CN103777645A - Dual-redundancy telescope tracking device for astronomical telescope - Google Patents
Dual-redundancy telescope tracking device for astronomical telescope Download PDFInfo
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- CN103777645A CN103777645A CN201410026019.3A CN201410026019A CN103777645A CN 103777645 A CN103777645 A CN 103777645A CN 201410026019 A CN201410026019 A CN 201410026019A CN 103777645 A CN103777645 A CN 103777645A
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Abstract
A dual-redundancy telescope tracking device for an astronomical telescope comprises a pitch axis set and an azimuth axis set and is characterized in that two sets of tracking systems are respectively adopted for the pitch axis set and the azimuth axis set, and then an azimuth axis dual-redundancy axis set and a height axis dual-redundancy axis set are respectively formed; the two sets of tracking systems are automatically switched through a control system; the two sets of tracking systems in the pitch axis set jointly drive a height axis and share a set of feedback systems and a set of height limiting and braking systems; the two sets of tracking systems in the azimuth axis set jointly drive an azimuth axis and share a set of feedback systems and a set of azimuth limiting and braking systems. The dual-redundancy telescope tracking device has the advantages that bearing capacity is high, friction force is low, power consumption is small, transmission efficiency is high, and rotation accuracy is high; positioning accuracy can reach 20 degrees per second at high speed and reach 0.05'' per second at low speed, and no creeping phenomenon exists; emergency braking and mechanical shock protection can be achieved at the same time through braking and limiting, and the rotation range can be adjusted within the range from 0 degree to 360 degrees in the forward direction and in the reverse direction. The dual-redundancy telescope tracking device can be also used for other heavy high-precision rotating equipment.
Description
Technical field
The present invention relates to a kind of tracking frame of precision optical instrument, be specifically related to a kind of for the two redundancy telescope tracking means of astronomical telescope.11273039), the astronomical special project of Jiangsu Province's production, teaching & research project (bullets: BY2011167), the Chinese Academy of Sciences (C-113) the present invention is the achievement in research of following items: National Nature fund general project (bullets:.
Background technology
Modern large-scale astronomical telescope mostly adopts altitude azimuth form structure, comprise pitch axis system and azimuth axle, azimuth axle supports whole system and is connected with ground, realize tracking driving, position, the angular velocity of azimuth axis, measurement and the feedback of angular acceleration, and the weight of carrying tens of and even upper kiloton pivoting part, and there is high kinematic accuracy and good stability, with guarantee telescope can be steadily, accurately, Ultra-Low Speed operation.Pitch axis system need to support telescopical optical system and important optical instrument thereof.And higher kinematic accuracy and the stability of requirement.In addition, along with astronomical sight turns to the very superior but area that environment is very complicated of the astronomical sight such as space, South Pole condition, telescopical use pattern also from traditional manual operation to autonomous type, the working mode transition of networking, Long-distance Control, this follows the tracks of redundance telescope to drive and control to become the key issue that must solve in following astronomical telescope development.Therefore, to have supporting construction and the redundancy control system thereof of the azimuth axle of large load, high rigidity and low friction performance and pitch axis system be to guarantee one of gordian technique that large-scale astronomical telescope is succeeded in developing in development.
The mode of the main transmission of telescope tracker has gear drive, friction-driven and directly drives.In medium and small astronomical telescope, generally adopt gear drive, the friction-driven that adopt in large and medium-sized astronomical telescope more, gear drive exists during for large-scale, ultra-large type astronomical telescope and meets difficulty as follows: the process equipment of large-scale, super-huge precision gear, worm gear is considerably less, the process equipment of special development ultra-large type precision gear, worm gear due to its technical sophistication, cost is large, development process is long, be difficult to meet actual designing requirement, and there is gear drive gap in drive system, the factors such as the rigidity of system is weak, friction, tactic pattern mechanism complexity; The crawling problems of friction-driven in the time that the astronomical telescope of super large caliber can bring Ultra-Low Speed operation.In the time that large-scale ultra-large type astronomical telescope drives, direct driving technologies have rigidity high, without friction, be easy to assembling, maintenance cost is low, it is by integrated design, make structure very simple, and can guarantee sufficiently high rigidity, telescopical dynamic property, control accuracy are greatly improved.
