High-precision two-dimensional servo mechanism

Abstract

The utility model discloses a high-precision two-dimensional servo mechanism, relates to the field of communication equipment, and provides a two-dimensional servo mechanism capable of adjusting directivity of communication equipment at high precision. The servo mechanism comprises an orientation support, and the orientation support is connected with an orientation rotating module and a pitching rotating module. The azimuth rotating module drives a first harmonic reducer through a first reduction pair by a first motor, the first harmonic reducer is connected to a bottom plate of an azimuth bracket, and a first absolute encoder is connected to the first harmonic reducer; the pitching rotation module drives a second harmonic reducer through a second speed reduction pair by a second motor, the second speed reduction pair is connected to a side plate of the azimuth support, and the second harmonic reducer and a second absolute encoder rotate synchronously. The servo mechanism has two adjusting dimensions of orientation and pitching, realizes high-precision pointing adjustment by means of the speed reduction pair and the absolute encoder, and is high in integration level and high in bearing capacity.

Description

Technical Field

[0001] The utility model relates to the field of communication equipment, in particular to a high-precision two-dimensional servo mechanism. Background Art

[0002] Many communication devices require directional alignment, and adjusting the directional angle is crucial for communication quality. In actual installations, antennas often need to be adjusted to ensure optimal alignment and smooth operation. Therefore, it's crucial to maximize the accuracy and efficiency of antenna directional adjustment.

[0003] Existing servo mechanisms can achieve multi-dimensional pointing adjustment, but only consider the degrees of freedom. The adjustment accuracy of most mechanisms is not accurate enough, and multiple adjustments are required to adjust to the final direction. The efficiency is low during pointing adjustment, and the pointing accuracy cannot meet the required position requirements, which cannot meet the existing work requirements well. Utility Model Content

[0004] The purpose of the present invention is to provide a high-precision two-dimensional servo mechanism to address the above-mentioned problems, so as to provide a two-dimensional servo mechanism capable of adjusting the directivity of communication equipment with high precision.

[0005] The technical solutions adopted in this utility model are as follows:

[0006] A high-precision two-dimensional servo mechanism comprises an azimuth bracket, to which an azimuth rotation module and a pitch rotation module are respectively connected;

[0007] The azimuth rotation module is driven by a first motor through a first reduction pair to drive a first harmonic reducer, the first harmonic reducer is connected to the bottom plate of the azimuth bracket, and the first harmonic reducer is connected to a first absolute encoder;

[0008] The pitch rotation module is driven by a second motor via a second reduction pair to drive a second harmonic reducer, the second reduction pair is connected to the side plate of the azimuth bracket, and the second harmonic reducer rotates synchronously with the second absolute encoder.

[0009] Furthermore, side plates are connected to both sides of the bottom plate of the azimuth bracket, and the first reduction pair is arranged in a space surrounded by the bottom plate and the side plates on both sides.

[0010] Furthermore, the first reduction pair includes a pulley, a belt and an azimuth large wheel, the diameter of the azimuth large wheel is larger than the pulley, the pulley is connected to the first motor, the pulley drives the azimuth large wheel through the belt, and the azimuth large wheel is connected to the first harmonic reducer.

[0011] Furthermore, the second reduction pair is a reducer, and the reducer is installed on the side plate of the azimuth bracket through a connecting flange.

[0012] Furthermore, the second absolute encoder and the second reduction pair are connected to different side plates of the azimuth bracket.

[0013] Furthermore, the second absolute encoder is connected to the pitch adapter and is mounted on the side plate of the azimuth bracket through a bearing. The pitch adapter rotates synchronously with the second harmonic reducer.

[0014] Furthermore, a magnetic switch is installed on the side plate connected to the bearing at the start and end positions corresponding to the pitch angle rotation, and a Hall plate is connected to the pitch adapter.

[0015] Furthermore, the servo mechanism also includes a slide rail-slider pair, the first harmonic reducer and one of the slide rails or sliders remain relatively stationary, and the other of the slide rails or sliders remains absolutely stationary relative to the first harmonic reducer.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0017] The two-dimensional servo mechanism of this design can rotate in both azimuth and pitch dimensions, thereby achieving multi-angle pointing adjustment. In addition, reduction pairs are designed in both dimensions, so that small-step adjustment can be achieved in both dimensions, providing a basis for high-precision adjustment and constant-speed adjustment. The mechanism is equipped with absolute encoders in both dimensions, so that the angles adjusted in the two dimensions can be accurately grasped through the absolute encoders, achieving high-precision adjustment of the pointing direction. In addition, the mechanism uses a harmonic reducer and bearings in pitch to improve the load-bearing capacity of the mechanism. The design of the azimuth bracket improves the overall stiffness of the mechanism. The azimuth bracket integrates the rotation modules of the two dimensions, improving the compactness of the mechanism and improving the reliability of its operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 4 is an exploded view of a high-precision two-dimensional servo mechanism in one embodiment.

