A scanning adjusting device for space telescope on-orbit laser decontamination

Abstract

A kind of scanning adjusting device of space telescope in-orbit laser decontamination, comprising: horizontal direction adjusting mechanism, vertical direction adjusting mechanism and scanning end multi-angle adjusting mechanism;The lower end of horizontal direction adjusting mechanism is fixedly connected with the upper end of vertical direction adjusting mechanism, and scanning end multi-angle adjusting mechanism is connected with the scanning end multi-angle adjusting mechanism fixed plate of horizontal direction adjusting mechanism through adjusting mechanism positioning plate, pulley and slide rail are matched with sliding movement.This adjusting method is simple, easy to operate and control, only using flexible string mechanism and electromagnetic motor can complete the driving and control of entire laser decontamination system, only using clockwise and counterclockwise rotation of slow motor, swing in a direction of laser decontamination scanning end can be realized, through the swing in multiple directions, multi-angle multi-directional adjustment of laser decontamination scanning end can be realized.

Description

Technical Field

[0001] This invention relates to the field of space telescope decontamination technology, specifically to a scanning and adjustment device for on-orbit laser decontamination of space telescopes. Background Technology

[0002] Currently, large astronomical telescopes operating in the terrestrial atmosphere are contaminated with dust and bird droppings. The removal of these contaminants utilizes the impact force generated by the high-speed movement of dry ice particles, combined with the low temperature of the dry ice itself, which causes the dirt to crack. This, along with the expansion force generated by the sublimation of the dry ice, removes the contaminants from the object's surface. The advantage of this method is its excellent cleaning effect on surface dust with minimal damage to the telescope surface.

[0003] However, the above methods are not suitable for decontaminating telescopes in the space environment, where dry ice is ineffective due to the low temperature and pressure. Laser decontamination, a non-contact cleaning method, has become the best choice for decontaminating telescopes in space because it does not damage the surface and has high efficiency. However, effectively controlling the laser decontamination system in space remains a challenge, and there are no reports of on-orbit laser decontamination scanning and adjustment devices for space telescopes in the current technology. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a multi-angle and multi-directional adjustment device for the laser decontamination scanning end in the field of on-orbit laser decontamination scanning adjustment of space telescopes.

[0005] The technical solution of this invention is: a scanning and adjustment device for on-orbit laser decontamination of a space telescope, comprising: a horizontal adjustment mechanism, a vertical adjustment mechanism, and a multi-angle adjustment mechanism for the scanning end; the lower end of the horizontal adjustment mechanism is fixedly connected to the upper end of the vertical adjustment mechanism, and the side of the multi-angle adjustment mechanism with pulleys is placed on the side of the horizontal adjustment mechanism with slide rails, with the pulleys and slide rails sliding together; a laser decontamination scanning end is mounted on the joint ball joint of the multi-angle adjustment mechanism, facing the main mirror of the space telescope; the lower end of the vertical adjustment mechanism is fixed to the equipment section of the space telescope; the vertical adjustment mechanism uses a motor and a cable assembly to drive the horizontal adjustment mechanism to move back and forth in the vertical direction, the horizontal adjustment mechanism uses a motor and a cable assembly to drive the multi-angle adjustment mechanism for the scanning end to move back and forth in the horizontal direction, and the multi-angle adjustment mechanism for the scanning end uses a motor and a cable assembly to drive the laser decontamination scanning end to swing back and forth, thereby realizing on-orbit laser decontamination of the main mirror of the space telescope.

[0006] The horizontal adjustment mechanism includes: an inner slide rail, an outer slide rail, an inner slider assembly, an outer slider assembly, a scanning end multi-angle adjustment mechanism fixing plate, a horizontal adjustment mechanism take-up wheel, a slide rail mounting frame, a cover plate, a horizontal adjustment mechanism motor, a horizontal adjustment mechanism cable assembly, and a fixing post. The inner and outer slide rails are respectively fixed to both sides of the slide rail mounting frame. The inner and outer slider assemblies are respectively fixed to both sides of one side of the scanning end multi-angle adjustment mechanism fixing plate. The horizontal adjustment mechanism motor is connected to the horizontal adjustment mechanism take-up wheel, and the horizontal adjustment mechanism take-up wheel is fixed to the other side of the scanning end multi-angle adjustment mechanism fixing plate. At the center of one side, a combined structure consisting of a horizontal adjustment mechanism motor, a horizontal adjustment mechanism take-up reel, a scanning end multi-angle adjustment mechanism fixing plate, an inner slider group, and an outer slider group is placed on the inner and outer slide rails. The inner slider group is placed on the inner slide rail, and the outer slider group is placed on the outer slide rail. There are two cover plates, which cover both ends of the slide rail mounting frame respectively. The horizontal adjustment mechanism drives the scanning end multi-angle adjustment mechanism fixed on the scanning end multi-angle adjustment mechanism fixing plate to move back and forth in the horizontal direction through the sliding action of the inner slider group and the inner slide rail, and the outer slider group and the outer slide rail.

[0007] The horizontal adjustment mechanism has two ropes and two fixing posts. The two fixing posts are fixed to the cover plates at both ends. One end of each rope passes over the first take-up groove and the second take-up groove on the take-up reel of the horizontal adjustment mechanism, and the other end is fixed to the two fixing posts.