Large-scale astronomical telescope axle is that load capacity is large, kinematic accuracy is high, good stability, physical dimension, load-bearing capacity and the rotating accuracy of general thrust ball bearing, roller bearing etc. are difficult to meet its requirement, while manufacturing 1 ~ 4m bore altazimuth telescope both at home and abroad, be support scheme for telescopical performance index specialized designs tracking axis.
Summary of the invention
The application is bracing or strutting arrangement by a kind of two redundancy telescope tracking axis for astronomical telescope are provided.Azimuth axle and pitch axis owner that two redundancy telescope tracking axis of astronomical telescope of the present invention are bracing or strutting arrangement will be made up of position feedback mechanism, supporting mechanism, driving mechanism and spacing arrestment mechanism.And meet following technical requirement: be easy to processing, assembling, transportation, maintenance cost is low; Load-bearing capacity is strong, friction force is low, and power consumption is little, and transmission efficiency is high, has good resistance to shock and error compensation effect; Revolution positioning precision high, speed adjustable range is wide: when low speed, reach 0.05 "/s, can reach 20 °/s when high speed, when low-speed running without creeping phenomenon; Entirety instrument reliability is high, failure rate is low, and the target that system can enter any direction is carried out Continuous Tracking, and rotating range is adjustable even in larger scope in positive and negative 0 ~ 360 ° of scope.
The technical scheme that completes foregoing invention task is: a kind of for the two redundancy telescope tracking means of astronomical telescope, comprise pitch axis system and azimuth axle, it is characterized in that: described pitch axis system and azimuth axle, adopt respectively two cover drive systems, formed respectively two redundant actuation systems of azimuth axis and two redundant actuation systems of altitude axis; Two described cover trackers are automatically switched by control system; Two cover drive systems in pitch axis system drive altitude axis jointly, share a set of feedback system, share the spacing brake system of a set of height; In azimuth axle two cover drive system drives azimuth axis jointly, shares a set of feedback system, shares the spacing brake system in a set of orientation.
The composition of two described cover redundancy trackers is: tracker and a set of dual-motor drive system of a set of heterogeneous redundant moment motor composition; Or two cover dual-motor drive system.
In other words, of the present invention for the two redundancy telescope tracking means of astronomical telescope, described tracking means adopts dual motors system and heterogeneous redundant moment motor composition to watch from a height or a distance two redundancy trackers of mirror azimuth axle far away and pitch axis system.When normal operation, by heterogeneous redundant moment motor direct-drive, when breaking down or need to being switched to Dual-motors Driving pattern, automatically switched by control system.At the extreme environment that energy is had to strict demand, can adopt the two redundancy trackers that formed by two cover dual motors system.Azimuth axle adopts biserial angular contact bearing as support; Altitude axis adopts paired angular contact bearing as support; High-precision round grating is all adopted as feedback by azimuth axle and pitch axis system, and process subdivision circuit is to obtain higher precision.Whole device adopts multi-disciplinary optimization method design.
The two redundancies of described telescope are followed the tracks of frame and are mainly contained the compositions such as two redundancy azimuth axles, two redundancy altitude axis axle system, yoke, supporting mechanism, braking stop means, as shown in Figure 1.
