Facetted reflector antenna flexible assembly positioning device

Abstract

The application provides a flexible assembly positioning device for a shaped reflector antenna, which is used for the assembly and positioning of a main reflector and a sub-reflector of the antenna and comprises a sub-reflector clamping device, a height adjusting device, a main reflector clamping device, a base and a connecting screw rod. The sub-reflector clamping device is used for the positioning, clamping, axial position adjusting and coaxiality adjusting between the main reflector and the sub-reflector. The height adjusting device is used for adjusting the height of the sub-reflector and the distance between the main reflector and the sub-reflector. One end of the height adjusting device is mounted on the connecting screw rod, and the other end is connected with the sub-reflector clamping device. One end of the connecting screw rod is connected with the height adjusting device, and the other end is connected with the main reflector clamping device. The main reflector clamping device is arranged on the base. The application can quantize the adjusting angle and adjusting distance of the sub-reflector clamping device and the height adjusting device, and realizes the high-precision and high-efficiency positioning of the main reflector and the sub-reflector of the large-size shaped reflector antenna.

Description

Technical Field

[0001] This invention relates to the field of spaceborne reflector antenna assembly technology, and more specifically, to a flexible assembly and positioning device for a shaped reflector antenna. Background Technology

[0002] Spaceborne reflector antennas are a crucial component of satellite communication systems, consisting of a primary reflector, a secondary reflector, reflector connectors, and fasteners. The coaxiality and mounting surface distance between the primary and secondary reflectors after assembly are core factors affecting antenna performance and key indicators for antenna assembly quality control. Currently, the coaxiality and distance between the primary and secondary reflectors are achieved through analog assembly coordination methods, using high-precision specialized tooling to ensure antenna assembly quality. This assembly method is simple in structure and convenient in operation, but it also has drawbacks such as lengthy coordination routes, high tooling costs, and poor flexibility. With the continuous improvement of antenna detection frequency bands and functional requirements, the structural size of antennas is constantly increasing, posing new challenges to the precision requirements of tooling. Ordinary machine tools are increasingly unable to produce high-precision tooling suitable for assembling large-size reflector antennas.

[0003] A search of existing technologies revealed a utility model patent, CN211929686U, entitled "Antenna Subsurface Assembly Device." This patent uses a base and subsurface support to position the main and subreflectors, with a pin controlling the repetitive assembly accuracy between the base and support. However, neither the base nor the subsurface support is adjustable, resulting in poor flexibility and high development costs, making it unsuitable for assembling and positioning large-sized (4 meters and above) reflectors with multiple configurations. Another utility model patent, CN206976557U, entitled "Antenna Subsurface Multi-Dimensional Adjustment Device," uses hinges to achieve multi-degree-of-freedom adjustment of the subsurface. However, this device lacks consideration for the positioning of the main reflector, and the upward-radiating subsurface mounting bracket at the bottom of the device can interfere with the main reflector, especially for large-sized reflector antennas. A utility model patent, published under the title "A Fixture for Mounting the Sub-face of a 0.9-meter Moving Center-through Antenna," uses pins to achieve precise positioning of the sub-face, requiring the sub-face bracket to be mounted on the main reflector. This necessitates pre-drilling mounting holes for the sub-face bracket on the main reflector, which can easily damage the antenna's electrical performance. Furthermore, this device is not suitable for assembling large-sized, multi-configuration reflector antennas. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a flexible assembly and positioning device and adjustment method for the main reflector and sub-reflector of large-size, multi-configuration reflector antennas. By using digital measurement technology and flexible assembly and adjustment technology, a digital assembly coordination method suitable for the main reflector and sub-reflector is constructed, which can control the development cost of tooling while ensuring the assembly accuracy of the main reflector and sub-reflector antennas.

[0005] The flexible assembly and positioning device for shaped reflector antennas provided by the present invention is used for assembling and positioning the main reflector and the sub-reflector of the antenna, and includes a sub-reflector clamping device, a height adjustment device, a main reflector clamping device, a base, and a connecting screw. The secondary anti-clamping device is used for positioning, clamping, adjusting the axial position of the secondary reflective surface, and adjusting the coaxiality between the primary reflective surface and the secondary reflective surface. The height adjustment device is used to adjust the height of the sub-reflector and the distance between the main reflector and the sub-reflector. One end of the height adjustment device is mounted on the connecting screw, and the other end is connected to the sub-reflector clamping device. One end of the connecting screw is connected to the height adjustment device, and the other end is connected to the main reverse clamping device; The main reverse clamping device is mounted on the base.

