CN103777645B - Device is followed the tracks of for astronomical telescope dual redundant telescope - Google Patents
Device is followed the tracks of for astronomical telescope dual redundant telescope Download PDFInfo
- Publication number
- CN103777645B CN103777645B CN201410026019.3A CN201410026019A CN103777645B CN 103777645 B CN103777645 B CN 103777645B CN 201410026019 A CN201410026019 A CN 201410026019A CN 103777645 B CN103777645 B CN 103777645B
- Authority
- CN
- China
- Prior art keywords
- telescope
- axis
- azimuth
- motor
- dual redundant
- 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.)
- Expired - Fee Related
Links
Landscapes
- Telescopes (AREA)
Abstract
Following the tracks of device for astronomical telescope dual redundant telescope, including pitch axis system and azimuth axle, feature is pitch axis system and azimuth axle uses two sets to follow the tracks of systems respectively, respectively constitutes azimuth axis dual redundant axle system and altitude axis dual redundant axle system；Two set tracking systems are automatically switched by control system；Two set tracking systems in pitch axis system drive altitude axis jointly, share a set of feedback system, share a set of height limit brakes；Two set tracking systems in azimuth axle drive azimuth axis jointly, share a set of feedback system, share the spacing brakes in a set of orientation.Bearing capacity of the present invention is strong, frictional force is low, and power consumption is little, and transmission efficiency is high, and rotating accuracy is high.Positioning precision: reach 20 °/s during high speed, reaches 0.05 when crossing low speed "/s and without creeping phenomenon.Brake spacing can realize simultaneously brake hard, mechanical shock protection, adjustable in the range of positive and negative 0 ~ 360 ° of rotating range.Present invention may also apply to the slewing that other heavy type, high-precision is close.
Description
Technical field
The present invention relates to the tracking frame of a kind of precision optical instrument, be specifically related to a kind of for astronomical telescope dual redundant telescope tracking device.The present invention is the achievement in research of following items: National Nature fund general project (bullets: 11273039), Jiangsu Province's production, teaching & research project (bullets: BY2011167), Chinese Academy of Sciences's astronomy special project project (C-113).
Background technology
Modern large-scale astronomical telescope mostly uses altitude azimuth form structure, comprise pitch axis system and azimuth axle, azimuth axle supports whole system and is connected with ground, realize azimuth axis follows the tracks of driving, position, angular velocity, the measurement of angular acceleration and feedback, and carry the weight of tens of or even upper kiloton pivoting part, and there is high kinematic accuracy and good stability, with ensure telescope can steadily, accurately, Ultra-Low Speed runs.Pitch axis system needs to support telescopical optical system and important optical instrument thereof.And require higher kinematic accuracy and stability.Additionally, along with astronomical observation turns to the astronomical observation condition such as space, the South Pole the most superior but area that environment is extremely complex, telescopical use pattern also from traditional manual operation to autonomous type, networking, the working mode transition that remotely controls, this makes redundance telescope follow the tracks of to drive and control to become the key issue that must solve in following astronomical telescope development.Therefore, develop and there is big load, high rigidity and the azimuth axle of low friction performance and the supporting construction of pitch axis system and redundancy control system is to ensure that one of key technology that large-scale astronomical telescope succeeds in developing.
The mode of the main transmission of system followed the tracks of by telescope has gear drive, friction-driven and directly drives.Commonly used gear drive in medium and small astronomical telescope, large and medium-sized astronomical telescope uses friction-driven more, gear drive exists when large-scale, ultra-large type astronomical telescope meets difficulty as follows: precision gear large-scale, super-huge, worm gear process equipment considerably less, special develop ultra-large type precision gear, worm gear process equipment due to its technical sophistication, cost is big, development process is long, it is difficult to meet actual design requirement, and there is gear transmission clearance in drive system, the factors such as the rigidity of system is weak, rub, structural models mechanism is complicated；The friction-driven crawling problems when the astronomical telescope of super large caliber can bring Ultra-Low Speed to run.When large-scale ultra-large type astronomical telescope drives, it is high, without rubbing, being easily assembled that direct driving technologies has rigidity, maintenance cost is low, it is by the design of integration, make structure the simplest, and can guarantee that sufficiently high rigidity, make telescopical dynamic property, control accuracy be greatly improved.