Azimuth axle supports whole system, has high rotary precision and good stability, is connected with ground by azimuth base.Supporting construction adopts high-precision biserial angular contact bearing ZKLDF650 to support whole telescopical weight.Driving mechanism forms two remaining drive systems by the heterogeneous torque motor of two remainings and dual-motor mechanism; When normal operation, by heterogeneous redundant moment motor direct-drive, when breaking down or need to being switched to Dual-motors Driving pattern, control system automatically switches.Energy is had to the extreme environment of strict demand, adopt two redundancy trackers of two cover dual motors system compositions; Position feedback is mainly made up of hermetically-sealed construction, exchanging structure, high-resolution round grating and signal processing circuit thereof.The signal of position feedback can be used as the position feed back signal of dual-motor drive system or multinomial redundant moment motor driven systems after treatment, also can be used as the signal of the automatic seeking phase of heterogeneous redundant moment motor.Braking stop means can be realized adjustment, the brake hard of the range of movement of azimuth axle simultaneously and prevent the functions such as physical shock.Referring to Fig. 1.
Two redundant actuation systems of described dual motors system composition as shown in Fig. 2 .a, Fig. 2 .b, wherein in Fig. 2 .a, drive motor 1, the a set of dual motors system of 3 composition, the a set of dual motors system of drive motor 2,4 composition, two redundant actuation systems of two cover dual motors system composition azimuth axis; Other structures are identical with Fig. 1 .a, to meet the application under special environment condition.Fig. 2 .b is the two redundance systems that highly adopt two cover dual motors system compositions.The a set of dual-motor drive system of each installation on height driving shaft 1,2, the two redundant actuation systems of composition, two cover systems drive altitude axis jointly, share a set of feedback system, share the spacing brake system of a set of height.
Altitude axis is connected with Azimuth main drive gear by transmission gear 3 with the dual-motor driving mechanism that azimuth axis adopts, and drives azimuth axle by upper control system control dual motors system.Transmission gear 3 is connected with transmission shaft 4 by expansion sleeve 2, is locked transmission shaft is directly connected with rotor by lock-screw 9, and servomotor 10 is fixed by screws on transmission case 1.
Described feedback system is that by screw 7, read head being installed to locating shaft connects and see Fig. 1 with azimuth base, circle grating solid 4 fixes on round grating orientation Connection Block 9, then connect with orientation main shaft by scrambler orientation main shaft gusset 13, in the time that azimuth axis moves, the motion of circle grating and orientation main shaft instrument, and four read heads pass to signal processor positional information and then can control position that this information of processing is converted into azimuth axle, angular velocity, angular acceleration etc.
Referring to Fig. 4: feedback mechanism has adopted design of Sealing Structure to enter to prevent dust, moisture, oil stain the space that circle grating is installed.Scrambler orientation main shaft web joint 13 is rotating moving parts, and below this part, seal pad 2 adopts labyrinth structure design; Equally, on read head mount pad 12, design labyrinth structure, to prevent that dust, oil stain, moisture from entering.Grating azimuth axis Connection Block 9 adopts because of Steel material, prevents from expanding with heat and contract with cold circle grating precision is impacted.Adopt four uniform being arranged symmetrically with of read head, eliminate systematic eccentricity and the oval impact on system accuracy, also can require to adopt eight read heads further to improve the precision of system according to telescopic system.
Described heterogeneous redundant moment is that it is two remainings six phase torque motors of 80 utmost points that azimuth axis adopts two heterogeneous redundant moment motors of remaining, and altitude axis adopts two remainings six phase torque motors of 64 utmost points.Motor becomes six phase torque motors of two remainings through optimal design.For adapting to telescopical high-power, high reliability, high fault tolerance, the little service requirement of torque pulsation, adopt double-Y shaped six-phase motor design.
On motor stator casing, be designed with cooling bath, there is seal groove both sides, can improve the output power of motor by cooling system.The stator casing of motor is designed with locating slot, two motor coils can be located by strict homophase, and use epoxy resin filling.Reduce noise of motor, on stator casing, be also designed with cable hole simultaneously, two motor cables can be arranged on to the same side.On rotor, be pasted with uniformly 80 permanent magnets (64 of height) by automatic equipment, two coils share a set of permanent magnet.
