Multi-degree-of-freedom high-precision radar subarray device and base unit thereof

Abstract

The invention discloses a multi-degree-of-freedom high-precision radar subarray device and a base unit thereof. A horizontal motor of a horizontal driving mechanism drives a horizontal lead screw to rotate to drive a sliding table to move in the extending direction of the horizontal lead screw; a vertical motor of the vertical driving mechanism drives a vertical lead screw to rotate to drive a lifting nut and a vertical push rod to move in the vertical direction. A rotating disc of the rotating assembly is rotatably installed on the antenna pedestal. The multi-degree-of-freedom high-precision radar subarray device which is optimally designed has a function of freely moving in horizontal and vertical directions, realizes subarray adjustment space in the horizontal and vertical directions, and improves subarray ground and environment adaptability; meanwhile, clockwise and anticlockwise rotation of the subarrays is realized through cooperation of the antenna pedestal and the turntable, radar polarization form conversion is realized in a mechanical domain, and radar anti-interference and environmental adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar subarrays, and in particular to a multi-degree-of-freedom high-precision radar subarray device and a base unit thereof. Background Art

[0002] Due to the high precision requirements of radar antenna equipment, when traditional radars reach a preset position, the subarray base is fixed in place. The radar's radiation range is determined by the subarray area, and can usually only be adjusted based on the pitch and azimuth of a single antenna within the subarray, with fine-tuning during use based on the antenna signal. This results in a limited scope of application after the subarray is installed. When the use requirements of the application scenario change, the small subarray cannot be adaptively adjusted due to its smaller radiation range. Therefore, how to achieve flexible adjustment of the scope of application of small radar subarrays within the limited space and the preset installation environment has become a technical challenge in the field of radar engineering. Summary of the Invention

[0003] In order to solve the technical problems existing in the background technology, the present invention proposes a multi-degree-of-freedom high-precision radar subarray device and a base unit thereof.

[0004] The present invention proposes a base unit for a multi-degree-of-freedom high-precision radar subarray device, comprising: a base, a horizontal drive mechanism, a vertical drive mechanism, and a rotating assembly;

[0005] The horizontal drive mechanism includes a horizontal motor, a horizontal screw and a slide. The horizontal screw is rotatably mounted on the base through a bearing seat. The slide is slidably mounted on the base through a slide rail and is threadedly engaged with the horizontal screw. The horizontal motor is used to drive the slide to move along the extension direction of the horizontal screw by driving the horizontal screw to rotate.

[0006] The vertical drive mechanism includes a vertical motor, a vertical screw, a vertical push rod and a lifting nut. The vertical screw is vertically arranged on the slide. The lifting nut is threadedly installed on the vertical screw. The slide is provided with a circumferential limiter for limiting the circumferential position of the lifting nut. The vertical push rod is fixed to the lifting nut and extends upward. The vertical motor is used to drive the lifting nut and the vertical push rod to move in the vertical direction by driving the vertical screw to rotate.

[0007] The rotating assembly includes an antenna frame, an antenna base and a turntable. The antenna frame is installed on the vertical push rod, the antenna base is installed on the antenna frame, and the turntable is rotatably installed on the antenna base.

[0008] Preferably, the horizontal drive mechanism further comprises a horizontal displacement encoder, which is connected to the end of the horizontal lead screw away from the horizontal motor via a coupling.

[0009] Preferably, a first bearing seat and a second bearing seat are provided on the base, and the two ends of the horizontal screw rod are rotatably mounted on the base through the first bearing seat and the second bearing seat respectively, the horizontal motor is mounted on the side of the first bearing seat away from the second bearing seat, and a pre-tightening nut is installed on the end of the horizontal screw rod away from the horizontal motor.

[0010] Preferably, the vertical drive mechanism also includes a driving gear and a driven gear, which are rotatably mounted on the slide, the driven gear and the vertical screw are coaxially arranged and fixedly connected, the driving gear and the driven gear are meshed, and the vertical motor is mounted on the top of the slide to drive the driven gear to rotate by driving the driving gear.

[0011] Preferably, the vertical driving gear further comprises an anti-backlash gear, which is rotatably mounted on the slide and meshes with the driven gear, and a vertical displacement encoder is provided on the anti-backlash gear.

[0012] Preferably, the vertical push rod adopts a cylindrical structure, which is sleeved on the outside of the vertical screw rod.

[0013] Preferably, the circumferential limiter has a cylindrical structure, which is sleeved on the outside of the vertical screw rod, the vertical push rod and the lifting nut.

[0014] Preferably, an angle encoder is provided on the turntable.