Large-scale astronomical telescope axle system load capacity is big, kinematic accuracy is high, good stability, physical dimension, bearing capacity and the rotating accuracy of general thrust ball bearing, roller bearing etc. are difficult to meet its requirement, when both at home and abroad manufacturing 1 ~ 4m bore altazimuth telescope, for telescopical performance indications specialized designs tracking axis system support scheme.
Summary of the invention
The application will provide a kind of dual redundant telescope tracking axis system support means for astronomical telescope.Azimuth axle and the pitch axis owner of the dual redundant telescope tracking axis system support means of astronomical telescope of the present invention to be made up of position feedback mechanism, supporting mechanism, drive mechanism and spacing arrestment mechanism.And meet techniques below requirement: being prone to processing, assembling, transport, maintenance cost is low；Bearing capacity is strong, frictional force is low, and power consumption is little, and transmission efficiency is high, has good resistance to shock and error compensation effect；Revolution positioning precision is high, speed adjustable range is wide: "/s can reach 20 °/s, without creeping phenomenon during low-speed running during high speed to reach 0.05 during low speed；Overall instrument reliability is high, failure rate is low, and the target that any direction enters can be followed the tracks of by system continuously, and rotating range is the most adjustable in positive and negative 0 ~ 360 ° of scope.
The technical scheme completing foregoing invention task is: a kind of for astronomical telescope dual redundant telescope tracking device, including pitch axis system and azimuth axle, it is characterized in that: described pitch axis system and azimuth axle, use two set drive systems respectively, respectively constitute the dual redundant drive system of azimuth axis and the dual redundant drive system of altitude axis；Two described set tracking systems are automatically switched by control system；Two set drive systems in pitch axis system drive altitude axis jointly, share a set of feedback system, share a set of height limit brakes；Two set drive systems in azimuth axle drive azimuth axis jointly, share a set of feedback system, share the spacing brakes in a set of orientation.
Two described set redundancies follow the tracks of the composition of system: the tracking system of a set of heterogeneous redundant moment motor composition and a set of dual-motor drive system；Or two set dual-motor drive system.
In other words, the present invention follows the tracks of device for astronomical telescope dual redundant telescope, and described follows the tracks of the dual redundant tracking system that device uses dual motors system and heterogeneous redundant moment motor composition to watch from a height or a distance remote mirror azimuth axle and pitch axis system.Time properly functioning, by heterogeneous redundant moment motor direct-drive, when breaking down or needing to be switched to Dual-motors Driving pattern, control system automatically switch.Energy is being had the extreme environment of strict demand, the dual redundant being made up of two set dual motors system can be used to follow the tracks of system.Azimuth axle uses double row angular contact bearing as support；Altitude axis use diagonally contact bearing as support；High-precision Circular gratings is all adopted as feedback by azimuth axle and pitch axis system, and through signal subdivision circuit to obtain higher precision.Whole device uses the design of multi-disciplinary optimization method.
Described telescope dual redundant is followed the tracks of frame and is mainly made up of, as shown in Figure 1 dual redundant azimuth axle, dual redundant altitude axis axle system, yoke, supporting mechanism, braking stopping means etc..
Azimuth axle supports whole system, has high rotary precision and good stability, is connected with ground by azimuth base.Supporting construction uses high-precision double row angular contact bearing ZKLDF650 to support whole telescopical weight.Drive mechanism is formed double remaining drive system by the heterogeneous torque motor of double remainings and dual-motor mechanism；Time properly functioning, by heterogeneous redundant moment motor direct-drive, when breaking down or needing to be switched to Dual-motors Driving pattern, control system automatically switches.Energy is had the extreme environment of strict demand, uses the dual redundant of two set dual motors system compositions to follow the tracks of system；Position feedback is mainly made up of sealing structure, exchanging structure, high-resolution Circular gratings and signal processing circuit thereof.The signal of position feedback after treatment can be as dual-motor drive system or the position feed back signal of multinomial redundant moment motor driven systems, it is also possible to as the signal of the automatic seeking phase of heterogeneous redundant moment motor.Braking stopping means can realize the adjustment of range of movement of azimuth axle, brake hard simultaneously and prevent the functions such as mechanical shock.See Fig. 1.
