Double-layer parallel pointing mechanism and control method thereof

Abstract

The invention discloses a double-layer parallel pointing mechanism and a control method thereof. The double-layer parallel pointing mechanism comprises a base, a pointing device, a three-dimensional moving platform, a universal joint and three first motion branch chains. The three-dimensional mobile platform is arranged on the base; the universal joint is respectively connected with the three-dimensional mobile platform and the pointing device; the first motion branch chain comprises a telescopic connecting rod group, a first rotating connecting rod, a second rotating connecting rod and a rotating driving part; the rotating central axis of the first rotating connecting rod and the rotating central axis of the second rotating connecting rod both point to the universal joint. According to the double-layer parallel pointing mechanism, driving force is provided through the three-dimensional moving platform to balance external disturbance force, driving force is provided through the rotating driving part to balance external disturbance torque, and therefore the external disturbance force and the disturbance torque are resisted, and therefore the double-layer parallel pointing mechanism has the superior bearing capacity and the high pointing precision.

Description

Technical Field

[0001] The invention relates to the field of aerospace technology, and in particular to a double-layer parallel pointing mechanism and a control method thereof. Background Art

[0002] With the rapid development of space technology, space pointing mechanisms are widely used in the fields of solar panel tracking mechanisms, space remote sensing satellites, space optical cameras and satellite-borne antennas. They are important mechanisms for realizing large-scale dynamic tracking and positioning functions. The performance of space pointing mechanisms directly affects the overall performance of space optical remote sensing instruments, satellite antennas, high-resolution observation equipment and high-precision directional devices.

[0003] The traditional pointing mechanism configurations mainly include serial mechanisms, low-degree-of-freedom parallel mechanisms and six-degree-of-freedom mechanisms. Serial pointing mechanisms mainly include azimuth-pitch and XY types, and the application of serial pointing mechanisms in the aerospace field has been relatively mature. However, due to the shortcomings of serial mechanisms such as tracking blind spots and large cumulative errors, the accuracy of serial pointing mechanisms is low and cannot meet the requirements of high-precision tasks. Compared with serial mechanisms, low-degree-of-freedom parallel mechanisms have a series of advantages such as strong load-bearing capacity, fast response speed and small cumulative error, and have attracted the attention of many scholars. Parallel pointing mechanisms with low degrees of freedom usually face complex working environments. For example, vibrations of equipment such as flywheels will generate interference forces and cause changes in the displacement of the pointing antenna, which seriously affects the pointing accuracy of parallel pointing mechanisms with low degrees of freedom.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a double-layer parallel pointing mechanism and a control method thereof in view of the above-mentioned defects of the prior art, aiming to solve the problem in the prior art that the parallel pointing mechanism is easily disturbed and leads to low pointing accuracy.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: A double-layer parallel pointing mechanism, comprising: a base, a pointing device, a three-dimensional mobile platform, a universal joint and three first motion branches; the three-dimensional mobile platform is arranged on the base; the universal joint is respectively connected to the three-dimensional mobile platform and the pointing device; the first motion branches include: A telescopic connecting rod assembly, arranged on the base; A first rotating connecting rod, rotatably connected to the telescopic connecting rod assembly; A second rotating link, rotatably connected to the first rotating link and the pointing device respectively; A rotation driving member, used for driving the first rotation connecting rod or the second rotation connecting rod to rotate; Wherein, the rotation center axis of the first rotating link and the rotation center axis of the second rotating link both point to the universal joint.

[0007] The double-layer parallel pointing mechanism, wherein the telescopic connecting rod group comprises: A first telescopic link and a second telescopic link connected to each other; A telescopic driving member, used for driving the first telescopic link or the second telescopic link to extend and retract; Wherein, the first telescopic connecting rod is slidably connected to the base; The second telescopic link is rotatably connected to the first rotating link.

[0008] In the double-layer parallel pointing mechanism, the sliding direction of the first telescopic link and the base, the telescopic direction of the first telescopic link, and the telescopic direction of the second telescopic link are perpendicular to each other.

[0009] The double-layer parallel pointing mechanism, wherein the three first motion branches surround the three-dimensional moving platform; The pointing device comprises: Mounting table; A reflective surface, disposed on the mounting platform; The antenna is arranged on the reflecting surface.

