on the upper surface of the support seat, a fixed shaft is fixed between the two support plates, a fixed seat is arranged on the back of the radar body, and the fixed seat is rotatably mounted on the fixed shaft A semi-ring worm gear is welded on the surface of the fixed seat, vertical plates are symmetrically arranged inside the two support plates, a worm is rotatably installed between the two vertical plates, the worm is placed under the semi-ring worm gear and the two cooperate with each other, an extended mounting plate is arranged on the rear side of the support seat, the worm passes through one of the vertical plates, a docking square hole is opened on the rear end face of the worm, track bars are symmetrically arranged on the upper surface of the extended mounting plate, a servo motor is installed on the top of the extended mounting plate, the output end of the servo motor is power-connected to the docking square hole, and a limiting mechanism for fixing the servo motor is also arranged on the rear end face of the extended mounting plate.

[0006] Furthermore, the cross section of the track bar is a conical structure that is larger at the top and smaller at the bottom, and an extended mounting plate that is compatible with the track bar is symmetrically provided at the bottom of the servo motor.

[0007] Furthermore, a power shaft is installed at the output end of the servo motor, an extension shaft is provided at the end of the power shaft, a sleeve is slidably installed at the end of the extension shaft, and a docking square head adapted to the docking square hole is provided at one end of the sleeve away from the servo motor.

[0008] Furthermore, the surface of the extension shaft is provided with convex strips, the interior of the sleeve is provided with grooves matched with the convex strips, the surface of the extension shaft is sleeved with a spring, and the spring is placed between the power shaft and the sleeve.

[0009] Furthermore, the limiting mechanism includes a sliding rod that slides symmetrically on the end of the extended mounting plate, and the end of the extended mounting plate is also screwed with a threaded rod, and the threaded rod is placed parallel between the two sliding rods.

[0010] Furthermore, movable transverse plates are transversely arranged at the ends of the two sliding rods, the threaded rod passes through the movable transverse plates via a bearing, and a knob is arranged at the end of the threaded rod.

[0011] Furthermore, a sliding sleeve is symmetrically and slidably installed on the surface of the movable cross plate, a connecting rod is screwed and installed on the top of the sliding sleeve, and docking plates are installed on the top of the two connecting rods through pins. The docking plates extend beyond the upper surface of the extended mounting plate, and an extrusion head is provided on the side of the docking plate close to the elevation adjustment mechanism, and the extrusion head is in contact with the rear end face of the servo motor.

[0012] Furthermore, fixing bolts are symmetrically arranged on the outer surface of the movable transverse plate, and tension springs are connected to the surfaces of the fixing bolts. The ends of the two tension springs facing away from the fixing bolts are respectively connected to the two sliding sleeves.

[0013] The present invention provides a multi-joint servo drive structure for precise rotation and positioning control of radar, which has the following beneficial effects: 1. The present invention drives the worm to rotate through the servo motor at each joint, and drives each joint to rotate accurately through the cooperation of the worm and the worm wheel. The self-locking property of the worm wheel and worm gear ensures the positioning of each joint to prevent the radar angle from being affected by external factors.

[0014] 2. The present invention can quickly install and disassemble the servo motor during debugging, and ensure the accuracy of the installation to further ensure the accuracy of the radar. After the servo motor is installed in place, the stability of the servo motor can be maintained by an external limit mechanism.

[0015] 3. The present invention can automatically calibrate when the servo motor is started even if the docking is misaligned after the servo motor is installed in place, so as to ensure the stable installation of the servo motor and the worm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the installation structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the fixing seat and the elevation adjustment structure of the present invention; Figure 3 It is a three-dimensional schematic diagram of the support base of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the servo motor of the present invention; Figure 5 For the present invention Figure 3 A schematic diagram of the enlarged structure of area A; Figure 6 It is a three-dimensional schematic diagram of the limiting mechanism of the present invention; Figure 7 It is a three-dimensional schematic diagram of the sleeve of the present invention.

[0017] Among them, 1. mounting seat; 101. docking tube; 2. elevation adjustment mechanism; 201. rotating rod; 202. supporting seat; 203. supporting plate; 204. fixed shaft; 205. vertical plate; 206. worm; 207. docking square hole; 208. extension mounting plate; 209. track bar; 3. limiting mechanism; 301. sliding rod; 302. threaded rod; 303. knob; 304. moving horizontal plate; 305. sliding sleeve; 306. connecting rod; 307. docking plate; 308. extrusion head; 309. fixing bolt; 310. tension spring; 4. servo motor; 401. power shaft; 402. extension shaft; 403. sleeve; 404. docking square head; 405. spring; 406. convex strip; 407. groove; 5. radar body; 51. fixing seat; 52. semi-ring worm gear. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0019] Please refer to Figure 1As shown, a multi-joint servo drive structure for precise rotation and positioning control of a radar, the radar includes at least two joints (direction and elevation), and each joint is composed of a servo motor and an encoder, and multiple servo motors are synchronously controlled by a controller to achieve the linkage of the entire system. The servo motor serves as a power source to provide torque for the rotation of the joint, and can adjust the rotation angle and torque strength in real time according to usage. The angular displacement accuracy reaches ±0.01°, and the joints are connected by precise mechanical connectors. The connectors are made of high-strength aluminum alloy or alloy steel to ensure that they can have a certain torque and axial force. The relative position accuracy between the joints enables the entire joint structure to work together to achieve complex movements of the radar.