[0019] Markings in the figure: 1 is the first absolute encoder; 2 is the slide rail-slider pair; 3 is the first harmonic reducer; 4 is the absolute encoder reader; 5 is the pitch adapter; 6 is the bearing; 7 is the second absolute encoder; 8 is the azimuth bracket; 9 is the magnetic switch; 10 is the belt; 11 is the pulley; 12 is the azimuth large wheel; 13 is the first motor; 14 is the reducer; 15 is the connecting flange; 16 is the second harmonic reducer, 17 is the second motor, 18 is the bottom plate, 19 is the first side plate, and 20 is the second side plate. DETAILED DESCRIPTION

[0020] The present utility model will be described in detail below in conjunction with the accompanying drawings.

[0021] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0022] As Figure 1 shown, the high-precision two-dimensional servo mechanism includes an azimuth bracket 8, which integrates the adjustment components in the azimuth and pitch dimensions. An azimuth rotation module and a pitch rotation module are respectively connected to the azimuth bracket 8. The pitch rotation module is used to drive the pitch angle rotation of the communication device to be adjusted in direction, and the azimuth rotation module is used to drive the azimuth angle rotation of the azimuth bracket 8, thereby driving the azimuth angle rotation of the communication device. As is well known to those skilled in the art, the axes of azimuth and pitch are perpendicular to each other, that is, the output shaft of the azimuth rotation module and the output shaft of the pitch rotation module are perpendicular to each other.

[0023] In some embodiments, the azimuth rotation module includes a first motor 13, a first reduction pair and a first harmonic reducer 3. The first harmonic reducer 3 is driven by the first motor 13 via the first reduction pair. The first harmonic reducer 3 is connected to the bottom plate 18 of the azimuth bracket 8, and a first absolute encoder 1 is connected to the first harmonic reducer 3. Under the drive of the first motor 13, the first harmonic reducer 3 drives the azimuth bracket 8 to rotate around the rotation axis of the first harmonic reducer 3, and the first absolute encoder 1 records the rotation angle of the first harmonic reducer 3, and the recorded angle can be read through the absolute encoder head 4.

[0024] In some embodiments, the azimuth bracket 8 includes a bottom plate 18, and side plates respectively connected to both sides of the bottom plate 18: a first side plate 19 on the left and a second side plate 20 on the right. Usually, the side plates are perpendicularly connected to the bottom plate 18, and the whole is in a "U" shape. An installation space is formed between the bottom plate 18 and the two side plates, and the first reduction pair is arranged in this space. The first harmonic reducer 3 passes through the bottom plate 18 from below and is connected to the first reduction pair in the installation space.

[0025] In some embodiments, the first reduction pair includes a pulley 11, a belt 10 and a large azimuth wheel 12. The diameter of the large azimuth wheel 12 is larger than that of the pulley 11. The pulley 11 is connected to the first motor 13, and the pulley 11 drives the large azimuth wheel 12 through the belt 10. The large azimuth wheel 12 is connected to the first harmonic reducer 3. In this way, under the condition of equal linear velocity, the deceleration of the angular velocity of the motor is achieved. Then, a first-level deceleration mechanism is formed by the first reduction pair, and a second-level deceleration mechanism is formed by the first harmonic reducer 3 to achieve the deceleration of the first motor 13.

[0026] In addition, considering the need for wiring in the servo mechanism, 360-degree rotation in azimuth is not allowed to prevent excessive twisting of the wiring. In some embodiments, a corresponding first limit assembly is also designed in the azimuth rotation module. This first limit assembly is (directly or indirectly) connected to the first harmonic reducer 3 to limit the rotation range of the first harmonic reducer 3.

[0027] In some specific embodiments, the first limiting component is a slide rail-slider pair 2 structure, and the slider can slide within the range of the slide rail and cannot exceed the range of the slide rail. Since the rotation angle is limited, the slide rail is an arc-shaped structure. The first harmonic reducer 3 is designed to remain relatively stationary with one of the slide rails or sliders, and the other of the slide rails or sliders remains absolutely stationary relative to the first harmonic reducer 3. The so-called absolute stillness means that no matter how the first harmonic reducer 3 rotates, it will not move. For example, the first harmonic reducer 3 is connected to the slider, and the slide rail is fixed, or vice versa. It should be noted that since the first harmonic reducer is connected to the base plate 18 of the azimuth bracket 8, the base plate 18 can also be connected to the slider or slide rail, so that the first harmonic reducer 3 is indirectly connected to the slider or slide rail, but also remains relatively stationary.

[0028] In some embodiments, the pitch rotation module includes a second motor 17, a second reduction pair, and a second harmonic reducer 16. The second motor 17 drives the second harmonic reducer 16 via the second reduction pair. The communication device is circumferentially connected to the second harmonic reducer 16, that is, perpendicular to the rotation axis of the second harmonic reducer 16. After the second motor 17 undergoes a first-stage reduction in speed via the first reduction pair, the second harmonic reducer 16 performs a second-stage reduction in speed, thereby adjusting the pitch angle of the communication device.

