CN113607040A - An antenna pitching mechanism error identification and measurement platform and method - Google Patents
An antenna pitching mechanism error identification and measurement platform and method Download PDFInfo
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- 238000006073 displacement reaction Methods 0.000 claims description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
- G01B7/146—Measuring on gear teeth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
- G01B5/0004—Supports
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
本发明公开了一种天线俯仰机构误差识别与测量平台及方法，俯仰轴穿过俯仰齿轮通过三自由度调节台支撑，左、右侧增量式编码器分别设于俯仰轴两端；通过齿轮啮合俯仰齿轮带动其旋转；磁栅测量机构位于俯仰齿轮上。控制器分别获取驱动系统反馈的小齿轮旋转脉冲信号、磁栅测量机构反馈的俯仰齿轮旋转脉冲信号，左、右侧增量式编码器反馈的俯仰轴左右端部旋转脉冲信号，计算机获取并比较小齿轮旋转脉冲信号和俯仰齿轮旋转脉冲信号、俯仰轴左右端部旋转脉冲信号和俯仰齿轮旋转脉冲信号，识别并测量出齿隙和安装误差。本发明平台结构简单，通过调节俯仰轴两端的空间位置，利用四路编码器信号，实现包括齿隙误差、轴承转动误差等对俯仰精度产生影响的误差的识别与测量。
The invention discloses an error identification and measurement platform and method for an antenna pitching mechanism. A pitching axis passes through a pitching gear and is supported by a three-degree-of-freedom adjusting table, and left and right incremental encoders are respectively arranged at both ends of the pitching axis; The meshing pitch gear drives it to rotate; the magnetic grid measuring mechanism is located on the pitch gear. The controller obtains the pinion rotation pulse signal fed back by the drive system, the pitch gear rotation pulse signal fed back by the magnetic grating measuring mechanism, and the left and right incremental encoders fed back by the left and right end rotation pulse signals of the pitch axis. The computer obtains and compares them. The pinion rotation pulse signal and pitch gear rotation pulse signal, the rotation pulse signal of the left and right ends of the pitch axis and the pitch gear rotation pulse signal, identify and measure the backlash and installation error. The platform of the invention has a simple structure. By adjusting the spatial positions of both ends of the pitch axis and using four encoder signals, the identification and measurement of errors including backlash error, bearing rotation error, etc. that affect pitch accuracy are realized.
Description
Technical Field
The invention belongs to the technical field of astronomical equipment, and particularly relates to an error identification and measurement platform of an antenna pitching mechanism and an error identification and measurement method thereof.
Background
The radio telescope is used as a main device for observing a space target, and the positioning precision of the radio telescope is one of basic parameters for embodying the performance of the radio telescope. The factors influencing the positioning accuracy of the radio telescope are many, including errors caused by structural factors such as an azimuth mechanism error, a pitching mechanism error, a main reflecting surface deformation error and the like. The azimuth mechanism error and the pitching mechanism error belong to shafting errors, both of which comprise a gear transmission chain and a bearing transmission chain, and the influence on the positioning accuracy of the radio telescope is complex and great.
At present, under the influence of various factors such as machining assembly and manual installation inaccuracy, the inevitable backlash exists between the driving gear and the driven gear, the play that exists between the bearing itself and the shaft and the bearing is also difficult to completely eliminate, and in the aspect of error identification and measurement, the following problems also exist:
1) the conventional error processing method is more in the software modification level, such as using a control algorithm to correct the problem of response lag, etc., and is less in the hardware level to measure and correct.
2) A common error processing method is used for processing comprehensive errors caused by multiple factors, and measurement and correction of single errors such as backlash, bearing coaxiality at two ends of a pitch shaft and self-play of a bearing during gear transmission are less.
Disclosure of Invention
The invention provides an error identification and measurement platform of a pitching mechanism of an antenna and a method thereof, which are used for identifying and measuring errors between an output angle of a driving motor and an execution angle of a pitching gear when a pitching mechanism of a radio telescope receives a pitching instruction.
The invention is realized by the following technical scheme.