[0020] Please refer to Figure 1-Figure 4 As shown, it includes a mounting seat 1, an elevation adjustment mechanism 2 and a radar body 5. A docking tube 101 is arranged at the center of the upper surface of the mounting seat 1. The elevation adjustment mechanism 2 is installed on the top of the docking tube 101. The elevation adjustment mechanism 2 includes a rotating rod 201 rotating inside the docking tube 101. A servo drive system for controlling the rotation of the rotating rod 201 is also arranged at the bottom of the mounting seat 1. The so-called servo drive system includes a servo motor and components such as a turbine and a worm. A support seat 202 is arranged on the top of the rotating rod 201. The upper surface of the support seat 202 The support plates 203 are symmetrically arranged, and a fixed shaft 204 is fixed between the two support plates 203. A fixed seat 51 is arranged on the back of the radar body 5, and the fixed seat 51 is rotatably mounted on the fixed shaft 204, so that the radar body 5 can rotate around the axis of the fixed shaft 204 to adjust the elevation angle of the radar body 5, and cooperate with the rotation of the bottom azimuth to realize multi-angle radar scanning. A semi-ring worm gear 52 is welded on the surface of the fixed seat 51, and the center of the semi-ring worm gear 52 is concentric with the axis of the fixed shaft 204. The two support plates 203 A vertical plate 205 is symmetrically arranged inside, and the vertical plate 205 is vertically arranged with the support plate 203. A worm 206 is rotatably installed between the two vertical plates 205. The worm 206 is arranged horizontally. The worm 206 is placed below the semi-ring worm gear 52 and the two cooperate with each other. The connection has self-locking property, that is, the worm 206 can drive the semi-ring worm gear 52 to rotate, and vice versa, the semi-ring worm gear 52 cannot drive the worm 206 to rotate, so as to ensure the angular positioning of the radar body 5. An extended mounting plate 208 is arranged at the rear side of the support seat 202, and the worm 206 runs through one of them. The vertical plate 205 and the rear end surface of the worm 206 are provided with a docking square hole 207, and the docking square hole 207 is placed at the center of the end surface of the worm 206. The upper surface of the extended mounting plate 208 is symmetrically provided with a track bar 209, and the cross-section of the track bar 209 is a conical structure with a larger upper part and a smaller lower part. The bottom of the servo motor 4 is symmetrically provided with an extended mounting plate 208 adapted to the track bar 209 to ensure that the servo motor 4 can be realized quickly and the installation is stable. When the servo motor 4 is pushed, the docking square head 404 corresponds to the docking square hole 207.

[0021] Please refer to Figure 3 As shown, a servo motor 4 is installed on the top of the extended mounting plate 208, and the output end of the servo motor 4 is power-connected to the docking square hole 207 so that the worm 206 is driven to rotate by the servo motor 4. A limiting mechanism 3 for fixing the servo motor 4 is also provided on the rear end face of the extended mounting plate 208.

[0022] When the radar system issues a rotation and positioning command, requiring the radar antenna to turn to a specific azimuth and pitch angle, the controller first converts this command into the target position and speed of each joint. Based on the pre-established kinematic model, it can calculate the angle and angular velocity that each joint needs to rotate. Then, the controller sends these target parameters to the servo driver, which generates a drive signal for the servo motor based on the received target parameters. The motor starts to rotate, driving the joint to move. During the movement, the encoder provides real-time feedback on the actual position and speed of the joint. The controller compares the actual parameters with the target parameters and calculates the deviation. Through the control algorithm, the drive signal is adjusted according to the deviation, so that the actual movement of the joint continues to approach the target movement. Example

[0023] Please refer to Figure 3 and Figure 4 As shown, a power shaft 401 is installed at the output end of the servo motor 4, and an extension shaft 402 is provided at the end of the power shaft 401. The cross-section of the extension shaft 402 is smaller than that of the power shaft 401 to provide a fulcrum for the spring 405. A sleeve 403 is slidably installed at the end of the extension shaft 402. One side of the sleeve 403 is open, and the end of the sleeve 403 facing away from the servo motor 4 is provided with a docking square head 404 adapted to the docking square hole 207, so as to drive the worm 206 to rotate through the servo motor 4.