[0006] Preferably, the secondary anti-clamping device has multiple grippers arranged sequentially along the circumference; each gripper can independently rotate about a fixed axis perpendicular to the horizontal plane and slide radially along the secondary reflective surface; Multiple grippers are used to cooperate in positioning, clamping, and adjusting the axis position of the sub-reflector.

[0007] Preferably, the height adjustment device and the secondary anti-clamping device are fitted with a clearance. The height adjustment device is used to adjust the distance between the sub-reflector and the main reflector by rotation.

[0008] Preferably, the secondary reverse clamping device is rotatably connected to the height adjustment device, and the secondary reverse clamping device can be inserted into or withdrawn from the height adjustment device.

[0009] Preferably, there is a etched line on the outer cylindrical surface of both the secondary anti-clamping device and the height adjustment device; The etched lines are used for repeated positioning, and the rotary counter-clamping device can make the two etched lines overlap vertically.

[0010] Preferably, a locking nut is provided on the connecting screw at one end near the height adjustment device and at the other end near the main reverse clamping device; The locking nut is used to lock the locking height adjustment device and the main reverse clamping device to prevent free rotation.

[0011] Preferably, the distance between the primary reflector and the secondary reflector is adjusted by a height adjustment method, which includes outputting a distance adjustment amount based on the distribution of sampling points on the secondary reflector and the primary reflector.

[0012] Preferably, when adjusting the coaxiality between the primary reflector and the secondary reflector, the coaxiality is first adjusted using a coarse adjustment method, and then adjusted using a fine adjustment method.

[0013] Preferably, the coarse adjustment method for coaxiality includes the following steps: The axis equation L is fitted from the mating surface of the main reflecting surface on the main anti-clamping device, and the measurement points and plane equations PL on the mating plane of the secondary reflecting surface on each gripper are given. k 1. k=1~4, align the sub-reflective surface on each gripper with the measurement point on the cylindrical surface to the corresponding PL. k 1. Project and fit to a ring to extract the center coordinates O k 3; Define a local coordinate system A for each gripper. k Calculate the equation of the axis L and the plane PL k Find the coordinates of the intersection point of 1 and transform them to coordinate system A. k The following is named T k ; Then in coordinate system A k Construct a cylindrical coordinate system below, and set O k 3 and T k Transform to cylindrical coordinates; Finally, calculate O. k 3 and T after conversion k The angular difference dθ and radial distance difference ds between the points guide the gripper to rotate dθ and move ds to complete the coarse adjustment of coaxiality.

[0014] Preferably, the coaxiality fine-tuning method includes the following steps: The plane equation PL is fitted by the measurement points on the sub-reflection mating plane. b 2, b = 1~4; The measurement point on the sub-reflective surface mating cylindrical surface is aligned with the fitting plane PL of the corresponding gripper. b 2. Project onto the target area and obtain the projection point P. b j And fit it to a ring to extract the center coordinates O. b 3. Record O b 3 and P b j The positional relationship between them is C; Then, the particle swarm optimization algorithm is used to adjust each O. b The position of 3 is O' b3. Reconstruct P based on the positional relationship C. b j The position is P' b j , will P' b j Fitting to a ring, extracting the circle center as O b 4. All P' b j Integrating them together, the fit is a circular ring with the center at O5, and O b The sum of distances S from 4 to O5 is used as the fitness function of the particle swarm optimization algorithm; Finally, the optimization result of the particle swarm optimization algorithm is output as O. b Calculate the coordinates of O (4). b 4 and O b The angular difference dθ and radial distance difference ds between the three guide the gripper to rotate dθ and move ds to complete the fine adjustment of coaxiality.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The adjustment device and adjustment method provided by this invention, combined with digital measurement technology, can construct a digital assembly coordination method suitable for the assembly of primary and secondary reflective surfaces; This invention can quantify the adjustment angle and adjustment distance of the sub-reflector clamping device and the height adjustment device, thereby achieving high-precision and high-efficiency positioning of the main reflector and sub-reflector of a large-size shaped reflector antenna; The reverse clamping device and height adjustment device of this invention have high flexibility and can be applied to the assembly, positioning and attitude adjustment of reflector antennas of various configurations. While ensuring assembly accuracy, they effectively control the development cost of tooling. Attached Figure Description

