JP7123257B2 - 関節式機構およびその機構を備える関節式指向システム - Google Patents
関節式機構およびその機構を備える関節式指向システム Download PDFInfo
- Publication number
- JP7123257B2 JP7123257B2 JP2021520352A JP2021520352A JP7123257B2 JP 7123257 B2 JP7123257 B2 JP 7123257B2 JP 2021520352 A JP2021520352 A JP 2021520352A JP 2021520352 A JP2021520352 A JP 2021520352A JP 7123257 B2 JP7123257 B2 JP 7123257B2
- Authority
- JP
- Japan
- Prior art keywords
- lever
- articulated
- spherical joint
- platform
- pointing system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims description 28
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
- F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/18—Means for stabilising antennas on an unstable platform
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/288—Satellite antennas
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2326/00—Articles relating to transporting
- F16C2326/47—Cosmonautic vehicles, i.e. bearings adapted for use in outer-space
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Support Of Aerials (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Details Of Aerials (AREA)
Description
- 第1の球形ジョイント3と第2の球形ジョイント4とは、第1のレバー6によって連結されており、軸Yは、第1のレバー6の長手方向軸である。
- 第1の球形ジョイント3と第3の球形ジョイント5とは、第2のレバー7によって連結されており、軸Xは、第2のレバー7の長手方向軸である。
2 関節式指向システム
3 第1の球形ジョイント
4 第2の球形ジョイント
5 第3の球形ジョイント
6 第1のレバー
7 第2のレバー
8 第3のレバー
9 第1の突出部分
10 第2の突出部分
11 基部プラットフォーム
12 移動プラットフォーム
13 関節式ヒンジ手段
14,14’ アクチュエータ
17,17’,17” 負荷経路
Claims (5)
- 第1の球形ジョイント(3)、第2の球形ジョイント(4)、第3の球形ジョイント(5)、第1のレバー(6)、第2のレバー(7)、および第3のレバー(8)を含む関節式機構(1)であって、
前記第1の球形ジョイント(3)および前記第2の球形ジョイント(4)は、前記第1のレバー(6)によって連結され、前記第1のレバー(6)は第1の突出部分(9)を備え、前記第1の球形ジョイント(3)および前記第3の球形ジョイント(5)は、前記第2のレバー(7)によって連結され、前記第2のレバー(7)は、前記第1の突出部分(9)が突出する方向と反対方向に突出する第2の突出部分(10)を備え、
前記第2の球形ジョイント(4)および前記第3の球形ジョイント(5)は、前記第1のレバー(6)の長手方向軸Yと前記第2のレバー(7)の長手方向軸Xが直交するように、前記第3のレバー(8)によって連結されている、ことを特徴とする関節式機構。 - 基部プラットフォーム(11)、及び、前記基部プラットフォーム(11)に対して移動可能な移動プラットフォーム(12)、並びに、
前記基部プラットフォーム(11)と前記移動プラットフォーム(12)とを接合する2つの関節式ヒンジ手段であり、該ヒンジ手段の動きがアクチュエータ(14,14’)によって実行される、2つの関節式ヒンジ手段(13)
を備えた関節式指向システム(2)において、
請求項1に記載の関節式機構(1)を更に備えており、その関節式機構にあっては、
前記第1のレバー(6)が前記第1の突出部分(9)によって前記移動プラットフォーム(12)に取り付けられ、前記第2のレバー(7)が前記第2の突出部分(10)によって前記基部プラットフォーム(11)に取り付けられている、ことを特徴とする関節式指向システム。 - 前記アクチュエータ(14,14’)は、負荷が前記移動プラットフォーム(12)にかかったときに生じるところの、前記移動プラットフォーム(12)と前記基部プラットフォーム(11)との間の負荷経路(17,17’,17”)から外れた位置に配置されている、請求項2に記載の関節式指向システム。
- 前記アクチュエータが回転アクチュエータ(15)である、請求項2又は3に記載の関節式指向システム。
- 前記アクチュエータがリニアアクチュエータ(16)である、請求項2又は3に記載の関節式指向システム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/ES2018/070678 WO2020079290A1 (es) | 2018-10-17 | 2018-10-17 | Mecanismo articulado y sistema de apuntamiento articulado que comprende ese mecanismo |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022512693A JP2022512693A (ja) | 2022-02-07 |