[0010] The double-layer parallel pointing mechanism, wherein the universal joint comprises: A first U-shaped member and a second U-shaped member; the first U-shaped member is rotatably connected to the pointing device, or the second U-shaped member is rotatably connected to the three-dimensional mobile platform; A cross member, rotatably connected to the first U-shaped member and the second U-shaped member respectively; Wherein, the first U-shaped member rotates in the plane where the pointing device is located, or the second U-shaped member rotates in the horizontal plane; The cross member is arranged horizontally, and a rotation direction of the cross member relative to the first U-shaped member is perpendicular to a rotation direction of the cross member relative to the second U-shaped member.

[0011] The double-layer parallel pointing mechanism, wherein the universal joint further comprises: a first driving member, used for driving the first U-shaped member to rotate in the plane where the pointing device is located, or the second U-shaped member to rotate in a horizontal plane; a second driving member, used for driving the cross member to rotate relative to the first U-shaped member; The third driving member is used to drive the cross member to rotate relative to the second U-shaped member.

[0012] The double-layer parallel pointing mechanism, wherein the three-dimensional mobile platform comprises: a mobile table, an x-axis driving member, a y-axis driving member, a z-axis driving member and three second motion branches; the mobile table is connected to the universal joint, and the two ends of the second motion branch are respectively connected to the mobile table and the base; the second motion branch comprises: an x-axis sliding link, a y-axis sliding link and a z-axis sliding link; Wherein, the x-axis driving member is used to drive one x-axis sliding link among the three x-axis sliding links to slide; The y-axis driving member is used to drive one of the three y-axis sliding links to slide; The z-axis driving member is used to drive one z-axis sliding link among three z-axis sliding links to slide.

[0013] The double-layer parallel pointing mechanism, wherein the order in which the x-axis sliding link, the y-axis sliding link and the z-axis sliding link are connected in different second motion branches is different; the sliding direction of the x-axis sliding link, the sliding direction of the y-axis sliding link and the sliding direction of the z-axis sliding link are perpendicular to each other.

[0014] A control method for a double-layer parallel pointing mechanism as described in any one of the above, comprising the steps of: Determining position information and direction information of a pointing device; According to the position information, the three-dimensional mobile platform is controlled to move and the telescopic link group is controlled to extend and retract; The rotation driving member is controlled to rotate according to the directional information.

[0015] The control method of the double-layer parallel pointing mechanism, wherein the control of the movement of the three-dimensional mobile platform according to the position information specifically includes: According to the position information, the x-axis sliding link is controlled to slide through the x-axis driving member, the y-axis sliding link is controlled to slide through the y-axis driving member, the z-axis sliding link is controlled to slide through the z-axis driving member, and the first telescopic link or the second telescopic link is driven to telescope through the telescopic driving member.

[0016] Beneficial effects: The driving force provided by the three-dimensional mobile platform is used to balance the external interference force, and the driving force provided by the rotating driving member is used to balance the external interference torque, thereby resisting the external interference force and interference torque. Therefore, the double-layer parallel pointing mechanism has superior load-bearing capacity and higher pointing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a double-layer parallel pointing mechanism in an embodiment of the present invention.

[0018] Figure 2It is a schematic structural diagram of a three-dimensional mobile platform, a universal joint and a first motion branch chain in an embodiment of the present invention.

[0019] Figure 3 It is a schematic structural diagram of a base and a first motion branch chain in an embodiment of the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the base and the three-dimensional mobile platform in an embodiment of the present invention.

[0021] Figure 5 2 is a cross-sectional view of a universal joint according to an embodiment of the present invention.

[0022] Description of reference numerals: 10. Base; 11. Third telescopic link; 20. Pointing device; 21. Mounting table; 22. Reflecting surface; 23. Antenna; 30. Three-dimensional mobile platform; 31. Mobile table; 32. Second motion branch chain; 321. X-axis sliding link; 322. Y-axis sliding link; 323. Z-axis sliding link; 40. Universal joint; 41. First U-shaped member; 42. Second U-shaped member; 43. Cross member; 50. First motion branch chain; 51. Telescopic link group; 511. First telescopic link; 512. Second telescopic link; 52. First rotating link; 53. Second rotating link. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] Please also see Figure 1-Figure 5 , the present invention provides some embodiments of a double-layer parallel pointing mechanism.

