CN104779440B - A kind of intelligent three-dimensional programmable antenna reflecting surface - Google Patents

Abstract

An intelligent three-dimensional programmable antenna reflecting surface, which is composed of a reflecting surface main body and a control system, the control system is placed next to the reflecting surface main body for control and manipulation, and the interface of the control system and the main interface of the radiation surface are connected by corresponding lines; the said The main body of the reflecting surface is composed of a static platform and multiple parallel mechanism modules, and multiple parallel mechanism modules are placed on the static platform; the control system is composed of a motor servo driver, a motion control card, a sensor receiver and amplifier, control system software, micro It is composed of computer, liquid crystal display, monitoring camera and security system, and the microcomputer is electrically connected with the motion control card, liquid crystal display and monitoring camera. The invention is an antenna reflective surface with adjustable size and intelligent controllable shape, which has strong adaptability and can meet the requirements for the shape of the reflective surface under different conditions, and the reflective surface of the antenna is a combined type, which is convenient for disassembly and storage.

Description

An intelligent three-dimensional programmable antenna reflector

Technical field:

The invention relates to an intelligent three-dimensional programmable antenna reflection surface, which belongs to the field of satellite antennas.

Background technique:

The antenna structure is composed of a reflective surface and a back frame structure supporting the reflective surface, where the reflective surface is the main component for the antenna to emit and receive electromagnetic signals. Depending on the needs, the size of the reflective surface varies greatly. According to the shape of the antenna, there are mainly plate antennas, whip antennas, parabolic antennas, and cylindrical antennas. Among them, the dish-type parabolic antenna reflection surface is the most common, but it is inconvenient to move and difficult to remove dust.

Invention content:

1. Purpose: The purpose of the present invention is to provide an intelligent three-dimensional programmable antenna reflective surface based on a parallel mechanism. It is an antenna reflective surface with adjustable size and intelligent control. It has strong adaptability and can meet Requirements for the shape of the reflective surface under different conditions. And the reflective surface of this antenna is combined type, which is convenient for disassembly and storage.

2. Technical solution:

See Fig. 1a, b: an intelligent three-dimensional programmable antenna reflective surface of the present invention, which is composed of a reflective surface main body and a control system. The relationship between the two is: the control system is placed next to the main body of the reflective surface for control and manipulation, and the interface of the control system and the main interface of the radiating surface are connected by corresponding lines.

The main body of the reflecting surface is composed of a static platform and a plurality of parallel mechanism modules. Multiple parallel mechanism modules are placed on the static platform. The static platform is a rectangular sheet whose exact size depends on the size of the topological structure. The parallel mechanism module is fixed on the static platform by bolts. Its main body is the topology structure of the parallel mechanism module. The size of the reflective surface can be adjusted by changing the topology number of the parallel mechanism modules. As shown in Figure 2, the parallel mechanism module is composed of a branch chain assembly, a moving platform, a double-headed ball hinge rod, and a ball hinge cover. The moving platform, the double-headed ball hinge rod and the ball hinge cover are all placed on the moving platform. The moving platform is a hexagonal plate structure made of aluminum. The three non-adjacent sides of the hexagon are equivalently and symmetrically distributed with two ball sockets as a group to ensure that the angle of adjacent ball sockets is not equal to 60 degrees, thereby avoiding the singularity of the parallel mechanism. It is also equivalent to having a ball socket near each corner of the hexagon. It should be noted that when moving the platform topology, two adjacent sides need to ensure that there are two ball sockets on one side and no ball sockets on the other side, so as to ensure the correctness of assembly. Assuming that the distance between adjacent moving platforms is D, in the inner ring of the T topology, the branch chain components are shared by three adjacent moving platforms and are located at the center of the three corners. In the outermost ring of the topological structure, the branch chain assembly is used for two adjacent moving platforms or for one moving platform alone, and is located at a position where the two sides forming the hexagonal angle are offset by D/2. Double-headed ball hinge rod, each of the two ends of the cylinder is connected with a ball larger than one-half. Spherical hinge cover, 1/2 hollow cylinder, the maximum internal hole diameter is equal to the diameter of the spherical hinge ball, the surface of the hole is spherical, two spherical hinge covers are used together, and four through holes are evenly distributed in the circumferential direction for connection. One end of the double-headed ball hinge rod is connected with the ball socket of the moving platform through the ball hinge cover, and the other end is connected with the branch chain assembly through the ball hinge cover. Through the movement of the branch chain components, the moving platform can rotate in three directions and move in three directions. Through the cooperative movement of all the branch chain components, the reflecting surface can form different shapes.

