A testing device for FAST feed support cables

Abstract

This invention proposes a detection device for FAST feed support cables, belonging to the field of robotics. It solves the problems of difficult observation of cables, electrical cables, and optical cables, and the easily affected lifespan of robotic arms. It includes a motion execution device, a vision acquisition device, and a controller. The motion execution device comprises a collaborative dual-arm mounting and fixing assembly and two robotic arm assemblies, symmetrically arranged on the left and right sides of the collaborative dual-arm mounting and fixing assembly. Each robotic arm assembly has a vision acquisition device at its end. The two vision acquisition devices work together to track electrical cables and optical cables in real time. The collaborative dual-arm mounting and fixing assembly includes two adsorption components, each used to adsorb the corresponding side of the robotic arm assembly when not in operation. Both the robotic arm assemblies and the vision acquisition devices are electrically connected to the controller. It is mainly used for cable detection.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and in particular relates to a detection device for the FAST feed support cable. Background Technology

[0002] The FAST radio telescope in Guizhou, China, is the world's largest single-aperture spherical radio telescope, independently built by China, and is also one of the most sensitive radio telescopes in the world. Construction began in 2011, and it was completed and put into operation in 2016. FAST has a larger scanning range and can detect much fainter radio signals. Its main mission is to detect dark matter, galaxies, and pulsars in the universe, providing cutting-edge information and data support for humanity's exploration and research of the unknown universe.

[0003] The FAST radio telescope is a complex instrument. The feed cabin, located at the focal point of each parabolic surface, focuses the signals received by the reflecting surfaces to conduct high-sensitivity space observations. The feed cabin is suspended from the center of the telescope by six main cables. The movement of the feed cabin, changing its pitch angle and spatial position, is achieved by raising and lowering these cables. All cables bear their own weight, the weight of the feed cabin, and the traction forces required to change the feed cabin's orientation, presenting extremely demanding operating conditions and posing a significant challenge to the safe and stable operation of the equipment.

[0004] The cable system is crucial for the safe, reliable, and long-term operation of the FAST radio telescope. It plays a major role in changing the orientation of the feed cabin to receive signals, making regular maintenance of this equipment of great practical value.

[0005] Maintenance and repair of cable equipment can effectively avoid safety hazards, prevent major failures in advance, reduce overall equipment maintenance costs, extend the safe service life of equipment, and ensure the stability and accuracy of daily operation of equipment. Existing detection equipment, due to the problem of detection angle, cannot observe damage on cables, electrical cables and optical cables well and comprehensively. Moreover, robotic arms often have continuous torque output when not in use, which will affect the service life of the robotic arms. Summary of the Invention

[0006] In view of this, the present invention aims to propose a detection device for the FAST feed support cable, so as to solve the problems of poor observation of cables, electrical cables and optical cables and the easy impact on the lifespan of the robotic arm.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a detection device for FAST feed support cables, comprising a motion execution device, a vision acquisition device, and a controller. The motion execution device includes a cooperative dual-arm mounting and fixing assembly and a robotic arm assembly. Two robotic arm assemblies are provided, symmetrically arranged on the left and right sides of the cooperative dual-arm mounting and fixing assembly. Each robotic arm assembly has a vision acquisition device at its end. The two vision acquisition devices work together to track the cable and optical fiber in real time. The cooperative dual-arm mounting and fixing assembly includes two adsorption components. Each adsorption component is used to adsorb the corresponding side of the robotic arm assembly when not in operation. Both the robotic arm assembly and the vision acquisition device are electrically connected to the controller.

[0008] Furthermore, the collaborative dual-arm mounting and fixing assembly also includes a fixing bracket and a fixing mounting plate. There are two fixing mounting plates, which are arranged symmetrically on the fixing bracket. Each fixing mounting plate is connected to the corresponding adsorption component on the side away from the cable.

