Two-dimensional servo turntable for vehicle-mounted antenna

Abstract

A slewing mechanism of the two-dimensional servo turntable comprises a turntable and a base, a slewing support composed of an inner ring and an outer ring is arranged between the turntable and the base, the turntable is installed on the inner ring, the outer ring is installed on the base, a speed reducer I is installed on the rear portion of the turntable, and a speed reducer II is installed on the base. A driving pinion on a rotating shaft of the speed reducer I is meshed with the outer ring to drive the turntable to rotate around the outer ring; an angle sensor I for detecting the forward and reverse angles of the turntable and a limiting assembly for limiting the forward and reverse rotation of the turntable not to exceed 180 degrees are arranged between the turntable and the base; a pitching mechanism comprises supporting assemblies arranged on the left portion and the right portion of a rotary disc respectively and an electric cylinder arranged on the front portion of the rotary disc, a cylinder body of the electric cylinder is hinged to the rotary disc, a push rod, extending forwards, of the electric cylinder is hinged to the bottom of an antenna array plane, the rear portion of the antenna array plane is hinged to the left supporting assembly and the right supporting assembly, and stretching and retracting of the push rod drive the antenna array plane to do pitching motion. And an angle sensor II for detecting the pitching angle and the pitching angle of the antenna array plane is arranged on one supporting assembly.

Description

Technical Field

[0001] The utility model relates to an antenna erection technology, in particular to a two-dimensional servo turntable for a vehicle-mounted antenna. Background Art

[0002] As more and more electronic equipment is installed in ground vehicles, the application scope of vehicle-mounted antenna devices is becoming wider and wider.

[0003] In order to give full play to the performance of the antenna, the antenna array needs to be erected on the roof. At the same time, considering the height limit requirements when ground vehicles are driving, the antenna array needs to be laid down to meet the height limit requirements. Considering that the antenna array can receive signals 360° without blind spots when working, a turntable is usually required under the antenna array to realize the azimuth movement of the antenna array.

[0004] How to minimize the height after the antenna array is withdrawn while ensuring its installation height is a technical difficulty. Utility Model Content

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the utility model is to propose a two-dimensional servo turntable for a vehicle-mounted antenna, which can meet the requirement of raising the antenna array to a certain working height while ensuring the required height for the mechanism to be retracted.

[0006] The vehicle-mounted antenna two-dimensional servo turntable capable of solving the above technical problems includes an antenna array surface, a rotation mechanism and a pitch mechanism, and the difference is that:

[0007] 1. The slewing mechanism includes a turntable and a base, a slewing support is coaxially arranged between the turntable and the base, the turntable is mounted on the inner ring of the slewing support, the outer ring of the slewing support is mounted on the base, a reducer I driven by a servo motor I is mounted on the rear of the turntable, the driving pinion on the rotating shaft of the reducer I is meshed with the driven large outer teeth of the outer ring to drive the turntable to rotate around the outer ring, an angle sensor I for detecting the forward and reverse angles of the turntable and a limit assembly for limiting the forward and reverse rotation of the turntable to not exceed 180° are arranged between the turntable and the base.

[0008] 2. The pitch mechanism includes support components respectively arranged on the left and right parts of the turntable and an electric cylinder arranged in the center of the front part of the turntable. The cylinder body of the electric cylinder is hinged on the turntable, and the push rod extending forward of the electric cylinder is hinged on the bottom of the antenna array. The rear part of the antenna array is hinged on the left and right support components. A reducer II driven by a servo motor II is installed on the cylinder body. The reducer II drives the extension and contraction of the push rod to realize the pitch and elevation movement of the antenna array. An angle sensor II for detecting the pitch and elevation angles of the antenna array is provided on a support component.

[0009] 3. A control cabinet is provided above the turntable, and the control cabinet is mounted on the turntable through a bracket.

