CN107196037B

CN107196037B - Two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform

Info

Publication number: CN107196037B
Application number: CN201710500920.3A
Authority: CN
Inventors: 张地
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-06-27
Filing date: 2017-06-27
Publication date: 2023-01-31
Anticipated expiration: 2037-06-27
Also published as: CN107196037A

Abstract

The invention provides a two-degree-of-freedom three-ball structure satellite receiving antenna adjusting platform which comprises a body, wherein the body comprises a rotating part, a supporting component, a power component and a measurement and control component, the rotating part is arranged in an outer cover and comprises a ball shell, and an antenna mounting plate is arranged in the ball shell; the supporting component comprises an annular base, and the central part of the base extends to the bottom surface of the base to form a cavity with an opening at the bottom; the inner wall of the concave cavity is provided with a plurality of supporting units which are uniformly distributed along the circumference, and the top surface of the base is provided with a plurality of limiting units which are uniformly distributed along the circumference; the power assembly comprises a plurality of stepping motors which are uniformly distributed on the base along the circumference, the output shafts of the stepping motors are provided with driving wheels, the driving wheels are tangent to the outer surface of the spherical shell, and the plane where the driving wheels are located is vertical to the equatorial plane of the spherical shell. The rotation of the spherical shell on the x axis and the y axis is realized by utilizing a plurality of driving wheels which are oppositely arranged and connected with the stepping motor, so that the antenna can rapidly rotate in a 360-degree range without dead angles.

Description

Two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform

Technical Field

The invention belongs to the field of mechanical equipment, particularly belongs to the field of rotary mechanical adjustment, and particularly relates to a satellite receiving antenna adjusting platform with a two-degree-of-freedom spherical structure.

Background

A stable antenna platform is established by utilizing a satellite attitude measurement technology and a missile guidance technology, and the stable antenna platform is used for isolating the swing and azimuth angle change of a moving carrier, so that the beam center of an antenna for receiving satellite signals is ensured to be simply, conveniently, quickly and accurately aligned with a satellite, and the communication in motion is realized. Currently, there are three ways for tracking a satellite by an antenna: the method comprises the steps of manual tracking, program tracking and automatic tracking, wherein the manual tracking is to control an antenna by hand according to the size of a received signal, the program tracking is to drive the antenna according to preset satellite orbit information and the direction information of an antenna beam, and the automatic tracking is to drive a tracking servo system to enable the antenna to be automatically aligned with a satellite by an earth station after the signal transmitted by the satellite is processed.

No matter which way is adopted to realize 'communication in motion', an antenna generally needs to be fixed on an adjusting device which can only change the orientation of the antenna, for example, chinese patent CN104156000A discloses an astronomical solar tracker which utilizes an attitude sensor composed of a group of azimuth angle sensors and a group of altitude angle sensors to realize astronomical tracking of solar equipment by a closed-loop control method, thereby changing the condition that the astronomical tracker in the traditional technology can only use open-loop control, leading the framework of a control system to be more rigorous, leading the requirements on a matched motor and subsequent mechanical execution equipment to be lower, saving a necessary stepping motor and an accurate mechanical fixed-ratio transmission system of the traditional astronomical tracker, leading the equipment to operate more accurately and reliably, and leading the manufacturing cost to be lower. In short, a steel wire rope with a fixed length is driven by a traction device, so that the elevation angle of an object bearing platform is changed, and automatic tracking of a target is realized.

