CN109895117B - Giant telescope reflecting surface maintenance device - Google Patents
Giant telescope reflecting surface maintenance device Download PDFInfo
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- CN109895117B CN109895117B CN201910328175.8A CN201910328175A CN109895117B CN 109895117 B CN109895117 B CN 109895117B CN 201910328175 A CN201910328175 A CN 201910328175A CN 109895117 B CN109895117 B CN 109895117B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 210000000988 bone and bone Anatomy 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000011010 flushing procedure Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000813 microbial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000036561 sun exposure Effects 0.000 description 1
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Abstract
The application discloses a giant telescope reflecting surface maintenance device, which comprises: a maintenance unit and a retraction support unit; the maintenance unit comprises a plurality of supporting mechanisms formed by supporting legs and supporting feet, a plurality of servo motor driving modules used for driving the supporting mechanisms, an upper chassis, a lower chassis, an upper turntable and a lower turntable; the upper surface of the upper rotary table is provided with a plurality of mechanical arms; the winding and unwinding support unit comprises an annular guide rail, a guide rail car platform, a winding device and the like. The application uses the machine equipment to carry out the work such as inspection and maintenance, and the safety problem caused by manual operation is avoided. The weight of the mechanical equipment can be optimized, and the local deformation of the reflecting surface is avoided. By using mechanical equipment, the accessibility of the upper surface of the reflecting surface which is higher from the ground is improved. The load and the platform are processed separately by a common platform mode, so that possibility and convenience are provided for realizing detection of different professions.
Description
Technical Field
The application relates to the field of mechanical equipment, in particular to a maintenance device for a reflecting surface of a giant telescope.
Background
The main reflecting surface of the huge telescope FAST consists of 4450 triangular or quadrilateral units, the reflecting surface units are supported by a cable net structure, and the whole cable net is supported by an annular ring beam with the peripheral diameter of about 250m and is fixed by 2225 lower inhaul cables below, and the required shape is formed.
Each reflecting surface unit has a side length of about 10-12 m and consists of a punched aluminum plate subunit with a thickness of 1mm and a back frame unit for supporting the aluminum plates. In order to meet the deformation requirement of the reflecting surface, the panels are connected by adopting a mechanical structure. In order to accurately measure the shape of the reflecting surface, a reflecting target is mounted on the connection structure between the panels.
The lowest part of the reflecting surface unit is positioned about 4m above the ground, and the highest part is positioned several tens of meters above the ground. Also, the method of providing a passageway for a person or apparatus to reach the upper portion of the reflecting surfaces by increasing the gap between the reflecting surfaces is not feasible because it is necessary to increase the effective reflecting area of the reflecting surfaces as much as possible to improve telescope efficiency.
Exposure to natural field conditions, sun exposure, wind blowing, rain, dust deposition, structural vibration, microbial growth, etc., can affect the surface condition of the reflective surface, as well as the condition of the associated structure or equipment, such as the reflective surface target. Therefore, the related structures and components on the upper part of the reflecting surface need to be inspected periodically, and if necessary, the inspection is performed to ensure the performance of the telescope.
Some foreign telescopes, such as Arecibo telescopes in the United states, have higher requirements on the precision of the reflecting surface, the surface maintenance of the reflecting surface is generally carried out by adopting a manual method, and a person wears working shoes with large contact areas to walk on the reflecting surface directly for inspection. This is difficult for FAST, mainly because of two points, one of which is that the local stiffness of the FAST reflective surface panel is insufficient to support the weight of the human body, even with work shoes with large contact areas that reduce pressure, difficulties are encountered; secondly, the maximum inclination angle of the FAST reflecting surface panel reaches more than 50 degrees, which is unfavorable for the personnel to maintain a stable posture, thereby reducing the safety.
The information disclosed in this background section is only for enhancement of understanding of the general background of the application and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The application aims to provide a giant telescope reflecting surface maintenance device which aims to solve the technical problems in the prior art.
