CN115490179A - Automatic lift platform of high accuracy for moonlet assembly precision detection - Google Patents

Abstract

The invention discloses a high-precision automatic lifting platform for detecting the accuracy of a small satellite assembly, which comprises: the device comprises a base, a granite integral supporting back frame, a vertical lifting mechanism, a counterweight sliding table, a counterweight lifting mechanism, a workbench, a theodolite, a guide pulley block, a traction rope and a driving motor; the granite integral supporting back frame is vertically arranged on the base; the front surface of the granite integral supporting back frame is provided with a vertical lifting mechanism, the back surface of the granite integral supporting back frame is provided with a counterweight lifting mechanism, and the top of the granite integral supporting back frame is provided with a guide pulley block; the theodolite is arranged on the workbench, the workbench is arranged on the vertical lifting mechanism, and the counterweight sliding table is arranged on the counterweight lifting mechanism; one end of a traction rope is connected with the workbench, and the other end of the traction rope penetrates through the guide pulley block and then is connected with the counterweight sliding table; the driving motor is installed inside the base. The platform has the advantages of high precision, high stability, large stroke and the like, and solves the problem that the traditional technology depends on manual measurement and is difficult to meet the requirements of assembly detection on high precision and high reliability.

Description

Automatic lift platform of high accuracy for little satellite assembly precision detection

Technical Field

The invention belongs to the technical field of automatic precision detection, and particularly relates to a high-precision automatic lifting platform for detecting the precision of a small satellite assembly.

Background

The general assembly precision detection task of the small satellite of the spacecraft mainly detects the installation angle relation of the single satellite equipment on the satellite, and the installation angle relation is determined by respectively measuring the relation between a cubic mirror on the single satellite equipment and a whole satellite reference mirror of the satellite through an electronic theodolite of a measuring instrument and resolving.

The electronic theodolite of the measuring instrument belongs to an optical precision detecting instrument, although the precision of collimation measurement is very high, the traditional precision detecting process adopts a pure manual mode to carry out measurement, links such as station setting, height adjustment, mutual aiming, collimation, target point measurement and the like of the measuring instrument all need to be manually completed, the measuring process of the whole satellite single-machine equipment is low in detection efficiency, and the detection precision is greatly influenced by human factors.

In order to improve the detection efficiency and the detection precision, reduce manual physical labor and reduce the influence of artificial measurement errors, in the field of common engineering, the prior art adopts a scissor type lifting device, a folding arm type lifting device, a telescopic lifting device and a guide rail type lifting device to replace manual operation, most of the prior art adopts a link mechanism principle, the driving modes adopt hydraulic driving as many as possible, and the device has the advantages of high lifting height, high response speed, quick action, convenient operation and the like, but has obvious defects in position precision, stability and repeatability. For example, patent CN201510853880.1 issued by sutang vessel elevator machinery limited, a fixed hydraulic elevator, proposes a scissor-type elevating mechanism driven by hydraulic pressure, which mainly has several disadvantages: (1) For large-stroke application, the larger the number of required shearing forks is, the larger the self weight is, the insufficient stability of the structure is, and the larger the position error is caused; (2) Hydraulic elevators in engineering application are controlled in an open loop mode, namely, a control link has no position quantity detection feedback control, so that the position precision and the repeatability are obviously insufficient.

Therefore, although such prior art can be applied to most engineering inspection applications, it still cannot meet the high requirement of the automatic precision inspection system for the small satellite final assembly.

Disclosure of Invention

The technical solution of the present invention is: the automatic lifting platform has the advantages of high precision, high stability, large stroke and the like, and solves the problem that the traditional technology depends on manual measurement and is difficult to meet the requirements of general assembly detection on high precision and high reliability.

In order to solve the technical problem, the invention discloses a high-precision automatic lifting platform for detecting the accuracy of a small satellite final assembly, which comprises: the device comprises a base, a granite integral supporting back frame, a vertical lifting mechanism, a counterweight sliding table, a counterweight lifting mechanism, a workbench, a theodolite, a guide pulley block, a traction rope and a driving motor;

the granite integral supporting back frame is vertically arranged on the base;

the front surface of the granite integral supporting back frame is provided with a vertical lifting mechanism, the back surface of the granite integral supporting back frame is provided with a counterweight lifting mechanism, and the top of the granite integral supporting back frame is provided with a guide pulley block;

the theodolite is arranged on the workbench, the workbench is arranged on the vertical lifting mechanism, and the counterweight sliding table is arranged on the counterweight lifting mechanism;

one end of a traction rope is connected with the workbench, and the other end of the traction rope penetrates through the guide pulley block and then is connected with the counterweight sliding table;

the driving motor is installed inside the base.

