CN105196274A - Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope - Google Patents
Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope Download PDFInfo
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- CN105196274A CN105196274A CN201510589824.1A CN201510589824A CN105196274A CN 105196274 A CN105196274 A CN 105196274A CN 201510589824 A CN201510589824 A CN 201510589824A CN 105196274 A CN105196274 A CN 105196274A
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Abstract
A Ssub-mirror assembling and disassembling deviceequipment for a segmented mirror of a large astronomical telescope is characterized in that a high-speed large-displacement robot and a minutesmall-displacement high-precision positioning robot form a series robot, the high-speed large-displacement robot adopts a hydraulic lifting and descending retractor device and is provided with two telescopic arms, the minutesmall-displacement high-accuracy positioning robot is mounted at the tail ends of the two telescopic arms, and adopts a motor lead screw device provided with a three-claw manipulator, and a vertical rotation device, a vertical lifting device, a horizontal adjustment device and a pitching mechanism are arranged between the three-claw manipulator and a manipulator chassis. The sub-mirror assembling and disassembling equipment makes up for the deficiency of the prior art, completely replaces original manpower for operation, realizes assembling and disassembling of sub mirrors of a primary mirror of an LAMOST (Large Sky Area Multi-object Fiber Spectroscopic Telescope), can meet the requirement of high-precision high-reliability mirror splicing of the primary mirror of the telescope, and meanwhile provides experience for mirror assembling of a large telescope in future.
Description
Technical field
The present invention relates to a kind of handler.Be specifically related to the device that the sub-mirror handling method of a kind of large-scale astronomical telescope segmented mirror uses.Be applicable to the handling of the sub-mirror of Guo Shou Jing telescope (LAMOST) segmented mirror.
Background technology
As the embodiment of a national national power and science and technology strength, the newest fruits of the contemporary new and high technologies such as the casting of large-scale optical glass concentrated by astronomical telescope, precision optics processing is processed with the high accuracy detected, big machinery is equipped, computer control system and photoelectric receiving system.Light harvesting bore is the topmost technical indicator of telescope, and telescopical development is presented as continuing to increase of bore to a great extent.In order to break through the bottleneck of optical mirror plane casting processing, in the development work of large telescope of new generation, segmented mirror active optics has become a key technology, its appearance not only makes being built in of more large telescope technically feasible, also the rule that 2.7 powers of telescope cost and bore are proportional has been broken, the real meaning that made it possess.
The large-scale ground optics developed in world wide since the nineties in 20th century and infrared telescope, have ten multi rack, and what wherein adopt segmented mirror has 6 framves, is respectively KECK I, KECK II, HET, GTC, SALT and LAMOST.And the frame proposed in the world large telescope plan of future generation comprises in E-ELT, TMT, GMT, CFGT, JELT, the technology that have employed segmented mirror without exception.
Along with the development of large aperture telescope, telescopical primary mirror installation question also more and more shows especially out, the telescopical eyeglass of segmented mirror is a lot, GTC in such as existing large aperture telescope, KECK has 36 pieces of sub-mirrors, HET, SALT has 91 pieces of sub-mirrors, the sub-mirror that in telescope of future generation in design, it comprises is more, such as TMT has 492 pieces of sub-mirrors, E-ELT has 906 pieces of sub-mirrors, and GMT is then made up of the sub-mirror of 7 pieces 8.4 meters, and the calculated CFGT of China will be made up of 1120 pieces of sub-mirrors splicings in designing.If so many sub-mirror quantity adopts people to install by hand, just not saying the precision of installing how, is singly so a large amount of sub-mirror installment works, inherently a great engineering, needs manpower and materials and the time of at substantial; In addition because segmented mirror comprises the sub-mirror of polylith, so sub-mirror, sub-mirror cell and subsequent truss structure complexity, manual monolithic dismounting will be very difficult, and the handling of segmented mirror telescopical primary mirror must use special handling instrument.
The large sky area multi-object fiber spectroscopic telescope LAMOST (LargeSkyAreaMulti-ObjectFiberSpectroscopicTelescope) that China has completed is a frame meridian reflection Schmidt telescope.Primary mirror sphere MB is made up of the sub-mirror of hexagon sphere of 37 pieces of diagonal line lengths, 1.1 meters of thickness 75 millimeters.Minute surface is after the stage that worked, and reflectance coating will produce aging phenomenon, reflectance reduction, at this moment needs aged rete to remove clean and plated film again.This loads onto after just needing often sub-for primary mirror mirror to be pulled down plated film more again.
Current international each large segmented mirror telescope is all furnished with special erecting device, and adopt all computer to control, kinematic accuracy is high, and installation effectiveness is also high.
The primary mirror cellular installation method of HET and SALT is similar, place upward because their primary mirror is fixing, all that first eyeglass is fixedly mounted in the support of mirror cell when sub-mirror eyeglass is installed, according to a set of special clamping tool of the structural design of mirror cell, then use the crane be arranged on dome to hang above minute surface by whole for sub-mirror unit device, then on the clamping tool transferred on mirror holder, unclamp crane, slowly to be declined adjustment by clamping tool, sub-mirror unit is moved into place.The sub-mirror of SALT supports and the erecting tools of sub-mirror unit is all manufactured by the EOSTechnologies being positioned at Ya Lisangna Tuscon.
Keck and GTC is altazimuth telescope, primary mirror can be revolved shape to horizontal level, then installs sub-mirror unit with similar said method.
Current China segmented mirror telescope also only has Guo Shou Jing telescope (LAMOST) frame, its primary mirror sphere MB is the combined system be made up of 37 pieces of sub-mirrors of 6.05 meters × 6.67 meters, the sphere curvature radius of primary mirror entirety 40 meters, whole MB and sub-truss thereof are all in the position at downward-sloping 25 ° of angles with Horizon, every block mirror to be diagonal line length be regular hexagon of 1.1 meters, to be radius be in the front sphere of 40 meters, the back side is the cylindrical body of plane, center thickness 75 millimeters.
Can see the design due to LAMOST uniqueness, the feature that the existing general large telescope primary mirror of MB is common, the characteristic having again self distinctness is in particular in following several aspect:
1. maintain static in the process of observation;
2. whole primary mirror MB be 25 degree downward-sloping;
3. there is no general telescopical frame and tracking section, but still need for mirror cell's truss provides stable downward-sloping support;
These features cause the sub-mirror unit mounting means of LAMOST primary mirror and the telescopical sub-mirror unit mounting means of other large-scale segmented mirror to be very different.In addition due to the particularity of telescope disk, in the process of operation, eyeglass can not bear too large external force and acceleration, so the installation of lens unit is different from the installation of other telescope assembly again.
Existing sub-mirror mounting means is, with lift truck, manual manipulation fixture near minute surface is delivered in pincers worker, and installation site delivered to by bundle mirror.Adopt naked eyes to judge minute surface distance in existing method, manual manipulation wheel feed, the operation of ground rise or fall car also adopts manually, and Measures compare is original, and precision is not high, and security also can not be guaranteed.Relevant technical scheme is there is not in prior art.
Because the bore of spliced astronomical telescope is increasing, the erecting device of the sub-mirror of segmented mirror must have Large travel range and high accuracy two features concurrently.According to common mechanical general knowledge, to take into account in design at these 2 and there is contradiction and difficulty; Take into account Large travel range and high-precision requirement, also bring difficulty to control system.
Summary of the invention
In order to make up the deficiencies in the prior art, object of the present invention provides a kind of large-scale astronomical telescope segmented mirror mirror handling facilities, namely, develop Guo Shou Jing telescope (LAMOST) sub-mirror handling special purpose device, replace original manual operations, realize the handling of the sub-mirror of LAMOST primary mirror, the minute surface splicing of the high accuracy high-reliability of telescope primary mirror requirement can be met.Carry out some to the telescopical minute surface handling mode of heavy caliber segmented mirror to explore, the minute surface for large telescope is from now on installed and is provided some experiences, promotes the development of Chinese telescope cause simultaneously.
The technical scheme completing foregoing invention task is, the sub-mirror handling facilities of a kind of large-scale astronomical telescope segmented mirror, it is characterized in that, book mirror handling facilities form serial manipulator by high speed, Large travel range robot and thin tail sheep, hi-Fix robot, described high speed, Large travel range robot adopt hydraulic lifting retractor device, are provided with two joint telescopic arms; At the end of this two joints telescopic arm, described thin tail sheep, hi-Fix robot are installed; This thin tail sheep, hi-Fix robot adopt motor feed screw apparatus; This motor feed screw apparatus is provided with three claw robot (each pawl wherein, in " three-jaw " is called gripper); Between this three claw robot and manipulator chassis, be provided with vertical tumbler, vertical lifting device, level(l)ing device and luffing mechanism.
More optimize and in more detail, equipment of the present invention has following prioritization scheme:
1, gripper single armed total length 252mm, two rotating shafts of this single armed end, the diameter of axle is respectively 20mm and 12mm.Designer analyzes the intensity of gripper in finite element software.With reference to Fig. 3, Fig. 4-1-Fig. 4-4.
2, be provided with gripper push rod (with reference to Fig. 5) in described three claw robot, with feed screw nut driving device pawl push rod, driving mechanical pawl rotates.
3, manipulator luffing mechanism: because MB primary mirror 37 pieces of sub-mirrors have different angle, needs to finely tune inclination angle aloft when sub-mirror is installed, although mechanical arm has a pitch freedom, needs a pitch freedom increasing a redundancy at robot section.
4, manipulator vertical lift device: the bottom due to vertical rotary device is provided with motor and decelerator, the axis of movement of vertical lift device and rotation are placed side by side, reduce the height of C.G. of whole manipulator, improve the stability of a system, provide and mechanical arm connecting interface simultaneously.
5, be installed in series level(l)ing device under manipulator elevation mount: described level(l)ing device adopts guide rail screw-nut structure, guide rail slide block is connected with the side of manipulator vertical rotary device, and the anterior-posterior translation guideway of manipulator superposes installation up and down with left and right translating rails pair.Repeatedly say: in order to finely tune the skyborne position of manipulator, be installed in series level(l)ing device under manipulator elevation mount, current XY direction bidimensional translation stage Technical comparing is ripe, use the rigidity guide rail guiding such as screw pair and four directions, two-layer longitudinal stack, just can realize the translational motion of XY both direction.And physical dimension is as Figure 14-1, Figure 14-2.
This part is same adopts guide rail screw-nut structure, and guide rail slide block is connected with the side of manipulator vertical rotary device, and Liang Ge mechanism is placed side by side.With reference to Figure 18.
6, manipulator overall structure: by the structure of the robot section after each several part assembling above as Figure 19, Figure 20.
7, wrist: the angle adopting solid mechanical hand connector and robot base, regulates the bottom surface level of manipulator by the angle of adjusting mechanical arm axis and connector.
8, supporting control system researched and developed specially by these handling facilities; This control system controls respectively to each several part: for the coarse positioning of bottom telescopic arm, adopt hydraulic system power, adopt servo hydraulic oil cylinder to carry out Dynamic controlling, for thin tail sheep, the hi-Fix robot on top, adopt automatic Dynamic controlling to combine with manual motion control; Described control system sends the motion of signal controlling machine tool hand by computer, and whole control system comprises the Dynamic controlling of mechanical arm and the motion control of manipulator.
The operation principle of present device structure is as follows:
Because this device has Large travel range and high-precision feature concurrently, in design, robot is divided into two parts, part high speed, Large travel range robot realize Large travel range, the movement of fair speed, but positioning precision is poor, realizes first order coarse positioning; Part II thin tail sheep, hi-Fix robot realize thin tail sheep, the accurate location of low speed; Two parts are connected in series, and are convenient to control.
What Part I adopted is a hydraulic lifting retractor device, and the freedom of motion that this part is necessary has pitching and stretches, the polar angle in corresponding polar coordinate system and the change of footpath, pole; Part II then uses motor leading screw to realize accurate adjustment, this part needs the free degree realized to comprise the translation of vertical direction, the rotation of vertical direction, the translation of horizontal X Y both direction, the crawl of pitch rotation and antithetical phrase mirror unit, the altogether motion of six-freedom degree.
More particularly, the step using the sub-mirror of this device to large-scale astronomical telescope segmented mirror to install is as follows: (1). when work starts, described sub-mirror handling facilities are moved into light path; (2). the end of two joint telescopic arms of described high speed, Large travel range robot is moved near the deposit position of sub-mirror to be installed; (3). start described thin tail sheep, the vertical tumbler of hi-Fix robot, vertical lifting device, horizontally moving device and luffing mechanism, three claw robot is aimed at sub-mirror to be installed; (4). utilize three claw robot to pick up sub-mirror to be installed; (5). the end of two joint telescopic arms of described high speed, Large travel range robot is moved near the installation site of sub-mirror to be installed; (6). start described thin tail sheep, the vertical tumbler of hi-Fix robot, vertical lifting device, horizontally moving device and luffing mechanism, the to be installed sub-mirror on three claw robot is aimed at its installation site; (7). utilize three claw robot that sub-mirror to be installed is placed to its installation site; (8). artificial fixing sub-mirror to be installed; . repeat step (2)-repeat (8), until all to be installed sub-mirrors are in place; (10). work and rear described sub-mirror handling facilities have been shifted out light path.
Dismantle the process of sub-mirror in contrast: when (1)-b. work starts, described sub-mirror handling facilities are moved into light path; (2) the end of two joint telescopic arms of described high speed, Large travel range robot moves near position to be removed by-b.; (3)-b. starts described thin tail sheep, the vertical tumbler of hi-Fix robot, vertical lifting device, horizontally moving device and luffing mechanism, three claw robot is aimed at sub-mirror to be removed; (4)-b. manually unclamps sub-mirror to be removed; (5)-b. utilizes three claw robot to pick up sub-mirror to be removed; (6) the end of two joint telescopic arms of described high speed, Large travel range robot moves near the deposit position of this sub-mirror by-b.; (7)-b. starts described thin tail sheep, the vertical tumbler of hi-Fix robot, vertical lifting device, horizontally moving device and luffing mechanism, and the sub-mirror on three claw robot is aimed at its deposit position; (8)-b. utilizes three claw robot that this sub-mirror is placed to its deposit position;-b. repeat step (2)-repeat (8), until all to be removed sub-mirror dismountings are complete; (10)-b. has worked and rear described sub-mirror handling facilities has been shifted out light path.
The Refinement operation of each job step is: step concrete operations are (2): the arm of hydraulic lifting retractor device receive to the shortest, be down to minimum altitude, tentatively aimed at the sub-mirror needing to install by tilt adjustments luffing angle.Step (4)-step concrete operations are (7): manipulator by rotating, displacement and inclination accurately aim at sub-mirror to be installed and catch three lifting eyes of sub-mirror cell with three claws, then by hydraulic lifting retractor device, manipulator is tentatively transported to position to be installed together with sub-mirror, manipulator accurate adjustment position, sub-mirror is delivered on sub-mirror receiving system mounted in advance together with sub-mirror cell, unclamp three claws to remove, sub-mirror together takes on truss together with sub-mirror cell and carries out connection installation by sub-mirror receiving system.Each step all adopts grating encoder to feed back as position; Claw is held with a firm grip and is unclamped and adopts travel switch to do and feed back; The feedback signal input computer of this grating encoder and travel switch; The instruction accurate of computer controls the operation of each step.In order to confirm whether manipulator accurately arrives precalculated position, three cameras are had to monitor.
The present invention compensate for the deficiencies in the prior art, the Guo Shou Jing telescope (LAMOST) provided splices sub-mirror handling method and the device of primary mirror, instead of original manual operations completely, realize the handling of the sub-mirror of LAMOST primary mirror, the minute surface splicing of the high accuracy high-reliability of telescope primary mirror requirement can be met.Provide experience for the minute surface of large telescope is from now on installed simultaneously.
Accompanying drawing explanation
Fig. 1 is mechanical arm working range schematic diagram of the present invention;
Fig. 2-1, Fig. 2-2 are mechanical arm outline drawing;
Fig. 3 is gripper structural representation;
Fig. 4-1, Fig. 4-2, Fig. 4-3, Fig. 4-4 are respectively gripper stressing conditions analysis chart;
Fig. 5 is rotary machine pawl push rod concept map;
Fig. 6 is the final 3D figure of gripper;
Fig. 7 is pitching technique figure;
Fig. 8 is pitching scheme stressing conditions;
Fig. 9 is pitching guide rail;
Figure 10-1, Figure 10-2 are pitching push rod and axle;
Figure 11 is pitching schematic structure diagram;
Figure 12 is final pitching machine drawing figure;
Figure 13 is that luffing mechanism 3D schemes;
Figure 14-1, Figure 14-2 are XY parallel moving mechanism figure;
Figure 15 is vertical tumbler machine drawing;
Figure 16-1, Figure 16-2 are SLEC160-11B outline drawing;
Figure 17-1, Figure 17-2 vertical rotary device for mechanical figure;
Figure 18 is vertical lift device mechanism map;
Figure 19 is the overall machine drawing of manipulator;
Figure 20 is manipulator 3D structure chart;
Figure 21 is mechanical wrist design two;
Figure 22 is manipulator and mechanical arm johning knot composition;
Figure 23 is control system flow chart.
Detailed description of the invention
Embodiment 1, the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror.Handling facilities form serial manipulator by high speed, Large travel range robot and thin tail sheep, hi-Fix robot, and described high speed, Large travel range robot adopt hydraulic lifting retractor device, are provided with two joint telescopic arms; At the end of this two joints telescopic arm, described thin tail sheep, hi-Fix robot are installed; This thin tail sheep, hi-Fix robot adopt motor feed screw apparatus; This motor feed screw apparatus is provided with three claw robot (each pawl wherein, in " three-jaw " is called gripper); Between this three claw robot and manipulator chassis, be provided with vertical tumbler, vertical lifting device, level(l)ing device and luffing mechanism.
Mechanical arm: according to in-site installation condition, hydraulic lifting retractor device adopts industrial crane on vehicle to transform, and whole erecting device is placed on the slope before mirror, operationally erecting device is moved into light path, has worked rear erecting device to be shifted out light path.With reference to Fig. 1.O point is the intersection point on diaphragm and the front slope of mirror, namely can lay the minimum point of sub-mirror handler, equally with O point for initial point sets up polar coordinate system, the footpath, pole at Gao Zijing center is 9.1591m, polar angle 67.08 °, the footpath, pole at minimum Zi Jing center is 6.7974m, polar angle 24.06 °.
The QYS-4IIA type lorry-mounted crane of Shijiazhuang Coal Mining Machinery Co., Ltd is selected to transform according to on-site actual situations, the maximum hoisting moment of this crane is 100kNm, maximum lifted load 4000kg, maximum functional amplitude 7.4m, there are two joint telescopic arms, crane deadweight 1400kg, apparent size 2085 × 640 (long × wide); When this crane arm horizontal extension is to 6.2m, lifting about 1 ton of quality.With reference to Fig. 2-1, Fig. 2-2.
Manipulator: the Part II of whole sub-mirror unit handler, robot section adjusts the skyborne position of sub-mirror unit and attitude, six actions realized are needed to comprise the translation of vertical direction, the rotation of vertical direction, the translation of horizontal X Y both direction, the crawl of pitch rotation and antithetical phrase mirror unit, the first five action adjusts the attitude of sub-mirror unit entirety, the 6th the sub-mirror unit of motion capture.Each action is separate, does not produce coupling, relatively independent.
Manipulator closing device: gripper part directly contacts with sub-mirror unit, this part design must be taken into consideration with the physical dimension of the sub-mirror cell of sub-mirror unit, the mid point of 3 clamping holes edge between hexagonal 3, and sub-mirror cell relative dimensions value is as follows:
Edge, sub-mirror cell is apart from Zi Jing center 476.5mm.
Sub-mirror cell clamping hole centre-to-centre spacing minute surface 170mm.
Sub-mirror cell clamping hole diameter 20mm.
Consider the self-centering action of 3 pawls, conveniently gripper captures sub-mirror cell and deionizing mirror cell, and the pawl point of gripper is designed to truncated cone-shaped, facilitates gripper to catch Zi Jing mirror cell.With reference to Fig. 3.
Due to sub-mirror unit aloft time, most of the time minute surface all becomes 65 ° of angles with ground, so analyze the stressing conditions of gripper in this case.With reference to Fig. 4-1, Fig. 4-2, Fig. 4-3, Fig. 4-4.
Set up coordinate system in sub-mirror unit center of gravity along the axis of sub-mirror and two radial vertical direction, as figure Oxyz, to the tee T pawl point of gripper, the power of the support that can provide has the P of vertical direction and T and N of parallel direction.
Due to symmetrical configuration, easily known by symmetry characteristic, for the gripper A on top, the active force of antithetical phrase mirror unit only has the parallel thrust T in x direction, and two, bottom gripper B, C are distributed symmetrically, and become 120 degree of distributions, so T
2=T
3, N
2=N
3, P
2=P
3.
The gravity G of antithetical phrase mirror unit, is equally also decomposed into minute surface axial direction and radial direction.
On axial direction x:
T
1+T
2+T
3＝Gsin25(1)
On radial direction y:
(N
2+N
3)cos30+(P
1+P
2)sin30＝Gcos25(2)
To z direction, the axis by BC:
T
1l＝Ga(3)
To x direction, the axis by B point:
Consider P
2=P
3, N
2=N
3, after actual abbreviation 5-2,5-4 two formula be the same.
But in yz plane, consider the geometrical symmetry of structure, BC 2 should be had respectively to bear
So have:
Can be obtained by above-mentioned equation:
Try to achieve sub-mirror unit centroidal distance minute surface distance 70.8mm above.Quality 202.3kg
Minute surface distance lifting eye distance 176.2mm, gripper length 252mm
So a=189.77mm
G＝202.3×9.8＝1982.54N(9)
T
1＝562.37N
T
2＝T
3＝137.74N
N
1＝0
N
2＝N
3＝778.03N(11)
P
1＝0
P
2＝P
3＝449.20N
The gripper on visible top is stressed less, only has the pressure along gripper axis direction, is 562.37N, and stressed more complicated on the gripper of two, bottom, all stressed on 3 directions.During corresponding design gripper closing device, designing requirement is just different.
Gripper total length 252mm, arm end two rotating shafts, the diameter of axle is respectively 20mm and 12mm, analyzes the intensity of gripper in ANSYS.
Can see that the safety coefficient of all parts on whole pawl is all more than 5, should be safe.
In this case design gripper push rod (Fig. 5) feed screw nut driving device pawl push rod, driving mechanical pawl rotates, and gets 1/3 manipulator analysis, be leading screw axis as schemed OS, S point is feed screw nut, and OA is robot support frame, considers the size of sub-mirror unit, OA gets 515mm, BC is gripper part, and BC rotates, when push rod SC is parallel with bracing frame OA around A point, gripper is firmly grasped, so have:
Push rod length S
1c
1=OA
1=515mm
When gripper be opened at utmost 30 ° time, nut is 177.2mm along the distance of guide screw movement, and consider the size of nut and installation dimension, namely leading screw length gets 200mm.
By result of calculation above, although the scheme of translation retractable mechanical system design pawl can be seen, gripper there is no installation shaft system, safety coefficient is very high, but this scheme needs to install 3 rail plates separately, add the complexity of system, and this scheme needs the promotion leading screw more grown, easily and system other parts interfere; And the safety coefficient of rotating folding scheme center shafting arrives more than 5, whole system is compact, considers the factors such as the raising rigidity attractive in appearance and further of system, and final gripper design is as Figure 13.
Manipulator luffing mechanism
Because MB primary mirror 37 pieces of sub-mirrors have different angle, need to finely tune inclination angle aloft when sub-mirror is installed, although mechanical arm part has a pitch freedom, need a pitch freedom increasing a redundancy at robot section.The sub-mirror of top and level ground angle are 58.55 °, and the sub-mirror of lowermost end and level ground angle are 65.78 °, and the elevation difference of upper and lower two pieces of sub-mirrors is 7.23 °, and that is luffing mechanism needs the minimum luffing angle reached to be 7.23 °.After considering to reserve and do enough surpluses, in design, with manipulator backrest and horizontal plane angle be 65 ° for intermediate base position, luffing angle is ± 10 °.
In order to the distance of the length and gripper upper push-rod axle and support bar that reduce back shaft, avoid the interference with gripper closing device again, consider that sub-mirror unit line of gravity is in the outside of back shaft, inside toppling over can not be there is, back shaft can be moved down, when back shaft is when gripper push rod leading screw is with upper/lower positions, even if gripper push rod and manipulator support horizontal range very near, also can not interfere, learning concept figure is as Fig. 7.
In this case push rod length still gets 100mm, and the distance of nut motion is 80.4mm, and consider size and the guide rail movement part size of nut, leading screw length is about 100mm.With reference to Fig. 8.
In this case the stressing conditions of two back shafts is considered
Along the radial and axial decomposition gravity of sub-mirror, by the balance principle of power, easily obtain
T
1+T
2＝Gcos25
(12)
P
1+P
2＝Gsin25
To S point by equalising torque, can obtain
P
2l＝Ga(13)
In addition because pitching push rod two ends are hinged, be two power rod members, the position of power must along bar direction, so have
T
2＝0(14)
Can obtain
T
1＝Gcos25
T
2＝0
In order to make the thrust of bottom push rod as far as possible little, so want a as far as possible little, l is as far as possible large,
In this case, consider the size of the gripper open-and-close mechanism of carriage center, radial distance and the axial distance at pitch axis distance bracket center are respectively 80mm and 72.5mm, and push rod length still gets 100mm in this case, then promoting leading screw length is 80.402mm so can calculate
a＝164.764
(16)
l＝206
So
T
1＝2353.7N
T
2＝0
(17)
P
1＝-979.6N
P
2＝2077.1N
Because pitch axis diameter still gets 40mm, length 140mm, before calculated back shaft, can proof strength when length is 450mm, so when length is 140mm, intensity can ensure.
The active force on guide rail slide block is acted on as Fig. 9 push rod
P
2＝2077.1N
The dead load acted on guide rail is:
P
2y＝P
2sin25＝877.82N
And the tilting moment acted on slide block is:
M＝P
2×0.0743＝154.33N·m
The guide rail selected is the GGBAA/AAL tetra-direction constant load type linear rolling guide GGB35AAL of Nanjing skill work
| Model | H | W | B1 | B4 | K | L1 | H1 | C | C0 | MA | MB | MC |
| GGB35AAL | 48 | 33 | 100 | 34 | 38 | 131.8 | 29 | 39.96 | 64.85 | 681 | 681 | 1102.45 |
Dynamic load rating: 39.96KN
Rated static load: 64.85KN
Rated moment MA:681KNm
Calculate the intensity of pitching impeller-hub and catch bar below, as Figure 10-1, Figure 10-2, impeller-hub diameter 20mm, catch bar two ends centre-to-centre spacing 100mm, thickness is 20mm.
Can see that the safety coefficient of pitching push rod and pitching push rod shaft system is more than 5, be safe.
In scheme, the physical dimension of whole system is compact, each several part can not interfere, consider and have selected this luffing mechanism scheme, consider the processing technology of part, system is attractive in appearance and reduce the factors such as manipulator overall weight, and the final structure after being optimized system architecture is as Figure 12, Figure 13.
Manipulator horizontal translation device
In order to finely tune the skyborne position of manipulator, be installed in series level(l)ing device under manipulator elevation mount, and current XY direction bidimensional translation stage Technical comparing is ripe, uses the rigidity guide rail guiding such as screw pair and four directions, two-layer longitudinal stack, just can realize the translational motion of XY both direction.And physical dimension is as Figure 14-1, Figure 14-2.
The motor adopted is that this reaches composite stepper motor 110BYG250B, and electrical technology data are as following table:
Wherein L=210mm, also have 110BYG250C in addition, maximum static torque is 18Nm, appearance and size only has L longer, is 255mm.
Manipulator vertical rotary device
The initial scheme of vertical rotation mechanism is that torque motor that employing one is large drives and is connected directly between a macro-axis on base plate and rotates, and with electromagnetic brake locking motor axle, prevents reversion.With reference to Figure 15.
That motor adopts is the disc type torque motor SLEC160-11B of Heinzmann company, and its electrical technology data are as following table
Appearance and size is as 16-1, Figure 16-2.
Wherein L
1=50mm, L
2=75mm, L
3=170mm
Because the diameter of torque motor self is comparatively large, after adding electromagnetic brake, size also will strengthen in the axial direction, so type of drive changes the scheme that common stepper motor adds turbine worm reducer into the most at last, and remove huge motor cylinder, weight reduction, such structure is compacter.With reference to Figure 17-1, Figure 17-2.
Manipulator vertical lift device
Bottom due to vertical rotary device is provided with motor and decelerator, the axis of movement of vertical lift device and rotation are placed side by side, can reduce the height of whole manipulator like this, center of gravity reduces can be more stable, and interface can be provided to be connected with mechanical arm part.
This part is same adopts guide rail screw-nut structure, and guide rail slide block is connected with the side of manipulator vertical rotary device, and Liang Ge mechanism is placed side by side.With reference to Figure 18.
Manipulator overall structure
By the structure of the robot section after each several part assembling above as Figure 19, Figure 20.
Wrist: at whole sub-mirror mounting assembly in the course of the work, the manipulator bottom surface of mechanical arm upper end will remain level, and such manipulator stressing conditions is more fixing, also the convenient fine setting skyborne position of sub-mirror unit and attitude.
Due to whole MB primary mirror minute surface, from the horizontal by 65 ° of angles, and minute surface is larger, top Zi Jing center and the sub-mirror centre distance 6249.9mm of lowermost end, machinery at hand face level will be adjusted at any time, adopt the angle of solid mechanical hand connector and robot base, regulated the bottom surface level of manipulator by the angle of adjusting mechanical arm axis and connector.
In this case, the angle of fixing arm connector and manipulator bottom surface is 90 °, the angle of adjustment arm connector and mechanical arm axis, when minimum point B, and mechanical arm level, the angle of mechanical arm and arm connector is 90 °; When peak A, mechanical arm and horizontal plane angle are 67.52 °, and the angle of mechanical arm and arm connector is 90 °-67.52 °=22.48 °, and mechanical arm is the shortest.With reference to Figure 21.
According to connection scheme above, according to the size of the mechanical arm designed above and manipulator, when ensureing that manipulator and mechanical arm do not interfere, the manipulator obtained and the connection scheme of mechanical arm.With reference to Figure 22.
Control program
LAMOST primary mirror MB mirror handler adopts the basic structure of serial manipulator, use this structure except more previously described advantages, control system is also relatively simply one of factor considered, because all 8 frees degree motions of the handler of whole series connection are not coupled each other, Control System Design to each several part design con-trol scheme respectively, can be carried out some to the control program of handler below and sets forth.
For book mirror unit handler, the coarse positioning of bottom mechanical arm, adopt hydraulic system power, servo hydraulic oil cylinder is adopted to carry out Dynamic controlling, for the micro-adjusting mechanism on top, due to close to primary mirror, for avoiding causing danger, adopt automatic Dynamic controlling to combine with manual motion control, ensure sub-mirror safety.
LAMOST primary mirror MB mirror handler control system sends the motion of signal controlling machine tool hand by computer, whole control system comprises the Dynamic controlling of mechanical arm and the motion control of manipulator.Whole control system flow chart is as Figure 23.
