A double-layer parallel pointing mechanism and its control method

Abstract

The present invention discloses a double-layer parallel pointing mechanism and a control method thereof. The double-layer parallel pointing mechanism includes: a base, a pointing device, a three-dimensional moving platform, a universal joint, and three first motion chains; the three-dimensional moving platform is arranged on the base; the universal joint is respectively connected to the three-dimensional moving platform and the pointing device; the first motion chain includes: a telescopic connecting rod group, a first rotating connecting rod, a second rotating connecting rod, and a rotation driving member; the rotation center axis of the first rotating connecting rod and the rotation center axis of the second rotating connecting rod both point to the universal joint. The three-dimensional moving platform provides a driving force to balance the external interference force, and the rotation driving member provides a driving force to balance the external interference torque, thereby resisting the external interference force and interference torque. Therefore, the double-layer parallel pointing mechanism has relatively superior load-bearing capacity and higher pointing accuracy.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and particularly 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 fields such as solar panel tracking mechanisms, space remote sensing satellites, space optical cameras, and spaceborne antennas. They are important mechanisms for realizing large-range dynamic tracking and positioning functions, and 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 orientation devices.

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

[0004] Therefore, the existing technology 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 existing technology, aiming to solve the problem that the parallel pointing mechanism in the existing technology is easily interfered and has low pointing accuracy.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A double-layer parallel pointing mechanism, including: a base, a pointing device, a three-dimensional moving platform, a universal joint, and three first motion branches; the three-dimensional moving platform is arranged on the base; the universal joint is respectively connected to the three-dimensional moving platform and the pointing device; the first motion branch includes:

[0008] A telescopic link group arranged on the base;

[0009] A first rotating link rotatably connected to the telescopic link group;

[0010] A second rotating link rotatably connected to the first rotating link and the pointing device respectively;

[0011] A rotation driving member for driving the first rotating link or the second rotating link to rotate;

[0012] Wherein, the rotation central axis of the first rotating link and the rotation central axis of the second rotating link both point to the universal joint.

[0013] The double-layer parallel pointing mechanism, wherein the telescopic link group includes:

[0014] A first telescopic link and a second telescopic link connected to each other;

[0015] A telescopic driving member for driving the first telescopic link or the second telescopic link to telescopically extend;

[0016] Wherein, the first telescopic link is slidably connected to the base;

[0017] The second telescopic link is rotatably connected to the first rotating link.

[0018] The double-layer parallel pointing mechanism, wherein the sliding direction of the first telescopic link with respect to the base, the telescopic direction of the first telescopic link, and the telescopic direction of the second telescopic link are perpendicular to each other in pairs.

[0019] The double-layer parallel pointing mechanism, wherein the three first motion branches surround the three-dimensional moving platform;

[0020] The pointing device includes:

[0021] A mounting table;

[0022] A reflecting surface disposed on the mounting table;

[0023] An antenna disposed on the reflecting surface.

[0024] The double-layer parallel pointing mechanism, wherein the universal joint includes:

[0025] 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 moving platform;

[0026] A cross member rotatably connected to the first U-shaped member and the second U-shaped member respectively;

[0027] Wherein, the first U-shaped member rotates within the plane where the pointing device is located, or the second U-shaped member rotates within the horizontal plane;

[0028] The cross member is horizontally arranged, and the rotation direction of the cross member relative to the first U-shaped member is perpendicular to the rotation direction of the cross member relative to the second U-shaped member.

[0029] The double-layer parallel pointing mechanism, wherein the universal joint further comprises:

[0030] A first driving member for driving the first U-shaped member to rotate within the plane where the pointing device is located, or driving the second U-shaped member to rotate within the horizontal plane;

[0031] A second driving member for driving the cross member to rotate relative to the first U-shaped member;

[0032] A third driving member for driving the cross member to rotate relative to the second U-shaped member.

[0033] The double-layer parallel pointing mechanism, wherein the three-dimensional moving platform comprises: a moving platform, an x-axis driving member, a y-axis driving member, a z-axis driving member, and three second motion chains; the moving platform is connected to the universal joint, and both ends of the second motion chain are respectively connected to the moving platform and the base; the second motion chain comprises: an x-axis sliding link, a y-axis sliding link, and a z-axis sliding link;

[0034] Wherein, the x-axis driving member is used to drive one of the three x-axis sliding links to slide;

[0035] The y-axis driving member is used to drive one of the three y-axis sliding links to slide;

[0036] The z-axis driving member is used to drive one of the three z-axis sliding links to slide.