In above-mentioned moonlet assembles precision detection with automatic lift platform of high accuracy, the base includes: the base comprises a base body, a base support, a control box, movable trundles and support feet;

the three base supports are arranged at equal intervals of 120 degrees by taking the base body as the center; the tail end of each base support is provided with a movable caster and a support foot margin;

the three control boxes are respectively arranged on the three base supports, and a motion control module is arranged in each control box;

the driving motor is installed inside the base body.

In above-mentioned moonlet assembles the precision detection and uses the automatic lift platform of high accuracy, still include: three auxiliary support rods; one end of the auxiliary support rod is fixed on the base support, and the other end of the auxiliary support rod is fixed on the granite integrated support back frame, so that the auxiliary support of the granite integrated support back frame is realized.

In above-mentioned moonlet assembles the precision detection with automatic lift platform of high accuracy, vertical elevating system includes: the front end ball screw, the front end guide rail I and the front end guide rail II are arranged on the front end guide rail I; wherein, front end guide rail I and II parallel arrangement of front end guide rail are openly at the integrative back of the body support frame of granite, and front end ball is located between front end guide rail I and the front end guide rail II.

In above-mentioned moonlet assembles precision detection with automatic lift platform of high accuracy, the workstation includes: the device comprises a workbench guide sliding block, a front end ball screw nut, a workbench center sliding block, a workbench bottom plate, a theodolite mounting plate and a buffer damper A;

the bottom plate of the workbench is vertically arranged with the theodolite mounting plate; the theodolite mounting plate is used for mounting a theodolite;

the four workbench guide sliding blocks are respectively arranged at four vertex angles of the workbench bottom plate; the four workbench guide sliding blocks are grouped in pairs, one workbench guide sliding block corresponds to the front end guide rail I, and the other workbench guide sliding block corresponds to the front end guide rail II;

the center slide block of the workbench is arranged in the center of the bottom plate of the workbench, and a center hole of the center slide block of the workbench penetrates through the ball screw at the front end to be arranged and is fixed through the ball screw nut at the front end;

the buffer damper A is installed on the bottom plate of the workbench, is positioned at the tail end of the workbench and is used for buffering when the workbench is lowered to the lowest zero position from a high position so as to avoid rigid collision.

In above-mentioned moonlet assembles the precision detection with the automatic lift platform of high accuracy, the counter weight slip table includes: the counterweight block, the counterweight sliding table guide sliding block and the buffer damper B;

the four counterweight sliding table guide sliding blocks are respectively arranged at four vertex angles on the side surface of the counterweight block; the four counterweight sliding table guide sliding blocks are grouped in pairs, one group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail I, and the other group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail II;

the buffer damper B is installed on the balancing weight, is located the balance weight sliding table end, and is used for buffering when the balance weight sliding table descends to the lowest end zero position from the eminence, avoids the rigidity collision.

In above-mentioned moonlet assembles precision detection with automatic lift platform of high accuracy, counter weight elevating system includes: a rear end guide rail I and a rear end guide rail II; wherein, rear end guide rail I and II parallel arrangement of rear end guide rail are at the integrative back of the body support back of the body frame of granite for carry on spacingly and the direction to counter weight slip table direction slider.

In above-mentioned moonlet assembles the precision detection and uses the automatic lift platform of high accuracy, still include: installing a flange; wherein, the granite integral supporting back frame is fixedly connected with the base through the mounting flange.

In above-mentioned moonlet assembles the precision detection and uses the automatic lift platform of high accuracy, still include: a side auxiliary connecting piece; the side auxiliary connecting piece is L-shaped, one L-shaped side is connected with the granite integral supporting back frame through 4 fastening screws, and the other side is provided with a screw fastening connection interface and is connected with the base.

In above-mentioned moonlet assembles the precision detection and uses the automatic lift platform of high accuracy, still include: a grating ruler; wherein, grating chi is installed on the front end guide rail outside reference surface for realize the accurate measurement to workstation lift distance.

The invention has the following advantages:

(1) The invention firstly completes the design of the high-precision automatic lifting platform for the small satellite assembly precision detection, fills the blank that the automatic lifting platform is applied to the aerospace small satellite assembly detection, and solves the problem that the traditional detection work mostly depends on manual operation and cannot ensure high-precision high-stability vertical motion.

