CN109739010B - Self-cleaning off-axis three-reflector device - Google Patents
Self-cleaning off-axis three-reflector device Download PDFInfo
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- CN109739010B CN109739010B CN201811488480.5A CN201811488480A CN109739010B CN 109739010 B CN109739010 B CN 109739010B CN 201811488480 A CN201811488480 A CN 201811488480A CN 109739010 B CN109739010 B CN 109739010B
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Abstract
The invention relates to a self-cleaning off-axis three-reflector device, which comprises a first reflector component, a second reflector component, a third reflector component, a detector component, an ultrasonic cleaning component, a mechanical arm component and a frame, wherein a cavity is arranged in the frame; the ultrasonic cleaning assembly comprises a cleaning chamber, and an ultrasonic generator and an energy converter are arranged in the cleaning chamber; the robot arm assembly includes a mirror handler and an industrial robot controlling the mirror handler. Compared with the prior art, the automatic cleaning device can realize the automatic assembly and disassembly of the reflector through the industrial robot with the suction disc at the tail end, and is placed on the ultrasonic cleaning assembly, so that the reflector is automatically cleaned.
Description
Technical Field
The invention relates to the technical field of optical imaging, in particular to a self-cleaning off-axis three-reflector device.
Background
The reflection type optical system comprises coaxial reflection and off-axis reflection, wherein the off-axis three-reflector optical system is widely applied to the field of space optical remote sensing due to the characteristics of large field of view, high resolution, long focal length, wide wave band, high modulation transfer function and the like.
Before the three speculum devices of off-axis were used, need carry out the position adjustment in proper order to trilateral speculum with the help of the interferometer and adjust well, the artifical alignment degree of difficulty is very big, the utility model patent of 2017 year 11 month 24 days is announced to 201720163452.0, the utility model patent of public notice day discloses an utilize rotatory three imaging system processingequipment that reflect of off-axis reflection system, the utility model patent of 9 months 26 days in 2017 year is disclosed one kind and is utilized rotatory three imaging system processingequipment that reflect of off-axis at patent number 201720163310.4, announce day, two above patents have proposed the method of utilizing diamond cutter integrated processing trilateral speculum, can avoid the alignment error. However, the above two patents do not consider the influence of the machining error of the mounting surface on the adjustment when the three-sided reflector is specifically mounted, so that the precise adjustment is also needed.
In the prior art (mounting and debugging of off-axis three-mirror multispectral cameras [ J ]. optical electromechanical information, 2011,28(08):1-4) a method for accurately mounting and debugging an off-axis three-mirror system by combining various instruments with computer-aided mounting and debugging software is provided, but a specific adjusting device structure is not provided. The speculum need be to mirror surface processing screw hole before the installation, and machining can produce the effort to the mirror surface for the mirror surface produces weak deformation, accomplishes the back at the speculum installation simultaneously, because the speculum need be at the arbitrary angular adjustment in space, consequently has the taut speculum of a plurality of screws, will have many screw holes to produce stress concentration on the speculum, increases the mirror surface and warp the reflectance property that influences the speculum, the performance of very big this equipment of influence.
After the off-axis three-reflector device is used for a period of time, fine dust existing in the space can be attached to the surface of the reflector, so that the performance of the reflector is affected, and the reflector needs to be cleaned in time. The existing off-axis three-reflector device does not have a self-cleaning function, and has the problems of poor flexibility and adaptability and incapability of adjusting the spatial position of a mirror surface in real time according to requirements.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned deficiencies of the prior art and to providing a self-cleaning off-axis three-mirror device.