[0008] The vertical adjustment mechanism includes: support rod one, support rod two, support rod three, support rod four, bearing assembly, upper slide rail fixing plate, upper slide rail, upper slider, lower slide rail support rod support seat, pull plate, motor base, vertical adjustment mechanism take-up wheel, pulley set, lower slide rail fixing plate, lower slide rail, lower slider, upper slide rail support rod support seat, vertical adjustment mechanism motor, and vertical adjustment mechanism rope assembly; support rod one and support rod two are arranged in an X-shape, and their center intersection is connected by a joint bearing in the bearing assembly; support rod three and support rod four are connected by a joint bearing in the bearing assembly. The four rods are arranged in an X-shape, with their centers intersecting at a point connected by a spherical bearing in the bearing assembly. The lower end of the first rod is connected to the upper end of the fourth rod via a spherical bearing, and the lower end of the second rod is connected to the upper end of the third rod via a spherical bearing. There are two upper slide rails and two lower slide rail support seats. The two upper slide rails are fixed side-by-side to one end of the upper slide rail fixing plate. The sliding side of the upper slider rests on the two upper slide rails, and the other side of the upper slider is connected to two lower slide rail support seats. The upper end of the second rod rests on two lower slide rail support seats. The upper slide rail fixing plate is located in the middle and connected by a bearing. The other end of the upper slide rail fixing plate has a connector and is connected to the upper end of the first support rod through a spherical bearing. There are two lower slide rails and two upper slide rail support rods. The two lower slide rails are fixed side by side to one end of the lower slide rail fixing plate. The sliding side of the lower slide block is placed on the two lower slide rails. The other side of the lower slide block is connected to the two upper slide rail support rods. The lower end of the third support rod is placed in the middle of the two upper slide rail support rods and is connected by a spherical bearing. The other end of the lower slide rail fixing plate has a connector and is connected to the lower end of the fourth support rod through a spherical bearing. The pull plate is fixed on the lower slide block. The vertical direction adjustment mechanism motor is connected to the vertical direction adjustment mechanism take-up wheel. The vertical direction adjustment mechanism motor is fixed on the motor base, and the motor base is fixed on the lower slide rail fixing plate. The vertical direction adjustment mechanism drives the horizontal direction adjustment mechanism fixed on the upper slide rail fixing plate to move back and forth in the vertical direction through the angle change between the support rods, thereby driving the scanning end multi-angle adjustment mechanism to move back and forth in the vertical direction.

[0009] The vertical adjustment mechanism has two ropes in its rope group. One end of each rope passes over the two take-up grooves of the vertical adjustment mechanism's take-up wheel, then through the two pulleys in the pulley group, and the other end is fixed to the two small holes on the pull plate.

[0010] The first embodiment of the scanning end multi-angle adjustment mechanism includes: pulley one, pulley two, pulley three, pulley four, flange joint bearing, joint bearing and pulley fixing seat, four rope reel, scanning end multi-angle adjustment mechanism motor, motor support plate, connecting plate, scanning end multi-angle adjustment mechanism take-up wheel, and scanning end multi-angle adjustment mechanism rope group; pulley one, pulley two, pulley three, and pulley four are respectively fixed on the four sides of the fixing seat, flange joint bearing is fixed at the center of the fixing seat, and four rope reel is fixed on flange joint bearing; the number of scanning end multi-angle adjustment mechanism motor, motor support plate, connecting plate, and scanning end multi-angle adjustment mechanism take-up wheel are two each; two connecting plates are respectively fixed below the fixing seat at the corresponding positions of pulley one and pulley three; two motor support plates are respectively fixed on two connecting plates; two scanning end multi-angle adjustment mechanism motors are respectively fixed on two motor support plates; and two scanning end multi-angle adjustment mechanism take-up wheels are respectively connected to two scanning end multi-angle adjustment mechanism motors.

[0011] The scanning end multi-angle adjustment mechanism has two take-up wheels and two rope groups, each containing two ropes. On the take-up wheel corresponding to pulley one, one end of each rope passes over the two take-up grooves of the take-up wheel, through pulleys one and two, and the other end is fixed to two holes on the four rope reels. On the take-up wheel corresponding to pulley three, one end of each rope passes over the two take-up grooves of the take-up wheel, through pulleys three and four, and the other end is fixed to two holes on the four rope reels. The scanning end multi-angle adjustment mechanism, through the tightening action of the rope groups, drives the flange joint bearing to swing back and forth in the corresponding direction, thereby realizing multi-angle adjustment of the laser decontamination scanning end.

[0012] The second embodiment of the multi-angle adjustment mechanism at the scanning end includes: a semi-circular seat, an outer semi-circle, a joint ball bearing, an inner semi-circle, a fisheye bearing, a joint bearing seat, a joint bearing seat fixing plate, an upper motor fixing plate, a lower motor fixing plate, an upper pulley support column assembly, a lower pulley support column assembly, a lower pulley assembly, an upper pulley assembly, an adjustment mechanism positioning plate, a second motor for the multi-angle adjustment mechanism at the scanning end, a second take-up wheel for the multi-angle adjustment mechanism at the scanning end, and a second rope assembly for the multi-angle adjustment mechanism at the scanning end. There are four semi-circular seats and two fisheye bearings. The upper parts of the outer and inner semi-circles are mounted on the joint ball bearing via two fisheye bearings. The lower parts of the outer and inner semi-circles are connected to the four semi-circular seats via bearings. The joint ball bearing is fixed to the joint bearing seat. Both the semi-circular seats and the joint bearing seat are fixed to the joint bearing seat fixing plate. The upper motor fixing plate and the lower motor fixing plate are fixed to the lower surface of the joint bearing seat fixing plate. The two ends of the upper motor fixing plate correspond to the two ends of the inner semi-circle, and the two ends of the lower motor fixing plate... Corresponding to the two ends of the outer half-circle, there are two motors for the multi-angle adjustment mechanism at the scanning end and two take-up wheels for the multi-angle adjustment mechanism at the scanning end. One end of one motor is connected to one take-up wheel for the multi-angle adjustment mechanism at the scanning end, and the other end is connected to the upper motor fixing plate. One end of the other motor is connected to the other take-up wheel for the multi-angle adjustment mechanism at the scanning end, and the other end is connected to the lower motor fixing plate. There are two upper pulley support column groups, two lower pulley support column groups, two lower pulley groups, and two upper pulley groups. The two upper pulley support columns are fixed below both ends of the upper motor fixing plate, and the two upper pulleys are fixed at the lower ends of the two upper pulley support columns. The two lower pulley support columns are fixed below both ends of the lower motor fixing plate, and the two lower pulleys are fixed at the lower ends of the two lower pulley support columns. There are four positioning plates for the adjustment mechanism, which are fixed at the four corners below the joint bearing seat fixing plate.