See Figure 3, a schematic diagram of the branch chain assembly. The branch chain assembly consists of servo motor (1 piece), coupling (1 piece), ball screw (1 piece), tapered roller bearing (2 pieces), bearing fixed end cover (1 piece), telescopic sleeve ( 1 piece), upper connecting rod (1 piece), three-dimensional force sensor (1 piece), ball joint (1 piece), upper sleeve (1 piece), lower sleeve (1 piece), adapter plate (1 piece ), the motor jacket (1 piece), the lower connecting plate (1 piece), the key (1 piece), the key positioning end cover (1 piece), and the rotary encoder (1 piece). The relationship therebetween is: the telescopic sleeve is cylindrical and has a through hole whose aperture is slightly larger than the outer diameter of the ball screw to ensure that the screw can pass through people. One end is a flange with the same shape as the nut flange, which is used to connect the nut of the ball screw. The other end is a hollow cylinder concentric with the flange, the outer surface of the cylinder is provided with a keyway, and the inner surface is tapped with a certain length of thread for connecting the upper connecting rod. The upper connecting rod is a three-stage stepped shaft, the shaft diameters at both ends are the same as the inner diameter of the telescopic sleeve, the outer surfaces of the shafts at both ends are threaded, and the diameter of the middle shaft is the same as the hollow cylinder outer diameter of the telescopic sleeve. The lower sleeve is cylindrical, with square flanges at both ends and a stepped through hole in the center. The diameter of the large hole is the same as that of the nut flange, so that the ball screw can move inside the lower sleeve. The diameter of the middle hole is the same as the outer diameter of the ball screw bearing, and it is used to fix the ball screw bearing. The diameter of the small hole is the same as the diameter of the coupling, and the length of the small hole is the same as the length of the coupling. The fixed end cap of the bearing is cylindrical, has a through hole, the inner diameter is equal to the diameter of the lead screw, the outer diameter is equal to the diameter of the middle hole of the upper sleeve, and the outer surface is tapped with threads. The upper sleeve is a stepped shaft with two ends, the inside is a stepped hole, one end of the large shaft is a square flange, and the hole at the flange end is a large hole with the same diameter as the lower sleeve, and the diameter of the small hole at the other end is the same as that of the telescopic sleeve. The diameters are the same, there is a keyway inside the small hole, the length of the keyway is less than the length of the small hole and the outer surface of the small shaft of the upper sleeve is tapped with threads. The length of this key is equal to the length of the keyway inside the small hole of the upper sleeve. The key uses a positioning end cap, cylindrical, the outer diameter is the same as the shaft diameter of the upper sleeve, and the inside is a stepped through hole. The surface of the large hole is tapped to connect the thread at the small hole of the upper sleeve. The small shaft journal of the sleeve is the same, and the length is the same as that of the small shaft of the upper sleeve. The diameter of the small hole is the outer diameter of the telescopic sleeve, so that the telescopic sleeve can penetrate smoothly. The outer casing of the motor is in the shape of a square box, with square flanges at both ends and a square hole inside to accommodate the servo motor. The three-dimensional force sensor is cylindrical and has holes at both ends. The size of the holes is equal to the diameter of the small shaft of the upper connecting rod, and the surface of the holes is tapped with threads. The spherical hinge interface is a stepped shaft, the small shaft is tapped with threads, the hole diameter is equal to the inner hole diameter of the three-dimensional force sensor, and three ball sockets are evenly distributed around the end surface of the big shaft. The adapter plate is square, its length and width are the same as those of the servo motor, and the diameter of the through hole is equal to the diameter of the ball screw. Install the bearing fixed end cover and the tapered roller bearing into the ball screw in sequence to form the screw assembly. The screw assembly is put into the lower sleeve, the tapered roller bearing is put into the middle hole of the lower sleeve, positioned with the middle hole and the small hole shoulder, and the bearing fixed end cover is tightened. This secures the tapered roller bearing. The rotary encoder is used to measure the expansion and contraction of the peripheral branch chain, and is integrated with the servo motor. The positional relationship between them is: the servo motor is a motion actuator, which is connected with the ball screw through a coupling. The nut on the ball screw is connected to the flange of the telescopic sleeve through bolts. When the servo motor drives the ball screw to move, the nut drives the telescopic sleeve to expand and contract. The telescopic sleeve is threadedly connected to the upper connecting rod. The upper connecting rod is threadedly connected with the three-dimensional force sensor, and the three-dimensional force sensor is threadedly connected with the spherical joint interface. An adapter plate is placed between the servo motor and the coupling to locate the small hole end flange of the lower sleeve. The lower sleeve and the upper sleeve are connected by square flange bolts, and the length of the large hole inside the upper and lower sleeves must ensure that it does not interfere with the movement of the lead screw. After the upper sleeve is assembled, it is necessary to ensure that the keyway on the telescopic sleeve is aligned with the keyway on the small hole surface of the upper sleeve, and then install the key into the keyway. The upper sleeve and the key are threaded with the positioning end cap, and one end of the key is pressed, so that the key is positioned and plays a guiding role, and at the same time, the upper sleeve and the lower sleeve will not rotate. The other end flange of the lower sleeve is connected with the square flange bolt at one end of the motor casing to surround the motor. The square flange of the motor casing is connected to the lower connecting plate with screws. The lower connecting plate is circular and its diameter is larger than that of the lower sleeve. The size of the square flange corresponds to the threaded hole of the lower sleeve flange with a stepped hole, the diameter of the small hole is the major diameter of the threaded hole of the small sleeve flange, the large hole is the diameter of the head of the screw used, and the length is longer than the screw The diameter of the head is to ensure that the lower connecting plate can be placed on the static platform smoothly after assembly. The lower connecting plate has a through hole, which is connected with the threaded hole bolts corresponding to the center of the static platform, so as to realize the fixation with the static platform.

