CN109301440A - A kind of pose adjusting and control system based on rope - Google Patents
A kind of pose adjusting and control system based on rope Download PDFInfo
- Publication number
- CN109301440A CN109301440A CN201811234530.7A CN201811234530A CN109301440A CN 109301440 A CN109301440 A CN 109301440A CN 201811234530 A CN201811234530 A CN 201811234530A CN 109301440 A CN109301440 A CN 109301440A
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- CN
- China
- Prior art keywords
- rope
- platform
- control system
- posture
- cabin
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of pose adjusting and control system based on rope, comprising: Building N support tower, the carrying of N item and master control rope, several postures and steadying line, several electric power and signal transmission rope and Cabin and receiver/telescope minor face position adjust platform.The present invention greatly reduces control difficulty, and carry out electromagnetic compatibility processing to posture accurate adjustment part with can having emphasis by the way that controlled plant is decomposed into home position terrace part and posture part.Although the present invention increases the quantity of rope, handled by the function classification to rope, realize more precise and stable control, saves tower construction cost, the purpose of Optimal Maintenance measure.For applied within the scope of more large scale device location and gesture stability provide primary condition.
Description
Technical field
The present invention relates to the support and control field of Cabin in radio astronomical telescope, more particularly, to a kind of based on rope
Pose adjusts and control system.
Background technique
In radio astronomical telescope field, the small-signal from universe celestial body needs after primary reflection surface reflection focuses
To pass through subsequent processing, Cabin is one of pattern, and typical case case is U.S.'s ARECIBO telescope and China FAST
Telescope.In U.S.'s ARECIBO telescope, using 305 meters of fixed bore spherical reflective surfaces.On the massif of periphery, with three
Root rope supports a fixed triangle frame body panel by three towers, and being equipped in triangular framing platform lower can edge
The spherical canyon that moves in a certain range of guide rail, celestial body signal is after spheric reflection, through secondary in spherical canyon
It is focused with after triple reflection.For some determine direction, about 250 meters of the effective aperture of primary reflection surface.For Chinese FAST
Telescope, using 500 meters of bore spherical reflective surfaces of adjustable nodal section shape.On the massif of periphery, pass through six tower branch with six roots of sensation rope
A Cabin is propped up, primary position and attitude regulation are carried out to the Cabin by this six roots of sensation rope, six are utilized in Cabin
Linkage (Stewart platform) carries out further finer position and attitude regulation.For the direction that some is determined, entire ball
The a part in face forms about 300 meters of effective aperture of paraboloid.Celestial body signal is after the parabolic reflector, into Cabin
Reception system is handled.
Several hundred rice or above giant telescope, including radio telescope and optical telescope are reached for bore, are led
The Cabin of equipment such as radio telescope after reflecting surface and the minor face of optical telescope, generally apart from primary reflection surface distance compared with
Far, it is difficult to form the relatively-stationary tripodia as race glass or four-footed support construction between primary reflection surface, pass through
Rope and tower are supported and control is a kind of inevitable choice.
Being mainly characterized by for suspended-cable structure is non-linear, lag is big, inertia is big and rigidity is weaker.Such as the branch of FAST Cabin
Support and position control mode are no exception, Cabin be located at it is aerial apart from about 150 meters of reflecting surface, position and posture be easy by
To the influence of wind-force, the scheme of FAST be currently given by secondary fine tuning platform it is improved.The program is to secondary fine tuning platform
Performance requirement it is excessively high, when be applied to more large scale when may have larger difficulty, actual implementation and maintenance difficulties will increase
It is many, it is necessary to more accurate, the stable and easy to maintain rope supporting way of research and development.