[0015] Preferably, the turntable is installed on one side of the antenna base, and its rotation axis is arranged horizontally.

[0016] In the present invention, the base unit of the proposed multi-degree-of-freedom high-precision radar subarray device, the horizontal motor of the horizontal drive mechanism drives the slide to move along the extension direction of the horizontal screw by driving the horizontal screw to rotate; the vertical motor of the vertical drive mechanism drives the lifting nut and vertical push rod to move in the vertical direction by driving the vertical screw to rotate; the turntable of the rotating assembly is rotatably mounted on the antenna base. The multi-degree-of-freedom high-precision radar subarray device with the above-mentioned optimized design has the function of free movement in the horizontal and vertical directions, realizing the adjustment space of the subarray in the horizontal and vertical directions, and improving the adaptability of the subarray to the position and environment; at the same time, the clockwise and counterclockwise rotation of the subarray is achieved through the cooperation of the antenna base and the turntable, realizing the radar polarization form transformation in the mechanical domain, and improving the radar's anti-interference and environmental adaptability.

[0017] The present invention also provides a multi-degree-of-freedom high-precision radar subarray device, comprising a subarray unit and the above-mentioned base unit, wherein the subarray unit is arranged on a turntable.

[0018] In the present invention, the multi-degree-of-freedom high-precision radar subarray device proposed has a technical effect similar to that of the above-mentioned base unit, so it is not described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a structural schematic diagram of an embodiment of a multi-degree-of-freedom high-precision radar subarray device proposed by the present invention.

[0020] Figure 2 This is a cross-sectional view in one direction of an embodiment of a base unit of a multi-degree-of-freedom high-precision radar subarray device proposed by the present invention.

[0021] Figure 3 for Figure 2 A partial enlarged schematic diagram.

[0022] Figure 4 This is a cross-sectional view in one direction of an embodiment of a base unit of a multi-degree-of-freedom high-precision radar subarray device proposed by the present invention.

[0023] Figure 5 for Figure 4 A partial enlarged schematic diagram. DETAILED DESCRIPTION

[0024] Reference Figure 1 、 2 and 4. A base unit of a multi-degree-of-freedom high-precision radar subarray device proposed in the present invention comprises: a base 1, a horizontal drive mechanism, a vertical drive mechanism, and a rotating assembly;

[0025] The horizontal driving mechanism includes a horizontal motor 7, a horizontal screw rod 11 and a slide 10. The horizontal screw rod 11 is rotatably mounted on the base 1 through a bearing seat. The slide 10 is slidably mounted on the base 1 through a slide rail and is threadedly engaged with the horizontal screw rod 11. The horizontal motor 7 is used to drive the slide 10 to move along the extension direction of the horizontal screw rod 11 by driving the horizontal screw rod 11 to rotate; in the specific design, a nut can be set on the slide, and the screw rod is threadedly engaged with the slide by cooperating with the nut.

[0026] The vertical drive mechanism includes a vertical motor 15, a vertical screw 22, a vertical push rod 20 and a lifting nut 23. The vertical screw 22 is vertically arranged on the slide 10, and the lifting nut 23 is threadedly mounted on the vertical screw 22. The slide 10 is provided with a circumferential limiter 2 for circumferentially limiting the lifting nut 23. The vertical push rod 20 is fixed to the lifting nut 23 and extends upward. The vertical motor 15 is used to drive the vertical screw 22 to rotate and drive the lifting nut 23 and the vertical push rod 20 to move in the vertical direction;

[0027] The rotating assembly includes an antenna frame 3, an antenna base 41 and a turntable 42. The antenna frame 3 is mounted on the vertical push rod 20, the antenna base 41 is mounted on the antenna frame 3, and the turntable 42 is rotatably mounted on the antenna base 41.

[0028] In order to explain in detail how to use the base unit, this embodiment further proposes a multi-degree-of-freedom high-precision radar subarray device, which includes a subarray unit 5 and the above-mentioned base unit. The subarray unit 5 is arranged on a turntable 42.

[0029] When it is necessary to adjust the applicable range of the radar subarray, the position and height of the subarray unit are adjusted as needed. When adjusting in the horizontal direction, the horizontal motor 7 drives the horizontal screw 11 to rotate, and the slide 10 moves along the extension direction of the horizontal screw 11 under the guidance of the slide rail, thereby adjusting the horizontal position of the vertical drive mechanism and the rotating assembly and subarray unit installed thereon; when adjusting in the vertical direction, the vertical motor 15 drives the vertical screw 22 to rotate, and the lifting nut 23 moves in the vertical direction as the vertical screw rotates under the limiting action of the circumferential limiter, and then pushes the antenna frame to move up and down through the vertical push rod 20; by rotating the turntable, the polarization direction of the entire array surface of the subarray installed thereon is adjusted.