The control system is composed of a motor servo driver, a motion control card, a sensor receiver and an amplifier, control system software, a microcomputer, a liquid crystal display, a monitoring camera, and a security system. The electrical connection relationship between them is: the microcomputer is electrically connected with the motion control card, the liquid crystal display and the monitoring camera, and at the same time, the motion control card is electrically connected with the motor servo driver, the sensor receiver and the amplifier. The control system software and the security system are installed in the operating system of the microcomputer. The motor servo driver adopts AC servo driver, the quantity is 1 piece for each branch chain component, which can realize the tuning of the performance of the servo motor itself, test the feedback setting of the servo control system, set the specific working mode of the servo motor and realize the control of the servo motor. open-loop and closed-loop control. The motion control card adopts a multi-axis motion control card, and the quantity is 1 piece, which can realize the coordinated control of four sets of servo motors at the same time, so as to realize the control of the posture, moving speed and loading load of the parallel mechanism actuation platform. At the same time, through the programming of the control card and the custom servo algorithm, the position, speed and force of the servo motor can be precisely controlled, so as to control the position, moving speed and loading load of the branch chain components. Through the signal acquisition interface of the control card, the signal processing of the three-dimensional force sensor acquisition can be realized, and the precise control of the loading device can be realized. Three-dimensional force sensor amplifier, the quantity is one piece, which can realize the reading and digital-to-analog conversion processing of high-precision data of the three-dimensional force sensor. The control system software includes a conversion module between the virtual coordinate system and the real coordinate system, a software programming interface, and a real-time display interface, and the quantity is 1 set. It can realize the functions of inputting specified load, observing sensor value, calculating and displaying load distribution, etc. The microcomputer adopts an industrial control computer, and the quantity is 1 piece. It can realize the processing of the data received by the sensor, the processing and execution of the instructions issued by the operator, and the calculation and drawing of the measurement data. The number of the liquid crystal display and the monitoring camera is 1, which can realize the real-time monitoring of each link of the loading test device by the operator, display the operation interface of the control system and display the input and output data required in the test. The safety guarantee system monitors and observes each sensor of the parallel mechanism device. During the test, if the sensor feedback data is abnormal, the system will send out a warning signal.

To sum up, the specific operation is to calculate the expansion and contraction of each branch chain component from the position of the curved surface to be achieved, and control the movement of the servo motor. The pose of the platform changes, and at the same time, sensor force feedback is used to provide real-time feedback on the movement process until each branch chain component reaches the designated position, simulating an ideal curved surface to form a reflective surface.

3. Advantages and effects: The advantages of the intelligent three-dimensional programmable antenna reflective surface of the present invention are: the shape of the reflective surface can be intelligently controlled and adjusted, and the size of the reflective surface can be controlled according to the number of topologies, which has strong adaptability. Moreover, the reflective surface is combined, which is convenient for disassembly and movement. Real-time operation can be realized in the control process, which is safe.