In order to meet the requirement of tracking satellite signals in various different mobile devices, a more advanced automatic tracking system at present adopts the steps that a hemispherical bottom is arranged below a receiving antenna, then a base which limits the movement of x and y axes of the bottom but keeps the rotation of the x and y axes is arranged outside the bottom, and then a driving end of a piezoelectric ceramic motor is used for transmitting force to the bottom to realize the rotation of the bottom on the x axis and the y axis, so that the problem of changing the orientation of the receiving antenna is solved. However, due to the structural limitation, the mobile satellite tracking device with such a structure can only be applied to relatively slow devices, such as conventional vehicles, general military vehicles, ships, etc., and for relatively fast devices, such as special trains, airplanes, missiles, etc., the adjustment speed of the mobile satellite tracking device is far from the change speed of the satellite signal relative to the object; secondly, because the motion track of the airplane, the missile and even the unmanned aerial vehicle system is relatively different from the motion track of the traditional mobile equipment which keeps a normal running state (for example, when the airplane flies backwards or flies sideways), the tracking equipment is in a paralysis state which cannot work at the moment; moreover, due to the technical limitation at present, the piezoelectric ceramic motor cannot be very large, the output power is limited, and the piezoelectric ceramic motor is only suitable for receiving antennas in certain models and specifications, and if the size of the receiving antenna is too large, mechanical equipment capable of replacing the function of the receiving antenna is difficult to find.

Disclosure of Invention

In order to solve the problems that the satellite signal receiving in the prior art is only suitable for fixed-point tracking or simple tracking on a specific route, the adjusting speed is slow, the normal working state cannot be ensured on some carrying equipment, and the volume of the receiving antenna cannot be overlarge, the invention provides a satellite receiving antenna adjusting platform with a two-degree-of-freedom spherical structure,

the specific technical scheme of the invention is as follows:

the satellite receiving antenna adjusting platform with the two-degree-of-freedom spherical structure comprises a body, wherein the body comprises a rotating part, a supporting component, a power component and a measurement and control component, the rotating part is internally provided with a receiving antenna, the supporting component is arranged below the rotating part, the power component is used for driving the rotating part, and the measurement and control component is electrically connected with the rotating part and the power component; the power assembly comprises four stepping motors which are uniformly distributed along the circumference, the four stepping motors are divided into two groups, each group comprises two stepping motors which are oppositely arranged at an angle of 180 degrees, and the two groups of stepping motors move step by step, namely when one group of stepping motors works, the other group of stepping motors keeps static; the output shaft of the stepping motor is positioned on the equatorial plane of the spherical shell, a driving wheel is arranged on the output shaft of the stepping motor, the driving wheel can drive the spherical shell to rotate through friction force, and the plane of the driving wheel is perpendicular to the equatorial plane of the spherical shell; the measurement and control assembly comprises a detection unit electrically connected with the receiving antenna and a control unit electrically connected with the stepping motors, the detection unit comprises a memory and a processor, the memory is used for receiving signals sent by the receiving antenna after satellite information is obtained, the processor is used for sending attitude adjustment instructions to the control unit according to signal strength, and the control unit is used for controlling the two groups of stepping motors to rotate or stop according to the instructions sent by the detection unit; the processor comprises a first processor, a second processor and a third processor, wherein the first processor is used for calculating the numerical value cached in the memory and a preset value to generate a difference value, the second processor is used for judging whether the difference value is positive or negative, and the third processor is used for judging whether the receiving antenna receives a new satellite signal.

Furthermore, the rotating part comprises a spherical shell, the spherical shell comprises an upper hemispherical shell and a lower hemispherical shell which are connected tightly, an antenna mounting plate is arranged in the spherical shell, and a receiving antenna is mounted on the antenna mounting plate.

Furthermore, a plurality of vertically-arranged upper clamping columns are fixedly arranged on the inner wall of the upper hemispherical shell, a plurality of lower clamping columns corresponding to the upper clamping columns are fixedly arranged on the inner wall of the lower hemispherical shell, threaded through holes are formed in the upper clamping columns and the lower clamping columns, and a plurality of gaps corresponding to the upper clamping columns and the lower clamping columns are formed in the antenna mounting plate.

Further, the supporting assembly comprises a base used for mounting the stepping motor, the central part of the base extends downwards to form a cavity with an opening at the bottom, and the depth of the cavity is smaller than the height of the lower hemispherical shell; the inner wall of the concave cavity is provided with a plurality of supporting units which are uniformly distributed along the circumference, and the top surface of the base is provided with a plurality of limiting units which are uniformly distributed along the circumference.