Referring to Fig. 6: described spacing arrestment mechanism is connected with the gear wheel of the drive system of telescope tracker by transmission gear, telescopical motion is passed to spacing arrestment mechanism, transmission gear 2 is connected with transmission shaft 1 by expansion sleeve, acme thread or ball screw arrangement on transmission shaft 1, are designed, positive stop 8 is connected with transmission shaft 1 by acme thread or ball screw, in the time that main shaft rotates, on spacing frid 9, be designed with a rectangular channel, spacing gear 8 is limited to before and after transmission shaft 1 axial direction and is moved linearly, on positive stop 8, fixedly mount magnetic element 1, 2, magnetic element 1, 2 come and go and do rectilinear motion with 8 of spacing shelves, in the time that magnetic element approaches corresponding approach switch, to feed back corresponding signal to host controller, and control system is made corresponding action.Sensor 1,2 as shown in Figure 6,3,4,5,6 points three groups be fixed on can be along on the axially movable spacing trimmer 10,11,12 of transmission shaft.Adjusting the spacing trimmer 11 of zero-bit can be by corresponding with telescopical zero-bit braking position-limit mechanism.Adjust the spacing trimmer 12 of forward, can adjust telescope positive movement scope, adjust the spacing trimmer 9 of negative sense, can adjust telescope negative movement scope.When transmission shaft 1 rotates, drive positive stop 8 to rotate, in the time arriving sensor 1,2, arrive maximum forward setting range, send signal by 1,2 sensor, feed back to supervisory controller, control system is taked corresponding action.In the time arriving sensor 3,4, arrive zero-bit, send zero-bit position signalling; In the time arriving sensor 5,6, arrive maximum negative sense setting range, send signal by 5,6 sensors, feed back to supervisory controller, control-driven system is taked corresponding action.
Heterogeneous redundant moment motor direct-drive of the present invention can realize that positioning precision is high, speed adjustable range is wide: while crossing low speed, reach 0.05 "/s, can reach 20 °/s when high speed, and when low-speed running without creeping phenomenon.Braking position-limit mechanism can be realized brake hard simultaneously, rotating range is adjustable and physical shock protection, and rotating range is adjustable even in larger scope in positive and negative 0 ~ 360 ° of scope; The target that system can enter any direction is carried out Continuous Tracking, and the present invention also can be applied on the close slewing of other heavy type, high-precision.
Accompanying drawing explanation
Fig. 1. for the two redundancies of telescope are followed the tracks of the three-dimensional schematic diagram of frame;
Fig. 2 .a is the two redundant system schematic diagrams of the azimuth axis of two cover bi-motor compositions;
Fig. 2 .b is the two redundant system schematic diagrams of the altitude axis of two cover bi-motor compositions;
Fig. 3. be the three-dimensional schematic diagram of astronomical telescope dual-motor driving mechanism;
Fig. 4. be position of orientation feedback mechanism and control system schematic diagram;
Fig. 5. be two redundancy six phase torque motor schematic diagrams;
Fig. 6-1, Fig. 6-2, Fig. 6-3 are the three-dimensional schematic diagram of the spacing arrestment mechanism of telescope;
Fig. 7. be the two redundancy tracking test platforms of astronomical telescope.
Embodiment
Embodiment 1, drives synthesis experiment platform for telescope.The key technical indexes: speed adjustable range is wide: reach 0.05 when low speed "/s, can reach 20 °/s when high speed, when low-speed running without creeping phenomenon.Entirety instrument reliability is high, failure rate is low; The target that system can enter any direction is carried out Continuous Tracking, and rotating range is adjustable even in larger scope in positive and negative 0 ~ 360 ° of scope.
The two redundancies of telescope are followed the tracks of frame and are mainly contained two redundancy azimuth axles, two redundancy altitude axis axle system, yoke, primary mirror cell, middle fast, truss, secondary mirror chamber and composition of the control system thereof, as shown in Figure 7.