Description of drawings

Figure 1a is a front view of the reflective surface of the smart 3D programmable antenna.

Figure 1b is a top view of the reflective surface of the smart 3D programmable antenna.

Fig. 2a is a schematic diagram of a parallel mechanism module.

Figure 2b is a schematic diagram of the moving platform topology.

Fig. 2c(1) and Fig. 2c(2) are schematic diagrams of installation of branch chain components.

Figure 3a is a schematic diagram of a peripheral branch chain assembly.

Figure 3b is a cross-sectional view of the peripheral branch chain assembly.

Fig. 3c is a partial schematic diagram of the peripheral branch chain assembly.

Fig. 4 is a schematic diagram of the control flow of the control system.

Figure 5 is a schematic diagram of the overall specific operation.

The specific labels in the figure are explained as follows:

1. Static platform 2. Reflecting surface main body 3. Dynamic platform

4. Branch chain assembly 5. Ball hinge cover 6. Double-headed ball hinge cover

7. Ball hinge interface 8. Three-dimensional force sensor 9. Upper connecting rod

10. Telescopic sleeve 11. Key positioning end cap 12. Upper sleeve

13. Lower sleeve 14. Motor jacket 15. Servo motor

16. Lower connecting plate 17. Nut 18. Ball screw

19. Bearing fixed end cover 20. Tapered roller bearing 21. Coupling

22. Adapter board 23. Rotary encoder 24. Key

detailed description

See Fig. 1a, b: an intelligent three-dimensional programmable antenna reflective surface of the present invention, which is composed of a reflective surface main body and a control system. The relationship between the two is: the control system is placed next to the main body of the reflective surface for control and manipulation, and the interface of the control system and the main interface of the radiating surface are connected by corresponding lines.

The main body of the reflecting surface is composed of a static platform and a plurality of parallel mechanism modules. Multiple parallel mechanism modules are placed on the static platform. The static platform is a rectangular sheet whose exact size depends on the size of the topological structure. The parallel mechanism module is fixed on the static platform by bolts. Its main body is the topology structure of the parallel mechanism module. The size of the reflective surface can be adjusted by changing the topology number of the parallel mechanism modules. See Fig. 2a, b, c (1), (2), the parallel mechanism module is composed of a branch chain assembly, a moving platform, a double-headed ball hinge rod, and a ball hinge cover. The moving platform, the double-headed ball hinge rod and the ball hinge cover are all placed on the moving platform. The moving platform is a hexagonal plate structure made of aluminum. The three non-adjacent sides of the hexagon are equivalently and symmetrically distributed with two ball sockets as a group to ensure that the angle of adjacent ball sockets is not equal to 60 degrees, thereby avoiding the singularity of the parallel mechanism. It is also equivalent to having a ball socket near each corner of the hexagon. It should be noted that when moving the platform topology, two adjacent sides need to ensure that there are two ball sockets on one side and no ball sockets on the other side, so as to ensure the correctness of assembly. Assuming that the distance between adjacent moving platforms is D, in the inner ring of the T topology, the branch chain components are shared by three adjacent moving platforms and are located at the center of the three corners. In the outermost ring of the topological structure, the branch chain assembly is used for two adjacent moving platforms or for one moving platform alone, and is located at a position where the two sides forming the hexagonal angle are offset by D/2. Double-headed ball hinge rod, each of the two ends of the cylinder is connected with a ball larger than one-half. Spherical hinge cover, 1/2 hollow cylinder, the maximum internal hole diameter is equal to the diameter of the spherical hinge ball, the surface of the hole is spherical, two spherical hinge covers are used together, and four through holes are evenly distributed in the circumferential direction for connection. One end of the double-headed ball hinge rod is connected with the ball socket of the moving platform through the ball hinge cover, and the other end is connected with the branch chain assembly through the ball hinge cover. Through the movement of the branch chain components, the moving platform can rotate in three directions and move in three directions. Through the cooperative movement of all the branch chain components, the reflecting surface can form different shapes.