The purpose of the invention can be realized by the following technical scheme:
a self-cleaning off-axis three-reflector device comprises a first reflector assembly, a second reflector assembly, a third reflector assembly, a detector assembly, an ultrasonic cleaning assembly, a mechanical arm assembly and a frame, wherein a cavity is formed in the frame, the first reflector assembly and the third reflector assembly are arranged at the bottom of the cavity, the second reflector assembly is arranged at the top of the cavity, the detector assembly is arranged at the top of the frame and penetrates through the frame to extend into the cavity, and the mechanical arm assembly and the ultrasonic cleaning assembly are arranged on the inner wall of the cavity; the ultrasonic cleaning assembly comprises a cleaning chamber, wherein an ultrasonic generator and a transducer are arranged in the cleaning chamber; the robot arm assembly includes a mirror handler and an industrial robot controlling the mirror handler.
Preferably, the detector assembly comprises a detection head, an insertion frame, a telescopic shaft and a mounting seat, the detection head is mounted on the insertion frame and penetrates through the frame to extend into the cavity, the mounting seat is fixed at the top of the frame, and the insertion frame is fixed on the mounting seat through the telescopic shaft.
Preferably, the inserting frame is provided with an arc-shaped mounting groove and a side lug, the side lug comprises two support plates which are oppositely arranged at a certain distance, the detecting head is mounted in the mounting groove, one end of the telescopic shaft is fixed between the two support plates, and the other end of the telescopic shaft is fixed on the mounting seat.
Preferably, the mounting base comprises a telescopic through hole for inserting the telescopic shaft, and the telescopic through hole is fixed in the telescopic through hole through a set screw.
Preferably, the mounting seat is connected with the frame through an adjusting bolt, and the frame is provided with a slotted hole at the joint of the frame and the adjusting bolt.
Preferably, the mirror mounting and dismounting device is a suction cup.
Preferably, first mirror assembly, second mirror assembly and third mirror assembly all are equipped with speculum, installation steel sheet and electro-magnet respectively, the speculum is connected with the installation steel sheet, the installation steel sheet adsorbs on the electro-magnet, first mirror assembly, the electro-magnet of second mirror assembly all rotatable and cavity inner wall connection respectively, the electro-magnet of third mirror assembly is fixed on the cavity inner wall.
Preferably, the first reflector assembly and the second reflector assembly respectively comprise a base and a plurality of linear motors, the bases are fixed on the inner wall of the cavity, electromagnets of the first reflector assembly and the second reflector assembly are respectively hinged with respective base spherical surfaces, and the respective linear motors of the first reflector assembly and the second reflector assembly are uniformly distributed around the electromagnets and are respectively hinged with the electromagnets and the inner wall spherical surfaces of the cavity.
Preferably, a groove is formed in the middle of one side, connected with the reflector, of the mounting steel plate.
Preferably, the bottom of the cavity is in an inverted triangle shape formed by two slopes with two sides respectively inclining downwards towards the middle, and the first mirror assembly and the third mirror assembly are respectively arranged on the two slopes.
Compared with the prior art, the invention has the following advantages:
1. adopt the clean subassembly of ultrasonic wave, the industrial robot who has the sucking disc through the end can realize the auto-control handling of speculum to place in the clean subassembly of ultrasonic wave, thereby realize the self-cleaning to the speculum.
2. The detector is arranged, so that the change of the optical path of the device can be monitored in real time, the feedback adjustment is carried out in real time, and the spatial attitude of the reflector can be adjusted in real time according to different optical path requirements.
3. The electromagnet is adopted to tightly absorb the reflector, so that the mechanical processing of the mounting hole of the reflector is avoided, and the deformation of the reflector caused by the mechanical processing is reduced.
4. Three linear motors are adopted to control the space posture of the electromagnet, so that the space posture of the reflector is automatically adjusted, manual adjustment of the reflector is avoided, and accurate adjustment of the reflector is realized.
5. The groove is formed in the middle of the mounting steel plate, so that the contact between the suction force and the reflector can be greatly reduced, the suction force can be more uniformly applied to the outer edge of the reflector, and the deformation of the reflector caused by stress is reduced.