On one hand, the invention provides an error identification and measurement platform of an antenna pitching mechanism, which comprises a pitching shaft, a pitching gear, a magnetic grid measurement mechanism, a driving system, a three-degree-of-freedom adjusting platform, a left incremental encoder, a right incremental encoder, a controller and a computer, wherein the pitching shaft is connected with the controller; wherein:
the pitch shaft passes through the pitch gear and is supported by the three-degree-of-freedom adjusting platform, and the left and right incremental encoders are respectively arranged at two ends of the pitch shaft; the driving system is positioned on one side of the pitching gear and is driven to rotate by the meshing of the small gear and the pitching gear; the magnetic grid measuring mechanism is positioned on the pitching gear;
the controller respectively acquires a pinion rotation pulse signal fed back by the driving system, a pitch gear rotation pulse signal fed back by the magnetic grid measuring mechanism and pitch shaft left and right end rotation pulse signals fed back by the left and right incremental encoders;
the computer acquires and compares the pinion rotation pulse signal and the pitch gear rotation pulse signal, and identifies and measures a backlash error between the pinion and the pitch gear;
and the computer acquires and compares the rotation pulse signals of the left end and the right end of the pitch shaft with the rotation pulse signals of the pitch gear, and identifies and measures the bearing installation error between the left end and the right end of the pitch shaft and the middle part of the pitch shaft.
With respect to the above technical solutions, the present invention has a further preferable solution:
preferably, the driving system comprises a driving motor, a pinion and an absolute type encoder, wherein the absolute type encoder is arranged on the driving motor, an output shaft of the driving motor is connected with the pinion, and the pinion is meshed with the pitching gear.
Preferably, the magnetic grid measuring mechanism comprises a flexible magnetic grid ruler and a reading head, the flexible magnetic grid ruler is tightly attached to the side face of the pitching gear, and the reading head is arranged at the bottom of the pitching gear.
Preferably, the pitch shaft is installed on the three-degree-of-freedom adjusting table through a bearing, the pitch gear is installed in the middle of the pitch shaft, and the left incremental encoder and the right incremental encoder are respectively arranged at two end portions of the pitch shaft.
Preferably, the three-degree-of-freedom adjusting platform comprises a rotating platform, a double-dovetail boss, an L-shaped translation platform and a T-shaped bearing frame, the rotating platform, the double-dovetail boss and the L-shaped translation platform are sequentially arranged in a stacked mode from bottom to top, the T-shaped bearing frame is arranged on the L-shaped translation platform in an erected mode, and the pitching gear is arranged on the T-shaped bearing frame in an erected mode.
Preferably, the rotating table comprises a fixed base and a rotating table, and is used for providing rotation of the three-degree-of-freedom adjusting table around the Z-axis direction.
Preferably, the bottom and the inner side surface of the L-shaped translation table are respectively provided with a dovetail groove and a dovetail boss, the dovetail groove and the dovetail boss are connected through the dovetail groove and the double dovetail bosses, and the dovetail groove and the dovetail boss are connected through the dovetail boss and the T-shaped bearing frame.
Preferably, the rotary stage is manually adjustable to produce relative rotation about the Z axis and the T-shaped bearing carriage is manually adjustable to produce displacement along the Z axis.
Preferably, the inner bottom surfaces of the dovetail grooves on the L-shaped translation table and the T-shaped bearing frame are respectively provided with a fixing mechanism, and the fixing mechanisms comprise locking screws and locking pieces.
In another aspect of the present invention, an error identification and measurement method for an antenna pitching mechanism of a platform is provided, which includes:
the pinion is meshed with the pitching gear, and the absolute encoder feeds back the rotation angle of the pinion and sends a pulse signal A to the controller;
the reading head feeds back the rotation angle of the pitch gear and sends a pulse signal D to the controller;
the incremental encoder at the left end of the pitch shaft feeds back the rotation angle of the left end of the pitch shaft and sends a pulse signal B to the controller;
the incremental encoder at the right end of the pitch shaft feeds back the rotation angle at the right end of the pitch shaft and sends a pulse signal C to the controller;
the controller uploads the feedback signal D and the feedback signal A to a computer, the feedback signal D and the feedback signal A are compared in the computer, and a backlash error between the pinion and the pitching gear is identified and measured;
the controller uploads the feedback signal D and the feedback signal B to a computer, the feedback signal D and the feedback signal B are compared in the computer, and a bearing installation error at the left end of the pitching shaft is identified and measured;
and the controller uploads the feedback signal D and the feedback signal C to a computer, compares the feedback signal D with the feedback signal C in the computer, and identifies and measures the bearing installation error at the right end of the pitch axis.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
in the invention, the middle part of the pitch shaft has slight bending deformation due to the gravity factor of the gear, so that the rotation angles of the middle part and two ends of the pitch shaft are different; moreover, because the left end of the pitching shaft is provided with the supporting bearing, the bearing has installation errors; the left end, the right end and the middle part of the pitching shaft have different rotating angles due to the existence of a bearing and the deformation of the shaft, the incremental encoders positioned at the left end and the right end and the magnetic grid mechanism positioned at the middle part can respectively acquire signals of the incremental encoders, the absolute encoder, the reading head and the incremental encoder acquire and feed back rotating angle pulse signals, and the errors of all the components can be identified and measured by comparing four feedback signals. Comparing the feedback signal D with the feedback signal A, and identifying and measuring a backlash error; comparing the feedback signal D with the feedback signal B, and identifying and measuring an error caused by a bearing at the left end of the pitching shaft; and comparing the feedback signal D with the feedback signal C, and identifying and measuring the error caused by the bearing at the right end of the pitch axis. And the spatial positions of the two ends of the pitch shaft are adjusted through the two 3-freedom-degree adjusting tables, so that the errors of the bearings at the end parts of the pitch shaft under different coaxiality can be identified and measured.
