Transfer arm device and transfer method for hoisting multi-layer nested reflector

Abstract

The invention discloses a transfer arm device for hoisting a multi-layer nested reflector. The transfer arm device comprises a base, a rotary lifting assembly, a transfer arm, a suspension assembly and a flexible clamping assembly. The lower end of the rotary lifting assembly is installed on the base, and the transfer arm is installed at the upper end of the rotary lifting assembly which is used for driving the transfer arm to ascend, descend and rotate. The transfer arm is of a cantilever structure, the tail end of the transfer arm is connected with the flexible clamping assembly through the suspension assembly, and the suspension assembly drives the flexible clamping assembly to ascend and descend relative to ascending and descending of the transfer arm. And the flexible clamping assembly is used for flexibly adsorbing and clamping the reflecting mirror. The invention further discloses a transfer method for hoisting the multilayer nested reflector based on the device. According to the device, various specifications of reflectors with different diameters, heights and focal lengths can be suspended, lifted and transferred, the device is convenient to operate, man-machine cooperative lifting is achieved, the assembly precision is high, and the structure is reliable.

Description

Technical Field

[0001] The invention belongs to the technical field of precise assembly and adjustment of optical elements, and in particular relates to a transfer arm device and a transfer method for hoisting multi-layer nested reflectors. Background Art

[0002] The grazing incidence X-ray focusing mirror is the main component of astronomical X-ray observation. The Wolter-I multilayer nested X-ray reflector is a type of X-ray focusing mirror with high focusing performance. In recent years, the Wolter-I multilayer nested X-ray reflector has received extensive attention and research at home and abroad. At present, the main installation and adjustment method for the multilayer nested reflector is vertical lifting. During the vertical lifting process, the reflector lens needs to be transferred from the material tray to the top of the installation and adjustment device and lowered into the installation and adjustment device. However, since the single layer thickness of the multilayer nested reflector is usually less than 1mm, and the number of layers is large, the reflector has a variety of heights and focal lengths, which places high requirements on the adaptability of the transfer arm device. Especially for large-diameter and heavy-weight reflectors, it is extremely inconvenient to rely solely on manual movement during the manual transfer process, which is easy to cause the change of the surface shape of the reflector itself, thereby affecting the final focusing imaging accuracy. Therefore, in order to facilitate convenient and accurate operation during the transfer process of the multilayer nested reflector, it is necessary to propose a transfer arm device for hoisting the multilayer nested reflector. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects and provide a transfer arm device and transfer method for hoisting multi-layer nested reflectors, which solves the technical problem that the manual transfer process of the existing reflectors is extremely inconvenient and may affect the final focusing imaging performance. The present invention can realize the suspension, lifting and transfer of various specifications of reflectors with different diameters, heights and focal lengths. The device is easy to operate, human-machine collaborative hoisting, high assembly accuracy and reliable structure.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] The invention discloses a transfer arm device for hoisting multi-layer nested reflectors, comprising: a base, a hand-cranked wheel, a rotary lifting component, a positioning locking sleeve, a transfer arm, a suspension component, a flexible clamping component, and a reflector. The hand-cranked wheel converts rotary motion into linear motion to realize the lifting and lowering of the rotary lifting component; the linear bearing and the rotary bearing of the rotary lifting component ensure the smooth and accurate lifting and rotating of the transfer arm, and reduce the tilt error; the positioning locking sleeve is installed at the upper end of the rotary lifting component, and is used to lock the transfer arm to ensure the stability of the reflector during the rising and falling process; the suspension component suspends the reflector adsorbed by the flexible clamping component through a suspension rope, a bracket, and a suspension rod, and the adjustment rope moves on a fixed pulley to complete the lifting and lowering of the reflector. The device can realize the functions of suspension, lifting, and position transfer of reflectors of different specifications, is easy to operate, and has a reliable structure. Through human-machine collaboration, it can cooperate to realize the precise adjustment of the reflector without affecting the surface accuracy.

[0006] A transfer arm device for hoisting multi-layer nested reflectors, comprising a base, a rotating lifting assembly, a transfer arm, a suspension assembly and a flexible clamping assembly;

[0007] The lower end of the rotary lifting assembly is installed on the base, and the transfer arm is installed on the upper end of the rotary lifting assembly. The rotary lifting assembly is used to drive the transfer arm to lift and rotate;

[0008] The transfer arm is a cantilever structure, and the end of the transfer arm is connected to the flexible clamping assembly through a suspension assembly. The lifting and lowering of the suspension assembly relative to the transfer arm drives the flexible clamping assembly to lift and lower;

[0009] The flexible clamping component is used for flexibly adsorbing and clamping the reflector.

