CN116025821A - Dual-motor linkage servo system for tablet personal station - Google Patents
Dual-motor linkage servo system for tablet personal station Download PDFInfo
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- CN116025821A CN116025821A CN202310031936.XA CN202310031936A CN116025821A CN 116025821 A CN116025821 A CN 116025821A CN 202310031936 A CN202310031936 A CN 202310031936A CN 116025821 A CN116025821 A CN 116025821A
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Abstract
The invention relates to a double-motor linkage servo system for a tablet portable station, which comprises an antenna feeder system, a servo system and a fixed bracket, wherein the servo system comprises a mechanism fixed bottom plate, a servo mechanism and a main control unit module; the servo mechanism comprises a first servo motor, a second servo motor, a gear transmission assembly, a displacement detection assembly and a motor fixing support, wherein the gear transmission assembly comprises a first conical gear and a second conical gear which are oppositely arranged respectively, and a third conical gear which is meshed with the first conical gear and the second conical gear respectively, and the displacement detection assembly is arranged between the first conical gear and the second conical gear. The double-motor linkage principle is adopted, the double motors adopt an operation mechanism of synchronous fixed-axis revolution and coaxial rotation, torque is output simultaneously by the double motors in azimuth and pitching directions, and only one half of the calculated torque is needed to be selected theoretically, so that the power requirement of the motor is greatly reduced, and the power consumption of the whole machine is reduced.
Description
Technical Field
The invention relates to the field of flat portable stations, in particular to a double-motor linkage servo system for a flat portable station.
Background
For the flat portable station, besides the antenna electrical performance index, factors such as a satellite mode, a whole machine size, a whole machine weight, a whole machine power consumption and the like are considered in design so as to meet the practical requirements of convenience and convenience. The existing flat portable station mainly has two major types of manual star alignment and single-axis automatic star alignment, the manual star alignment has the defects of low precision, low speed, complex operation and the like, the single-axis automatic star alignment is used for separately controlling and outputting each axis, the defects of large power consumption, large size and the like exist, and the transportation convenience and the working time of the portable station are greatly influenced.
Disclosure of Invention
Based on the above, it is necessary to provide a dual-motor linkage servo system for a tablet portable station to solve the problems of the prior tablet portable station, such as low precision, slow speed and complex operation, caused by manual star alignment and single-axis automatic star alignment.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the invention provides a double-motor linkage servo system for a tablet portable station, which comprises an antenna feeder system, a servo system and a fixed bracket, wherein the servo system comprises a mechanism fixed bottom plate, a servo mechanism and a main control unit module; the main control unit module is fixedly arranged on the mechanism fixing bottom plate and is electrically connected with the servo mechanism; the servo mechanism comprises a first servo motor, a second servo motor, a gear transmission assembly, a displacement detection assembly and a motor fixing support, wherein the gear transmission assembly comprises a first conical gear and a second conical gear which are oppositely arranged respectively, and a third conical gear which is respectively meshed with the first conical gear and the second conical gear, the first conical gear and the second conical gear are collinear, the axis of the third conical gear is perpendicular to the axis of the first conical gear, the first servo motor is in transmission connection with the first conical gear, the second servo motor is in transmission connection with the second conical gear, the first servo motor and the second servo motor are respectively used for controlling the first conical gear and the second conical gear to rotate or brake accurately, the first servo motor and the second servo motor are fixedly connected with a mechanism fixing base plate through the motor fixing support, and the displacement detection assembly is arranged between the first conical gear and the second conical gear.
Preferably, the first conical gear, the second conical gear and the third conical gear have the same modulus, the first conical gear and the second conical gear have the same tooth number and are meshed with the third conical gear reference circle.
Preferably, the servo mechanism further comprises a rotary supporting device, a sensing device and a sensor fixing support, wherein the sensor fixing support is in transmission connection with the rotary supporting device, and the sensing device is arranged on the sensor fixing support.
