A new type of feed cabin of FAST based on six-cable parallel driving and additional hydraulic push rod

Abstract

The application discloses a new type of FAST feed source cabin based on six-cable parallel driving and additional hydraulic push rod, which comprises a star-shaped frame, a cable driving mechanism, a hydraulic push rod, a lower platform component and a feed source receiver; a servo sliding table mechanism or a drum cable driving mechanism of the cable driving mechanism is connected with a seat plate on the star-shaped frame, and a lower end of the cable driving mechanism is connected with the lower platform component; a top of the hydraulic push rod is connected with a top structure in the star-shaped frame, and a bottom of the hydraulic push rod is connected with the lower platform component; and the feed source receiver is fixed on the lower platform component. The cable driving mechanism is used to realize parallel driving of the lower platform, replace the AB rotary joint mechanism and the rigid parallel mechanism of the existing feed source cabin, and solve the technical problems of the existing feed source cabin, such as small control angle and large weight of the feed source cabin, so that the weight of the whole assembly component of the lower platform can be reduced from 10.5 tons to 6 tons. The hydraulic push rod is connected with the star-shaped frame and the lower platform, and the anti-interference capability of the lower platform is increased.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fine adjustment mechanism, and particularly relates to a FAST novel feed source cabin based on six-cable parallel driving and additional hydraulic push rod; the six-cable driving mechanism is installed in the feed source cabin, can realize the rotation angle requirement and accurate positioning of the feed source, can reduce the weight of the feed source cabin, can increase the anti-interference ability of the lower platform component from the existing FAST feed source cabin AB axis rotation angle from ± 18° to more than ± 36°, and the hydraulic push rod. BACKGROUND

[0002] The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the largest single-aperture radio astronomy telescope in the world, and has three independent innovations: using the natural karst depression in Guizhou as a site; an active deformation reflector; and a light feed support scheme based on a two-stage parallel robot.

[0003] The existing FAST feed support system scheme is as follows: a cable parallel robot composed of six cables is used to pull a 30-ton feed source cabin, the feed source cabin has an AB two-axis steering mechanism (realizing a ± 18° rotation angle) and a six-bar Stewart parallel robot, which together realize high-precision positioning of the feed source in the air above 140 m and within a range of 207 m, and the positioning accuracy is 10 mm.

[0004] Limited by the existing 30-ton safety threshold of the feed source cabin, the FAST is difficult to install new feed receiving equipment at the same time, and it is also difficult to respond to a larger observation zenith angle. The present application relates to the upgrading of the mechanism in the feed source cabin, and through the new application, the observation angle of the FAST is greatly improved, and the weight of the feed source cabin is effectively reduced, thereby providing strong support for the performance improvement of the telescope.

[0005] The information disclosed in this BACKGROUND section is only for the purpose of enhancing the understanding of the background of the present application and should not be taken as admitting that such information forms prior art that is already known to those skilled in the art. SUMMARY

[0006] The present application aims to provide a FAST novel feed source cabin based on six-cable parallel driving and additional hydraulic push rod, the cable driving mechanism is used to realize parallel driving of the lower platform, instead of the AB rotating ring mechanism and the rigid parallel mechanism of the existing feed source cabin, so as to solve the technical problems of small control angle and large weight of the feed source cabin, and the weight of the lower platform complete assembly component can be reduced from 10.5 tons to 6 tons. The hydraulic push rod is connected with the star-shaped frame and the lower platform, and the anti-interference ability of the lower platform is increased.

[0007] In order to achieve the above object, the present application adopts the following technical solutions:

[0008] The present application provides a new type of FAST feed source cabin based on six-cable parallel driving and additional hydraulic push rod, comprising a star-shaped frame, a cable driving mechanism, a hydraulic push rod, a lower platform component and a feed receiver; wherein the servo sliding table mechanism or the drum cable driving mechanism of the cable driving mechanism is connected with the seat plate on the star-shaped frame, and the lower end of the cable driving mechanism is connected with the lower platform component; the top of the hydraulic push rod is connected with the top structure in the star-shaped frame, and the bottom of the hydraulic push rod is connected with the lower platform component, so as to adjust the pitch angle of the lower platform component through the movement or winding and unwinding of the steel wire rope in the cable driving mechanism; and the feed receiver is fixed on the lower platform component.