In the invention, the degree of freedom of the three-degree-of-freedom adjusting platform in the horizontal direction and the vertical direction is realized by matching structural components such as the double-dovetail boss, the L-shaped translation platform, the T-shaped bearing frame and the like, and the slide rails of the three components adopt a double-dovetail form, so that the additional error factors are reduced while the stable displacement is ensured.
In the invention, the pitching gear and the flexible magnetic grid ruler are bonded with the carrier into a whole, so that the error caused by mounting an additional carrier on the pitching shaft is reduced, and the rotation angle measurement of the pitching gear can be directly read by the reading head.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a three-dimensional schematic view of a measurement station in an embodiment of the invention;
FIG. 2 is a schematic view of a double dovetail groove and a double dovetail boss of an L-shaped translation stage in an embodiment of the invention;
FIG. 3 is a three-dimensional schematic view of a fixing mechanism of the three-degree-of-freedom adjusting stage in FIG. 1;
FIG. 4 is a schematic cross-sectional view of a fixing mechanism of the three-degree-of-freedom adjusting stage shown in FIG. 1;
FIG. 5 is a schematic diagram of error identification and measurement in the present invention;
FIG. 6 is a block diagram of the error identification and measurement method of the present invention.
In the figure: 1. a pitch axis; 2. a pitch gear; 3. a flexible magnetic grid ruler; 31. a reading head; 4. a drive motor; 41. an absolute encoder; 5. a pinion gear; 6. a three-degree-of-freedom adjusting table; 61. a rotating table; 62. a double-dovetail boss; 63. an L-shaped translation stage; 64. a T-shaped bearing frame; 65. a dovetail groove; 66. dovetail bosses; 67. a locking piece; 68. a groove; 69. locking the screw; 7. a right incremental encoder; 8. left incremental encoder.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
As shown in fig. 1, the error identification and measurement platform for an antenna pitching mechanism according to an embodiment of the present invention includes a pitching shaft 1, a pitching gear 2, a magnetic grid measurement mechanism (a flexible magnetic grid ruler 3 and a reading head 31), a driving system (a driving motor 4, a pinion 5, and an absolute encoder 41), a three-degree-of-freedom adjustment stage 6, a right incremental encoder 7, a left incremental encoder 8, a controller, and a computer. The pitch shaft 1 penetrates through two ends of the pitch gear 2 and is supported by the three-degree-of-freedom adjusting table 6, and the right incremental encoder 7 and the left incremental encoder 8 are respectively arranged at two ends of the pitch shaft 1; the driving system is positioned at one side of the pitching gear, the driving system is meshed with the pitching gear 2 through the pinion to drive the pitching gear to rotate, the controller respectively obtains a pinion 5 rotation pulse signal fed back by the driving system, a pitching gear 2 rotation pulse signal fed back by the magnetic grid measuring mechanism, and left and right end rotation pulse signals of the pitching shaft 1 fed back by the left and right incremental encoders 8 and 7; the computer acquires and compares the rotation pulse signal of the pinion 5 and the rotation pulse signal of the pitch gear 2, and identifies and measures the backlash error between the pinion 5 and the pitch gear 2; and the computer acquires and compares the rotation pulse signals of the left end and the right end of the pitch shaft 1 with the rotation pulse signals of the pitch gear 2, and identifies and measures the bearing installation error between the left end and the right end of the pitch shaft 1 and the middle part of the pitch shaft 1.