Preferably, the rotation supporting device comprises a pitching angular contact bearing group, a pitching rotation central shaft, an azimuth contact bearing group and an azimuth rotation central shaft, wherein the pitching rotation central shaft can be rotatably arranged between the first servo motor and the second servo motor through the pitching contact bearing group, the azimuth rotation central shaft can be rotatably arranged on a third conical gear through the azimuth contact bearing group, the third conical gear is connected with a fixed support, the pitching rotation central shaft is fixedly connected with the azimuth rotation central shaft relatively, and the sensor fixed support is fixedly arranged on the pitching rotation central shaft.
Preferably, the sensing detection device comprises a first position sensor, a second position sensor, a third position sensor, a fourth position sensor, two pitching sensor sensing columns and an azimuth sensor sensing column, wherein the two corresponding pitching sensor sensing columns are respectively fixed on two motor fixing supports which are arranged left and right, the angle difference between the two pitching sensor sensing columns is ninety degrees, the third position sensor and the fourth position sensor are symmetrically arranged at the same angle with the two pitching sensor sensing columns, the azimuth sensor sensing columns are fixed on a third conical gear, and the first position sensor and the second position sensor are symmetrically arranged at one hundred eighty degrees.
The pitch angle range of the antenna feed system is limited by triggering the third position sensor and the fourth position sensor in actual operation. In actual operation, the azimuth angle range of the antenna feed system is limited by triggering the induction column.
Preferably, the servo motor is composed of a first encoder, a brake, a first motor and a reduction gearbox.
Preferably, the servo motor is composed of a second encoder, a brake, a second motor and a reduction gearbox.
Preferably, the servo system further comprises a gear protection cover and a mechanism protection outer cover, wherein the gear protection cover is sleeved on the outer sides of the first conical gear, the second conical gear and the third conical gear, the mechanism protection outer cover is sleeved on the outer side of the servo mechanism, and the mechanism protection outer cover is fixedly arranged on the mechanism fixing bottom plate.
Preferably, the gear protection cover comprises a gear protection outer cover and a gear protection inner cover, the gear protection outer cover and the gear protection inner cover are coaxially arranged, and the gear protection inner cover is fixedly arranged on the third conical gear.
Preferably, the mechanism protection outer cover is provided with a limiting chute for the gear protection outer cover to displace.
Compared with the prior art, the invention has the beneficial effects that:
1. the actual output shaft and direction of the system are controlled by adopting a double-motor linkage principle and adjusting the relative rotation directions of the two motors.
2. The double motors adopt an operation mechanism of synchronous fixed-axis revolution and coaxial rotation, and the continuous output performance and the reversing smoothness of the torque are ensured.
3. The double motors adopt a single CPU to control the two driving chips to synchronously output pulses, the direction of the pulses is used for determining the rotation direction of the motors, and then the action of the mechanism is determined according to whether the rotation directions of the two motors are the same.
4. And by utilizing the braking function of the gear motor, the motor is powered off and kept after the star finding action is completed, so that the electric energy is saved, and the working time is prolonged.
5. The motors with half calculated torque are theoretically selected, so that the power requirement of the motors is greatly reduced, and the power consumption of the whole machine is reduced.
Drawings
FIG. 1 is a schematic perspective view of a dual motor linkage servo system for a tablet personal portable station;
FIG. 2 is a perspective exploded view of a dual motor linkage servo system for a tablet personal portable station;
FIG. 3 is a schematic view of a partial perspective view of a dual motor linkage servo system for a tablet personal portable station;
FIG. 4 is a force analysis diagram of a dual motor linkage servo system for a tablet personal portable station;
fig. 5 is a schematic diagram of an electronically controlled drive in a dual motor linkage servo system for a tablet personal portable station.
