A device for facilitating the installation and removal of the FAST feed receiver.

Abstract

The present invention discloses a device for facilitating the installation and disassembly of a FAST feed receiver, comprising: a workbench, a rolling mechanism installed at the lower end of the workbench, a push rod mechanism and a manipulator mechanism; the push rod mechanism comprises a first electric push rod and a support rod installed above the first electric push rod; the manipulator mechanism comprises a second electric push rod and a manipulator installed above the second electric push rod; the lower end of the push rod mechanism and the lower end of the manipulator mechanism can slide along the workbench surface; the support rods of several push rod mechanisms can stably support the lower platform of the FAST feed cabin; several rolling mechanisms are evenly installed on the workbench and can stably support the workbench. The device can adjust the positions of the push rod mechanism and the manipulator mechanism on the workbench according to the different installation and disassembly positions of the lower platform and the feed receiver, so that the device has strong versatility. The use of the device provides convenience for the disassembly and assembly of the lower platform and the feed receiver to a large extent.

Description

Technical Field

[0001] The invention relates to the application field of astronomical equipment, and in particular to a device for facilitating installation and disassembly of a FAST feed receiver. Background Art

[0002] The Five-hundred-meter Aperture Spherical radioTelescope (FAST) is the world's largest single-aperture radio telescope, with three independent innovations: using Guizhou's natural karst pit as the site; actively deforming the reflecting surface; using a flexible lightweight mechanism dragged by six cables in parallel to drag the feed cabin to achieve primary cable drive; and using the AB rotating shaft mechanism and Stewart mechanism in the feed cabin to achieve secondary fine-tuning of the feed position, thereby achieving high-precision positioning of the feed.

[0003] The FAST reflector can achieve instantaneous active deformation of the 300-meter aperture reflector, from a spherical surface to a parabola, ensuring that the parabola always points to the celestial body to be observed and focusing the radio wave signals from the celestial body. At the same time, the feed receiver at the focal position receives and processes the radio wave signals, and this process is continuous.

[0004] In order to receive radio waves, the feed receiver is installed in the feed cabin, and a feed support system is used to achieve positioning at an altitude of 140m and a range of 207m. The feed cabin is the main equipment that carries the feed receiver and further fine-tunes its position and attitude, mainly including the star frame, AB axis mechanism, Stewart mechanism, multi-beam receiver steering device, cabin cover and other auxiliary equipment / facilities.

[0005] There are two sets of lower platforms of the Stewart mechanism in the existing feed module, namely the first lower platform I and the second lower platform II. Figure 1 The first lower platform I is equipped with a multi-beam receiver 1' and a low-frequency feed receiver 2'. When only the multi-beam receiver 1' is used for observation, the low-frequency feed receiver 2' needs to be removed from the first lower platform. The second lower platform II generally has two installation forms, see Figure 2 In the first installation form, five different feed receivers 3´, 4´, 5´, ​​6´ and a low-frequency feed receiver 2´ are installed through the first receiver adapter plate. When the low-frequency feed receiver 2´ is installed on the first lower platform I or the feed receivers 3´, 4´, 5´, ​​6´ are used for observation, the low-frequency feed receiver 2´ does not need to be installed or the low-frequency feed receiver 2´ needs to be removed from the second lower platform II; see Figure 3 In another installation form, two different feed receivers 7' and 8' are installed on the second lower platform II through a second receiver adapter plate 9'.

[0006] The type of the lower platform and feed receiver installed on the Stewart mechanism of the feed cabin are determined according to the needs of astronomical observations. According to different observation needs, it is necessary to constantly replace the lower platform or install and disassemble different feed receivers on the lower platform; the installation and disassembly of the lower platform and feed receiver need to be carried out when the feed cabin is in port. Since the bottom surface of the lower platform of the Stewart mechanism is about 4.2 meters from the ground, and the lower platform and some feed receivers are heavy, this makes the disassembly and assembly of the lower platform and feed receiver very inconvenient. Summary of the invention

[0007] In view of the problems existing in the prior art, the purpose of the present invention is to provide a device that facilitates the installation and disassembly of the FAST feed receiver, so as to solve the problem that the feed receiver is inconvenient to install and disassemble when FAST adapts to different observation needs.