Drawings
FIG. 1 is a front view of the self-cleaning off-axis three-mirror apparatus of the present invention;
FIG. 2 is a left cross-sectional view of the self-cleaning off-axis three-mirror apparatus of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 4 is an isometric view of the insert frame of the present invention;
FIG. 5 is an isometric view of a telescoping shaft according to the present invention;
FIG. 6 is an isometric view of the mounting base of the present invention;
FIG. 7 is an isometric view of the frame of the present invention;
FIG. 8 is a front cross-sectional view of a first mounting plate of the present invention;
FIG. 9 is a front cross-sectional view of a second mounting plate of the present invention;
fig. 10 is a front sectional view of a third mounting steel plate according to the present invention.
The figure is marked with: 1. the ultrasonic probe comprises a probe assembly, 11, a probe head, 12, an inserting frame, 121, a mounting groove, 122, a side lug, 13, a telescopic shaft, 131, a first fastening threaded hole, 14, a second fastening screw, 15, a mounting seat, 151, a telescopic through hole, 152, a second fastening threaded hole, 153, a first slotted hole, 16, an adjusting bolt, 17, a first fastening screw, 2, a frame, 21, a through hole, 22, a second slotted hole, 3, a first reflector assembly, 31, a first reflector assembly, 32, a first mounting steel plate, 321, a first groove, 33, a first electromagnet, 34, a first linear motor, 35, a first base, 36, a second linear motor, 37, a third linear motor, 4, a third reflector assembly, 41, a third reflector assembly, 42, a third mounting steel plate, 421, a third groove, 43, a third electromagnet, 5, an ultrasonic cleaning assembly, 51, a sealing cover, 52, an ultrasonic generator, 53, a transducer, 54, a cleaning mounting seat, a cleaning assembly, a, 541. The cleaning device comprises a cleaning chamber, 542 cleaning liquid inlets, 543 cleaning liquid outlets, 6 mechanical arm assemblies, 61 industrial robots, 62 suckers, 7 second reflector assemblies, 71 second reflectors, 72 mounting steel plates, 721 groove II, 73 electromagnets II, 74 linear motors IV, 75 base II, 76 linear motors V, 77 linear motors VI.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1 to 3, a self-cleaning off-axis three-mirror device comprises a first mirror assembly 3, a second mirror assembly 7, a third mirror assembly 4, a detector assembly 1, an ultrasonic cleaning assembly 5, a mechanical arm assembly 6 and a frame 2. A cavity is provided in the frame 2. The first mirror assembly 3 and the third mirror assembly 4 are arranged at the bottom of the cavity, in the embodiment, the bottom of the cavity is in an inverted triangle shape formed by two slopes with two sides respectively inclining downwards towards the middle, and the first mirror assembly 3 and the third mirror assembly 4 are respectively arranged on the two slopes. A second mirror assembly 7 is provided on top in the cavity. The detector assembly 1 is positioned on top of the frame 2 and extends through the frame 2 into the cavity. The mechanical arm assembly 6 and the ultrasonic cleaning assembly 5 are arranged on the inner wall of the cavity.
The ultrasonic cleaning assembly 5 is disposed on the sidewall of the cavity and includes a sealing cap 51, a cleaning mount 5415, an ultrasonic generator 52, and a transducer 53. The cleaning mount 54 is provided with a cleaning chamber 541, a cleaning liquid inlet 542 and a cleaning liquid outlet 543 communicating the cleaning chamber 541 and the outside, respectively, are provided in the cleaning chamber 541, and the ultrasonic generator 52 and the transducer 53 are provided in the cleaning chamber 541. The sealing cover 51 blocks an opening of the cleaning chamber 541. The frequency of the ultrasonic waves emitted by the ultrasonic generator 52 is 20-40 kHz, specifically 30kHz in the embodiment.
The robot arm assembly 6 includes a mirror handling device and an industrial robot 61 that controls the mirror handling device. In this embodiment, the mirror mounting and dismounting device is specifically the suction cup 62, and the mirror can be automatically mounted and dismounted.