[0030] In actual design, both horizontal motors and vertical motors can use reduction motors.

[0031] In this embodiment, the proposed multi-degree-of-freedom, high-precision radar subarray device and its base unit are characterized by a horizontal motor in the horizontal drive mechanism that drives the horizontal screw to rotate, driving the slide along the extension direction of the horizontal screw; a vertical motor in the vertical drive mechanism that drives the vertical screw to rotate, driving the lifting nut and vertical push rod to move in the vertical direction; and a turntable in the rotating assembly that is rotatably mounted on the antenna base. This optimized multi-degree-of-freedom, high-precision radar subarray device possesses the ability to freely move horizontally and vertically, enabling horizontal and vertical subarray adjustment space and improving the subarray's adaptability to both the site and the environment. Furthermore, the antenna base and turntable cooperate to achieve clockwise and counterclockwise rotation of the subarray, achieving radar polarization transformation in the mechanical domain and improving the radar's anti-interference and environmental adaptability.

[0032] Reference Figure 3 To ensure adjustment accuracy, the horizontal drive mechanism also includes a horizontal displacement encoder 12, which is connected to the end of the horizontal screw 11 away from the horizontal motor 7 via a coupling. The horizontal position encoder monitors horizontal displacement. In actual design, the horizontal position encoder 12 is a multi-turn absolute encoder with a unit of n bits. The lead of the screw nut is L1, so the position accuracy of one screw rotation is L1 / 2 n .

[0033] In a specific embodiment, a first bearing block 31 and a second bearing block 32 are provided on the base 1. The ends of the horizontal lead screw 11 are rotatably mounted on the base 1 via the first and second bearing blocks 31, 32, respectively. The horizontal motor 7 is mounted on the side of the first bearing block 31 away from the second bearing block 32. A preload nut 14 is mounted on the end of the horizontal lead screw 11 away from the horizontal motor 7. The preload nut 14 is used to preload the lead screw axially and eliminate axial transmission errors caused by long-stroke lead screw drive.

[0034] Reference Figure 5 In the specific design of the vertical drive, the vertical drive mechanism also includes a driving gear 16 and a driven gear 17. The driving gear 16 and the driven gear 17 are rotatably mounted on the slide 10. The driven gear 17 is coaxially arranged with the vertical screw 22 and fixedly connected to each other. The driving gear 16 and the driven gear 17 are meshed. The vertical motor 15 is mounted on the top of the slide 10 to drive the driving gear 16 to drive the driven gear 17 to rotate. By designing the driving and driven gears in a coordinated manner, the drive motor can be placed on the same side of the vertical screw, improving space utilization.

[0035] Furthermore, because the vertical direction is affected by gravity, gear play is easily generated during the mating of the lead screw and the lifting nut, affecting the stability and accuracy of the overall antenna lift. Therefore, the vertical drive mechanism also includes an anti-backlash gear 18, which is rotatably mounted on the slide 10 and meshes with the driven gear 17. A vertical displacement encoder 19 is mounted on the anti-backlash gear 18. Anti-backlash gear 19 can be a double-piece anti-backlash gear, used in the rotation mechanism of the lead screw angle and the vertical displacement encoder angle, effectively achieving zero-error transmission and improving the accuracy of vertical displacement transmission detection.

[0036] In the specific setting of the vertical push rod, the vertical push rod 20 adopts a cylindrical structure, which extends upward from the lifting nut and is sleeved on the outside of the vertical screw rod 22 to prevent external dust from entering the vertical screw rod and affecting the screw rod accuracy.

[0037] In addition, the circumferential limiter 2 can also be set as a cylindrical structure, which is sleeved on the outside of the vertical screw 22, the vertical push rod 20 and the lifting nut 23 to protect the internal mechanical structure matching position from being affected by foreign objects.

[0038] In the specific design of the rotation assembly, a rotational angle encoder 24 is provided on the turntable 42. Preferably, the output shaft of the rotational angle encoder 24 is coaxially connected to the turntable 42 via an adapter, enabling high-precision coaxial measurement of the rotation angle of the subarray elements 5. In actual design, the rotation assembly may also include a rotation drive assembly to precisely drive the turntable.

[0039] In the specific arrangement of the sub-array unit positions, the turntable 42 is installed on one side of the antenna base 41, and its rotation axis is arranged horizontally.