[0009] Further, the cable driving mechanism is composed of six sets of sliding table cable driving mechanisms, the servo sliding table mechanisms of the six sets of sliding table cable driving mechanisms are uniformly distributed along the vertical center line of the star-shaped frame, and are respectively installed on the seat plate; the lower end cables of the six sets of sliding table cable driving mechanisms are installed on the lower platform component by two adjacent ones as a pair of Hooke's joints, and are symmetrically distributed with respect to the symmetry plane of the two adjacent servo sliding table mechanisms, and the three pairs of lower end cables are uniformly distributed at an angle of 120°.

[0010] Further, the sliding table cable driving mechanism comprises a servo sliding table mechanism, two cable Hooke's joints, a pin shaft, an open pin and a cable component; the upper cable Hooke's joint is fixedly connected with the servo sliding table mechanism, and the lower cable Hooke's joint is fixedly connected with the Hooke's joint mounting seat on the lower platform component; the upper and lower cable Hooke's joints are connected with the cable component through the pin shaft and the open pin, forming a rotating pair; the servo sliding table mechanism is limited by three sets of travel switches, L1 is the upward stroke of the servo sliding table mechanism, and L2 is the downward stroke of the servo sliding table mechanism; the values of L1 and L2 are determined by the inclination angle of the lower platform component.

[0011] Further, the cable driving mechanism is composed of a drum cable driving mechanism, a cable and a cable Hooke's joint; wherein the drum cable driving mechanism drives the cable to wind and unwind through the rotation of the drum, and the cable movement drags the lower platform component to rotate; the cable Hooke's joint is installed on the lower platform component, and the cable Hooke's joint is connected with the cable through an open cable joint.

[0012] Further, the cable Hooke's joint is composed of a rotary support, a hinge seat and a cross connecting block, the outer ring of the rotary support is fixedly connected with the lower platform body in the lower platform component and the servo sliding table mechanism through bolts, and the hinge seat is connected with the inner ring of the rotary support through bolts; the cross connecting block is connected with the hinge seat through a pin shaft and an open pin, forming a rotating pair, and the cross connecting block rotates relative to the hinge seat with the center line of the pin shaft as the center.

[0013] Further, the star-shaped frame is a welded spherical net rack structure, comprising a star-shaped frame body, a cable anchor head base, a top structure and a seat plate; the seat plate is welded with the node ball, the vertical pipe and the horizontal pipe of the star-shaped frame body as a whole, serving as a support of the cable driving mechanism; the top structure is provided with a hook hinge mounting seat connected with the hydraulic push rod.

[0014] Further, the cable component is composed of one cable and two open cable joints at the two ends of the cable, which are fixed by alloy casting.

[0015] Further, the lower platform component is composed of a lower platform body, a 1# receiver, a 2# receiver, a 3# receiver, a 4# receiver, a 5# receiver, a hook hinge mounting seat and a hydraulic push rod connecting seat; the hydraulic push rod connecting seat is fixed with the lower platform body by bolts, the five receivers are fixed with the lower platform body by bolts, and the six hook hinge mounting seats are used for installing the hook hinges for cables.

[0016] Further, the upper part of the hydraulic push rod is fixed with the hook hinge by a bolt pair, and the hook hinge is fixed on the hook hinge mounting seat of the top structure of the star-shaped frame by a bolt; the lower part of the hydraulic push rod is fixed with the spherical hinge by a bolt, and the spherical hinge 5 is fixed with the hydraulic push rod connecting seat fixed on the lower platform body by a bolt.