[0025] like Figure 1-Figure 2 As shown, the double-layer parallel pointing mechanism of the present invention comprises: a base 10, a pointing device 20, a three-dimensional mobile platform 30, a universal joint 40 and three first motion branches 50; the three-dimensional mobile platform 30 is arranged on the base 10; the universal joint 40 is respectively connected to the three-dimensional mobile platform 30 and the pointing device 20; the first motion branches 50 include: A telescopic connecting rod assembly 51 is provided on the base 10; A first rotating link 52, rotatably connected to the telescopic link assembly 51; A second rotating link 53 is rotatably connected to the first rotating link 52 and the pointing device 20 respectively; A rotation driving member, used for driving the first rotation connecting rod 52 or the second rotation connecting rod 53 to rotate; The rotation center axis of the first rotating link 52 and the rotation center axis of the second rotating link 53 both point to the universal joint 40 .

[0026] Specifically, the base 10 is located at the bottom, and the pointing device 20 is located at the top. The three-dimensional mobile platform 30 can move in a three-dimensional direction, and cooperate with the telescopic link group 51 to adjust the position of the pointing device 20 in the three-dimensional space. The rotating drive member can rotate to change the direction of the pointing device 20. The universal joint 40 has at least 3 degrees of freedom. For example, when rotating in a three-dimensional direction, the rotation center axis of the first rotating link 52 and the rotation center axis of the second rotating link 53 both point to the rotation center of the universal joint 40. The three-dimensional mobile platform 30 and the pointing device 20 are connected by a universal joint 40, and the rotation center axis of the first rotating link 52 and the rotation center axis of the second rotating link 53 in the first motion branch chain 50 both point to the universal joint 40. Therefore, the first motion branch chain 50 can adjust the direction of the pointing device 20 and the three-dimensional mobile platform 30 can adjust the position of the pointing device 20 independently of each other, and the driving force provided by the three-dimensional mobile platform 30 is used to balance the external interference force, and the driving force provided by the rotating driving member is used to balance the external interference torque, thereby resisting the external interference force and interference torque. Therefore, the double-layer parallel pointing mechanism has a superior load-bearing capacity and a higher pointing accuracy.

[0027] Specifically, under the condition of static balance, when the moving platform of the pointing mechanism is affected by external interference forces and interference torques in space, the position of the pointing device 20 is adjusted by the three-dimensional mobile platform 30 and the first motion branch chain 50, the pointing direction of the pointing device 20 is adjusted by the first motion branch chain 50, the external interference forces are balanced by the three-dimensional mobile platform 30, and the external interference torques are balanced by the first motion branch chain 50, thereby achieving precise pointing of the pointing device 20.

[0028] The three first motion branches 50 have the same structure, but are located at different positions. The three first motion branches 50 are connected to different positions of the pointing device 20. The telescopic link group 51 is a component formed by at least two telescopic links. The telescopic links in the telescopic link group 51 can be telescopic. The lower end of the telescopic link group 51 is slidably disposed on the base 10, and the upper end of the telescopic link group 51 is rotatably connected to the first rotating link 52. The two ends of the first rotating link 52 are rotatably connected to the upper end of the telescopic link group 51 and the second rotating link 53, respectively, so that the first rotating link 52 has two rotation center axes. The two ends of the second rotating link 53 rotate with the first rotating link 52 and the pointing device 20, respectively, so that the second rotating link 53 has two rotation center axes. In each first motion branch chain 50, the first rotating link 52 and the second rotating link 53 have a total of three rotation center axes, which are respectively recorded as the first rotation center axis (the center axis of the first rotating link 52 rotating relative to the telescopic link group 51), the second rotation center axis (the center axis of the first rotating link 52 and the second rotating link 53 rotating relative to each other), and the third center axis (the center axis of the second rotating link 53 rotating relative to the pointing device 20). The three first motion branches 50 have a total of nine rotation center axes, which intersect at the center of the universal joint 40. The rotation drive member can drive the first rotating link 52 or the second rotating link 53 to rotate. When the first rotating link 52 rotates, it will drive the second rotating link 53 to rotate, thereby changing the direction of the pointing device 20; when the second rotating link 53 rotates, it will also drive the first rotating link 52 to rotate, thereby changing the direction of the pointing device 20. The rotation drive member can be set in one of the pointing device 20, the first rotating link 52, the second rotating link 53, and the telescopic link group 51. The upper end of the telescopic link group 51 and the first rotating link 52 can be hinged, the first rotating link 52 and the second rotating link 53 can be hinged, and the second rotating link 53 and the pointing device 20 can be hinged.