Wherein, the pitching shaft 1, the pitching gear 2, the right incremental encoder 7 and the left incremental encoder 8 are positioned on the same axis. The left and right sides of the pitching shaft 1 are respectively arranged on the three-degree-of-freedom adjusting platform 6, the middle of the pitching shaft 1 is provided with the pitching gear 2, the left end and the right end of the pitching shaft 1 are respectively provided with an incremental encoder, the center of the incremental encoder is connected with the pitching shaft in an interference fit manner, and the end surface of the incremental encoder is fixedly connected with the T-shaped bearing frame.
As shown in fig. 1, the driving system comprises a driving motor 4, a pinion 5 and an absolute encoder 41, wherein the output shaft of the driving motor 4 is connected with the pinion 5, and the absolute encoder 41 is arranged on the driving motor 4; the pinion is a driving gear, the output shaft of the driving motor 4 is connected with the pinion 5 and meshed with the pitching gear 2, the pitching gear is a driven gear, the driving motor 4 drives the pinion 5 to rotate, and then the pitching gear 5 meshed with the pinion 4 is driven to rotate.
The side surface of the pitching gear 2 is provided with a boss, and a flexible magnetic grid ruler 3 of the magnetic grid measuring mechanism is tightly attached to the boss and used for synchronously rotating with the pitching gear 2. The reading head 31 is arranged at the bottom of the pitching gear 2, a small gap exists between the flexible magnetic grid ruler and the reading head, and the reading head reads a rotation signal of the pitching shaft through the flexible magnetic grid ruler and feeds back the rotation angle of the pitching gear 2.
As shown in fig. 1 and 2, the three-degree-of-freedom adjustment stage 6 includes a rotation stage 61, a double-dovetail boss 62, an L-shaped translation stage 63, and a T-shaped bearing frame 64. The rotating table 61 is located at the bottom layer of the three-degree-of-freedom adjusting table 6, and includes a fixed base and a rotating table, and the rotating table is located above the fixed base and used for providing rotation of the three-degree-of-freedom adjusting table 6 around the Z-axis direction. The double-dovetail boss 62 is located above the rotary table 61 and is of a rectangular structure, and the bottom surface of the double-dovetail boss 62 is fixed with the rotary table 61 and provided with two dovetail bosses. L type translation platform 63 is located two forked tail boss 62 tops, for L type structure, is equipped with twice dovetail 65 in the bottom surface of L type translation platform 63, is equipped with twice forked tail boss 66 at the medial surface of L type translation platform 63, and twice dovetail 65 closely cooperates with the two forked tail type bosses at two forked tail boss 62 tops respectively, and both are used for providing the translation of three degrees of freedom regulation platform 6 along the Y axle direction. The L-shaped translation table 63 is connected with a T-shaped bearing frame 64, the T-shaped bearing frame 64 is a T-shaped frame which is transversely arranged, two dovetail grooves are formed in the bottom surface of the T-shaped bearing frame 64 and are tightly matched with the double dovetail bosses on the inner side of the L-shaped translation table 63, and the two dovetail grooves are used for providing translation of the three-degree-of-freedom adjusting table 6 along the Z-axis direction.
The rotary table 61 can be manually adjusted to generate relative rotation around the Z axis, the double-dovetail boss 62 is fixedly installed on the rotary table 61, the L-shaped translation table 63 is in clearance fit connection with the double-dovetail boss 62, the L-shaped translation table 63 can be manually adjusted to generate displacement along the Y axis, the T-shaped bearing frame 64 is in clearance fit connection with the L-shaped translation table 63, and the T-shaped bearing frame 64 can be manually adjusted to generate displacement along the Z axis.
The T-shaped bearing frame 64 is provided with a bearing for providing radial support for the pitching shaft 1, the T-shaped bearing frame 64 is fixedly connected with the left incremental encoder 7 and the right incremental encoder 8 respectively, the left incremental encoder 7 and the right incremental encoder 8 are hollow shaft structures and can be installed in a matched mode with the two ends of the pitching shaft respectively, and synchronous rotation is achieved.
Referring to fig. 1, 2, 3 and 4, the inner bottom surfaces of the double dovetail grooves on the L-shaped translation stage 63 and the T-shaped bearing frame 64 are respectively provided with a fixing mechanism, and the fixing mechanism comprises a locking piece 67, a groove 68 and a locking screw 69. The locking piece 67 can be embedded in the groove 68, and the L-shaped translation stage 63 and the double-dovetail boss 62 are connected through the locking screw 69, and the T-shaped bearing frame 64 and the L-shaped translation stage 63 are connected.