[0010] Furthermore, the angle sensor I is installed on the top of the central shaft, the upper part of the central shaft is installed on the top plate through the rolling bearing I, the bottom of the central shaft is installed on the bottom plate through the flexible coupling, the top plate is coaxially installed on the disk hole of the turntable, and the bottom plate is coaxially installed on the bottom of the seat hole of the base. The angle sensor I detects the rotation angle and direction of the turntable by measuring the rotation amount and direction of the outer ring of the rolling bearing I relative to the inner ring.

[0011] Furthermore, a structure of the limit assembly includes a stopper provided on the base and a baffle provided on the turntable radially opposite to the stopper, a rocker arm that can swing left or right around an axis and left and right proximity switches respectively provided on the baffle on the left and right sides of the rocker arm are installed on the bottom of the baffle through a return spring, and when the turntable exceeds 180° in the forward and reverse directions, the rocker arm touches the stopper and swings in the opposite direction of the turntable rotation and senses the corresponding proximity switch.

[0012] Furthermore, the left and right support components are support component I and support component II respectively:

[0013] 1. The support assembly I comprises a support frame I and a connecting frame I. The connecting frame I is installed on a support shaft I of the support frame I. The angle sensor II is installed on a rotating shaft inside the support shaft I through a rolling bearing II.

[0014] 2. The support assembly II includes a support frame II and a connecting frame II, and the connecting frame II is installed on the support shaft II of the support frame II.

[0015] 3. When the antenna array moves in pitch or elevation, the connecting frame I and the connecting frame II rotate around the supporting axis I and the supporting axis II respectively, the rotating shaft rotates synchronously with the connecting frame I, and the angle sensor II detects the pitch and elevation angles of the antenna array by measuring the rotation amount of the inner ring of the rolling bearing II relative to the outer ring.

[0016] Beneficial effects of the utility model:

[0017] 1. The two-dimensional servo turntable of the vehicle-mounted antenna of the utility model can realize the pitch, elevation and azimuth movement of the antenna array at the same time. The servo motor I and the reducer I are installed on the turntable and move in azimuth with the turntable, which greatly reduces the overall height of the rotary mechanism.

[0018] 2. In the structure of the utility model, the control cabinet is arranged on the turntable and moves in direction with the turntable. The cables connecting the control cabinet and various driving and electrical components arranged on the turntable do not move in direction, which not only avoids the cables from being entangled and torn, but also makes the entire structural layout more reasonable and compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an implementation method of the utility model.

[0020] Figure 2 for Figure 1 A top view of an embodiment.

[0021] Figure 3 for Figure 1 Side view of an embodiment.

[0022] Figure 4 for Figure 1 A front view of the slewing mechanism in an embodiment.

[0023] Figure 5 for Figure 4 Top view of the .

[0024] Figure 6 for Figure 5 AA section view in.

[0025] Figure 7(a) shows Figure 1 A front view of the position limiting assembly in an implementation manner.

[0026] FIG7( b ) is a BB cross-sectional view in FIG7( a ).

[0027] Figure 8 for Figure 2 CC section view in.

[0028] Fig. 9 for Figure 2 DD section view in.

[0029] Figure number identification: 1. Antenna array; 2. Turntable; 3. Base; 4. Inner ring; 5. Outer ring; 6. Servo motor I; 7. Reducer I; 8. Angle sensor I; 9. Electric cylinder; 10. Servo motor II; 11. Reducer II; 12. Angle sensor II; 13. Center shaft; 14. Rolling bearing I; 15. Top plate; 16. Flexible coupling; 17. Bottom plate; 18. Block; 19. Baffle; 20. Rocker; 21. Proximity switch; 22. Support frame I; 23. Connecting frame Ⅰ; 24. Support shaft Ⅰ; 25. Rolling bearing Ⅱ; 26. Rotating shaft; 27. Return spring; 28. Support frame Ⅱ; 29. ​​Connecting frame Ⅱ; 30. Support shaft Ⅱ; 31. Control cabinet; 32. Wire outlet slot cover; 33. Flange seat; 34. Driving pinion; 35. Axle pin; 36. Socket cover; 37. Bearing seat; 38. Cover shell; 39. Aviation plug assembly; 40. Linkage seat; 41. Copper sleeve Ⅰ; 42. Coupling diaphragm; 43. Copper sleeve Ⅱ; 44. Handheld control box; 45. Connecting rod. DETAILED DESCRIPTION

[0030] The technical solution of the utility model is further described below in conjunction with the implementation modes shown in the accompanying drawings.