The dual redundant drive system of described dual motors system composition, as shown in Fig. 2 .a, Fig. 2 .b, wherein in Fig. 2 .a, drives motor 1,3 form a set of dual motors system, motor 2,4 is driven to form a set of dual motors system, the dual redundant drive system of two set dual motors system composition azimuth axis；Other structures are identical with Fig. 1 .a, to meet the application under special environment condition.Fig. 2 .b is the dual redundant degree system that height uses two set dual motors system compositions.Highly drive shaft 1, a set of dual-motor drive system of each installation on 2, form dual redundant drive system, two cover systems drive altitude axis jointly, share a set of feedback system, share a set of height limit brakes.
The dual-motor driving mechanism that altitude axis uses with azimuth axis is connected with Azimuth main drive gear by travelling gear 3, upper-level control system control dual motors system and drive azimuth axle.Travelling gear 3 is connected with power transmission shaft 4 by expansion sleeve 2, is locked by lock-screw 9 and is joined directly together with rotor by power transmission shaft, and servomotor 10 is fixed by screws on transmission case 1.
Described feedback system is that by screw 7, read head being installed locating shaft couples with azimuth base and see Fig. 1, Circular gratings solid 4 is scheduled on Circular gratings orientation and connects on seat 9, then coupled with orientation main shaft by encoder orientation main shaft gusset piece 13, when azimuth axis moves, Circular gratings and the motion of orientation main shaft instrument, and four read heads pass to signal processor positional information and then can control to process this information and be converted into the position of azimuth axle, angular velocity, angular acceleration etc..
See Fig. 4: feedback mechanism and have employed design of Sealing Structure to prevent dust, moisture, oil stain from entering the space of installation Circular gratings.Encoder orientation main shaft connecting plate 13 is rotating moving part, and below this part, sealing plate 2 uses labyrinth structure to design；Equally, read head mounting seat 12 devises labyrinth structure, to prevent dust, oil stain, moisture from entering.Grating azimuth axis connects seat 9 and uses because of Steel material, and preventing from expanding with heat and contract with cold impacts Circular gratings precision.Use that four read heads are uniform to be arranged symmetrically with, eliminate systematic eccentricity and the oval impact on system accuracy, it is also possible to require the precision using eight read heads to improve system further according to telescopic system.
Described heterogeneous redundant moment is double remainings six phase torque motor that azimuth axis uses double remaining heterogeneous redundant moment motor to be 80 poles, and altitude axis uses double remainings six phase torque motor of 64 poles.The optimized six phase torque motors being designed to double remaining of motor.The service requirement little for adapting to telescopical high-power, high reliability, high fault tolerance, torque pulsation, have employed double-Y shaped six-phase motor design.
Being designed with cooling bath on motor stator casing, there is seal groove both sides, can be improved the output of motor by cooling system.The stator housing design of motor has locating slot, can be positioned by strict homophase by two motor coils, and fill with epoxy resin.Reduce noise of motor, be also devised with cable hole on stator casing simultaneously, two motor cables can be arranged on the same side.Being pasted with 80 pieces of permanent magnets (highly 64 pieces) uniformly by automatic equipment on rotor, two coils share a set of permanent magnet.
