Dual-motor time-sharing driving type two-dimensional radar antenna pedestal

Abstract

The application provides a two-dimensional radar antenna pedestal driven by two motors in time-sharing mode, which comprises an azimuth box, an azimuth turntable and two symmetrical arranged inverted support arms on both sides of the azimuth box. When the motor assemblies in the two inverted support arms rotate at the same speed in reverse directions, the azimuth box as a whole performs an inverted action; when the two motor assemblies rotate at the same speed in forward directions, the azimuth box is static, and the azimuth turntable rotates to perform an azimuth action. The inverted movement and the azimuth rotation are simultaneously driven by two identical motors in parallel, and the two motors share a transmission system; when the two motors rotate at the same speed in reverse directions, the inverted action is performed; when the two motors rotate at the same speed in forward directions, the azimuth action is performed, and a set of transmission and drive control system of a single inverted mechanism is saved. Meanwhile, the double-motor driving can realize anti-backlash control, improve the control precision and reduce the precision requirement on the structure installation.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted radar stable tracking technology, specifically to a dual-motor time-sharing driven two-dimensional radar antenna mount. Background Technology

[0002] An antenna mount is a mechanical device that supports an antenna and drives it to search for and track targets in a designated airspace. Two-axis antenna mounts are most common, with general structural forms including azimuth-elevation, XY, and polar-axis types. The azimuth-elevation type is the most frequently used form for tracking radars, offering advantages such as high rigidity, strong load-bearing capacity, and high accuracy. The XY type has two perpendicularly intersecting axes and is often used in the position pointers of seekers. The polar-axis type has its polar axis parallel to the Earth's rotation axis, and the other dimension is the declination axis, enabling single-axis tracking for alignment with geostationary satellites; it is commonly used in television reception and radio astronomy.

[0003] The most common structure for tracking radar is the azimuth-elevation type. Now, with the reduction in the cost of phased array radar, radars are increasingly adopting a combination of one-dimensional electronic scanning and one-dimensional mechanical scanning. This has transformed the traditional azimuth-elevation structure into a combination of inverted and azimuth-mechanical scanning.

[0004] Currently, the common structure for this type of antenna is a separate tilting mechanism plus a one-dimensional azimuth antenna mount. The tilting mechanism is responsible for pushing the antenna from its transport position (where the antenna is usually at 0°, its lowest point) to a 90° position, holding it there, and then stopping the movement. It then performs azimuth rotation scanning and target tracking. Common tilting mechanisms include ball screw and worm gear structures and motors with increased reduction ratios. The purpose is to use the friction torque of the worm gear and high speed ratio to maintain the antenna's tilting posture at 90°, reducing the impact of wind load or unbalanced torque on the tilting motor during movement. Typically, once the antenna reaches 90°, the tilting motor is deactivated, but the tilting angle is measured in real time. If the tilting angle deviates slightly, the tilting mechanism will activate again to stabilize the antenna near 90°, ensuring the azimuth axis remains perpendicular to the ground. Some systems now use a brake on the tilting motor shaft to further ensure the antenna is locked in its tilted position. Most one-dimensional azimuth antenna mounts use turntable bearings for support, which simultaneously bear the axial load and overturning load of the antenna. This structure is the simplest and most reliable.

[0005] In the current schemes, the tilting mechanism and the one-dimensional azimuth antenna mount use separate drive and control systems, and the motor power cannot be reused, resulting in power idleness. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention aims to provide a dual-motor time-sharing driven two-dimensional radar antenna mount, which enables motor power reuse for tilting and azimuth, while improving control accuracy and reducing structural installation accuracy requirements.

[0007] A dual-motor time-division driven two-dimensional radar antenna mount includes an azimuth housing, an azimuth turntable, and two inverted support arms symmetrically arranged on both sides of the azimuth housing. Each of the collapsed support arms is equipped with a horizontally arranged collapsed shaft tooth via a bearing. The two collapsed shaft teeth are respectively mounted on the azimuth housing via bearings, and the front ends of the two collapsed shaft teeth extend into the azimuth housing. The gear of the collapsed shaft tooth is located in the azimuth housing. Each of the two collapsed support arms is equipped with a motor assembly for driving the rotation of its respective collapsed shaft tooth. The azimuth turntable is mounted on the top of the azimuth housing via an azimuth turntable bearing. A horizontally arranged large azimuth gear is installed at the bottom of the azimuth turntable. The large azimuth gear meshes with two gears with folded shaft teeth, and its movement is driven by the folded shaft teeth on both sides. When the motor components in the two collapsing arms rotate in opposite directions at the same speed, the azimuth box body collapses as a whole; when the two motor components rotate in the forward direction at the same speed, the azimuth box body remains stationary, and the azimuth turntable rotates to perform azimuth movements.

