CN101045295A - Manipulator for mounting/dismounting main lens of astronomical telescope - Google Patents
Manipulator for mounting/dismounting main lens of astronomical telescope Download PDFInfo
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- CN101045295A CN101045295A CNA2007100213807A CN200710021380A CN101045295A CN 101045295 A CN101045295 A CN 101045295A CN A2007100213807 A CNA2007100213807 A CN A2007100213807A CN 200710021380 A CN200710021380 A CN 200710021380A CN 101045295 A CN101045295 A CN 101045295A
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- manipulator
- palm
- mirror
- finger
- astronomical telescope
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Abstract
A manipulator for installing or detaching the principal telescope of large astronomical telescope is composed of a base, a lift screw bolt for regulating height, a revolving-locking unit, the servo motor unit, a computer, a palm with fingers, the angle, left-right and back-forth regulating mechanisms for said palm and fingers, and the pressure sensors on said fingers.
Description
Technical field
The present invention relates to a kind of manipulator, be specifically related to a kind of assembling and disassembling manipulator that is used to load and unload the astronomical telescope primary mirror.
Background technology
Loading and unloading sub-mirror manipulator is the mechanism that astronomical telescope is used to load and unload primary mirror, is used for primary mirror is contained in telescopical appropriate location at erection stage.After telescope uses a period of time, when the plated film layer of minute surface needs again plated film owing to reasons such as oxidation, pollutions, by its dismounting, refill after the plating again.General traditional telescopical primary mirror has only one, and mechanism is just simpler, is that a kind of simple anchor clamps just can be competent at.And the direction of modern astronomical telescope development is to constitute large telescope by how sub-mirror, for example Zhong Guo great science project LAMOST astronomical telescope---" Da Tian district multiple target fiber spectrum telescope ", its primary mirror sphere MB is made up of the hexagonal spherical mirror of 37 downward-sloping certain angles (20～30 °), has only 3～10 mm clearance between these 37 mirrors.37 mirrors are formed a sphere, each mirror position and Space Angle difference.Simultaneously, 37 hexagonal spherical mirrors all are glass materials, and are very frangible, and because its structure particularity, plain clamp just can not be finished this work.
Summary of the invention
The objective of the invention is the problems referred to above at the prior art existence, a kind of assembling and disassembling manipulator that is used to load and unload the astronomical telescope primary mirror is provided, this manipulator can be finished the loading and unloading of the modern large-scale astronomical telescope primary mirror that is made of how sub-mirror, can reach each special sub-mirror of structure and carry out loading and unloading at very frangible glass material.
The technical scheme of finishing the foregoing invention task is: the assembling and disassembling manipulator that is used to load and unload the astronomical telescope primary mirror, be provided with support, be provided with the elevating screws of regulating height and motion, the locking mechanism that rotates around support in the support, it is characterized in that, be linked with palm on the support, be linked with finger on the palm, on palm and finger, be provided with angle adjusting mechanism, left-right adjusting mechanism and front and back governor motion, all these governor motions are controlled stroke by servomotor, and servomotor is connected with computer; Simultaneously, the finger of manipulator is provided with pressure sensor, and the output of described pressure sensor is connected with computer.
Be provided with the program of the sub-mirror of loading and unloading in the computer, and record the number and the positional information of each sub-mirror.Import a certain sub-mirror number during work on computers, can send instruction, control each governor motion to predetermined attitude, and sub-mirror cell is caught, can carry out the installation and removal work of each sub-mirror by the finger of manipulator by computer.
On the manipulator finger pressure sensor can control pressure between finger and mirror, make this power hold sub-mirror just and can not make the mirror breakage.
The present invention has following prioritization scheme:
1, for preventing the mirror fragmentation, the palm of this manipulator and finger are provided with flexible layer or elastic layer.That is, the position that all contact and may run into mirror is all used on the softwood material package pad.
2, at the center of equilateral triangle palm, the luminous autocollimator of a charged optical receiver is arranged, the output of this photelectric receiver is connected with computer.When spherical mirror subcenter and palm centrally aligned and palm plane with cross the mirror centre normal when vertical, photelectric receiver can receive the light by specular reflector, thus whether the decidable manipulator is tuned to correct position.Align the position as if incorrect again according to pip,, refill and unload sub-mirror up to correct position.Described photelectric receiver also can be used CCD face battle array or CCD camera instead.
Manipulator of the present invention has overcome the difficult problem that plain clamp of the prior art can not be finished the modern large-scale astronomical telescope primary mirror loading and unloading that is made of how sub-mirror, can reach each special sub-mirror of structure and carry out loading and unloading at very frangible glass material.For example, Zhong Guo great science project LAMOST astronomical telescope---" Da Tian district multiple target fiber spectrum telescope ", the loading and unloading of its primary mirror sphere MB can be finished by manipulator of the present invention.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The specific embodiment
Embodiment 1, and this assembling and disassembling manipulator is the special national great science project that is, Da Tian district multiple target fiber spectrum telescope loading and unloading primary mirror sphere MB design.Because this telescopical uniqueness, primary mirror sphere is made up of the hexagonal spherical mirror of 37 downward-sloping certain angles (20～30 °), has only 3～10 mm clearance between these 37 mirrors.37 mirrors are formed a sphere, each mirror position and Space Angle difference.Mirror is a glass material, and is frangible, for this reason specialized designs this manipulator.