[0010] Further, it also includes a hand-cranked wheel;

[0011] The hand-cranked wheel is fixed on the base, and the hand-cranked wheel converts the rotary motion into the linear motion through the internal worm gear mechanism, so as to provide the force required for the lifting motion of the rotary lifting assembly.

[0012] Furthermore, it also includes a positioning locking sleeve;

[0013] The positioning locking sleeve is used to clamp or loosen the rotating lifting assembly to fix or adjust the azimuth angle of the transfer arm.

[0014] Further, the rotary lifting assembly includes a connecting rod, an angular contact ball bearing, a deep groove ball bearing, a linear bearing, a lifting rod, a rotating cylinder, a supporting cylinder and a housing;

[0015] The lower end of the shell is connected to the base, and the upper end of the shell is connected to the lower end of the support tube;

[0016] The connecting rod is located inside the outer shell, the lower end of the connecting rod is connected to the base, the upper end of the connecting rod is connected to the lower end of the lifting rod through an angular contact ball bearing, the rotating cylinder is installed inside the supporting cylinder through a deep groove ball bearing, and the lifting rod is installed inside the rotating cylinder through a linear bearing; due to the support of the deep groove ball bearing, the rotating cylinder rotates around the vertical axis relative to the supporting cylinder under the auxiliary external force applied by hand; due to the support of the linear bearing, the lifting rod translates up and down along the vertical axis relative to the rotating cylinder under the external force applied by the hand wheel; the rotational motion and the translational motion do not occur at the same time.

[0017] Further, the suspension assembly includes a suspension rope, a bracket, a suspension rod, a slider and an adjustment screw;

[0018] The suspension rope connects the end of the transfer arm and the bracket;

[0019] The bracket is a tripod arm structure, on which sliders are respectively installed, and adjusting screws are installed on the sliders. The sliders are used to drive the suspension rod to move linearly along the tripod arm, and the adjusting screws are used to realize the movement and fixation of the sliders on the tripod arm;

[0020] Three suspension rods are fixedly connected below the three sliding blocks, and the lower ends of the suspension rods are connected to flexible clamping components.

[0021] Furthermore, two fixed pulleys are installed on the transfer arm, one of which is located at the root of the transfer arm, and the other is located at the end of the transfer arm. One end of the suspension rope is connected to the bracket, and the other end of the suspension rope passes through the fixed pulley at the end of the transfer arm and the fixed pulley at the root of the transfer arm in sequence. The flexible clamping assembly is lifted and lowered by pulling the other end of the suspension rope.

[0022] Furthermore, there are three groups of flexible clamping assemblies, which are respectively installed at the lower ends of the three suspension rods;

[0023] Each set of flexible clamping components includes a flexible suction cup, a bracket, a support column, an air inlet pipe and an air extraction pipe;

[0024] The bracket is fixedly connected to the lower end of the suspension rod, and the bracket is used to support the flexible suction cup;

[0025] The air extraction cavity inside the flexible suction cup is connected to the air extraction device through the air extraction pipe, and the air inlet cavity inside the flexible suction cup is connected to the air supply device through the air intake pipe; the air intake cavity is a through large cavity away from the side of the reflector, and the air extraction cavity is a plurality of independent small cavities close to the side of the reflector. When the air intake pipe is opened and the air extraction pipe is closed, the air intake cavity of the flexible suction cup expands radially to clamp the reflector; when the air intake pipe is closed and the air extraction pipe is opened, the local pressure of the air extraction cavity is lower than the atmospheric pressure, and under the action of the atmospheric pressure, the flexible suction cup and the reflector fit tightly; Figure 5 The exhaust cavity is a bowl-shaped structure, and there are three of them. When the gas in the exhaust cavity is exhausted, the atmospheric pressure presses the back of the bowl-shaped structure, so that the bowl-shaped structure fits tightly with the reflector.

[0026] After the transfer is in place, the exhaust pipe and the air inlet pipe are closed in sequence, the local low pressure of the flexible suction cup disappears, and the shape and volume return to the initial state, thus releasing the reflector;

[0027] The radial direction is the diameter direction of the reflector.