Furthermore, the supporting unit comprises a supporting column which is arranged on the inner wall of the cavity in a penetrating mode, a supporting seat is arranged at one end, located in the cavity, of the supporting column, the supporting seat corresponds to a first spherical groove formed in one side of the spherical shell, a first ball is arranged in the first spherical groove, a first cover body which is connected with the supporting seat and used for limiting the first ball is arranged outside the first ball, and a through hole which is used for ensuring that the first ball is in contact with the spherical shell is formed in the first cover body.

Furthermore, the limiting unit comprises an arc-shaped limiting antenna fixed on the base, the limiting antenna is bent towards the concave cavity, and a limiting assembly is arranged on the limiting antenna.

Furthermore, the limiting assembly comprises a limiting column arranged at the top end of the limiting antenna, a limiting seat is arranged at one end, corresponding to the spherical shell, of the limiting column, a second spherical groove is formed in one side, corresponding to the spherical shell, of the spherical shell, a second ball is arranged in the second spherical groove, a second cover body connected with the limiting seat and used for limiting the second ball is arranged outside the second ball, and a through hole for ensuring the contact between the second ball and the spherical shell is formed in the second cover body.

Furthermore, a plurality of motor support plates which are uniformly arranged along the circumference are fixed on the base, the motor support plates are bent into a horizontal section and a vertical section, the horizontal section is provided with mounting holes for connecting the motor support plates with the base, and the vertical section is provided with fixing holes and a plurality of screw holes for fixing the stepping motor.

Furthermore, the axial extension lines of the support column and the limit column penetrate through the spherical center of the spherical shell; the number of the stepping motors is four, and the axes of the transmission shafts of the two opposite stepping motors are parallel to each other; the outer edge of the driving wheel is provided with a rubber ring, and the tangent point of the rubber ring and the spherical shell is positioned on the equator line of the spherical shell; the base is provided with a plurality of outer cover holes, and an outer cover for covering the body is fixed on the base through the outer cover holes.

Furthermore, a rubber ring is sleeved on the outer edge of the driving wheel and keeps in contact with the spherical shell.

The invention has the beneficial effects that: the invention provides a two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform, which is characterized in that an antenna is arranged in a spherical shell, then the movement of the spherical shell on x, y and z axes is realized by utilizing a supporting unit and a limiting unit, and the rotation of the spherical shell on the x and y axes is realized by utilizing a plurality of driving wheels which are oppositely arranged at 180 degrees and connected with a stepping motor, so that the purpose that the antenna can rotate in a 360-degree range without dead angles is rapidly realized (for example, the receiving antenna can still be ensured to face a satellite in a reverse flying or side flying state), and the two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform can be suitable for different working purposes and different carrying equipment; and the sizes of the spherical shell and the driving wheel are increased, the power of the stepping motor is increased, the function of loading large-volume signal receiving equipment can be realized, different working requirements are met, and the device is convenient to popularize.

Drawings

Figure 1 is a front view of the present invention,

figure 2 is a top view of the present invention,

figure 3 is a schematic view of the internal structure of the present invention,

FIG. 4 is a schematic structural diagram of the supporting unit of the present invention,

figure 5 is a cross-sectional view of the support unit of the present invention,

figure 6 is a schematic structural view of the spacing unit of the present invention,

figure 7 is a schematic structural view of a spacing assembly of the present invention,

figure 8 is a cross-sectional view of a stop assembly of the present invention,

figure 9 is a structural schematic view of the motor bracket plate of the present invention,

figure 10 is a schematic view of the installation of the stepping motor and the motor bracket plate of the present invention,

figure 11 is a schematic view I (front view) of the virtual axis of the present invention,

figure 12 is a schematic view of a virtual axis of the present invention II (left view),

figure 13 is a schematic view III of a virtual axis of the present invention (from above),

figure 14 is a schematic physical representation of a virtual instantaneous shaft of the present invention,

figure 15 is a schematic view of the installation of the cover of the present invention,

FIG. 16 is a schematic block diagram of the measurement and control assembly of the present invention,

FIG. 17 is a structural frame diagram of the measurement and control assembly of the present invention,

fig. 18 is a sectional view of a supporting unit according to embodiment 2 of the present invention.