JP7123257B2 true JP7123257B2 (ja) | 2022-08-22 |
Family
ID=64959371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021520352A Active JP7123257B2 (ja) | 2018-10-17 | 2018-10-17 | 関節式機構およびその機構を備える関節式指向システム |
Country Status (11)
Country | Link |
---|---|
US (1) | US11652269B2 (ja) |
EP (1) | EP3869611B1 (ja) |
JP (1) | JP7123257B2 (ja) |
CN (1) | CN113169439B (ja) |
CA (1) | CA3116295A1 (ja) |
ES (1) | ES2939458T3 (ja) |
IL (1) | IL282318B2 (ja) |
PL (1) | PL3869611T3 (ja) |
RU (1) | RU2765769C1 (ja) |
UA (1) | UA126878C2 (ja) |
WO (1) | WO2020079290A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2770305C1 (ru) * | 2021-07-07 | 2022-04-15 | Николай Александрович Кузнецов | Устройство стабилизации положения радиорелейной антенны |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1342300A (en) | 1919-11-19 | 1920-06-01 | Sheler John Calvin | Flexible coupling |
JP2001208157A (ja) | 1999-12-06 | 2001-08-03 | Korea Advanced Inst Of Sci Technol | 精密作業用6自由度並列機構 |
JP2005040919A (ja) | 2003-07-24 | 2005-02-17 | Sony Corp | モーション・ベース |
JP2012531144A (ja) | 2009-06-23 | 2012-12-06 | エーアーデーエス・ドイッチュラント・ゲーエムベーハー | 可動センサー用ホルダー |
JP2013146059A (ja) | 2011-12-23 | 2013-07-25 | Mcdonald Deadwiler And Associates Ltd | アンテナ指向システム |
US20150354747A1 (en) | 2014-06-10 | 2015-12-10 | Oceaneering International, Inc. | Compensated motion base |
CN105156848A (zh) | 2015-10-15 | 2015-12-16 | 朱杨 | 一种平台自动水平*** |
WO2016066395A1 (fr) | 2014-10-29 | 2016-05-06 | Thales | Dispositif d'orientation d'un élément mobile du type plateau d'antenne |
US9752718B1 (en) | 2014-07-09 | 2017-09-05 | Michael Wittig | Two-axis joint |
Family Cites Families (14)
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JPH04266203A (ja) * | 1991-02-20 | 1992-09-22 | Fujitsu General Ltd | アンテナ装置の支持台 |
CA2235759C (en) * | 1997-04-23 | 2005-09-27 | Francois Caron | Two degree-of-freedom spherical orienting device |
JP3447925B2 (ja) * | 1997-09-17 | 2003-09-16 | 三菱電機株式会社 | アンテナ装置およびその追尾方法 |
JP4078712B2 (ja) * | 1998-06-10 | 2008-04-23 | 株式会社Ihi | ペイロードの防振装置 |
FR2814216B1 (fr) * | 2000-09-18 | 2002-12-20 | Snecma Moteurs | Dispositif d'orientation et systeme d'orientation embarque |
ITTO20021017A1 (it) * | 2002-11-22 | 2004-05-23 | Minipack Torre Spa | Dispositivo per il confezionamento di prodotti in una |
DE202006005952U1 (de) * | 2006-04-12 | 2006-07-06 | Festo Ag & Co. | Linearantriebsvorrichtung |
AU2009339900B2 (en) * | 2009-02-12 | 2015-05-14 | Ammann Schweiz Ag | Hinge assembly for connecting two vehicle parts to a vehicle having articulated frame steering |
DE102009037707B4 (de) * | 2009-08-17 | 2013-12-24 | Airbus Operations Gmbh | Verstellmechanismus einer Verstellvorrichtung zur Ankopplung einer Verstellklappe an einen Hauptflügel und eine solche Verstellvorrichtung |