[0037] The double-layer parallel pointing mechanism, wherein the connection sequences of the x-axis sliding links, y-axis sliding links, and z-axis sliding links in different second motion chains are different; the sliding directions of the x-axis sliding link, the y-axis sliding link, and the z-axis sliding link are perpendicular to each other in pairs.

[0038] A control method for the double-layer parallel pointing mechanism as described in any one of the above, which includes the steps of:

[0039] Determine the position information and pointing information of the pointing device;

[0040] According to the position information, control the movement of the three-dimensional moving platform and the expansion and contraction of the telescopic link group;

[0041] According to the pointing information, control the rotation of the rotation driving member.

[0042] The control method of the double-layer parallel pointing mechanism, wherein, controlling the three-dimensional moving platform to move according to the position information specifically includes:

[0043] According to the position information, controlling the x-axis sliding link to slide through the x-axis driving member, controlling the y-axis sliding link to slide through the y-axis driving member, controlling the z-axis sliding link to slide through the z-axis driving member, and driving the first telescopic link or the second telescopic link to expand and contract through the telescopic driving member.

[0044] Beneficial effects: The driving force is provided by the three-dimensional moving platform to balance the external interference force, and the driving force is provided by the rotating driving member to balance the external interference torque, thereby resisting the external interference force and interference torque. Therefore, the double-layer parallel pointing mechanism has relatively superior load-bearing capacity and higher pointing accuracy. Description of the Drawings

[0045] Figure 1 It is a schematic structural diagram of the double-layer parallel pointing mechanism in the embodiment of the present invention.

[0046] Figure 2 It is a schematic structural diagram of the three-dimensional moving platform, the universal joint and the first motion branch chain in the embodiment of the present invention.

[0047] Figure 3 It is a schematic structural diagram of the base and the first motion branch chain in the embodiment of the present invention.

[0048] Figure 4 It is a schematic structural diagram of the base and the three-dimensional moving platform in the embodiment of the present invention.

[0049] Figure 5 It is a cross-sectional view of the universal joint in the embodiment of the present invention.

[0050] Description of the Reference Numerals:

[0051] 10. Base; 11. Third telescopic link; 20. Pointing device; 21. Mounting table; 22. Reflective surface; 23. Antenna; 30. Three-dimensional moving platform; 31. Moving 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 Embodiments

[0052] To make the objectives, technical solutions and advantages of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of 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.

[0053] Please refer to Figures 1 - 5 at the same time. Some embodiments of a double-layer parallel pointing mechanism are provided by the present invention.

[0054] As Figures 1 - 2 shown, the double-layer parallel pointing mechanism of the present invention includes: a base 10, a pointing device 20, a three-dimensional moving platform 30, a universal joint 40, and three first motion chains 50; the three-dimensional moving platform 30 is disposed on the base 10; the universal joint 40 is respectively connected to the three-dimensional moving platform 30 and the pointing device 20; the first motion chain 50 includes:

[0055] a telescopic link group 51, disposed on the base 10;

[0056] a first rotating link 52, rotatably connected to the telescopic link group 51;

[0057] a second rotating link 53, rotatably connected to the first rotating link 52 and the pointing device 20 respectively;

[0058] a rotation driving member, configured to drive the first rotating link 52 or the second rotating link 53 to rotate;

[0059] wherein, the rotation central axis of the first rotating link 52 and the rotation central axis of the second rotating link 53 both point to the universal joint 40.

[0060] Specifically, the base 10 is located at the bottom and the pointing device 20 is located at the top. The three-dimensional moving platform 30 can move in three dimensions and cooperate with the telescopic movement of the telescopic link group 51 to adjust the position of the pointing device 20 in three-dimensional space. The rotation driving member can rotate to change the pointing of the pointing device 20. The universal joint 40 has at least 3 degrees of freedom. For example, it can rotate in three dimensions. The rotation central axes of the first rotating link 52 and the second rotating link 53 both point to the rotation center of the universal joint 40. The three-dimensional moving platform 30 and the pointing device 20 are connected by the universal joint 40, and the rotation central axes of the first rotating link 52 and the second rotating link 53 in the first motion chain 50 both point to the universal joint 40. Then, the adjustment of the pointing of the pointing device 20 by the first motion chain 50 and the adjustment of the position of the pointing device 20 by the three-dimensional moving platform 30 can be carried out independently of each other. Moreover, the driving force is provided by the three-dimensional moving platform 30 to balance the external interference force, and the driving force is provided by the rotation driving member to balance the external interference torque, thereby resisting the external interference force and interference torque. Therefore, the double-layer parallel pointing mechanism has relatively superior load-bearing capacity and high pointing accuracy.