Reference numbers and designations: 1. the antenna comprises a spherical shell, 101, an upper hemispherical shell, 102, a lower hemispherical shell, 103, an upper clamping column, 104, a lower clamping column, 105, an antenna mounting plate, 106, a receiving antenna, 2, a base, 201, a cavity, 3, a limiting unit, 301, a limiting antenna, 302, a limiting assembly, 3021, a limiting column, 3022, a limiting seat, 3023, a second ball, 3024, a second cover, 4, a supporting unit, 401, a supporting column, 402, a supporting seat, 403, a first ball, 404, a first cover, 5, a stepping motor, 501, a transmission wheel, 502, a rubber ring, 503, a motor support plate, 5031, a vertical section, 5032, a horizontal section, 6, a housing hole, 7, a housing, 8, an air floating rod, 801, a ball seat, 802 and a vent hole.

Detailed Description

Example 1

Referring to fig. 1 to 3, the present invention describes a two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform, which includes a body, wherein the body includes a rotating member with a receiving antenna 106 mounted therein, a supporting component disposed below the rotating member, a power component for driving the rotating member, and a measurement and control component electrically connected to the rotating member and the power component. As shown in fig. 3, the rotating member includes a spherical shell 1, the spherical shell 1 includes an upper hemispherical shell 101 and a lower hemispherical shell 102 which are tightly connected, an antenna mounting plate 105 is arranged inside the spherical shell 1, and a receiving antenna 106 is mounted on the antenna mounting plate 105; the supporting component comprises an annular base 2, the central part of the base 2 extends towards the bottom surface of the base 2 to form a cavity 201 with an opening at the bottom, and the depth of the cavity 201 is less than the height of the lower hemispherical shell 102; the inner wall of the concave cavity 201 is provided with four supporting units 4 which are uniformly distributed along the circumference, and the top surface of the base 2 is provided with three limiting units 3 which are uniformly distributed along the circumference; the fixed last card post 103 that is equipped with three vertical arrangement of inner wall of last hemisphere shell 101, the fixed lower card post 104 that is equipped with three and last card post 103 position and corresponds on the inner wall of lower hemisphere shell 102, go up card post 103 and lower card post 104 in all the shaping be threaded through-hole, seted up on the antenna mounting panel 105 three and last card post 103 and the lower breach that card post 104 corresponds.

As shown in fig. 1 and fig. 2, the power assembly includes four stepping motors 5 evenly distributed on the base 2 along the circumference, a driving wheel 501 is arranged on an output shaft of the stepping motor 5, the driving wheel 501 is tangent to the outer surface of the spherical shell 1, a rubber ring is sleeved on the outer edge of the driving wheel 501, the rubber ring keeps contact with the spherical shell 1 to ensure the friction force between the driving wheel 501 and the spherical shell 1, and the plane where the driving wheel 501 is located is perpendicular to the equatorial plane of the spherical shell 1; the measurement and control assembly comprises a detection unit and a control unit, the detection unit is used for acquiring satellite signals and sending attitude adjustment data to the control unit, and the control unit is used for controlling the stepping motor 5 to rotate or stop after optimized calculation according to the data sent by the satellite detection unit.

As shown in fig. 4 and 5, the supporting unit 4 includes a supporting column 401 penetrating through the inner wall of the cavity 201, a supporting seat 402 is disposed at one end of the supporting column 401 located in the cavity 201, a first spherical groove is formed in one side of the supporting seat 402 corresponding to the spherical shell 1, a first ball 403 is disposed in the first spherical groove, a first cover 404 connected with the supporting seat 402 and used for limiting the first ball 403 is disposed outside the first ball 403, and a through hole for ensuring the contact between the first ball 403 and the spherical shell 1 is disposed on the first cover 404, so that rolling friction is formed between the supporting unit 4 and the spherical shell 1, and the stability of the operation is ensured.