DE102010009447A1 (de) * | 2010-02-24 | 2011-08-25 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 80686 | Gelenk |
US9172128B2 (en) * | 2011-12-23 | 2015-10-27 | Macdonald, Dettwiler And Associates Corporation | Antenna pointing system |
US9976696B2 (en) * | 2016-06-21 | 2018-05-22 | Rohr, Inc. | Linear actuator with multi-degree of freedom mounting structure |
EP3339164A1 (en) * | 2016-12-22 | 2018-06-27 | Airbus Operations GmbH | Wing for an aircraft |
CN107131406B (zh) * | 2017-05-19 | 2018-12-11 | 哈尔滨工业大学 | 一种二自由度并联相机指向机构 |
-
2018
- 2018-10-17 CA CA3116295A patent/CA3116295A1/en active Pending
- 2018-10-17 ES ES18830285T patent/ES2939458T3/es active Active
- 2018-10-17 JP JP2021520352A patent/JP7123257B2/ja active Active
- 2018-10-17 IL IL282318A patent/IL282318B2/en unknown
- 2018-10-17 PL PL18830285.5T patent/PL3869611T3/pl unknown
- 2018-10-17 EP EP18830285.5A patent/EP3869611B1/en active Active
- 2018-10-17 WO PCT/ES2018/070678 patent/WO2020079290A1/es active Application Filing
- 2018-10-17 UA UAA202101967A patent/UA126878C2/uk unknown
- 2018-10-17 CN CN201880098849.3A patent/CN113169439B/zh active Active
- 2018-10-17 RU RU2021110337A patent/RU2765769C1/ru active
- 2018-10-17 US US17/285,662 patent/US11652269B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1342300A (en) | 1919-11-19 | 1920-06-01 | Sheler John Calvin | Flexible coupling |
JP2001208157A (ja) | 1999-12-06 | 2001-08-03 | Korea Advanced Inst Of Sci Technol | 精密作業用6自由度並列機構 |
JP2005040919A (ja) | 2003-07-24 | 2005-02-17 | Sony Corp | モーション・ベース |
JP2012531144A (ja) | 2009-06-23 | 2012-12-06 | エーアーデーエス・ドイッチュラント・ゲーエムベーハー | 可動センサー用ホルダー |
JP2013146059A (ja) | 2011-12-23 | 2013-07-25 | Mcdonald Deadwiler And Associates Ltd | アンテナ指向システム |
US20150354747A1 (en) | 2014-06-10 | 2015-12-10 | Oceaneering International, Inc. | Compensated motion base |
US9752718B1 (en) | 2014-07-09 | 2017-09-05 | Michael Wittig | Two-axis joint |
WO2016066395A1 (fr) | 2014-10-29 | 2016-05-06 | Thales | Dispositif d'orientation d'un élément mobile du type plateau d'antenne |
CN105156848A (zh) | 2015-10-15 | 2015-12-16 | 朱杨 | 一种平台自动水平*** |
Also Published As
Publication number | Publication date |
---|---|
UA126878C2 (uk) | 2023-02-15 |
CA3116295A1 (en) | 2020-04-23 |
WO2020079290A1 (es) | 2020-04-23 |
ES2939458T3 (es) | 2023-04-24 |
CN113169439A (zh) | 2021-07-23 |
PL3869611T3 (pl) | 2023-08-21 |
RU2765769C1 (ru) | 2022-02-02 |
IL282318B1 (en) | 2023-07-01 |
US11652269B2 (en) | 2023-05-16 |
EP3869611A1 (en) | 2021-08-25 |
US20210399403A1 (en) | 2021-12-23 |
JP2022512693A (ja) | 2022-02-07 |
EP3869611B1 (en) | 2022-11-30 |
CN113169439B (zh) | 2024-05-07 |
IL282318A (en) | 2021-05-31 |
IL282318B2 (en) | 2023-11-01 |
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