[0009] Furthermore, the robotic arm assembly includes a main joint module, a main stroke arm, a sub-joint module, a secondary stroke arm, a deformable joint mounting sleeve, a deformable joint module, and a deformable joint output element. The main joint module is connected to a fixed mounting plate. The rotating end of the main joint module is connected to one end of the main stroke arm, and the other end of the main stroke arm is connected to the sub-joint module. The rotating end of the sub-joint module is connected to one end of the secondary stroke arm, and the other end of the secondary stroke arm is connected to the deformable joint module via the deformable joint mounting sleeve. The rotating end of the deformable joint module is connected to the deformable joint output element.

[0010] Furthermore, the main stroke arm is connected to the rotating end of the main joint module through a sealing element of the main joint module.

[0011] Furthermore, the main stroke boom is equipped with a main stroke boom sealing element.

[0012] Furthermore, the secondary stroke arm is connected to the rotating end of the secondary joint module via a sealing element of the secondary joint module.

[0013] Furthermore, the secondary stroke arm is equipped with a secondary stroke arm sealing element.

[0014] Furthermore, the vision acquisition device includes a motion extension component and an acquisition component. The motion extension component is connected to the end of the robotic arm component and is used to drive the acquisition component to rotate.

[0015] Furthermore, the motion extension component includes a motion extension connector, a front cover of the connector, a rear cover of the connector, and an extension joint module. One side of the motion extension connector is connected to a deformable joint output element at a corresponding position. One end of the motion extension connector is connected to the front cover of the connector, and the other end is connected to the rear cover of the connector. The extension joint module is disposed inside the motion extension connector, and the rotating end of the extension joint module is connected to a corresponding acquisition component.

[0016] Furthermore, the acquisition component includes an extension support, an acquisition module, an acquisition module fixing component, and an acquisition module protective component. The middle part of the extension support is connected to the rotating end of the corresponding extension joint module. Two acquisition modules are provided and symmetrically arranged on both sides of the extension support. Each acquisition module is connected to the extension support through an acquisition module fixing component, and each acquisition module is provided with a corresponding acquisition module protective component.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. This device uses two vision acquisition devices to work together. The movement of the vision acquisition devices can track the cables and optical cables under the FAST feed support cable. At the same time, the vision acquisition devices ensure that the cables and optical cables are always within the detection range with the best field of view, thus improving detection accuracy and efficiency.

[0019] 2. This device, through the adsorption component, can adsorb the robotic arm component when it is not in working state, thereby reducing the need for the robotic arm component to output torque when it is not in working state, reducing energy consumption, and extending the service life of the robotic arm component.

[0020] 3. This device, through the installation of sealing elements on the main stroke boom and the auxiliary stroke boom, can seal the wire harness and other components, thus protecting the wire harness.

[0021] 4. This device can provide sealing protection for the sub-joint module by setting the sealing element of the sub-joint module, thus preventing damage to the actuator.

[0022] 5. This device can protect the rotating end of the main joint module by setting the sealing element of the main joint module, and prevent damage to the actuator. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 This is a first-view structural schematic diagram of a detection device for FAST feed support cable according to the present invention.

[0025] Figure 2 This is a second-view structural schematic diagram of a detection device for FAST feed support cable according to the present invention.

[0026] Figure 3 This is a schematic diagram of the structure of the robotic arm assembly described in this invention;

[0027] Figure 4 This is a schematic diagram of the structure of the visual acquisition device described in this invention;

[0028] Figure 5 This is a diagram showing the retracted state of the robotic arm assembly described in this invention.

[0029] Figure 6 This is a schematic diagram of the opened structure of the robotic arm assembly described in this invention;

[0030] Figure 7 This is a schematic diagram of the robotic arm assembly described in this invention in its working state.