The information disclosed in the background technology section is intended only to deepen the understanding to the general background technology of the application, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Summary of the invention
The purpose of the present invention is to provide a kind of pose adjusting and control system based on rope, to solve to deposit in the prior art
The technical issues of.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of pose adjusting and control system based on rope, comprising: Building N support tower, the carrying of N item and master control rope, Ruo Gangen
Posture and steadying line, several electric power and signal transmission rope and Cabin and receiver/telescope minor face position adjust platform；
Wherein,
The Cabin and receiver/telescope minor face position adjustment platform include sequentially connected home position platform,
Position and attitude coarse adjustable stage and position and attitude fine tuning platform；The home position platform and the position and attitude coarse adjustable stage it
Between pass through universal joint and connect, connection Cabin and receiver/telescope minor face below the position and attitude fine tuning platform；
One end of the carrying and master control rope is fixedly connected with the home position platform, and middle part passes through the support tower top
The fixed pulley in portion realizes commutation, and the other end is connect with the hoist engine on the ground of support tower bottom；
It is provided with adjacent rope between adjacent supports top of tower, movable pulley is provided on the adjacent rope, the movable pulley
The posture and steadying line and the/electric power and signal transmission rope are installed on lower sheave；The posture and steadying line and described
One end of electric power and signal transmission rope is connect with the hoist engine that ground is arranged in, and the other end and the position and attitude coarse adjustable stage connect
It connects；
The N > 2.
As a kind of further technical solution, 4≤N≤6.
As a kind of further technical solution, the quantity of the posture and steadying line is N-1, and the electric power and signal pass
The quantity of defeated rope is 1.
As a kind of further technical solution, the both ends of the adjacent rope by be mounted on the support tower top or in
The fixed pulley on top commutates, and the elevator machine equipment by being located at ground is adjusted.
As a kind of further technical solution, it is connected with guide line on the top sheave shell of the movable pulley, passes through institute
The position that guide line adjusts movable pulley is stated, the both ends of the guide line are detachably connected on respectively in the adjacent support tower
Top.
As a kind of further technical solution, the position and attitude fine tuning platform includes cascade two Stewart flat
Platform, wherein the Stewart platform precision being connected with the Cabin and receiver/telescope minor face is higher.
As a kind of further technical solution, the universal joint is ball-joint structure.
By adopting the above technical scheme, the invention has the following beneficial effects:
It is difficult to greatly reduce control by the way that controlled plant is decomposed into home position terrace part and posture part by the present invention
Degree, and electromagnetic compatibility processing is carried out to position and attitude coarse adjustment and accurate adjustment part with can having emphasis.Although the present invention increases
The quantity of rope, but handled by the function classification to rope, more precise and stable control is realized, tower construction cost is saved, it is excellent
Change the purpose of maintenance measure.For applied within the scope of more large scale device location and gesture stability provide primary condition.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the pose adjusting and control system provided in an embodiment of the present invention based on rope；
Icon: 1- support tower；2- carrying and master control rope；3- posture and steadying line；4- electric power and signal transmit rope；5- is basic
Location platform；6- position and attitude coarse adjustable stage；7- universal joint；8- Cabin and receiver/telescope minor face；9- fixed pulley；10-
Hoist engine；11- abuts rope；12- movable pulley；13- hoist engine；14- guide line；15-Stewart platform；16-Stewart is flat
Platform.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the present invention.
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in connection with fig. 1, the present embodiment provides a kind of pose adjusting and control system based on rope, comprising: Building N support tower
1, the carrying of N item and master control rope 2, several postures and steadying line 3, several electric power and signal transmit rope 4 and Cabin and connect
Receipts machine/telescope minor face position adjusts platform；Wherein,
The Cabin and receiver/telescope minor face position adjustment platform include sequentially connected home position platform 5,
Position and attitude coarse adjustable stage 6 and position and attitude fine tuning platform；The home position platform 5 and the position and attitude coarse adjustable stage
It is connected between 6 by universal joint 7, connection Cabin and receiver/telescope minor face 8 below the position and attitude fine tuning platform；
Home position terrace part is connect with one end of carrying and master control rope, is controlled by the rope.The part simultaneously also with electric power and signal
Transmit one end connection of rope；Position and attitude coarse adjustable stage is the dynamic of universal joint pattern between the part and home position platform
Connection, such as ball-joint.The part is connect with one end of posture and steadying line；Position and attitude fine tuning platform, the part pass through six foots
Mechanism Stewart platform realizes accurate position and gesture stability to core equipment such as feed and receiver device；The part is not
It is connect with any rope.