[0013] The scanning end multi-angle adjustment mechanism includes two take-up wheels and two rope groups, each containing two ropes. On the take-up wheel corresponding to the upper motor mounting plate, one end of each rope passes over the two take-up grooves of the take-up wheel, passes through the two pulleys in the lower pulley group, and enters the inner half-circle of the rope groove. The other ends of the ropes are fixed to the two connecting rings of the joint ball shaft. On the take-up wheel corresponding to the lower motor mounting plate, one end of each rope passes over the two take-up grooves of the take-up wheel, passes through the two pulleys in the upper pulley group, and enters the outer half-circle of the rope groove. The other ends of the ropes are fixed to the two connecting rings of the joint ball shaft. The scanning end multi-angle adjustment mechanism, through the tightening action of the rope group two, drives the joint ball shaft to swing back and forth in two orthogonal directions, namely the outer and inner half-circles, thereby realizing multi-angle adjustment of the laser decontamination scanning end.

[0014] In the second embodiment of the multi-angle adjustment mechanism at the scanning end, the two ends of the outer half-circle are located on the X-axis, and the two ends of the inner half-circle are located on the Y-axis. The plane containing the outer half-circle forms a first angle with the XZ plane, the plane containing the inner half-circle forms a second angle with the YZ plane, and the straight line containing the joint ball axis forms a third angle with the Z-axis. The position of the laser cleaning scanning end is determined by the above three angles, and the relationship between the relevant physical quantities is shown in the following formula:

[0015]

[0016]

[0017] sin 2 θ=sin 2 α+sin 2 β

[0018] Where t1 is the motor running time corresponding to the outer half-circle; t2 is the motor running time corresponding to the inner half-circle; R1 is the radius of the outer half-circle and the corresponding rope; R2 is the radius of the inner half-circle and the corresponding rope; α is the first angle; β is the second angle; θ is the third angle; and r is the radius of the take-up groove. This represents the angular velocity of the motor; the value is positive when rotating clockwise and negative when rotating counterclockwise.

[0019] The advantages of this invention compared to the prior art are:

[0020] (1) The scanning adjustment device for on-orbit laser decontamination of a space telescope proposed in this invention can realize on-orbit multi-angle and multi-directional adjustment of the scanning end of laser decontamination in a space telescope.

[0021] (2) The adjustment method of the present invention is simple, easy to operate and control. The entire laser cleaning system can be driven and controlled by only a flexible rope mechanism and an electromagnetic motor. The laser cleaning scanning end can be swung in a certain direction by only using the clockwise and counterclockwise rotation of the slow motor. By combining the swung in multiple directions, the angle and orientation of the laser cleaning scanning end can be adjusted.

[0022] (3) The device of the present invention is mainly composed of plates and rods. It has a simple structure, is easy to assemble, and is small in size and light in weight, making it suitable for the space environment. At the same time, the device can also be used for on-orbit decontamination of radiation calibration blackbodies. Attached Figure Description

[0023] Figure 1 This is a front view of the overall structure of the scanning and adjustment device for on-orbit laser decontamination of the space telescope described in this invention;

[0024] Figure 2These are schematic cross-sectional and side views showing the installation of the scanning adjustment device of the present invention in the space telescope equipment section;

[0025] Figure 3 These are three views of the horizontal adjustment mechanism of the present invention;

[0026] Figure 4 This is an enlarged schematic diagram of the motor take-up reel structure of the present invention;

[0027] Figure 5 The front view and top view show the arrangement of the ropes in the horizontal adjustment mechanism of the present invention.

[0028] Figure 6 This is a front view of the vertical adjustment mechanism of the present invention;

[0029] Figure 7 The front view and top view show the arrangement of the ropes in the vertical adjustment mechanism of the present invention.

[0030] Figure 8 These are a top view and a partial sectional view of the first embodiment of the multi-angle adjustment mechanism at the scanning end of the present invention;

[0031] Figure 9 This is a cross-sectional view of the wire arrangement of the first embodiment of the multi-angle adjustment mechanism at the scanning end of the present invention;

[0032] Figure 10 This is a front view of a second embodiment of the multi-angle adjustment mechanism at the scanning end of the present invention.

[0033] Figure 11 This is a front view of the cable arrangement for a second embodiment of the multi-angle adjustment mechanism at the scanning end of the present invention.

[0034] Figure 12 This is a simplified schematic diagram of the second embodiment of the multi-angle adjustment mechanism at the scanning end of the present invention. Detailed Implementation

[0035] To achieve position adjustment of the laser decontamination scanning end, this invention provides a scanning adjustment device for on-orbit laser decontamination of space telescopes. Through a simple mechanical structure and convenient operation, it enables multi-directional and multi-angle adjustment of the laser decontamination scanning end.

[0036] like Figure 1 As shown, a scanning adjustment device for on-orbit laser decontamination of a space telescope includes: a horizontal adjustment mechanism 1, a vertical adjustment mechanism 2, and a multi-angle adjustment mechanism at the scanning end 3.

[0037] Furthermore, the lower end of the horizontal adjustment mechanism 1 is fixedly connected to the upper end of the vertical adjustment mechanism 2, and the scanning end multi-angle adjustment mechanism 3 is connected to the scanning end multi-angle adjustment mechanism fixing plate 105 of the horizontal adjustment mechanism 1 through the adjustment mechanism positioning plate 333, and the pulley and the slide rail cooperate to slide.

[0038] like Figure 2 As shown, a laser cleaning scanning end 5 is mounted on the joint ball shaft of the multi-angle adjustment mechanism 3 at the scanning end. The laser cleaning scanning end 5 faces the main lens 6 of the space telescope, and the lower end of the vertical adjustment mechanism 2 is fixed to the equipment section 7 of the space telescope 4.

[0039] Furthermore, the vertical adjustment mechanism 2 uses a motor and a cable group to drive the horizontal adjustment mechanism 1 to move back and forth in the vertical direction. The horizontal adjustment mechanism 1 uses a motor and a cable group to drive the scanning end multi-angle adjustment mechanism 3 to move back and forth in the horizontal direction. The scanning end multi-angle adjustment mechanism 3 uses a motor and a cable group to drive the laser cleaning scanning end 5 to swing back and forth, thereby realizing on-orbit laser cleaning of the main lens 6 of the space telescope.