[0017] By adopting the above technical scheme, the present application has the following beneficial effects:

[0018] The cable driving mechanism is used to realize parallel driving of the lower platform, replace the AB swivel mechanism and the rigid parallel mechanism of the existing feed source cabin, solve the technical problems of small control angle and large weight of the feed source cabin, and reduce the weight of the whole assembled components of the lower platform from 10.5 tons to 6 tons. The hydraulic push rod is connected with the star-shaped frame and the lower platform, and the anti-interference capability of the lower platform is increased. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the specific embodiments or prior art of the present application, the drawings needed in the following specific embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 The overall structure of the FAST feed source cabin provided by the present application is shown in the figure;

[0021] Figure 2 The overall structure of the FAST feed source cabin provided by the present application is shown in the figure;

[0022] Figure 3The overall structure sectional view of the star frame of the FAST feed cabin provided by the application;

[0023] Figure 4 The axial side view of the star frame of the FAST feed cabin provided by the application;

[0024] Figure 5 The top structure schematic view of the star frame provided by the application;

[0025] Figure 6 The servo sliding table cable driving mechanism assembly schematic view provided by the application;

[0026] Figure 7 The cable used hooke joint mechanism schematic view provided by the application;

[0027] Figure 8 The cable component schematic view provided by the application;

[0028] Figure 9 The drum cable driving mechanism schematic view provided by the application;

[0029] Figure 10 The lower platform component schematic view provided by the application;

[0030] Figure 11 The hooke joint structure schematic view provided by the application;

[0031] Figure 12 The ball joint structure schematic view provided by the application;

[0032] Figure: 1 - star frame; 2 - sliding table cable driving mechanism; 3 - hooke joint; 4 - hydraulic push rod; 5 - ball joint; 6 - upper platform plane; 7 - lower platform component; 8 - lower platform plane; 9 - rotation center; 10 - top structure; 11 - star frame body; 12 - cabin cable anchor head seat; 13 - hooke joint mounting seat; 14 - seat plate; 15 - servo sliding table mechanism; 16 - servo sliding table; 17 - cable used hooke joint; 18 - pin shaft; 19 - split pin; 20 - cable component; 21 - travel switch; L1 - servo sliding table mechanism upper travel; L2 - servo sliding table mechanism lower travel; 22 - bolt; 23 - rotation support; 24 - hinge seat; 25 - cross connecting block; 26 - bolt; 27 - open cable joint; 28 - cable; 29 - drum cable driving mechanism; 30 - lower platform body; 31 - 1# receiver; 32 - hooke joint mounting seat; 33 - 2# receiver; 34 - 3# receiver; 35 - 4# receiver; 36 - hydraulic push rod connecting seat; 37 - 5# receiver; 38 - hooke joint seat; 39 - Y axis; 40 - cross shaft; 41 - X axis; 42 - Y axis connecting seat; 43 - ball joint seat; 44 - Y axis; 45 - cross shaft; 46 - X axis; 47 - Y axis connecting seat; 48 - Z axis rotation seat. DETAILED DESCRIPTION

[0033] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0034] In conjunction with Figures 1-8 and Figure 10 It is shown that the present embodiment provides a new type of FAST feed cabin with six-cable parallel driving mechanism and additional hydraulic push rod, which is composed of a star frame 1, six sets of slide cable driving mechanisms 2, hook hinges 3, hydraulic push rods 4, ball hinges 5, lower platform components 7, etc. Among them, the servo slide table mechanisms 15 of the six sets of slide cable driving mechanisms 2 are evenly distributed along the vertical center line of the star frame, and are respectively installed on the seat plate 14 of the star frame 1. The lower end cables of the six sets of slide cable driving mechanisms 2 are installed in pairs on the lower platform component 7 by hook hinges 17 to form one pair, which are symmetrically distributed with respect to the symmetry plane of the two adjacent servo slide table mechanisms 15, and the three pairs of cable hook hinges 17 are evenly distributed at an angle of 120°. Figure 1 A is the distance from the upper platform plane 6 to the center plane of the cabin cable anchor head seat 12; B is the distance from the lower platform plane 8 to the bottom surface of the star frame body 11, which is determined by the maximum inclination angle of the lower platform to ensure that the lower platform component 7 does not interfere with the bottom of the star frame 1, and the bottom of the star frame 1 does not block the 1#-5# feed receivers; the servo slide table 16 is used to install the cable hook hinge 17.