One end of the carrying and master control rope 1 is fixedly connected with the home position platform 5, and middle part passes through the support tower
The fixed pulley 9 at 1 top realizes commutation, and the other end is connect with the hoist engine 10 on the ground of support tower bottom；It is holding for N for quantity
Load and master control rope, are supported by Building N support tower, there is fixed pulley at the top of support tower, on support tower bottom and neighbouring ground
Face is equipped with hoist engine and shrinks to the Suo Jinhang, to tentatively control the skyborne position of equipment such as Cabin.At work, it holds
It carries and master control rope needs moves.
It is provided with adjacent rope 11 between adjacent supports top of tower, movable pulley 12 is provided on the adjacent rope 11, it is described dynamic
The posture and steadying line 3 and the/electric power and signal transmission rope 4 are installed on the lower sheave of pulley 12；The posture and stabilization
One end of rope 3 and the electric power and signal transmission rope 4 is connect with the hoist engine 13 that ground is arranged in, the other end and the posture
Coarse adjustable stage 6 connects；Adjacent rope 11 is that the connection of subsequent posture and steadying line and electric power and signal transmission rope relies on,
It is kept fixed when work.It needs to apply prestressing force, which is referred to the maximum tension of carrying and master control rope, can also root
It calculates according to design and separately determines.
The N > 2.The present invention classifies to Suo Jinhang, is divided into carrying and master control rope according to the difference of function, posture and steady
Standing wire and electric power and signal transmit rope.The major function of carrying rope is to carry the weight of controlled plant such as Cabin, and carry out
Preliminary position is adjusted.The support of carrying rope requires relatively high, and quantity is consistent with the quantity of tower.After carrying out function classification
Advantage be can be designed, manufacture and safeguard independently of each other, and be more accurate and stable position and attitude regulation
It provides more choices with control.
As a kind of further technical solution, 4≤N≤6.
As a kind of further technical solution, the quantity of the posture and steadying line 3 is N-1, the electric power and signal
The quantity for transmitting rope 4 is 1.It is of course also possible to make to every posture and steadying line with an electric power and signal transmission rope is laid
For hardware backup measure.
As a kind of further technical solution, the both ends of the adjacent rope 11 by be mounted on the support tower top or
The fixed pulley of middle and upper part commutates, and the elevator machine equipment by being located at ground is adjusted.
As a kind of further technical solution, it is connected with guide line 14 on the top sheave shell of the movable pulley 12, is led to
Cross the position that the guide line 14 adjusts movable pulley 12, the both ends of the guide line 14 are detachably connected on adjacent described respectively
The middle and upper part of support tower 1.
As a kind of further technical solution, the posture fine tuning platform includes cascade two Stewart platforms 15
With 16, wherein 16 precision of Stewart platform being connected with the Cabin and receiver/telescope minor face is higher.
Stewart platform 16 also can choose the accurate adjustment structure of other multiple degrees of freedoms.The present invention increases on the basis of coarse adjustable stage
Level-one posture fine tuning platform, by taking the adjusting platform of Stewart principle as an example, position and gesture stability that fine tuning platform can reach
Precision can satisfy the requirement of optical telescope.
FAST is integrally to carry out position and gesture stability to Cabin by six roots of sensation rope and level-one Stewart platform, in this way
Control difficulty it is larger.And the present invention is dropped significantly by the way that controlled plant is decomposed into home position terrace part and posture part
Low control difficulty, and electromagnetic compatibility processing is carried out to posture coarse adjustment and accurate adjustment part with can having emphasis.The present invention with
FAST is identical to be, realizes accurate position to core equipment such as feed and receiver device by six sufficient mechanism Stewart platforms
It sets and gesture stability.