Azimuth axle supports whole system, and has high kinematic accuracy and good stability, is connected with ground by azimuth base.Supporting construction adopts high-precision biserial angular contact bearing to bear whole telescopical weight, the axial runout of azimuth axle and diameter run-out < 0.01mm; Driving mechanism becomes two remaining drive systems by the heterogeneous torque motor of two remainings with dual-motor mechanism; When normal operation, by heterogeneous redundant moment motor direct-drive, when breaking down or need to being switched to Dual-motors Driving pattern, control system automatically switches.Position feedback is mainly made up of hermetically-sealed construction, exchanging structure, high-resolution round grating ERA4282C and signal processing circuit thereof.The signal of position feedback can be used as the position feed back signal of dual-motor drive system or heterogeneous redundant moment motor driven systems after treatment, and the while is as the phase signals of seeking of heterogeneous redundant moment motor.Braking stop means realize simultaneously azimuth axle and pitch axis system range of movement adjustment, brake hard and prevent the functions such as physical shock.
In Fig. 1, height driving shaft A1-1, yoke 1-2, azimuth axis gear wheel 1-3, azimuth axis dual-motor driving mechanism 1-4, azimuth axle 1-5, altitude axis gear wheel 1-6, altitude axis clamping device 1-7, altitude axis dual-motor driving mechanism 1-8, height driving shaft B1-9, the spacing clamping device 1-10 in orientation.
In Fig. 2 a, drive motor A2-1, drive motor B2-2, drive motor C2-3, drive motor D2-4, transmission gear 3-1, transmission shaft 3-2, spacing clamping device 1-10.
In Fig. 2 b, altitude axis dual-motor driving mechanism A1-8a, altitude axis dual-motor driving mechanism B1-8b, height driving shaft A1-9a, altitude axis gear wheel 1-6, altitude axis clamping device 1-7, height driving shaft A1-1, height driving shaft B1-9b.
With reference to Fig. 3: altitude axis is connected with azimuth axis gear wheel 1-3 by transmission gear 3-1 with the dual-motor driving mechanism that azimuth axis adopts, by upper control system control dual motors system driving azimuth axle.Transmission gear 3-1 is connected with transmission shaft 3-2 by expansion sleeve 3-9, by lock-screw 3-7 locking, transmission shaft is directly connected with rotor, and servomotor 3-8 is fixed by screws on transmission case 3-10.In Fig. 3, bearing (ball) cover A3-3, bearing (ball) cover B3-6, taper roll bearing 3-4,3-5.
With reference to Fig. 4: feedback system is that by screw 4-7, read head being installed to locating shaft connects with azimuth base, circle grating 4-10 is fixed on round grating orientation Connection Block 4-5, then connect with orientation main shaft by scrambler orientation main shaft gusset 4-9, in the time that azimuth axis moves, the motion of circle grating and orientation main shaft instrument, and four read head 4-14,4-15,4-16,4-17 pass to signal processor positional information and then can control position that this information of processing is converted into azimuth axle, angular velocity, angular acceleration etc.
Feedback mechanism has adopted the space of design of Sealing Structure to prevent that dust, moisture, oil stain from entering circle grating is installed.Scrambler orientation main shaft web joint 4-9 is rotating moving part, below this part, adopt labyrinth structure design with seal pad A4-6, on number of degrees head mount pad 4-8, seal pad B4-12, also design labyrinth structure equally, can prevent that like this dust, oil stain, moisture from entering.Circle grating azimuth axis Connection Block 4-5 adopts because of Steel material, and preventing from expanding with heat and contract with cold impacts circle grating precision.Read head adopts four uniform being arranged symmetrically with of read head, can eliminate systematic eccentricity and the oval impact on system accuracy, also can require to adopt eight read heads further to improve the precision of system according to telescopic system.
In Fig. 4, number of degrees head mounting and fixing support 4-1, coupling bolt 4-2,4-3,4-11,4-13, number of degrees head is installed locating shaft 4-4, motion controller 4-18, sub-circuit 4-19.