See Figure 3a, b, c, schematic diagrams of branched chain components. The branch chain assembly consists of servo motor (1 piece), coupling (1 piece), ball screw (1 piece), tapered roller bearing (2 pieces), bearing fixed end cover (1 piece), telescopic sleeve ( 1 piece), upper connecting rod (1 piece), three-dimensional force sensor (1 piece), ball joint (1 piece), upper sleeve (1 piece), lower sleeve (1 piece), adapter plate (1 piece ), the motor jacket (1 piece), the lower connecting plate (1 piece), the key (1 piece), the key positioning end cover (1 piece), and the rotary encoder (1 piece). The relationship therebetween is: the telescopic sleeve is cylindrical and has a through hole whose aperture is slightly larger than the outer diameter of the ball screw to ensure that the screw can pass through people. One end is a flange with the same shape as the nut flange, which is used to connect the nut of the ball screw. The other end is a hollow cylinder concentric with the flange, the outer surface of the cylinder is provided with a keyway, and the inner surface is tapped with a certain length of thread for connecting the upper connecting rod. The upper connecting rod is a three-stage stepped shaft, the shaft diameters at both ends are the same as the inner diameter of the telescopic sleeve, the outer surfaces of the shafts at both ends are threaded, and the diameter of the middle shaft is the same as the hollow cylinder outer diameter of the telescopic sleeve. The lower sleeve is cylindrical, with square flanges at both ends and a stepped through hole in the center. The diameter of the large hole is the same as that of the nut flange, so that the ball screw can move inside the lower sleeve. The diameter of the middle hole is the same as the outer diameter of the ball screw bearing, and it is used to fix the ball screw bearing. The diameter of the small hole is the same as the diameter of the coupling, and the length of the small hole is the same as the length of the coupling. The fixed end cap of the bearing is cylindrical, has a through hole, the inner diameter is equal to the diameter of the lead screw, the outer diameter is equal to the diameter of the middle hole of the upper sleeve, and the outer surface is tapped with threads. The upper sleeve is a stepped shaft with two ends, the inside is a stepped hole, one end of the large shaft is a square flange, and the hole at the flange end is a large hole with the same diameter as the lower sleeve, and the diameter of the small hole at the other end is the same as that of the telescopic sleeve. The diameters are the same, there is a keyway inside the small hole, the length of the keyway is less than the length of the small hole and the outer surface of the small shaft of the upper sleeve is tapped with threads. The length of this key is equal to the length of the keyway inside the small hole of the upper sleeve. The key uses a positioning end cap, cylindrical, the outer diameter is the same as the shaft diameter of the upper sleeve, and the inside is a stepped through hole. The surface of the large hole is tapped to connect the thread at the small hole of the upper sleeve. The small shaft journal of the sleeve is the same, and the length is the same as that of the small shaft of the upper sleeve. The diameter of the small hole is the outer diameter of the telescopic sleeve, so that the telescopic sleeve can penetrate smoothly. The outer casing of the motor is in the shape of a square box, with square flanges at both ends and a square hole inside to accommodate the servo motor. The three-dimensional force sensor is cylindrical and has holes at both ends. The size of the holes is equal to the diameter of the small shaft of the upper connecting rod, and the surface of the holes is tapped with threads. The spherical hinge interface is a stepped shaft, the small shaft is tapped with threads, the hole diameter is equal to the inner hole diameter of the three-dimensional force sensor, and three ball sockets are evenly distributed around the end surface of the big shaft. The adapter plate is square, its length and width are the same as those of the servo motor, and the diameter of the through hole is equal to the diameter of the ball screw. Install the bearing fixed end cover and the tapered roller bearing into the ball screw in sequence to form the screw assembly. The screw assembly is put into the lower sleeve, the tapered roller bearing is put into the middle hole of the lower sleeve, positioned with the middle hole and the small hole shoulder, and the bearing fixed end cover is tightened. This secures the tapered roller bearing. The rotary encoder is used to measure the expansion and contraction of the peripheral branch chain, and is integrated with the servo motor. The positional relationship between them is: the servo motor is a motion actuator, which is connected with the ball screw through a coupling. The nut on the ball screw is connected to the flange of the telescopic sleeve through bolts. When the servo motor drives the ball screw to move, the nut drives the telescopic sleeve to expand and contract. The telescopic sleeve is threadedly connected to the upper connecting rod. The upper connecting rod is threadedly connected with the three-dimensional force sensor, and the three-dimensional force sensor is threadedly connected with the spherical joint interface. An adapter plate is placed between the servo motor and the coupling to locate the small hole end flange of the lower sleeve. The lower sleeve and the upper sleeve are connected by square flange bolts, and the length of the large hole inside the upper and lower sleeves must ensure that it does not interfere with the movement of the lead screw. After the upper sleeve is assembled, it is necessary to ensure that the keyway on the telescopic sleeve is aligned with the keyway on the small hole surface of the upper sleeve, and then install the key into the keyway. The upper sleeve and the key are threaded with the positioning end cap, and one end of the key is pressed, so that the key is positioned and plays a guiding role, and at the same time, the upper sleeve and the lower sleeve will not rotate. The other end flange of the lower sleeve is connected with the square flange bolt at one end of the motor casing to surround the motor. The square flange of the motor casing is connected to the lower connecting plate with screws. The lower connecting plate is circular and its diameter is larger than that of the lower sleeve. The size of the square flange corresponds to the threaded hole of the lower sleeve flange with a stepped hole, the diameter of the small hole is the major diameter of the threaded hole of the small sleeve flange, the large hole is the diameter of the head of the screw used, and the length is longer than the screw The diameter of the head is to ensure that the lower connecting plate can be placed on the static platform smoothly after assembly. The lower connecting plate has a through hole, which is connected with the threaded hole bolts corresponding to the center of the static platform, so as to realize the fixation with the static platform.