[0028] Furthermore, three groups of flexible clamping components are located outside the reflector and are evenly distributed along the circumference of the reflector.

[0029] A transfer method for hoisting a multi-layer nested reflector is implemented by using the transfer arm device for hoisting a multi-layer nested reflector, comprising:

[0030] S1 places the reflector on the mounting table, and adjusts the position of the suspension assembly by lifting and rotating the rotary lifting assembly, so that the suspension assembly is located above the reflector;

[0031] S2 makes the suspension assembly drop to a height suitable for clamping the reflector;

[0032] S3 adjusts the position of the flexible clamping assembly to match the diameter of the reflector, and enables the flexible clamping assembly to complete the flexible adsorption clamping of the reflector;

[0033] S4 transfers the reflector to the top of the installation and adjustment platform by rotating the lifting assembly, the suspension assembly and the flexible clamping assembly, so that the reflector falls into the specified position of the installation and adjustment platform;

[0034] S5 enables the flexible clamping assembly to release the reflector;

[0035] S6 repeats steps S1 to S5 to complete the hoisting and transfer of each layer of reflectors.

[0036] Furthermore, the horizontal center of the platform to be installed in step S1 and the horizontal center of the adjustment platform in step S4 are arranged on a circle with the transfer arm shaft as the center and the transfer arm length as the radius, and the radial error is not greater than 5 mm;

[0037] In step S1, the distance between the projections of the center of the suspension assembly and the center of the reflector in the same horizontal plane is less than 5 mm;

[0038] In step S4, the reflector falls into the annular groove on the adjustment platform, and the horizontal position error between the center of the reflector and the center of the annular groove of the adjustment platform is less than 0.5 mm.

[0039] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0040] (1) The present invention realizes precise adjustment of the reflector without affecting the surface accuracy, especially for large-sized reflectors, through human-machine collaboration during the process of hoisting and transferring the reflector;

[0041] (2) The present invention realizes the lifting and lowering of the transfer arm by means of a hand-cranked wheel in cooperation with a lifting platform, and can adapt to reflectors of different specifications through adaptive adjustment, thereby ensuring the smooth transfer of reflectors at each layer during the installation and adjustment process;

[0042] (3) The present invention ensures the stability of the transferred reflector during the rotation and lifting process by using a rotary bearing and a linear bearing;

[0043] (4) The present invention uses a flexible adsorption component to achieve low-stress flexible adsorption of the reflector, thereby reducing the decrease in surface accuracy during the transfer and lifting process of the reflector. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the overall structure of a transfer arm device for hoisting multi-layer nested reflectors according to the present invention;

[0045] Figure 2 A partial view of the rotary lifting assembly of the present invention;

[0046] Figure 3 for Figure 2 A cross-sectional view of the rotary lifting assembly in the AA direction;

[0047] Figure 4 This is a structural diagram of the suspension assembly of the present invention;

[0048] Figure 5 This is a structural diagram of the flexible clamping assembly of the present invention;

[0049] Among them, 1-base, 2-hand wheel, 3-rotating lifting assembly, 4-positioning locking sleeve, 5-transfer arm, 6-suspension assembly, 7-flexible clamping assembly, 8-reflector; 31-connecting rod, 32-angular contact ball bearing, 33-deep groove ball bearing, 34-linear bearing, 35-lifting rod, 36-rotating cylinder, 37-flexible cover, 38-top cover, 39-support cylinder, 310-support plate, 311-housing, 41-handle; 51-fixed pulley, 52-connecting block, 61-suspension rope, 62-bracket, 63-suspending rod, 64-slider, 65-adjusting screw; 71-flexible suction cup, 72-bracket, 73-support column, 74-intake pipe, 75-exhaust pipe, 76-connecting nut. DETAILED DESCRIPTION

[0050] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0051] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0052] The existing reflector transfer operation process is all realized manually, and the reflector is directly grasped, moved and placed by hand. It is extremely inconvenient to directly operate the reflector for large-sized reflectors, and it may affect the surface accuracy of the reflector, thereby affecting the final focusing imaging performance. In view of this, in order to solve the problems existing in the transfer and hoisting process of the reflector, reduce the accuracy drop caused by manual operation, and realize the smooth transfer of the reflector, the present invention provides a transfer arm device for hoisting multi-layer nested reflectors, which can realize the suspension, lifting and transfer of reflectors of various specifications with different diameters, heights and focal lengths, and the device is easy to operate, and has human-machine collaborative hoisting, high assembly accuracy and reliable structure.