In order to achieve the above purpose, the present application adopts the following technical scheme:
a giant telescope reflective surface maintenance apparatus comprising: a maintenance unit and a retraction support unit; wherein,,
the maintenance unit comprises a plurality of supporting mechanisms formed by supporting legs and supporting feet, a plurality of servo motor driving modules used for driving the supporting mechanisms, an upper chassis, a lower chassis, an upper turntable and a lower turntable; wherein,,
the support legs are hinged with one ends of the support legs, the other ends of the support legs are hinged with a first servo motor in the servo motor driving module, the first servo motor is hinged with a second servo motor, and the second servo motor is hinged between the upper chassis and the lower chassis; the upper turntable is connected with the upper chassis through a central shaft, so that the upper turntable rotates above the upper chassis; the lower turntable is connected with the lower chassis through a central shaft, so that the lower turntable rotates below the lower chassis; the upper surface of the upper rotary table is provided with a plurality of mechanical arms; the lower surface of the upper rotary table is provided with optical detection equipment and/or ultrasonic detection equipment and/or flushing equipment;
the receiving and releasing support unit comprises an annular guide rail which is fixedly arranged on an annular ring beam of the giant telescope; the annular guide rail is provided with a guide rail car platform which is in sliding fit with the annular guide rail through a driving wheel at the bottom of the guide rail car platform and an anti-overturning pressing wheel hooked at the bottom of the annular guide rail; the rail car platform is provided with a hoisting bracket and a rail car control and counterweight device, and the hoisting bracket is provided with a hoisting device; the winch device is fixedly connected with one end of a guy rope, and the other end of the guy rope is fixedly connected with the top of a connecting column arranged in the center of the upper turntable; the guide rail car platform is provided with a reversing strut, the top of the reversing strut is provided with a reversing pulley, and the guy rope is lapped on the reversing pulley;
the guide rail car control and counterweight device is used for controlling the operation of the hoisting device and the guide rail car platform.
As a further technical solution, the giant telescope reflecting surface maintenance device comprises at least 4 supporting mechanisms.
As a further technical scheme, the supporting foot is of an inverted umbrella structure and comprises a middle support column, a sliding sleeve sleeved on the middle support column and a plurality of supporting pieces hinged to the bottom of the middle support column; the middle part of the supporting piece is provided with a connecting plate, a supporting bone is hinged on the connecting plate, and the other end of the supporting bone is hinged with the outer wall of the sliding sleeve; the top of the middle pillar is hinged with one end of the supporting leg.
As a further technical scheme, the cross section of annular guide rail is "L" type that falls, the bottom of guide rail car platform is provided with the anti-lock gyro wheel of hook in annular guide rail upper portion and the barb of preventing toppling of hook in annular guide rail bottom.
As a further technical scheme, the hoisting device and the rail car control and counterweight device are positioned at the left side and the right side of the rail car platform.
As a further technical scheme, the hoisting device comprises a winding drum, one end of the guy rope is fixedly connected to the winding drum, a gearbox, a coupling, a motor and a motor controller for driving the winding drum are arranged on the hoisting support, and the motor controller is electrically connected with the guide rail car control and counterweight device.
As a further technical scheme, the bottom circumference of lower chassis is provided with at least 3 universal wheels.