[0024] Among them, a convex strip 406 is arranged on the surface of the extension shaft 402, and a groove 407 matched with the convex strip 406 is opened inside the sleeve 403, so as to ensure that even when the sleeve 403 moves axially, the two can still rotate synchronously. A spring 405 is sleeved on the surface of the extension shaft 402, and the spring 405 is placed between the power shaft 401 and the sleeve 403. The elastic force of the spring 405 is used to make the sleeve 403 always have an outward force. Then, after the servo motor 4 is installed in place, the docking square head 404 can enter the docking square hole 207 to realize power transmission.

[0025] The servo motor 4, the extension shaft 402, the sleeve 403, and the worm 206 and other parts are combined into a servo drive system. The servo motor 4 contains a controller, which is the brain of the entire drive structure. It receives positioning and rotation instructions from the radar system and collects the position and speed information fed back by the encoders of each joint. Through advanced control algorithms, such as adaptive control algorithms or fuzzy-PID composite control algorithms, precise control of multiple joints can be achieved. Example

[0026] Please refer to Figure 5 and Figure 6 As shown, the limiting mechanism 3 includes a sliding rod 301 that slides symmetrically at the end of the extended mounting plate 208, and the sliding rod 301 can slide along the axis. The end of the extended mounting plate 208 is also screwed with a threaded rod 302, and the threaded rod 302 is placed parallel to the two sliding rods 301. A movable cross plate 304 is laterally arranged at the ends of the two sliding rods 301. The threaded rod 302 penetrates the movable cross plate 304 through a bearing, so the threaded rod 302 will not be affected when it rotates. On the contrary, when the threaded rod 302 moves axially, it can drive the movable cross plate 304 to move to adjust the distance between it and the extended mounting plate 208. A knob 303 is arranged at the end of the threaded rod 302 to facilitate the operation of the threaded rod 302.

[0027] Please refer to Figure 6 As shown, a sliding sleeve 305 is symmetrically and slidably installed on the surface of the movable horizontal plate 304, and a connecting rod 306 is screwed and installed on the top of the sliding sleeve 305. A docking plate 307 is installed on the top of the two connecting rods 306 through a pin shaft. The docking plate 307 exceeds the upper surface of the extended mounting plate 208. The connection direction of the connecting rod 306 can ensure that when the docking plate 307 moves downward, the two sliding sleeves 305 can be pulled away from each other to pull and store force on the tension spring 310. When the servo motor 4 is installed, the docking plate 307 can be pressed down. When the servo motor 4 is installed in place, the docking plate 307 can be bounced up to the outside of the servo motor 4. An extrusion head 308 is provided on the side of the docking plate 307 close to the elevation adjustment mechanism 2. The extrusion head 308 contacts the rear end surface of the servo motor 4 to limit the servo motor 4. A limiting block is provided on one end of the track bar 209 close to the support seat 202 to limit the front end of the servo motor 4. At this time, the front end of the servo motor 4 is blocked by the limiting block, and the rear end is limited by the extrusion head 308.

[0028] Among them, fixing bolts 309 are symmetrically arranged on the outer surface of the movable horizontal plate 304, and tension springs 310 are connected to the surface of the fixing bolts 309. The ends of the two tension springs 310 facing away from the fixing bolts 309 are respectively connected to the two sliding sleeves 305. The tension of the tension springs 310 can be used to automatically lift up when the unstressed docking plate 307 is placed on the top, and then the distance between them is adjusted by the threaded rod 302.

[0029] Working principle: The rotating rod 201 can be controlled to rotate through the bottom motor to drive the top radar body 5 to adjust the angle. Due to the existence of the spring 405, the sleeve 403 always exerts an outward force, and then after the servo motor 4 is installed in place, the docking square head 404 can smoothly enter the docking square hole 207, so that the servo motor 4 drives the worm 206 to rotate, and the worm 206 cooperates with the semi-ring worm gear 52 to control the elevation angle of the radar body 5, thereby realizing the multi-joint rotation drive of the radar and ensuring the adjustment accuracy. At the same time, the reverse self-locking of the worm 206 and the semi-ring worm gear 52 can be used to ensure the precise positioning of the radar body 5.

[0030] Due to the presence of the tension springs 310 on both sides, the sliding sleeves 305 on both sides always have the force to approach each other, and then the docking plate 307 can be lifted to the highest point through the connecting rod 306. When installing the servo motor 4, the servo motor 4 can be placed on the upper outer side of the extended mounting plate 208, and the docking plate 307 can be pressed down to move the sliding sleeve 305 outward to pull the tension spring 310 to store force, so that the servo motor 4 can be slidably installed along the track of the track bar 209. During installation, the docking square head 404 will gradually move toward the docking square hole 208. 07 is close, even if the direction of the docking square head 404 is misaligned with the docking square hole 207 and cannot be docked, the installation of the servo motor 4 can be ensured by the sliding of the sleeve 403, and the spring 405 is squeezed and stored, so that the sleeve 403 always maintains an outward force. When the servo motor 4 is installed in place, the storage force of the tension spring 310 is used to make the docking plate 307 bounce up, and the knob 303 is rotated to control the position of the moving cross plate 304, so that the extrusion head 308 squeezes the servo motor 4 to keep the servo motor 4 stable.