[0016] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the flexible assembly and positioning device for the main reflective surface and the sub-reflective surface in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the secondary anti-clamping device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the height adjustment device in an embodiment of the present invention; Figure 4 This is a schematic diagram of the main reverse clamping device in an embodiment of the present invention; Figure 5 This is a schematic diagram of the base structure in an embodiment of the present invention; Figure 6 This is a schematic diagram of the installation of the main reflector and sub-reflector of the large-size antenna in an embodiment of the present invention; Figure 7 This is a sampling distribution diagram of the measurement points on the mating plane between the main anti-clamping device and the main reflective surface in an embodiment of the present invention; Figure 8 This is a sampling distribution diagram of the measurement points on the mating plane between the secondary anti-clamping device and the secondary reflective surface in an embodiment of the present invention; Figure 9 This is a sampling distribution diagram of the cylindrical measurement points of the main anti-clamping device and the main reflective surface in an embodiment of the present invention; Figure 10 This is a sampling distribution diagram of the cylindrical measurement points of the secondary anti-clamping device and the secondary reflective surface in an embodiment of the present invention; Detailed Implementation

[0017] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0018] like Figure 1 As shown, in this embodiment of the invention, the flexible assembly and positioning device for the shaped reflector antenna provided by the present invention includes: a secondary anti-clamping device 1, a height adjustment device 2, a primary anti-clamping device 3, a locking nut 4, a base 5, and a connecting screw 6. The secondary anti-clamping device 1 is used for positioning, clamping, adjusting the axial position of the secondary reflective surface, and adjusting the coaxiality between the primary reflective surface and the secondary reflective surface. The height adjustment device 2 is used to adjust the height of the sub-reflector and the distance between the main reflector and the sub-reflector; One end of the height adjustment device 2 is mounted on the connecting screw 6, and the other end is connected to the auxiliary anti-clamping device 1; One end of the connecting screw 6 is connected to the height adjustment device 2, and the other end is connected to the main reverse clamping device 3; The main reverse clamping device 3 is mounted on the base 5.

[0019] like Figure 2 As shown, the secondary anti-clamping device 1 includes a disk 101 and grippers 100; a plurality of grippers 100 are arranged sequentially along the circumference on the disk 101; each gripper 100 can independently rotate about a fixed axis perpendicular to the horizontal plane and slide radially along the secondary reflective surface; a lower column 106 is connected to the center of the disk 101. Multiple grippers 100 are used to cooperate in positioning, clamping, and adjusting the axial position of the sub-reflector. The gripper 100 includes a rotary encoder 102, a support frame 103, a slider 104, a mounting block 105, and a lower column 106; One end of the support frame 103 is connected to the rotary encoder 102, and the other end is connected to the slider 104; The mounting block 105 is vertically connected to the inner end of the slider 104; the inner side of the mounting block 105 forms a secondary reflective surface mating cylindrical surface 1051; at least a portion of the upper side of the mounting block 105 forms a secondary reflective surface mating plane 1052; the secondary reflective surface mating cylindrical surface 1051 and the secondary reflective surface mating plane 1052 are feature surfaces that mate with the secondary reflective surface.

[0020] The rotating encoder 102 is used to enable the support frame 103 to rotate independently around a fixed axis on a vertical horizontal plane, and the slider 104 is used to mount the block 105 to slide radially along the sub-reflecting surface. The rotating encoder 102 and the slider 104 cooperate to adjust the coaxiality of the sub-reflecting surface and the main reflecting surface.

[0021] like Figure 3 As shown, (a) is a cross-sectional view and (b) is an overall structural view; the height adjustment device 2 includes an adjustment body 201 and a copper sleeve 202; the adjustment body 201 and the copper sleeve 202 are interference fit. The inner cylindrical surface 2021 of the copper sleeve 202 is a surface that mates with the cylindrical surface 1061 on the lower column 106, and the upper surface 2022 of the copper sleeve is a surface that mates with the flat surface 1062 on the lower column 106. The hole 2011 below the adjusting body 201 is a threaded hole, which cooperates with the connecting screw 6.

[0022] like Figure 4 As shown, the main anti-clamping device 3 includes a base 301 and a column 302; The mounting surface 3012 on the base 301 is a cylindrical feature that mates with the main reflector surface, and the mating surface 3011 on the base 301 is a planar feature that mates with the main reflector surface; the threaded hole 3013 on the base 301 is used for connection with the base 5. The hole 3021 on the column 302 is a threaded hole that mates with the connecting screw 6.