[0029] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the telescopic connecting rod group 51 includes: A first telescopic link 511 and a second telescopic link 512 connected to each other; A telescopic driving member, used for driving the first telescopic connecting rod 511 or the second telescopic connecting rod 512 to extend or retract; The first telescopic link 511 is slidably connected to the base 10 ; the second telescopic link 512 is rotatably connected to the first rotating link 52 .

[0030] Specifically, the telescopic link group 51 has two telescopic links, namely a first telescopic link 511 and a second telescopic link 512. The first telescopic link 511 and the second telescopic link 512 are connected to each other, and both the first telescopic link 511 and the second telescopic link 512 can be telescopic. The first telescopic link 511 is slidably connected to the base 10, and the second telescopic link 512 is rotatably connected to the first rotating link 52. The telescopic drive member can be provided on the first telescopic rod or the second telescopic rod, so as to realize the telescopic movement of the first telescopic rod or the second telescopic rod. The telescopic link can be used to realize the sliding connection between the first telescopic link 511 and the base 10. For example, the base 10 is provided with a third telescopic link 11, and the third telescopic link 11 is connected to the first telescopic link 511. When the third telescopic link 11 is telescoped, the first telescopic link 511 slides relative to the base 10. Each first motion branch chain 50 has a telescopic link group 51, and each telescopic link group 51 has a telescopic drive member.

[0031] The telescopic connecting rod comprises an inner rod and an outer tube, wherein the inner rod is located in the outer tube and slides in the outer tube, and the telescopic driving member drives the inner rod to slide in the outer tube to realize the telescopic connecting rod. The inner rod cannot rotate in the outer tube.

[0032] In a preferred implementation of the embodiment of the present invention, Figure 2-Figure 3 As shown, the sliding direction of the first telescopic link 511 and the base 10, the telescopic direction of the first telescopic link 511 and the telescopic direction of the second telescopic link 512 are perpendicular to each other.

[0033] Specifically, the sliding direction of the first telescopic link 511 and the base 10, the telescopic direction of the first telescopic link 511, and the telescopic direction of the second telescopic link 512 are perpendicular to each other.

[0034] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the three first motion branches 50 are surrounded outside the three-dimensional mobile platform 30 .

[0035] Specifically, the three first motion branches 50 surround the three-dimensional moving platform 30, and the three first motion branches 50 form an outer layer mechanism, and the three-dimensional moving platform 30 forms an inner layer mechanism, and the outer layer mechanism and the inner layer mechanism form a double-layer structure.

[0036] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 5 As shown, the universal joint 40 includes: A first U-shaped member 41 and a second U-shaped member 42; the first U-shaped member 41 is rotatably connected to the pointing device 20, or the second U-shaped member 42 is rotatably connected to the three-dimensional mobile platform 30; A cross member 43 is rotatably connected to the first U-shaped member 41 and the second U-shaped member 42 respectively; Wherein, the first U-shaped member 41 rotates in the plane where the pointing device 20 is located, or the second U-shaped member 42 rotates in the horizontal plane; The cross member 43 is disposed horizontally, and a rotation direction of the cross member 43 relative to the first U-shaped member 41 is perpendicular to a rotation direction of the cross member 43 relative to the second U-shaped member 42 .

[0037] Specifically, the universal joint 40 has two U-shaped parts, namely a first U-shaped part 41 and a second U-shaped part 42. The opening of the first U-shaped part 41 and the opening of the second U-shaped part 42 are arranged opposite to each other, and the cross member 43 is located in the first U-shaped part 41 and the second U-shaped part 42. Since the cross member 43 is rotatably connected to the first U-shaped part 41 and the second U-shaped part 42 respectively, the first U-shaped part 41 and the second U-shaped part 42 can rotate relative to each other in multiple directions. The first U-shaped part 41 is rotatably connected to the pointing device 20, and the second U-shaped part 42 can also be rotatably connected to the three-dimensional mobile platform 30. The universal joint 40 can also adopt a universal ball structure, which includes: a ball and a ball sleeve, and the ball rotates in the ball sleeve; the ball is connected to the pointing device 20, and the ball sleeve is connected to the three-dimensional mobile platform 30.