As shown in fig. 6, the limiting unit 3 includes an arc-shaped limiting antenna 301 fixed on the base 2, the limiting antenna 301 bends toward the cavity 201, and a limiting assembly 302 is disposed on the limiting antenna 301 and is used for limiting the displacement of the spherical shell 1 in the vertical direction. As shown in fig. 7 and 8, the limiting assembly 302 includes a limiting post 3021 disposed at the top end of the limiting antenna 301, a limiting seat 3022 is disposed at one end of the limiting post 3021 corresponding to the spherical shell 1, a second spherical groove is formed at one side of the limiting seat 3022 corresponding to the spherical shell 1, a second ball 3023 is disposed in the second spherical groove, a second cover 3024 connected to the limiting seat 3022 and used for limiting the second ball 3023 is disposed outside the second ball 3023, a through hole for ensuring the second ball 3023 to contact with the spherical shell 1 is disposed on the second cover 3024, so that rolling friction is formed between the limiting assembly 302 and the spherical shell 1, and the axial extension lines of the supporting column 401 and the limiting post 3021 both pass through the center of the spherical shell 1, thereby ensuring the stability of the operation.

The measurement and control assembly comprises a detection unit electrically connected with the receiving antenna 106 and a control unit electrically connected with the stepping motors 5, the detection unit comprises a memory used for receiving signals sent by the receiving antenna 106 after satellite information is obtained and a processor used for sending attitude adjustment instructions to the control unit according to signal strength, and the control unit is used for controlling the rotation or stop of the two groups of stepping motors according to the instructions sent by the detection unit; the processor comprises a first processor, a second processor and a third processor, wherein the first processor is used for calculating the numerical value cached in the memory and a preset value to generate a difference value, the second processor is used for judging whether the difference value is positive or negative, and the third processor is used for judging whether the receiving antenna receives a new satellite signal. The control unit is an FX3U-80 MTES-se:Sup>A programmable controller, the memory is se:Sup>A NAND-type K9F2G08U0M memory, the first processor is se:Sup>A TIAM1808 industrial processor, and the second processor and the third processor are MT6139CPU chips, which are not described herein.

It is known that each revolving object has a revolution axis about which the object rotates to effect a revolving movement of the object, this revolution axis or straight or curved being present objectively, irrespective of the accuracy of the manufacture. One can precisely control the position of the axis of the rotating object to achieve the desired function. The axis is the reference for designing, manufacturing and measuring the rotary parts, but the axis cannot be seen. The actual axis is distinguished from the theoretically imagined axis, which is an aerial irregular curve relating to the machining precision, the overall course being a straight line. And the theoretical axis is an ideal straight line and is straight without error. For a sphere, its geometric center is a point, called the sphere center. When the ball rotates, an actual rotation axis is formed, and the line connecting the north and south poles of the earth can be thought, and the line is the rotation axis of the earth. The axis of rotation of the sphere is very specific, and the direction of rotation of the sphere determines the position and direction of the axis in space. In general, the rotation of the sphere with six degrees of freedom in the air is difficult to control accurately, so that the position of the axis of the sphere in the air is inconstant. The rotation axis of the ball is controlled by controlling the rotation direction of the ball, so that the rotation of the ball is accurately controlled. The axis of rotation of the sphere is varied in real time and we refer to this axis of spatial sphere rotation as the virtual instantaneous axis.

With reference to fig. 1 to 3, the four stepping motors on the base 2, and then with reference to fig. 14, the driving wheels 501 on the four stepping motors press the middle spherical shell 1 to form four pressing points a, a ', b', and two virtual instantaneous axes X and Y: when the two motors on the X axis are still and the two motors on the Y axis rotate in the same direction, the spherical shell rotates around the X axis; when the two motors on the Y axis are stationary and the two motors on the X axis rotate in the same direction, the spherical shell rotates around the Y axis, and the two pairs of motors work alternately to realize the movement of the spherical shell around the X axis and the Y axis.