By adopting the technical scheme, the application has the following beneficial effects:
the application uses the machine equipment to carry out the work such as inspection and maintenance, and the safety problem caused by manual operation is avoided. The weight of the mechanical equipment can be optimized, and the local deformation of the reflecting surface is avoided. By using mechanical equipment, the accessibility of the upper surface of the reflecting surface which is higher from the ground is improved. The load and the platform are processed separately by a common platform mode, so that possibility and convenience are provided for realizing detection of different professions.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present application and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a maintenance unit according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an upper chassis and a lower chassis according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an upper turntable and a lower turntable according to an embodiment of the present application;
FIG. 4 is a schematic view of a support foot according to an embodiment of the present application;
fig. 5 is a schematic diagram of the overall structure of the retractable supporting unit according to the embodiment of the present application;
FIG. 6 is a schematic diagram of the overall structure of a maintenance device for a reflective surface of a giant telescope according to an embodiment of the present application;
icon: 1-supporting legs; 2-support feet; 3-upper chassis; 4-a lower chassis; 5-an upper turntable; 6-a lower turntable; 7-a first servo motor; 8-a second servo motor; 9-a mechanical arm; 10-middle struts; 11-a sliding sleeve; 12-supporting sheets; 13-connecting plates; 14-supporting bone; 15-an annular guide rail; 16-a guideway vehicle platform; 17-a driving wheel; 18-winding brackets; 19-a guideway vehicle control and counterweight device; 20-guy wires; 21-reversing struts; 22-reversing pulleys; 23-anti-lock idler wheels; 24-winding drum; 25-a gearbox; 26-coupling; 27-an electric motor; 28-a motor controller; 29-connecting columns; 30-a reflective surface panel; 31-anti-capsizing pinch rollers; 32-anti-tipping barbs; 33-universal wheel.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The following describes specific embodiments of the present application in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.
Referring to fig. 1 to 4, the present embodiment provides a maintenance device for a reflection surface of a giant telescope, including: a maintenance unit and a retraction support unit; wherein,,
the maintenance unit comprises a plurality of supporting mechanisms formed by supporting legs 1 and supporting feet 2, a plurality of servo motor driving modules used for driving the supporting mechanisms, an upper chassis 3, a lower chassis 4, an upper turntable 5 and a lower turntable 6; wherein,,
the support legs 2 are hinged with one ends of the support legs 1, the other ends of the support legs 1 are hinged with a first servo motor 7 in the servo motor driving module, the first servo motor 7 is hinged with a second servo motor 8, and the second servo motor 8 is hinged between the upper chassis 3 and the lower chassis 4; the upper turntable 5 is connected with the upper chassis 3 through a central shaft, so that the upper turntable 5 rotates above the upper chassis 3; the lower turntable 6 is connected with the lower chassis 4 through a central shaft, so that the lower turntable 6 rotates below the lower chassis 5; the upper surface of the upper turntable 5 is provided with a plurality of mechanical arms 9; the lower surface of the upper turntable 5 is provided with an optical detection device and/or an ultrasonic detection device and/or a flushing device. The first servo motor 7 is used for driving the supporting mechanism to swing up and down, and the second servo motor 8 is used for driving the supporting mechanism to swing left and right.
The folding and unfolding supporting unit comprises an annular guide rail 15, and the annular guide rail 15 is fixedly arranged on an annular ring beam of the giant telescope; the annular guide rail 15 is provided with a guide rail car platform 16, and the guide rail car platform 16 is in sliding fit with the annular guide rail 15 through a driving wheel 17 at the bottom of the guide rail car platform and an anti-overturning pressing wheel 31 hooked at the bottom of the annular guide rail 15; a hoisting bracket 18 and a guide rail car control and counterweight device 19 are arranged on the guide rail car platform 16, and a hoisting device is arranged on the hoisting bracket 18; the winch is fixedly connected with one end of the guy rope 20, and the other end of the guy rope 20 is fixedly connected with the top of a connecting column 29 arranged in the center of the upper turntable 5; the guide rail car platform 16 is provided with a reversing support column 21, the top of the reversing support column 21 is provided with a reversing pulley 22, and the guy rope 20 is lapped on the reversing pulley 22;
the guideway car control and counterweight device 19 is used to control the operation of the hoisting device and the guideway car platform 16.
The guy wires 20 of the present application may be comprised of a plurality of wires, optical fibers, and a supporting outer jacket. Wherein, the outer sleeve is made of high-strength fatigue-resistant flexible material. The wire is used for maintaining the power supply, charging, control and communication data transmission functions of the unit. The optical fiber is used for controlling and communicating data transmission functions.