[0008] Preferably, the azimuth housing is provided with an inner cylinder fixed thereto, and a manifold ring is installed in the inner cylinder. The manifold ring can rotate in the azimuth housing, and the manifold ring chuck is fixedly installed at the bottom of the azimuth turntable and extends to the azimuth housing to connect with the manifold ring.

[0009] Preferably, an azimuth encoder for measuring azimuth angle is installed on the azimuth housing, and a collapse encoder for measuring collapse angle is installed on the collapse arm.

[0010] Preferably, both the orientation encoder and the folding encoder are inductive encoders.

[0011] Preferably, the motor assembly includes a brushless AC motor, a pinion shaft driven by the motor, and a pinion mounted on the pinion shaft; a large collapsing sector tooth meshing with the pinion is installed at the rear end of the collapsing arm, and the large collapsing sector tooth transmits the motor torque to the collapsing shaft tooth.

[0012] Preferably, an upper stop and a lower stop are respectively provided inside the overturning arm near the top to limit the displacement of the large overturning sector teeth.

[0013] Preferably, the azimuth turntable bearing is a thin cross ball bearing; the drooping shaft teeth are all supported and installed in the drooping support arm by a pair of drooping angular contact bearings with a back-to-back contact angle of 25°. Preferably, the azimuth gear and the drooping shaft teeth are Gleason arc bevel gears; the two drooping shaft teeth are respectively mounted on the azimuth housing via sealed bearings.

[0014] Preferably, the bottom of the orientation box is connected to a counterweight.

[0015] Preferably, a socket plate is installed at the bottom of the azimuth housing, and the socket plate is connected to the wiring harness passing through the bus ring; the two folding arms are connected together by the bottom frame to form the base of the antenna mount.

[0016] Beneficial effects: This invention utilizes two pairs of small arc-shaped bevel gears arranged at 180° to drive a common large arc-shaped bevel gear to achieve all movements. The lodging movement and azimuth rotation are simultaneously driven by two identical motors in parallel, sharing a common transmission system. When the two motors rotate at equal speeds in opposite directions, the lodging action occurs. This eliminates the need for a separate transmission and drive control system for the lodging mechanism, and allows for power reuse between the motors for both lodging and azimuth rotation.

[0017] When the two motors rotate in opposite directions at the same speed, the large arc-shaped bevel teeth experience equal and opposite forces from the two smaller arc-shaped bevel teeth. These two forces simultaneously generate a torque on the tilting shaft, thus achieving the tilting motion. When the two motors rotate in the forward direction at the same speed, the large arc-shaped bevel teeth experience equal and opposite forces from the two smaller arc-shaped bevel teeth. These two forces generate a torque on the azimuth shaft, thus achieving azimuth rotation. Dual-motor drive achieves backlash-free control, improving control accuracy while further reducing the installation accuracy requirements of the structure.

[0018] In addition to its advantages of low noise and smooth transmission, the high load-bearing capacity of the Gleason arc bevel gear is a key consideration in this invention, especially for the overturning action. Attached Figure Description

[0019] Figure 1 This is a main sectional view of the present invention; Figure 2 This is an external view of the motor assembly in this invention; Figure 3 This is a cross-sectional view of the motor assembly in this invention; Figure 4 This is a bottom view of the present invention; Figure 5 This is the left view of the present invention; Figure 6 This is an isometric view of the present invention; Wherein: 1-Motor housing; 2-Housing cover; 3-Brushless AC motor stator; 4-Brushless AC motor rotor; 5-Deep groove ball bearing; 6-Pinary gear shaft; 7-Pinary gear; 8-Gear pressure plate; 9-Semi-circular key; 10-Bearing pressure plate; 11-Orientation housing; 12-Orientation bearing seat; 13-Orientation turntable bearing; 14-Bus ring chuck; 15-Bus ring; 16-Orientation encoder; 17-Orientation bearing pressure plate; 18-Orientation large gear; 19-Square... 20-Lying support arm; 21-Lying bearing pressure plate; 22-Lying counterweight; 23-Inner cylinder; 24-Motor assembly; 25-Side cover plate; 26-Lying large sector tooth; 27-Lying shaft tooth; 28-Encoder retaining ring; 29-Lying angular contact bearing; 30-Lying encoder; 31-Sealed bearing; 32-Socket plate; 33-Antenna interface; 34-Lower stop; 35-Upper stop; A~H-Static seal ring; a~d-Pan-seal seal ring. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] like Figure 1 , Figure 5 and Figure 6 As shown, the dual-motor time-division driven two-dimensional radar antenna mount of the present invention includes two dimensions: tilting motion and azimuth rotation. It adopts a dual-motor parallel drive, with a shared transmission system for tilting and azimuth. The overall structure mainly consists of an azimuth housing 11, an azimuth turntable 19, and two tilting support arms 20. like Figure 1 As shown, two collapsing arms 20 are symmetrically arranged on the left and right sides of the azimuth housing 11. Each collapsing arm 20 has a horizontally arranged collapsing gear 27 mounted on it via a collapsing angular contact bearing 29. The two collapsing gears 27 are mounted on the azimuth housing 11 via sealed bearings 31, and the front ends of both collapsing gears 27 extend into the azimuth housing 11. The gears of the collapsing gears 27 are located in the azimuth housing 11. Each of the two collapsing arms 20 is equipped with a motor assembly 24 for driving its respective collapsing gear 27. A transmission assembly that drives the motor assembly 24 is fixedly mounted on the collapsing gear 27. Power is transmitted to the collapsing gear 27 through the motor assembly 24 and the transmission assembly to drive its rotation.