Referring to fig. 9 and 10 again, the motor support plate 503 is bent into a horizontal segment 5032 and a vertical segment 5031, the horizontal segment 5032 is fixedly connected to the base 2, and the stepping motor 5 is inserted into the vertical segment 5031 to ensure that the driving wheel 501 fixed on the output shaft of the stepping motor 5 is tangential to the outer surface of the spherical shell 1 and is perpendicular to the equatorial plane of the spherical shell; the outer edge of the driving wheel 501 is provided with a rubber ring 502, so that the friction between the driving wheel 501 and the spherical shell 1 is increased, and a certain flexible buffer exists between the driving wheel 501 and the spherical shell 1, thereby ensuring the driving stability of the stepping motor 5.

As shown in fig. 15, six housing holes 6 are formed in the base 2, and a housing 7 for covering the body is fixed to the base 2 through the housing holes 6, so that water or impurities are prevented from entering the device and affecting the normal operation of the device.

As shown in fig. 11-13, the surface of the sphere has points a and a', two points are pressed against the sphere by an external force at the same time in any time Δ t, so as to form an instantaneous rotation axis X of the sphere, in this time Δ t, the instantaneous axis X makes the sphere rotate only around the X axis, while the motions in other directions are limited, the sphere has only one degree of freedom to rotate around the X axis, and the other five degrees of freedom are limited (the space objects have six degrees of freedom), at this time, the sphere has a characteristic of one degree of freedom to rotate, which is completely the same as the characteristic of the degree of freedom of the conventional rotation axis, and the sphere using X as the rotation axis in this time Δ t is a conventional axis. If the point b and the point b 'are pressed on the sphere at the same time at the two points in the time delta t', an instantaneous sphere rotating shaft Y is formed, the instantaneous axis Y enables the sphere to only rotate around the axis Y in the time delta t ', the motion in other directions is limited, the sphere has only one degree of freedom of rotation around the axis Y at the moment, the rest five degrees of freedom are limited (the space objects have six degrees of freedom), the sphere has the characteristic of one degree of freedom of rotation, the characteristic of the degree of freedom is completely the same as that of the traditional rotating shaft, and the sphere taking the axis Y as the rotating shaft in the time delta t' is a traditional shaft.

It is emphasized here that Δ t and Δ t' cannot occur simultaneously, and their two relationships are mutually exclusive relationships and also are the core of sphere motion control, and this control strategy reflects the existence of virtual instantaneous axis, which is a soul of precisely controlled motion of a space sphere. Namely, an instantaneous rotating shaft X is formed in the time delta t, an instantaneous rotating shaft Y is formed in the time delta t' and the time delta t when the ball rotates around the X axis, and the ball rotates around the Y axis, so that the two phenomena can not occur simultaneously. The function is realized by control software. The two instantaneous shafts exist alternately at any moment, and the ball rotates around the X shaft and the Y shaft in a time sharing manner under the action of two driving torques of the time sharing period Tx and Ty. Therefore, when the angle of the receiving antenna in the spherical shell is adjusted through the stepping motors, the four stepping motors cannot rotate simultaneously, and the four stepping motors are required to be grouped and operated alternately, and only two stepping motors positioned on the same instantaneous shaft can act at the same time.

To sum up, referring to fig. 16, the working method of the two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform is as follows:

step1, the platform receives a starting instruction, the receiving antenna works to receive signals from the satellite at the moment, the received signals are converted from analog to digital through a signal amplifier and a filter, and then the mean value of the digital quantity is cached in a memory;

step2, the first processor calculates the numerical value cached in the memory and a preset value to generate a difference value, then the first comparator compares the difference value with a standard value, then the operation of Step3 is carried out according to the comparison result, if the difference value is larger than the standard value, step301 in Step3 is carried out, and if the difference value is smaller than the standard value, step302 in Step3 is carried out;

step301, the second processor judges whether the difference value is positive or negative, and if the difference value is positive, a rotation instruction is sent to the stepping motor to enable the angle of the receiving antenna to deflect; if the difference is negative, a rotation instruction opposite to the rotation direction with the positive difference is sent to the stepping motor, so that the angle of the receiving antenna is deflected;

step302, judging whether the receiving antenna receives a new satellite signal or not by the third processor, and if the new signal is accessed into the third processor, sending a 'stay' instruction to the stepping motor; if no new signal is accessed to the second processor, the whole platform is instructed to stop working until a starting instruction is received again;

step4. Repeat the steps of Step1-Step 3.