The control system is composed of a motor servo driver, a motion control card, a sensor receiver and an amplifier, control system software, a microcomputer, a liquid crystal display, a monitoring camera, and a security system. The electrical connection relationship between them is: the microcomputer is electrically connected with the motion control card, the liquid crystal display and the monitoring camera, and at the same time, the motion control card is electrically connected with the motor servo driver, the sensor receiver and the amplifier. The control system software and the security system are installed in the operating system of the microcomputer. The motor servo driver adopts AC servo driver, the quantity is 1 piece for each branch chain component, which can realize the tuning of the performance of the servo motor itself, test the feedback setting of the servo control system, set the specific working mode of the servo motor and realize the control of the servo motor. open-loop and closed-loop control. The motion control card adopts a multi-axis motion control card, and the quantity is 1 piece, which can realize the coordinated control of four sets of servo motors at the same time, so as to realize the control of the posture, moving speed and loading load of the parallel mechanism actuation platform. At the same time, through the programming of the control card and the custom servo algorithm, the position, speed and force of the servo motor can be precisely controlled, so as to control the position, moving speed and loading load of the branch chain components. Through the signal acquisition interface of the control card, the signal processing of the three-dimensional force sensor acquisition can be realized, and the precise control of the loading device can be realized. Three-dimensional force sensor amplifier, the quantity is one piece, which can realize the reading and digital-to-analog conversion processing of high-precision data of the three-dimensional force sensor. The control system software includes a conversion module between the virtual coordinate system and the real coordinate system, a software programming interface, and a real-time display interface, and the quantity is 1 set. It can realize the functions of inputting specified load, observing sensor value, calculating and displaying load distribution, etc. The microcomputer adopts an industrial control computer, and the quantity is 1 piece. It can realize the processing of the data received by the sensor, the processing and execution of the instructions issued by the operator, and the calculation and drawing of the measurement data. The number of the liquid crystal display and the monitoring camera is 1, which can realize the real-time monitoring of each link of the loading test device by the operator, display the operation interface of the control system and display the input and output data required in the test. The safety guarantee system monitors and observes each sensor of the parallel mechanism device. During the test, if the sensor feedback data is abnormal, the system will send out a warning signal. Fig. 4 is a schematic diagram of the control flow of the control system; Fig. 5 is a schematic diagram of the overall specific operation.

Claims (1)

