High-precision reflective surface automatic adjustment device and method

Abstract

The present invention discloses a high-precision automatic adjustment device and method for a reflective surface, comprising an active mechanism and an auxiliary mechanism, which can be controlled in parallel and wherein the telescopic structure is detachable. The high-precision reflective surface is assembled from high-precision panel units, which are any hyperbolic panels constituting the reflective surface of a large-scale antenna. An automatic adjustment device is provided between the back connection of each high-precision panel unit and the back frame structure. The automatic adjustment device adjusts the high-precision panel unit within the working space, ultimately positioning the high-precision panel unit at the theoretical optimal position of the profile, thereby achieving profile accuracy requirements. The adjustment method comprises the steps of position parameter calibration, adjustment amount measurement and calculation, automatic adjustment of the control device, and re-measurement and verification of the adjustment amount, to meet the reflective surface assembly accuracy requirements. The device has the characteristics of high adjustment efficiency, high precision, strong stability, low cost, and a wide range of applications, and can meet the profile accuracy and stable operation requirements of the high-precision reflective surface.

Description

Technical Field

[0001] The present invention belongs to the technical field of digital automatic assembly, and specifically relates to a high-precision reflective surface automatic adjustment device and method, which is particularly suitable for on-site installation and automated high-precision adjustment assembly of large antenna reflective surfaces to meet the overall surface accuracy index requirements. Background Art

[0002] Currently, large, high-performance antenna reflectors are often assembled from high-precision, modular panels. As the size of the target increases, the required size of the test field antenna reflector also increases, resulting in an increasing number of modular panels. Furthermore, as the measurement accuracy and frequency requirements of the target increase, the test field reflector profiles must meet even higher precision requirements, placing even higher demands on the assembly and precision adjustment of the high-precision panel units.

[0003] Based on extensive research and practical experience, the assembly and precision adjustment of high-precision panel units are primarily determined by the assembly adjustment structure and adjustment method. Currently, the assembly adjustment structures for panels mainly include: adjustable bolt structures, spherical linkage mechanisms, ball stud structures, and actuator adjustment structures. The existing technologies have the following shortcomings: ① The adjustable bolt structure adjusts the antenna position by adjusting the bolt structure connected to the reflector panel, resulting in low adjustment accuracy and long adjustment time. ② The spherical linkage mechanism requires a single adjustment when adjusting the panel unit, resulting in slow adjustment efficiency. ③ The ball stud structure requires continuous adjustment of the stud during assembly, which can easily damage the locking nut, cause deflection and misalignment of the reflector panel, and result in poor structural stability. ④ The actuator adjustment mechanism, when used in antennas and other fields, requires a specialized actuator layout solution designed based on factors such as the panel unit and surface accuracy, resulting in high costs and lack of universal applicability.

[0004] Currently, panel adjustment relies primarily on manual adjustment. This has the following main drawbacks: ① Traditional manual adjustment is inaccurate and lacks theoretical basis, resulting in low precision in the overall reflector profile of the final assembly; ② Large antenna reflectors are primarily supported by a backing structure, and during manual adjustment, certain factors, such as deadweight, can affect the stability of the backing structure, making measurement accuracy unreliable; ③ Manual adjustment of large-diameter antenna panel units is inefficient and time-consuming.

[0005] According to the existing assembly adjustment structure and adjustment method, the assembly and adjustment of the high-precision panel unit is difficult to meet the assembly accuracy requirements, and cannot meet the high-precision reflective surface accuracy requirements and stable operation.

[0006] In view of this, the present invention is proposed. Summary of the Invention

[0007] The purpose of the present invention is to provide a high-precision automatic adjustment device and method for a reflecting surface. The high-precision automatic adjustment device and method for a reflecting surface can make up for the defects and shortcomings in traditional assembly structures and methods, avoid structural instability caused by human factors during the adjustment process, and have the advantages of high adjustment accuracy, reliable adjustment method, and strong stability, thereby ensuring the overall surface accuracy and stable operation of a large-size antenna reflecting surface assembled by high-precision panel units.

[0008] In order to solve the above technical problems, the purpose of the present invention is achieved through the following technical solutions:

[0009] The high-precision automatic adjustment device for a reflective surface of the present invention comprises an active mechanism and an auxiliary mechanism, both of which have the same structure, including a telescopic structure 1, a Hooke's hinge 2, a ball hinge 3, a first fixing plate 4, a second fixing plate 5, a motor 6, a reducer 7, a control system 8, and a structural fastening assembly 9;

[0010] The telescopic structure 1 is composed of a movable rod 10 and a static rod 11, and is fastened with a structural assembly 9:

[0011] One end of the movable rod 10 is connected to the flange hole 12 on the fixed plate 14, and the other side of the fixed plate 14 is connected to one end of the Hooke's hinge 2;

[0012] One end of the static rod 11 is connected to the flange hole 12 on the fixed plate 2 5, and the other side of the fixed plate 2 5 is integrally fixed to one end of the ball joint 3. A drive interface 16 is provided on the static rod 11. The motor 6 and the reducer 7 constitute a drive component 17, which is assembled with the drive interface 16 to assemble an active mechanism or auxiliary mechanism 18.