It is two remainings six phase torque motors of 80 utmost points that azimuth axis adopts two heterogeneous redundant moment motors of remaining, and altitude axis adopts two remainings six phase torque motors of 64 utmost points.Motor becomes six phase torque motors of two remainings through optimal design.For adapting to telescopical high-power, high reliability, high fault tolerance, the little service requirement of torque pulsation, adopt double-Y shaped six-phase motor design.
On motor stator casing, be designed with cooling bath, there is seal groove both sides, can improve the output power of motor by cooling system.The stator casing of motor is designed with locating slot, by two the strict homophase of motor coil location, and uses epoxy resin filling.Reduce noise of motor, on stator casing, be also designed with cable hole simultaneously, two motor cables can be arranged on to the same side.On rotor, be pasted with uniformly 80 permanent magnets (64 of height) by automatic equipment, two coils share a set of permanent magnet.
With reference to Fig. 6-1, Fig. 6-2, Fig. 6-3: spacing arrestment mechanism is connected with the gear wheel of the drive system of telescope tracker by transmission gear 3-5, telescopical motion is passed to spacing arrestment mechanism, transmission gear 3-5 is connected with transmission shaft 3-6 by expansion sleeve 3-12, upper acme thread (azimuth axis) or ball screw arrangement (altitude axis) form of adopting of transmission shaft 3-6, positive stop 6-10 is connected with transmission shaft 3-6 by acme thread (azimuth axis) or ball nut (altitude axis).In the time that main shaft rotates, on spacing frid 6-10, there is a rectangular channel, postioning abutment 6-10 is limited to can only be along rectilinear movement before and after transmission shaft 3-6 axial direction, on positive stop 6-10, be fixed with magnetic element 6-14,6-15, magnetic element 6-14,6-15, come and go and do rectilinear motion with spacing gear, in the time that magnetic element contacts with corresponding approach switch, to feed back corresponding signal to host controller, and the system that feeds back to is made corresponding action.As shown in Figure 6: approach switch (sensor) 6-2,6-3,6-4,6-5,6-5,6-7 divide three groups be fixed on can be along on the axially movable spacing trimmer 6-12 of transmission shaft 3-6,6-13,6-16.Adjusting the spacing trimmer 6-13 of zero-bit can be by corresponding with telescopical zero-bit braking position-limit mechanism.Adjust the spacing trimmer 6-12 of forward, can adjust telescope positive movement scope, adjust the spacing trimmer 6-16 of negative sense, can adjust telescope negative movement scope.While passing rotating shaft 3-6 rotation, drive positive stop 6-10 rotation, in the time arriving sensor 6-2,6-3, arrive maximum forward setting range, send signal by sensor 6-2,6-3, feed back to supervisory controller, control-driven system is taked corresponding action; In the time arriving sensor 6-4,6-5, arrive zero-bit, send zero signal information; In the time arriving sensor 6-5,6-7, arrive maximum negative sense setting range, send signal by sensor 6-5,6-7, feed back to supervisory controller, control-driven system is taked corresponding action.
In Fig. 6-1, Fig. 6-2, Fig. 6-3, forward power-absorbing 6-1, negative sense power-absorbing 6-8, electromagnetic clutch 6-9, position-limit mechanism pedestal 6-11, spacing frid 6-17.
The two remaining tracking test platforms of telescope adopt the design of Multidisciplinary Optimization method.Whole system is easy to processing, assembling, transportation, and maintenance cost is low; Load-bearing capacity is strong, friction force is low, and power consumption is little, and transmission efficiency is high, and revolution positioning precision is high, speed adjustable range is wide: cross when low speed and reach 0.05 "/s, can reach 20 °/s when high speed, when low-speed running without creeping phenomenon.Entirety instrument reliability is high, failure rate is low; The target that system can enter any direction is carried out Continuous Tracking; Rotating range is adjustable even in larger scope in positive and negative 0 ~ 360 ° of scope.