[0053] The present invention discloses a transfer arm device for hoisting multi-layer nested reflectors, comprising a base 1, a hand-cranked wheel 2, a rotary lifting assembly 3, a positioning locking sleeve 4, a transfer arm 5, a suspension assembly 6, a flexible clamping assembly 7, and a reflector 8;

[0054] The base 1 is located at the bottom and is used to fix and install the entire device;

[0055] The hand wheel 2 is fixed on the base 1, and it converts the rotational motion into linear motion through the worm gear mechanism, driving the connecting rod 31 to move up and down;

[0056] The connecting rod 31 is connected to the lifting rod 35 through two angular contact ball bearings to achieve simultaneous linear motion and relative rotational motion;

[0057] The lifting rod 35 is installed inside the rotating cylinder 36 through two linear bearings 34, and the rotating cylinder 36 is installed inside the supporting cylinder 39 through two deep groove ball bearings, so as to realize the linear motion of the lifting rod 35 relative to the rotating cylinder 36, and the rotational motion of the lifting rod 35 and the rotating cylinder 36 relative to the supporting cylinder 39 at the same time;

[0058] The transfer arm 5 is a cantilever structure installed on the upper end of the lifting rod 35, on which two fixed pulleys 51 are installed. The suspension rope 61 of the suspension assembly 6 slides on the fixed pulleys 51 to achieve the lifting and lowering of the bracket 62;

[0059] Three suspension rods 63 evenly distributed in the circumferential direction are fixed below the bracket 62 . A flexible clamping assembly 7 is fixed at the lower end of the suspension rods 63 . The flexible suction cup 71 flexibly absorbs and clamps the reflector 8 .

[0060] In a specific embodiment, the angular contact ball bearing 32 of the rotary lifting assembly 3 provides axial and radial support, and the linear bearing 34 and the deep groove ball bearing 33 provide radial support.

[0061] A top cover 38 and a flexible cover 37 are provided at the upper end of the rotary lifting assembly 3 to prevent excess objects from entering the interior of the rotary lifting assembly 3 .

[0062] In a specific embodiment, the positioning locking sleeve 4 is fixed on the top cover 38, and the lifting rod 35 is clamped or loosened by rotating the handle 41 to achieve accurate fixation of the azimuth angle of the transfer arm 5.

[0063] In a specific embodiment, the flexible clamping assembly 7 includes a flexible suction cup 71, a bracket 72, a support column 73, an air inlet pipe 74 and an air extraction pipe 75, wherein the air inlet pipe 74 is used to adjust the air pressure in the inner cavity of the flexible suction cup 71 to cause radial deformation so as to fit the outer surface of the reflector 8, and the air is extracted through the air extraction pipe 75 so that the local pressure of the flexible suction cup is lower than the atmospheric pressure, thereby realizing flexible adsorption and clamping of the reflector, and the bracket 72 axially supports the flexible suction cup 71, thereby improving the axial stiffness of the flexible clamping assembly 7 and ensuring the stability and reliability of the reflector during the lifting process;

[0064] A method for realizing reflector transfer by a transfer arm device for hoisting multi-layer nested reflectors, comprising:

[0065] S1: The reflector 8 is placed on the mounting table, the hand wheel 2 is manually rotated to complete the height adjustment of the rotating lifting assembly 3, and the transfer arm 5 is manually rotated to make the suspension assembly 6 as a whole located above the reflector 8, and then the positioning locking sleeve 4 is locked;

[0066] S2: Manually adjust the suspension rope 61 to slowly lower the suspension assembly 6 to a height suitable for flexible adsorption and clamping of the reflector 8;

[0067] S3: Adjust the positions of the three sliders 64 in the suspension assembly 6 on the bracket 62 to make them fit the reflector 8 of the corresponding diameter, and then tighten the adjustment screws 65;

[0068] S4: Open the air valve and introduce compressed air into the three flexible suction cups 71 through the air inlet pipe 74, so that the flexible suction cups 71 are radially deformed and close to the outer surface of the reflector 8, and then the air is exhausted through the exhaust pipe 75 to make the local air pressure of the flexible suction cups 71 lower than the atmospheric pressure, that is, to form a local negative pressure, so as to achieve flexible adsorption and clamping of the reflector 8;