[0013] The two ends of the active mechanism or auxiliary mechanism 18 are respectively connected to the panel unit 19 and the back frame structure 20 to form an adjustment device. The active mechanism or auxiliary mechanism 18 is controlled in parallel by the control system 8 to achieve automatic adjustment.

[0014] The high-precision reflective surface automatic adjustment device described above implements a high-precision reflective surface automatic adjustment method. The method utilizes the automatic adjustment device to achieve optimal position matching between the high-precision panel unit and the theoretical profile, and includes the following steps:

[0015] S1: Position parameter calibration:

[0016] Carry out initial position calibration on the high-precision panel unit equipped with automatic adjustment device, and calculate the hinge center position O of the rod group connected to the back frame structure on the adjustment device. j (x j ,y j ,z j ), where j is the jth hinge center;

[0017] S2: Adjustment measurement and calculation:

[0018] According to step S1, the theoretical rod group length from each mark point of the high-precision panel unit to the theoretical working position in the design coordinate system is measured and calculated, and the conversion relationship between the mechanism adjustment amount of the adjustment mechanism in the adjustment device and the rod group length is calculated;

[0019] S3: Automatic adjustment of the control device:

[0020] After the mechanism adjustment amount data is input into the control system 8 according to step S2, the control system 8 automatically adjusts the device according to the relevant adjustment strategy;

[0021] S4: Re-measurement and verification of adjustment amount:

[0022] According to steps S2 and S3, the position of the mark points of the adjusted high-precision panel unit is re-measured to verify whether the panel unit is located at the expected position;

[0023] S5: Theoretical position judgment:

[0024] According to step S4, the re-measurement and calibration results of the adjustment amount are compared with the theoretical working position of the panel unit mark point. If the comparison result is within the position error range, the adjustment is ended. If not, it is necessary to readjust according to steps S2 to S5 until it meets the requirements.

[0025] Compared with the existing technology, the high-precision reflective surface automatic adjustment device and method provided by the present invention can make up for the defects and shortcomings in traditional assembly structures and methods, avoid structural instability caused by human factors and other factors during the adjustment process, and has the advantages of high adjustment efficiency, high precision, reliable adjustment method, strong stability, low cost and wide application range. It can ensure the overall surface accuracy and stable operation of large-size antenna reflective surfaces assembled by high-precision panel units.

[0026] It is particularly suitable for on-site installation and automated high-precision adjustment and assembly of large antenna reflectors to meet the requirements of their overall surface accuracy indicators. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic structural diagram of a high-precision automatic adjustment device for a reflective surface according to an embodiment of the present invention;

[0028] Figure 2 Schematic diagram of the structure of the active mechanism or auxiliary mechanism in the automatic adjustment device of the present invention;

[0029] Figure 3a 、 Figure 3b They are schematic diagrams of the use of a fixed supporting threaded rod to replace the telescopic structure device and its A-part enlarged structure in the present invention;

[0030] Figure 4is a flowchart of the steps of the high-precision reflective surface adjustment method of the present invention;

[0031] Figure 5 This is a flow chart of the position parameter calibration steps involved in the adjustment method of the present invention;

[0032] Figure 6 A flow chart of the adjustment amount measurement and calculation steps involved in the adjustment method of the present invention;

[0033] Figure 7a 、 Figure 7b These are two schematic diagrams respectively showing the establishment of the marking points in the reflective surface unit involved in the present invention;

[0034] Figure 8 A schematic diagram of the position of the reflective surface unit measured by the three-dimensional measurement equipment involved in the present invention;

[0035] The symbols in the accompanying drawings are:

[0036] 1-telescopic structure, 2-Hook's hinge, 3-ball joint, 4-fixed plate 1, 5-fixed plate 2, 6-motor, 7-reducer, 8-control system, 9-structural fastening assembly, 10-moving rod, 11-static rod, 12-flange hole, 13-support positioning hole, 14-support threaded rod, 15-removable fixing plate, 16-drive interface, 17-drive component, 18-active mechanism or auxiliary mechanism, 19-panel unit, 20-back frame structure. DETAILED DESCRIPTION

[0037] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the present invention, not all of them, and do not constitute a limitation of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] First, the following terms may be used in this article:

[0039] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y includes both “X” or “Y” and “X and Y”.

[0040] The terms "include," "comprises," "contains," "has," or other similar expressions should be interpreted as non-exclusive. For example, "including certain technical features (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products, or manufactured articles, etc.) should be interpreted as including not only the technical features explicitly listed, but also other technical features known in the art that are not explicitly listed.

[0041] The contents not described in detail in the examples of the present invention belong to the prior art known to those skilled in the art. If specific conditions are not specified in the examples of the present invention, the methods are carried out according to conventional conditions in the art or the conditions recommended by the manufacturer. If the manufacturers of the reagents or instruments used in the examples of the present invention are not specified, they are all conventional products that can be purchased commercially.