Claims (10)
1. one kind for the two redundancy telescope tracking means of astronomical telescope, comprise pitch axis system and azimuth axle, it is characterized in that: described pitch axis system and azimuth axle, adopt respectively two cover drive systems, the two redundant axes that form respectively azimuth axis are and two redundant axes of altitude axis are; Two described cover drive systems are automatically switched by control system; Two cover drive systems in pitch axis system drive altitude axis jointly, share a set of feedback system, share the spacing brake system of a set of height; In azimuth axle two cover tracker drives azimuth axis jointly, shares a set of feedback system, shares the spacing brake system in a set of orientation.
2. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: the composition of two described cover trackers is: tracker and a set of dual-motor drive system of a set of heterogeneous redundant moment motor composition; Or two cover dual-motor drive system.
3. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: described azimuth axle adopts biserial angular contact bearing as support; Described altitude axis adopts paired angular contact bearing as support.
4. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: high-precision round grating is all adopted as feedback mechanism by described azimuth axle and pitch axis system, is provided with subdivision circuit in this feedback mechanism.
5. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: the Seal Design of described feedback mechanism employing labyrinth structure, to prevent that dust, moisture, oil stain from entering the space that circle grating is installed.
6. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: described grating azimuth axis Connection Block adopts because of Steel material.
7. according to claim 1 for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that: in described azimuth axis, adopt two heterogeneous redundant moment motors of remaining to adopt two remainings six phase torque motors of 80 utmost points, in described altitude axis, adopt two remainings six phase torque motors of 64 utmost points.
8. according to claim 1ly it is characterized in that: on described motor stator casing, be designed with cooling bath, there is seal groove both sides for the two redundancy telescope tracking means of astronomical telescope, improve the output power of motor by cooling system.
9. according to claim 1ly it is characterized in that: the stator casing of described motor is designed with locating slot for the two redundancy telescope tracking means of astronomical telescope, by two the strict homophases of motor coil location, and use epoxy resin filling.
According to one of claim 1-9 Suo Shu for the two redundancy telescope tracking means of astronomical telescope, it is characterized in that:
On described stator casing, be also designed with cable hole, two motor cables are arranged on to the same side, two coils share a set of permanent magnet;
Described spacing arrestment mechanism is connected with the gear wheel of the drive system of telescope tracker by transmission gear, and telescopical motion is passed to spacing arrestment mechanism;
The transmission gear of described azimuth axis is connected with transmission shaft by expansion sleeve; On this transmission shaft, adopt acme thread form to realize the back and forth movement of azimuth axis positive stop;
The transmission gear of described altitude axis is connected with transmission shaft by expansion sleeve; On this transmission shaft, adopt ball-screw form to realize the back and forth movement of altitude axis positive stop;
The positive stop of described azimuth axis is connected with transmission shaft by acme thread;
The positive stop of described altitude axis is connected with transmission shaft by ball nut;
In the time that main shaft rotates, on spacing frid, there is a rectangular channel, spacing gear is limited to before and after transmission shaft axial direction and is moved linearly, on positive stop, fix magnetic element, this magnetic element comes and goes and does rectilinear motion with spacing gear, when magnetic element and corresponding approach switch contact, will feed back corresponding signal to host controller, and notice is the logical corresponding action of making.
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| CN105045296A (en) * | 2015-07-20 | 2015-11-11 | 中国科学院国家天文台南京天文光学技术研究所 | Extremely large telescope multiphase motor position tracking control method and control system thereof |
| CN106532267A (en) * | 2016-12-27 | 2017-03-22 | 中国科学院国家天文台 | Telescope with azimuth angle measurement and limitation control system |
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| CN113759537A (en) * | 2021-09-08 | 2021-12-07 | 中国科学院国家天文台南京天文光学技术研究所 | Reflector switching mechanism of optical telescope |
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