The probe assembly 1 includes a probe head 11, a carriage 12, a telescoping shaft 13, and a mount 15. The detecting head 11 is arranged on the inserting frame 12 and penetrates through the frame 2 to extend into the cavity, the mounting seat 15 is fixed at the top of the frame 2, and the inserting frame 12 is fixed on the mounting seat 15 through the telescopic shaft 13.
As shown in fig. 4, the inserting frame 12 is provided with a circular arc-shaped mounting groove 121 and a side lug 122, and the side lug 122 comprises two support plates oppositely arranged at a certain distance. The probing tips 11 are mounted in the mounting grooves 121.
As shown in fig. 5, the upper end of the telescopic shaft 13 has a narrow width and is provided with a through connection hole, and the top end of the telescopic shaft 13 is provided with a first fastening screw hole 131. The upper end of the telescopic shaft 13 is fixed between the two support plates, specifically, the upper end of the telescopic shaft 13 is hinged with the two support plates through a connecting hole, and a set screw one 17 is screwed into a set threaded hole one 131 to fix the telescopic shaft 13 in the side lug 122.
As shown in fig. 6, the mount 15 includes a bottom plate and a sleeve provided on the bottom plate. The middle of the sleeve is provided with a telescopic through hole 151 for inserting the telescopic shaft 13, the middle of the sleeve is provided with a fastening threaded hole II 152, and the bottom plate is provided with a long slotted hole I153. The lower end of the telescopic shaft 13 is inserted into the telescopic through hole 151, and the second set screw 14 is screwed into the second set threaded hole 152 to fix the telescopic shaft 13 in the telescopic through hole 151.
As shown in FIG. 7, the top of the frame 2 is provided with a through hole 21 and a second elongated slot 22 at the position where the probe assembly 1 is installed. The probing tip 11 is fixedly installed in the mounting groove 121 of the inserting frame 12, and the lower end of the probing tip 11 passes through the through hole 21 of the frame 2 and extends into the cavity. The mounting base 15 is connected with the frame 2 through an adjusting bolt 16, and the mounting base 15 is fixedly connected with the frame 2 through the adjusting bolt 16 penetrating through the first long slot hole 153 and the second long slot hole 22.
The first reflector component 3 comprises a first reflector 31, a first mounting steel plate 32, a first electromagnet 33, a base, a first linear motor 34, a second linear motor 36 and a third linear motor 37. One side of the first installation steel plate 32 is fixedly connected with the first reflector 31 in a glue injection mode, and the other side of the first installation steel plate is adsorbed on the first electromagnet 33. The electromagnet I33 is hinged with the base I35 in a spherical surface mode, and the base I35 is fixedly installed at the bottom of the inner cavity of the frame 2. The first linear motor 34, the second linear motor 36 and the third linear motor 37 are uniformly distributed around the first electromagnet 33, and the front ends and the tail ends of the first linear motor 34, the second linear motor 36 and the third linear motor 37 are respectively hinged with the first electromagnet 33 and the spherical surface of the inner wall of the bottom of the cavity, so that the automatic adjustment of the spatial posture of the first reflector 31 can be realized.
The second reflector assembly 7 comprises a second reflector 71, a second mounting steel plate 72, a second electromagnet 73, a second base 75, a fourth linear motor 74, a fifth linear motor 76 and a sixth linear motor 77. One side of the second mounting steel plate 72 is fixedly connected with the second reflector 71 through glue injection, and the other side of the second mounting steel plate is adsorbed on the second electromagnet 73. The second electromagnet 73 is hinged with the second base 75 in a spherical surface mode, and the second base 75 is fixedly installed at the top of the cavity. The four linear motors 74, the five linear motors 76 and the six linear motors 77 are uniformly distributed around the two electromagnets 73, and the front ends and the tail ends of the four linear motors 74, the five linear motors 76 and the six linear motors 77 are respectively hinged with the two electromagnets 73 and the spherical surface of the inner wall of the top of the cavity, so that the automatic adjustment of the space posture of the second reflector 71 can be realized.