[0031] During the debugging process, the servo motor 4 is started slowly to drive the power shaft 401 to rotate. Since the sleeve 403 has an outward force, when the docking square head 404 rotates to correspond to the docking square hole 207, it can automatically enter the docking square hole 207 to drive the worm 206 to rotate, thereby adjusting the elevation angle of the radar body 5.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-joint servo drive structure for precise rotation and positioning control of a radar, comprising a mounting seat (1), an elevation adjustment mechanism (2) and a radar body (5), characterized in that: A docking tube (101) is arranged at the center of the upper surface of the mounting seat (1); the elevation adjustment mechanism (2) is mounted on the top of the docking tube (101); the elevation adjustment mechanism (2) comprises a rotating rod (201) that rotates inside the docking tube (101); a support seat (202) is arranged on the top of the rotating rod (201); support plates (203) are symmetrically arranged on the upper surface of the support seat (202); a fixed shaft (204) is fixed between two of the support plates (203); a fixed seat (51) is arranged on the back of the radar body (5); the fixed seat (51) is rotatably mounted on the fixed shaft (204); a semi-ring worm gear (52) is welded on the surface of the fixed seat (51); and vertical plates (203) are symmetrically arranged inside the two support plates (203). 205), a worm (206) is rotatably mounted between the two vertical plates (205), the worm (206) is placed below the semi-ring worm wheel (52) and the two cooperate with each other, an extended mounting plate (208) is arranged on the rear side of the support seat (202), the worm (206) passes through one of the vertical plates (205), a docking square hole (207) is provided on the rear end face of the worm (206), track bars (209) are symmetrically arranged on the upper surface of the extended mounting plate (208), a servo motor (4) is mounted on the top of the extended mounting plate (208), an output end of the servo motor (4) is power-connected to the docking square hole (207), and a limiting mechanism (3) for fixing the servo motor (4) is also arranged on the rear end face of the extended mounting plate (208).

2. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 1, characterized in that: The cross section of the track bar (209) is a conical structure that is larger at the top and smaller at the bottom, and an extended mounting plate (208) that matches the track bar (209) is symmetrically provided at the bottom of the servo motor (4).

3. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 1, characterized in that: The output end of the servo motor (4) is provided with a power shaft (401), the end of the power shaft (401) is provided with an extension shaft (402), the end of the extension shaft (402) is provided with a sleeve (403) slidably mounted, and the end of the sleeve (403) facing away from the servo motor (4) is provided with a docking square head (404) adapted to the docking square hole (207).

4. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 3, characterized in that: The surface of the extension shaft (402) is provided with a convex strip (406), the interior of the sleeve (403) is provided with a groove (407) adapted to the convex strip (406), the surface of the extension shaft (402) is sleeved with a spring (405), and the spring (405) is placed between the power shaft (401) and the sleeve (403).

5. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 1, characterized in that: The limiting mechanism (3) comprises a sliding rod (301) that slides symmetrically on the end of the extension mounting plate (208), and a threaded rod (302) is also screwed on the end of the extension mounting plate (208), and the threaded rod (302) is placed in parallel between the two sliding rods (301).

6. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 5, characterized in that: A movable transverse plate (304) is transversely arranged at the ends of the two sliding rods (301); the threaded rod (302) penetrates the movable transverse plate (304) via a bearing; and a knob (303) is arranged at the end of the threaded rod (302).

7. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 6, characterized in that: A sliding sleeve (305) is symmetrically and slidably mounted on the surface of the movable horizontal plate (304); a connecting rod (306) is screwed and mounted on the top of the sliding sleeve (305); a docking plate (307) is mounted on the top of two connecting rods (306) via a pin shaft; the docking plate (307) extends beyond the upper surface of the extended mounting plate (208); an extrusion head (308) is arranged on one side of the docking plate (307) close to the elevation adjustment mechanism (2); and the extrusion head (308) contacts the rear end surface of the servo motor (4).

8. The multi-joint servo drive structure for precise rotation and positioning control of radar according to claim 7, characterized in that: The outer surface of the movable horizontal plate (304) is symmetrically provided with fixing bolts (309), and the surface of the fixing bolts (309) is connected to tension springs (310), and the ends of the two tension springs (310) facing away from the fixing bolts (309) are respectively connected to the two sliding sleeves (305).

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