1. A kind of intelligent three-dimensional programmable antenna reflecting surface is characterized in that: it is made up of reflecting surface main body and control system, and control system is placed beside reflecting surface main body so as to carry out control manipulation, between control system interface and radiation surface main body interface by Corresponding line connection; The main body of the reflecting surface is composed of a static platform and a plurality of parallel mechanism modules, and the plurality of parallel mechanism modules are placed on the static platform; the static platform is a rectangular sheet material, and its specific size depends on the size of the topological structure; the parallel mechanism module passes Bolts are fixed on the static platform, and its main body is the topological structure of the parallel mechanism module; the size of the reflecting surface can be adjusted by changing the topology number of the parallel mechanism module; , spherical hinge cover, the double-headed ball hinge rod, and the spherical hinge cover are placed under the moving platform and above the branch chain assembly; the moving platform is a hexagonal sheet material structure, made of aluminum; the hexagons are not adjacent The three sides of the hexagon are equivalently and symmetrically distributed with two ball sockets as a group to ensure that the angle of adjacent ball sockets is not equal to 60 degrees, so as to avoid the singularity of the parallel mechanism; there is a ball socket near each corner of the specific hexagon, among which, the dynamic In the platform topology, two adjacent sides need to ensure that one side has two ball sockets and the other side has no ball socket distribution, so as to ensure the correctness of assembly; the distance between adjacent moving platforms is D, and in the inner ring of T topology, The branch chain assembly is shared by three adjacent moving platforms, and is located at the center of the three corners; in the outermost ring of the topology structure, the branch chain assembly is used by two adjacent moving platforms or a single moving platform, and is located at the hexagonal edge. The two sides of the corner are offset at a position of D/2; the double-headed ball hinge rod is connected with a ball larger than half of the cylinder at each end; the ball hinge cover is 1/2 hollow cylindrical, and the inner diameter is The maximum value is equal to the diameter of the spherical hinge ball, the surface of the hole is a spherical surface, two spherical hinge covers are used together, and four through holes are evenly distributed in the circumferential direction for connection; one end of the double-headed ball hinge rod is connected to the ball socket of the moving platform through the spherical hinge cover The other end is connected with the branch chain assembly through the ball hinge cover; through the movement of the branch chain assembly, the moving platform can rotate in three directions and move in three directions, and through the cooperative movement of all the branch chain components, the reflective surface can form different shapes ;The branch chain assembly consists of servo motor, coupling, ball screw, tapered roller bearing, bearing fixed end cover, telescopic sleeve, upper connecting rod, three-dimensional force sensor, ball joint interface, upper sleeve, lower sleeve , an adapter plate, a motor jacket, a lower connecting plate, a key, and a positioning end cover for the key, and a rotary encoder. The screw can be penetrated, one end is a flange with the same shape as the nut flange, which is used to connect the nut of the ball screw, and the other end is a hollow cylinder concentric with the flange, the outer surface of the cylinder is provided with a keyway, and the inner surface is tapped with a predetermined length The thread is used to connect the upper connecting rod; the upper connecting rod is a three-stage stepped shaft, the diameter of the shaft at both ends is the same as the inner diameter of the telescopic sleeve, the outer surface of the shaft at both ends is threaded, and the diameter of the middle shaft is the same as the outer diameter of the hollow cylinder of the telescopic sleeve The same; the lower sleeve is cylindrical, with square flanges at both ends, and a stepped through hole in the center. The diameter of the large hole is the same as the diameter of the nut flange, so that the ball screw can move inside the lower sleeve; the diameter of the middle hole is the same as that of the ball The outer diameter of the bearing for the screw is the same as that used to fix the bearing for the ball screw. The diameter of the small hole is the same as the diameter of the coupling, and the length of the small hole is the same as the length of the coupling; the bearing fixed end cover, cylindrical, through hole, inner diameter Equal to the diameter of the lead screw, the outer diameter is equal to the upper sleeve The diameter of the middle hole is tapped with threads on the outer surface; the upper sleeve is a stepped shaft at both ends, and the inside is a stepped hole. One end of the large shaft is a square flange, and the hole at the flange end is a large hole. The aperture is the same as that of the lower sleeve. The diameter of the small hole at the other end is the same as the outer diameter of the telescopic sleeve. There is a keyway inside the small hole. The length of the keyway is less than the length of the small hole and the outer surface of the small shaft of the upper sleeve is threaded; the length of the key is equal to the keyway inside the small hole of the upper sleeve. The length of the key; the key uses a positioning end cap, cylindrical, the outer diameter is the same as the shaft diameter of the upper sleeve, and the inside is a stepped through hole. The surface of the large hole is threaded to connect the thread at the small hole of the upper sleeve. The large hole The aperture is the same as the journal of the small shaft of the upper sleeve, and the length is the same as the length of the small shaft of the upper sleeve; the diameter of the small hole is the outer diameter of the telescopic sleeve, so that the telescopic sleeve can penetrate smoothly; the motor casing is a square box structure, The two ends are square flanges, and there are square holes inside to accommodate the servo motor; the