[0023] like Figure 5 As shown, the base includes a base plate 501 and a handle 502; the base plate 501 has a threaded hole 5011 that mates with the base 301.

[0024] like Figure 6As shown, in use, the flexible assembly and positioning device for the shaped reflector antenna provided by this invention first installs the main anti-reflection clamping device 3 on the base 5, then assembles the main anti-reflection clamping device 3 and the height adjustment device 2 together using the connecting screw 6 and the locking nut 4, and finally inserts the secondary anti-reflection clamping device 1 into the height adjustment device 2. The secondary anti-reflection clamping device 1 and the height adjustment device 2 are fitted with a small clearance. There is a gradation line on both the secondary anti-reflection clamping device 1 and the height adjustment device 2, namely the first gradation line 1063 and the second gradation line 2012. Rotating the secondary anti-reflection clamping device 1 makes the two gradation lines overlap vertically, and then performing height adjustment, coarse coaxiality adjustment, and fine coaxiality adjustment of the main anti-reflection clamping device 3 and the secondary anti-reflection clamping device 1 in sequence.

[0025] The height adjustment method is as follows: Step S1: Measurement point acquisition, specifically, 12 measurement points P are evenly collected on the mounting surface 3012 of the main anti-clamping device 3. i (i=1~12), collect a point approximately every 60 degrees, and collect points in two overlapping circles, such as... Figure 7 As shown; four measurement points P are collected on each secondary reflective mating plane 1052 of the secondary anti-clamping device 1. v j (j=1~4; v=1~4), such as Figure 8 As shown.

[0026] Step S2: Adjust the height of the main and auxiliary mounting surfaces, specifically by calculating the measurement point P. v j If the flatness of the formed plane is worse than a given threshold б, adjust the surface by adding shims to the gripper mounting surface. After adjustment, calculate point P. v j Up to 12 P i The distance d between the points forming the plane is compared with the deviation between d and the theoretical distance D between the main reflector and the sub-reflector. The height adjustment device 2 is rotated up and down to reduce this deviation.

[0027] The coarse adjustment method for coaxiality is as follows: Step M1: Measurement point acquisition, specifically, acquiring 4 points P on the cylindrical surface 1051 where each secondary anti-reflector gripper mates with the secondary reflector surface. k m (k=1~4; m=1~4), such as Figure 10 As shown; 12 measurement points P are uniformly collected on the mating surface 3011 of the main reflector surface where the main reflector clamping device mates with the main reflector surface. r (r=1~12) A point is collected approximately every 60 degrees, with two rows of points collected in an interlaced manner. The cylindrical point collection unfolded diagram is shown below. Figure 9 As shown; Step M2: Fitting and correcting the axis of the principal inverse cylindrical surface, specifically, measuring point P... iThe entire data is fitted to a plane PL0, and the unit normal vector N0 of the plane is extracted. The measurement point P is then... r Projecting the image onto plane PL0, a spatial annulus is fitted, and the coordinates of the annulus's center point O0 are extracted; using vectors N0 and O0 as initial conditions, P... r The data points are used for fitting. The Gauss-Newton method is used to fit the axial direction vector N of the mating surface 3011 of the main reflecting surface and a point P on the axis. During the fitting process, N and P are corrected. The correction principle is: the cylindrical axis N after each fitting should be a unit vector; the fitted point P should be located at point P. r The projection of the point onto the plane formed by P and N is located at the center of the fitted circle; after fitting, an axis equation L is constructed based on N and P, with N as the direction vector passing through point P. Step M4: Constructing the local coordinate system of the grippers. Specifically, a fixed measurement point is selected on each gripper. The grippers are rotated around a fixed axis and slid along the axis to obtain a set of circular measurement points and a set of linear measurement points, respectively. The set of circular measurement points is fitted into a spatial ring, and the coordinates of the center O are extracted. k 1. Center O k 1 is the rotation axis of the secondary anti-gripper, which fits the set of straight measurement points to a spatial straight line and extracts the unit vector N. k 1; Four measurement points are uniformly collected on the mating plane 1052 between the gripper and the sub-reflector and fitted to a plane PL. k 1. Extract the unit normal vector N of the plane. k 2; Move point O k 1 Projected onto plane PL k Obtain the coordinates of the projection point O on 1. k 2; with O k 2 is the origin N of the coordinate system. k 1 represents the x-axis N k 2. Construct a local Cartesian coordinate system A for the z-axis. k ; Step M5: Calculate the coarse adjustment amount for coaxiality, specifically, calculate the equation of the axis L and the plane PL. k Find the coordinates of the intersection point of point A, and convert the coordinate values ​​to A. k In the coordinate system, it is named T k ;Measure point P k m To plane PL k 1. Project the points and fit them to a spatial circle, then extract the center coordinates O. k 3; In coordinate system A k The following is constructed with A k The origin is the pole, A k The x-axis is the polar axis, A k The z-axis is a cylindrical coordinate system, and the coordinate point T is... k and O k3. Transform to cylindrical coordinate system; calculate the angular difference dθ and radial distance difference ds between the two points; rotate the gripper by angle dθ and translate it along the axis by ds to complete the coarse adjustment of coaxiality.