The reference numerals in the figures are:
1-an antenna feed system;
2-a servo system;
21-a mechanism fixing base plate;
22-servo mechanism;
221-a first servo motor;
222-a second servomotor;
2201-a first encoder; 2202-braking; 2203-a first motor; 2204-reduction gearbox; 2205-motor mount; 2206-pitch sensor sensing column; 2207-first bevel gear; 2208-pitch angular contact bearing set; 2209-third position sensor; 2210—a sensor mount; 2211—a first position sensor; 2212-fourth position sensor; 2213-a second motor; 2214-a second encoder; 2215-a second bevel gear; 2216—pitch rotation center axis; 2217—an orientation sensor sensing column; 2218-azimuth angular contact bearing set; 2219-azimuthal rotation center axis; 2220—second position sensor; 2221-third bevel gear;
23-gear guard housing;
24-gear protective inner cover;
25-a mechanism protective housing;
26, a main control unit module;
3-fixing the bracket.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
The dual-motor linkage servo system 2 for the tablet personal portable station as shown in fig. 1 to 3 and 5 comprises an antenna feeder system 1, a servo system 2 and a fixed bracket 3, wherein the servo system 2 comprises a mechanism fixed bottom plate 21, a servo mechanism 22 and a main control unit module 26; the main control unit module 26 is fixedly arranged on the mechanism fixing bottom plate 21, and the main control unit module 26 is electrically connected with the servo mechanism 22; the servo mechanism 22 comprises a first servo motor 221, a second servo motor 222, a gear transmission assembly, a displacement detection assembly and a motor fixing support 2205, wherein the gear transmission assembly comprises a first conical gear 2207 and a second conical gear 2215 which are respectively arranged in opposite directions, a third conical gear 2221 which is respectively meshed with the first conical gear 2207 and the second conical gear 2215, the first conical gear 2207 and the second conical gear 2215 are collinear, the axis of the third conical gear 2221 is perpendicular to the axis of the first conical gear 2207, the first servo motor 221 is in transmission connection with the first conical gear 2207, the second servo motor 222 is in transmission connection with the second conical gear 2215, the first servo motor 221 and the second servo motor 222 are respectively used for controlling the first conical gear 2207 and the second conical gear 2215 to rotate with high precision or brake with high precision, and the first servo motor 221 and the second servo motor 222 are respectively fixedly connected with the mechanism fixing base plate 21 through the motor fixing support 2205, and the displacement detection assembly is arranged between the first conical gear 2207 and the second conical gear 2215.
The invention adopts the double-motor linkage principle, the rotation directions of the first servo motor 221 and the second servo motor 222 are respectively controlled by the main control unit module 26, and the actual output shaft and direction of the system are controlled by adjusting the relative rotation directions of the two motors; the double motors adopt a single CPU to control two driving chips to synchronously output pulses, the direction of the pulses is used for determining the rotation direction of the motors, and then the action of the mechanism is determined according to whether the rotation directions of the two motors are the same; the motors with half calculated torque are theoretically selected, so that the power requirement of the motors is greatly reduced, and the power consumption of the whole machine is reduced.
The double motors adopt an operation mechanism of synchronous fixed-axis revolution and coaxial rotation, so that the continuous output performance and the reversing smoothness of the torque are ensured; the first conical gear 2207 and the second conical gear 2215 rotate relative to the third conical gear 2221, namely pitch up-and-down rotation, and the first conical gear 2207 and the second conical gear 2215 revolve relative to the third conical gear 2221, namely azimuth left-and-right rotation.
When the system is electrified and works, the main control unit simultaneously sends pulses to the driver and the driver, the DIR mode is adopted to control the pulse direction, and the first servo motor 221 and the second servo motor 222 start to work to drive the first conical gear 2207 and the second conical gear 2215 to rotate.
Wherein the first servo motor 221 and the second servo motor 222 are denoted by a 1# servo motor and a 2# servo motor, respectively, and the first conical gear 2207, the second conical gear 2215 and the third conical gear 2221 are denoted by a 1# conical gear, a 2# conical gear and a 3# conical gear, respectively.
As shown in fig. 3-4, the moduli of the first conical gear 2207, the second conical gear 2215 and the third conical gear 2221 are all the same, the numbers of teeth of the first conical gear 2207 and the second conical gear 2215 are also the same and all are in reference circle engagement with the third conical gear 2221.