[0031] The utility model discloses a two-dimensional servo turntable for a vehicle-mounted antenna, comprising a slewing mechanism arranged on the roof of the vehicle, a pitching mechanism arranged on the slewing mechanism and an antenna array surface 1 arranged on the pitching mechanism.

[0032] The slewing mechanism comprises an upper and lower coaxial turntable 2 and a base 3, wherein the base 3 is mounted on the vehicle frame by bolts evenly distributed around the circumference, a slewing support is provided between the disk hole of the turntable 2 and the seat hole of the base 3, and the slewing support comprises an inner ring 4 and an outer ring 5 which can rotate relatively, wherein the top of the inner ring 4 is higher than the outer ring 5, and the bottom of the outer ring 5 is lower than the inner ring 4, and the outer circumference of the outer ring 5 is provided with external teeth to form a driven large gear, and the turntable 2 is coaxially mounted on the inner ring 4 by bolts evenly distributed around the circumference, The outer ring 5 is coaxially mounted on the base 3 by bolts evenly distributed around the circumference, and a wire outlet slot cover 32 is coaxially mounted on the bottom of the base 3; an angle sensor Ⅰ8 for detecting the rotation angle and direction of the turntable 2 is provided, and the angle sensor Ⅰ8 is mounted on the top of the central shaft 13, and the central shaft 13 is coaxially arranged inside the turntable 2, the slewing support and the base 3, and the bottom of the central shaft 13 is mounted on the bottom plate 17 through a flexible coupling 16, and the bottom plate 17 is coaxially mounted on the base 3 by screws evenly distributed around the circumference. The top of the central axis 13 is mounted on the top plate 15 through the rolling bearing Ⅰ14. The top plate 15 is coaxially mounted on the opening of the turntable 2 through screws evenly distributed around the circumference. The opening of the turntable 2 is also provided with a socket cover 36 covering the angle sensor Ⅰ8. The angle sensor Ⅰ8 is connected to the outer ring of the rolling bearing Ⅰ14 through a signal line. The power of the turntable 2 is a reducer Ⅰ7 driven by a servo motor Ⅰ6. The reducer Ⅰ7 is mounted on the rear part of the turntable 2 through a flange seat 33. The driving pinion 34 in the rotary groove on the base 3 is installed on the rotating shaft extending downward of the reducer Ⅰ7. The driving pinion 34 is meshed with the outer ring 5 (driven large external teeth). The driving pinion 34 rotates around the outer ring 5 while rotating, thereby driving the turntable 2 to rotate. The top plate 15 rotates synchronously with the turntable 2. The angle sensor Ⅰ8 detects the rotation angle and direction of the turntable 2 by measuring the rotation amount and direction of the outer ring of the rolling bearing Ⅰ14 relative to the inner ring. Figure 4 , Figure 5 , Figure 6 shown.

[0033] In order to prevent the signal line from winding, a limit assembly is provided to limit the forward and reverse rotation of the turntable 2 to no more than 180°. The limit assembly includes a stopper 18 and a baffle 19. The stopper 18 is fixedly mounted on the left rear side of the base 3. The baffle 19 is radially opposite to the stopper 18 and fixedly mounted on the right front side of the turntable 2. A swing rod 20 is installed at the bottom of the baffle 19 through an axle pin 35. The outer rod portion of the swing rod 20 is in the rotation groove of the baffle 19 and is connected to the groove wall through a return spring 27. , the return spring 27 returns the inner rod portion of the swing rod 20 to the radial direction, and the two sides of the outer rod portion of the swing rod 20 are respectively provided with proximity switches 21 installed in the rotating groove of the baffle 19; when the turntable 2 rotates clockwise or counterclockwise by more than 180°, the inner rod portion of the swing rod 20 touches the block 18 and deflects in the opposite direction, and the outer rod portion of the deflected swing rod 20 is induced by the proximity switch 21 on the corresponding side to turn off the servo motor I6, and the turntable 2 stops rotating. Figure 4 , Figure 5 , Figure 6 , as shown in Figure 7(a) and Figure 7(b).