[0040] like Figure 3 As shown, the horizontal adjustment mechanism 1 includes: an inner slide rail 101, an outer slide rail 102, an inner slider group 103, an outer slider group 104, a scanning end multi-angle adjustment mechanism fixing plate 105, a horizontal adjustment mechanism take-up wheel 106, a slide rail mounting bracket 107, a cover plate 108, a horizontal adjustment mechanism motor 109, a horizontal adjustment mechanism rope group 110, and a fixing column 111.

[0041] Furthermore, the inner slide rail 101 and the outer slide rail 102 are respectively fixed on both sides of the slide rail mounting bracket 107, the inner slider group 103 and the outer slider group 104 are respectively fixed on both sides of one side of the scanning end multi-angle adjustment mechanism fixing plate 105, the horizontal direction adjustment mechanism motor 109 is connected to the horizontal direction adjustment mechanism take-up wheel 106, and the horizontal direction adjustment mechanism take-up wheel 106 is fixed at the center position of the other side of the scanning end multi-angle adjustment mechanism fixing plate 105. The combined structure composed of the horizontal direction adjustment mechanism motor 109, the horizontal direction adjustment mechanism take-up wheel 106, the scanning end multi-angle adjustment mechanism fixing plate 105, the inner slider group 103 and the outer slider group 104 is placed on the inner slide rail 101 and the outer slide rail 102, wherein the inner slider group 103 is placed on the inner slide rail 101 and the outer slider group 104 is placed on the outer slide rail 102. There are two cover plates 108, which cover both ends of the slide rail mounting bracket 107 respectively.

[0042] Furthermore, the cover plate 108 can reduce the deformation of the slide rail mounting bracket 107 and is also used to limit the displacement of the inner slider group 103 and the outer slider group 104.

[0043] Furthermore, such as Figure 4 As shown, the horizontal adjustment mechanism has two take-up grooves on the take-up reel 106, namely the first take-up groove 1061 and the second take-up groove 1062. The coil on the first take-up groove 1061 is tightened in a clockwise direction, and the coil on the second take-up groove 1062 is tightened in a counterclockwise direction.

[0044] Furthermore, such as Figure 5 As shown, the horizontal adjustment mechanism cord group 110 has two cords and two fixing posts 111. The two fixing posts 111 are fixed to the cover plates 108 at both ends. One end of each cord in the horizontal adjustment mechanism cord group 110 passes over the first take-up groove 1061 and the second take-up groove 1062 on the horizontal adjustment mechanism take-up wheel 106, and the other end is fixed to the two fixing posts 111.

[0045] Furthermore, when the horizontal adjustment mechanism motor 109 rotates counterclockwise or clockwise, the horizontal adjustment mechanism 1, through the cooperation and sliding action of the inner slider group 103 and the inner slide rail 101, and the outer slider group 104 and the outer slide rail 102, and under the action of the taut horizontal adjustment mechanism rope group 110, drives the scanning end multi-angle adjustment mechanism 3 fixed on the scanning end multi-angle adjustment mechanism fixing plate 105 to move back and forth in the horizontal direction, thereby realizing the multi-directional adjustment of the laser cleaning scanning end 5.

[0046] like Figure 6 As shown, the vertical adjustment mechanism 2 includes: a first support rod 201, a second support rod 202, a third support rod 203, a fourth support rod 204, a bearing assembly 205, an upper slide rail fixing plate 206, an upper slide rail 207, an upper slider 208, an upper slide rail support rod 209, a pull plate 210, a motor base 211, a vertical adjustment mechanism take-up wheel 212, a pulley set 213, a lower slide rail fixing plate 214, a lower slide rail 215, a lower slider 216, a lower slide rail support rod 217, a vertical adjustment mechanism motor 218, and a vertical adjustment mechanism rope assembly 219.

[0047] Furthermore, the first support rod 201 and the second support rod 202 are arranged in an X-shape, and their center intersection is connected by a spherical bearing in the bearing assembly 205. The third support rod 203 and the fourth support rod 204 are also arranged in an X-shape, and their center intersection is connected by a spherical bearing in the bearing assembly 205. The lower end of the first support rod 201 and the upper end of the fourth support rod 204 are connected by a spherical bearing, and the lower end of the second support rod 202 and the upper end of the third support rod 203 are connected by a spherical bearing. There are two upper slide rails 207 and two lower slide rail support rod seats 209. The two upper slide rails 207 are fixed side by side to one end of the upper slide rail fixing plate 206. The sliding side of the upper slider 208 is placed on the two upper slide rails 207, and the other side of the upper slider 208 is connected to the two upper slide rail support rod seats 209. The upper end of the second support rod 202 is placed in the middle of the two upper slide rail support rod seats 209 and is connected by a bearing. The upper slide rail fixing plate 206... The other end has a connector and is connected to the upper end of the support rod 201 via a bearing. There are two lower slide rails 215 and two lower slide rail support rods 217. The two lower slide rails 215 are fixed side by side to one end of the lower slide rail fixing plate 214. The sliding side of the lower slide block 216 is placed on the two lower slide rails 215. The other side of the lower slide block 216 is connected to the two lower slide rail support rods 217. The lower end of the support rod 203 is placed in the middle of the two lower slide rail support rods 217 and is connected via a bearing. The other end of the lower slide rail fixing plate 214 has a connector and is connected to the lower end of the support rod 204 via a bearing. The pull plate 210 is fixed on the lower slide block 216. The vertical direction adjustment mechanism motor 218 is connected to the vertical direction adjustment mechanism take-up wheel 212. The vertical direction adjustment mechanism motor 218 is fixed on the motor base 211. The motor base 211 is fixed on the lower slide rail fixing plate 214.

[0048] Furthermore, such as Figure 7 As shown, the motor base 211 is a convex structure with a hollow central protrusion that can accommodate the take-up wheel 212 of the vertical adjustment mechanism. Both ends are long plates extending outward. The pulley set 213 includes two pulleys, which are fixed to both ends of the motor base 211 respectively.