When the two motors rotate in opposite directions, the circumferential forces Ft1 and Ft2 acting on the 1# conical gear and the 2# conical gear are the same in magnitude and opposite in direction, preventing the azimuth rotation central shaft 2219 from rotating, i.e. the 1# conical gear and the 2# conical gear remain stationary, while the first servo motor 221 and the second servo motor 222 are both fixed on the antenna surface, and when the motor rotor is fixed, only the motor stator rotates in opposite directions, driving the antenna surface to rotate up and down.
The force distribution characteristics of the conical gear are as follows:
Fa1＝-Fr3 Fr1＝-Fa3 Ft1＝-Ft3
Fa2＝-Fr3’Fr2＝-Fa3’Ft2＝-Ft3’
wherein: fa is the axial force, fr is the radial force, ft is the circumferential force
Since the modulus and the number of teeth of the 1# conical gear and the 2# conical gear are the same, there are
As can be seen from the table, the main control unit can accurately control the action of the mechanism by controlling the directions of the DIR1 and the DIR 2. In particular, the output is twice as strong as the output, i.e. both motors can output torque in one rotational direction at the same time, regardless of the mechanism action. Thereby, the antenna feed system 1 can be controlled to perform the azimuth and elevation angle adjusting function.
The servo mechanism 22 further comprises a rotation support device, a sensing device and a sensor fixing support 2210, wherein the sensor fixing support 2210 is in transmission connection with the rotation support device, and the sensing device is arranged on the sensor fixing support 2210.
The rotation support device comprises a pitching angular contact bearing group 2208, a pitching rotation central shaft 2216, an azimuth contact bearing group 2218 and an azimuth rotation central shaft 2219, wherein the pitching rotation central shaft 2216 can be rotatably arranged between the first servo motor 221 and the second servo motor 222 through the pitching angular contact bearing group 2208, the azimuth rotation central shaft 2219 can be rotatably arranged on a third conical gear 2221 through the azimuth angular contact bearing group 2218, the third conical gear 2221 is connected with a fixed support 3, the pitching rotation central shaft 2216 is fixedly connected with the azimuth rotation central shaft 2219 relatively, and a sensor fixed support 2210 is fixedly arranged on the pitching rotation central shaft 2216.
The first conical gear 2207 is coaxially arranged with the second conical gear 2215, and rotates about the pitch rotation center axis 2216 by pitch angle contact bearing set 2208. The pitch rotation center shaft 2216 is fixed to the azimuth rotation center shaft 2219, and the bevel gears and the third bevel gear 2221 are engaged with each other, and the third bevel gear 2221 is revolved while rotating by the azimuth contact bearing group 2218. And a pitching rotation central shaft 2216 axially fixes the three conical gears, so that the central fixing and cutting synchronization among the three conical gears is ensured, and the 3# conical gears are fixed on the fixed support 3.
As shown in fig. 3-4, the sensing device includes a first position sensor 2211, a second position sensor 2220, a third position sensor 2209, a fourth position sensor 2212, two pitch sensor sensing columns 2206 and an azimuth sensor sensing column 2217, the two corresponding pitch sensor sensing columns 2206 are respectively fixed on two motor fixing brackets 2205 arranged left and right, the two pitch sensor sensing columns 2206 are different by ninety degrees in angle, the third position sensor 2209 and the fourth position sensor 2212 are symmetrically arranged with the two pitch sensor sensing columns 2206 in the same angle, the azimuth sensor sensing column 2217 is fixed on a third conical gear 2221, and the first position sensor 2211 and the second position sensor 2220 are symmetrically arranged by one hundred eighty degrees.
The pitch angle range of the antenna feed system 1 is limited by triggering the third position sensor 2209 and the fourth position sensor 2212 in actual operation. In actual operation, the sensing column is triggered to limit the azimuth angle range of the antenna feed system 1.