As shown in fig. 17, four stepping motors are divided into two groups, two stepping motors located on the X axis are a first group of stepping motors, two stepping motors located on the Y axis are a second group of stepping motors, and the first to third processors each include two independent sub-processors respectively connected to the two groups of stepping motors and respectively configured to send instructions to the first group of stepping motors and the second group of stepping motors; when the instruction sent by the third processor of Step3 is carried out, the two groups of stepping motors take cross coupling action, and the second group of stepping motors are kept in a' state when the first group of stepping motors carry out Step3 after the two groups of stepping motors pass through Step1 and Step2; when the first group of stepping motors returns to Step1, the second group of stepping motors performs Step3; if the first group of stepping motors perform Step3 for the second time, the second group of stepping motors perform Step1 or Step2; and the two groups of stepping motors perform cross action until the two groups of stepping motors all move to Step4, and at the moment, the receiving antenna faces the satellite at the angle with the strongest received signal. The whole system utilizes a computer and a high-frequency electric control system to realize the circulation of Step1-Stap3 for hundreds of times per second, thereby achieving the purpose of quickly adjusting the deflection angle of the receiving antenna.

Example 2

Referring to fig. 3 and 18, embodiment 2 is different from embodiment 1 in that: support element 4 is including wearing to locate the air supporting rod 8 on the cavity 201 inner wall, the one end shaping that air supporting rod 8 is located cavity 201 be with spherical shell 1 complex ball seat 801, air vent 802 along air supporting rod axial is seted up at the center of ball seat 801, and air compressor machine is connected through the gas circuit in the bottom of air vent 802.

The above examples only show several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. Two degree of freedom ball-type structure satellite receiving antenna adjustment platform, including the body, its characterized in that: the body comprises a rotating part, a supporting component, a power component and a measurement and control component, wherein a receiving antenna (106) is arranged in the rotating part, the supporting component is arranged below the rotating part, the power component is used for driving the rotating part, and the measurement and control component is electrically connected with the rotating part and the power component; the rotating piece comprises a spherical shell (1), the spherical shell (1) comprises an upper hemispherical shell (101) and a lower hemispherical shell (102) which are tightly connected, an antenna mounting plate (105) is arranged inside the spherical shell (1), and a receiving antenna (106) is mounted on the antenna mounting plate (105);

the power assembly comprises four stepping motors (5) which are uniformly distributed along the circumference, the four stepping motors (5) are divided into two groups, each group comprises two stepping motors which are oppositely arranged at an angle of 180 degrees, and the two groups of stepping motors move step by step, namely when one group of stepping motors works, the other group of stepping motors keeps static; an output shaft of the stepping motor (5) is positioned on the equatorial plane of the spherical shell (1), a transmission wheel (501) is arranged on the output shaft of the stepping motor (5), the transmission wheel (501) can drive the spherical shell (1) to rotate through friction force, and the plane of the transmission wheel (501) is vertical to the equatorial plane of the spherical shell (1);

the measurement and control assembly comprises a detection unit electrically connected with the receiving antenna (106) and a control unit electrically connected with the stepping motors (5), the detection unit comprises a memory and a processor, the memory is used for receiving signals sent by the receiving antenna (106) after satellite information is obtained, the processor is used for sending attitude adjustment instructions to the control unit according to signal strength, and the control unit is used for controlling the two groups of stepping motors to rotate or stop according to the instructions sent by the detection unit; the processor comprises a first processor, a second processor and a third processor, wherein the first processor is used for calculating the numerical value cached in the memory and a preset value to generate a difference value, the second processor is used for judging whether the difference value is positive or negative, and the third processor is used for judging whether the receiving antenna receives a new satellite signal;

the working method of the two-degree-of-freedom spherical structure satellite receiving antenna adjusting platform is as follows:

step1, the platform receives a starting instruction, the receiving antenna works to receive signals from a satellite at the moment, the received signals are converted from analog to digital through a signal amplifier and a filter, and then the mean value of digital quantity is cached in a memory;

and Step4, repeating the steps from Step1 to Step 3.

2. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 1, characterized in that: the inner wall of the upper hemispherical shell (101) is fixedly provided with a plurality of vertically-arranged upper clamping columns (103), the inner wall of the lower hemispherical shell (102) is fixedly provided with a plurality of lower clamping columns (104) corresponding to the upper clamping columns (103), the upper clamping columns (103) and the lower clamping columns (104) are all formed into threaded through holes, and a plurality of gaps corresponding to the upper clamping columns (103) and the lower clamping columns (104) are formed in the antenna mounting plate (105).

3. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 1, wherein: the supporting assembly comprises a base (2) used for mounting the stepping motor (5), the central part of the base (2) extends downwards to form a cavity (201) with an opening at the bottom, and the depth of the cavity (201) is smaller than the height of the lower hemispherical shell (102); the inner wall of the cavity (201) is provided with a plurality of supporting units (4) which are uniformly distributed along the circumference, and the top surface of the base (2) is provided with a plurality of limiting units (3) which are uniformly distributed along the circumference.

4. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 3, characterized in that: support unit (4) are including wearing to establish support column (401) on cavity (201) inner wall, support column (401) are located one end in cavity (201) is equipped with supporting seat (402), supporting seat (402) correspond one side shaping of spherical shell has first sphere groove, first sphere inslot is equipped with first ball (403), first ball (403) be equipped with outward with supporting seat (402) are connected and are used for the restriction first lid (404) of first ball (403), seted up on first lid (404) and guaranteed first ball (403) with the through-hole of spherical shell (1) contact.

5. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 4, wherein: spacing unit (3) are including fixing curved spacing antenna (301) on base (2), spacing antenna (301) to cavity (201) are buckled, be equipped with spacing subassembly (302) on spacing antenna (301).

6. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 5, wherein: spacing subassembly (302) is including locating spacing post (3021) on spacing antenna (301) top, spacing post (3021) corresponds the one end of spherical shell (1) is equipped with spacing seat (3022), spacing seat (3022) correspond one side shaping of spherical shell (1) has the second sphere groove, the second sphere inslot is equipped with second ball (3023), second ball (3023) be equipped with outward with spacing seat (3022) are connected and are used for the restriction second lid (3024) of second ball (3023), second lid (3024) on seted up and guaranteed second ball (3023) with the through-hole of spherical shell (1) contact.

7. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 3, wherein: the stepping motor is characterized in that a plurality of motor support plates (503) which are uniformly arranged along the circumference are fixed on the base (2), the motor support plates (503) are bent into a horizontal section (5032) and a vertical section (5031), the horizontal section (5032) is provided with a mounting hole for connecting the motor support plates (503) with the base (2), and the vertical section (5031) is provided with a fixing hole and a plurality of screw holes for fixing the stepping motor (5).

8. The two-degree-of-freedom spherical structure satellite receiving antenna adjustment platform according to claim 6, wherein: the axial extension lines of the supporting column (401) and the limiting column (3021) both penetrate through the center of the ball shell (1); the number of the stepping motors (5) is four, and the axes of the transmission shafts of the two opposite stepping motors are parallel to each other; a rubber ring (502) is arranged on the outer edge of the driving wheel (501), and the tangent point of the rubber ring (502) and the spherical shell is positioned on the equator line of the spherical shell (1); a plurality of outer cover holes (6) are formed in the base (2), and an outer cover (7) covering the body is fixed on the base (2) through the outer cover holes (6).