[0042] The high-precision automatic adjustment device for a reflective surface of the present invention comprises an active mechanism and an auxiliary mechanism, both of which have the same structure, including a telescopic structure 1, a Hooke's hinge 2, a ball hinge 3, a first fixing plate 4, a second fixing plate 5, a motor 6, a reducer 7, a control system 8, and a structural fastening assembly 9;

[0043] The telescopic structure 1 is composed of a movable rod 10 and a static rod 11, and is fastened with a structural assembly 9:

[0044] One end of the movable rod 10 is connected to the flange hole 12 on the fixed plate 14, and the other side of the fixed plate 14 is connected to one end of the Hooke's hinge 2;

[0045] One end of the static rod 11 is connected to the flange hole 12 on the fixed plate 2 5, and the other side of the fixed plate 2 5 is integrally fixed to one end of the ball joint 3. A drive interface 16 is provided on the static rod 11. The motor 6 and the reducer 7 constitute a drive component 17, which is assembled with the drive interface 16 to assemble an active mechanism or auxiliary mechanism 18.

[0046] The two ends of the active mechanism or auxiliary mechanism 18 are respectively connected to the panel unit 19 and the back frame structure 20 to form an adjustment device. The active mechanism or auxiliary mechanism 18 is controlled in parallel by the control system 8 to achieve automatic adjustment.

[0047] There are six active mechanisms, constituting six driving and six-degree-of-freedom adjustment mechanisms;

[0048] There are one or more auxiliary mechanisms, and the number of auxiliary mechanisms is increased or decreased according to actual conditions. The auxiliary mechanisms serve to increase the stability of the high-precision panel unit and the adjustment accuracy of the device.

[0049] The telescopic structure 1 is a lead screw or a hydraulic rod.

[0050] The telescopic structure 1 is a detachable structure.

[0051] Before disassembling the telescopic structure 1, the panel unit 19 needs to be adjusted to the optimal position. After the adjustment is completed, in each active mechanism or auxiliary mechanism 18:

[0052] At least four or more supporting threaded rods 14 are connected to the supporting positioning holes 13 of the fixing plate 1 4 and the fixing plate 2 5 to replace the telescopic structure 1 to ensure that the position of the adjusted panel unit does not change.

[0053] The high-precision reflective surface automatic adjustment device described above implements a high-precision reflective surface automatic adjustment method. The method utilizes the automatic adjustment device to achieve optimal position matching between the high-precision panel unit and the theoretical profile, and includes the following steps:

[0054] S1: Position parameter calibration:

[0055] The initial position of the high-precision panel unit equipped with an automatic adjustment device is calibrated, and the hinge center position of the rod group connected to the back frame structure on the adjustment device is calculated. j (x j ,y j ,z j ), where j is the jth hinge center;

[0056] S2: Adjustment measurement and calculation:

[0057] According to step S1, the theoretical rod group length from each mark point of the high-precision panel unit to the theoretical working position in the design coordinate system is measured and calculated, and the conversion relationship between the mechanism adjustment amount of the adjustment mechanism in the adjustment device and the rod group length is calculated;

[0058] S3: Automatic adjustment of the control device:

[0059] After the mechanism adjustment amount data is input into the control system 8 according to step S2, the control system 8 automatically adjusts the device according to the relevant adjustment strategy;

[0060] S4: Re-measurement and verification of adjustment amount:

[0061] According to steps S2 and S3, the position of the mark points of the adjusted high-precision panel unit is re-measured to verify whether the panel unit is located at the expected position;

[0062] S5: Theoretical position judgment:

[0063] According to step S4, the re-measurement and calibration results of the adjustment amount are compared with the theoretical working position of the panel unit mark point. If the comparison result is within the position error range, the adjustment is ended. If not, it is necessary to readjust according to steps S2 to S5 until it meets the requirements.

[0064] This adjustment method aims to adjust the initially installed panel unit to the theoretical tooling position of the reflective surface. Based on repeated adjustments to the recorded mark point position data and the length of the device rod group, the hinge center position of each rod group on the device is calculated. During the adjustment process, the working space constraint domain of the entire device needs to be taken into account. Then, by calculating the rod group length required to move the panel unit to the theoretical tooling position, the mechanism adjustment amount of each active mechanism or auxiliary mechanism is calculated, and then the parameter is input into the control system for execution. Finally, re-measurement and verification are carried out to ensure that the panel unit is assembled into the reflective surface with the required accuracy.