As shown in fig. 3, the servo motor is composed of a first encoder 2201, a brake 2202, a first motor 2203 and a reduction gearbox 2204.
As shown in fig. 3, the servo motor is composed of a second encoder 2214, a brake 2202, a second motor 2213, and a reduction gearbox 2204.
The first encoder 2201, the second encoder 2214 and the brake 2202 are all connected with the main control unit module 26 through electric signals, the first encoder 2201 controls the first motor 2203 to start and stop, and the second encoder 2214 controls the second motor 2213 to start and stop.
By utilizing the braking function of the gear motor, the brake 2202 intervenes after the star finding action is completed, the motor is powered off and kept, the electric energy is saved, and the working time is prolonged.
As shown in fig. 1-2, the servo system 2 further includes a gear protection cover and a mechanism protection cover 25, the gear protection cover is sleeved on the outer sides of the first conical gear 2207, the second conical gear 2215 and the third conical gear 2221, the mechanism protection cover 25 is sleeved on the outer side of the servo mechanism 22, and the mechanism protection cover 25 is fixedly installed on the mechanism fixing base plate 21.
The first servo motor 221, the second servo motor 222 and the gear protection cover are protected through the mechanism protection cover 25, the gear protection cover protects the first conical gear 2207, the second conical gear 2215 and the third conical gear 2221 inside, the accuracy of internal transmission of the servo mechanism 22 is guaranteed, and errors of gear transmission caused by sundries entering or rainwater pollution are reduced.
As shown in fig. 1-2, the gear protection cover comprises a gear protection outer cover 23 and a gear protection inner cover 24, the gear protection outer cover 23 and the gear protection inner cover 24 are coaxially arranged, and the gear protection inner cover 24 is fixedly mounted on the third conical gear 2221.
As shown in fig. 1-2, the mechanism protecting cover 25 is provided with a limiting chute for the displacement of the gear protecting cover 23.
The gear protection outer cover 23 moves in a pitch angle defined by a system in a limit chute designed by the mechanism protection outer cover 25, so that the waterproof performance is ensured at any time, and water inflow in the servo mechanism 22 is prevented.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The double-motor linkage servo system for the tablet personal portable station comprises an antenna feed system (1), a servo system (2) and a fixed bracket (3), and is characterized in that the servo system (2) comprises a mechanism fixed bottom plate (21), a servo mechanism (22) and a main control unit module (26);
the main control unit module (26) is fixedly arranged on the mechanism fixing bottom plate (21), and the main control unit module (26) is electrically connected with the servo mechanism (22);
the servo mechanism (22) comprises a first servo motor (221), a second servo motor (222), a gear transmission assembly, a displacement detection assembly and a motor fixing support (2205), wherein the gear transmission assembly comprises a first conical gear (2207) and a second conical gear (2215) which are oppositely arranged respectively, and a third conical gear (2221) which is meshed with the first conical gear (2207) and the second conical gear (2215) respectively, the first conical gear (2207) and the second conical gear (2215) are collinear, the axis of the third conical gear (2221) is perpendicular to the axis of the first conical gear (2207), the first servo motor (221) is in transmission connection with the first conical gear (2207), the second servo motor (222) is in transmission connection with the second conical gear (2215), the first servo motor (221) and the second servo motor (222) are used for controlling the first conical gear (2207) and the second conical gear (2215) to rotate or brake accurately, and the first servo motor (221) and the second servo motor (222) are connected with the second conical gear (2215) in a high-precision mode, and the first servo motor (221) and the second servo motor (222) are connected with the first conical gear (2205) through the gear fixing support (2207) in a transmission mode, and the displacement detection assembly is fixedly arranged between the first conical gear (2205) and the second conical gear fixing support (2205).
2. The dual motor linkage servo system for a tablet personal portable station of claim 1 wherein the first conical gear (2207), the second conical gear (2215) and the third conical gear (2221) are all identical in modulus, the first conical gear (2207) and the second conical gear (2215) are also identical in number of teeth and are all meshed with the third conical gear (2221) reference circle.