[0034] In the above structure, the function of the outlet slot cover 32 is to introduce the power line, 485 control line and the control line of the handheld control box 44 into the rotating mechanism, and then connect them from the socket cover 36 to the control cabinet 31, so as to realize the transmission of power and control.

[0035] The pitch mechanism includes a support component I and a support component II and an electric cylinder 9, wherein the support component I and the support component II are respectively fixed on the left and right parts of the turntable 2, the cylinder body of the electric cylinder 9 is hinged at the center of the front part of the turntable 2, and a control cabinet 31 located above the socket cover 36 is installed on the turntable 2 on the rear side of the electric cylinder 9 through a bracket, the antenna array 1 is arranged at the front upper part of the turntable 2, the push rod extending forward of the electric cylinder 9 is hinged at the front bottom of the antenna array 1, and the rear side of the antenna array 1 is hinged on the support component I and the support component II, and a reducer II 11 driven by a servo motor II 10 is installed on the cylinder body, and the reducer II 11 drives the push rod to extend and retract to realize the pitch and elevation movement of the antenna array 1, and an angle sensor II 12 for detecting the pitch and elevation angles of the antenna array 1 is provided on the support component I. Figure 1 , Figure 2 , Figure 3 shown.

[0036] The support assembly I comprises a support frame I22 and a connecting frame I23, the lower part of the support frame I22 is fixed on the turntable 2, a bolted support shaft I24 is penetrated in the left and right directions in the upper part of the support frame I22, a locking nut is screwed on the left end of the support shaft I24 to lock it on the support frame I22, a rotating shaft 26 is arranged in the center hole of the support shaft I24, the left end of the rotating shaft 26 extends out of the support shaft I24 from the locking end, a coaxial bearing seat 37 is installed on the left end of the support frame I22, a parallel rolling bearing II25 is installed between the bearing seat 37 and the rotating shaft 26, the angle sensor II12 is installed on the left shaft end of the rotating shaft 26, the angle sensor II12 is connected to the inner ring of the rolling bearing II25 through a signal line, a cover 38 covering the angle sensor II12 is coaxially installed on the bearing seat 37, and an aviation plug assembly 39 is provided at the bottom of the cover 38; the rotating shaft 2 The right end of the support frame Ⅰ22 extends from the right end of the support shaft Ⅰ24, and a coaxial linkage seat 40 (coaxially installed on the support frame Ⅰ22 in a rotating structure) is installed on the right end of the support frame Ⅰ22. The linkage seat 40 is connected to the connecting frame Ⅰ23 through a screw. The rear lower end (narrow part) of the connecting frame Ⅰ23 is arranged in the fork of the support frame Ⅰ22 and is installed on the support shaft Ⅰ24 through a copper sleeve Ⅰ41. The left and right sides in the fork are provided with a copper sleeve 41 installed on the copper sleeve 41. The wear-resistant copper sheet of the rotating part of the left and right limit connecting frame Ⅰ23, the front upper end (wide flat part) of the connecting frame Ⅰ23 is fixed on the antenna array surface 1, and the right end of the rotating shaft 26 extends into the seat hole of the linkage seat 40. The seat hole of the linkage seat 40 is provided with a coupling diaphragm 42, and the coupling diaphragm 42 is connected to the linkage seat 40 by screws. The connecting rod 45 is connected to the right end of the rotating shaft 26 by screws, so as to realize the linkage between the connecting frame Ⅰ23 and the rotating shaft 26. Figure 8 shown.