three-dimensional force sensor is cylindrical, with holes at both ends, the hole diameter is equal to the small shaft diameter of the upper connecting rod, and the surface of the hole is threaded; the ball The hinge interface is a stepped shaft, the small shaft is tapped with threads, the aperture size is equal to the inner diameter of the three-dimensional force sensor, and the end surface of the large shaft is evenly distributed with three ball sockets in the circumferential direction; The diameter of the hole is equal to the diameter of the ball screw; the bearing fixed end cover and the tapered roller bearing are loaded into the ball screw in sequence to form a screw assembly; the screw assembly is loaded into the lower sleeve, and the tapered roller bearing is loaded into the lower sleeve The middle hole is positioned by the middle hole and the small hole shoulder, and the bearing fixed end cover is tightened to fix the tapered roller bearing; the rotary encoder is used to measure the expansion and contraction of the peripheral branch chain, and is integrated with the servo motor; the servo motor It is a motion actuator, connected to the ball screw through a coupling; the nut on the ball screw is connected to the flange of the telescopic sleeve through bolts, when the servo motor drives the ball screw to move, the nut drives the telescopic sleeve to expand and contract; the telescopic sleeve The barrel is threaded to the upper connecting rod, the upper connecting rod is threaded to the three-dimensional force sensor, and the three-dimensional force sensor is threaded to the ball joint interface; an adapter plate is placed between the servo motor and the coupling to locate the small hole end of the lower sleeve. The lower sleeve and the upper sleeve are connected by square flange bolts. The length of the large hole inside the upper and lower sleeves must ensure that it does not interfere with the movement of the screw; after the upper sleeve is assembled, the keyway on the telescopic sleeve and the upper sleeve must be ensured. The keyway on the surface of the small hole of the sleeve is aligned, and the key is installed into the keyway; the upper sleeve and the key are screwed together with a positioning end cover, and one end of the key is pressed, so that the key is positioned, thereby playing a guiding role, and at the same time, the upper sleeve and the key The lower sleeve will not rotate, the other end flange of the lower sleeve is connected with the square flange bolt at one end of the motor casing to surround the motor, the square flange of the motor casing is connected with the lower connecting plate screw, and the lower connecting plate is a circle Its diameter is larger than the size of the square flange of the lower sleeve, and there is a stepped hole corresponding to the threaded hole of the lower sleeve flange. The diameter of the small hole is the major diameter of the threaded hole of the small sleeve flange, and the large hole is the screw used. The diameter of the head, the length is greater than the diameter of the head of the screw to ensure that the lower connecting plate is placed on the static platform stably after assembly. fixed; The control system is composed of motor servo driver, motion control card, sensor receiver and amplifier, control system software, microcomputer, liquid crystal display and monitoring camera, security system, microcomputer and motion control card, liquid crystal display and monitoring camera To achieve electrical connection, at the same time, the motion control card is electrically connected to the motor servo driver, sensor receiver and amplifier; the control system software and security system are installed in the operating system of the microcomputer; the motor servo driver adopts AC servo driver, the number is 1 piece for each branch chain component, realize the tuning of the servo motor's own performance, test the feedback setting of the servo control system, set the specific working mode of the servo motor, and realize the open-loop and closed-loop control of the servo motor; the motion control card adopts Multi-axis motion control card, the quantity is 1 piece, to realize the coordinated control of four sets of servo motors at the same time, so as to control the posture, moving speed and loading load of the parallel mechanism moving platform; at the same time, through the programming of the control card and the custom servo algorithm , to accurately control the position, speed and force of the servo motor, thereby controlling the position, moving speed and loading load of the branch chain components; through the signal acquisition interface of the control card, the processing of the signal collected by the three-dimensional force sensor is realized, and the loading device is realized. Accurate control; sensor receiver and amplifier, the quantity is 1, to realize the reading and digital-to-analog conversion processing of high-precision data of the three-dimensional force sensor; the control system software includes the conversion module of the virtual coordinate system and the real coordinate system, software Programming interface, real-time display interface, the quantity is 1 set, which can realize the functions of inputting the specified load, observing the sensor value, calculating and displaying the load distribution; The processing and execution of instructions issued by the operator, as well as the calculation and drawing of the measurement data; the number of the liquid crystal display and the monitoring camera is 1, which realizes the real-time monitoring of each link of the loading test device by the operator and displays the operation interface of the control system and display the input and output data required in the test; the safety guarantee system monitors and observes the sensors of the parallel mechanism device. During the test, if the sensor feedback data is abnormal, the system will send out a warning signal; the specific operation is Calculate the amount of expansion and contraction of each branch chain component from the position of the curved surface to be achieved, and control the movement of the servo motor. The sensor force feedback is used to provide real-time feedback on the movement process until each branch chain component reaches the designated position, and an ideal curved surface is simulated to form a reflective surface.