(2) The structural design of the supporting base, the granite integral supporting back frame and the diagonal draw bars adopted by the invention has very high structural stability, can keep stable under heavy load and general temperature (the ambient temperature is 20 +/-5 ℃, and no vibration source is used for measurement), and the leveling amplitude of the theodolite can be ensured to be stable within 2' within 2 hours on the premise of the highest mounting height of the integral platform system, so that the performance requirement of the ultra-large stroke high-stability system is met.

(3) According to the invention, the high-precision stable motion of the vertical lifting module within the range of 0.5-4.0 m is finally realized through the combination of the supporting base, the granite integrated supporting back frame, the vertical lifting module, the control module and other components.

(4) According to the invention, the torsion error of the theodolite mounting position of the lifting platform is less than +/-5.0' through the combined assembly and debugging of the granite integral supporting back frame, the vertical lifting module and other components.

(5) The product of the invention has been successfully applied to the assembly precision detection work of a plurality of types of small satellites, the equipment has good running state and efficient and stable motion process in the using process, the high-precision superior performance of the invention is fully proved, the time cost is effectively controlled, and the working efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of a high-precision automatic lifting platform for detecting the accuracy of a small satellite final assembly in an embodiment of the invention;

FIG. 2 is a side view of a high-precision automated lifting platform for moonlet assembly precision detection in an embodiment of the present invention;

FIG. 3 is an assembly view of an integral granite support back frame according to an embodiment of the invention;

FIG. 4 is a schematic view of the assembly of a base according to an embodiment of the present invention;

FIG. 5 is a schematic view of an assembly of a vertical lift mechanism and a table in an embodiment of the present invention;

FIG. 6 is a schematic overall view of a work table according to an embodiment of the present invention;

FIG. 7 is an assembled schematic view of a work head in an embodiment of the present invention;

FIG. 8 is a schematic view of an assembly of a counterweight slide in an embodiment of the present invention;

FIG. 9 is an assembled view of a counterweight lift mechanism according to an embodiment of the present invention;

FIG. 10 is a graph illustrating a positioning accuracy and straightness deviation test according to an embodiment of the present invention;

FIG. 11 is a graph of torsional deflection test data for an embodiment of the present invention;

FIG. 12 is a graph of stability test data in accordance with an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.

One of the core ideas of the invention is that: the utility model provides a little satellite assembly precision detects uses automatic lift platform of high accuracy, adopts the whole welding base to be the support basis, and the integrative back of the body frame that supports of granite is vertical direction basis, and the supplementary stability of guaranteeing platform overall structure with the bearing diagonal pole, especially guarantees the high stability of long stroke motion.

As shown in fig. 1 to 3, in this embodiment, the high-precision automated lifting platform for detecting the accuracy of the moonlet assembly includes: base 1, the integrative back of the body frame 2 that supports of granite, vertical elevating system 3, counter weight slip table 4, counter weight elevating system 5, workstation 6, theodolite 7, guide pulley group 8, pull rope 9 and driving motor. Wherein, the granite integral supporting back frame 2 is vertically arranged on the base 1; the front surface of the granite integral supporting back frame 2 is provided with a vertical lifting mechanism 3, the back surface is provided with a counterweight lifting mechanism 5, and the top part is provided with a guide pulley block 8; the theodolite 7 is arranged on the workbench 6, the workbench 6 is arranged on the vertical lifting mechanism 3, and the counterweight sliding table 4 is arranged on the counterweight lifting mechanism 5; one end of a traction rope 9 is connected with the workbench 6, and the other end of the traction rope passes through the guide pulley block 8 and then is connected with the counterweight sliding table 4; the driving motor is installed inside the base 1.

In this embodiment, as shown in fig. 4, the base 1 may specifically include: a base body 101, a base support 102, a control box 103, a caster 104, and support feet 105. Wherein, the three base supports 102 are arranged at equal intervals of 120 degrees by taking the base body 101 as the center; the tail end of each base support 102 is provided with a movable caster 104 and a support foot 105 for integrally leveling the platform and stably supporting the base; the three control boxes 103 are respectively arranged on the three base supports 102, a motion control module is arranged in each control box 103, the motion control module can control the operation of a driving motor, and the driving motor operates to drive the front-end ball screw 301 to rotate, so that the worktable 6 performs lifting motion along the front-end guide rail I302 and the front-end guide rail II 303; the driving motor is installed inside the base body 101.

In this embodiment, the automatic lift platform of high accuracy for moonlet assembly accuracy testing may further include: three auxiliary support bars 10. One end of the auxiliary support rod 10 is fixed on the base support 102, and the other end is fixed on the granite integral support back frame 2, so that the auxiliary support of the granite integral support back frame 2 is realized.