[0029] The second absolute encoder 7 is connected to the second harmonic reducer 16 to record the rotation angle of the second harmonic reducer 16. By reading the angle recorded by the second absolute encoder 7, the pitch angle adjustment angle can be accurately grasped, achieving high-precision adjustment.

[0030] In some embodiments, the second reduction pair uses a reducer 14, which is mounted on the side plate of the azimuth bracket 8 via a connecting flange 15. In the embodiment of the azimuth bracket 8 described above, for example, the reducer 14 is mounted on the second side plate 20 of the azimuth bracket 8.

[0031] Typically, communications equipment is supported by two side panels to ensure stability. To balance the load on the azimuth support 8 and prevent motor vibration from affecting the pitch angle measurement, the second absolute encoder 7 and the second reduction pair are connected to different side panels of the azimuth support 8. Specifically, the second absolute encoder 7 is mounted on the first side panel 19.

[0032] Based on this design, in some embodiments, the second absolute encoder 7 is connected to the pitch adapter 5 and mounted on the first side plate 19 of the azimuth bracket 8 via a bearing 6. The pitch adapter 5 rotates synchronously with the second harmonic reducer 16. Since the second absolute encoder 7 is connected to the pitch adapter 5 and maintains synchronous rotation, the second absolute encoder 7 also rotates synchronously with the second harmonic reducer 16. In some embodiments, in addition to being connected to the second harmonic reducer 16, the communication device is also connected to the pitch adapter 5 (also connected circumferentially). When the second harmonic reducer 16 drives the communication device to rotate, it will also drive the pitch adapter 5 to rotate, and in turn, the second absolute encoder 7 to rotate, thereby recording the pitch angle adjustment amount. Similarly, in the pitch dimension, it may be necessary to limit the pitch angle adjustment range. In some embodiments, the pitch rotation module is also provided with a second limit mechanism, which can be connected to the second harmonic reducer 16 or to the pitch adapter 5 to limit the range of rotation in the pitch dimension. In some specific embodiments, magnetic switches 9 may be installed on the side plate to which the bearing 6 is connected (i.e., the first side plate 19) at the starting and ending positions corresponding to the pitch angle rotation, with one starting position and one ending position. A Hall plate is connected to the pitch adapter 5. In this way, when the Hall plate rotates with the pitch adapter 5, if it rotates to a certain position of the magnetic switch 9, it is restricted and cannot continue to rotate, and can only rotate in the opposite direction, thereby achieving pitch dimension limitation.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision two-dimensional servo mechanism, characterized in that: It comprises an azimuth bracket (8), to which an azimuth rotation module and a pitch rotation module are respectively connected; The azimuth rotation module is driven by a first motor (13) via a first reduction pair to drive a first harmonic reducer (3); the first harmonic reducer (3) is connected to a bottom plate (18) of the azimuth bracket (8); and a first absolute encoder (1) is connected to the first harmonic reducer (3); The pitch rotation module is driven by a second motor (17) via a second reduction pair to drive a second harmonic reducer (16); the second reduction pair is connected to a side plate of the azimuth bracket (8); and the second harmonic reducer (16) rotates synchronously with the second absolute encoder (7).

2. The high-precision two-dimensional servo mechanism according to claim 1, wherein: Side plates are connected to both sides of the bottom plate (18) of the azimuth bracket (8), and the first speed reduction pair is arranged in a space surrounded by the bottom plate (18) and the side plates on both sides.

3. The high-precision two-dimensional servo mechanism according to claim 1 or 2, characterized in that: The first reduction pair comprises a pulley (11), a belt (10) and an azimuth large wheel (12), wherein the diameter of the azimuth large wheel (12) is larger than that of the pulley (11), the pulley (11) is connected to the first motor (13), the pulley (11) transmits the azimuth large wheel (12) through the belt (10), and the azimuth large wheel (12) is connected to the first harmonic reducer (3).

4. The high-precision two-dimensional servo mechanism according to claim 1, wherein: The second reduction pair is a reducer (14), and the reducer (14) is mounted on the side plate of the azimuth bracket (8) via a connecting flange (15).

5. The high-precision two-dimensional servo mechanism according to claim 2, wherein: The second absolute encoder (7) and the second reduction pair are connected to different side plates of the azimuth bracket (8).

6. The high-precision two-dimensional servo mechanism according to claim 5, characterized in that: The second absolute encoder (7) is connected to the pitch adapter (5) and is mounted on the side plate of the azimuth bracket (8) via a bearing (6). The pitch adapter (5) rotates synchronously with the second harmonic reducer (16).

7. The high-precision two-dimensional servo mechanism according to claim 6, wherein: A magnetic switch (9) is installed on the side plate connected to the bearing (6) at the start and end positions corresponding to the pitch angle rotation, and a Hall plate is connected to the pitch adapter (5).

8. The high-precision two-dimensional servo mechanism according to claim 1, wherein: It also includes a slide rail-slider pair (2), wherein the first harmonic reducer (3) and one of the slide rails or sliders remain relatively stationary, and the other of the slide rails or sliders remains absolutely stationary relative to the first harmonic reducer (3).

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