[0061] Specifically, under the condition of static equilibrium, when the moving platform of the pointing mechanism is affected by external disturbing forces and disturbing torques in space, the position of the pointing device 20 is adjusted by the three-dimensional moving platform 30 and the first motion chain 50, the pointing of the pointing device 20 is adjusted by the first motion chain 50, the external disturbing forces are balanced by the three-dimensional moving platform 30, and the external disturbing torques are balanced by the first motion chain 50, so as to achieve the precise pointing of the pointing device 20.

[0062] The structures of the three first motion chains 50 are the same, but their positions are different, and the three first motion chains 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 telescoped. The lower end of the telescopic link group 51 is slidably arranged 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 respectively rotatably connected to the upper end of the telescopic link group 51 and the second rotating link 53, so the first rotating link 52 has two rotational central axes. The two ends of the second rotating link 53 are respectively rotatably connected to the first rotating link 52 and the pointing device 20, so the second rotating link 53 has two rotational central axes. In each first motion chain 50, the first rotating link 52 and the second rotating link 53 have a total of three rotational central axes, which are respectively denoted as the first rotational central axis (the central axis of the relative rotation of the first rotating link 52 with respect to the telescopic link group 51), the second rotational central axis (the central axis of the relative rotation of the first rotating link 52 and the second rotating link 53), and the third central axis (the central axis of the relative rotation of the second rotating link 53 with respect to the pointing device 20). The three first motion chains 50 have a total of nine rotational central axes, and these rotational central axes intersect at the center of the universal joint 40. The rotation driving 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, thus changing the pointing of the pointing device 20; when the second rotating link 53 rotates, it will also drive the first rotating link 52 to rotate, and also change the pointing of the pointing device 20. The rotation driving member can be arranged on 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.

[0063] In a preferred implementation manner of the embodiment of the present invention, as Figures 2 - 3 shown, the telescopic link group 51 includes:

[0064] The first telescopic link 511 and the second telescopic link 512 which are connected to each other;

[0065] A telescopic driving member for driving the first telescopic link 511 or the second telescopic link 512 to telescopically extend or retract;

[0066] Wherein, 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.

[0067] Specifically, the telescopic link group 51 has two telescopic links, namely the first telescopic link 511 and the 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 telescopically extend or retract. 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 driving member can be disposed on the first telescopic rod or the second telescopic rod to achieve the telescopic extension or retraction of the first telescopic rod or the second telescopic rod. A telescopic link can be used to achieve the sliding connection between the first telescopic link 511 and the base 10. For example, a third telescopic link 11 is configured on the base 10, and the third telescopic link 11 is connected to the first telescopic link 511. When the third telescopic link 11 telescopically extends or retracts, 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 driving member.

[0068] The telescopic link includes: an inner rod and an outer cylinder. The inner rod is located inside the outer cylinder and slides inside the outer cylinder. The telescopic driving member drives the inner rod to slide inside the outer cylinder, thereby achieving the telescopic extension or retraction of the telescopic link. The inner rod cannot rotate inside the outer cylinder.

[0069] In a preferred implementation manner of the embodiment of the present invention, as Figures 2 - 3 shown, the sliding direction of the first telescopic link 511 with respect to 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 in pairs.

[0070] 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 in pairs among the three directions.

[0071] In a preferred implementation manner of the embodiment of the present invention, as Figures 1 - 2 shown, the three first motion branch chains 50 surround the three-dimensional moving platform 30.

[0072] Specifically, when the three first motion branch chains 50 surround the three-dimensional moving platform 30, the three first motion branch chains 50 form an outer layer mechanism, 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.

[0073] In a preferred implementation manner of the embodiment of the present invention, as Figures 3 - 5 shown, the universal joint 40 includes:

[0074] 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 moving platform 30;

[0075] A cross member 43, which is rotatably connected to the first U-shaped member 41 and the second U-shaped member 42 respectively;

[0076] Wherein, the first U-shaped member 41 rotates within the plane where the pointing device 20 is located, or the second U-shaped member 42 rotates within a horizontal plane;

[0077] The cross member 43 is horizontally arranged, and the rotation direction of the cross member 43 relative to the first U-shaped member 41 is perpendicular to the rotation direction of the cross member 43 relative to the second U-shaped member 42.