In this embodiment, as shown in fig. 5, the vertical lifting mechanism 3 may specifically include: a front end ball screw 301, a front end guide rail I302 and a front end guide rail II 303. Wherein, I302 of front end guide rail and II 303 parallel arrangement of front end guide rail are in the integrative back of the body frame 2 front of supporting of granite, and front end ball 301 is located between I302 of front end guide rail and the II 303 of front end guide rail.

In this embodiment, as shown in fig. 5 to 7, the working table 6 may specifically include: a workbench guide slide block 601, a front end ball screw nut 602, a workbench center slide block 603, a workbench bottom plate 604, a theodolite mounting plate 605 and a damping damper a606. Wherein the workbench bottom plate 604 is vertically mounted with the theodolite mounting plate 605; the theodolite mounting plate 605 is used for mounting the theodolite 7; the four workbench guide sliding blocks 601 are respectively arranged at four vertex angles of the workbench bottom plate 604; the four workbench guide sliding blocks 601 are grouped in pairs, one group of workbench guide sliding blocks corresponds to the front end guide rail I302, and the other group of workbench guide sliding blocks corresponds to the front end guide rail II 303; a workbench center sliding block 603 is arranged at the center of a workbench bottom plate 604, and a center hole of the workbench center sliding block 603 passes through the front end ball screw 301 for installation and is fixed through a front end ball screw nut 602; the buffer damper A606 is installed on the bottom plate 604 of the workbench, is located at the tail end of the workbench 6, and is used for buffering when the workbench 6 descends from a high position to a lowest zero position so as to avoid rigid collision.

In this embodiment, as shown in fig. 8, the counterweight sliding table 4 may specifically include: a counterweight block 401, a counterweight sliding table guide sliding block 402, and a buffer damper B403. Wherein, the four counterweight sliding table guide sliding blocks 402 are respectively arranged at four vertex angles on the side surface of the counterweight block 401; every two of the four counterweight sliding table guide sliding blocks 402 form a group, one group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail I501, and the other group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail II 502; the buffer damper B403 is installed on the counterweight block 401, is located at the tail end of the counterweight sliding table 4, and is used for buffering when the counterweight sliding table 4 descends to the lowest zero position from a high position, so that rigid collision is avoided.

In this embodiment, as shown in fig. 9, the counterweight lifting mechanism 5 may specifically include: a rear end guide rail I501 and a rear end guide rail II 502. Wherein, the I501 and II 502 parallel arrangement of rear end guide rail are at the integrative back of the body support frame 2 of granite for carry on spacingly and the direction to counter weight slip table direction slider 402.

In this embodiment, as shown in fig. 3, the high-precision automated lifting platform for detecting the accuracy of the total assembly of the small satellite may further include: and a flange 12 is mounted. Wherein, the granite integral supporting back frame 2 and the base 1 are fixedly connected through a mounting flange 12.

In this embodiment, as shown in fig. 3, the high-precision automated lifting platform for detecting the accuracy of the total assembly of the small satellite may further include: the side auxiliary connecting member 13. The side auxiliary connecting piece 13 is of an L-shaped structure, one L-shaped surface of the L-shaped side auxiliary connecting piece is connected with the granite integral supporting back frame 2 through 4 fastening screws, and the other L-shaped side auxiliary connecting piece is provided with a screw fastening connection interface and connected with the base 1.

In this embodiment, the control box drives the driving motor by receiving the expected position control instruction sent by the upper computer and carrying the expected position control quantity, so as to realize the lifting motion of the workbench; meanwhile, the actual position quantity of an actual position quantity signal of the workbench measured by an external measurement feedback unit is received, the lifting height of the workbench is accurately fed back and controlled through the deviation of the expected position control quantity and the actual position quantity, a deviation compensation driving instruction is generated, a driving motor is controlled to work, the deviation of the expected position control quantity and the actual position quantity is compensated, and full closed loop control is completed.

In the embodiment, the high-precision automatic lifting platform for the small satellite assembly precision detection bears not less than 20Kg, the mechanical interface of the platform can meet the interface requirements of Leica T5100A and T6100A series theodolites, and the theodolites and the workbench are firmly connected through threaded connection; when the theodolite rotates by 360 degrees, the theodolite lens cone does not interfere with the workbench, and meanwhile, the platform provides a theodolite cable installation position. According to verification, the effective lifting range of the high-precision automatic lifting platform for the small satellite assembly precision detection is 0.5-4.0 m, within 2 hours, the position variation of the theodolite mounting position of the platform is smaller than 0.10mm, the angle variation is smaller than 2 ', the torsion error is smaller than +/-5.0', and the high-precision automatic lifting platform has a remarkable effect on precisely controlling the lifting position and improving the detection accuracy.