[0040] The multi-degree-of-freedom high-precision radar subarray device of this embodiment is described in detail below through specific examples.

[0041] Reference Figures 1 to 5 This embodiment provides a three-degree-of-freedom radar subarray device and a high-precision transmission method, which mainly include: a horizontal drive mechanism, a vertical drive mechanism, a rotating assembly, a subarray, and a drag chain. The vertical drive mechanism is fixedly connected to the upper side of the horizontal drive mechanism slide and can realize reciprocating linear motion in the horizontal direction under the action of the horizontal drive mechanism. The antenna skeleton is fixedly connected to the top of the vertical drive mechanism and can realize vertical reciprocating motion along its vertical axis under the action of the vertical drive mechanism. The rear end of the antenna base is fixedly connected to the front end of the antenna base, and the front end of the antenna base is fixedly connected to the radar subarray. The antenna base can drive the radar subarray to rotate clockwise or counterclockwise along its axis. Under the coupling action of the horizontal drive mechanism, the vertical drive mechanism, and the antenna base, the radar subarray realizes the horizontal, vertical, and rotational degrees of freedom.

[0042] The horizontal drive mechanism includes a horizontal reduction motor 7, two bearing seats, a nut, a slide 10, a screw 11, a horizontal position encoder 12 and a pre-tightening nut 14; the horizontal reduction motor 7 is fixedly connected to the top of the base 1, and the output shaft is fixedly connected to one end of the horizontal screw 11 through a coupling. The screw 11 is hinged to the top of the horizontal drive mechanism 1 through two bearing seats 8. A pre-tightening nut 14 is provided at the shoulder of the other end of the horizontal screw 11. The shaft end is fixedly connected to the horizontal displacement encoder 12 through a coupling. The nut is screwed on the outside of the horizontal screw 11, and the slide 10 is fixedly connected to the nut.

[0043] Among them, the lead of the screw nut is L1, the horizontal position encoder 12 is a multi-turn absolute encoder, the unit bit is n, and the position accuracy of the screw rotating one circle is L1 / 2 n The pre-tightening nut 14 is used for axial pre-tightening of the screw and at the same time eliminates the axial transmission error caused by the long-stroke screw pair transmission.

[0044] When the horizontal drive mechanism is specifically designed, displacement limit blocks are provided on both sides of the base to prevent the horizontal drive mechanism from sliding out of the slide in the event of an out-of-control state.

[0045] The vertical drive mechanism includes a vertical reduction motor 15, a driving gear 16, a driven gear 17, an anti-backlash gear 18, a vertical displacement encoder 19, a vertical lead screw 22, a nut 23, and a push rod 20; the vertical reduction motor 15 drives the driven gear 17 to rotate by driving the driving gear 16, one end of the lead screw 22 is fixedly connected to the driven gear 17, and the lead screw 22 rotates to drive the nut 23 to reciprocate in the vertical direction. The lower end of the push rod 20 is fixedly connected to the nut 23, and the upper end is fixedly connected to the antenna frame 3; the other side of the driven gear is engaged with the double-piece anti-backlash gear 18, and the upper end of the double-piece anti-backlash gear 18 is coaxially fixedly connected to the vertical displacement encoder 19.

[0046] Among them, the speed ratio of the driven gear to the meshing gear is i; the lead of the screw nut pair is L2, the vertical position encoder 19 is a multi-turn absolute encoder, and the unit bit is n2, then the position accuracy of the screw rotating one circle is L2 / 2 n2 *i. The double-piece anti-backlash gear 19 is used in the screw angle and vertical displacement encoder angle rotation mechanism, which can effectively achieve zero error transmission and improve the vertical displacement transmission detection accuracy.

[0047] The rotating assembly includes an antenna frame 3, an antenna base 41, a turntable 42, an angle encoder 24, and an adapter. The antenna base 41 and the turntable 42 are coaxially hinged via a slewing bearing, the base 41 is fixedly connected to the angle encoder 24, and the output shaft of the angle encoder 24 is coaxially fixedly connected to the turntable 42 via an adapter. The angle encoder 24 can coaxially measure the rotation angle of the subarray 5 with high precision.