With reference to Fig. 1: manipulator is by finger 1, palm 2, and angle adjusting mechanism 3, left-right adjusting mechanism 4 and front and back governor motion 5 and support 6 are formed.Having the elevating screws of regulating height to reach in the support 6 rotates and locking mechanism around support.
All these governor motions are controlled stroke by servomotor, and servomotor is connected with computer; When a certain sub-mirror number of input, can send instruction by computer, control the attitude that each governor motion falls to be scheduled to, and sub-mirror cell is caught by the finger of manipulator, can carry out the installation and dismantling of sub-mirror and unload work.
Special pressure sensor is arranged on the finger of manipulator, can control the pressure between finger and mirror, make this power hold sub-mirror just and can not make the mirror breakage.For preventing the mirror fragmentation, the position that all contact and may run into mirror is all used on the softwood material package pad.
At the center of equilateral triangle palm, the luminous autocollimator of a charged optical receiver is arranged, the output of this photelectric receiver is connected with computer.When spherical mirror subcenter and palm centrally aligned and palm plane with cross the mirror centre normal when vertical, photelectric receiver can receive the light by specular reflector, thus whether the decidable manipulator is tuned to correct position.(seeing accompanying drawing) aligns the position as if incorrect again according to pip, up to correct position, refills and unloads sub-mirror.
Embodiment 2, and is substantially the same manner as Example 1, but photelectric receiver wherein changes CCD face battle array into.
Claims (3)
1, a kind of assembling and disassembling manipulator that is used to load and unload the astronomical telescope primary mirror, be provided with support, be provided with the elevating screws of regulating height and motion, the locking mechanism that rotates around support in the support, it is characterized in that, be linked with palm on the support, be linked with finger on the palm, on palm and finger, be provided with angle adjusting mechanism, left-right adjusting mechanism and front and back governor motion, all these governor motions are controlled stroke by servomotor, and servomotor is connected with computer; Simultaneously, special pressure sensor is arranged on the finger of manipulator, the output of described pressure sensor is connected with computer.
According to the described assembling and disassembling manipulator that is used to load and unload the astronomical telescope primary mirror of claim 1, it is characterized in that 2, the palm of this manipulator and finger are provided with flexible layer or elastic layer.
3, according to claim 1 or the 2 described assembling and disassembling manipulators that are used to load and unload the astronomical telescope primary mirror, it is characterized in that, at the center of equilateral triangle palm, be provided with the luminous autocollimator of a charged optical receiver or CCD face battle array, the output of this photelectric receiver is connected with computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100213807A CN101045295A (en) | 2007-04-10 | 2007-04-10 | Manipulator for mounting/dismounting main lens of astronomical telescope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100213807A CN101045295A (en) | 2007-04-10 | 2007-04-10 | Manipulator for mounting/dismounting main lens of astronomical telescope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101045295A true CN101045295A (en) | 2007-10-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100213807A Pending CN101045295A (en) | 2007-04-10 | 2007-04-10 | Manipulator for mounting/dismounting main lens of astronomical telescope |
Country Status (1)
| Country | Link |
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| CN (1) | CN101045295A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785181A (en) * | 2011-05-17 | 2012-11-21 | 厦门思尔特机器人***有限公司 | Clamping mechanism for multipurpose sectional material end face |
| CN105204153A (en) * | 2015-09-16 | 2015-12-30 | 中国科学院国家天文台南京天文光学技术研究所 | Method for installing and demounting subsidiary telescopes used for splicing telescopic surface of large-size astronomical telescope |
| CN105196274A (en) * | 2015-09-16 | 2015-12-30 | 中国科学院国家天文台南京天文光学技术研究所 | Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope |
| CN106142052A (en) * | 2016-07-29 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of magnetic-type mechanical hand |
| CN113733160A (en) * | 2021-09-26 | 2021-12-03 | 关有光 | Optical measurement and debugging method for vertical axis difference of rotary joint of industrial robot |
-
2007
- 2007-04-10 CN CNA2007100213807A patent/CN101045295A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102785181A (en) * | 2011-05-17 | 2012-11-21 | 厦门思尔特机器人***有限公司 | Clamping mechanism for multipurpose sectional material end face |
| CN102785181B (en) * | 2011-05-17 | 2014-07-30 | 厦门思尔特机器人***有限公司 | Clamping mechanism for multipurpose sectional material end face |
| CN105204153A (en) * | 2015-09-16 | 2015-12-30 | 中国科学院国家天文台南京天文光学技术研究所 | Method for installing and demounting subsidiary telescopes used for splicing telescopic surface of large-size astronomical telescope |
| CN105196274A (en) * | 2015-09-16 | 2015-12-30 | 中国科学院国家天文台南京天文光学技术研究所 | Sub-mirror assembling and disassembling device for segmented mirror of large astronomical telescope |
| CN106142052A (en) * | 2016-07-29 | 2016-11-23 | 苏州高通机械科技有限公司 | A kind of magnetic-type mechanical hand |
| CN113733160A (en) * | 2021-09-26 | 2021-12-03 | 关有光 | Optical measurement and debugging method for vertical axis difference of rotary joint of industrial robot |
| CN113733160B (en) * | 2021-09-26 | 2024-01-09 | 关有光 | Optical measurement and debugging method for vertical axis difference of rotary joint of industrial robot |
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Open date: 20071003 |