[0028] The coaxiality fine-tuning method is as follows: Step N1: Feasibility assessment of measurement point acquisition and fine-tuning, specifically, according to... Figure 8 and Figure 10 As shown, four measurement points are uniformly collected on each clamping jaw and the mating cylindrical surface 1051 and the mating plane 1052 of the sub-reflecting surface. The measurement point on the mating cylindrical surface 1051 of the sub-reflecting surface is denoted as P. b w The sampling point 1052 on the sub-reflector mating plane is denoted as P. b e (e=1~4; b=1~4; w=1~4). Calculate P. b e The distance from the axis equation L is calculated, and the distance difference is used to fine-tune the coaxiality within a given threshold б1; otherwise, coarse adjustment is performed again. Step N2: Constructing the local coordinate system of the gripper and associating measurement points. Specifically, this involves associating each set of measurement points P... b w Fit to a plane PL b 2. Measure point P b e To the fitting plane PL of the corresponding gripper b 2. Project onto the target area and obtain the coordinates P of the projection point. b j The shape is then fitted to a spatial circle, and the center point O of the spatial circle is extracted. b 3. With each O b 3 is the pole, O b 3 and Standard A k Construct a cylindrical coordinate system B with the lines connecting the origins as the polar axes. b Record P b j The angular and radial distance relationship between the pole and the polar axis, C; Step N3: Calculate the coaxiality fine-tuning amount, specifically, fine-tuning each O using the particle swarm optimization algorithm. b The position of 3 is O' b 3, with O' b 3 is the new pole, O' b 3 and Standard A k The lines connecting the origins form a new polar axis, creating a cylindrical coordinate system U. b According to the recorded P b j The angular and radial distance relationship C between the pole and the polar axis in coordinate system U b Recovery of P bj Adjusted coordinates P' b j ; P' corresponding to each set of grippers b j Each circle is fitted to a plane and its center coordinates O are extracted. b 4. Put all P' b j The components are integrated and fitted to a planar circle, and the center coordinates O5 are extracted. All O values ​​are calculated. b The sum of distances S from 4 to O5; S is used as the fitness function of the particle swarm optimization algorithm. The smaller the S, the better the population and the more significant the optimization result; after optimization, output O. b 4 coordinate values, calculate O b 4 and O b The angular difference dθ and radial distance difference ds between the three are used to rotate the gripper by angle dθ and translate it axially by ds to complete the fine adjustment of coaxiality.

[0029] In use, remove the secondary reflector clamping device 1 from the height adjustment device 2 and install the main reflector onto the main reflector clamping device 3. Then reinstall the secondary reflector clamping device 1. Rotate the secondary reflector clamping device so that the first gradation line 1063 and the second gradation line 2012 are aligned vertically, then install the secondary reflector onto the secondary reflector clamping device 1 to complete the positioning of the main reflector and the secondary reflector. Based on this positioning, install the remaining components of the reflector antenna.

[0030] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A flexible assembly and positioning device for a shaped reflector antenna, characterized in that, The assembly and positioning of the antenna's main reflector and sub-reflector includes a sub-reflector clamping device (1), a height adjustment device (2), a main reflector clamping device (3), a base (5), and a connecting screw (6). The secondary anti-clamping device (1) is used for positioning, clamping, adjusting the axial position of the secondary reflective surface, and adjusting the coaxiality between the primary reflective surface and the secondary reflective surface. The height adjustment device (2) is used to adjust the height of the sub-reflector and the distance between the main reflector and the sub-reflector. One end of the height adjustment device (2) is mounted on the connecting screw (6), and the other end is connected to the sub-reflector clamping device (1). One end of the connecting screw (6) is connected to the height adjustment device (2), and the other end is connected to the main reverse clamping device (3); The main anti-clamping device (3) is mounted on the base (5); the secondary anti-clamping device (1) has multiple jaws (100) arranged sequentially along the circumference; each jaw (100) can independently rotate around a fixed axis on the vertical horizontal plane and slide radially along the secondary reflective surface; Multiple grippers (100) are used to cooperate in positioning, clamping and adjusting the axis position of the sub-reflector.