[0037] The support assembly II includes a support frame II 28 and a connecting frame II 29, the lower part of the support frame II 28 is fixed on the turntable 2, and a support shaft II 30 is penetrated in the upper part of the support frame II 28 in the left and right directions. A cotter pin is penetrated in the pin hole on the right end of the support shaft II 30 to axially position it on the support frame II 28, and the rear lower end (narrow part) of the connecting frame II 29 is arranged in the fork of the support frame II 28 and is installed on the support shaft II 30 through the copper sleeve II 43. The left and right sides in the fork are provided with wear-resistant copper sheets installed on the copper sleeve II 43 and limiting the rotation part of the connecting frame II 29 in the left and right directions. The front upper end (wide and flat part) of the connecting frame II 29 is fixed on the antenna array surface 1, as shown in FIG. Fig. 9 shown.

[0038] When the electric cylinder 9 drives the antenna array 1 to perform pitch and elevation movements, the connecting frame Ⅰ23 and the connecting frame Ⅱ29 rotate around the support shaft Ⅰ24 and the support shaft Ⅱ30 respectively, the rotating shaft 26 rotates synchronously with the connecting frame Ⅰ23, and the angle sensor Ⅱ12 detects the pitch angle of the turntable 2 by measuring the rotation angle of the inner ring of the rolling bearing Ⅱ25 relative to the outer ring.

[0039] The operation mode of the utility model is:

[0040] 1. In the initial position (zero position) when not in operation, the antenna array surface 1 is in a horizontal lying state.

[0041] 2. When starting work, start the servo motor II 10, reduce the speed and increase the torque through the reducer II 11, drive the push rod of the electric cylinder 9 to extend forward and lift the antenna array 1 to a limited position. At this time, the antenna array 1 is erected from a horizontal angle to a vertical angle, or to any set angle position.

[0042] 3. During the entire erection process, the angle sensor II 12 detects the rotation difference between the inner and outer rings of the rolling bearing II 25, thereby calculating the actual current pitch angle value of the antenna array 1, and returns this value to the servo control system and compares it with the pitch angle value set by the system, thereby realizing closed-loop control.

[0043] 4. Start the servo motor I6, reduce the speed and increase the torque through the reducer I7, drive the driving pinion 34 to rotate, and the driving pinion 34 rotates while rotating around the outer ring 5 of the slewing support, thereby driving the turntable 2 to perform clockwise or counterclockwise rotation from the initial position.

[0044] 5. When the pendulum rod 20 touches the block 18, it will deflect and enter the detection range of the corresponding proximity switch 21, the electrical limit will take effect, and the turntable 2 will stop moving; if the proximity switch 21 is damaged at this time, the electrical limit will fail, the block 18 will hit the pendulum rod 20, and the inner rod of the pendulum rod 20 will contact the corresponding structural part of the baffle 19, then the servo motor I6 will overload and stop, and the proximity switch 21 needs to be replaced at this time. If the proximity switch 21 is not damaged, then after reaching the electrical limit, the turntable 2 will run in the opposite direction, the pendulum rod 20 will return under the pulling force of the return spring 27, and the electrical limit signal will be released.

[0045] 6. As the turntable 2 rotates, the angle sensor Ⅰ8 detects the rotation difference between the inner and outer rings of the rolling bearing Ⅰ14, thereby calculating the current actual rotation angle value of the turntable 2, i.e., the antenna array surface 1, and returns this value to the servo control system and compares it with the rotation angle value set by the system, thereby realizing closed-loop control.

[0046] 7. After the work is completed, the turntable 2 rotates back to the initial position (zero position) and the antenna array 1 falls down to the horizontal position.