[0035] In this embodiment, the star frame 1 of the new type of feed cabin is a welded spherical net rack structure, which is mainly composed of a star frame body 11, a cabin cable anchor head seat 12, a top structure 10, and a seat plate 14, etc. The seat plate 14 is welded with the node ball, vertical pipe and horizontal pipe of the star frame body 11 as a whole, serving as the support of the servo slide table mechanism 15. The top structure 10 is provided with a hook hinge mounting seat 13 connected with the hydraulic push rod 4.

[0036] The slide cable driving mechanism 2 is composed of a servo slide table mechanism 15, a cable hook hinge 17, a pin shaft 18, an open pin 19, a cable component 20, etc. The upper cable hook hinge 17 is fixedly connected with the servo slide table 16, and the lower cable hook hinge 17 is fixedly connected with the hook hinge mounting seat 32 on the lower platform body 30. The upper and lower cable hook hinges 17 are connected with the cable component 20 through the shaft pin 18 and the open pin 19 to form a rotating pair. The servo slide table mechanism 15 is limited by three sets of travel switches 21, L1 is the upper travel of the servo slide table mechanism, and L2 is the lower travel of the servo slide table mechanism. The values of L1 and L2 are determined by the inclination angle of the lower platform.

[0037] The cable hooke joint 17 is composed of a rotary support 23, a hinge seat 24, a cross connecting block 25 and the like. The outer ring of the rotary support 23 is fixedly connected with the lower platform body 30 and the servo slide 16 by bolts 22. The hinge seat 24 is connected with the inner ring of the rotary support 23 by bolts 26. The cross connecting block 25 is connected with the hinge seat 24 by a pin shaft 18 and a split pin 19 to form a rotary pair. The cross connecting block 25 rotates relative to the hinge seat 24 with the center line of the pin shaft 18 as the center.

[0038] The cable component 20 is composed of one cable 28 and two open cable joints 27 fixedly connected with the two ends of the cable 28 by alloy casting.

[0039] The lower platform component 7 is composed of a lower platform body 30, a 1# receiver 31, a 2# receiver 33, a 3# receiver 34, a 4# receiver 35, a 5# receiver 37, a hooke joint mounting seat 32 and a hydraulic push rod connecting seat 36 and the like. The hydraulic push rod connecting seat 36 is fixedly connected with the lower platform body 30 by bolts. The five receivers are fixedly connected with the lower platform body by bolts. The six hooke joint mounting seats 32 are used for mounting the cable hooke joint 17.

[0040] The upper part of the hydraulic push rod 4 is fixedly connected with the hooke joint 3 by a bolt pair. The hooke joint 3 is fixedly connected with the hooke joint mounting seat 13 of the star-shaped frame top structure 10 by bolts. The hooke joint 3 can rotate around two mutually perpendicular intersecting axes, satisfying the swing requirement of the hydraulic push rod 4, and the rotation around the axis of the hydraulic push rod 4 is constrained. The lower part of the hydraulic push rod 4 is fixedly connected with the spherical hinge 5 by bolts. The spherical hinge 5 is fixedly connected with the hydraulic push rod connecting seat 36 fixedly connected with the lower platform body 30 by bolts. The spherical hinge 5 can rotate around three mutually perpendicular axes, satisfying the swing of the hydraulic push rod and the rotation of the lower platform component 7 around the rotary center 9 without jamming.

[0041] In combination Figure 11 As shown in the drawings, the hooke joint 3 of the present application comprises a hooke joint seat 38 which is the support of the hooke joint 3. Two X shaft necks of a cross shaft 40 are installed into two ear holes of the hooke joint seat 38 to form a rolling rotary pair. A Y shaft hole of the cross shaft 40 is installed with a Y shaft 39 which is integrally installed with a Y shaft connecting seat 42 to form a rolling rotary pair. The axis of the X shaft 41 and the Y shaft 39 intersect at a point which is the rotary center of the hooke joint. The Y shaft connecting seat 42 can simultaneously rotate around the axes of the X shaft 41 and the Y shaft 39.