[0038] In a preferred implementation of the embodiment of the present invention, the universal joint further includes: A first driving member, used for driving the first U-shaped member 41 to rotate in the plane where the pointing device 20 is located, or the second U-shaped member 42 to rotate in the horizontal plane; a second driving member, used for driving the cross member 43 to rotate relative to the first U-shaped member 41; The third driving member is used to drive the cross member 43 to rotate relative to the second U-shaped member 42 .

[0039] Specifically, the universal joint is controllably rotatable, and three driving members can be provided, namely, a first driving member, a second driving member, and a third driving member. The first driving member can be provided in one of the first U-shaped member 41, the second U-shaped member 42, the three-dimensional mobile platform 30, or the pointing device 20; the second driving member can be provided in the cross member 43 or the first U-shaped member 41; and the third driving member can be provided in the cross member 43 or the second U-shaped member 42. The first driving member can drive the pointing device 20 to rotate horizontally; the second driving member can drive the pointing device 20 to rotate in the first vertical plane; the third driving member can drive the pointing device 20 to rotate in the second vertical plane; and the first driving member, the second driving member, and the third driving member can drive the pointing device 20 to rotate in three dimensions. Combining the three driving members and the rotating driving member can further improve the ability of the double-layer parallel pointing mechanism to resist external interference torque, and further improve the pointing accuracy of the double-layer parallel pointing mechanism.

[0040] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 2 As shown, the pointing device 20 includes: Mounting table 21; A reflective surface 22, disposed on the mounting platform 21; The antenna 23 is disposed on the reflecting surface 22 .

[0041] Specifically, the mounting platform 21 is rotatably connected to the first motion branch chain 50 . The mounting platform 21 is used to mount the reflecting surface 22 , and the antenna 23 is mounted at the center of the reflecting surface 22 .

[0042] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 4 As shown, the three-dimensional mobile platform 30 includes: a mobile table 31, an x-axis driving component, a y-axis driving component, a z-axis driving component and three second motion branches 32; the mobile table 31 is connected to the universal joint 40, and the two ends of the second motion branch 32 are respectively connected to the mobile table 31 and the base 10; the second motion branch 32 includes: an x-axis sliding link 321, a y-axis sliding link 322 and a z-axis sliding link 323; wherein the x-axis driving component is used to drive one of the three x-axis sliding links 321 to slide; the y-axis driving component is used to drive one of the three y-axis sliding links 322 to slide; and the z-axis driving component is used to drive one of the three z-axis sliding links 323 to slide.

[0043] Specifically, the moving platform 31 is connected to the universal joint 40, and the moving platform 31 can be driven to move along the x-axis direction, the y-axis direction, and the z-axis direction respectively through the x-axis driving member, the y-axis driving member, and the z-axis driving member. The three second motion branches 32 each include: an x-axis sliding link 321, a y-axis sliding link 322, and a z-axis sliding link 323; the x-axis sliding link 321 slides along the x-axis direction, the y-axis sliding link 322 slides along the y-axis direction, and the z-axis sliding link 323 slides along the z-axis direction, thereby adjusting the position of the moving platform 31 in three dimensions. There are three second motion branches 32, and the three second motion branches 32 are linked. When the x-axis sliding link 321 of a second motion branch chain 32 slides, it will also drive the x-axis sliding links 321 of other second motion branches 32 to slide. When the y-axis sliding link 322 of a second motion branch chain 32 slides, it will also drive the y-axis sliding links 322 of other second motion branches 32 to slide. When the z-axis sliding link 323 of a second motion branch chain 32 slides, it will also drive the z-axis sliding links 323 of other second motion branches 32 to slide.

[0044] In a preferred implementation of the embodiment of the present invention, Figure 4 As shown, the order in which the x-axis sliding link 321 , the y-axis sliding link 322 and the z-axis sliding link 323 are connected in different second motion branches 32 is different.