[0048] During operation, the horizontal drive mechanism 1 drives the vertical drive mechanism to move back and forth in the horizontal direction, the vertical drive mechanism 2 drives the antenna frame 3 to move back and forth in the vertical direction, and the turntable 4-2 of the antenna base 4 rotates to drive the sub-array 5 to rotate its axis counterclockwise or clockwise, thereby realizing the horizontal, vertical and axial rotation of the sub-array 5;

[0049] Compared with the prior art, this embodiment has the following advantages:

[0050] 1. It has the function of free movement in horizontal and vertical directions, realizing the adjustment space of sub-array in horizontal and vertical directions, and improving the adaptability of sub-array position and environment;

[0051] 2. Pre-tightening nuts are set in the horizontal direction of the sub-array, and an absolute multi-turn encoder is coaxially fixed to the axial direction to achieve high-precision position monitoring in the horizontal direction of the sub-array;

[0052] 3. In the vertical direction of the sub-array, a double-piece anti-backlash gear is coaxially connected to an absolute multi-turn encoder to achieve high-precision position monitoring in the vertical direction of the sub-array;

[0053] 4. The sub-array can rotate clockwise and counterclockwise through the rotating component, and the radar polarization form can be transformed in the mechanical domain to improve the radar's anti-interference and environmental adaptability.

[0054] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A base unit of a multi-degree-of-freedom high-precision radar subarray device, characterized in that: include: A base (1), a horizontal drive mechanism, a vertical drive mechanism and a rotating assembly; The horizontal driving mechanism comprises a horizontal motor (7), a horizontal screw rod (11) and a slide (10), wherein the horizontal screw rod (11) is rotatably mounted on the base (1) via a bearing seat, and the slide (10) is slidably mounted on the base (1) via a slide rail and is threadably engaged with the horizontal screw rod (11), and the horizontal motor (7) is used for driving the slide (10) to move along the extending direction of the horizontal screw rod (11) by driving the horizontal screw rod (11) to rotate; The vertical driving mechanism comprises a vertical motor (15), a vertical screw rod (22), a vertical push rod (20) and a lifting nut (23); the vertical screw rod (22) is vertically arranged on the slide (10); the lifting nut (23) is threadedly mounted on the vertical screw rod (22); a circumferential limiting member (2) for circumferentially limiting the lifting nut (23) is provided on the slide (10); the vertical push rod (20) and the lifting nut (23) are fixed and extended upward; the vertical motor (15) is used for driving the vertical screw rod (22) to rotate and drive the lifting nut (23) and the vertical push rod (20) to move in the vertical direction; The rotating assembly comprises an antenna frame, an antenna seat (41) and a turntable (42); the antenna frame (3) is mounted on a vertical push rod (20); the antenna seat (41) is mounted on the antenna frame (3); and the turntable (42) is rotatably mounted on the antenna seat (41).

2. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, characterized in that: The horizontal driving mechanism further comprises a horizontal displacement encoder (12), which is connected to the end of the horizontal screw rod (11) away from the horizontal motor (7) through a coupling.

3. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, characterized in that: A first bearing seat (31) and a second bearing seat (32) are provided on the base (1); two ends of the horizontal screw rod (11) are rotatably mounted on the base (1) through the first bearing seat (31) and the second bearing seat (32); the horizontal motor (7) is mounted on a side of the first bearing seat (31) away from the second bearing seat (32); and a pre-tightening nut (14) is mounted on one end of the horizontal screw rod (11) away from the horizontal motor (7).

4. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, characterized in that: The vertical drive mechanism further comprises a driving gear (16) and a driven gear (17), the driving gear (16) and the driven gear (17) being rotatably mounted on the slide (10), the driven gear (17) being coaxially arranged with the vertical screw rod (22) and being fixedly connected, the driving gear (16) and the driven gear (17) being meshed, and the vertical motor (15) being mounted on the top of the slide (10) for driving the driven gear (17) to rotate by driving the driving gear (16).

5. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 4, characterized in that: The vertical driving mechanism further comprises a backlash eliminating gear (18), which is rotatably mounted on the slide (10) and meshes with the driven gear (17). A vertical displacement encoder (19) is provided on the backlash eliminating gear (18).

6. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, characterized in that: The vertical push rod (20) adopts a cylindrical structure and is sleeved on the outside of the vertical screw rod (22).

7. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1 or 6, characterized in that: The circumferential limiting member (2) has a cylindrical structure and is sleeved on the outside of the vertical screw rod (22), the vertical push rod (20) and the lifting nut (23).

8. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, 2 or 5, characterized in that: A rotation angle encoder (24) is provided on the turntable (42).

9. The base unit of the multi-degree-of-freedom high-precision radar subarray device according to claim 1, characterized in that: The turntable (42) is installed on one side of the antenna base (41), and its rotation axis is arranged horizontally.

10. A multi-degree-of-freedom high-precision radar subarray device, characterized in that: It comprises a sub-array unit (5) and a base unit according to any one of claims 1 to 9, wherein the sub-array unit (5) is arranged on a turntable (42).

Images