When the three-degree-of-freedom adjusting table 6 needs to be fixed in the Y direction or the Z direction, the locking screw 69 is screwed, the locking sheet 67 protrudes out of the surface of the groove 68, or the locking sheet 67 and the bottom surface of the dovetail groove keep the same horizontal plane, and friction force is generated between the locking sheet 67 and the dovetail boss. When the three-degree-of-freedom adjusting table 6 needs to have displacement in the Y direction or the Z direction, the locking screws 69 are loosened, the friction force between the locking pieces 67 and the dovetail bosses is reduced, and the dovetail bosses and the dovetail grooves can slide relatively.
The space positions of the two ends of the pitching shaft 1 are respectively adjusted by the three-degree-of-freedom adjusting tables 6 on the left side and the right side.
As shown in fig. 1 and 5, an absolute encoder 41 at the rear of the driving motor 4 records the rotation output angle of the pinion 5 of the driving motor 4 and feeds back a signal a. The left incremental encoder 8 of the pitch shaft 1 records the rotation angle of the left end of the pitch shaft 1 and feeds back a signal B, the right incremental encoder 7 of the pitch shaft 1 records the rotation angle of the right end of the pitch shaft 1 and feeds back a signal C, and the reading head 31 records the rotation angle of the flexible magnetic grid ruler 3 on the surface of the pitch gear boss 21 and feeds back a signal D.
As shown in fig. 5 in combination with fig. 6, during measurement, a gear transmission chain exists between the pinion 5 and the pitch gear 2, and the absolute encoder 41 at the tail of the driving motor 4 feeds back a rotation pulse signal a of the pinion 5 to the controller; the reading head 31 feeds back a rotation pulse signal D of the pitching gear 2 to the controller; a left end bearing transmission chain is arranged between the middle part of the pitching shaft 1 and the left end of the pitching shaft 1, and a left end incremental encoder 8 of the pitching shaft 1 feeds back a left end rotating pulse signal B of the pitching shaft 1 to the controller; a right bearing transmission chain is arranged between the middle part of the pitch shaft 1 and the right end of the pitch shaft 1, and an incremental encoder 8 at the right end of the pitch shaft 1 feeds back the rotation angle of the right end of the pitch shaft 1 and sends a pulse signal C to the controller; through manually adjusting the tooth clearance meshed between the pitching gear 2 and the pinion 5, the controller uploads a feedback signal D and a feedback signal A to a computer, the feedback signal D and the feedback signal A are compared in the computer, and the tooth clearance error between the pinion and the pitching gear can be identified and measured; the spatial position of the left end of the pitching shaft 1 is adjusted through the three-degree-of-freedom adjusting table 6, the controller uploads a feedback signal D and a feedback signal B to a computer, the feedback signal D and the feedback signal B are compared in the computer, and errors caused by a bearing at the left end of the pitching shaft can be identified and measured; the spatial position of the right end of the pitching shaft 1 is adjusted through the three-degree-of-freedom adjusting table 6, the controller uploads the feedback signal D and the feedback signal C to the computer, and the feedback signal D and the feedback signal C are compared in the computer, so that the error caused by a bearing at the right end of the pitching shaft can be identified and measured.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (10)
1. An error identification and measurement platform of an antenna pitching mechanism is characterized by comprising a pitching shaft, a pitching gear, a magnetic grid measurement mechanism, a driving system, a three-degree-of-freedom adjusting platform, a left incremental encoder, a right incremental encoder, a controller and a computer; wherein:
the pitch shaft passes through the pitch gear and is supported by the three-degree-of-freedom adjusting platform, and the left and right incremental encoders are respectively arranged at two ends of the pitch shaft; the driving system is positioned on one side of the pitching gear and is driven to rotate by the meshing of the small gear and the pitching gear; the magnetic grid measuring mechanism is positioned on the pitching gear;
the controller respectively acquires a pinion rotation pulse signal fed back by the driving system, a pitch gear rotation pulse signal fed back by the magnetic grid measuring mechanism and pitch shaft left and right end rotation pulse signals fed back by the left and right incremental encoders;
the computer acquires and compares the pinion rotation pulse signal and the pitch gear rotation pulse signal, and identifies and measures a backlash error between the pinion and the pitch gear;
and the computer acquires and compares the rotation pulse signals of the left end and the right end of the pitch shaft with the rotation pulse signals of the pitch gear, and identifies and measures the bearing installation error between the left end and the right end of the pitch shaft and the middle part of the pitch shaft.