Claims

1. A two-dimensional servo turntable for a vehicle-mounted antenna, comprising an antenna array (1) and a slewing mechanism and a pitching mechanism, characterized in that: The rotary mechanism comprises a turntable (2) and a base (3), wherein a rotary support is coaxially arranged between the turntable (2) and the base (3), the turntable (2) is mounted on an inner ring (4) of the rotary support, and an outer ring (5) of the rotary support is mounted on the base (3), a reducer I (7) driven by a servo motor I (6) is mounted on the rear of the turntable (2), a driving pinion (34) on the rotating shaft of the reducer I (7) meshes with a driven large outer tooth of the outer ring (5) to drive the turntable (2) to rotate around the outer ring (5), and an angle sensor I (8) for detecting the forward and reverse angles of the turntable (2) and a limit assembly for limiting the forward and reverse rotation of the turntable (2) to not exceed 180 degrees are arranged between the turntable (2) and the base (3); The pitch mechanism comprises support assemblies respectively arranged on the left and right parts of the turntable (2) and an electric cylinder (9) arranged at the front center of the turntable (2); the cylinder body of the electric cylinder (9) is hinged on the turntable (2); the push rod extending forward of the electric cylinder (9) is hinged on the bottom of the antenna array (1); the rear part of the antenna array (1) is hinged on the left and right support assemblies; a reducer II (11) driven by a servo motor II (10) is installed on the cylinder body; the reducer II (11) drives the push rod to extend and retract to realize the pitch and elevation movement of the antenna array (1); an angle sensor II (12) for detecting the pitch and elevation angles of the antenna array (1) is provided on the support assembly; A control cabinet (31) is provided above the turntable (2), and the control cabinet (31) is mounted on the turntable (2) via a bracket.

2. The vehicle-mounted antenna two-dimensional servo turntable according to claim 1, characterized in that: The angle sensor I (8) is installed on the top of the central shaft (13), the upper part of the central shaft (13) is installed on the top plate (15) through the rolling bearing I (14), and the bottom of the central shaft (13) is installed on the bottom plate (17) through the flexible coupling (16). The top plate (15) is coaxially installed on the disk hole of the turntable (2), and the bottom plate (17) is coaxially installed on the bottom of the seat hole of the base (3). The angle sensor I (8) detects the rotation angle and direction of the turntable (2) by measuring the rotation angle and direction of the outer ring of the rolling bearing I (14) relative to the inner ring.

3. The vehicle-mounted antenna two-dimensional servo turntable according to claim 1, characterized in that: The limit assembly comprises a stopper (18) arranged on the base (3) and a baffle (19) arranged on the turntable (2) in a radially opposite manner to the stopper (18); a swing rod (20) capable of swinging left or right around an axis is installed on the bottom of the baffle (19) via a return spring (27); and left and right proximity switches (21) are respectively arranged on the baffle (19) on the left and right sides of the swing rod (20); when the turntable (2) rotates forward or backward by more than 180 degrees, the swing rod (20) contacts the stopper (18) to swing in a direction opposite to the rotation direction of the turntable (2) and senses the corresponding proximity switches (21).

4. The vehicle-mounted antenna two-dimensional servo turntable according to any one of claims 1 to 3, characterized in that The left and right support components are support component I and support component II respectively: The support assembly I comprises a support frame I (22) and a connecting frame I (23), wherein the connecting frame I (23) is mounted on a support shaft I (24) of the support frame I (22), and the angle sensor II (12) is mounted on a rotating shaft (26) inside the support shaft I (24) via a rolling bearing II (25); The support assembly II comprises a support frame II (28) and a connecting frame II (29), wherein the connecting frame II (29) is mounted on a support shaft II (30) of the support frame II (28); When the antenna array surface (1) moves in pitch or elevation, the connecting frame I (23) and the connecting frame II (29) rotate around the support axis I (24) and the support axis II (30) respectively, the rotating shaft (26) rotates synchronously with the connecting frame I (23), and the angle sensor II (12) detects the pitch and elevation angles of the antenna array surface (1) by measuring the rotation angle of the inner ring of the rolling bearing II (25) relative to the outer ring.

Images