[0069] S5: Manually adjust the suspension rope 61 to drive the reflector 8 to slowly rise to a suitable height, loosen the positioning locking sleeve 4, and slowly rotate the transfer arm 5 to make it reach the top of the installation and adjustment platform, and then lock the positioning locking sleeve 4;

[0070] S6: manually releasing the suspension rope 61 to drive the reflector 8 to slowly descend. During the descent process, always pay attention to the aerial posture of the reflector 8 to reduce the vibration of the reflector 8 so that the reflector 8 slowly falls into the specified position of the installation and adjustment platform. During the descent process, human-machine collaboration is required, and the outer surface of the reflector 8 is constantly touched manually to make precise adjustments in time.

[0071] S7: Close the air valves of the air inlet pipe 74 and the air exhaust pipe 75, so that the flexible suction cup 71 releases the reflector 8, and manually adjust the suspension rope 61 to rise to a suitable height, and loosen the positioning locking sleeve 4;

[0072] S8: Repeat steps S1 to S7 to complete the hoisting and transfer operations of each layer of reflector 8.

[0073] In a specific implementation, the platform to be loaded in step S1 and the loading and adjusting platform in step S5 should be arranged on a circle with the transfer arm shaft as the center and the transfer arm length as the radius, and the radial error is not greater than 5 mm.

[0074] In a specific implementation, in step S1 , the lateral position error between the suspension assembly 6 and the reflector 8 is less than 5 mm.

[0075] In a specific implementation, in step S6, the lateral position error of the reflector 8 relative to the specified position of the adjustment platform is less than 0.5 mm.

[0076] Example:

[0077] The present invention provides a transfer arm device for hoisting multi-layer nested reflectors, and the technical solution for implementing the present invention is as follows:

[0078] like Figure 1 As shown, a transfer arm device for hoisting multi-layer nested reflectors includes: a base 1, a hand-cranked wheel 2, a rotating lifting component 3, a positioning locking sleeve 4, a transfer arm 5, a suspension component 6, and a flexible clamping component 7; wherein the base 1 is located at the bottom and is used to fix and install the entire device; the hand-cranked wheel 2 is fixed on the base 1, and converts the rotational motion into linear motion through the internal worm gear mechanism, providing the force required for the rotating lifting component 3 to move up and down; the rotating lifting component 3 drives the transfer arm 5 to achieve lifting and rotating motion; the transfer arm 5 is installed at the upper end of the rotating lifting component 3, and the suspension component 6 is arranged below the transfer arm 5; the flexible adsorption component 7 is installed at the lower end of the three suspension rods 63 of the suspension component 6, and the flexible adsorption, clamping and release of the reflector 8 are achieved by adjusting the internal air pressure of the flexible suction cup 71.

[0079] like Figure 2 , Figure 3As shown, the connecting rod 31 of the rotary lifting assembly 3 is connected to the lifting rod 35 through two angular contact ball bearings 32. The angular contact ball bearings 32 are used to bear radial force and axial force. The lower end of the connecting rod 31 is fixedly connected to the worm gear that can move linearly inside the hand-cranked wheel 2; the lifting rod 35 is installed inside the rotating cylinder 36 through two linear bearings 34, and the rotating cylinder 36 is installed inside the supporting cylinder 39 through two deep groove ball bearings 33. The linear bearings 34 and the deep groove ball bearings 33 are arranged in pairs to improve the stability of the lifting rod 35 during movement; a top cover 38 and a flexible cover 37 are set at the upper end of the rotary lifting assembly 3 to prevent excess objects from entering the interior of the rotary lifting assembly 3; the positioning locking sleeve 4 is fixed on the top cover 38, and the lifting rod 35 is clamped or released by rotating the handle 41 to achieve precise fixation of the azimuth angle of the transfer arm 5.

[0080] The process of realizing the vertical linear motion: manually turning the hand wheel 2, its worm gear mechanism converts the rotation into the vertical linear motion, drives the connecting rod 31, and then drives the lifting rod 35 to realize the vertical linear motion relative to the rotating cylinder 36, at this time the rotating cylinder 36 remains stationary;

[0081] The process of realizing the rotational movement around the vertical axis is as follows: the transfer arm 5 is manually driven to rotate around the vertical axis, driving the lifting rod 35, and then driving the rotating cylinder 36 (because the linear bearing 34 can withstand the torque around the rotating axis) to realize the rotational movement relative to the support cylinder 39, and the connecting rod 31 remains stationary at this time.