2. The flexible assembly and positioning device for a shaped reflector antenna according to claim 1, characterized in that, The height adjustment device (2) and the secondary anti-clamping device (1) are fitted with a clearance. The height adjustment device (2) is used to adjust the distance between the sub-reflector and the main reflector by rotation.

3. The flexible assembly and positioning device for a shaped reflector antenna according to claim 2, characterized in that, The secondary reverse clamping device (1) is rotatably connected to the height adjustment device (2), and the secondary reverse clamping device (1) can be inserted into or withdrawn from the height adjustment device (2).

4. The flexible assembly and positioning device for a shaped reflector antenna according to claim 3, characterized in that, The auxiliary anti-clamping device (1) and the height adjustment device (2) each have a etched line on their outer cylindrical surfaces; The engravings are used for repeated positioning, when the rotary counter-clamping device (1) can make the two engravings overlap vertically.

5. The flexible assembly and positioning device for a shaped reflector antenna according to claim 1, characterized in that, Locking nuts (4) are provided on the connecting screw (6) at one end near the height adjustment device (2) and at the other end near the main reverse clamping device (3). The locking nut (4) is used to lock the height adjustment device (2) and the main reverse clamping device (3) to prevent free rotation.

6. The flexible assembly and positioning device for a shaped reflector antenna according to claim 1, characterized in that, The distance between the main reflector and the sub-reflector is adjusted by a height adjustment method, which includes outputting a distance adjustment amount based on the distribution of sampling points on the sub-reflector clamping device (1) and the main reflector clamping device (3).

7. The flexible assembly and positioning device for a shaped reflector antenna according to claim 1, characterized in that, When adjusting the coaxiality between the primary and secondary reflective surfaces, the coaxiality is first adjusted using a coarse adjustment method, and then adjusted using a fine adjustment method.

8. The flexible assembly and positioning device for a shaped reflector antenna according to claim 7, characterized in that, The coarse coaxiality adjustment method includes the following steps: The axis equation fitted by the mating surface (3011) of the main reflecting surface on the main anti-clamping device (3) L， The secondary reflective surface on each gripper is coupled with the measurement point and plane equation on the plane (1052). PL k 1, k =1~4, align the sub-reflecting surface on each gripper with the measurement point on the cylindrical surface (1051) to the corresponding... PL k 1. Project and fit to a ring to extract the center coordinates. O k 3; Define the local coordinate system for each gripper. A k Calculate the equation of the axis L and the plane PL k Find the coordinates of the intersection point of 1 and transform them to a coordinate system. A k The following is named T k ; Then in the coordinate system A k Construct a cylindrical coordinate system and then... O k 3 and T k Transform to cylindrical coordinates; Final calculation O k 3 and conversion T k angular difference between points dθ and radial distance difference ds Guide the gripper to rotate dθ and move ds Complete the coaxiality coarse adjustment.

9. The flexible assembly and positioning device for a shaped reflector antenna according to claim 8, characterized in that, The coaxiality fine-tuning method includes the following steps: The plane equation is fitted by the measurement points on the sub-reflecting surface and the cylindrical surface (1051). PL b 2 , b =1~4; The measurement point on the sub-reflective surface mating cylinder (1051) is aligned with the fitting plane of the corresponding gripper. PL b 2 Project upwards and obtain the projection point. P b j And fit it to a ring to extract the center coordinates. O b 3 ,Record O b 3 and P b j Positional relationship between C ; Then, the particle swarm optimization algorithm is used to adjust each... O b 3 The position is O’ b 3 According to positional relationship C Recover P b j The position is P’ b j ,Will P’ b j Fitting to a ring and extracting the center of the circle. O b 4. All P’ b j Integrating them together and fitting them into a ring, the center of the ring is extracted. O 5. O b 4 to O The total distance of 5 S As the fitness function of the particle swarm optimization algorithm; Finally, the optimization results from the particle swarm optimization algorithm are output. O b Calculate the coordinates of 4. O b 4 and O b 3 angular difference dθ and radial distance difference ds Guide the gripper to rotate dθ and move ds Complete the fine adjustment of coaxiality.

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