[0078] Specifically, the universal joint 40 has two U-shaped members, namely the first U-shaped member 41 and the second U-shaped member 42. The openings of the first U-shaped member 41 and the second U-shaped member 42 are arranged opposite to each other, and the cross member 43 is located inside the first U-shaped member 41 and the second U-shaped member 42. Since the cross member 43 is rotatably connected to the first U-shaped member 41 and the second U-shaped member 42 respectively, the first U-shaped member 41 and the second U-shaped member 42 can rotate relative to each other in multiple directions. The first U-shaped member 41 is rotatably connected to the pointing device 20, and the second U-shaped member 42 can also be rotatably connected to the three-dimensional moving platform 30. The universal joint 40 can also adopt a universal ball structure, which includes: a ball and a ball socket, and the ball rotates within the ball socket; the ball is connected to the pointing device 20, and the ball socket is connected to the three-dimensional moving platform 30.

[0079] In a preferred implementation manner of the embodiment of the present invention, the universal joint further includes:

[0080] A first driving member, which is used to drive the first U-shaped member 41 to rotate within the plane where the pointing device 20 is located, or the second U-shaped member 42 to rotate within a horizontal plane;

[0081] A second driving member, which is used to drive the cross member 43 to rotate relative to the first U-shaped member 41;

[0082] A third driving member, which is used to drive the cross member 43 to rotate relative to the second U-shaped member 42.

[0083] Specifically, the universal joint is controllably rotatable, and three driving members can be respectively set as a first driving member, a second driving member, and a third driving member. The first driving member can be arranged on one of the first U-shaped member 41, the second U-shaped member 42, the three-dimensional moving platform 30, or the pointing device 20. The second driving member can be arranged on the cross member 43 or the first U-shaped member 41. The third driving member can be arranged on 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. The first driving member, the second driving member, and the third driving member can drive the pointing device 20 to rotate in three-dimensional directions. Combining the three driving members and the rotational driving member can further improve the ability of the double-layer parallel pointing mechanism to resist external interference torques and further improve the pointing accuracy of the double-layer parallel pointing mechanism.

[0084] In a preferred implementation manner of the embodiment of the present invention, as Figures 1 - 2 shown, the pointing device 20 includes:

[0085] A mounting table 21;

[0086] A reflecting surface 22, arranged on the mounting table 21;

[0087] An antenna 23, arranged on the reflecting surface 22.

[0088] Specifically, the mounting table 21 is rotatably connected to the first motion branch chain 50. The mounting table 21 is used for mounting the reflecting surface 22, and the antenna 23 is mounted at the center of the reflecting surface 22.

[0089] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 and Figure 4 shown, the three-dimensional moving platform 30 includes: a moving table 31, an x-axis driving member, a y-axis driving member, a z-axis driving member, and three second motion branch chains 32; the moving table 31 is connected to the universal joint 40, and both ends of the second motion branch chain 32 are respectively connected to the moving table 31 and the base 10; the second motion branch chain 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 member is used to drive one of the three x-axis sliding links 321, i.e., the x-axis sliding link 321, to slide; the y-axis driving member is used to drive one of the three y-axis sliding links 322, i.e., the y-axis sliding link 322, to slide; the z-axis driving member is used to drive one of the three z-axis sliding links 323, i.e., the z-axis sliding link 323, to slide.

[0090] Specifically, the mobile station 31 is connected to the universal joint 40, and the x-axis drive member, y-axis drive member, and z-axis drive member can drive the mobile station 31 to move along the x-axis direction, y-axis direction, and z-axis direction respectively. Each of the three second motion chains 32 includes 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 mobile station 31 in three dimensions. There are three second motion chains 32, and the three second motion chains 32 are linked. When the x-axis sliding link 321 of one second motion chain 32 slides, it will also drive the x-axis sliding links 321 of the other second motion chains 32 to slide. When the y-axis sliding link 322 of one second motion chain 32 slides, it will also drive the y-axis sliding links 322 of the other second motion chains 32 to slide. When the z-axis sliding link 323 of one second motion chain 32 slides, it will also drive the z-axis sliding links 323 of the other second motion chains 32 to slide.