In the embodiment, the base is the foundation of the whole platform, and three adjustable supporting feet are arranged on the outermost side of the base and are used for integrally leveling the platform and stably supporting the base so as to keep the stability of the equipment during accurate measurement; a movable caster wheel with a locking device is respectively arranged at the three support legs, so that the horizontal direction movement of the high-precision automatic lifting platform for the accuracy detection of the general assembly of the small satellite is facilitated; the motion control module is arranged above the base support through the split control box so as to achieve the effects of compact structure and convenient use.

In the embodiment, the cross section of the granite integral supporting back frame is a rectangular structure, and the sizes are 4000mm multiplied by 240mm multiplied by 320mm. In order to ensure the deflection precision, the granite integral supporting back frame is directly processed by a single piece of granite, and the installation level is tested to be 4 mu m/m in flatness. For guaranteeing the integrative back of the body frame hoist and mount safety of supporting of slender type granite, prevent that the integrative back of the body frame of supporting of granite from because brittle fracture or fracture, when the vertical elevating system of granite front-mounting, the back has the counter weight elevating system of designing equally. The precision is guaranteed to the front end guide rail, and the rear end guide rail is used for installing counter weight slip table and direction, and four front and back guide rails further guarantee the integrative intensity that supports the back of the body frame of granite on the whole. In addition, the integrative back of body frame both sides of granite can set up hoisting point and rings, adopts M20 times power super rotatory hoisting point to increase the safety of hoist and mount. A steel plate mounting flange with the thickness of 20mm is designed below the bottom of the granite integrated supporting back frame, the granite integrated supporting back frame is convenient to mount with a base, and structural stability of the platform is enhanced through L-shaped side auxiliary connecting pieces on two sides.

In this embodiment, in order to ensure the straightness and the yaw accuracy, the front end guide rail mounted on the granite integral support back frame adopts a micro-prepressing P-level accuracy, and the front end ball screw adopts a C3-level precision screw. The granite serving as a reference adopts a precision grinding technology, and the flatness of the granite reaches 4 mu m/m. In order to ensure the installation of the ball screw at the front end, the granite adopts a U-shaped structure, and the upper end and the lower end of the guide rail at the front end are respectively provided with a mechanical limiting block and a buffering block.

In this embodiment, a grating ruler may be further disposed on the high-precision automatic lifting platform for detecting the accuracy of the microsatellite assembly. Wherein, grating chi is installed on the front end guide rail outside reference surface for realize the accurate measurement to workstation lift distance. When the platform receives a control command of moving to a specified position, the workbench starts to move linearly up and down under the drive of the drive motor, meanwhile, the current position information of the workbench is fed back by the grating ruler in real time and dynamically, the current position information is compared with an expected command position to form a deviation amount, the position of the workbench is continuously driven and adjusted by feeding back the deviation amount until the deviation is 0, and the specified position is reached and the workbench stops.

In this embodiment, the high-precision automated lifting platform for the accuracy detection of the general assembly of the small satellite, the vertical lifting mechanism, the counterweight sliding table, the counterweight lifting mechanism, the guide pulley block, the traction rope, the driving motor and the like form a set of linear motion mechanism controlled by an alternating current servo, namely a motion control module; through the motion control module, the automatic high-precision lifting platform for detecting the accuracy of the general assembly of the minisatellite is enabled to realize automatic lifting and accurate position measurement in a bearing state. The specific functions include: the working table is in a inching and automatic working mode, the speed and displacement parameters of various movements are set, and the working table returns to a reference zero point in any mode. In the inching mode, the worktable can be manually controlled to move up and down through an upper computer or a function button; the automatic mode comprises relative motion and absolute motion, and the upper computer sets the displacement of the workbench to complete corresponding motion; the system is provided with an RS232 standard communication interface, can control the motion of the system through an upper computer and reads the current position and state; the emergency stop and limit protection functions are arranged to ensure the operation safety of the system. The motion control module can be functionally divided into: the device comprises a main control unit, an execution unit, a measurement feedback unit, a power supply unit and a human-computer interaction unit. The main control unit can select a Parker Comax 3S series driver, the execution unit can select a Parker SMHA series servo motor, and the measurement feedback unit can select a Renishaw RTLC grating ruler.