3. The dual motor linkage servo system for a tablet personal portable station of claim 2 wherein the servo mechanism (22) further comprises a rotational support means, a sensor detection means and a sensor mount (2210), the sensor mount (2210) being drivingly connected to the rotational support means, the sensor detection means being disposed on the sensor mount (2210).
4. A dual motor linkage servo system for a tablet personal portable station according to claim 3, wherein the rotation support means comprises a pitch angular contact bearing group (2208), a pitch rotation center shaft (2216), an azimuth contact bearing group (2218) and an azimuth rotation center shaft (2219), the pitch rotation center shaft (2216) is rotatably arranged between the first servo motor (221) and the second servo motor (222) through the pitch angle contact bearing group (2208), the azimuth rotation center shaft (2219) is rotatably arranged on a third conical gear (2221) through the azimuth contact bearing group (2218), the third conical gear (2221) is connected with a fixed bracket (3), the pitch rotation center shaft (2216) and the azimuth rotation center shaft (2219) are relatively fixedly connected, and the sensor fixed bracket (2210) is fixedly arranged on the pitch rotation center shaft (2216).
5. The dual-motor linkage servo system for a tablet personal portable station of claim 4 wherein the sensing means comprises a first position sensor (2211), a second position sensor (2220), a third position sensor (2209), a fourth position sensor (2212), two pitch sensor sensing columns (2206) and an azimuth sensor sensing column (2217), the corresponding two pitch sensor sensing columns (2206) are respectively fixed on two motor fixing brackets (2205) arranged left and right, the two pitch sensor sensing columns (2206) are angularly different by ninety degrees, the third position sensor (2209) and the fourth position sensor (2212) are symmetrically arranged with the two pitch sensor sensing columns (2206), the azimuth sensor sensing column (2217) is fixed on a third conical gear (2221), and the first position sensor (2211) and the second position sensor (2220) are symmetrically arranged one hundred eighty degrees.
6. The dual motor linked servo system for a tablet personal portable station of claim 1 wherein the servo motor is comprised of a first encoder (2201), a brake (2202), a first motor (2203) and a reduction gearbox (2204).
7. The dual motor linked servo system for a tablet personal portable station of claim 6 wherein the servo motor is comprised of a second encoder (2214), a brake (2202), a second motor (2213) and a reduction gearbox (2204).
8. The dual motor linkage servo system for a tablet personal portable station of claim 1 wherein the servo system (2) further comprises a gear guard and a mechanism guard cover (25), the gear guard cover is sleeved outside the first conical gear (2207), the second conical gear (2215) and the third conical gear (2221), the mechanism guard cover (25) is sleeved outside the servo mechanism (22), and the mechanism guard cover (25) is fixedly mounted on the mechanism fixing base plate (21).
9. The dual motor linkage servo system for a tablet personal portable station of claim 8 wherein the gear guard comprises a gear guard outer housing (23) and a gear guard inner housing (24), the gear guard outer housing (23) and the gear guard inner housing (24) being coaxially disposed, the gear guard inner housing (24) being fixedly mounted on the third bevel gear (2221).
10. A dual motor linkage servo system for a tablet personal portable station according to claim 9 wherein the mechanism guard housing (25) is provided with a limit chute for displacement of the gear guard housing (23).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310031936.XA CN116025821A (en) | 2023-01-10 | 2023-01-10 | Dual-motor linkage servo system for tablet personal station |
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| CN202310031936.XA CN116025821A (en) | 2023-01-10 | 2023-01-10 | Dual-motor linkage servo system for tablet personal station |
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| CN115242296A (en) * | 2022-07-21 | 2022-10-25 | 北京中科网芯科技有限公司 | Satellite communication terminal assisted by position sensor |
| CN115275606A (en) * | 2022-08-17 | 2022-11-01 | 重庆两江卫星移动通信有限公司 | Differential type double-motor driven two-dimensional antenna transmission seat and antenna |
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