[0008] To achieve the above object, the technical solution of the present invention is as follows:

[0009] A device for facilitating installation and disassembly of a FAST feed receiver, comprising: a workbench, a rolling mechanism installed at the lower end of the workbench, a push rod mechanism and a manipulator mechanism;

[0010] The push rod mechanism includes a first electric push rod and a support rod installed above the first electric push rod; the manipulator mechanism includes a second electric push rod and a manipulator installed above the second electric push rod;

[0011] The lower end of the push rod mechanism and the lower end of the manipulator mechanism can both slide along the workbench surface;

[0012] The support rods of the plurality of push rod mechanisms can stably support the lower platform of the FAST feed cabin;

[0013] A plurality of rolling mechanisms are evenly mounted on the workbench and can stably support the workbench.

[0014] Furthermore, a plurality of intersecting T-slots are provided on the upper surface of the workbench, and the lower ends of the push rod mechanism and the manipulator mechanism are both installed in the T-slots and slide along the T-slots.

[0015] Furthermore, the workbench is provided with a plurality of concentric annular T-shaped grooves and a plurality of linear T-shaped grooves passing through the diameter of the annular T-shaped grooves, and the annular T-shaped grooves intersect with the linear T-shaped grooves.

[0016] Furthermore, some circles and / or some lines of the plurality of circles of the annular T-shaped grooves and the plurality of the linear T-shaped grooves are connected to the T-shaped opening that passes through the edge of the workbench.

[0017] Furthermore, the push rod mechanism and the manipulator mechanism both include: a support seat, a fastening plate, and a bolt assembly arranged at the lower end; an insertion rod located at the lower end of the support seat is inserted into the T-slot, and a mounting plate located at the upper end of the support seat is supported on the workbench surface; in the T-slot, the fastening plate is mounted on the insertion rod, and the bolt assembly is used to fix the mounting plate and the fastening plate so that the mounting plate and the fastening plate clamp the side walls of the T-slot.

[0018] Furthermore, the first electric push rod and the second electric push rod each include: a motor reducer component, a ball screw pair, and a ball spline pair; the motor reducer component drives the ball spline pair to move up and down through the ball screw pair; the ball spline pair is provided with a structure to prevent the ball screw pair from rotating in the axial direction;

[0019] The ball spline pair of the first electric push rod is fixedly connected to the support rod; the ball spline pair of the second electric push rod is fixedly connected to the manipulator.

[0020] Furthermore, the manipulator mechanism also includes: a torque gun, a torque gun fixing seat, and a wrench socket; the torque gun is fixed to the manipulator through the torque gun fixing seat, and the wrench socket is installed on the torque gun.

[0021] Furthermore, the manipulator mechanism also includes a sensor installed on the torque gun, and the sensor is used to identify the position of the bolts on the lower platform.

[0022] Furthermore, the rolling mechanism is a universal wheel or a mobile trolley.

[0023] The device for facilitating installation and disassembly of the FAST feed receiver of the present invention brings the following beneficial effects:

[0024] When installing and disassembling the lower platform or the feed receiver on the lower platform, the device can be moved to the lower platform of the Stewart mechanism of the feed cabin through the rolling structure, and then the lower platform is stably supported by a number of push rod mechanisms, and then the manipulator mechanism is used to complete the disassembly and installation of the lower platform or the feed receiver. Since the lower end of the push rod mechanism and the lower end of the manipulator mechanism can slide along the work surface, the device can adjust the position of the push rod mechanism and the manipulator mechanism on the workbench according to the different installation and disassembly positions of the lower platform and the feed receiver, so that the device can cooperate with the disassembly and installation of various lower platforms and various feed receivers, and has strong versatility. The use of this device provides convenience for the disassembly and assembly of the lower platform and the feed receiver to a large extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic cross-sectional structure diagram of the first lower platform in the background technology;

[0026] Figure 2 It is a structural schematic diagram of the first installation method of the second lower platform in the background technology;

[0027] Figure 3 It is a cross-sectional structural schematic diagram of the second installation method of the second lower platform in the background technology;

[0028] Figure 4 A schematic diagram of the structure of a device for facilitating installation and removal of a FAST feed receiver provided as an example of the present invention;

[0029] Figure 5 A schematic diagram of the use status of a device for facilitating installation and removal of a FAST feed receiver provided as an example of the present invention;

[0030] Figure 6 A schematic top view of a workbench 1 in a device for facilitating installation and removal of a FAST feed receiver in this example;

[0031] Figure 7 A schematic diagram of the push rod mechanism for facilitating installation and removal of the FAST feed receiver in this example;

[0032] Figure 8 for Figure 7 Schematic diagram of the structure of the AA section;

[0033] Fig. 9 for Figure 8 A partial enlarged schematic diagram of

[0034] Fig.10 This is a schematic cross-sectional structure diagram of a push rod mechanism in a device for facilitating installation and removal of a FAST feed receiver in this example;