[0031] Motion execution device 1; Cooperative dual-arm mounting and fixing assembly 11; Fixing bracket 111; Fixing mounting plate 112; Adsorption assembly 113; Robotic arm assembly 12; Main joint module 121; Main joint module sealing element 122; Main stroke arm 123; Main stroke arm sealing element 124; Sub-joint module 125; Sub-joint module sealing element 126; Sub-stroke arm 127; Sub-stroke arm sealing element 128; Deformable joint mounting sleeve 129; Deformable joint module 1210; Deformable joint output element 1211; Vision acquisition device 2; Motion extension assembly 21; Motion extension connector 211; Connector front cover 212; Connector rear cover 213; Extension joint module 214; Acquisition assembly 22; Extension support 221; Acquisition module 222; Acquisition module fixing component 223; Acquisition module protective component 224. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0033] Referring to the accompanying drawings, this embodiment describes a detection device for FAST feed support cables, comprising a motion execution device 1, a vision acquisition device 2, and a controller. The motion execution device 1 includes a cooperative dual-arm mounting and fixing assembly 11 and a robotic arm assembly 12. Two robotic arm assemblies 12 are provided, symmetrically arranged on the left and right sides of the cooperative dual-arm mounting and fixing assembly 11. Each robotic arm assembly 12 has a vision acquisition device 2 at its end. The two vision acquisition devices 2 work together to track the cable and optical fiber in real time. The cooperative dual-arm mounting and fixing assembly 11 includes two adsorption components 113. Each adsorption component 113 is used to adsorb the corresponding side of the robotic arm assembly 12 when not in operation. Both the robotic arm assembly 12 and the vision acquisition device 2 are electrically connected to the controller.

[0034] In this embodiment, the collaborative dual-arm mounting and fixing assembly 11 further includes a fixing bracket 111 and a fixing mounting plate 112. Two fixing mounting plates 112 are provided, symmetrically arranged on the fixing bracket 111. Each fixing mounting plate 112 is connected to a corresponding adsorption assembly 113 on the side away from the cable. The fixing mounting plate 112 provides support for the adsorption assembly 113. The fixing bracket 111 can be composed of multiple metal supports in a regular geometric shape. The fixing mounting plate 112 is a rectangular aluminum plate, or it can be a plate of other shapes and materials. The adsorption assembly 113 uses magnetic elements to generate an adsorption effect, adsorbing the robotic arm assembly 12 in the non-working state. This prevents the robotic arm assembly 12 from needing to output torque even in the non-working state, extending its service life. The adsorption assembly 113 can also use adsorption elements based on other adsorption principles. The fixing bracket 111 is used for movement on the cable; the movement method is existing technology and will not be described in detail here.

[0035] In this embodiment, the robotic arm assembly 12 includes a main joint module 121, a main stroke arm 123, a secondary joint module 125, a secondary stroke arm 127, a deformable joint mounting sleeve 129, a deformable joint module 1210, and a deformable joint output element 1211. The main joint module 121 is connected to a fixed mounting plate 112. The rotating end of the main joint module 121 is connected to one end of the main stroke arm 123, and the other end of the main stroke arm 123 is connected to the secondary joint module 125. The rotating end of the secondary joint module 125 is connected to one end of the secondary stroke arm 127, and the other end of the secondary stroke arm 127 is connected to the deformable joint module 1210 through the deformable joint mounting sleeve 129. The rotating end of the deformable joint module 1210 is connected to the deformable joint output element 1211. The mounting end face of the main joint module 121 can be a circumferential annular end face and be completely attached to and fixed to the fixed mounting plate 112. The arm section of the main stroke arm 123 can be a hollow rectangular section or a section of other shapes.

[0036] In this embodiment, the main stroke arm 123 is connected to the rotating end of the main joint module 121 via the main joint module sealing element 122. The main joint module sealing element 122 can seal and protect the rotating end of the main joint module 121, preventing the rotating end of the main joint module 121 from being exposed. The main joint module sealing element 122 has a thin sheet structure.

[0037] In this embodiment, the main stroke arm 123 is provided with a main stroke arm sealing element 124. After the internal wiring of the main stroke arm 123 is completed, it is sealed by the main stroke arm sealing element 124, so that the wire harness is not exposed and the wire harness is protected.