[0082] like Figure 4 As shown, the suspension assembly 6 includes a suspension rope 61, a bracket 62, a suspension rod 63, a slider 64 and an adjustment screw 65. The suspension rope 61 is set on two fixed pulleys 51, and the end is connected to the bracket 62. The suspension rope 61 should be smooth and have low extensibility; three suspension rods 63 are fixed on the trident of the bracket 62 through sliders 64, and the trident is evenly distributed on the circumference. By loosening the adjustment screws 65, the slider 64 can slide radially along the trident to adapt to reflectors 8 of different specifications. After the adjustment is completed, tighten the adjustment screws 65 to ensure the rigid connection between the suspension rod 63 and the bracket 62; the lower end of the suspension rod 63 is threaded for connecting and fixing the flexible clamping assembly 7.

[0083] like Figure 5 As shown, the flexible clamping assembly 7 includes a flexible suction cup 71, a bracket 72, a support column 73, an air inlet pipe 74, an air extraction pipe 75, and a connecting nut 76; the bracket 72 is fixedly installed at the lower end of the suspension rod 63 through the connecting nut 76, and the flexible suction cup 71 has an air inlet cavity and an air extraction cavity inside, and the two cavities are independent of each other and not connected. The air inlet cavity is a through large cavity located on the side of the flexible suction cup 71 away from the reflector 8, and the air extraction cavity is a plurality of small cavities located on the side of the flexible suction cup 7 close to the reflector 8. The small cavity and the bowl-shaped structure of the flexible suction cup 7 ( Figure 53) correspond one to one. Compressed air is introduced into the air inlet cavity of the flexible suction cup 71 made of silicone material through the air inlet pipe 74, so that it deforms radially to adapt to the outer surface of the reflector 8; then the air is evacuated through the air extraction pipe 75 to evacuate the air extraction cavity, so that the pressure at the bowl-shaped structure of the flexible suction cup 71 close to the reflector 8 is lower than the atmospheric pressure. Under the action of the atmospheric pressure, the bowl-shaped structure of the flexible suction cup 71 fits tightly with the reflector 8, so as to realize the flexible adsorption and clamping of the reflector 8. The bracket 72 provides vertical support for the flexible suction cup 71, improves the vertical rigidity of the flexible clamping assembly 7, and ensures the stability and reliability of the reflector 8 during the lifting process; after the transfer is in place, the air valve of the air extraction pipe 75 and the air valve of the air inlet pipe 74 are closed in turn, the local low pressure of the flexible suction cup 71 disappears, and the shape and volume are restored to the initial state, so as to realize the release of the reflector 8.

[0084] A method for transferring a multi-layer nested reflector using a transfer arm device for hoisting a multi-layer nested reflector according to the present invention comprises the following steps:

[0085] In the first step, the reflector 8 is placed on the mounting table, the hand wheel 2 is manually rotated to complete the height adjustment of the rotating lifting assembly 3, and the transfer arm 5 is manually rotated to make the suspension assembly 6 as a whole located above the reflector 8, and then the positioning locking sleeve 4 is locked;

[0086] The second step is to manually adjust the suspension rope 61 so that the suspension assembly 6 slowly descends to a height suitable for flexible adsorption and clamping of the reflector 8;

[0087] The third step is to adjust the positions of the three sliders 64 in the suspension assembly 6 on the bracket 62 so that they are suitable for the reflector 8 of the corresponding diameter, and then tighten the adjustment screws 65;

[0088] The fourth step is to open the air valve and introduce compressed air into the three flexible suction cups 71 through the air inlet pipe 74, so that the flexible suction cups 71 are radially deformed and close to the outer surface of the reflector 8, and then the air is pumped through the air pump pipe 75 to make the local air pressure of the flexible suction cups 71 lower than the atmospheric pressure, that is, to form a local negative pressure, so as to achieve flexible adsorption and clamping of the reflector 8;

[0089] Step 5: Manually adjust the suspension rope 61 to drive the reflector 8 to slowly rise to a suitable height, loosen the positioning locking sleeve 4, and slowly rotate the transfer arm 5 to make it reach the top of the adjustment platform, and then lock the positioning locking sleeve 4;

[0090] Step 6: manually release the suspension rope 61 to drive the reflector 8 to slowly descend. During the descent process, always pay attention to the aerial posture of the reflector 8 to reduce the vibration of the reflector 8 so that the reflector 8 slowly falls into the specified position of the installation and adjustment platform. During the descent process, human-machine collaboration is required to continuously manually touch the outer surface of the reflector 8 to make precise adjustments in time.