In this example, as a further technical solution, the giant telescope reflective surface maintenance device includes at least 4 supporting mechanisms; the stability of the mechanized platform above the FAST reflecting surface is kept, and the safe work of the mechanized platform under different reflecting surface dip angles can be realized by adjusting the span between the multiple feet.
In this example, as a further technical solution, the supporting foot is an inverted umbrella structure, which comprises a middle support column 10, a sliding sleeve 11 sleeved on the middle support column 10, and a plurality of supporting pieces 12 hinged at the bottom of the middle support column 10; the middle part of the supporting piece 12 is provided with a connecting plate 13, a supporting bone 14 is hinged on the connecting plate 13, and the other end of the supporting bone 14 is hinged with the outer wall of the sliding sleeve 11; the top of the middle pillar 10 is hinged with one end of the supporting leg 1. In the natural state, the support sheet 12 is in a contracted state, and when the maintenance device of the present application works and needs a large area of contact, the sliding sleeve 11 is driven downward so that the support sheet 12 is opened.
In this example, as a further technical solution, the cross section of the annular rail 15 is in an inverted "L" shape, and the bottom of the rail car platform 16 is provided with an anti-lock roller 23 hooked on the upper portion of the annular rail 15 and an anti-overturning barb 32 hooked on the bottom of the annular rail 15. The retractable supporting unit moves on the track, and a limiting structure for preventing overturning and an anti-lock roller structure are arranged on two sides of the track. The retraction support unit itself may be operated under manual remote control.
In this example, as a further technical solution, the hoisting device and the rail car control and counterweight device 19 are located on the left and right sides of the rail car platform; the arrangement is such that the guideway car control and counterweight device 19 plays a role in weight balance to improve the stability of the guideway car platform in the sliding process.
In this example, as a further technical solution, the hoisting device includes a drum 24, one end of the guy rope 20 is fixedly connected to the drum 24, a gearbox 25, a coupling 26, a motor 27 and a motor controller 28 for driving the drum 24 are disposed on the hoisting bracket 18, and the motor controller 28 is electrically connected to the guideway car control and counterweight device 19; the operation of the hoisting device is controlled by a rail car control and counterweight device 19.
In the application, the maintenance unit moves on the reflecting surface panel 30 through the supporting foot 2, and in the process, the retraction supporting unit is used for retracting the maintenance unit, and after the position of the maintenance unit is determined, the retraction supporting unit is used for realizing traction supporting of the maintenance unit through the traction rope 20 so as to keep the maintenance unit to work stably on the working surface.
As a further technical solution, at least 3 universal wheels 33 are circumferentially arranged at the bottom of the lower chassis 4. In the example, the lower part of the maintenance unit is provided with more than three universal wheels, when the maintenance unit needs to be recovered, the supporting legs of the maintenance unit are retracted and supported by the universal wheels, at the moment, the maintenance unit can be recovered through the retraction supporting unit, the movement of the maintenance unit on the reflecting surface is rolling with small friction, the recovery efficiency and safety of the maintenance unit are greatly improved, and the difficulty of the maintenance unit crossing the gap of the reflecting surface unit is greatly reduced.
In particular, if the reflective surface has a protruding structure that interferes with the lanyard, this can be circumvented by retrieving the maintenance unit or by actively bypassing the maintenance unit.