[0065] The specific steps of position parameter calibration are as follows:

[0066] S11: First, use a 3D measuring device to measure and record the initial position of the panel unit marker in the design coordinate system. and the initial length of the six rods

[0067] S12: Control the rod group of the device to extend and retract for the first time through the driving unit, and record the length of each rod group of the device after the first extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates

[0068]

[0069] S13: Control the rod group of the device to extend and retract for the second time through the driving unit, and record the length of each rod group of the device after the second extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates Similarly, within the allowable telescopic range of each rod group of the adjustment device, adjust n times and record the length of each rod group of the device and the position of the corresponding panel unit mark point during each adjustment;

[0070] S14: Calculate the coordinates of the hinge center of the rod group connected to the back frame structure on the adjustment device. At this time, based on the previously measured mark point position and the six rod lengths, first calculate the first mark point The corresponding first hinge center position O1(x o1 ,y o1 ,z o1 ), where i is the i-th adjustment, and the specific calculation method is as follows:

[0071] S141: jth hinge center position O j (x oj ,y oj ,z oj )Calculation formula 1 definition:

[0072]

[0073] Where: i—the i-th adjustment; j—the j-th landmark or the corresponding j-th hinge center; k—the k-th rod group; i=1,2,…,n; j=k=1,…,6; —The position of the jth marker point during the i-th adjustment; —The length of the kth rod group during the ith adjustment;

[0074] S142: Calculate the first hinge center position O1 (x o1 ,y o1 ,z o1 ), at this time, at least three sets of panel unit first mark point position and first rod group length data are required, and the expanded equation is as follows:

[0075]

[0076] in and All can be obtained by adjusting the measurement;

[0077] S143: Calculate the remaining five hinge center positions O2 (x o2 ,y o2 ,z o2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,z o5 )、O6(x o6 ,y o6 ,z o6 ).

[0078] The specific steps of measuring and calculating the adjustment amount are as follows:

[0079] S21: The six hinge center positions O1 (x o1 ,y o1 ,z o1 )、O2(x o2 ,y o2 ,z o2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,zo5 )、O6(x o6 ,y o6 ,z o6 ) Calculate the theoretical rod group length from each mark point to the theoretical working position in reverse order as follows:

[0080] S211: length of the kth rod group Calculation formula 2 definition:

[0081]

[0082] Where: j is the jth landmark or the corresponding jth hinge center; k is the kth rod group, j = k = 1,…,6; —Theoretical working position of the jth landmark point; O j (x oj ,y oj ,z oj )—the center position of the jth hinge;

[0083] S212: Calculate the length l of the first rod group according to step S211 1* , at this time, the first hinge center position O1(x o1 ,y o1 ,z o1 ) and the theoretical working position of the first landmark point p 1* (x 1* ,y 1* ,z 1* ):

[0084]

[0085] S213: Calculate the lengths l of the remaining five rod groups from steps S211 and S212 2* 、l 3* 、l 4* 、l 5* 、l 6* ;

[0086] S22: Calculation of the mechanism adjustment amount, the theoretical working rod group length L calculated by steps S212 and S213 * (l 1* ,l 2* ,l 3* ,l 4* ,l 5* ,l 6* ) and the position of the marker point measured after adjusting the i-th time The actual rod length is calculated by formula 1 Calculate the adjustment of the entire device as follows:

[0087] S221: Mechanism adjustment amount Δlk Calculation formula 3 definition:

[0088]

[0089] Where: Δl k If it is a positive value, it means the rod needs to be extended; Δl k If it is a negative value, it means the rod needs to be shortened. i—i-th adjustment, i=1,2,…,n; k—k-th rod group, k=1,…,6;

[0090] S222: Calculate the adjustment amount ΔL (Δl) of the entire device according to step S221. 1 ,Δl 2 ,Δl 3 ,Δl 4 ,Δl 5 ,Δl 6 ).

[0091] The position error range refers to the error between the measured position of the mark point on the panel unit after adjustment and the theoretical position in the horizontal, axial and vertical directions. The position error range of the mark point is:

[0092]

[0093]

[0094]

[0095] That is, the adjustment is completed if the position errors of the marking points on the panel unit in the three directions of the x-axis, y-axis, and z-axis are all less than or equal to ±0.01mm.

[0096] In summary, the high-precision reflecting surface automatic adjustment device and method of the embodiment of the present invention are implemented based on the automatic adjustment device, which is composed of an active mechanism and an auxiliary mechanism. The device can be controlled in parallel, and the telescopic structure is detachable; the high-precision reflecting surface is assembled from high-precision panel units, which are any hyperbolic panels that constitute the reflecting surface of a large-size antenna; an automatic adjustment device is provided between the back connection of each high-precision panel unit and the back frame structure, and the high-precision panel unit is adjusted within the working space by the automatic adjustment device, and finally the high-precision panel unit is located at the optimal position of the theoretical profile, so that it meets the profile accuracy requirements; the adjustment method is composed of the steps of position parameter calibration, adjustment amount measurement and calculation, automatic adjustment of the control device, and re-measurement and verification of the adjustment amount to meet the assembly accuracy requirements of the reflecting surface.

[0097] Compared with the prior art, the present invention has the following beneficial effects:

[0098] 1. The high-precision automatic adjustment device and method for the reflective surface provided by the present invention have a parallel adjustment mechanism with six drives and six degrees of freedom. Compared with traditional adjustment devices, the advantage of the adjustment device is that it can realize digital automatic adjustment without human intervention during the adjustment process, further improving the adjustment efficiency and effectively solving the problems of long adjustment time and low adjustment accuracy caused by human factors during the adjustment process.