2. The antenna pitching mechanism error identification and measurement platform according to claim 1, wherein the driving system comprises a driving motor, a pinion gear and an absolute encoder, the absolute encoder is arranged on the driving motor, an output shaft of the driving motor is connected with the pinion gear, and the pinion gear is meshed with the pitching gear.
3. The antenna pitching mechanism error identification and measurement platform according to claim 1, wherein the magnetic grid measurement mechanism comprises a flexible magnetic grid ruler and a reading head, the flexible magnetic grid ruler is tightly attached to the side face of the pitching gear, and the reading head is arranged at the bottom of the pitching gear.
4. The error identification and measurement platform of antenna pitching mechanism of claim 1, wherein the pitching shaft is mounted on the three-degree-of-freedom adjustment stage through a bearing, the pitching gear is mounted in the middle of the pitching shaft, and the left and right incremental encoders are respectively disposed at two ends of the pitching shaft.
5. The antenna pitching mechanism error identification and measurement platform according to claim 1, wherein the three-degree-of-freedom adjustment stage comprises a rotating stage, a double-dovetail boss, an L-shaped translation stage and a T-shaped bearing frame, the rotating stage, the double-dovetail boss and the L-shaped translation stage are sequentially arranged in a stacked manner from bottom to top, the T-shaped bearing frame is arranged on the L-shaped translation stage in a erected manner, and the pitching gear is arranged on the T-shaped bearing frame in an erected manner.
6. The antenna tilt mechanism error identification and measurement platform of claim 5, wherein the rotating stage comprises a fixed base and a rotating stage for providing rotation of the three degree-of-freedom adjustment stage about the Z-axis direction.
7. The antenna pitching mechanism error identification and measurement platform according to claim 6, wherein the bottom and the inner side surface of the L-shaped translation stage are respectively provided with a dovetail groove and a dovetail boss, the dovetail groove and the dovetail boss are connected through the dovetail groove and the double dovetail boss, and the dovetail groove and the dovetail boss are connected through the dovetail boss and the T-shaped bearing frame.
8. The antenna tilt mechanism error identification and measurement platform of claim 7, wherein the turntable is manually adjustable to produce relative rotation about the Z-axis and the T-bearing carriage is manually adjustable to produce displacement along the Z-axis.
9. The error identification and measurement platform of antenna pitching mechanism of claim 7, wherein the L-shaped translation stage and the T-shaped bearing frame are respectively provided with a fixing mechanism on the inner bottom surface of the dovetail groove, and the fixing mechanism comprises a locking screw and a locking piece.
10. An antenna pitching mechanism error identification and measurement method based on the platform of any one of claims 1 to 9, comprising:
the pinion is meshed with the pitching gear, and the absolute encoder feeds back the rotation angle of the pinion and sends a pulse signal A to the controller;
the reading head feeds back the rotation angle of the pitch gear and sends a pulse signal D to the controller;
the incremental encoder at the left end of the pitch shaft feeds back the rotation angle of the left end of the pitch shaft and sends a pulse signal B to the controller;
the incremental encoder at the right end of the pitch shaft feeds back the rotation angle at the right end of the pitch shaft and sends a pulse signal C to the controller;
the controller uploads the feedback signal D and the feedback signal A to a computer, the feedback signal D and the feedback signal A are compared in the computer, and a backlash error between the pinion and the pitching gear is identified and measured;
the controller uploads the feedback signal D and the feedback signal B to a computer, the feedback signal D and the feedback signal B are compared in the computer, and a bearing installation error at the left end of the pitching shaft is identified and measured;
and the controller uploads the feedback signal D and the feedback signal C to a computer, compares the feedback signal D with the feedback signal C in the computer, and identifies and measures the bearing installation error at the right end of the pitch axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110932777.1A CN113607040B (en) | 2021-08-13 | 2021-08-13 | Antenna pitching mechanism error identification and measurement platform and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110932777.1A CN113607040B (en) | 2021-08-13 | 2021-08-13 | Antenna pitching mechanism error identification and measurement platform and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113607040A true CN113607040A (en) | 2021-11-05 |
| CN113607040B CN113607040B (en) | 2023-08-01 |
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