[0038] In this embodiment, the secondary stroke arm 127 is connected to the rotating end of the secondary joint module 125 via a secondary joint module sealing element 126. The secondary joint module sealing element 126 can cover the rotating end of the secondary joint module 125, preventing it from being exposed and thus providing protection.

[0039] In this embodiment, the secondary stroke arm 127 is provided with a secondary stroke arm sealing element 128. After the wiring harness inside the secondary stroke arm 127 is completed, it is sealed and fixed by the secondary stroke arm sealing element 128 to prevent the wiring harness from being exposed and extend its service life.

[0040] In this embodiment, the visual acquisition device 2 includes a motion extension component 21 and an acquisition component 22. The motion extension component 21 is connected to the end of the robotic arm component 12 and is used to drive the acquisition component 22 to rotate. The motion extension component 21 enables the acquisition component 22 to maintain a large angle with the cable C and optical fiber B during the detection operation. This allows the acquisition components 22 on both sides to maintain a large angle with the cable C and optical fiber B when they work together, thereby achieving a good detection effect on the cable C and optical fiber B.

[0041] In this embodiment, the motion extension component 21 includes a motion extension connector 211, a front cover 212, a rear cover 213, and an extension joint module 214. One side of the motion extension connector 211 is connected to a corresponding deformable joint output element 1211. One end of the motion extension connector 211 is connected to the front cover 212, and the other end is connected to the rear cover 213. The extension joint module 214 is disposed within the motion extension connector 211, and its rotating end is connected to a corresponding acquisition component 22. The front cover 212 and the rear cover 213 prevent the end face of the extension joint module 214 from being exposed. Positioning blocks are provided on both the front cover 212 and the rear cover 213 for quick positioning during installation, improving installation efficiency.

[0042] In this embodiment, the acquisition component 22 includes an extension support 221, an acquisition module 222, an acquisition module fixing member 223, and an acquisition module protective member 224. The middle part of the extension support 221 is connected to the rotating end of the corresponding extension joint module 214. Two acquisition modules 222 are provided and symmetrically arranged on both sides of the extension support 221. Each acquisition module 222 is connected to the extension support 221 through an acquisition module fixing member 223, and each acquisition module 222 is provided with a corresponding acquisition module protective member 224. Through the coordinated movement of the two acquisition modules 222 with the robotic arm, the cable and optical cable can always be kept in the optimal observation field, thereby obtaining accurate data efficiently. The acquisition module protective member 224 can protect the acquisition module 222. The actual shape and structure of the acquisition module fixing member 223 and the acquisition module protective member 224 can be selected according to the shape of the acquisition module 222.

[0043] In use, when not in operation, the adsorption component 113 will adsorb the corresponding robotic arm component 12, thereby reducing the torque output of the robotic arm component 12 in the non-operational state, which can extend the service life of the robotic arm component 12. When observation is required, the adsorption component 113 will stop adsorbing the corresponding robotic arm component 12, and the robotic arm component 12 will enter the working state.

[0044] In operation, the controller controls the main joint module 121 to rotate the main stroke arm 123. This rotation of the main stroke arm 123 provides the first level of spatial position adjustment for the acquisition module 222. Under the control of the controller, the secondary joint module 125 drives the secondary stroke arm 127 to rotate, providing the second level of spatial position adjustment for the acquisition module 222. Under the control of the controller, the deformable joint module 1210 drives the deformable joint output element 1211 to rotate, thereby adjusting the acquisition module... 222 plays a third-level spatial position adjustment role. Under the control of the controller, the extended joint module 214 drives the extended support 221 to rotate, thereby playing a fourth-level spatial position adjustment role for the acquisition module 222. This enables the acquisition module 222 to maintain the best observation angle for detecting cables and optical cables. The movement process of the robotic arm components 12 on both sides is completely mirrored. Through their coordinated action, cables and optical cables can be detected without blind spots, achieving good detection results and improving the efficiency and accuracy of FAST feed support cable maintenance.

[0045] The sensors, controllers, and control programs mentioned above are all existing technologies and will not be elaborated upon here.