[0049] Furthermore, the winding method of the rope in the take-up reel 212 of the vertical adjustment mechanism is the same as the winding method of the rope in the horizontal adjustment mechanism 1, see... Figure 4 .

[0050] Furthermore, such as Figure 7 As shown, the vertical adjustment mechanism cord group 219 has two cords. One end of each cord passes over the two take-up grooves of the vertical adjustment mechanism take-up wheel 212, passes through the two pulleys in the pulley group 213, and the other end is fixed to the two small holes of the pull plate 210.

[0051] Furthermore, when the vertical direction adjustment mechanism motor 218 rotates clockwise or counterclockwise, the pull plate 210 in the vertical direction adjustment mechanism 2 moves back and forth in the horizontal direction under the tightening action of the vertical direction adjustment mechanism rope group 219, which drives the angle change between the support rods, so that the horizontal direction adjustment mechanism 1 fixed on the upper slide rail fixing plate 206 moves back and forth in the vertical direction, thereby driving the scanning end multi-angle adjustment mechanism 3 to move back and forth in the vertical direction, realizing multi-directional adjustment of the laser cleaning scanning end.

[0052] like Figure 8 As shown, the first embodiment of the scanning end multi-angle adjustment mechanism 3 includes: pulley 1 301, pulley 2 302, pulley 303, pulley 4 304, flange joint bearing 305, fixed seat 306, four rope reel 307, scanning end multi-angle adjustment mechanism motor 308, motor support plate 309, connecting plate 310, scanning end multi-angle adjustment mechanism take-up wheel 311, and scanning end multi-angle adjustment mechanism rope group 312.

[0053] Furthermore, pulley 1 301, pulley 2 302, pulley 303, and pulley 4 304 are respectively fixed on the four sides of the fixed base 306, flange spherical bearing 305 is fixed at the center of the fixed base 306, and four rope coils 307 are fixed on flange spherical bearing 305. The number of scanning end multi-angle adjustment mechanism motors 308, motor support plates 309, connecting plates 310, and scanning end multi-angle adjustment mechanism take-up wheels 311 are two each. The two connecting plates 310 are respectively fixed below the spherical bearings and pulley fixed base 306 at the corresponding positions of pulley 1 301 and pulley 303. The two motor support plates 309 are respectively fixed on the two connecting plates 310. The two scanning end multi-angle adjustment mechanism motors 308 are respectively fixed on the two motor support plates 309. The two scanning end multi-angle adjustment mechanism take-up wheels 311 are respectively connected to the two scanning end multi-angle adjustment mechanism motors 308.

[0054] Furthermore, the winding method of the wire in the take-up reel 311 of the multi-angle adjustment mechanism at the scanning end is the same as the winding method of the wire in the horizontal adjustment mechanism 1, see... Figure 4 .

[0055] Furthermore, such as Figure 9As shown, the multi-angle adjustment mechanism take-up wheel 311 and the multi-angle adjustment mechanism cord group 312 at the scanning end are respectively provided with two take-up wheels and two cord groups. Each cord group contains two cords. On the take-up wheel at the corresponding position of pulley one 301, one end of the two cords passes over the two take-up grooves of the take-up wheel, passes through the corresponding pulley one 301 and pulley two 302, and the other end is fixed to the two holes at the corresponding positions of the four cord reel 307. On the take-up wheel at the corresponding position of pulley three 303, one end of the two cords passes over the two take-up grooves of the take-up wheel, passes through the corresponding pulley three 303 and pulley four 304, and the other end is fixed to the two holes at the corresponding positions of the four cord reel 307.

[0056] Furthermore, the four-rope reel 307 has a threaded through hole in the middle, and the four through holes and four corners around it are rounded. The central cylindrical part contains a positioning pin hole.

[0057] Furthermore, when the multi-angle adjustment mechanism motor 308 of the scanning end rotates clockwise or counterclockwise, the multi-angle adjustment mechanism 3 of the scanning end, through the tightening action of the multi-angle adjustment mechanism cord group 312, drives the flange joint bearing 305 to swing back and forth in the corresponding direction, thereby realizing the multi-angle adjustment of the laser cleaning scanning end.

[0058] like Figure 10 As shown, the second embodiment of the scanning end multi-angle adjustment mechanism 3 includes: a semi-circular seat 320, an outer semi-circle 321, a joint ball shaft 322, an inner semi-circle 323, a fisheye bearing 324, a joint bearing seat 325, a joint bearing seat fixing plate 326, an upper motor fixing plate 327, a lower motor fixing plate 328, an upper pulley support column group 329, a lower pulley support column group 330, a lower pulley group 331, an upper pulley group 332, an adjustment mechanism positioning plate 333, a second motor for the scanning end multi-angle adjustment mechanism 334, a second take-up wheel for the scanning end multi-angle adjustment mechanism 335, and a second rope group for the scanning end multi-angle adjustment mechanism 336.

[0059] Furthermore, there are four semi-circular seats 320 and two fisheye bearings 324. The upper parts of the outer semi-circle 321 and the inner semi-circle 323 are mounted on the articulated ball shaft 322 via two fisheye bearings 324. The lower parts of the outer semi-circle 321 and the inner semi-circle 323 are connected to the four semi-circular seats 320 via bearings. The articulated ball shaft 322 is fixed on the articulated bearing seat 325. Both the semi-circular seats 320 and the articulated bearing seat 325 are fixed on the articulated bearing seat fixing plate 326. The upper motor fixing plate 327 and the lower motor fixing plate 328 are fixed on the lower surface of the articulated bearing seat fixing plate 326. The two ends of the upper motor fixing plate 327 correspond to the two ends of the inner semi-circle 323, and the two ends of the lower motor fixing plate 328 correspond to the two ends of the outer semi-circle 321. There are two motors 334 and two take-up wheels 335 for the multi-angle adjustment mechanism at the scanning end. One end of a multi-angle adjustment mechanism motor 2 at the scanning end is connected to one of the multi-angle adjustment mechanism take-up wheels 2 at the scanning end, and the other end is connected to the upper motor fixing plate 327. One end of another multi-angle adjustment mechanism motor 2 at the scanning end is connected to another multi-angle adjustment mechanism take-up wheel 2 at the scanning end, and the other end is connected to the lower motor fixing plate 328. There are two upper pulley support column groups 329, two lower pulley support column groups 330, two lower pulley groups 331, and two upper pulley groups 332. Two pulley 1 support columns are fixed below both ends of the upper motor fixing plate 327. Two pulley 2 support columns are fixed below both ends of the two pulley 1 support columns. Two pulley 2 support columns are fixed below both ends of the lower motor fixing plate 328. Two pulley 3 support columns are fixed below both ends of the two pulley 2 support columns. There are four adjustment mechanism positioning plates 333, which are fixed at the four corners below the joint bearing seat fixing plate 326.