The third mirror assembly 4 includes a third mirror 41, a third mounting steel plate 42, and a third electromagnet 43. One side of the mounting steel plate III 42 is fixedly connected with the reflector III 41 through glue injection, the other side of the mounting steel plate III is adsorbed on the electromagnet III 43, and the electromagnet III 43 is fixedly arranged at the bottom of the cavity.
The middle parts of the sides, connected with the reflector, of the first mounting steel plate 32, the second mounting steel plate 72 and the third mounting steel plate 42 are respectively provided with a first groove 321, a second groove 721 and a third groove 421, as shown in fig. 8, 9 and 10 respectively, so that the contact between the mounting steel plates and the reflector can be greatly reduced, the suction force can be more uniformly applied to the outer edge of the reflector, and the deformation of the reflector caused by stress is reduced.
In this embodiment, the currents of the first electromagnet 33, the second electromagnet 73 and the third electromagnet 43 are all 20A.
Claims (7)
1. A self-cleaning off-axis three-mirror device comprises a first mirror assembly (3), a second mirror assembly (7) and a third mirror assembly (4), and is characterized by further comprising a detector assembly (1), an ultrasonic cleaning assembly (5), a mechanical arm assembly (6) and a frame (2), wherein a cavity is formed in the frame (2), the first mirror assembly (3) and the third mirror assembly (4) are arranged at the bottom of the cavity, the second mirror assembly (7) is arranged at the top of the cavity, the detector assembly (1) is arranged at the top of the frame (2) and penetrates through the frame (2) to extend into the cavity, and the mechanical arm assembly (6) and the ultrasonic cleaning assembly (5) are arranged on the inner wall of the cavity; the ultrasonic cleaning assembly (5) comprises a cleaning chamber (541), wherein an ultrasonic generator (52) and a transducer (53) are arranged in the cleaning chamber (541); a cleaning liquid inlet (542) and a cleaning liquid outlet (543) which are respectively communicated with the cleaning chamber (541) and the outside are arranged in the cleaning chamber (541), and the ultrasonic generator (52) and the transducer (53) are arranged in the cleaning chamber (541); a sealing cover (51) for sealing the opening of the cleaning chamber (541); the robot arm assembly (6) comprises a mirror handling device and an industrial robot (61) controlling the mirror handling device;
the detector assembly (1) comprises a detection head (11), an insertion frame (12), a telescopic shaft (13) and a mounting seat (15), wherein the detection head (11) is installed on the insertion frame (12) and penetrates through the frame (2) to extend into the cavity, the mounting seat (15) is fixed to the top of the frame (2), and the insertion frame (12) is fixed to the mounting seat (15) through the telescopic shaft (13);
the inserting frame (12) is provided with an arc-shaped mounting groove (121) and a side lug (122), the side lug (122) comprises two support plates which are oppositely arranged at a certain distance, the detecting head (11) is mounted in the mounting groove (121), one end of the telescopic shaft (13) is fixed between the two support plates, and the other end of the telescopic shaft (13) is fixed on the mounting seat (15); the upper end of the telescopic shaft (13) is hinged with the two support plates through connecting holes;
the reflector assembling and disassembling device is a sucker (62);
the automatic assembling and disassembling of the reflector are realized by adopting the ultrasonic cleaning component (5) and an industrial robot (61) with a suction cup (62) at the tail end, and the reflector is placed on the ultrasonic cleaning component (5), so that the reflector is automatically cleaned.
2. A self-cleaning off-axis three-mirror device according to claim 1, wherein the mounting seat (15) comprises a telescopic through hole (151) for inserting the telescopic shaft (13), the telescopic shaft (13) being fixed in the telescopic through hole (151) by a set screw.
3. A self-cleaning off-axis three-mirror device according to claim 1, wherein the mounting base (15) is connected to the frame (2) by means of an adjusting bolt (16), and the frame (2) is provided with a slotted hole at the connection with the adjusting bolt (16).