In conclusion, the application utilizes the machine equipment to carry out the work such as inspection and maintenance, and the safety problem caused by manual operation is avoided. The weight of the mechanical equipment can be optimized, and the local deformation of the reflecting surface is avoided. By using mechanical equipment, the accessibility of the upper surface of the reflecting surface which is higher from the ground is improved. The load and the platform are processed separately by a common platform mode, so that possibility and convenience are provided for realizing detection of different professions.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (5)
1. A giant telescope reflective surface maintenance apparatus, comprising: a maintenance unit and a retraction support unit; wherein,,
the maintenance unit comprises a plurality of supporting mechanisms formed by supporting legs and supporting feet, a plurality of servo motor driving modules used for driving the supporting mechanisms, an upper chassis, a lower chassis, an upper turntable and a lower turntable; wherein,,
the support legs are hinged with one ends of the support legs, the other ends of the support legs are hinged with a first servo motor in the servo motor driving module, the first servo motor is hinged with a second servo motor, and the second servo motor is hinged between the upper chassis and the lower chassis; the upper turntable is connected with the upper chassis through a central shaft, so that the upper turntable rotates above the upper chassis; the lower turntable is connected with the lower chassis through a central shaft, so that the lower turntable rotates below the lower chassis; the upper surface of the upper rotary table is provided with a plurality of mechanical arms; the lower surface of the upper rotary table is provided with an optical detection device, an ultrasonic detection device and a flushing device;
the receiving and releasing support unit comprises an annular guide rail which is fixedly arranged on an annular ring beam of the giant telescope; the annular guide rail is provided with a guide rail car platform which is in sliding fit with the annular guide rail through a driving wheel at the bottom of the guide rail car platform and an anti-overturning pressing wheel hooked at the bottom of the annular guide rail; the rail car platform is provided with a hoisting bracket and a rail car control and counterweight device, and the hoisting bracket is provided with a hoisting device; the winch device is fixedly connected with one end of a guy rope, and the other end of the guy rope is fixedly connected with the top of a connecting column arranged in the center of the upper turntable; the guide rail car platform is provided with a reversing strut, the top of the reversing strut is provided with a reversing pulley, and the guy rope is lapped on the reversing pulley;
the guide rail car control and counterweight device is used for controlling the operation of the hoisting device and the guide rail car platform;
the giant telescope reflecting surface maintenance device comprises at least 4 supporting mechanisms;
the support foot is of an inverted umbrella-shaped structure and comprises a middle support column, a sliding sleeve sleeved on the middle support column and a plurality of support sheets hinged to the bottom of the middle support column; the middle part of the supporting piece is provided with a connecting plate, a supporting bone is hinged on the connecting plate, and the other end of the supporting bone is hinged with the outer wall of the sliding sleeve; the top of the middle pillar is hinged with one end of the supporting leg.
2. The maintenance device for the reflecting surface of the giant telescope according to claim 1, wherein the cross section of the annular guide rail is inverted L-shaped, and the bottom of the guide rail car platform is provided with an anti-lock roller hooked on the upper part of the annular guide rail and an anti-overturning barb hooked on the bottom of the annular guide rail.
3. The apparatus of claim 1, wherein the hoist and the railcar control and counterweight are located on either side of the railcar platform.
4. The giant telescope reflective surface maintenance device according to claim 1, wherein the hoisting device comprises a reel, one end of the guy rope is fixedly connected to the reel, a gearbox, a coupling, a motor and a motor controller for driving the reel are arranged on the hoisting support, and the motor controller is electrically connected with the guideway vehicle control and counterweight device.
5. The apparatus of claim 1, wherein the bottom of the lower chassis is circumferentially provided with at least 3 universal wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910328175.8A CN109895117B (en) | 2019-04-23 | 2019-04-23 | Giant telescope reflecting surface maintenance device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910328175.8A CN109895117B (en) | 2019-04-23 | 2019-04-23 | Giant telescope reflecting surface maintenance device |
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| CN109895117A CN109895117A (en) | 2019-06-18 |
| CN109895117B true CN109895117B (en) | 2023-10-24 |
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| CN110931984B (en) * | 2019-09-17 | 2021-05-04 | 中国科学院国家天文台 | Inspection and maintenance method for reflection surface of giant radio telescope |
| CN113146570B (en) * | 2021-04-06 | 2022-11-29 | 中国科学院国家天文台 | Target maintenance robot and maintenance method |
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