The gear wheel seeing the drive system that Fig. 6: described spacing arrestment mechanism follows the tracks of system by travelling gear with telescope is connected, telescopical motion is passed to spacing arrestment mechanism, travelling gear 2 is connected with power transmission shaft 1 by expansion sleeve, trapezoidal thread or ball screw arrangement is devised on power transmission shaft 1, positive stop 8 is connected with power transmission shaft 1 by trapezoidal thread or ball screw, as the spindle turns, a rectangular channel it is designed with on spacing frid 9, it is limited to spacing gear 8 move along power transmission shaft 1 axial direction tandem, magnetics 1 has been fixedly mounted on positive stop 8, 2, magnetics 1, 2 move along a straight line with spacing shelves 8 are round, when magnetics is close to corresponding proximity switch, corresponding signal will be fed back to host controller, and control system makes corresponding action.Sensor 1 as shown in Figure 6,2,3,4,5,6 points three groups are fixed on the spacing tab 10 that can move axially along power transmission shaft, on 11,12.Adjusting the spacing tab of zero-bit 11 can be by corresponding with telescopical zero-bit for braking position-limit mechanism.Adjust the spacing tab of forward 12, telescope positive movement scope can be adjusted, adjust the spacing tab of negative sense 9, telescope negative movement scope can be adjusted.When power transmission shaft 1 rotates, driving positive stop 8 to rotate, when arriving sensor 1,2, arrive maximum forward adjusting range, by 1,2 sensors send signal, feed back to supervisory controller, and control system takes corresponding action.When arriving sensor 3,4, arrive zero-bit, send null positions signal；When arriving sensor 5,6, arriving maximum negative sense adjusting range, by 5,6 sensors send signal, feed back to supervisory controller, control drive system and take corresponding action.
The heterogeneous redundant moment motor direct-drive of the present invention can realize that positioning precision is high, speed adjustable range is wide: reaches 0.05 when crossing low speed "/s, can reach 20 °/s during high speed, and without creeping phenomenon during low-speed running.Position-limit mechanism can realize brake hard simultaneously, rotating range is adjustable and mechanical shock protection in braking, and rotating range is the most adjustable in positive and negative 0 ~ 360 ° of scope；The target that any direction enters can be followed the tracks of by system continuously, and the present invention can also be applied on the slewing that other heavy type, high-precision is close.
Accompanying drawing explanation
Fig. 1. follow the tracks of frame schematic three-dimensional figure for telescope dual redundant；
Fig. 2 .a is the azimuth axis dual redundant systematic schematic diagram of two set bi-motor compositions；
Fig. 2 .b is the altitude axis dual redundant systematic schematic diagram of two set bi-motor compositions；
Fig. 3. for astronomical telescope dual-motor driving mechanism schematic three-dimensional figure；
Fig. 4. for position of orientation feedback mechanism and control system schematic diagram；
Fig. 5. for dual redundant six phase torque motor schematic diagram；
Fig. 6-1, Fig. 6-2, Fig. 6-3 are telescope spacing arrestment mechanism schematic three-dimensional figure；
Fig. 7. for astronomical telescope dual redundant tracking test platform.
Detailed description of the invention
Embodiment 1, drives synthesis experiment platform for telescope."/s, up to 20 °/s during high speed, without creeping phenomenon during low-speed running for the key technical indexes: speed adjustable range is wide: reach 0.05 during low speed.Overall instrument reliability is high, failure rate is low；The target that any direction enters can be followed the tracks of by system continuously, and rotating range is the most adjustable in positive and negative 0 ~ 360 ° of scope.
Telescope dual redundant is followed the tracks of frame and is mainly made up of, as shown in Figure 7 dual redundant azimuth axle, dual redundant altitude axis axle system, yoke, primary mirror cell, middle fast, truss, secondary mirror room and control system thereof.
Azimuth axle supports whole system, and has high kinematic accuracy and good stability, is connected with ground by azimuth base.Supporting construction uses high-precision double row angular contact bearing to bear whole telescopical weight, the axial runout of azimuth axle and circular runout ＜ 0.01mm；Drive mechanism is become double remaining drive system by the heterogeneous torque motor of double remainings with dual-motor mechanism；Time properly functioning, by heterogeneous redundant moment motor direct-drive, when breaking down or needing to be switched to Dual-motors Driving pattern, control system automatically switches.Position feedback is mainly made up of sealing structure, exchanging structure, high-resolution Circular gratings ERA4282C and signal processing circuit thereof.The signal of position feedback can seek phase signals as dual-motor drive system or the position feed back signal of heterogeneous redundant moment motor driven systems simultaneously as heterogeneous redundant moment motor after treatment.Braking stopping means realizes the adjustment of range of movement of azimuth axle and pitch axis system, brake hard simultaneously and prevents the functions such as mechanical shock.