[0099] 2. The high-precision automatic adjustment device and method for the reflective surface provided by the present invention sequentially go through the adjustment steps of position parameter calibration, adjustment amount measurement and calculation, automatic adjustment of the control device, and adjustment amount re-measurement and verification. By measuring and calculating the positions of the marking points of the panel unit and the length of the rod group, the center position parameters of the hinge of the rod group connected to the back frame structure can be obtained, thereby calculating the mechanism adjustment amount of the entire device based on the theoretical working position of the marking point, providing the required data for parallel adjustment of the device, and improving the assembly accuracy of the panel unit.

[0100] 3. The high-precision automatic adjustment device and method for the reflective surface provided by the present invention have a simple structure. One end of the adjustment device is fixedly connected to the adjustment connection points on the back of the panel unit, and the other end is fixedly connected to the back frame structure. The overall device structure can meet the requirements of stiffness and strength required by the panel unit during adjustment, and has high stability.

[0101] 4. The high-precision automatic adjustment device and method for the reflective surface provided by the present invention has self-calibration parameters for the hinge center position of the rod group of the device, and its position parameters can be obtained without instrument calibration. It can meet the high-precision adjustment and assembly of various types of large-size panel units and has wider applicability.

[0102] 5. The present invention provides a high-precision automatic adjustment device and method for a reflective surface. The telescopic mechanism of the device is detachable. Before disassembly, the panel unit needs to be adjusted to the optimal position. After the adjustment, at least four or more supporting threaded rods are used to connect to the supporting positioning holes of the fixed plate 1 and the fixed plate 2 to replace the telescopic structure to ensure that the position of the adjusted panel unit does not change. At the same time, the structure can be adapted to automatic adjustment devices in a variety of occasions, further reducing the cost of the device and meeting the needs of portable adjustment.

[0103] In order to more clearly demonstrate the technical solutions and technical effects provided by the present invention, the embodiments of the present invention are described in detail below with reference to specific embodiments.

[0104] Example

[0105] A high-precision reflective surface automatic adjustment device, such as Figures 1 and 2 As shown:

[0106] The device is composed of an active mechanism and an auxiliary mechanism, which have the same structure, including a telescopic structure 1, a Hooke's hinge 2, a ball hinge 3, a fixed disk 1 4, a fixed disk 2 5, a motor 6, a reducer 7, a control system 8 and a structural fastening component 9; the telescopic structure 1 is composed of a moving rod 10 and a static rod 11, using the structural fastening component 9: one end of the moving rod 10 is connected to the flange hole 12 on the fixed disk 1 4, and the other side of the fixed disk 1 4 is connected to one end of the Hooke's hinge 2; one end of the static rod 11 is connected to the flange hole 12 on the fixed disk 2 5, and the other side of the fixed disk 2 5 is integrally fixed with one end of the ball hinge 3, and a drive interface 16 is provided on the static rod 11, and the motor 6 and the reducer 7 constitute a drive component 17, which can be assembled with the drive interface 16 to assemble an active mechanism or an auxiliary mechanism 18, and the two ends of these mechanisms are respectively connected to the panel unit 19 and the back frame structure 20 to form an adjustment device, and finally automatic adjustment is achieved through the control system 8 parallel control device.

[0107] The telescopic structure 1 is a structure such as a lead screw or a hydraulic lever / rod that can realize a precise telescopic function.

[0108] The motor 6 is a servo motor or a stepper motor, and is used to provide power for the device.

[0109] Both the fixing plate 1 4 and the fixing plate 2 5 are provided with flange holes 12 and support positioning holes 13 for connecting the telescopic mechanism 1 and the support threaded rod 14 .

[0110] The control system 8 mainly includes a motor driver and a PLC or a single chip microcomputer with a drive control storage processing unit, which can accurately control the motion of the adjustment device and realize parallel control of multiple rod groups.

[0111] In the aforementioned automatic adjustment device, the structural fastening assembly 9 includes nuts, bolts and other components that play a fixing role, and is mainly used to assemble structures such as the active mechanism or auxiliary mechanism 18, the connection panel unit 19 and the back frame structure 20.

[0112] In the aforementioned automatic adjustment device, there must be six active mechanisms in the automatic adjustment device to form an adjustment mechanism that satisfies six drives and six degrees of freedom, which is used to actively adjust the position of the panel unit to ensure the assembly accuracy of the reflective surface.

[0113] One or more auxiliary mechanisms may be provided in the automatic adjustment device, and the number of the auxiliary mechanisms may be increased or decreased according to actual conditions. The auxiliary mechanisms serve to increase the stability of the high-precision panel unit and the adjustment accuracy of the device.

[0114] See also Figure 3a 、 Figure 3bAs shown, the telescopic structure 1 is detachable. Before disassembly, the panel unit 19 needs to be adjusted to the optimal position. After the adjustment is completed, at least four or more supporting threaded rods 14 are used in each active mechanism or auxiliary mechanism 18 of the device to connect to the support positioning holes 13 of the fixed plate 1 4 and the fixed plate 2 5 to replace the telescopic structure 1 to ensure that the position of the adjusted panel unit does not change. This structure can be adapted to automatic adjustment devices in various occasions, further reducing the cost of the device and meeting the needs of portable adjustment. The support positioning holes 13 on the fixed plate 1 4 and the fixed plate 2 5 are oblong holes or oblong arc holes with a certain amount of redundant adjustment space.