[0035] Fig.11 This is a schematic diagram of the structure of the manipulator mechanism in the device for facilitating the installation and removal of the FAST feed receiver in this example;

[0036] In the figure:

[0037] 1—workbench; 1-1—annular T-slot; 1-2—straight T-slot; 1-3—T-shaped opening; 2—rolling mechanism; 3—push rod mechanism; 3-1—support rod; 3-2—motor reducer component; 3-3—reducer support; 3-4—ball screw pair; 3-5—ball spline pair; 4—manipulator mechanism; 4-1—manipulator; 4-2—connecting seat; 4-3—torque gun fixing seat; 4-4—torque gun; 4-5—wrench socket; 5—device for facilitating installation and removal of FAST feed receiver; 6—lower platform; 7—feed cabin; 8—ground; 9—support seat; 9-1—insertion rod; 9-2—mounting plate; 10—fastening pressure plate; 11—bolt assembly. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings in the examples of the present invention. Obviously, the described examples are only part of the examples of the present invention, not all of the examples. Based on the examples in the present invention, all other implementation methods obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present invention.

[0039] In the description of the present embodiment, the terms "upper", "lower", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish similar objects, and cannot be understood as a specific order or sequence, and it should be understood that such usage can be interchangeable under appropriate circumstances.

[0040] like Figure 4-11 The example shown provides a device for facilitating installation and removal of a FAST feed receiver according to the present invention, comprising: a workbench 1, a rolling mechanism 2 installed at the lower end of the workbench 1, a push rod mechanism 3 and a manipulator mechanism 4;

[0041] The push rod mechanism 3 includes a first electric push rod and a support rod 3-1 installed above the first electric push rod; the manipulator mechanism 4 includes a second electric push rod and a manipulator 4-1 installed above the second electric push rod;

[0042] The lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4 can slide along the surface of the workbench 1;

[0043] The support rods of the push rod mechanisms 3 can stably support the lower platform 6 of the FAST feed cabin;

[0044] A plurality of rolling mechanisms 2 are evenly mounted on the workbench 1 and can stably support the workbench 1 .

[0045] When the device of this example is used to install and disassemble the lower platform 6 or the feed receiver on the lower platform 6, the device can be moved to the lower side of the Stewart mechanism of the feed cabin 6 by the rolling structure 2, and then the lower platform 6 is stably supported by a plurality of push rod mechanisms 3, and then the manipulator mechanism 4 is used to complete the disassembly and installation of the lower platform 6 or the feed receiver. Since the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4 can slide along the surface of the workbench 1, the device can adjust the position of the push rod mechanism 3 and the manipulator mechanism 4 on the workbench 1 according to the different installation and disassembly positions of the lower platform 6 and the feed receiver, so that the device can cooperate with the disassembly and installation of various lower platforms and various feed receivers, and has strong versatility. The use of this device provides convenience for the disassembly and assembly of the lower platform and the feed receiver to a large extent.

[0046] It should be noted that during use, the push rod mechanism 3 and the manipulator mechanism 4 of the device push the support rod 3-1 and the manipulator 4-1 upwards respectively through the first electric push rod and the second electric push rod to support the lower platform and complete the disassembly and assembly of the lower platform or the feed receiver.

[0047] See also Figure 4 The device of this example is equipped with 4 sets of pushing mechanisms 3 and 3 sets of manipulator mechanisms 4. In other embodiments of the present invention, technicians can increase or decrease the number of pushing mechanisms 3 and manipulator mechanisms 4 according to practical needs.

[0048] In this example, the upper surface of the workbench 1 is provided with a plurality of intersecting T-slots, and the lower ends of the push rod mechanism 3 and the manipulator mechanism 4 are both installed in the T-slots and slide along the T-slots. Specifically, the workbench 1 is provided with a plurality of concentric annular T-slots 1-1 and a plurality of linear T-slots 1-2 passing through the diameter of the annular T-slots 1-1, and the annular T-slots 1-1 intersect with the linear T-slots 1-2. Figure 6 In this example, the workbench 1 is provided with three annular T-slots and six linear T-slots 1-2 intersecting the three annular T-slots.

[0049] Preferably, several circles of the multi-circle annular T-slot 1-1 are connected to the T-shaped opening 1-3 that passes through the edge of the workbench 1; or, several lines of the multiple linear T-slots 1-2 are connected to the T-shaped opening 1-3 that passes through the edge of the workbench 1; or, several circles and several lines of the multi-circle annular T-slot 1-1 and the multiple linear T-slots 1-2 are connected to the T-shaped opening 1-3 that passes through the edge of the workbench 1.