In Fig. 1, highly drive shaft A1-1, yoke 1-2, azimuth axis gear wheel 1-3, azimuth axis dual-motor driving mechanism 1-4, azimuth axle 1-5, altitude axis gear wheel 1-6, altitude axis brake unit 1-7, altitude axis dual-motor driving mechanism 1-8, highly drive shaft B1-9, spacing brake unit 1-10 in orientation.
In Fig. 2 a, drive motor A2-1, drive motor B2-2, drive motor C2-3, drive motor D2-4, travelling gear 3-1, power transmission shaft 3-2, spacing brake unit 1-10.
In Fig. 2 b, altitude axis dual-motor driving mechanism A1-8a, altitude axis dual-motor driving mechanism B1-8b, highly drive shaft A1-9a, altitude axis gear wheel 1-6, altitude axis brake unit 1-7, highly drive shaft A1-1, highly drive shaft B1-9b.
The dual-motor driving mechanism used with azimuth axis with reference to Fig. 3: altitude axis is connected with azimuth axis gear wheel 1-3 by travelling gear 3-1, upper-level control system control dual motors system and drive azimuth axle.Travelling gear 3-1 is connected with power transmission shaft 3-2 by expansion sleeve 3-9, is joined directly together with rotor by power transmission shaft by lock-screw 3-7 locking, and servomotor 3-8 is fixed by screws on transmission case 3-10.In Fig. 3, bearing (ball) cover A3-3, bearing (ball) cover B3-6, taper roll bearing 3-4,3-5.
With reference to Fig. 4: feedback system is that by screw 4-7, read head being installed locating shaft couples with azimuth base, Circular gratings 4-10 is fixed on Circular gratings orientation and connects on seat 4-5, then coupled with orientation main shaft by encoder orientation main shaft gusset piece 4-9, when azimuth axis moves, Circular gratings and the motion of orientation main shaft instrument, and four read heads 4-14,4-15,4-16,4-17 pass to signal processor positional information and then can control to process this information and be converted into the position of azimuth axle, angular velocity, angular acceleration etc..
Feedback mechanism have employed design of Sealing Structure to prevent dust, moisture, oil stain from entering to install the space of Circular gratings.Encoder orientation main shaft connecting plate 4-9 is rotating moving part, labyrinth structure design is used with sealing plate A4-6 below this part, on number of degrees head mounting seat 4-8, sealing plate B4-12, also devise labyrinth structure equally, be so possible to prevent dust, oil stain, moisture to enter.Circular gratings azimuth axis connects seat 4-5 and uses because of Steel material, and preventing from expanding with heat and contract with cold impacts Circular gratings precision.Read head four read heads of employing are uniform to be arranged symmetrically with, and can eliminate systematic eccentricity and the oval impact on system accuracy, it is also possible to require the precision using eight read heads to improve system further according to telescopic system.
In Fig. 4, number of degrees head mounting and fixing support 4-1, connecting bolt 4-2,4-3,4-11,4-13, number of degrees head installs locating shaft 4-4, motion controller 4-18, sub-circuit 4-19.
Double remainings six phase torque motor that azimuth axis uses double remaining heterogeneous redundant moment motor to be 80 poles, altitude axis uses double remainings six phase torque motor of 64 poles.The optimized six phase torque motors being designed to double remaining of motor.The service requirement little for adapting to telescopical high-power, high reliability, high fault tolerance, torque pulsation, have employed double-Y shaped six-phase motor design.
Being designed with cooling bath on motor stator casing, there is seal groove both sides, can be improved the output of motor by cooling system.The stator housing design of motor has locating slot, by two motor coil strict homophase location, and fills with epoxy resin.Reduce noise of motor, be also devised with cable hole on stator casing simultaneously, two motor cables can be arranged on the same side.Being pasted with 80 pieces of permanent magnets (highly 64 pieces) uniformly by automatic equipment on rotor, two coils share a set of permanent magnet.