Master control unit

The Commax 3S intelligent servo drive controller is used as a main control unit, is the core of the whole control system, not only drives an execution unit motor by receiving an expected position control command sent by an upper computer to realize the lifting motion of the workbench, but also can receive an actual position quantity signal measured by an external measurement feedback unit, and accurately feeds back and controls the lifting height of the workbench through the deviation of the expected position control quantity and the actual position quantity. In addition, the main control unit is also provided with a human-computer interaction interface and an I/O control interface, and realizes communication with an upper computer and limit processing.

Execution unit

The execution unit drives the lead screw guide rail of the transmission system to realize the motion drive of the theodolite sighting system by receiving the driving instruction of the main control unit. The execution unit adopts an alternating current servo motor matched with the driver as a Parker SMHA series servo motor; the motor is arranged in the middle position below the supporting base and is connected with the upper lead screw through a high-precision speed reducer; the motor is provided with an electromagnetic band-type brake, and the stability of the supporting position can be ensured by adopting a scheme of band-type brake and closing the energy after the moving sliding table reaches the required position.

Measurement feedback unit

In order to accurately control the height position of a theodolite sighting system, a Renishaw grating scale is selected as a measurement sensing element of a feedback unit to measure an actual motion position in real time, a measured position signal is fed back to a main control unit in real time, deviation between an expected position and the actual position is calculated by the main control unit, a deviation compensation driving instruction is sent to an execution unit, a servo motor is controlled to drive a transmission system to compensate motion errors, full closed-loop control is completed, the influence of the motion errors of a ball screw on position control is avoided, and therefore high-precision positioning is achieved. The grating ruler adopts a Renishaw RTLC-S grating ruler and a TONIC series reading head, the comprehensive error is +/-5 mu m/m, and the resolution is 1 mu m; through a Renishaw DOP interface, the TONIC reading head can provide synchronous double output signals, one output signal is provided for a driver to carry out full closed-loop control, and the other output signal is provided for a digital display meter on a base to display the current position in real time.

Human-computer interaction unit

In order to realize high visualization in control conveniently, a man-machine interaction unit is developed, grating ruler data are collected in real time, and position height and state display is realized, and the whole man-machine interaction unit is integrated in a control box of a base. The human-computer interaction unit can synchronously display the current height of the lifting platform with the upper computer, and can also independently display the current height of the lifting platform under the condition that the upper computer is not connected. In addition, in order to facilitate the independent operation of the high-precision theodolite vertical moving platform system, a vertical moving platform control panel is designed and arranged above the base control box, and the panel is provided with an emergency stop button and four control buttons of starting, enabling, ascending and descending.

Power supply unit

220V/50HZ is the power input of the AC servo system, and after being subjected to circuit breaker and filtering, one path of power is used as a main power supply and is added to a load servo motor by a driver, and the other path of power is used as a control power supply required by the work of a servo controller of a main control unit and outputs 24V direct current by a switching power supply. A power supply interface is reserved on the base of the high-precision theodolite vertical moving platform, a universal charging wire is arranged, and a power supply is provided for the platform through 220V mains supply.

In order to verify the performance indexes of the system, the invention respectively carries out three system test tests of positioning precision, straightness, lifting torsion deviation and stability:

(1) Testing of positioning accuracy and straightness

a) After the lifting platform is leveled, the electronic theodolite is arranged on the moving platform and leveled, and meanwhile, a target seat of a reflector 1.5' of the tracker is arranged on the moving platform. The tracker was placed in a stable position on the ground, about 5m from the mobile platform.

b) Moving the displacement table at intervals of 100mm from the zero position of the moving platform, respectively recording the grating value Li of the guide rail when moving one position, and recording the space coordinate value Pi of a reflector of a tracker on the moving platform by using the tracker until the whole guide rail stroke is completed;

c) Performing least square straight line fitting on all measuring points of the tracker, and establishing a fitting straight line coordinate system which takes the initial point as an original point, takes a fitting straight line as a Z axis and takes the normal direction of the bottom surface of the guide rail as the positive direction of an X axis;

d) Comparing the grating value Li at each position of the guide rail with the Z-axis component value Zi of each measuring point of the tracker under a fitted linear coordinate system to obtain the positioning deviation delta Zi = Li-Zi of the displacement table at each position of the guide rail;

e) Taking the maximum value of the absolute deviation value as the positioning error of the displacement table, taking the standard deviation of all the positioning deviations as the positioning repeatability of the displacement table, taking the RMS (root mean square) value of the fitted straight line as the straightness of the guide rail, and taking the included angle between the fitted straight line and the horizontal plane as the verticality of the guide rail;

f) The test results are shown in table 1 and fig. 10.