[0091] Step 7: close the air valves of the air inlet pipe 74 and the air exhaust pipe 75, so that the flexible suction cup 71 releases the reflector 8, and manually adjust the suspension rope 61 to rise to a suitable height, and loosen the positioning locking sleeve 4;

[0092] Step 8: Repeat steps 1 to 7 to complete the hoisting and transfer operations of each layer of reflectors 8.

[0093] It should be noted that the waiting platform in the first step and the adjustment platform in the fifth step should be arranged on a circle with the transfer arm shaft as the center and the transfer arm length as the radius, and the radial error should not exceed 5mm.

[0094] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0095] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A transfer arm device for hoisting multi-layer nested reflectors, characterized in that: It comprises a base (1), a rotating lifting assembly (3), a transfer arm (5), a suspension assembly (6) and a flexible clamping assembly (7); The lower end of the rotary lifting component (3) is mounted on the base (1), and the transfer arm (5) is mounted on the upper end of the rotary lifting component (3). The rotary lifting component (3) is used to drive the transfer arm (5) to lift and rotate; The transfer arm (5) is a cantilever structure. The end of the transfer arm (5) is connected to the flexible clamping assembly (7) via a suspension assembly (6). The lifting and lowering of the suspension assembly (6) relative to the transfer arm (5) drives the flexible clamping assembly (7) to lift and lower. The flexible clamping component (7) is used to perform flexible adsorption clamping on the reflector (8).

2. A transfer arm device for hoisting multi-layer nested reflectors according to claim 1, characterized in that: Also includes a hand-cranked wheel (2); The hand-cranked wheel (2) is fixed on the base (1), and the hand-cranked wheel (2) converts the rotational motion into the linear motion through the internal worm gear mechanism, thereby providing the force required for the lifting motion of the rotary lifting component (3).

3. A transfer arm device for hoisting multi-layer nested reflectors according to claim 1, characterized in that: It also includes a positioning locking sleeve (4); The positioning locking sleeve (4) is used to clamp or loosen the rotating lifting component (3) to achieve the fixing or adjustment of the azimuth angle of the transfer arm (5).

4. The transfer arm device for hoisting multi-layer nested reflectors according to claim 1, characterized in that: The rotary lifting assembly (3) comprises a connecting rod (31), an angular contact ball bearing (32), a deep groove ball bearing (33), a linear bearing (34), a lifting rod (35), a rotating cylinder (36), a supporting cylinder (39) and a housing (311); The lower end of the shell (311) is connected to the base (1), and the upper end of the shell (311) is connected to the lower end of the support tube (39); The connecting rod (31) is located inside the housing (311), the lower end of the connecting rod (31) is connected to the base (1), the upper end of the connecting rod (31) is connected to the lower end of the lifting rod (35) through an angular contact ball bearing (32), the rotating cylinder (36) is installed inside the supporting cylinder (39) through a deep groove ball bearing (33), and the lifting rod (35) is installed inside the rotating cylinder (36) through a linear bearing (34); due to the support of the deep groove ball bearing (33), the rotating cylinder (36) rotates around the vertical axis relative to the supporting cylinder (39) under the auxiliary external force applied by a hand; due to the support of the linear bearing (34), the lifting rod (35) moves up and down along the vertical axis relative to the rotating cylinder (36) under the external force applied by the hand wheel (2); the rotational motion and the translational motion do not occur simultaneously.

5. The transfer arm device for hoisting multi-layer nested reflectors according to claim 1, characterized in that: The suspension assembly (6) comprises a suspension rope (61), a bracket (62), a suspension rod (63), a sliding block (64) and an adjustment screw (65); A suspension rope (61) connects the end of the transfer arm (5) and the bracket (62); The bracket (62) is a three-pronged arm structure, and sliders (64) are respectively installed on the three-pronged arms. The adjusting screws (65) are installed on the sliders (64). The sliders (64) are used to drive the suspension rod (63) to move linearly along the three-pronged arm, and the adjusting screws (65) are used to realize the movement and fixation of the sliders (64) on the three-pronged arm. Three suspension rods (63) are fixedly connected below the three sliding blocks (64), and the lower ends of the suspension rods (63) are connected to the flexible clamping components (7).