It is connected by the gear wheel of travelling gear 3-5 with the drive system of telescope tracking system with reference to Fig. 6-1, Fig. 6-2, Fig. 6-3: spacing arrestment mechanism, telescopical motion is passed to spacing arrestment mechanism, travelling gear 3-5 is connected with power transmission shaft 3-6 by expansion sleeve 3-12, using trapezoidal thread (azimuth axis) or ball screw arrangement (altitude axis) form on power transmission shaft 3-6, positive stop 6-10 is connected with power transmission shaft 3-6 by trapezoidal thread (azimuth axis) or ball nut (altitude axis).As the spindle turns, a rectangular channel is had on spacing frid 6-10, it is limited to postioning abutment 6-10 to move along power transmission shaft 3-6 axial direction tandem, magnetics 6-14,6-15 it is fixed with on positive stop 6-10, magnetics 6-14,6-15, come and go with spacing gear and move along a straight line, when magnetics contacts with corresponding proximity switch, corresponding signal will be fed back to host controller, and the system that feeds back to will make corresponding action.As shown in Figure 6: proximity switch (sensor) 6-2,6-3,6-4,6-5,6-5,6-7 divide three groups to be fixed on spacing tab 6-12,6-13, the 6-16 that can move axially along power transmission shaft 3-6.Adjusting zero-bit spacing tab 6-13 can be by corresponding with telescopical zero-bit for braking position-limit mechanism.Adjust forward spacing tab 6-12, telescope positive movement scope can be adjusted, adjust negative sense spacing tab 6-16, telescope negative movement scope can be adjusted.When passing rotating shaft 3-6 rotation, drive positive stop 6-10 to rotate, when arriving sensor 6-2,6-3, arrive the forward adjusting range of maximum, sensor 6-2,6-3 send signal, feed back to supervisory controller, control drive system and take corresponding action；When arriving sensor 6-4,6-5, arrive zero-bit, send zero signal information；When arriving sensor 6-5,6-7, arrive maximum negative sense adjusting range, sensor 6-5,6-7 send signal, feed back to supervisory controller, control drive system and take corresponding action.
In Fig. 6-1, Fig. 6-2, Fig. 6-3, forward power-absorbing 6-1, negative sense power-absorbing 6-8, electromagnetic clutch 6-9, position-limit mechanism pedestal 6-11, spacing frid 6-17.
The double remaining tracking test platform of telescope uses the design of Multidisciplinary Optimization method.Whole system is prone to processing, assembling, and transport, maintenance cost is low；Bearing capacity is strong, frictional force is low, and power consumption is little, and transmission efficiency is high, and revolution positioning precision is high, speed adjustable range is wide: "/s can reach 20 °/s, without creeping phenomenon during low-speed running during high speed to reach 0.05 when crossing low speed.Overall instrument reliability is high, failure rate is low；The target that any direction enters can be followed the tracks of by system continuously；Rotating range is the most adjustable in positive and negative 0 ~ 360 ° of scope.
Claims (9)
1. follow the tracks of device for astronomical telescope dual redundant telescope for one kind, including pitch axis system and azimuth axle, it is characterized in that: described pitch axis system and azimuth axle, use two set drive systems respectively, respectively constitute the dual redundant axle system of the dual redundant axle system of azimuth axis and altitude axis；Two described set drive systems are automatically switched by control system；Two set drive systems in pitch axis system drive altitude axis jointly, share a set of feedback system, share a set of height limit brakes；Two set tracking systems in azimuth axle drive azimuth axis jointly, share a set of feedback system, share the spacing brakes in a set of orientation；
Being also devised with cable hole on stator casing, two motor cables are arranged on the same side, two coils share a set of permanent magnet；
Described spacing arrestment mechanism is connected by the gear wheel of the drive system that travelling gear follows the tracks of system with telescope, and telescopical motion is passed to spacing arrestment mechanism；
The travelling gear of described azimuth axis is connected with power transmission shaft by expansion sleeve；Trapezoidal thread form is used to realize the back and forth movement of azimuth axis positive stop on this power transmission shaft；
The travelling gear of described altitude axis is connected with power transmission shaft by expansion sleeve；Ball-screw form is used to realize the back and forth movement of altitude axis positive stop on this power transmission shaft；
The positive stop of described azimuth axis is connected with power transmission shaft by trapezoidal thread；
The positive stop of described altitude axis is connected with power transmission shaft by ball nut；
As the spindle turns, a rectangular channel is had on spacing frid, it is limited to spacing gear move along power transmission shaft axial direction tandem, magnetics is secured on positive stop, this magnetics comes and goes with spacing gear and moves along a straight line, when magnetics and corresponding proximity switch contact, corresponding signal will be fed back to host controller, and notify to be logical to make corresponding action.