[0115] Specifically, the present invention utilizes an automatic adjustment device positioned between the back adjustment connection of each marker point on the panel unit 19 in the normal direction and the back frame structure 20 for adjustment and assembly. The adjustment device comprises six active mechanisms assembled into a main structure. The Hooke's hinge end faces of the active mechanisms mate with the back of the panel unit 19, while the ball hinge end faces mate with the back frame structure 20. The control system 8 controls the drive component 17 on the active mechanisms to adjust the telescopic structure 1 in the lateral, axial, and longitudinal directions, thereby driving the panel unit to its theoretical operating position to meet the required surface accuracy of the reflective surface.

[0116] See also Figure 4 As shown, the high-precision reflective surface adjustment method provided by the present invention includes the following steps:

[0117] S1: Position parameter calibration. Perform initial position calibration on the high-precision panel unit equipped with an automatic adjustment device, and calculate the hinge center position of the rod group connected to the back frame structure on the adjustment device. j (x j ,y j ,z j ), where j is the jth hinge center.

[0118] S2: Adjustment amount measurement and calculation. According to step S1, the theoretical rod group length from each mark point of the high-precision panel unit to the theoretical working position in the design coordinate system is measured and calculated, and the conversion relationship between the adjustment amount of the adjustment mechanism in the adjustment device and the rod group length is calculated.

[0119] S3: Automatic adjustment of the control device. After the mechanism adjustment amount data is input into the control system 8 according to step S2, the control system 8 automatically adjusts the control device according to the relevant adjustment strategy.

[0120] S4: Re-measure and verify the adjustment amount. According to steps S2 and S3, re-measure the position of the mark points of the adjusted high-precision panel unit to verify whether the panel unit is in the expected position.

[0121] S5: Theoretical position determination. According to step S4, the re-measurement and verification results of the adjustment amount can be compared with the theoretical working position of the panel unit mark point. If the comparison result is within the position error range, the adjustment is completed. If not, it is necessary to adjust again according to steps S2 to S5 until it meets the requirements.

[0122] In the present invention, the adjustment strategy aims to adjust the initially installed panel unit to the theoretical tooling position of the reflective surface. The hinge center position of each rod group on the device is calculated based on the repeatedly adjusted recorded mark point position data and the length of the device rod group. During the adjustment process, the working space (constraint domain) of the entire device needs to be taken into account. Then, by calculating the rod group length required to move the panel unit to the theoretical tooling position, the mechanism adjustment amount of each active mechanism or auxiliary mechanism (if any) is calculated, and then the parameter is input into the control system for execution. Finally, re-measurement and verification are carried out to ensure that the panel unit is assembled into the reflective surface with the required accuracy.

[0123] In the present invention, the marking point setting of the panel unit is shown in FIG. Figure 7a 、 Figure 7b As shown, each set mark point should be in the same normal direction as the adjustment connection on the back plate of the panel unit and the center of the automatic adjustment device.

[0124] In the present invention, the three-dimensional measuring device is a laser tracker or a precision three-dimensional measuring instrument (the measuring device is unified to the design coordinate system through on-site calibration), which is mainly used for position measurement during the assembly and adjustment of the panel unit. The schematic diagram of the three-dimensional measuring device measuring the position of the reflective surface is shown in FIG. Figure 8 shown.

[0125] See also Figure 5 As shown, in the aforementioned adjustment method step S1, the specific steps of position parameter calibration are as follows:

[0126] S11: First, use a 3D measuring device to measure and record the initial position of the panel unit marker in the design coordinate system. and the initial length of the six rods

[0127] In the present invention, the position of the marking point is the position data of the marking point on the panel unit in the design coordinate system of the reflective surface.

[0128] In the present invention, the length of the rod group is the distance between the marking point and the center of the hinge on the adjustment device connected to the back frame structure.

[0129] S12: Control the rod group of the device to extend and retract for the first time through the driving unit, and record the length of each rod group of the device after the first extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates

[0130]

[0131] S13: Control the rod group of the device to extend and retract for the second time through the driving unit, and record the length of each rod group of the device after the second extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates Similarly, within the allowable telescopic range of each rod group of the adjustment device, adjust n times and record the length of each rod group of the device and the position of the corresponding panel unit mark point during each adjustment.

[0132] S14: Calculate the coordinates of the hinge center of the rod group connected to the back frame structure on the adjustment device. At this time, based on the previously measured mark point position and the six rod lengths, first calculate the first mark point The corresponding first hinge center position O1(x o1 ,y o1 ,z o1 ), where i is the i-th adjustment, and the specific calculation method is as follows:

[0133] S141: jth hinge center position O j (x oj ,y oj ,z oj )Calculation formula 1 definition:

[0134]

[0135] Where: i—the i-th adjustment; j—the j-th landmark or the corresponding j-th hinge center; k—the k-th rod group; i=1,2,…,n; j=k=1,…,6; —The position of the jth marker point during the i-th adjustment; —The length of the kth rod group during the i-th adjustment.