4. An off-axis self-cleaning three-mirror device according to claim 1, wherein the first mirror assembly (3), the second mirror assembly (7) and the third mirror assembly (4) are respectively provided with a mirror, a mounting steel plate and an electromagnet, the mirror is connected with the mounting steel plate, the mounting steel plate is adsorbed on the electromagnet, the electromagnets of the first mirror assembly (3) and the second mirror assembly (7) are respectively rotatably connected with the inner wall of the cavity, and the electromagnet of the third mirror assembly (4) is fixed on the inner wall of the cavity.
5. An off-axis self-cleaning three-mirror device according to claim 4, wherein the first mirror assembly (3) and the second mirror assembly (7) respectively comprise a base and a plurality of linear motors, the base is fixed on the inner wall of the cavity, the electromagnets of the first mirror assembly (3) and the second mirror assembly (7) are respectively hinged with the respective base spherical surfaces, and the respective linear motors of the first mirror assembly (3) and the second mirror assembly (7) are uniformly distributed around the electromagnets and are respectively hinged with the electromagnets and the inner wall spherical surfaces of the cavity.
6. A self-cleaning off-axis three-mirror device as claimed in claim 4, wherein a groove is provided in the middle of the side of the mounting steel plate connected to the mirror.
7. An off-axis self-cleaning triple mirror device according to claim 1, wherein the bottom of the cavity is in an inverted triangular shape with two slopes sloping downward toward the middle at both sides, and the first mirror assembly (3) and the third mirror assembly (4) are respectively disposed on the two slopes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811488480.5A CN109739010B (en) | 2018-12-06 | 2018-12-06 | Self-cleaning off-axis three-reflector device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811488480.5A CN109739010B (en) | 2018-12-06 | 2018-12-06 | Self-cleaning off-axis three-reflector device |
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| Publication Number | Publication Date |
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| CN109739010A CN109739010A (en) | 2019-05-10 |
| CN109739010B true CN109739010B (en) | 2020-11-27 |
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| CN201811488480.5A Active CN109739010B (en) | 2018-12-06 | 2018-12-06 | Self-cleaning off-axis three-reflector device |
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Citations (5)
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|---|---|---|---|---|
| CN202216761U (en) * | 2011-08-05 | 2012-05-09 | 安徽中科瀚海光电技术发展有限公司 | Spectral information obtaining module |
| CN106324789A (en) * | 2016-10-26 | 2017-01-11 | 中国科学院长春光学精密机械与物理研究所 | Universal large-aperture rigid bearing-type quick reflecting mirror |
| CN206959877U (en) * | 2017-05-05 | 2018-02-02 | 东莞市鑫展电子有限公司 | A kind of sensor stand being easily installed |
| CN108418088A (en) * | 2018-03-08 | 2018-08-17 | 中国科学技术大学 | A kind of optical resonator of changeable speculum for free electron laser |
| WO2018207041A1 (en) * | 2017-05-12 | 2018-11-15 | International Business Machines Corporation | Ultra-sonic self-cleaning system |
-
2018
- 2018-12-06 CN CN201811488480.5A patent/CN109739010B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202216761U (en) * | 2011-08-05 | 2012-05-09 | 安徽中科瀚海光电技术发展有限公司 | Spectral information obtaining module |
| CN106324789A (en) * | 2016-10-26 | 2017-01-11 | 中国科学院长春光学精密机械与物理研究所 | Universal large-aperture rigid bearing-type quick reflecting mirror |
| CN206959877U (en) * | 2017-05-05 | 2018-02-02 | 东莞市鑫展电子有限公司 | A kind of sensor stand being easily installed |
| WO2018207041A1 (en) * | 2017-05-12 | 2018-11-15 | International Business Machines Corporation | Ultra-sonic self-cleaning system |
| CN108418088A (en) * | 2018-03-08 | 2018-08-17 | 中国科学技术大学 | A kind of optical resonator of changeable speculum for free electron laser |
Non-Patent Citations (1)
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| 梅贵,翟岩,苗健宇.离轴三反式多光谱相机的装调.《光机电信息》.2011,第28卷(第8期), * |
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