[0042] In combination Figure 12As shown, the ball hinge 5 of the application includes a ball hinge seat 43, which is the support of the ball hinge, two X-axis necks 46 of the cross shaft 45 are installed into two ear holes of the ball hinge seat 43, forming a rolling rotary pair. The Y-axis hole of the cross shaft 45 is installed with the Y-axis 44, which is installed integrally with the Y-axis connecting seat 47, forming a rolling rotary pair, wherein the axes of the X-axis 46 and the Y-axis 44 intersect at a point, which is the rotation center of the ball hinge. The Y-axis connecting seat 47 can rotate around the axes of the X-axis 46 and the Y-axis 44. The Z-axis connecting seat 48 is concentrically installed with the axis diameter of the Y-axis connecting seat 47, forming a rolling rotary pair, and the Z-axis connecting seat 48 can rotate around the center line of the axis diameter of the Y-axis connecting seat 47, and the center passes through the rotation center of the ball hinge.

[0043] 6 sets of servo sliding table 16 of the sliding table cable drive mechanism 2 make linear motion up and down (or 6 sets of reel cable drive mechanism 29 make cable winding and unwinding motion by rotating the reel), and drive the lower platform to rotate around the rotation center 9, and the maximum rotation angle of a single side is greater than 36°.

[0044] In combination Figure 9 As shown, the cable drive mechanism can also be composed of the reel cable drive mechanism 29, the cable 28 and the cable Hooke joint 17 installed on the lower platform body 30, the reel cable drive mechanism 29 drives the cable 28 to wind and unwind through the rotation of the reel, and the movement of the cable 28 drags the lower platform component 7 to rotate; the cable Hooke joint 17 is installed on the lower platform component 7, and the cable Hooke joint 17 is connected with the cable 28 through the open cable joint 27.

[0045] In summary, the six-cable parallel drive mechanism of the application is a new type of FAST feed source cabin with hydraulic push rod, which is an upgrade of the existing feed source cabin. The six-cable parallel drive mechanism with hydraulic push rod feed source cabin is composed of a star frame 1, six sets of sliding table cable drive mechanisms 2, a hydraulic push rod 4, a lower platform component 7, a feed source receiver and the like. The six sets of sliding table cable drive mechanisms 2 are composed of six sets of vertically installed servo sliding table mechanisms 15, cable Hooke joints 17 and cable components 20, and there are six driving motors. The plane where the Hooke joint rotation center is located in the middle of the up and down stroke of the six sets of servo sliding table mechanisms is set as the upper platform plane, and the plane where the centers of the six sets of Hooke joints connected with the lower platform are located is set as the lower platform control plane. The mechanism drives the change of the pitch angle of the lower platform component (the angle control can also be called the angle compensation) through the up and down movement of the six sets of sliding tables, the pulling of the cables and the like, the upper part of the hydraulic push rod is fixed with the star frame through the Hooke joint, the lower part is fixed with the lower platform component through the ball hinge, the lower platform rotates around the center of the lower platform control plane in theory, and the function of the hydraulic push rod is mainly to increase the anti-interference ability of the lower platform.

[0046] The six sets of slide cable driving mechanisms can also be replaced by six sets of reel cable driving mechanisms, and six driving motors are provided. A plane in which centers of the reels of the six sets of reel cable driving mechanisms are located is set as the upper platform plane. The mechanism drives the winding and unwinding of the six ropes by the reels to change the pitch angle of the lower platform (the feed angle compensation is realized by trajectory planning, and the angle control can also be called).