[0022] The top of the azimuth housing 11 is equipped with an azimuth turntable 19 via an azimuth turntable bearing 13. A horizontally arranged azimuth gear 18 is installed at the bottom of the azimuth turntable 19. The azimuth gear 18 meshes with two inverted shaft teeth 27 and is driven to move by the inverted shaft teeth 27 on both sides.

[0023] When the motor assemblies 24 in the two collapsing arms 20 rotate in opposite directions at the same speed, the azimuth box 11 collapses as a whole; when the two motor assemblies 24 rotate in the forward direction at the same speed, the azimuth box 11 remains stationary, and the azimuth turntable 19 rotates to perform azimuth movement.

[0024] The two inverted shaft teeth 27 are arranged in a fully symmetrical 180° configuration, and the parallel drive structure of the dual motor assemblies 24 remains completely identical, ensuring that the transmission stiffness of each motor assembly 24 to the load end is completely consistent, providing the necessary conditions for constant speed control. Figure 1 The two collapsed arms 20 can also be connected together via the bottom frame to form the base of the antenna mount.

[0025] like Figure 2 and Figure 3 As shown, the motor assembly 24 is formed by assembling a motor housing 1, a housing cover 2, a brushless AC motor stator, a brushless AC motor rotor 4, a pinion shaft 6, a pinion 7, a semi-circular key 9, a gear pressure plate 8, and a pair of deep groove ball bearings 5. The transmission assembly of the folding arm 20 adopts a folding large sector gear 26 installed at the rear end. The folding large sector gear 26 meshes with the pinion 7 to transmit the motor torque to the folding shaft gear 27.

[0026] The azimuth housing 1 adopts a large hollow design, with an inner cylinder 23 fixed inside. The azimuth housing 1 and the inner cylinder 23 installed at the bottom of the azimuth housing 1 form a sealed, independent space as an installation compartment. This space protects the bus ring 15 installed in the compartment from contamination by gear lubricating grease and facilitates the passage of finished wiring harnesses and aviation plugs. The bus ring 15 is installed in the inner cylinder 23 and can rotate within the azimuth housing 1. The bus ring chuck 14 is mounted on the azimuth turntable 19, and the fork structure on the bus ring chuck 14 is inserted into the pre-reserved notch of the bus ring 15. When the azimuth turntable 19 rotates, it drives the bus ring 15 to rotate.

[0027] An azimuth encoder 16 for measuring azimuth angle is mounted on the azimuth housing 11. The stator of the azimuth encoder 16 is fixed to the inner cylinder 23, and the rotor of the azimuth encoder 16 is mounted on the busbar chuck 14. A sloping encoder 30 is mounted on the sloping support arm 20. The stator of the sloping encoder 30 is mounted on the sloping support arm 20, and the rotor of the sloping encoder 30 is fixed to the sloping shaft gear 27 via an encoder retaining ring 28. Both the azimuth encoder 16 and the sloping encoder 30 are inductive encoders. The core advantages of this type of encoder are strong environmental adaptability, high anti-interference, long lifespan, and a balance between accuracy and price.

[0028] The bottom of the azimuth box 11 has a reserved interface for installing counterweights. The counterweights 22 can be added appropriately according to the antenna load weight to reduce or eliminate the unbalanced moment of falling.

[0029] like Figure 5 As shown, an upper stop 35 and a lower stop 34 are respectively provided inside the collapsing support arm 20 near the top to limit the displacement of the collapsing large sector tooth 26, preventing the collapsing large sector tooth 26 from disengaging from the pinion 7. It can achieve collapsing movement from -2° to 92° and continuous movement in azimuth from 0° to 360°.