It is the most according to claim 1 for astronomical telescope dual redundant telescope tracking device, it is characterised in that: the composition of two described set tracking systems is: the tracking system of a set of heterogeneous redundant moment motor composition and a set of dual-motor drive system；Or two set dual-motor drive system.
It is the most according to claim 1 for astronomical telescope dual redundant telescope tracking device, it is characterised in that: described azimuth axle uses double row angular contact bearing as support；Described altitude axis use diagonally contact bearing as support.
The most according to claim 1 follow the tracks of device for astronomical telescope dual redundant telescope, it is characterised in that: high-precision Circular gratings is all adopted as feedback mechanism by described azimuth axle and pitch axis system, is provided with signal subdivision circuit in this feedback mechanism.
It is the most according to claim 4 for astronomical telescope dual redundant telescope tracking device, it is characterised in that: described feedback mechanism uses the Seal Design of labyrinth structure, installs the space of Circular gratings to prevent dust, moisture, oil stain from entering.
It is the most according to claim 4 for astronomical telescope dual redundant telescope tracking device, it is characterised in that: described grating azimuth axis connects seat and uses because of Steel material.
The most according to claim 1 for astronomical telescope dual redundant telescope tracking device, it is characterized in that: described azimuth axis uses double remaining heterogeneous redundant moment motor use double remainings six phase torque motor of 80 poles, described altitude axis uses double remainings six phase torque motor of 64 poles.
It is the most according to claim 1 for astronomical telescope dual redundant telescope tracking device, it is characterised in that: being designed with cooling bath on described motor stator casing, there is seal groove both sides, are improved the output of motor by cooling system.
9. according to following the tracks of device for astronomical telescope dual redundant telescope one of claim 1-8 Suo Shu, it is characterised in that: the stator housing design of described motor has locating slot, by two motor coil strict homophases location, and fills with epoxy resin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410026019.3A CN103777645B (en) | 2014-01-21 | 2014-01-21 | Device is followed the tracks of for astronomical telescope dual redundant telescope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410026019.3A CN103777645B (en) | 2014-01-21 | 2014-01-21 | Device is followed the tracks of for astronomical telescope dual redundant telescope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103777645A CN103777645A (en) | 2014-05-07 |
| CN103777645B true CN103777645B (en) | 2016-08-17 |
Family
ID=50570017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410026019.3A Expired - Fee Related CN103777645B (en) | 2014-01-21 | 2014-01-21 | Device is followed the tracks of for astronomical telescope dual redundant telescope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103777645B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045296A (en) * | 2015-07-20 | 2015-11-11 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope multiphase motor position tracking control method and control system thereof |
| CN106530931A (en) * | 2016-11-30 | 2017-03-22 | 上海卫星工程研究所 | Large-inertia low-speed scanning driving control demonstration verification system |
| CN106532267B (en) * | 2016-12-27 | 2019-04-26 | 中国科学院国家天文台 | A kind of telescope being provided with azimuth determination and limit control system |
| CN106970448B (en) * | 2017-04-20 | 2019-04-05 | 中国科学院国家天文台南京天文光学技术研究所 | A kind of twin shaft multi-pass channel switching device suitable for large-scale horizontal solar telescope |
| CN108061394B (en) * | 2018-01-08 | 2023-09-08 | 中国科学院电工研究所 | Heliostat azimuth driving mechanism |
| CN108591258B (en) * | 2018-05-10 | 2019-11-26 | 中国科学院国家天文台南京天文光学技术研究所 | Horizon open frame for Large-Scale Precision Instrument and Equipment |