[0047] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A new type of FAST feed cabin based on six-cable parallel drive with additional hydraulic push rod, characterized in that, It comprises a star frame, a cable drive mechanism, a hydraulic push rod, a lower platform component and a feed receiver, wherein the servo slide mechanism or the drum cable drive mechanism of the cable drive mechanism is connected with the seat plate on the star frame, the lower end of the cable drive mechanism is connected with the lower platform component, the top of the hydraulic push rod is connected with the top structure in the star frame, the bottom of the hydraulic push rod is connected with the lower platform component, the inclination angle of the lower platform component is adjusted by the movement or winding and unwinding of the steel wire rope in the cable drive mechanism, the feed receiver is fixed on the lower platform component, the upper part of the hydraulic push rod is fixed with the hook joint through a bolt pair, the hook joint is fixed on the hook joint mounting seat of the top structure of the star frame through a bolt, the lower part of the hydraulic push rod is fixed with the spherical joint through a bolt, and the spherical joint is fixed with the hydraulic push rod connecting seat fixed on the lower platform body through a bolt. The lower platform component is composed of a lower platform body, a 1# receiver, a 2# receiver, a 3# receiver, a 4# receiver, a 5# receiver, a hook joint mounting seat and a hydraulic push rod connecting seat, wherein the hydraulic push rod connecting seat is fixed with the lower platform body through a bolt, the five receivers are fixed with the lower platform body through a bolt, and the six hook joint mounting seats are used for installing the hook joints for cables. The cable drive mechanism is composed of six sets of slide cable drive mechanisms, the servo slide mechanisms of the six sets of slide cable drive mechanisms are uniformly distributed along the vertical center line of the star frame, and are respectively installed on the seat plate, the lower end hook joints for cables of the six sets of slide cable drive mechanisms are installed on the lower platform component in pairs, are symmetrically distributed with respect to the symmetry plane of the two adjacent servo slide mechanisms, and the three pairs of lower end hook joints for cables are uniformly distributed at an angle of 120°.

2. The new type of FAST feed cabin based on six-cable parallel drive plus hydraulic push rod according to claim 1, characterized in that, The slide cable drive mechanism comprises a servo slide mechanism, two hook joints for cables, a pin shaft, a split pin and a cable component, the upper hook joint for cables is fixed with the servo slide mechanism, the lower hook joint for cables is fixed with the hook joint mounting seat on the lower platform component, the upper and lower hook joints for cables are connected with the cable component through the pin shaft and the split pin to form a rotating pair, the servo slide mechanism is limited by three sets of travel switches, L1 is the upward stroke of the servo slide mechanism, L2 is the downward stroke of the servo slide mechanism, and the values of L1 and L2 are determined by the inclination angle of the lower platform component.

3. The new type of FAST feed cabin based on six-cable parallel drive plus hydraulic push rod according to claim 2, characterized in that, The cable drive mechanism is composed of a drum cable drive mechanism, a cable and a hook joint for cable, wherein the drum cable drive mechanism drives the cable to wind and unwind through the rotation of the drum, the cable moves to drive the lower platform component to rotate, the hook joint for cable is installed on the lower platform component, and the hook joint for cable is connected with the cable through an open cable joint.

4. The new type of FAST feed cabin based on six-cable parallel drive additional hydraulic push rod according to claim 1, characterized in that, The hook joint for cable is composed of a rotary support, a hinge seat and a cross connecting block, the outer ring of the rotary support is fixed with the lower platform body in the lower platform component and the servo slide mechanism through a bolt, and the hinge seat is connected with the inner ring of the rotary support through a bolt, the cross connecting block is connected with the hinge seat through a pin shaft and a split pin to form a rotating pair, and the cross connecting block rotates relative to the hinge seat with the center line of the pin shaft as the center.

5. The new type of FAST feed cabin based on six-cable parallel drive additional hydraulic push rod according to claim 3, characterized in that, ​ 6. The new type of FAST feed cabin based on six-cable parallel drive plus hydraulic push rod according to claim 1, characterized in that, The star-shaped frame is a welded spherical net rack structure, comprising a star-shaped frame body, a cable anchoring head base, a top structure and a base plate; the base plate is welded with the node ball, the vertical pipe and the horizontal pipe of the star-shaped frame body as a whole, serving as the support of the cable driving mechanism; the top structure is provided with a hook hinge mounting base connected with the hydraulic push rod.

7. The new type of FAST feed cabin based on six-cable parallel drive with additional hydraulic push rod according to claim 3, characterized in that, The cable component is composed of one cable and two open cable joints at the two ends of the cable which are fixed by alloy casting.

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