[0091] In a preferred implementation manner of the embodiment of the present invention, as Figure 4 shown, the connection sequences of the x-axis sliding link 321, y-axis sliding link 322, and z-axis sliding link 323 in different second motion chains 32 are different.

[0092] Specifically, the connection sequences of the x-axis sliding link 321, y-axis sliding link 322, and z-axis sliding link 323 in different second motion chains 32 are different. For example, in one second motion chain 32, the x-axis sliding link 321, y-axis sliding link 322, and z-axis sliding link 323 are connected in sequence; in one second motion chain 32, the y-axis sliding link 322, z-axis sliding link 323, and x-axis sliding link 321 are connected in sequence; in one second motion chain 32, the z-axis sliding link 323, x-axis sliding link 321, and y-axis sliding link 322 are connected in sequence. The mobile station 31 is connected to the x-axis sliding link 321, y-axis sliding link 322, and z-axis sliding link 323, and the base 10 is also connected to the x-axis sliding link 321, y-axis sliding link 322, and z-axis sliding link 323. The x-axis drive member can be disposed on the x-axis sliding link 321 of any one of the three second motion chains 32, the y-axis drive member can be disposed on the y-axis sliding link 322 of any one of the three second motion chains 32, and the z-axis drive member can be disposed on the z-axis sliding link 323 of any one of the three second motion chains 32.

[0093] In a preferred implementation manner of the embodiment of the present invention, as Figure 4As shown, the sliding directions of the x-axis sliding link 321, the y-axis sliding link 322, and the z-axis sliding link 323 are perpendicular to each other in pairs.

[0094] Specifically, the x-axis, y-axis, and z-axis are perpendicular to each other in pairs. 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 in pairs.

[0095] Compared with the prior art, the technical effects of the present invention are as follows:

[0096] 1. The double-layer parallel pointing mechanism of the present invention has superior load-bearing capacity and stiffness compared with the traditional series-parallel mechanism;

[0097] 2. The rotational degrees of freedom and translational degrees of 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 having a larger working space;

[0098] 3. The double-layer parallel pointing mechanism of the present invention can resist external interference forces and interference torques, enabling the double-layer parallel pointing mechanism to have higher output accuracy.

[0099] Based on the double-layer parallel pointing mechanism described in any one of the above embodiments, the present invention also provides a preferred embodiment of a control method for the double-layer parallel pointing mechanism.

[0100] The control method for the double-layer parallel pointing mechanism according to the embodiment of the present invention includes the following steps:

[0101] Step S100, determining the position information and pointing information of the pointing device;

[0102] Step S200, controlling the movement of the three-dimensional moving platform and controlling the telescopic link group to expand and contract according to the position information;

[0103] Step S300, controlling the rotation of the rotation driving member according to the pointing information.

[0104] Specifically, the pointing device can move within a certain space and point in different directions. First, determine the position information and pointing information of the pointing device. Then, according to the position information, control the movement of the three-dimensional moving platform and control the telescopic link group to expand and contract so that the pointing device moves to the corresponding position. According to the pointing information, control the rotation of the rotation driving member so that the pointing device rotates to the corresponding direction. Step S200 and step S300 can be carried out successively or simultaneously. For example, step S200 can be carried out first, and then step S300; or step S300 can be carried out first, and then step S200.

[0105] Step S200 specifically includes:

[0106] 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 expand and contract through the telescopic driving member.

[0107] Specifically, control the x-axis sliding link to slide along the x-axis direction through the x-axis driving member, control the y-axis sliding link to slide along the y-axis direction through the y-axis driving member, control the z-axis sliding link to slide along the z-axis direction through the z-axis driving member, and also drive the first telescopic link or the second telescopic link to expand and contract through the telescopic driving member.

[0108] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of 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; 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; 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 the rotation direction of the cross member relative to the first U-shaped member is perpendicular to the rotation direction of the cross member relative to the second U-shaped member; 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.

2. The double-layer parallel pointing mechanism according to claim 1, 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.

3. 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.

4. The double-layer parallel pointing mechanism according to any one of claims 1 to 3, 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.

5. The double-layer parallel pointing mechanism according to claim 4, 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.

6. A control method for a double-layer parallel pointing mechanism according to any one of claims 1 to 5, 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.

7. The control method of the double-layer parallel pointing mechanism according to claim 6, characterized in that: According to the position information, controlling the movement of the three-dimensional mobile platform and controlling the telescopic link group to extend and retract 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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