[0046] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A testing device for FAST feed cables and optical fibers, characterized in that: The system includes a motion execution device (1), a vision acquisition device (2), and a controller. The motion execution device (1) includes a collaborative dual-arm mounting and fixing assembly (11) and a robotic arm assembly (12). Two robotic arm assemblies (12) are provided, symmetrically arranged on the left and right sides of the collaborative dual-arm mounting and fixing assembly (11). Each robotic arm assembly (12) has a vision acquisition device (2) at its end. The two vision acquisition devices (2) work together to track cables and optical fibers in real time. The dual-arm mounting and fixing assembly (11) includes a fixing bracket (111), two fixing mounting plates (112) and two adsorption components (113). The two fixing mounting plates (112) are arranged symmetrically on the fixing bracket (111). Each fixing mounting plate (112) is connected to the corresponding adsorption component (113) on the side away from the cable. Each adsorption component (113) is used to adsorb the corresponding side of the robotic arm assembly (12) when not in operation. The robotic arm assembly (12) and the vision acquisition device (2) are both electrically connected to the controller.

2. The inspection device for FAST feed cables and optical cables according to claim 1, characterized in that: The robotic arm assembly (12) includes a main joint module (121), a main stroke arm (123), a secondary joint module (125), a secondary stroke arm (127), a deformable joint mounting sleeve (129), a deformable joint module (1210), and a deformable joint output element (1211). The main joint module (121) is connected to a fixed mounting plate (112). The rotating end of the main joint module (121) is connected to one end of the main stroke arm (123), and the other end of the main stroke arm (123) is connected to the secondary joint module (125). The rotating end of the secondary joint module (125) is connected to one end of the secondary stroke arm (127), and the other end of the secondary stroke arm (127) is connected to the deformable joint module (1210) through the deformable joint mounting sleeve (129). The rotating end of the deformable joint module (1210) is connected to the deformable joint output element (1211).

3. The inspection device for FAST feed cables and optical fibers according to claim 2, characterized in that: The main stroke arm (123) is connected to the rotating end of the main joint module (121) through the main joint module sealing element (122).

4. The inspection device for FAST feed cables and optical cables according to claim 2, characterized in that: The main stroke boom (123) is provided with a main stroke boom sealing element (124).

5. The inspection device for FAST feed cables and optical cables according to claim 2, characterized in that: The secondary stroke arm (127) is connected to the rotating end of the secondary joint module (125) through the secondary joint module sealing element (126).

6. The inspection device for FAST feed cables and optical cables according to claim 2, characterized in that: The secondary stroke boom (127) is provided with a secondary stroke boom sealing element (128).

7. The inspection device for FAST feed cables and optical fibers according to claim 1, characterized in that: The visual acquisition device (2) includes a motion extension component (21) and an acquisition component (22). The motion extension component (21) is connected to the end of the robotic arm component (12) and is used to drive the acquisition component (22) to rotate.

8. The inspection device for FAST feed cables and optical cables according to claim 7, characterized in that: The motion extension component (21) includes a motion extension connector (211), a connector front cover (212), a connector rear cover (213), and an extension joint module (214). One side of the motion extension connector (211) is connected to the deformable joint output element (1211) at the corresponding position. One end of the motion extension connector (211) is connected to the connector front cover (212), and the other end is connected to the connector rear cover (213). The extension joint module (214) is disposed inside the motion extension connector (211), and the rotating end of the extension joint module (214) is connected to the corresponding acquisition component (22).

9. The inspection device for FAST feed cables and optical fibers according to claim 8, characterized in that: The acquisition component (22) includes an extension support (221), an acquisition module (222), an acquisition module fixing component (223), and an acquisition module protective component (224). The middle part of the extension support (221) is connected to the rotating end of the corresponding extension joint module (214). Two acquisition modules (222) are provided and symmetrically arranged on both sides of the extension support (221). Each acquisition module (222) is connected to the extension support (221) through an acquisition module fixing component (223). Each acquisition module (222) is provided with a corresponding acquisition module protective component (224).

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