To sum up, it although the present invention increases the quantity of rope, is handled, is realized more accurate by the function classification to rope
Tower construction cost, the purpose of Optimal Maintenance measure are saved in stable control.For applied to the device location within the scope of more large scale
Primary condition is provided with gesture stability.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (7)
1. a kind of pose based on rope adjusts and control system characterized by comprising Building N support tower, the carrying of N item and master control
Rope, several postures and steadying line, several electric power and signal transmission rope and Cabin and receiver/telescope minor face position
Adjust platform；Wherein,
The Cabin and receiver/telescope minor face position adjustment platform include sequentially connected home position platform, position
Posture coarse adjustable stage and position and attitude fine tuning platform；Lead between the home position platform and the position and attitude coarse adjustable stage
Cross universal joint connection, connection Cabin and receiver/telescope minor face below the position and attitude fine tuning platform；
One end of the carrying and master control rope is fixedly connected with the home position platform, and middle part passes through at the top of the support tower
Fixed pulley realizes commutation, and the other end is connect with the hoist engine on the ground of support tower bottom；
It is provided with adjacent rope between adjacent supports top of tower, movable pulley, the downslide of the movable pulley are provided on the adjacent rope
The posture and steadying line and the/electric power and signal transmission rope are installed on wheel；The posture and steadying line and the electric power
It is connect with one end of signal transmission rope with the hoist engine that ground is arranged in, the other end is connect with the position and attitude coarse adjustable stage；
The N > 2.
2. the pose according to claim 1 based on rope adjusts and control system, which is characterized in that 4≤N≤6.
3. the pose according to claim 1 based on rope adjusts and control system, which is characterized in that the posture and stabilization
The quantity of rope is N-1, and the quantity that the electric power and signal transmit rope is 1.
4. the pose according to claim 1 based on rope adjusts and control system, which is characterized in that the two of the adjacent rope
End is commutated by being mounted on the fixed pulley on the support tower top or middle and upper part, and the elevator machine equipment by being located at ground
It is adjusted.
5. pose according to claim 1 based on rope adjusts and control system, which is characterized in that the movable pulley it is upper
It is connected with guide line on pulley shell, the position of movable pulley is adjusted by the guide line, the both ends of the guide line respectively can
Dismantling connection is in the middle and upper part of the adjacent support tower.
6. the pose according to claim 1 based on rope adjusts and control system, which is characterized in that the position and attitude essence
Leveling platform includes cascade two Stewart platforms, wherein described in being connected with the Cabin and receiver/telescope minor face
Stewart platform precision is higher.
7. the pose according to claim 1 based on rope adjusts and control system, which is characterized in that the universal joint is ball
Articulated structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811234530.7A CN109301440B (en) | 2018-10-23 | 2018-10-23 | Pose adjusting and controlling system based on cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811234530.7A CN109301440B (en) | 2018-10-23 | 2018-10-23 | Pose adjusting and controlling system based on cable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109301440A true CN109301440A (en) | 2019-02-01 |
| CN109301440B CN109301440B (en) | 2023-10-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811234530.7A Active CN109301440B (en) | 2018-10-23 | 2018-10-23 | Pose adjusting and controlling system based on cable |
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| CN (1) | CN109301440B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109895117A (en) * | 2019-04-23 | 2019-06-18 | 中国科学院国家天文台 | A kind of giant telescope reflecting surface maintenance device |
| CN113161759A (en) * | 2020-11-03 | 2021-07-23 | 中国科学院国家天文台 | Radio astronomical telescope combining large-caliber spherical reflecting surface and phase array feed source |
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| CN113161759A (en) * | 2020-11-03 | 2021-07-23 | 中国科学院国家天文台 | Radio astronomical telescope combining large-caliber spherical reflecting surface and phase array feed source |
| CN113161759B (en) * | 2020-11-03 | 2022-07-08 | 中国科学院国家天文台 | Radio astronomical telescope combining large-caliber spherical reflecting surface and phase array feed source |
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| Publication number | Publication date |
|---|---|
| CN109301440B (en) | 2023-10-13 |
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