[0136] S142: Calculate the first hinge center position O1 (x o1 ,y o1 ,z o1 ), at this time, at least three sets of panel unit first marker point position and first rod group length data are required. The expanded equation is as follows:

[0137]

[0138] in and All can be obtained by adjusting the measurement.

[0139] S143: The remaining five hinge center positions O2 (x o2 ,y o2 ,zo2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,z o5 )、O6(x o6 ,y o6 ,z o6 ).

[0140] In the aforementioned position parameter calibration step, the position parameters of the hinge center of the rod group connected to the back frame structure in the adjustment mechanism can be calculated through n adjustments and corresponding measurement values.

[0141] See also Figure 6 As shown, in step S2 of the aforementioned adjustment method, the specific steps of measuring and calculating the adjustment amount are as follows:

[0142] S21: The six hinge center positions O1 (x o1 ,y o1 ,z o1 )、O2(x o2 ,y o2 ,z o2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,z o5 )、O6(x o6 ,y o6 ,z o6 ) Calculate the theoretical rod group length from each mark point to the theoretical working position in reverse order as follows:

[0143] S211: length of the kth rod group Calculation formula 2 definition:

[0144]

[0145] Where: j is the jth landmark or the corresponding jth hinge center; k is the kth rod group, j = k = 1,…,6; —Theoretical working position of the jth landmark point; O j (x oj ,y oj ,z oj )—the jth hinge center position.

[0146] S212: Calculate the length l of the first rod group according to step S211 1* , at this time, the first hinge center position O1(x o1 ,y o1 ,z o1 ) and the theoretical working position of the first landmark point p 1* (x 1* ,y 1* ,z 1* ):

[0147]

[0148] S213: The lengths l of the remaining five rod groups can be calculated from steps S211 and S212. 2* 、l 3* 、l 4* 、l 5* 、l 6* .

[0149] S22: Calculation of the mechanism adjustment amount, the theoretical working rod group length L calculated by steps S212 and S213 * (l 1* ,l 2* ,l 3* ,l 4* ,l 5* ,l 6* ) and the position of the marker point measured after adjusting the i-th time The actual rod length is calculated by formula 1 The adjustment amount of the entire device can be calculated as follows:

[0150] S221: Mechanism adjustment amount Δl k Calculation formula 3 definition:

[0151]

[0152] Where: Δl k If it is a positive value, it means the rod needs to be extended; Δl k If the value is negative, it means the rod needs to be shortened. i—i-th adjustment, i=1,2,…,n; k—k-th rod group, k=1,…,6.

[0153] S222: According to step S221, the adjustment amount of the entire device ΔL (Δl 1 ,Δl 2 ,Δl 3 ,Δl 4 ,Δl 5 ,Δl 6 ).

[0154] In the aforementioned adjustment amount measurement and calculation steps, by calculating the theoretical rod group length from the marking point to the theoretical working position, the conversion relationship between the mechanism adjustment amount and the rod group length in the adjustment device can be obtained.

[0155] In the aforementioned adjustment method step S5, the position error range refers to the error between the measured position of the mark point on the panel unit after adjustment and the theoretical position in the horizontal, axial and vertical directions. The mark point position error range is:

[0156]

[0157]

[0158]

[0159] That is, the adjustment is completed if the position errors of the marking points on the panel unit in the three directions of the x-axis, y-axis, and z-axis are all less than or equal to ±0.01mm.

[0160] Application Examples

[0161] The automatic adjustment device designed by the present invention is installed on one panel unit of a large-sized antenna reflector installed on site. The reflector is made of a rotating parabola with a focal length of 8500mm. The reflector area of the panel unit is 10.719m 2 The trial adjustment data of each mark point on the panel unit equipped with the automatic adjustment device were measured using a laser tracker, see Table 1.

[0162] Table 1: Marking point data measured during the test adjustment of the panel unit equipped with the automatic adjustment device

[0163]

[0164]

[0165] S1: Position parameter calibration.

[0166] Calculate the coordinates of the hinge center of the rod group connected to the back frame structure on the adjustment device. According to the positions of the various mark points on the panel unit and the lengths of the six rods measured in Table 1, first calculate the first mark point The corresponding first hinge center position O1(x o1 ,y o1 ,z o1 ), where i is the i-th adjustment, and the specific calculation method is as follows:

[0167] The jth hinge center position O j (x oj ,y oj,z oj )Calculation formula 1 definition:

[0168]

[0169] Where: i—the i-th adjustment; j—the j-th landmark or the corresponding j-th hinge center; k—the k-th rod group; i=1,2,…,n; j=k=1,…,6; —The position of the jth marker point during the i-th adjustment; —The length of the kth rod group during the i-th adjustment.