TABLE 1 summary table of positioning accuracy and straightness test data

(2) Lifting torsion test

a) The lifting platform is leveled to within 1', the theodolite is arranged on the lifting support moving platform, the theodolite target is arranged on a stable position on the ground, and the distance between the target and the moving platform is about 8m.

b) Moving the displacement table at intervals of 300mm from the zero position of the moving platform, aiming the theodolite on the lifting support at the theodolite target on the ground again after moving one position, and recording the reading Hzi of the horizontal angle of the theodolite on the lifting support until the whole guide rail travel is completed;

c) Calculating the standard deviation of all the horizontal angle measurement values, wherein the standard deviation is the torsion error of the mobile platform;

d) The test results are shown in table 2 and fig. 11.

TABLE 2 lifting torsion test data schematic table

(3) Stability test

The lifting platform is stable under the highest mounting height:

a) And controlling the lifting platform to move to the highest position, arranging the TM5100A theodolite on the moving platform, leveling, and arranging a target seat of a reflector 1.5' of the tracker on the moving platform. The tracker was placed in a stable position on the ground, about 5m from the mobile platform.

b) Establishing a fitting linear coordinate system which takes the initial point as an original point, takes the motion straight line as a Z axis and takes the normal direction of the bottom surface of the guide rail as the positive direction of an X axis;

c) The tracker is set to be in an automatic measurement mode, the tracker automatically records the space coordinate value Pi of the reflector of the tracker on the mobile platform every 1 minute, and the continuous monitoring time is 2 hours;

d) And (3) solving the average value and the standard deviation of the coordinates of all the monitored target points within 2 hours, wherein the standard deviation of each coordinate component represents the stability of the lifting platform within 2 hours at the highest point. The maximum standard deviation can be regarded as the stability of the operation of the lifting platform during this period of time.

e) The measurement results are shown in FIG. 12. Wherein the standard deviation in the X direction is 0.009mm, the standard deviation in the Y direction is 0.007mm, and the standard deviation in the Z direction is 0.006mm.

(4) Stability of loaded theodolite

a) Controlling the lifting platform to move to the highest position, arranging the theodolite on the moving platform, adjusting the level of the theodolite to be within 1', and arranging the collimating plane mirror at a stable position on the ground, wherein the distance between the plane mirror and the moving platform is about 5m. After the theodolite and the plane mirror are adjusted to be in a collimation state, reading numbers of a horizontal angle and a vertical angle of the theodolite are recorded;

b) Reading numbers of the horizontal angle and the vertical angle of the theodolite are recorded again after the theodolite and the plane mirror are readjusted to the collimation state every 20 minutes, and the continuous monitoring time is 2 hours;

c) Calculating the standard deviation of the variation of the horizontal angle and the vertical angle within 2 hours, wherein the standard deviation can be regarded as the stability of the loading theodolite in the time period;

d) The measurement results are shown in Table 3.

TABLE 3 stability test data schematic Table

System test verification performed in conclusion shows that the proposed high-precision vertical lifting platform system index performance meets the application requirements of automatic precision detection, as shown in table 4:

TABLE 4 summary of system index Performance index test results

In summary, the invention discloses a high-precision automatic lifting platform for detecting the accuracy of a small satellite assembly, which can be used for bearing an electronic theodolite measuring instrument and performing precise one-dimensional lifting motion in the vertical direction according to a driving instruction sent by system control software, so that the accuracy measurement of single-machine equipment in different positions and postures is realized.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.

Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. The utility model provides a little satellite assembles precision detection with automatic lift platform of high accuracy which characterized in that includes: the device comprises a base (1), a granite integral supporting back frame (2), a vertical lifting mechanism (3), a counterweight sliding table (4), a counterweight lifting mechanism (5), a workbench (6), a theodolite (7), a guide pulley block (8), a traction rope (9) and a driving motor;

the granite integral supporting back frame (2) is vertically arranged on the base (1);

the front surface of the granite integral supporting back frame (2) is provided with a vertical lifting mechanism (3), the back surface is provided with a counterweight lifting mechanism (5), and the top part is provided with a guide pulley block (8);

the theodolite (7) is arranged on the workbench (6), the workbench (6) is arranged on the vertical lifting mechanism (3), and the counterweight sliding table (4) is arranged on the counterweight lifting mechanism (5);

one end of a traction rope (9) is connected with the workbench (6), and the other end of the traction rope penetrates through the guide pulley block (8) and then is connected with the counterweight sliding table (4);

the driving motor is arranged inside the base (1).