6. A transfer arm device for hoisting multi-layer nested reflectors according to claim 5, characterized in that: Two fixed pulleys (51) are installed on the transfer arm (5), one of the fixed pulleys (51) is arranged at the root of the transfer arm (5), and the other fixed pulley (51) is arranged at the end of the transfer arm (5); one end of a suspension rope (61) is connected to a bracket (62); the other end of the suspension rope (61) passes through the fixed pulley (51) at the end of the transfer arm (5) and the fixed pulley at the root of the transfer arm (5) in sequence, and the flexible clamping assembly (7) is driven to rise and fall by pulling the other end of the suspension rope (61).

7. The transfer arm device for hoisting multi-layer nested reflectors according to claim 5, characterized in that: There are three groups of flexible clamping components (7), which are respectively installed at the lower ends of three suspension rods (63); Each set of flexible clamping components (7) comprises a flexible suction cup (71), a bracket (72), a support column (73), an air inlet pipe (74) and an air extraction pipe (75); The bracket (72) is fixedly connected to the lower end of the suspension rod (63), and the bracket (72) is used to support the flexible suction cup (71); The air extraction cavity inside the flexible suction cup (71) is connected to the air extraction device via an air extraction pipe (75), and the air intake cavity inside the flexible suction cup (71) is connected to the air supply device via an air intake pipe (74); the air intake cavity is a through large cavity away from the side of the reflector (8), and the air extraction cavity is a plurality of mutually independent small cavities close to the side of the reflector (8); When the air inlet pipe (74) is opened and the air extraction pipe (75) is closed, the air inlet cavity of the flexible suction cup (71) expands radially, thereby clamping the reflector (8); when the air inlet pipe (74) is closed and the air extraction pipe (75) is opened, the local pressure of the air extraction cavity is lower than the atmospheric pressure, and under the action of the atmospheric pressure, the flexible suction cup (71) and the reflector (8) are tightly fitted; After the transfer is in place, the exhaust pipe (75) and the air inlet pipe (74) are closed in sequence, the local low pressure of the flexible suction cup (71) disappears, and the shape and volume are restored to the initial state, thereby achieving the release of the reflector (8); The radial direction is the diameter direction of the reflector (8).

8. The transfer arm device for hoisting multi-layer nested reflectors according to claim 7, characterized in that: The three groups of flexible clamping components (7) are located outside the reflector (8) and are evenly distributed along the circumference of the reflector (8).

9. A method for transferring a hoisted multi-layer nested reflector, characterized in that: The invention is realized by using a transfer arm device for hoisting multi-layer nested reflectors as claimed in any one of claims 1 to 8, comprising: S1 places the reflector (8) on the mounting table, and adjusts the position of the suspension component (6) by lifting and rotating the rotary lifting component (3), so that the suspension component (6) is located above the reflector (8); S2 lowers the suspension assembly (6) to a height suitable for clamping the reflector (8); S3: adjusting the position of the flexible clamping component (7) to match the diameter of the reflector (8), and allowing the flexible clamping component (7) to complete the flexible adsorption clamping of the reflector (8); S4 transfers the reflector (8) to the top of the installation and adjustment platform by rotating the lifting component (3), the suspension component (6) and the flexible clamping component (7), so that the reflector (8) falls into the designated position of the installation and adjustment platform; S5 causes the flexible clamping assembly (7) to release the reflector (8); S6 repeats steps S1 to S5 to complete the hoisting and transfer of each layer of reflectors (8).

10. A transfer method for hoisting multi-layer nested reflectors according to claim 9, characterized in that: The horizontal center of the platform to be installed in step S1 and the horizontal center of the adjustment platform in step S4 are arranged on a circle with the rotation axis of the transfer arm (5) as the center and the length of the transfer arm as the radius, and the radial error is not greater than 5 mm; In step S1, the distance between the projections of the center of the suspension assembly (6) and the center of the reflector (8) in the same horizontal plane is less than 5 mm; In step S4, the reflector (4) falls into the annular groove on the adjustment platform, and the horizontal position error between the center of the reflector (4) and the center of the annular groove of the adjustment platform is less than 0.5 mm.

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