[0050] See also Figure 6-9 In this example, both ends of the linear T-slot 1-2 are connected to the T-shaped opening 1-3 that passes through the edge of the workbench, and in order to adapt to the shape of the workbench 1, the linear T-slot 1-2 and the T-shaped opening 1-3 are connected in a broken line shape.

[0051] The push rod mechanism 3 and the manipulator mechanism 4 both include: a support seat 9 arranged at the lower end, a fastening plate 10, and a bolt assembly 11; an insertion rod 9-1 located at the lower end of the support seat 9 is inserted into the T-slot, and a mounting plate 9-2 located at the upper end of the support seat is supported on the surface of the workbench 1; in the T-slot, the fastening plate 10 is inserted onto the insertion rod 9-1, and the bolt assembly 11 is used to fix the mounting plate 9-2 and the fastening plate 10, so that the mounting plate 9-2 and the fastening plate 10 clamp the side wall of the T-slot. Fig. 9 It shows the operation of installing the support seat 9 and the fastening plate 10 at the T-shaped opening 1-3, and the installation and position adjustment of the push rod mechanism 3 and the manipulator mechanism 4 are completed through the cooperation of the support seat 9, the fastening plate 10 and the T-shaped slot.

[0052] In the embodiment of the present invention, the first electric push rod and the second electric push rod are arranged to move up and down through the support rod 3-1 and the manipulator 4-1. The structures of the first electric push rod and the second electric push rod can be the same or different. In order to facilitate matching and reduce the types of accessories of the device, in this example, the structures of the first electric push rod and the second electric push rod are the same. Fig.10 , all include: a motor reducer component 3-2, a ball screw pair 3-4, and a ball spline pair 3-5; wherein the motor reducer component 3-2 is installed above the support seat 9 through the reducer support 3-3, and the motor reducer component 3-2 drives the ball spline pair 3-5 to move up and down through the ball screw pair 3-4; the ball spline pair 3-5 is provided with a structure to prevent the ball screw pair 3-4 from rotating in the axial direction, so that the ball spline pair 3-5 can only stably move up and down;

[0053] The ball spline pair 3-5 of the first electric push rod is fixedly connected to the support rod 3-1; the ball spline pair 3-5 of the second electric push rod is fixedly connected to the manipulator 4-1, so that the support rod 3-1 and the manipulator 4-1 can move up and down smoothly.

[0054] See also Fig.11 The manipulator mechanism 4 also includes: a torque gun 4-4, a torque gun fixing seat 4-3, and a wrench sleeve 4-5; specifically, the manipulator 4-1 is fixedly connected to the corresponding ball spline pair 3-5 through the connecting seat 4-2, the torque gun 4-4 is fixed to the manipulator 4-1 through the torque gun fixing seat 4-3, and the wrench sleeve 4-5 is installed on the torque gun 4-4. The bolts on the lower platform 6 are disassembled and assembled through the wrench sleeve 4-5, so as to realize the disassembly and assembly of the lower platform 6 and the feed receiver thereon.

[0055] In this example, the rolling mechanism 2 can be a universal wheel or a mobile trolley. When the rolling mechanism is a direction wheel, it is convenient for personnel to move the device. A braking device is also provided on the universal wheel, which facilitates positioning when the device is moved directly under the feed cabin; when the rolling mechanism 2 is a mobile trolley, the mobile trolley can usually be electrically controlled to achieve automatic control of the movement of the device.

[0056] In this example, the manipulator mechanism 4 also includes a sensor installed on the torque gun 4-4, and the sensor is used to identify the position of the bolt on the lower platform 6. Specifically, the sensor can be a visual sensor, which is installed on the edge of the torque gun 4-4. A target is pasted (placed) on the center point of the screw where the bolt needs to be removed or tightened on the lower platform 6, and the coordinates of the center point of the bolt in the pixel coordinate system are obtained by the visual sensor using the current more mature target feature point automatic extraction method. Based on the camera perspective projection model, the pixel coordinates of the center point of the bolt can be used to obtain the coordinates of the corresponding bolt in the rolling mechanism 2 coordinate system or the world coordinate system. Finally, the manipulator 4-1 controls the movement of each joint of the manipulator arm through inverse kinematics, so that the wrench socket 4-5 can accurately identify the bolt and remove or tighten it.