| CN108873307B (en) * | 2018-06-20 | 2020-07-17 | 中国科学院光电技术研究所 | Safety brake protection structure for azimuth axis of large-caliber telescope |
| CN108957728A (en) * | 2018-07-24 | 2018-12-07 | 程刚 | A kind of quantum communications device of compatible with laser communication |
| CN113759537B (en) * | 2021-09-08 | 2022-12-16 | 中国科学院国家天文台南京天文光学技术研究所 | Reflector switching mechanism of optical telescope |
| CN114935818B (en) * | 2022-06-16 | 2023-08-15 | 中国科学院长春光学精密机械与物理研究所 | Tracking frame suitable for large-caliber telescope and large-caliber telescope |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101017366A (en) * | 2006-12-08 | 2007-08-15 | 清华大学 | Double generator redundancy control system |
| CN102385396A (en) * | 2011-09-13 | 2012-03-21 | 中海阳新能源电力股份有限公司 | High-power high-accuracy double worm wheel two speed gearbox for solar photo-thermal power generation giant bracket |
| CN102662407A (en) * | 2012-05-04 | 2012-09-12 | 中国科学院光电技术研究所 | Tracking control method of three-axis telescope |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02188712A (en) * | 1989-01-18 | 1990-07-24 | Yasufumi Mase | Rotary shaft driving device for astronomical telescope |
-
2014
- 2014-01-21 CN CN201410026019.3A patent/CN103777645B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101017366A (en) * | 2006-12-08 | 2007-08-15 | 清华大学 | Double generator redundancy control system |
| CN102385396A (en) * | 2011-09-13 | 2012-03-21 | 中海阳新能源电力股份有限公司 | High-power high-accuracy double worm wheel two speed gearbox for solar photo-thermal power generation giant bracket |
| CN102662407A (en) * | 2012-05-04 | 2012-09-12 | 中国科学院光电技术研究所 | Tracking control method of three-axis telescope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103777645A (en) | 2014-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103777645B (en) | Device is followed the tracks of for astronomical telescope dual redundant telescope | |
| CN202712431U (en) | Antenna sub-reflector system comprising fixed adjusting mechanism | |
| CN106970363B (en) | Triaxial antenna test turntable system with low reflection characteristic | |
| CN101719700B (en) | Moment motor driving shafting module for inner frame of airborne photoelectric platform | |
| CN103294066B (en) | Azimuth device applicable to vehicular photoelectric turntable | |
| CN104218728A (en) | Highly-integrated electro-mechanical actuator and application method thereof | |
| CN105059945A (en) | Self-driven magnetic suspension curved-straight composite cyclic type transmission unit | |
| CN102162910B (en) | Permanent magnetic suspension support shafting structure suitable for Antarctic astronomical telescope | |
| CN109366385A (en) | A kind of electro-hydraulic five axis composite turntable of combination drive of big unbalance loading shafting | |
| CN103386680B (en) | A kind of parallel two degrees of freedom indicator device | |
| CN111890410A (en) | Drive and control integrated cooperative robot joint with running state monitoring function | |
| CN112683112A (en) | Optical platform and radar co-frame turntable system | |
| CN203481990U (en) | Electro-mechanical actuator with high integration | |
| CN112653367A (en) | Control system and method for common rotating table | |
| CN102588543B (en) | Supporting structure of ball screw assembly | |
| Zierer et al. | The development of high-precision hexapod actuators for the Hobby-Eberly Telescope Wide Field Upgrade | |
| CN103217156B (en) | A kind of orientation of inertially stabilized platform drives support system structure | |
| CN110421553B (en) | Three-degree-of-freedom macro-micro motion parallel structure device and control method | |
| JP2013172145A (en) | Tracking type photovoltaic power generation device | |
| SE1100225A1 (en) | Method and apparatus of a rotator | |
| CN101793534A (en) | Inner-ring upright four-axis stable platform | |
| CN108206607A (en) | Self bearing motor direct drive unit | |
| CN103455043A (en) | Solar energy tracking rotating device | |
| CN116488423A (en) | Large hollow direct-drive micro-alignment platform | |
| CN108591258B (en) | Horizon open frame for Large-Scale Precision Instrument and Equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |