CN108879105B - Redundant parallel device for support adjustment of compact range splicing reflection panel and adjustment method - Google Patents
Redundant parallel device for support adjustment of compact range splicing reflection panel and adjustment method Download PDFInfo
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- CN108879105B CN108879105B CN201810555100.9A CN201810555100A CN108879105B CN 108879105 B CN108879105 B CN 108879105B CN 201810555100 A CN201810555100 A CN 201810555100A CN 108879105 B CN108879105 B CN 108879105B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
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Abstract
The invention relates to a redundant parallel device for supporting and adjusting a compact range splicing reflection panel, which consists of four precise adjusting mechanisms which are connected in parallel and work cooperatively, wherein each sub-panel is connected with a supporting back frame through a set of redundant parallel device; the precise adjusting mechanism mainly comprises a double-spherical-hinge supporting unit, a driving unit and an adjusting and locking unit; the four precise adjusting mechanisms are respectively installed on the installation flange on the back face of the reflecting surface sub-panel, each precise adjusting mechanism is connected with the support back frame through a U-shaped hole in the rear end ball cap, the four precise adjusting mechanisms are connected in parallel to work in groups to form a redundant parallel device, and the reflecting surface sub-panel is installed on the support back frame through the redundant parallel device. The invention has the advantages of large bearing capacity, high adjusting efficiency, high adjusting precision and the like; the reliable support and the precise adjustment of the space attitude of the reflecting surface sub-panel can be realized; the support and adjustment of the single sub-panel are independent and do not influence each other.
Description
The technical field is as follows:
the invention relates to a redundant parallel device for supporting and adjusting a compact range splicing reflecting panel and an adjusting method.
Background art:
with the development of modern science and technology, the application of millimeter wave, submillimeter wave and other high-frequency electromagnetic wave technologies is more and more extensive, and the technology has important application in stealth and anti-stealth, radar, guidance, remote sensing technology, radio astronomy, communication and other aspects. The realization of high-precision and high-efficiency testing of comprehensive electrical performance indexes (such as antenna directional diagrams, gains, target RCS and the like) of millimeter wave and submillimeter wave equipment is of great importance. Compact Test Range (CTR) can convert spherical waves into high-quality plane waves in a relatively small (Compact) space through a high-precision reflecting surface, can realize far-field Test conditions required by measurement indoors, and has the advantages of less interference factors, high measurement precision, strong confidentiality, all-weather measurement and the like. Therefore, compact range has become a key device for developing comprehensive electrical performance tests of apparatuses such as stealth and anti-stealth, radar antennas, satellite whole satellites, millimeter wave antennas and the like.
The compact field is a complex system engineering with high difficulty and comprehensive multidisciplinary integration, which relates to the electromagnetic scattering theory, high-precision reflecting surface design and manufacture, precision measurement, assembly and adjustment and the like. The design and manufacturing technology of the high-precision reflecting surface is a key bottleneck technology of a compact range system, and the profile precision of the reflecting surface directly determines the quality of the electrical performance of the compact range. Compact reflective surfaces are typically large in area (varying from tens to hundreds of square meters), and are typically manufactured separately and then assembled together into smaller sub-panels due to limitations in manufacturing equipment capacity and profile accuracy requirements. The overall profile accuracy of the reflecting surface and the size of the gap between the sub-panels are key factors influencing the electric performance of a compact range, generally, the overall profile accuracy RMS value of the reflecting surface is required to be less than one percent (RMS < lambda/100) of the wavelength lambda of the highest working frequency, the sub-panel split gap meets the requirement of (0.1 +/-0.05) lambda, taking the compact range with the working frequency of 100Ghz as an example, the overall profile accuracy RMS value of the reflecting surface is required to be better than 0.03mm, and the split gap between the sub-panels meets the requirement of 0.03 +/-0.015 mm. The final overall profile accuracy of the reflective surface depends on the manufacturing accuracy of the individual sub-panels and the loss of accuracy of the split-fit adjustment. Therefore, higher requirements are put on the support, positioning and precise adjustment of the split reflecting surface sub-panel.
At present, the existing device for supporting and adjusting the reflecting panel at home and abroad is mainly formed by connecting three single-degree-of-freedom displacement actuators in parallel. The supporting and the adjusting of the FAST radio telescope main reflecting surface sub-panel are realized by adopting a parallel structure formed by hydraulic displacement actuators, and the hydraulic actuators have the advantage of large bearing capacity, but are difficult to realize micron-scale precise adjustment and are not suitable for supporting and adjusting the compact field reflecting surface. The 65-meter radio telescope in the Shanghai san shan adopts a Stewart parallel mechanism to adjust the pose of the secondary surface, and although the Stewart parallel mechanism can realize six-freedom adjustment of the panel space, the Stewart parallel mechanism has insufficient stability under the conditions of inclined installation and lateral force and has higher manufacturing cost. Compact reflecting surfaces are typically mounted at a large tilt angle (typically 75 ° from horizontal), and this parallel mechanism is not suitable for support and adjustment of compact reflecting surfaces. The support and adjustment of the sub-mirror surface of the large-scale telescope (GTC) are completed by a parallel mechanism consisting of three micro-displacement actuators, the parallel mechanism consisting of the micro-displacement actuators can realize the precise adjustment of the sub-panel, but cannot realize the spatial six-degree-of-freedom adjustment of the panel, and the micro-displacement actuators mainly bear axial load, have small radial bearing capacity and are not suitable for the support and adjustment of the compact field reflecting surface. The E-ELT European Telescope adopts a micro-displacement actuator of a PACT macro/micro driving mode to realize the precise adjustment of the reflecting surface sub-panel, the precise adjustment of the reflecting surface sub-panel of a 30 m Telescope (third Meter Telescope, TMT) is completed by a micro-displacement actuator with no friction/stick-slip design, and the two micro-displacement actuators can only realize the axial adjustment and cannot meet the supporting and adjusting requirements of the reflecting surface of a compact range. In summary, the supporting and adjusting device of the existing reflector antenna panel is mostly composed of three displacement actuators working in parallel, mainly bears axial load and realizes axial precise adjustment, and is difficult to meet the requirements of stable supporting and precise adjustment of spatial attitude of the reflector sub-panel in compact range.
Therefore, in order to solve the problems of stable support and precise adjustment of the compact range spliced reflecting panel, the invention provides a redundant parallel device for supporting and adjusting the compact range spliced reflecting panel and an adjusting method, which are mainly used for realizing the stable support and the precise adjustment of the spatial attitude of the compact range spliced reflecting surface sub-panel.
The invention content is as follows:
the compact range reflecting surface mainly comprises a reflecting panel (1), a supporting back frame (2) and a redundant parallel device (3). The reflective panel is typically made up of several sub-panels, each sub-panel being connected to a supporting back frame by a redundant set of parallel devices, fig. 1 shows a schematic view of a compact range reflective surface of a certain type.
The invention aims to provide a compact range split type reflecting panel supporting and adjusting redundant parallel device and an adjusting method, so as to solve the problems of low adjusting efficiency and high precision loss of the conventional compact range split type reflecting surface. The redundant parallel device is a link for connecting the reflecting panel and the supporting back frame, is formed by four precise adjusting mechanisms which are connected in parallel and work cooperatively, and can realize stable supporting and precise adjustment of the spatial attitude of the reflecting surface sub-panel, as shown in figure 2. Each sub-panel is connected with the supporting back frame through a set of redundant parallel device, the supporting and adjusting of the single sub-panel are independent and do not influence each other, and the splicing assembly and adjustment of any plurality of sub-panels can be realized theoretically through the redundant parallel device, so that the splicing assembly and adjustment of the compact range reflecting surface with any specification and size can be realized.
The precise adjusting mechanism mainly comprises a double-spherical-hinge supporting unit, a driving unit and an adjusting and locking unit;
the double-ball-hinge supporting unit comprises a front end flange (1), a front end ball head (3), a front end ball head cover (2), a pressing flange (13), a transmission threaded sleeve (4), a guide supporting sleeve (5), a guide copper sleeve (16), a supporting shell (6), a rear end ball head (19), a rear end ball head cover (7) and a pressing shaft sleeve (8). The front end flange, the front end ball head and the front end ball head cover are matched and arranged to form a front end ball head kinematic pair. The supporting shell, the rear end ball head and the rear end ball head cover are installed in a matched mode to form a rear end ball head kinematic pair. One end of the transmission threaded sleeve is connected with the front end ball head through a pressing flange and is locked by a bolt. One end of the guide support sleeve is connected with the rear end ball head and is compressed through the compression shaft sleeve, the guide copper sleeve is embedded into the guide support sleeve, sliding friction between the transmission threaded sleeve and the guide support sleeve is reduced, and guide transmission precision is improved. The transmission thread sleeve is matched with the guide support sleeve, and the front-end ball head kinematic pair and the rear-end ball head kinematic pair are connected in series through the matching of the transmission thread sleeve and the guide support sleeve to form the double-ball-hinge support unit.
Wherein, the one end design of front end flange has the flange hole with the reflection panel installation for this precision adjustment mechanism is connected with reflection panel, and the design has the U type hole with the installation of support back of the body frame on the bulb lid of rear end, is used for this precision adjustment mechanism and is connected of support back of the body frame.
The driving unit comprises a transmission threaded rod (20), a bearing box body (9), a two-way thrust ball bearing (21), a bearing pressing sleeve (22), a bearing locking nut (23), a bearing end cover (10), a motor mounting seat (11), an elastic coupling (24) and a driving motor (12). The bearing box body is arranged at the tail end of the guide supporting sleeve and is an important part for connecting the double-ball-joint supporting unit and the driving unit. The bidirectional thrust ball bearing is installed in the bearing box body, the transmission threaded rod is installed through the support of the bidirectional thrust ball bearing, and the transmission threaded rod is fastened on a shaft ring of the bidirectional thrust ball bearing through the bearing pressing sleeve and the bearing locking nut, so that bidirectional axial positioning is achieved. The bearing end cover is arranged at the tail end of the bearing box body and compresses the bidirectional thrust ball bearing. The motor mounting seat is mounted on the bearing end cover and used for fixedly mounting the driving motor, and the output shaft of the driving motor is connected with the transmission threaded rod through the elastic coupling. The transmission threaded rod is matched with the transmission threaded sleeve to form a transmission threaded pair, so that precise adjustment in the Z-axis direction is realized.
The adjusting and locking unit comprises an anti-rotation chuck (14), a guide key (15), an adjusting bolt (18) and a locking nut (17). The anti-rotation chuck is mounted at the end of the guide support sleeve by three bolts. The guide key is installed in the key slot of the anti-rotation chuck and is fixed by two screws. The transmission threaded sleeve penetrates through the anti-rotation chuck to be matched and connected with the transmission threaded rod, and the guide key is matched with the key groove in the transmission threaded sleeve. And loosening a fastening bolt between the anti-rotation chuck and the guide support sleeve, and rotating the anti-rotation chuck by using a wrench to drive the transmission threaded sleeve to rotate so as to realize coarse adjustment in the Z-axis direction. The fastening bolt between the anti-rotation chuck and the guide support sleeve is screwed down, so that the rotation of the transmission thread sleeve can be prevented when the axial motor drives and adjusts. Adjusting bolts are installed on the supporting shell through thread pairs, the four adjusting bolts are symmetrically installed, the tail ends of the bolts are in contact with the guide supporting sleeve, the bolts are screwed to achieve adjustment in the X-axis direction and the Y-axis direction, each adjusting bolt is matched with one locking nut, and the adjusting bolts are locked through the locking nuts after adjustment is completed.
The four precise adjusting mechanisms are respectively arranged on the mounting flange on the back surface of the reflecting surface sub-panel, each precise adjusting mechanism is connected with the supporting back frame through a U-shaped hole on the rear end ball cover, the four precise adjusting mechanisms are connected in parallel to work in groups to form a redundant parallel device, and the reflecting surface sub-panel is arranged on the supporting back frame through the redundant parallel device, as shown in fig. 1 and 2. Because the installation inclination angle of the reflecting surface is large, the gravity of the panel mainly acts on the radial direction of the precise adjusting mechanisms, the three precise adjusting mechanisms can realize the positioning of the spatial attitude of the panel, but the translational adjustment or the rotation adjustment along the direction of a single coordinate axis is difficult to realize accurately, and when one of the three precise adjusting mechanisms is adjusted, the rest two precise adjusting mechanisms are not enough to realize the stable support of the panel. The redundant parallel device formed by the cooperative work of the four precise adjusting mechanisms can accurately realize the translational or rotational adjustment of the compact range panel along the direction of a single coordinate axis, and can quickly realize the adjustment of the installation direction of each precise adjusting mechanism.
A method for adjusting a redundant parallel device for compact range split reflective panel support adjustment includes the following steps:
(1) reflective surface sub-panel mounting
The four precise adjusting mechanisms are arranged on the mounting flange on the back surface of the compact range reflecting surface sub-panel, then the four precise adjusting mechanisms arranged on the reflecting surface sub-panel are respectively arranged on the supporting back frame, a redundant parallel device is formed between the panel and the supporting back frame by the four precise adjusting mechanisms, the four precise adjusting mechanisms are ties connected with the panel and the back frame, and each sub-panel is arranged on the supporting back frame through the redundant parallel device.
(2) Coarse adjustment of reflective surface sub-panel
In order to ensure that the reflecting surface sub-panels are not collided and damaged, after the compact range reflecting surface sub-panels are installed, the distance between the sub-panels is generally not less than 10mm, and at the moment, the actual position posture of each sub-panel has larger deviation with the designed target posture. Therefore, coarse adjustment of each sub-panel is required. Firstly, selecting a sub-panel in the middle area for coarse adjustment, and performing spatial six-degree-of-freedom adjustment on the position and the posture of the panel by using a redundant parallel device to ensure that the spatial position deviation of the panel is not more than 0.5 mm; and roughly adjusting the rest sub-panels by using the sub-panels after rough adjustment as a reference by using the redundant parallel devices, and ensuring that the gap deviation between the sub-panels is within 0.4 +/-0.2 mm. After the rough adjustment of the panel is completed, the mounting direction of each precise adjusting mechanism forming the redundant parallel device is adjusted, three adjusting mechanisms are sequentially utilized to stably support the panel, the mounting direction of a fourth precise adjusting mechanism is adjusted, the axis of each adjusting mechanism is overlapped with the normal of the panel as far as possible, the gap between sub-panels in the axial adjustment stage is prevented from being greatly changed, and the adjusting stress generated inside the redundant parallel device during the axial adjustment is reduced. The redundant parallel device of each sub-panel is adjusted by the method.
(3) Reflective panel fine tuning
After the rough adjustment of the panel is completed, each sub-panel is precisely adjusted by utilizing the redundant parallel device, the automatic precise adjustment of the panel can be realized by the automatic axial adjustment function of the precise adjustment mechanism, and the device has the advantages of high adjustment efficiency and high precision. And after the adjustment is finished, the self-locking function of the thread transmission is utilized to lock and position the reflecting surface sub-panel.
Wherein, the rough adjustment of the reflecting surface sub-panel comprises:
(1) the translation adjustment of the reflecting surface sub-panel along the X-axis direction: the adjusting bolts in the Y-axis direction of the four precise adjusting mechanisms forming the redundant parallel device are simply contacted (not screwed down) with the guide support sleeve to play a role in guiding, and the adjusting bolts in the X-axis direction of the four precise adjusting mechanisms are adjusted in a coordinated manner at the moment, so that the adjustment of the reflecting surface sub-panel in the X-axis positive direction or the X-axis negative direction is realized.
(2) Translation adjustment of the reflecting surface sub-panel along the Y-axis direction: the adjusting bolts in the X-axis direction of the four precise adjusting mechanisms forming the redundant parallel device are simply contacted (not screwed down) with the guide support sleeve to play a role of guiding, and the adjusting bolts in the Y-axis direction of the four precise adjusting mechanisms are adjusted in a coordinated manner at the moment, so that the adjustment of the reflecting surface sub-panel in the Y-axis positive direction or the Y-axis negative direction is realized.
(3) The translation adjustment of the reflecting surface sub-panel along the Z-axis direction: the adjusting bolts in the X-axis direction and the Y-axis direction of the four precise adjusting mechanisms forming the redundant parallel device are simply contacted (not screwed down) with the guide support sleeve to play a role of guiding, the fastening bolt between the anti-rotation chuck of the precise adjusting mechanism and the guide support sleeve is loosened, the wrench is used for rotating the anti-rotation chuck to drive the transmission threaded sleeve to rotate, and the thread pair formed by the transmission threaded rod and the transmission threaded sleeve is used for converting the rotation of the transmission threaded sleeve into the translation along the Z-axis direction, so that the translation adjustment of the reflecting surface subpanel along the Z-axis direction is realized.
(4) Rotation adjustment of the reflecting surface sub-panel around the X-axis direction: two precision adjusting mechanisms (two with the same Y coordinate) forming the redundant parallel device are locked to move along three directions of an X, Y, Z shaft, adjusting bolts in the other two precision adjusting mechanisms X, Y direction are adjusted, so that the adjusting bolts in the X direction simply contact (are not screwed down) the guide supporting sleeve to play a role in guiding, and the adjusting bolts in the Y direction do not contact the guide supporting sleeve and are in a free state in the Y direction. At the moment, the translation adjustment in the Z-axis direction of the two free precise adjusting mechanisms in the Y direction is utilized, so that the rotation adjustment of the reflecting surface sub-panel around the X-axis direction is realized.
(5) Rotation adjustment of the reflecting surface sub-panel around the Y-axis direction: two of the precision adjusting mechanisms (two with the same X coordinate) forming the redundant parallel device are locked to move along the X, Y, Z shaft in three directions, and the adjusting bolts in the other two precision adjusting mechanisms X, Y are adjusted, so that the adjusting bolts in the Y direction simply contact (are not screwed down) the guide supporting sleeve to play a role in guiding, and the adjusting bolts in the X direction do not contact the guide supporting sleeve and are in a free state in the X direction. At the moment, the translation adjustment in the Z-axis direction of the two free precise adjusting mechanisms in the X direction is utilized, so that the rotation adjustment of the reflecting surface sub-panel around the Y-axis direction is realized.
(6) And (3) rotation adjustment of the reflecting surface sub-panel around the Z-axis direction: any one precision adjusting mechanism X, Y, Z which forms the redundant parallel device is locked to move in three directions, and the rotation adjustment of the reflection panel around the Z axis direction of the locked precision adjusting mechanism can be realized by utilizing the coordinated adjustment of the adjusting bolts in the X axis direction and the Y axis direction of the other three precision adjusting mechanisms. According to the adjusting method, the rotation of the reflecting surface sub-panel around any one precise adjusting mechanism can be realized.
(7) Adjusting the installation direction of the precision adjusting mechanism: in order to prevent the internal stress of the redundant parallel device from changing greatly in the automatic precise adjustment process, the axial direction of each precise adjusting mechanism forming the redundant parallel device needs to be ensured to be as close to the normal direction of the reflecting surface sub-panel as possible. The reflecting surface sub-panel is connected with the supporting back frame by utilizing the three precise adjusting mechanisms, the three precise adjusting mechanisms can realize the stable supporting of the reflecting surface sub-panel, and the installation direction of the fourth precise adjusting mechanism is adjusted at the moment, so that the axis of the fourth precise adjusting mechanism is as close to the normal direction of the reflecting surface sub-panel at the installation position as possible. By this method, the mounting direction of the precision adjusting mechanisms constituting the redundant parallel devices is adjusted in sequence.
Wherein, the fine adjustment comprises: after the rough adjustment of the reflecting surface subpanel is finished, the movement of the subpanel along the X-axis direction and the Y-axis direction is locked by utilizing an adjusting bolt and a locking nut of a precise adjusting mechanism of a redundant parallel device, and a fastening bolt between an anti-rotation chuck and a guide support sleeve of the precise adjusting mechanism is screwed down to prevent the rotation of a transmission thread sleeve when the axial motor drives and adjusts. At the moment, the driving motor is used for realizing the precise adjustment of each precise adjusting mechanism along the Z-axis direction, and the precise adjustment of the reflecting surface sub-panel is realized through the coordinated adjustment of the four precise adjusting mechanisms forming the redundant parallel device.
The invention discloses a compact range splicing reflection panel supporting and adjusting redundant parallel device and an adjusting method, which have the advantages and effects that:
(1) the precise adjusting mechanism forming the redundant parallel device has the adjusting capacity of six spatial degrees of freedom, simultaneously has the functions of manual coarse adjustment and electric precise adjustment, and has the advantages of large bearing capacity, high adjusting efficiency, high adjusting precision and the like.
(2) The redundant parallel device is formed by four precise adjusting mechanisms which are connected in parallel and work cooperatively, and can realize reliable support and precise adjustment of the spatial attitude of the reflecting surface sub-panel.
(2) Each sub-panel is connected with the supporting back frame through a set of redundant parallel device, the supporting and adjusting of the single sub-panel are independent and do not influence each other, and the splicing, assembling and adjusting of any plurality of sub-panels can be realized theoretically through the redundant parallel device.
Description of the drawings:
FIG. 1 is a schematic view of a compact range reflector of a certain type.
Fig. 2 shows a configuration of a redundant parallel arrangement.
Fig. 3 is an assembly view of the fine adjustment mechanism.
Figure 4 is an isometric view of a precision adjustment mechanism.
The reference numbers and symbols in the figures are as follows:
1-front end flange 2-front end ball head cover 3-front end ball head
4-transmission thread bush 5-guide support bush 6-support shell
7-rear end ball cover 8-pressing shaft sleeve 9-bearing box body
10-bearing end cover 11-motor mounting seat 12-driving motor
13-pressing flange 14-anti-rotation chuck 15-guide key
16-guiding copper sleeve 17-locking nut 18-adjusting bolt
19-rear end ball head 20-transmission threaded rod 21-bidirectional thrust ball bearing
22-bearing pressing sleeve 23-bearing locking nut 24-elastic coupling
A-reflection panel B-support back frame C-precision adjusting mechanism
The specific implementation mode is as follows:
the technical scheme of the invention is further explained in the following by combining the attached drawings.
The precision adjusting mechanism C constituting the redundant parallel device is mainly composed of a double ball-and-socket support unit, a driving unit, and an adjustment locking unit, and will be described with reference to fig. 3 and 4.
The double-spherical-hinge supporting unit comprises a front end flange 1, a front end ball head 3, a front end ball head cover 2, a pressing flange 13, a transmission threaded sleeve 4, a guide supporting sleeve 5, a guide copper sleeve 16, a supporting shell 6, a rear end ball head 19, a rear end ball head cover 7 and a pressing shaft sleeve 8. Front end flange 1, front end bulb 3 and front end bulb lid 2 cooperation installation have constituted front end bulb motion pair, all have the tang of cooperation installation on front end flange 1 and the front end bulb lid 2 for guarantee the concentricity of front end flange 1 and the assembly of front end bulb lid 2. Support casing 6, rear end bulb 19 and rear end bulb lid 7 cooperation installation and constituted rear end bulb motion pair, all designed the tang of cooperation installation on support casing 6 and the rear end bulb lid 7 for guarantee the concentricity of support casing 6 and the assembly of rear end bulb lid 7. One end of the transmission threaded sleeve 4 is inserted into a central hole of the front end ball head 3, and the transmission threaded sleeve 4 is fixedly connected with the front end ball head 3 through an inner hexagonal bolt and a pressing flange 13. The guide support sleeve 5 penetrates through a center hole of the rear end ball head 19 and is compressed through the compression shaft sleeve 8, the guide copper sleeve 16 is embedded into the guide support sleeve 5, sliding friction between the transmission threaded sleeve 4 and the guide support sleeve 5 is reduced, and guide transmission precision is improved. The other end of the transmission threaded sleeve 4 is inserted into a central hole of the guide support sleeve 5, and the front-end ball head kinematic pair and the rear-end ball head kinematic pair are connected in series through the matching of the transmission threaded sleeve 4 and the guide support sleeve 5 to form a double-ball-hinge support unit. One end of the front end flange 1 is provided with a flange hole mounted with the reflection panel A for connecting the precision adjusting mechanism with the reflection panel A, and the rear end ball cap cover 7 is provided with a U-shaped hole mounted with the support back frame B for connecting the precision adjusting mechanism C with the support back frame B.
The driving unit comprises a transmission threaded rod 20, a bearing box body 9, a bidirectional thrust ball bearing 21, a bearing pressing sleeve 22, a bearing locking nut 23, a bearing end cover 10, a motor mounting seat 11, an elastic coupling 24 and a driving motor 12. One end of the bearing box body 9 is arranged at the tail end of the guide support sleeve 5, and the guide support sleeve 5 and the rear end ball head 19 are fixed together through the compression shaft sleeve 8. The bidirectional thrust ball bearing 21 is arranged in the bearing box body 9, the transmission threaded rod 20 is arranged on a shaft ring of the bidirectional thrust ball bearing 21, and the transmission threaded rod 20 is fastened on the shaft ring of the bidirectional thrust ball bearing 21 through the bearing pressing sleeve 22 and the bearing locking nut 23, so that bidirectional axial positioning is realized. The bearing end cover 10 is arranged at the tail end of the bearing box body 9 and tightly presses the bidirectional thrust ball bearing 21, so that the bidirectional thrust ball bearing 21 is fixedly arranged. The motor mounting seat 11 is mounted on the bearing end cover 10 and used for fixedly mounting the driving motor 12, an output shaft of the driving motor 12 is connected with the transmission threaded rod 20 through the elastic coupling 24, and the rotation of the driving motor 12 is output to the transmission threaded rod 20. The rotation of the driving motor 12 is converted into the linear motion of the transmission threaded sleeve 4 through the thread pair transmission formed by the transmission threaded rod 20 and the transmission threaded sleeve 4, so that the electric precise adjustment in the Z-axis direction is realized.
The adjusting and locking unit comprises an anti-rotation chuck 14, a guide key 15, an adjusting bolt 18 (an X-axis negative direction adjusting bolt 18-1, an X-axis positive direction adjusting bolt 18-2, a Y-axis negative direction adjusting bolt 18-3, a Y-axis positive direction adjusting bolt 18-4) and a locking nut 17. An anti-rotation chuck 14 is installed at the end of the guide support sleeve 5 and fastened by three bolts. The guide key 15 is fitted into the keyway of the anti-rotation chuck 14 and secured by two screws. The transmission threaded sleeve 4 penetrates through the anti-rotation chuck 14 to be matched with the transmission threaded rod 20 and the guide supporting sleeve 5, and the guide key 15 is matched with a key groove on the transmission threaded sleeve 4. The fastening bolt between the anti-rotation chuck 14 and the guide support sleeve 5 is loosened, the wrench is used for rotating the anti-rotation chuck 14 to drive the transmission threaded sleeve 4 to rotate, and the rotation of the transmission threaded sleeve 4 is converted into linear motion through a thread pair formed by the transmission threaded rod 20 and the transmission threaded sleeve 4, so that the manual adjustment in the Z-axis direction is realized. The fastening bolt between the anti-rotation chuck 14 and the guide support sleeve 5 is screwed, the rotation of the transmission threaded sleeve 4 can be restrained through the guide key 15, the transmission threaded sleeve 4 is prevented from rotating along with the rotation of the transmission threaded rod 20 when the axial motor is driven and adjusted, the transmission threaded rod 20 is driven to rotate by the driving motor 12, the rotation of the transmission threaded rod 20 is converted into the linear motion of the transmission threaded sleeve 4 through a thread pair formed by the transmission threaded rod 20 and the transmission threaded sleeve 4, and therefore the electric precision adjustment in the Z-axis direction is achieved. The adjusting bolts 18 are arranged on the supporting shell 6 through thread pairs, the four adjusting bolts 18 are symmetrically arranged, and the tail ends of the adjusting bolts 18 are in contact with the guide supporting sleeve 5. The X-axis negative direction adjusting bolt 18-1 and the X-axis positive direction adjusting bolt 18-2 are adjusted to be simply contacted (not screwed) with the guide support sleeve 5 to play a guiding role, and at the moment, the Y-axis negative direction adjusting bolt 18-3 and the Y-axis positive direction adjusting bolt 18-4 are adjusted in a coordinated mode, so that the adjustment along the Y-axis direction and the adjustment around the X-axis direction are achieved. The Y-axis negative direction adjusting bolt 18-3 and the Y-axis positive direction adjusting bolt 18-4 are adjusted to be simply contacted (not screwed) with the guide support sleeve 5 to play a guiding role, and at the moment, the X-axis negative direction adjusting bolt 18-1 and the X-axis positive direction adjusting bolt 18-2 are adjusted in a coordinated mode, so that adjustment along the X-axis direction and the direction around the Y-axis direction is achieved. Each adjusting bolt 18 is provided with a locking nut 17, and the locking nut 17 is used for locking after the adjustment is finished.
The four precision adjustment mechanisms C are respectively mounted on the mounting flanges at the back of the sub-panels, and the four precision adjustment mechanisms are connected in parallel to work in groups to form a redundant parallel device, as shown in fig. 2. The sub-panel of the reflection panel a is mounted to the back frame B by connecting the U-shaped hole of the rear ball cap 7 of the fine adjustment structure C to the back frame B, as shown in fig. 1.
Example 1
This embodiment is intended to illustrate the way in which the reflective panel sub-panel is adjusted in translation along the X, Y, Z axis in three directions by means of redundant parallel connection devices, as described in conjunction with fig. 2 and 4.
Adjusting the adjusting bolts 18(18-1, 18-2) in the X-axis direction of the precise adjusting mechanisms C (C-1, C-2, C-3, C-4) forming the redundant parallel device of the redundant parallel device to simply contact (not screw down) the guide support sleeve 5 to play a role of guiding, and adjusting the adjusting bolts 18(18-3, 18-4) in the Y-axis direction of the precise adjusting mechanisms C (C-1, C-2, C-3, C-4) forming the redundant parallel device of the redundant parallel device at the moment in a coordinated manner, thereby realizing the adjustment of the reflecting surface subpanels in the positive direction of the Y axis and the negative direction of the Y axis.
Adjusting the adjusting bolts 18(18-3, 18-4) in the Y-axis direction of the precise adjusting mechanisms C (C-1, C-2, C-3, C-4) forming the redundant parallel device of the redundant parallel device to simply contact (not screw) the guide support sleeve 5 to play a role of guiding, and adjusting the adjusting bolts 18(18-1, 18-2) in the X-axis direction of the precise adjusting mechanisms C (C-1, C-2, C-3, C-4) forming the redundant parallel device of the redundant parallel device in coordination at the moment, thereby realizing the adjustment of the reflecting surface subpanel in the X-axis positive direction and the X-axis negative direction.
Adjusting bolts 18(18-1, 18-2, 18-3, 18-4) in the X-axis direction and the Y-axis direction of precision adjusting mechanisms C (C-1, C-2, C-3, C-4) forming the redundant parallel device of the redundant parallel device are adjusted to contact and fasten the guide support sleeve 5, and at the moment, the driving motors 12 of the precision adjusting mechanisms C (C-1, C-2, C-3, C-4) work cooperatively, so that the electric adjustment of the reflecting surface sub-panel along the Z-axis positive direction and the Z-axis negative direction can be realized. And loosening a fastening bolt between the anti-rotation chuck 14 and the guide support sleeve 5, rotating the anti-rotation chuck 14 by using a wrench to drive the transmission threaded sleeve 4 to rotate, and converting the rotary motion of the transmission threaded sleeve 4 into the motion along the Z-axis direction by using a thread pair formed by the transmission threaded rod 20 and the transmission threaded sleeve 4 so as to realize the manual adjustment of the reflecting surface subpanel along the Z-axis direction.
Example 2
This embodiment is intended to illustrate the manner in which the redundant parallel arrangement is used to achieve three-directional rotational adjustment of the reflective surface sub-panel about axis X, Y, Z, as described in conjunction with fig. 2 and 4.
Adjusting the adjusting bolts 18 in the X-axis direction and the Y-axis direction of the precision adjusting mechanism C (C-1, C-2, C-3, C-4) of the redundant parallel device, locking the X, Y, Z axis movement of the precision adjusting mechanism C-1, loosening the adjusting bolts 18(18-1, 18-2, 18-3, 18-4) in the X-axis direction and the Y-axis direction of the precision adjusting mechanism C-2 and the precision adjusting mechanism C-4, loosening the adjusting bolts 18(18-1, 18-2) in the X-axis direction of the precision adjusting mechanism 4-3, and realizing the rotation of the reflecting surface sub-panel around the front end ball head kinematic pair of the adjusting mechanism C-1 by adjusting the adjusting bolts 18(18-3, 18-4) in the Y-axis direction of the precision adjusting mechanism C-3, namely, the rotation adjustment of the reflecting surface sub-panel around the Z-axis direction is realized. According to the adjusting method, the rotation of the reflecting surface sub-panel around any one precise adjusting mechanism can be realized.
The motion of the precision adjusting mechanism C (C-1, C-4) of the precision adjusting mechanism forming the redundant parallel device along the X, Y, Z shaft in three directions is locked, and the adjusting bolt in the X direction of the precision adjusting mechanism C (C-2, C-3) of the precision adjusting mechanism is adjusted, so that the precision adjusting mechanism C is simply contacted with (not screwed down) the guide support sleeve 9 to play a guide role. The adjusting bolts 18(18-3, 18-4) of the fine adjustment mechanism C (C-2, C-3) in the Y direction are loosened to be free in the Y direction. At this time, the driving motor 16 drives the adjusting mechanism C (C-2, C-3) to move along the Z-axis direction, thereby realizing the rotation adjustment of the reflecting surface sub-panel along the X-axis direction.
The motion of the precision adjusting mechanism C (C-1, C-2) of the precision adjusting mechanism forming the redundant parallel device along the X, Y, Z shaft in three directions is locked, and the adjusting bolt of the Y direction of the precision adjusting mechanism C (C-3, C-4) of the precision adjusting mechanism is adjusted, so that the precision adjusting mechanism C is simply contacted with (not screwed down) the guide support sleeve 9 to play a guide role. The adjusting bolts 18(18-1, 18-2) in the X direction of the fine adjustment mechanism C (C-3, C-4) are loosened to be free in the X direction. At this time, the driving motor 16 is used to drive the fine adjustment mechanism C (C-3, C-4) to move along the Z-axis direction, thereby realizing the rotation adjustment of the reflecting surface sub-panel along the Y-axis direction.
Example 3:
this embodiment is intended to explain the manner of adjusting the mounting direction of the precision adjusting mechanisms C (C-1, C-2, C-3, C-4) constituting the redundant parallel devices, and will be described with reference to fig. 1, 2, and 4. After the redundant parallel device is used for completing the adjustment of the initial space attitude of the reflecting surface sub-panel, the driving motor 12 is needed to be used for realizing the automatic precise adjustment of the final attitude of the reflecting surface sub-panel. In order to prevent the internal stress of the redundant parallel device mechanism from changing greatly in the automatic fine adjustment process, it is necessary to ensure that each fine adjustment mechanism C constituting the redundant parallel device is as close as possible to the normal direction of the reflective surface sub-panel.
The X, Y, Z-axis three-direction movement of the precise adjusting mechanisms C (C-2, C-3 and C-4) forming the redundant parallel device is locked, the connection between the precise adjusting mechanisms C (C-2, C-3 and C-4) and the supporting back frame is fixed, the connection between the precise adjusting mechanism C (C-1) and the supporting back frame 2 is released, at the moment, the three precise adjusting mechanisms are used for connecting the reflecting surface sub-panel 1 and the supporting back frame 2, and the stable support of the reflecting surface sub-panel can be realized. And adjusting the installation direction of the precise adjusting mechanism C (C-1) to be as close as possible to the normal direction of the reflecting surface sub-panel at the installation position, and then fixing the connection of the precise adjusting mechanism C (C-1) and the supporting back frame 2, thereby completing the adjustment of the installation direction of the precise adjusting mechanism C (C-1). By means of the embodiment, any three precision adjusting mechanisms are fixed, and the installation direction of the fourth precision adjusting mechanism can be adjusted.
Example 4:
this embodiment is intended to explain the way in which the fine adjustment of the reflecting surface sub-panel is achieved by means of a redundant parallel arrangement, and is explained in conjunction with fig. 2 and 4.
After the rough adjustment of the reflecting surface subpanel is finished, the adjusting bolt 18 and the locking nut 17 of the precise adjusting mechanism C of the redundant parallel device are utilized to lock the subpanel along the movement of the X-axis and the Y-axis, and the fastening bolt between the anti-rotation chuck 14 and the guide support sleeve 5 of the precise adjusting mechanism C is screwed, so that the rotation of the transmission threaded sleeve 4 during the driving adjustment of the axial motor is prevented. At this time, the driving motor 12 is used to realize the precise adjustment of each precise adjustment mechanism C along the Z-axis direction, and the precise adjustment of the reflecting surface sub-panel is realized through the coordinated adjustment of the four precise adjustment mechanisms C forming the redundant parallel device.
Claims (4)
1. A redundant parallel arrangement for supporting and adjusting compact range splicing reflecting panels is used for connecting each sub-panel of a compact range reflecting surface with a supporting back frame, and the redundant parallel arrangement is a link for connecting the reflecting panel with the supporting back frame and is characterized in that the redundant parallel arrangement is formed by four precise adjusting mechanisms which are connected in parallel and cooperate with each other, and each sub-panel is connected with the supporting back frame through a set of redundant parallel arrangement;
the precise adjusting mechanism mainly comprises a double-spherical-hinge supporting unit, a driving unit and an adjusting and locking unit;
the double-ball-hinge support unit comprises a front end flange (1), a front end ball head (3), a front end ball head cover (2), a pressing flange (13), a transmission threaded sleeve (4), a guide support sleeve (5), a guide copper sleeve (16), a support shell (6), a rear end ball head (19), a rear end ball head cover (7) and a pressing shaft sleeve (8); the front end flange, the front end ball head and the front end ball head cover are matched and arranged to form a front end ball head kinematic pair; the supporting shell, the rear end ball head and the rear end ball head cover are matched and arranged to form a rear end ball head kinematic pair; one end of the transmission threaded sleeve is connected with the front end ball head through a pressing flange and is locked by a bolt; one end of the guide support sleeve is connected with the rear end ball head and is compressed through the compression shaft sleeve, and the guide copper sleeve is embedded into the guide support sleeve; the transmission thread sleeve is matched with the guide support sleeve, and the front-end ball head kinematic pair and the rear-end ball head kinematic pair are connected in series through the matching of the transmission thread sleeve and the guide support sleeve to form a double-ball hinge support unit;
one end of the front end flange is provided with a flange hole which is arranged with the reflection panel and used for connecting the precision adjusting mechanism with the reflection panel, and the rear end ball head cover is provided with a U-shaped hole which is arranged with the support back frame and used for connecting the precision adjusting mechanism with the support back frame;
the driving unit comprises a transmission threaded rod (20), a bearing box body (9), a two-way thrust ball bearing (21), a bearing pressing sleeve (22), a bearing locking nut (23), a bearing end cover (10), a motor mounting seat (11), an elastic coupling (24) and a driving motor (12); the bearing box body is arranged at the tail end of the guide support sleeve; the bidirectional thrust ball bearing is arranged in the bearing box body, the transmission threaded rod is supported and arranged through the bidirectional thrust ball bearing, and the transmission threaded rod is fastened on a shaft ring of the bidirectional thrust ball bearing through a bearing pressing sleeve and a bearing locking nut, so that bidirectional axial positioning is realized; the bearing end cover is arranged at the tail end of the bearing box body and tightly presses the bidirectional thrust ball bearing; the motor mounting seat is arranged on the bearing end cover and used for fixedly mounting the driving motor, and the output shaft of the driving motor is connected with the transmission threaded rod by using the elastic coupling; the transmission threaded rod is matched with the transmission threaded sleeve to form a transmission threaded pair, so that the precise adjustment in the Z-axis direction is realized;
the adjusting and locking unit comprises an anti-rotation chuck (14), a guide key (15), an adjusting bolt (18) and a locking nut (17); the anti-rotation chuck is arranged at the tail end of the guide support sleeve through three bolts; the guide key is arranged in a key groove of the anti-rotation chuck and is fixed by two screws; the transmission threaded sleeve penetrates through the anti-rotation chuck to be matched and connected with the transmission threaded rod, and the guide key is matched with the key groove on the transmission threaded sleeve; the adjusting bolts are arranged on the supporting shell through thread pairs, the four adjusting bolts are symmetrically arranged, the tail ends of the bolts are in contact with the guide supporting sleeve, the bolts are screwed to realize the adjustment in the X-axis direction and the Y-axis direction, each adjusting bolt is matched with one locking nut, and the adjusting bolts are locked by the locking nuts after the adjustment is finished;
the four precise adjusting mechanisms are respectively installed on the installation flange on the back face of the reflecting surface sub-panel, each precise adjusting mechanism is connected with the support back frame through a U-shaped hole in the rear end ball cap, the four precise adjusting mechanisms are connected in parallel to work in groups to form a redundant parallel device, and the reflecting surface sub-panel is installed on the support back frame through the redundant parallel device.
2. A method for adjusting a redundant parallel device for supporting and adjusting a compact range splicing reflective panel is characterized by comprising the following steps of: the method comprises the following steps:
(1) reflective surface sub-panel mounting
The four precise adjusting mechanisms are arranged on an installation flange on the back surface of the compact range reflecting surface sub-panel, then the four precise adjusting mechanisms arranged on the reflecting surface sub-panel are respectively arranged on a supporting back frame, a redundant parallel device is formed between the panel and the supporting back frame by the four precise adjusting mechanisms, the four precise adjusting mechanisms are ties connected with the panel and the back frame, and each sub-panel is arranged on the supporting back frame through the redundant parallel device;
(2) coarse adjustment of reflective surface sub-panel
In order to ensure that the reflecting surface sub-panels are not collided and damaged, after the compact range reflecting surface sub-panels are installed, the distance between the sub-panels is generally not less than 10mm, and at the moment, the actual position posture of each sub-panel has larger deviation with the designed target posture; therefore, coarse adjustment of each sub-panel is required; firstly, selecting a sub-panel in the middle area for coarse adjustment, and performing spatial six-degree-of-freedom adjustment on the position and the posture of the panel by using a redundant parallel device to ensure that the spatial position deviation of the panel is not more than 0.5 mm; roughly adjusting the rest sub-panels by using the sub-panels after rough adjustment as a reference by using the redundant parallel devices, and ensuring that the gap deviation between the sub-panels is within 0.4 +/-0.2 mm; after the rough adjustment of the panel is finished, the mounting direction of each precise adjusting mechanism forming the redundant parallel device is adjusted, three adjusting mechanisms are sequentially utilized to stably support the panel, the mounting direction of a fourth precise adjusting mechanism is adjusted, the axis of each adjusting mechanism is overlapped with the normal of the panel as far as possible, the large change of a gap between sub-panels in the axial adjusting stage is prevented, and the adjusting stress generated in the redundant parallel device during the axial adjustment is reduced; the redundant parallel device of each sub-panel is adjusted by the method;
(3) reflective panel fine tuning
After the rough adjustment of the panel is finished, each sub-panel is precisely adjusted by using the redundant parallel device, and the automatic precise adjustment of the panel can be realized by the axial automatic adjustment function of the precise adjustment mechanism; and after the adjustment is finished, the self-locking function of the thread transmission is utilized to lock and position the reflecting surface sub-panel.
3. A method of adjusting a redundant parallel arrangement of compact range split reflective panel support adjustments according to claim 2, wherein: the rough adjustment of the reflecting surface sub-panel specifically comprises the following steps:
(1) the translation adjustment of the reflecting surface sub-panel along the X-axis direction: the adjusting bolts in the Y-axis direction of the four precise adjusting mechanisms forming the redundant parallel device are used for contacting the guide supporting sleeve to play a role in guiding, and the adjusting bolts in the X-axis direction of the four precise adjusting mechanisms are cooperatively adjusted at the moment, so that the adjustment of the reflecting surface sub-panel in the X-axis positive direction or the X-axis negative direction is realized;
(2) translation adjustment of the reflecting surface sub-panel along the Y-axis direction: the adjusting bolts in the X-axis direction of the four precise adjusting mechanisms forming the redundant parallel device are used for contacting the guide supporting sleeve to play a role in guiding, and the adjusting bolts in the Y-axis direction of the four precise adjusting mechanisms are cooperatively adjusted at the moment, so that the adjustment of the reflecting surface sub-panel in the Y-axis positive direction or the Y-axis negative direction is realized;
(3) the translation adjustment of the reflecting surface sub-panel along the Z-axis direction: adjusting bolts in the X-axis direction and the Y-axis direction of four precise adjusting mechanisms forming the redundant parallel device are used for contacting the guide support sleeve to play a role in guiding, fastening bolts between the anti-rotation chuck of the precise adjusting mechanisms and the guide support sleeve are loosened, the anti-rotation chuck is rotated by a wrench to drive the transmission threaded sleeve to rotate, and the rotation of the transmission threaded sleeve is converted into translation along the Z-axis direction by a thread pair formed by the transmission threaded rod and the transmission threaded sleeve, so that the translation adjustment of the reflecting surface subpanel along the Z-axis direction is realized;
(4) rotation adjustment of the reflecting surface sub-panel around the X-axis direction: locking two precision adjusting mechanisms which form a redundant parallel device and have the same Y coordinate to move along three directions of an X, Y, Z shaft, adjusting bolts in the other two precision adjusting mechanisms X, Y direction, enabling the adjusting bolts in the X direction to contact with a guide supporting sleeve to play a role in guiding, enabling the adjusting bolts in the Y direction not to contact with the guide supporting sleeve, and enabling the adjusting bolts in the Y direction to be in a free state; at the moment, the translation adjustment in the Z-axis direction of the two free precise adjusting mechanisms in the Y direction is utilized, so that the rotation adjustment of the reflecting surface sub-panel around the X-axis direction is realized;
(5) rotation adjustment of the reflecting surface sub-panel around the Y-axis direction: locking two precision adjusting mechanisms with the same X coordinate and forming a redundant parallel device to move along three directions of an X, Y, Z shaft, adjusting bolts in the other two precision adjusting mechanisms X, Y direction, enabling the adjusting bolts in the Y direction to contact with a guide supporting sleeve to play a role in guiding, enabling the adjusting bolts in the X direction not to contact with the guide supporting sleeve, and enabling the adjusting bolts in the X direction to be in a free state; at the moment, the translation adjustment in the Z-axis direction of the two free precise adjusting mechanisms in the X direction is utilized, so that the rotation adjustment of the reflecting surface sub-panel around the Y-axis direction is realized;
(6) and (3) rotation adjustment of the reflecting surface sub-panel around the Z-axis direction: the motion of any one precise adjusting mechanism X, Y, Z shaft of the redundant parallel device is locked in three directions, and the rotation adjustment of the reflection panel around the Z-axis direction of the locked precise adjusting mechanism can be realized by utilizing the coordinated adjustment of adjusting bolts in the X-axis direction and the Y-axis direction of the other three precise adjusting mechanisms; according to the adjusting method, the reflecting surface sub-panel can rotate around any one precise adjusting mechanism;
(7) adjusting the installation direction of the precision adjusting mechanism: in order to prevent the internal stress of the redundant parallel device from changing greatly in the automatic precise adjustment process, the axial direction of each precise adjusting mechanism forming the redundant parallel device needs to be ensured to be as close to the normal direction of the reflecting surface sub-panel as possible; the reflecting surface sub-panel is connected with the supporting back frame by utilizing the three precise adjusting mechanisms, the three precise adjusting mechanisms can realize the stable supporting of the reflecting surface sub-panel, and at the moment, the mounting direction of the fourth precise adjusting mechanism is adjusted, so that the axis of the fourth precise adjusting mechanism is as close to the normal direction of the reflecting surface sub-panel at the mounting position as possible; by this method, the mounting direction of the precision adjusting mechanisms constituting the redundant parallel devices is adjusted in sequence.
4. A method of adjusting a redundant parallel arrangement of compact range split reflective panel support adjustments according to claim 2, wherein: the precise adjustment specifically comprises: after the rough adjustment of the reflecting surface subpanel is finished, locking the movement of the subpanel along the X-axis and Y-axis directions by using an adjusting bolt and a locking nut of a precise adjusting mechanism of a redundant parallel device, and screwing a fastening bolt between an anti-rotation chuck and a guide support sleeve of the precise adjusting mechanism to prevent the rotation of a transmission thread sleeve when the axial motor drives and adjusts; at the moment, the driving motor is used for realizing the precise adjustment of each precise adjusting mechanism along the Z-axis direction, and the precise adjustment of the reflecting surface sub-panel is realized through the coordinated adjustment of the four precise adjusting mechanisms forming the redundant parallel device.
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