Because mechanical arm uses truck-mounted crane repacking, truck-mounted crane product common on the market all uses manual operation, Computer signal can not be accepted, so need to reequip truck-mounted crane, the hand-operated direction valve generally adopted by truck-mounted crane is transformed into the automatically controlled proportional reversing valve that can use computer Automatic level control, concrete control overflow is: realize the control to hydraulic stem by computer, the length (being detected in real time by sensor) comprising the start-stop of hydraulic control bar, the elongation of fixing quantity hydraulic stem and shorten, the speed that qualitative contrlol hydraulic stem extends and shortens.In manipulator runs, obtain the real-time status signal of hydraulic stem, and show hydraulic stem elongation in real time on computers.The scheme of whole control is that computer is sent digital quantity signal and changed by digital-to-analogue dress and give hydraulic valve amplification board circuit, the opening and closing of proportioning valve amplification board circuit output current Controlling solenoid valve door and opening, thus stroke and the speed of hydraulic control bar is come by the flow of hydraulic control oil; Adopt position sensor to detect hydraulic stem position simultaneously, and feed back to computer system, in real time the movement locus of adjustment hydraulic stem; By sensor installation on hydraulic stem and proximity switch to computer feedback signal, the elongation of display hydraulic stem in real time.Simultaneously in order to ensure the safety of installing sub-mirror, proximity switch is installed at hydraulic stem two ends on the robotic arm, once after hydraulic stem encounters proximity switch, it is flexible can stop in time, prevents collision.
Robot section is used for dynamic micro-adjustments, because the affixed workman of needs of sub-mirror unit and sub-mirror truss manually participates in, along with different situations, the position of manipulator needs constantly fine setting, so the method that the control section of manipulator adopts Dynamic controlling to combine with motion control, 3 laser range finders are installed on the top of manipulator, Real-time Feedback signal is to control computer, then the position of installing the sub-mirror of camera installation personnel real time monitoring is also needed, then each action of manipulator is by step motor control, sends pulse to control the amount of feeding of motor by computer.In addition gripper hold with a firm grip and unclamp adopt travel switch as feedback.
In addition for ensureing manipulator bottom surface level, manipulator bottom surface needing mounted angle sensor, changing manipulator angle at any time, ensure the level of manipulator.With reference to Figure 23.
Wherein the type selecting of each control assembly sees the following form:
Table 2 control assembly type selecting table
Claims (7)
1. the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror, it is characterized in that, these handling facilities form serial manipulator by high speed, Large travel range robot and thin tail sheep, hi-Fix robot, described high speed, Large travel range robot adopt hydraulic lifting retractor device, are provided with two joint telescopic arms; At the end of this two joints telescopic arm, described thin tail sheep, hi-Fix robot are installed; This thin tail sheep, hi-Fix robot adopt motor feed screw apparatus; This motor feed screw apparatus is provided with three claw robot; Between this three claw robot and manipulator chassis, be provided with vertical tumbler, vertical lifting device, level(l)ing device and luffing mechanism.
2. the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror according to claim 1, is characterized in that, be provided with gripper push rod in described three claw robot, and with feed screw nut driving device pawl push rod, driving mechanical pawl rotates.
3. the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror according to claim 1, it is characterized in that, the structure of described manipulator vertical lift device is: the bottom of described vertical rotary device is provided with motor and decelerator, the axis of movement of vertical lift device and rotation are placed side by side, and provides interface to be connected with the end section of described telescopic arm.
4. according to the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror according to claim 1, it is characterized in that, be installed in series level(l)ing device under manipulator elevation mount: described level(l)ing device adopts guide rail screw-nut structure, guide rail slide block is connected with the side of manipulator vertical rotary device, and the anterior-posterior translation guideway of described manipulator superposes installation up and down with left and right translating rails pair.
5. the sub-mirror handling facilities of large-scale astronomical telescope segmented mirror according to claim 1, is characterized in that, be provided with control system in these handling facilities; This control system controls respectively to each several part: for the coarse positioning of bottom telescopic arm, adopt hydraulic system power, adopt servo hydraulic oil cylinder to carry out Dynamic controlling, for thin tail sheep, the hi-Fix robot on top, adopt automatic Dynamic controlling to combine with manual motion control; Described control system sends the motion of signal controlling machine tool hand by computer, and whole control system comprises the Dynamic controlling of mechanical arm and the motion control of manipulator.
6. according to the sub-mirror handling facilities of the large-scale astronomical telescope segmented mirror one of claim 1-5 Suo Shu, it is characterized in that, described gripper single armed total length 252mm, two rotating shafts of this single armed end, the diameter of axle is respectively 20mm and 12mm.
7., according to the sub-mirror handling facilities of the large-scale astronomical telescope segmented mirror one of claim 1-5 Suo Shu, it is characterized in that, described robot arm is arranged with the pitch freedom of redundancy.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107422447A (en) * | 2017-09-21 | 2017-12-01 | 中国科学院长春光学精密机械与物理研究所 | A kind of automatic package system and assemble method for splicing mirror |
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| EP0685298A1 (en) * | 1994-04-12 | 1995-12-06 | Schneider GmbH + Co. KG | Procedure of and device for fabricating aspheric lens surfaces |
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