2. The automatic high-precision lifting platform for microsatellite assembly precision detection according to claim 1 wherein the base (1) comprises: the device comprises a base body (101), a base support (102), a control box (103), movable casters (104) and support feet (105);

the three base supports (102) are arranged at equal intervals of 120 degrees by taking the base body (101) as a center; the tail end of each base support (102) is provided with a movable caster (104) and a support foundation (105);

the three control boxes (103) are respectively arranged on the three base supports (102), and a motion control module is arranged in each control box (103);

the driving motor is installed inside the base body (101).

3. The automated high-precision lifting platform for microsatellite assembly precision detection according to claim 2 further comprising: three auxiliary support bars (10); one end of the auxiliary support rod (10) is fixed on the base support (102), and the other end of the auxiliary support rod is fixed on the granite integral support back frame (2), so that the auxiliary support of the granite integral support back frame (2) is realized.

4. The high-precision automated lifting platform for moonlet assembly precision detection according to claim 1, wherein the vertical lifting mechanism (3) includes: the front end ball screw (301), the front end guide rail I (302) and the front end guide rail II (303); wherein, front end I (302) and the parallel arrangement of front end II (303) of guide rail are in the integrative back of body frame (2) of granite openly, and front end ball (301) are located between I (302) of front end guide rail and II (303) of front end guide rail.

5. The high-precision automated lifting platform for moonlet assembly precision detection according to claim 4, wherein the workbench (6) comprises: the device comprises a workbench guide sliding block (601), a front end ball screw nut (602), a workbench center sliding block (603), a workbench bottom plate (604), a theodolite mounting plate (605) and a buffer damper A (606);

the workbench bottom plate (604) is vertically arranged with the theodolite mounting plate (605); wherein the theodolite mounting plate (605) is used for mounting a theodolite (7);

the four workbench guide sliding blocks (601) are respectively arranged at four vertex angles of the workbench bottom plate (604); every two of the four workbench guide sliding blocks (601) form a group, one group of workbench guide sliding blocks corresponds to the front end guide rail I (302), and the other group of workbench guide sliding blocks corresponds to the front end guide rail II (303);

a workbench central sliding block (603) is arranged in the center of a workbench bottom plate (604), and a central hole of the workbench central sliding block (603) penetrates through a front-end ball screw (301) to be arranged and is fixed through a front-end ball screw nut (602);

the buffer damper A (606) is arranged on the bottom plate (604) of the workbench and positioned at the tail end of the workbench (6) and used for buffering when the workbench (6) descends from a high position to a lowest zero position so as to avoid rigid collision.

6. The automatic high-precision lifting platform for microsatellite assembly precision detection as recited in claim 1 wherein the counterweight sliding table (4) comprises: a counterweight block (401), a counterweight sliding table guide sliding block (402) and a buffer damper B (403);

the four counterweight sliding table guide sliding blocks (402) are respectively arranged at four vertex angles on the side surface of the counterweight block (401); wherein, the four counterweight sliding table guide sliding blocks (402) are grouped into a group in pairs, one group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail I (501), and the other group of counterweight sliding table guide sliding blocks corresponds to the rear end guide rail II (502);

buffer damper B (403) is installed on balancing weight (401), is located counter weight slip table (4) end for cushion when counter weight slip table (4) descend to bottommost end zero position from the eminence, avoid the rigidity collision.

7. The automatic lifting platform with high precision for detecting accuracy of small satellite assembly according to claim 6, wherein the counterweight lifting mechanism (5) comprises: a rear end guide rail I (501) and a rear end guide rail II (502); wherein, rear end guide rail I (501) and rear end guide rail II (502) parallel arrangement are at the integrative back of support back of the body frame (2) of granite for carry on spacingly and direction to counter weight slip table direction slider (402).

8. The high-precision automated lifting platform for microsatellite assembly precision detection as recited in claim 1 further comprising: a mounting flange (12); wherein, the granite integral supporting back frame (2) is fixedly connected with the base (1) through a mounting flange (12).

9. The high-precision automated lifting platform for microsatellite assembly precision detection as recited in claim 1 further comprising: a lateral auxiliary connection (13); the side auxiliary connecting piece (13) is of an L-shaped structure, one L-shaped surface of the L-shaped auxiliary connecting piece is connected with the granite integral supporting back frame (2) through 4 fastening screws, and the other surface of the L-shaped auxiliary connecting piece is provided with a screw fastening connection interface and is connected with the base (1).

10. The automated high-precision lifting platform for microsatellite assembly precision detection according to claim 4 further comprising: a grating scale; wherein, grating chi is installed on the front end guide rail outside reference surface for realize the accurate measurement to workstation lift distance.

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