[0030] The azimuth turntable bearing 13 is a thin and light cross ball bearing with a large diameter. This provides installation space for the azimuth encoder 16, the inverted encoder 30 and the bus ring 15, while also meeting the load-bearing requirements. It is important to strictly design the bearing fit dimensions and ensure that enough screws are used to fix the azimuth turntable bearing 13.

[0031] The azimuth gear 18 and the collapsing shaft gear 27 utilize Gleason arc bevel gears with greater load-bearing capacity, resulting in smooth transmission, extremely low noise, high load-bearing capacity, and high transmission efficiency. They are specifically designed to withstand the large eccentric loads generated during the collapsing motion. Of course, if space permits, the eccentric load during collapsing can be reduced by adding a collapsing counterweight; if space is limited, a dual-motor drive and Gleason arc bevel gears can still withstand significant loads. The torque transmitted through the bevel gears generates a relatively large axial force. Both sides of the collapsing shaft gear 27 are supported by a pair of back-to-back collapsing angular contact bearings 29 with a 25° contact angle, capable of withstanding the large axial force generated by the torque transmitted by the collapsing shaft gear 27.

[0032] like Figure 4 As shown, a socket plate 32 is installed at the bottom of the orientation housing 11, and the socket plate 32 is connected to the wiring harness passing through the bus ring 15. The transmission compartment and the wiring and installation compartment adopt an isolated design, specifically, the transmission compartment is a fully sealed design to prevent grease from contaminating the bus ring 15, socket plate 32, and wiring harness installed in the installation compartment. Figure 1 The sealing rings A~H and a~d, as well as the sealed bearing, ensure this. A four-way plug seal is used for the rotating sealing ring. Figure 1 As shown in Figures a~d and the eight static sealing rings Figure 1 As shown in Figures A through H, the sealed bearing 31 ensures the watertightness of the antenna mount.

[0033] The dual-motor drive system employs a control algorithm to achieve gear backlash elimination control, which is beneficial for system stability and improves control accuracy. At the same time, it reduces gear backlash requirements and prevents structural jamming at low temperatures.

[0034] The dual-motor time-division driven two-dimensional radar antenna mount of the present invention can be used in the form of inverted position plus azimuth, or it can be used with the azimuth turntable fixed. In this case, the structure is a standard azimuth and elevation radar antenna mount, but it should be noted that the azimuth and elevation can only move in time-division.

[0035] The assembly process of the dual-motor time-division driven two-dimensional radar antenna mount of the present invention is as follows: The first step is to assemble the components of motor assembly 24.

[0036] according to Figure 2 Install the motor housing 1, housing cover 2, brushless AC motor stator 3, brushless AC motor stator 4, pinion shaft 6, pinion 7, semi-circular key 9, gear pressure plate 8, and deep groove ball bearing 5 in sequence. Leave an axial clearance of 0.05~0.1 mm to ensure flexible rotation of the motor assembly 24 at low temperatures.

[0037] The second step is to assemble the collapsed structure.

[0038] like Figure 1 As shown, first, the sealed bearing 31 is installed into the azimuth housing 11 and limited by the bearing pressure plate 10; then, the sealing rings c and d are installed into the sealing groove of the folded support arm 20; then, the folded shaft teeth 27 are passed through the azimuth housing 11 and the folded support arm 20 in sequence and then fastened to the azimuth housing 11 with screws; then, a pair of folded angular contact bearings 29 are installed and fixed with the folded bearing pressure plate 21; then, the stator of the folded encoder 30 is installed on the reserved hole of the folded bearing pressure plate 21, and then the rotor of the folded encoder 30 is fixed to the reserved hole of the folded shaft teeth 27 through the encoder fixing ring 28; then, the motor assembly 24 is installed onto the folded support arm 20, and finally, the folded large sector teeth 26 are fixed to the end of the folded shaft teeth 27.

[0039] The third step is to perform orientation and dimension assembly.

[0040] First, install the azimuth turntable bearing 13 into the azimuth bearing seat 12 and pre-press it with the azimuth bearing pressure plate 17; then, install the sealing ring a into the sealing groove of the azimuth turntable 19, and then install the sealing ring b into the sealing groove of the azimuth gear 18; then, fix the azimuth gear 18 and the azimuth turntable 19 onto the azimuth turntable bearing 13; finally, install the above-formed components into the upper end of the azimuth housing 11.

[0041] The fourth step is to install the bus ring 15 and the orientation encoder 16.

[0042] First, install sealing rings E and F into the bottom sealing groove of the orientation box 11 and the bottom sealing groove of the inner cylinder 23 respectively; then proceed according to... Figure 1As shown, the busbar 15 is installed into the fixing hole inside the inner cylinder 23, and the stator of the azimuth encoder 16 is installed into the fixing hole on the upper part of the inner cylinder 23; further, the rotor of the azimuth encoder 16 is installed on the busbar chuck 14; further, the inner cylinder assembly formed above is installed and fixed from the bottom of the azimuth housing 11, and the busbar chuck assembly formed above is installed and fixed from the upper part of the azimuth turntable 19.

[0043] Fifth step, after installing sealing ring C and sealing ring G into the sealing groove of the overturned support arm 20, follow the instructions... Figure 1 The installation of the socket plate 32, the counterweight 22, and the side cover plate 25 is shown.

[0044] Sixth, finally, after installing the sealing ring B into the sealing groove of the azimuth turntable 19, the antenna load is then used... Figure 6 The antenna interface 33 shown is installed on the azimuth turntable 19.

[0045] This completes the implementation of the preferred solution.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-motor time-division driven two-dimensional radar antenna mount, characterized in that, It includes an azimuth box (11), an azimuth turntable (19), and two collapsible support arms (20) symmetrically arranged on both sides of the azimuth box (11). Each of the aforementioned collapsing support arms (20) is equipped with a horizontally arranged collapsing shaft tooth (27) via a bearing. The two collapsing shaft teeth (27) are respectively mounted on the orientation housing (11) via bearings, and the front ends of the two collapsing shaft teeth (27) extend into the orientation housing (11). The gears of the collapsing shaft teeth (27) are located in the orientation housing (11). Each of the two collapsing support arms (20) is equipped with a motor assembly (24) for driving the respective collapsing shaft teeth (27) to rotate. The azimuth turntable (19) is mounted on the top of the azimuth housing (11) via the azimuth turntable bearing (13). A horizontally arranged azimuth gear (18) is installed at the bottom of the azimuth turntable (19). The azimuth gear (18) meshes with the gears of two inverted shaft teeth (27) and is driven to move by the inverted shaft teeth (27) on both sides. When the motor components (24) in the two collapsing arms (20) rotate in opposite directions at the same speed, the azimuth box (11) performs a collapsing action as a whole; when the two motor components (24) rotate in the forward direction at the same speed, the azimuth box (11) remains stationary, and the azimuth turntable (19) rotates to perform an azimuth action.

2. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 1, characterized in that: The azimuth box (11) is provided with an inner cylinder (23) fixed thereto. A manifold (15) is installed in the inner cylinder (23). The manifold (15) can rotate in the azimuth box (1). The manifold chuck (14) is fixedly installed at the bottom of the azimuth turntable (19) and extends to the azimuth box (11) to connect with the manifold (15).

3. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 1, characterized in that: An azimuth encoder (16) for measuring azimuth angle is installed on the azimuth housing (11), and a fall encoder (30) for measuring fall angle is installed on the fall arm (20).

4. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 3, characterized in that: Both the orientation encoder (16) and the inverted encoder (30) are inductive encoders.

5. The dual-motor time-division driven two-dimensional radar antenna mount according to any one of claims 1-4, characterized in that: The motor assembly (24) includes a brushless AC motor, a pinion shaft (6) driven by the motor, and a pinion (7) mounted on the pinion shaft (6); the rear end of the folding arm (20) is equipped with a folding large sector tooth (26) that meshes with the pinion (7), and the folding large sector tooth (26) transmits the motor torque to the folding shaft tooth (27).

6. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 5, characterized in that: The upper stop (35) and lower stop (34) are respectively provided inside the overturning arm (20) near the top to limit the displacement of the overturning large fan tooth (26).

7. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 5, characterized in that: The azimuth turntable bearing (13) is a thin cross ball bearing; the drooping shaft teeth (27) are all supported by a pair of drooping angular contact bearings (29) with a back-to-back contact angle of 25° in the drooping support arm (20).

8. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 5, characterized in that: The azimuth gear (18) and the drooping shaft gear (27) are selected from Gleason arc bevel gears; the two drooping shaft gears (27) are respectively mounted on the azimuth housing (11) through sealed bearings (31).

9. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 5, characterized in that, The bottom of the orientation box (11) is connected to a counterweight (22).

10. The dual-motor time-division driven two-dimensional radar antenna mount according to claim 5, characterized in that, The bottom of the azimuth box (11) is equipped with a socket plate (32), which is connected to the wiring harness passing through the bus ring (15); the two folding arms (20) are connected together by the bottom frame to form the base of the antenna mount.

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