[0057] The working process of the device for facilitating installation and removal of the FAST feed receiver in this example may be:

[0058] When the device is not working, the push rod structure 3 and the manipulator mechanism 4 are respectively lowered to the lowest position through the first electric push rod and the second electric push rod.

[0059] When the device is working, the device is moved to the right below the feed cabin through the rolling mechanism 2. According to the use requirements, the positions of each group of push rod structures 3 and each group of manipulator mechanisms 4 on the workbench 1 are adjusted, and the push rod mechanisms 3 are controlled to rise to support the lower platform 6. According to the position of the bolts to be tightened or removed at the bottom of the lower platform 6, the manipulator mechanism 4 is moved to a suitable position and raised to an appropriate height, which is convenient for the position adjustment of the torque gun 4-4 installed on the manipulator 3-1 and the accurate identification of the bolt position on the lower platform 6 by the sensor, and is convenient for the torque gun 4-4 to install and remove the bolts through the wrench socket 4-5.

[0060] It should be noted that, in this example, not all of the push rod structures 3 and the manipulator mechanisms 4 installed on the workbench 1 are necessarily put into use during one disassembly and assembly process. For example, several groups of push rod structures 3 are selected from all groups to support the lower platform, and several groups of manipulator mechanisms 4 are selected from all groups to install and disassemble the bolts on the lower platform 6.

[0061] It should be noted that in other embodiments of the present invention, in order to realize that the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4 can slide along the table surface of the workbench 1, a groove can be provided at the lower end of the push rod mechanism 3 and the lower end of the manipulator mechanism 4, and a plurality of protrusions matching the above grooves can be provided on the table surface of the workbench 1, and, in order to facilitate the installation of the push rod mechanism 3 and the manipulator mechanism 4, the edge of the protrusion can also be extended to the edge of the workbench 1. These can be made by those skilled in the art based on their basic skills based on their understanding of the concept of the present invention, so they will not be listed here one by one.

[0062] Finally, it is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the principles and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A device for facilitating installation and removal of a FAST feed receiver, characterized in that: include: A workbench, a rolling mechanism, a push rod mechanism and a manipulator mechanism installed at the lower end of the workbench; the push rod mechanism includes a first electric push rod and a support rod installed above the first electric push rod; the manipulator mechanism includes a second electric push rod and a manipulator installed above the second electric push rod; the lower ends of the push rod mechanism and the manipulator mechanism can slide along the workbench surface; the support rods of several push rod mechanisms can stably support the lower platform of the FAST feed cabin; several rolling mechanisms are evenly installed on the workbench and can stably support the workbench; A plurality of intersecting T-slots are arranged on the upper surface of the workbench, and the lower ends of the push rod mechanism and the manipulator mechanism are both installed in the T-slots and slide along the T-slots; The workbench is provided with a plurality of concentric annular T-shaped grooves and a plurality of linear T-shaped grooves passing through the diameter of the annular T-shaped grooves, and the annular T-shaped grooves intersect with the linear T-shaped grooves; Some of the multiple circles of the annular T-shaped grooves and the multiple linear T-shaped grooves and / or some of the multiple circles and / or some of the linear T-shaped grooves are connected to the T-shaped opening that passes through the edge of the workbench; The push rod mechanism and the manipulator mechanism both include: a support seat, a fastening plate, and a bolt assembly arranged at the lower end; an insertion rod at the lower end of the support seat is inserted into the T-slot, and a mounting plate at the upper end of the support seat is supported on the workbench surface; in the T-slot, the fastening plate is fitted onto the insertion rod, and the bolt assembly is used to fix the mounting plate and the fastening plate so that the mounting plate and the fastening plate clamp the side wall of the T-slot; A torque gun, a torque gun fixing seat, and a wrench socket; the torque gun is fixed to the manipulator through the torque gun fixing seat, and the wrench socket is installed on the torque gun.

2. The device according to claim 1, characterized in that The first electric push rod and the second electric push rod both include: a motor reducer component, a ball screw pair, and a ball spline pair; the motor reducer component drives the ball spline pair to move up and down through the ball screw pair; the ball spline pair is provided with a structure to prevent the ball screw pair from rotating axially; the ball spline pair of the first electric push rod is fixedly connected to the support rod; the ball spline pair of the second electric push rod is fixedly connected to the manipulator.

3. The device according to claim 1, characterized in that The manipulator mechanism further includes a sensor mounted on the torque gun, and the sensor is used to identify the position of the bolts on the lower platform.

4. The device according to claim 1, characterized in that The rolling mechanism is a universal wheel or a mobile trolley.

Images