[0060] Furthermore, the winding method of the wire in the take-up reel 335 of the multi-angle adjustment mechanism at the scanning end is the same as the winding method of the wire in the horizontal adjustment mechanism 1, see... Figure 4 .

[0061] Furthermore, such as Figure 11As shown, the scanning end multi-angle adjustment mechanism take-up wheel 335 and the scanning end multi-angle adjustment mechanism cord group 336 are respectively provided with two take-up wheels and two cord groups. Each cord group contains two cords. On the take-up wheel corresponding to the upper motor fixing plate 327, one end of the two cords passes around the two take-up grooves of the take-up wheel, passes through the two pulleys in the lower pulley group 331 and enters the cord groove of the inner half circle 323. The other end of the two cords is fixed to the two connecting rings of the joint ball shaft 322. On the take-up wheel corresponding to the lower motor fixing plate 328, one end of the two cords passes around the two take-up grooves of the take-up wheel, passes through the two pulleys in the upper pulley group 332 and enters the cord groove of the outer half circle 321. The other end of the two cords is fixed to the two connecting rings of the joint ball shaft 322.

[0062] Furthermore, the outer half-circle 321 and the inner half-circle 323 are provided with cord grooves on their annular surfaces.

[0063] Furthermore, all of the aforementioned plate-shaped components are provided with through holes to facilitate the use of bolts and nuts for fixed connection.

[0064] Furthermore, when the two motors in the multi-angle adjustment mechanism motor 334 rotate clockwise or counterclockwise, the multi-angle adjustment mechanism 3 drives the joint ball shaft 322 to swing back and forth along the two orthogonal directions of the outer half-circle 321 and the inner half-circle 323 through the tightening action of the multi-angle adjustment mechanism cord group 336, thereby realizing the multi-angle adjustment of the laser cleaning scanning end.

[0065] Furthermore, such as Figure 12 As shown, in the second embodiment of the multi-angle adjustment mechanism 3 at the scanning end, the two ends of the outer half-circle 321 are located on the X-axis, and the two ends of the inner half-circle 323 are located on the Y-axis. The plane containing the outer half-circle 321 forms a first angle with the XZ plane, the plane containing the inner half-circle 323 forms a second angle with the YZ plane, and the straight line containing the joint ball axis 322 forms a third angle with the Z-axis. The position of the laser cleaning scanning end is determined by the above three angles, and the relationship between the relevant physical quantities is shown in the following formula:

[0066]

[0067]

[0068] sin 2 θ=sin 2 α+sin 2 β

[0069] Where t1 is the motor running time corresponding to the outer half-circle; t2 is the motor running time corresponding to the inner half-circle; R1 is the radius of the outer half-circle and the corresponding rope; R2 is the radius of the inner half-circle and the corresponding rope; α is the first angle; β is the second angle; θ is the third angle; and r is the radius of the take-up groove. This represents the angular velocity of the motor; the value is positive when rotating clockwise and negative when rotating counterclockwise.

[0070] In the second embodiment of the multi-angle adjustment mechanism 3 at the scanning end, when the two motors in the second motor 334 of the multi-angle adjustment mechanism at the scanning end rotate clockwise or counterclockwise, the multi-angle adjustment mechanism 3 at the scanning end, through the tightening action of the second rope group 336 of the multi-angle adjustment mechanism at the scanning end, drives the joint ball shaft 322 to swing back and forth along the two orthogonal directions of the outer half-circle 321 and the inner half-circle 323, thereby realizing the multi-angle adjustment of the laser cleaning scanning end.

Claims

1. A scanning and adjustment device for on-orbit laser decontamination of a space telescope, characterized in that, include: The system includes a horizontal adjustment mechanism (1), a vertical adjustment mechanism (2), and a scanning end multi-angle adjustment mechanism (3). The lower end of the horizontal adjustment mechanism (1) is fixedly connected to the upper end of the vertical adjustment mechanism (2). The scanning end multi-angle adjustment mechanism (3) is connected to the scanning end multi-angle adjustment mechanism fixing plate (105) of the horizontal adjustment mechanism (1) through the adjustment mechanism positioning plate (333). A laser cleaning scanning end (5) is installed on the joint ball shaft of the scanning end multi-angle adjustment mechanism (3). The laser cleaning scanning end (5) faces the main mirror of the space telescope. The lower end of the vertical adjustment mechanism (2) is fixed to the equipment section (7) of the space telescope (4); the vertical adjustment mechanism (2) uses a motor and a rope group to drive the horizontal adjustment mechanism (1) to move back and forth in the vertical direction, the horizontal adjustment mechanism (1) uses a motor and a rope group to drive the scanning end multi-angle adjustment mechanism (3) to move back and forth in the horizontal direction, and the scanning end multi-angle adjustment mechanism (3) uses a motor and a rope group to drive the laser cleaning scanning end (5) to swing back and forth, thereby realizing the on-orbit laser cleaning of the main lens (6) of the space telescope; The scanning end multi-angle adjustment mechanism (3) includes: pulley one (301), pulley two (302), pulley three (303), pulley four (304), flange joint bearing (305), fixed base (306), four rope reel (307), scanning end multi-angle adjustment mechanism motor (308), motor support plate (309), connecting plate (310), scanning end multi-angle adjustment mechanism take-up wheel (311), scanning end multi-angle adjustment mechanism rope group (312); pulley one (301), pulley two (302), pulley three (303), and pulley four (304) are respectively fixed on the four sides of the fixed base (306), flange joint bearing (305) is fixed at the center of the fixed base (306), and four rope reel (307) 307) is fixed on the flange joint bearing (305). The number of the scanning end multi-angle adjustment mechanism motor (308), motor support plate (309), connecting plate (310) and scanning end multi-angle adjustment mechanism take-up wheel (311) are two respectively. The two connecting plates (310) are fixed below the fixed seat (306) at the corresponding positions of pulley one (301) and pulley three (303). The two motor support plates (309) are fixed on the two connecting plates (310) respectively. The two scanning end multi-angle adjustment mechanism motors (308) are fixed on the two motor support plates (309) respectively. The two scanning end multi-angle adjustment mechanism take-up wheels (311) are connected to the two scanning end multi-angle adjustment mechanism motors (308) respectively. The multi-angle adjustment mechanism take-up wheel (311) and the multi-angle adjustment mechanism rope group (312) at the scanning end are respectively provided with two take-up wheels and two rope groups. Each rope group contains two ropes. On the take-up wheel at the corresponding position of pulley one (301), one end of each rope passes around the two take-up grooves of the take-up wheel, passes through the corresponding pulley one (301) and pulley two (302), and the other end is fixed to the two holes at the corresponding positions of the four rope reel (307); on pulley three (312) 03) On the take-up reel at the corresponding position, one end of each of the two ropes passes around the two take-up grooves of the take-up reel, passes through the corresponding pulleys three (303) and four (304), and the other end is fixed to the two holes at the corresponding positions of the four rope reel (307); the scanning end multi-angle adjustment mechanism (3) drives the flange joint bearing (305) to swing back and forth in the corresponding direction through the tightening action of the rope group (312) of the scanning end multi-angle adjustment mechanism, thereby realizing the multi-angle adjustment of the laser cleaning scanning end.

2. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 1, characterized in that: The horizontal adjustment mechanism (1) includes: an inner slide rail (101), an outer slide rail (102), an inner slider assembly (103), an outer slider assembly (104), a scanning end multi-angle adjustment mechanism fixing plate (105), a horizontal adjustment mechanism take-up wheel (106), a slide rail mounting bracket (107), a cover plate (108), a horizontal adjustment mechanism motor (109), a horizontal adjustment mechanism rope assembly (110), and a fixing post (111); the inner slide rail (101) and the outer slide rail (102) are respectively fixed on both sides of the slide rail mounting bracket (107), the inner slider assembly (103) and the outer slider assembly (104) are respectively fixed on both sides of one side of the scanning end multi-angle adjustment mechanism fixing plate (105), the horizontal adjustment mechanism motor (109) is connected to the horizontal adjustment mechanism take-up wheel (106), and the horizontal adjustment mechanism take-up wheel (106) is fixed to the scanning end multi-angle adjustment mechanism fixing plate. (105) At the center of the other side, a combined structure consisting of a horizontal adjustment mechanism motor (109), a horizontal adjustment mechanism take-up wheel (106), a scanning end multi-angle adjustment mechanism fixing plate (105), an inner slider group (103), and an outer slider group (104) is placed on the inner slide rail (101) and the outer slide rail (102). The inner slider group (103) is placed on the inner slide rail (101), and the outer slider group (104) is placed on the outer slide rail (102). There are two cover plates (108), which cover both ends of the slide rail mounting bracket (107). The horizontal adjustment mechanism (1) drives the scanning end multi-angle adjustment mechanism (3) fixed on the scanning end multi-angle adjustment mechanism fixing plate (105) to move back and forth in the horizontal direction through the sliding action of the inner slider group (103) and the inner slide rail (101), and the outer slider group (104) and the outer slide rail (102).

3. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 2, characterized in that: The horizontal adjustment mechanism cord group (110) has two cords and two fixing posts (111). The two fixing posts (111) are fixed to the cover plates (108) at both ends. One end of each cord in the horizontal adjustment mechanism cord group (110) passes over the first take-up groove (1061) and the second take-up groove (1062) on the horizontal adjustment mechanism take-up wheel (106), and the other end is fixed to the two fixing posts (111).

4. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 1, characterized in that: The vertical adjustment mechanism (2) includes: a first support rod (201), a second support rod (202), a third support rod (203), a fourth support rod (204), a bearing assembly (205), an upper slide rail fixing plate (206), an upper slide rail (207), an upper slider (208), an upper slide rail support rod base (209), a pull plate (210), a motor base (211), a vertical adjustment mechanism take-up wheel (212), a set of pulleys (213), a lower slide rail fixing plate (214), a lower slide rail (215), a lower slider (216), a lower slide rail support rod base (217), a vertical adjustment mechanism motor (218), and a vertical adjustment mechanism rope assembly (219). The first frame rod (201) and the second frame rod (202) are arranged in an X-shape, and their center intersection is connected by a joint bearing in the bearing assembly (205). The third frame rod (203) and the fourth frame rod (204) are also arranged in an X-shape, and their center intersection is connected by a joint bearing in the bearing assembly (205). The lower end of the first frame rod (201) and the upper end of the fourth frame rod (204) are connected by a joint bearing, and the lower end of the second frame rod (202) and the upper end of the third frame rod (203) are connected by a joint bearing. There are two upper slide rails (207) and two upper slide rail support bases (209). The two upper slide rails (207) are fixed side by side to one end of the upper slide rail fixing plate (206). The upper slide rail... The sliding side of (208) is placed on two upper slide rails (207). The other side of the upper slide block (208) is connected to two upper slide rail support brackets (209). The upper end of the second support bracket (202) is placed in the middle of the two upper slide rail support brackets (209) and connected by a joint bearing. The other end of the upper slide rail fixing plate (206) has a connector and is connected to the upper end of the first support bracket (201) by a joint bearing. There are two lower slide rails (215) and two lower slide rail support brackets (217). The two lower slide rails (215) are fixed side by side on one end of the lower slide rail fixing plate (214). The sliding side of the lower slide block (216) is placed on the two lower slide rails (215). The other side of the lower slider (216) is connected to two lower rail support rods (217). The lower end of the support rod three (203) is placed in the middle of the two lower rail support rods (217) and connected by a joint bearing. The other end of the lower rail fixing plate (214) has a connector and is connected to the lower end of the support rod four (204) by a joint bearing. The pull plate (210) is fixed on the lower slider (216). The vertical direction adjustment mechanism motor (218) is connected to the vertical direction adjustment mechanism take-up wheel (212). The vertical direction adjustment mechanism motor (218) is fixed on the motor seat (211). The motor seat (211) is fixed on the lower rail fixing plate (214).The vertical adjustment mechanism (2) drives the horizontal adjustment mechanism (1), which is fixed on the upper slide rail fixing plate (206), to move back and forth in the vertical direction by changing the angle between the support rods, thereby driving the scanning end multi-angle adjustment mechanism (3) to move back and forth in the vertical direction.

5. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 4, characterized in that: The vertical adjustment mechanism cord group (219) has two cords. One end of each cord passes over the two take-up grooves of the vertical adjustment mechanism take-up wheel (212), passes through the two pulleys in the pulley group (213), and the other end is fixed to the two small holes of the pull plate (210).

6. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 1, characterized in that: The scanning end multi-angle adjustment mechanism (3) includes: a semi-circular seat (320), an outer semi-circle (321), a joint ball bearing (322), an inner semi-circle (323), a fisheye bearing (324), a joint bearing seat (325), a joint bearing seat fixing plate (326), an upper motor fixing plate (327), a lower motor fixing plate (328), an upper pulley support column assembly (329), a lower pulley support column assembly (330), a lower pulley assembly (331), an upper pulley assembly (332), an adjustment mechanism positioning plate (333), a second motor for the scanning end multi-angle adjustment mechanism (334), a second take-up wheel for the scanning end multi-angle adjustment mechanism (335), and a scanning end multi-angle adjustment machine. The second rope assembly (336) consists of four semi-circular seats (320) and two fisheye bearings (324). The upper parts of the outer semi-circle (321) and inner semi-circle (323) are mounted on the joint ball shaft (322) via two fisheye bearings (324). The lower parts of the outer semi-circle (321) and inner semi-circle (323) are connected to the four semi-circular seats (320) via bearings. The joint ball shaft (322) is fixed on the joint bearing seat (325). Both the semi-circular seats (320) and the joint bearing seat (325) are fixed on the joint bearing seat fixing plate (326). The upper motor fixing plate (327) and the lower motor fixing plate (328) are fixed on the joint bearing seat. On the lower surface of the fixing plate (326), the two ends of the upper motor fixing plate (327) correspond to the two ends of the inner half-circle (323), and the two ends of the lower motor fixing plate (328) correspond to the two ends of the outer half-circle (321). There are two of each of the scanning end multi-angle adjustment mechanism motor two (334) and scanning end multi-angle adjustment mechanism take-up wheel two (335). One end of one scanning end multi-angle adjustment mechanism motor two is connected to one scanning end multi-angle adjustment mechanism take-up wheel two, and the other end is connected to the upper motor fixing plate (327). One end of the other scanning end multi-angle adjustment mechanism motor two is connected to the other scanning end multi-angle adjustment mechanism take-up wheel two. The first wheel is connected to the second wheel, and the other end is connected to the lower motor fixing plate (328). The number of the upper pulley support column group (329), the lower pulley support column group (330), the lower pulley group (331), and the upper pulley group (332) are two respectively. The two upper pulley support columns are fixed below both ends of the upper motor fixing plate (327), and the two upper pulleys are fixed at the lower ends of the two upper pulley support columns. The two lower pulley support columns are fixed below both ends of the lower motor fixing plate (328), and the two lower pulleys are fixed at the lower ends of the two lower pulley support columns. The number of the adjusting mechanism positioning plates (333) is four, which are fixed at the four corners below the joint bearing seat fixing plate (326).

7. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 6, characterized in that: The scanning end multi-angle adjustment mechanism take-up wheel two (335) and the scanning end multi-angle adjustment mechanism rope group two (336) are respectively provided with two take-up wheels and two rope groups. Each rope group contains two ropes. On the take-up wheel corresponding to the upper motor fixing plate (327), one end of the two ropes passes around the two take-up grooves of the take-up wheel, and enters the inner half-circle (323) through the two pulleys in the lower pulley group (331). The other ends of the two ropes are fixed to the two connecting rings of the joint ball shaft (322). On the lower motor fixing plate (328) corresponding to the take-up wheel... On the take-up reel, one end of each of the two ropes passes over the two take-up grooves of the take-up reel, and enters the groove of the outer half-circle (321) through the two pulleys in the upper pulley group (332). The other ends of the two ropes are fixed to the two connecting rings of the joint ball shaft (322). The scanning end multi-angle adjustment mechanism (3) drives the joint ball shaft (322) to swing back and forth along the two orthogonal directions of the outer half-circle (321) and the inner half-circle (323) through the tightening action of the rope group two (336) of the scanning end multi-angle adjustment mechanism, thereby realizing the multi-angle adjustment of the laser cleaning scanning end.

8. The scanning and adjustment device for on-orbit laser decontamination of a space telescope according to claim 6, characterized in that: The two ends of the outer half-circle (321) are located on the X-axis, and the two ends of the inner half-circle (323) are located on the Y-axis. The plane containing the outer half-circle (321) forms a first angle with the XZ plane, the plane containing the inner half-circle (323) forms a second angle with the YZ plane, and the straight line containing the joint ball axis (322) forms a third angle with the Z-axis. The position of the laser cleaning scanning end is determined by the above three angles, and the relationship between the relevant physical quantities is shown in the following formula: sin 2 θ=sin 2 α+sin 2 b Where t1 is the motor running time corresponding to the outer half-circle; t2 is the motor running time corresponding to the inner half-circle; R1 is the radius of the outer half-circle and the corresponding rope; R2 is the radius of the inner half-circle and the corresponding rope; α is the first angle; β is the second angle; θ is the third angle; and r is the radius of the take-up groove. This represents the angular velocity of the motor; the value is positive when rotating clockwise and negative when rotating counterclockwise.

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