[0045] Specifically, the connection order of the x-axis sliding link 321, the y-axis sliding link 322 and the z-axis sliding link 323 in different second motion branches 32 is different. For example, in one second motion branch 32, the x-axis sliding link 321, the y-axis sliding link 322 and the z-axis sliding link 323 are connected in sequence; in one second motion branch 32, the y-axis sliding link 322, the z-axis sliding link 323 and the x-axis sliding link 321 are connected in sequence; in one second motion branch 32, the z-axis sliding link 323, the x-axis sliding link 321 and the y-axis sliding link 322 are connected in sequence. The mobile platform 31 is connected with the x-axis sliding link 321, the y-axis sliding link 322 and the z-axis sliding link 323, and the base 10 is also connected with the x-axis sliding link 321, the y-axis sliding link 322 and the z-axis sliding link 323. The x-axis driving component can be set on the x-axis sliding link 321 of any second motion branch 32 among the three second motion branches 32, the y-axis driving component can be set on the y-axis sliding link 322 of any second motion branch 32 among the three second motion branches 32, and the z-axis driving component can be set on the z-axis sliding link 323 of any second motion branch 32 among the three second motion branches 32.

[0046] In a preferred implementation of the embodiment of the present invention, Figure 4 As shown, the sliding direction of the x-axis sliding link 321, the sliding direction of the y-axis sliding link 322, and the sliding direction of the z-axis sliding link 323 are perpendicular to each other.

[0047] Specifically, the x-axis, y-axis and z-axis are perpendicular to each other. The sliding directions of the x-axis sliding link 321, the y-axis sliding link 322 and the z-axis sliding link 323 are also perpendicular to each other.

[0048] Compared with the prior art, the technical effects of the present invention are as follows: 1. The double-layer parallel pointing mechanism of the present invention has better load-bearing capacity and rigidity than the traditional series-parallel mechanism; 2. The rotational freedom and the movement freedom of the double-layer parallel pointing mechanism of the present invention are decoupled from each other, making the control of the double-layer parallel pointing mechanism simpler and providing a larger working space; 3. The double-layer parallel pointing mechanism of the present invention can resist the interference force and interference torque from the outside, so that the double-layer parallel pointing mechanism has higher output accuracy.

[0049] Based on the double-layer parallel pointing mechanism described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method of the double-layer parallel pointing mechanism.

[0050] The control method of the double-layer parallel pointing mechanism of the embodiment of the present invention comprises the following steps: Step S100, determining the position information and the pointing information of the pointing device; Step S200, controlling the movement of the three-dimensional mobile platform and controlling the telescopic link group to extend and retract according to the position information; Step S300: Control the rotation of the rotation driving member according to the directional information.

[0051] Specifically, the pointing device can move within a certain space and point to different directions. The position information and the pointing information of the pointing device are first determined. Then, the three-dimensional mobile platform is controlled to move and the telescopic link group is controlled to extend and retract according to the position information, so that the pointing device moves to the corresponding position. According to the pointing information, the rotating drive member is controlled to rotate so that the pointing device rotates to the corresponding direction. Step S200 and step S300 can be performed successively or simultaneously. For example, step S200 can be performed first, and then step S300; or step S300 can be performed first, and then step S200.

[0052] Step S200 specifically includes: Step S210, according to the position information, control the x-axis sliding link to slide through the x-axis driving member, control the y-axis sliding link to slide through the y-axis driving member, control the z-axis sliding link to slide through the z-axis driving member, and drive the first telescopic link or the second telescopic link to telescope through the telescopic driving member.

[0053] Specifically, the x-axis driving member controls the x-axis sliding link to slide along the x-axis direction, the y-axis driving member controls the y-axis sliding link to slide along the y-axis direction, the z-axis driving member controls the z-axis sliding link to slide along the z-axis direction, and the telescopic driving member drives the first telescopic link or the second telescopic link to telescope.

[0054] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A double-layer parallel pointing mechanism, characterized in that: include: A base, a pointing device, a three-dimensional mobile platform, a universal joint, and three first motion branches; The three-dimensional mobile platform is arranged on the base; The universal joints are respectively connected to the three-dimensional mobile platform and the pointing device; The first motion branch comprises: A telescopic connecting rod assembly, arranged on the base; A first rotating connecting rod, rotatably connected to the telescopic connecting rod assembly; A second rotating link, rotatably connected to the first rotating link and the pointing device respectively; A rotation driving member, used for driving the first rotation connecting rod or the second rotation connecting rod to rotate; Wherein, the rotation center axis of the first rotating link and the rotation center axis of the second rotating link both point to the universal joint.

2. The double-layer parallel pointing mechanism according to claim 1, characterized in that: The telescopic connecting rod assembly comprises: A first telescopic link and a second telescopic link connected to each other; A telescopic driving member, used for driving the first telescopic link or the second telescopic link to extend and retract; Wherein, the first telescopic connecting rod is slidably connected to the base; The second telescopic link is rotatably connected to the first rotating link.

3. The double-layer parallel pointing mechanism according to claim 2, characterized in that: The sliding direction of the first telescopic link and the base, the telescopic direction of the first telescopic link, and the telescopic direction of the second telescopic link are perpendicular to each other.

4. The double-layer parallel pointing mechanism according to claim 1, characterized in that: The three first motion branches surround the three-dimensional mobile platform; The pointing device comprises: Mounting table; A reflective surface, disposed on the mounting platform; The antenna is arranged on the reflecting surface.

5. The double-layer parallel pointing mechanism according to claim 1, characterized in that: The universal joint comprises: A first U-shaped member and a second U-shaped member; the first U-shaped member is rotatably connected to the pointing device, or the second U-shaped member is rotatably connected to the three-dimensional mobile platform; A cross member, rotatably connected to the first U-shaped member and the second U-shaped member respectively; Wherein, the first U-shaped member rotates in the plane where the pointing device is located, or the second U-shaped member rotates in the horizontal plane; The cross member is arranged horizontally, and a rotation direction of the cross member relative to the first U-shaped member is perpendicular to a rotation direction of the cross member relative to the second U-shaped member.

6. The double-layer parallel pointing mechanism according to claim 5, characterized in that: The universal joint also includes: a first driving member, used for driving the first U-shaped member to rotate in the plane where the pointing device is located, or the second U-shaped member to rotate in a horizontal plane; a second driving member, used for driving the cross member to rotate relative to the first U-shaped member; The third driving member is used to drive the cross member to rotate relative to the second U-shaped member.

7. The double-layer parallel pointing mechanism according to any one of claims 1 to 6, characterized in that: The three-dimensional mobile platform includes: a mobile platform, an x-axis driving member, a y-axis driving member, a z-axis driving member and three second motion branches; the mobile platform is connected to the universal joint, and the two ends of the second motion branch are respectively connected to the mobile platform and the base; the second motion branch includes: an x-axis sliding link, a y-axis sliding link and a z-axis sliding link; Wherein, the x-axis driving member is used to drive one x-axis sliding link among the three x-axis sliding links to slide; The y-axis driving member is used to drive one of the three y-axis sliding links to slide; The z-axis driving member is used to drive one z-axis sliding link among three z-axis sliding links to slide.

8. The double-layer parallel pointing mechanism according to claim 7, characterized in that: The order in which the x-axis sliding link, the y-axis sliding link and the z-axis sliding link are connected in different second motion branches is different; the sliding direction of the x-axis sliding link, the sliding direction of the y-axis sliding link and the sliding direction of the z-axis sliding link are perpendicular to each other.

9. A control method for a double-layer parallel pointing mechanism according to any one of claims 1 to 8, characterized in that: Includes steps: Determining position information and direction information of a pointing device; According to the position information, the three-dimensional mobile platform is controlled to move and the telescopic link group is controlled to extend and retract; The rotation driving member is controlled to rotate according to the directional information.

10. The control method of the double-layer parallel pointing mechanism according to claim 9, characterized in that: The controlling the movement of the three-dimensional mobile platform according to the position information specifically includes: According to the position information, the x-axis sliding link is controlled to slide through the x-axis driving member, the y-axis sliding link is controlled to slide through the y-axis driving member, the z-axis sliding link is controlled to slide through the z-axis driving member, and the first telescopic link or the second telescopic link is driven to telescope through the telescopic driving member.

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