[0170] According to formula 1, the first hinge center position O1(x o1 ,y o1 ,z o1 ), according to the data in Table 1, the equation can be expanded:

[0171]

[0172] The first hinge center position O1 (1128.324, 4000.422, 45.205) is calculated by solving the equation.

[0173] Similarly, Formula 1 can be used to calculate the remaining five hinge center positions: O2 (1124.743, 5214.719, 418.191), O3 (1127.253, 6456.085, 781.759), O4 (-1127.253, 6456.085, 781.759), O5 (-1124.743, 5214.719, 418.191), and O6 (-1128.324, 4000.422, 45.205).

[0174] S2: Adjustment amount measurement and calculation.

[0175] Calculate the theoretical rod length from each mark point to the theoretical working position. The theoretical working position of the six mark points is known to be p. 1* (1029.042,3896.194,545.051),p 2* (1036.755,5096.085,863.013), p 3* (1046.517,6295.948,1265.657), p 4* (-1152.84,6295.989,1318.854), p 5* (-1162.602,5096.126,916.211), p 6* (-1170.315, 3896.235, 598.248). The specific calculation method is as follows:

[0176] Length of the kth rod group Calculation formula 2 definition:

[0177]

[0178] Where: j is the jth landmark or the corresponding jth hinge center; k is the kth rod group, j = k = 1,…,6; —Theoretical working position of the jth landmark point; O j (x oj ,y oj ,z oj )—the jth hinge center position.

[0179] Calculate the length of the first rod group l according to formula 2 1* :

[0180]

[0181] Similarly, the lengths of the remaining five rod groups l can be calculated by formula 2 2* ≈468.703, l 3* ≈516.061, l 4* ≈561.032, l 5* ≈513.343, l 6* ≈564.336.

[0182] Calculation of the adjustment amount of the mechanism, the theoretical working rod group length L obtained by the above calculation * (520.160,468.703,516.061,561.032,513.343,564.336).

[0183] Table 2: Mark point data of the fourth measurement of the panel unit equipped with automatic adjustment device

[0184]

[0185] From Table 2, we can calculate the amount of adjustment required for the entire device to reach the theoretical working surface position after the fourth adjustment. The calculation method is as follows:

[0186] Mechanism adjustment amount Δl k Calculation formula 3 definition:

[0187]

[0188] Where: Δl k If it is a positive value, it means the rod needs to be extended; Δl k If the value is negative, it means the rod needs to be shortened. i—i-th adjustment, i=1,2,…,n; k—k-th rod group, k=1,…,6.

[0189] According to formula 3, the adjustment amount of the entire device can be calculated

[0190] ΔL(-1.372,-4.526,-8.165,3.750,7.253,10.252).

[0191] S3: Automatic adjustment of the control device. After the mechanism adjustment amount data is input into the control system 8 according to step S2, the control system 8 automatically adjusts the control device according to the relevant adjustment strategy.

[0192] S4: Re-measure and verify the adjustment amount. According to steps S2 and S3, re-measure the position of the mark points of the adjusted high-precision panel unit to verify whether the panel unit is in the expected position.

[0193] The data of each mark point on the panel unit equipped with the automatic adjustment device after the fifth adjustment were measured using a laser tracker, see Table 3.

[0194] Table 3: The fifth measured landmark data of the panel unit equipped with automatic adjustment device

[0195]

[0196] S5: Theoretical position judgment. According to step S4, the re-measurement and verification result of the adjustment amount can be compared with the theoretical working position of the panel unit mark point. If the comparison result is within the position error range, the adjustment is terminated. If not, it is necessary to readjust according to steps S2 to S5 until it meets the requirements. The position error range refers to the error between the measured position of the mark point on the panel unit after adjustment and the theoretical position in the horizontal, axial and vertical directions. The mark point position error range is:

[0197]

[0198]

[0199]

[0200] That is, the adjustment is completed if the position errors of the marking points on the panel unit in the three directions of the x-axis, y-axis, and z-axis are all less than or equal to ±0.01mm.

[0201] From this, we can calculate the position error of each marker point after the fifth adjustment, see Table 4:

[0202] Table 4: Position errors of each marker point after the fifth adjustment

[0203]

[0204] The data in Table 4 indicates that the position error range for the marker points is not met. Steps S2 to S5 are repeated. According to Formula 3, the adjustment amount for the entire device during the sixth adjustment, ΔL, is calculated as (-0.371, 0.276, 1.173, 1.204, 0.408, -0.381). The panel unit marker data after the sixth adjustment, as well as the position errors of each marker point in the horizontal, axial, and vertical directions, are measured and shown in Tables 5 and 6.

[0205] Table 5: Mark point data of the sixth measurement of the panel unit equipped with automatic adjustment device

[0206]

[0207] Table 6: Position errors of each marker point after the sixth adjustment

[0208]

[0209]

[0210] It can be seen from Table 6 that each mark point is in line with the position error range in the horizontal, axial and vertical directions of the theoretical position, and the adjustment is completed.

[0211] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art.

Claims

1. A high-precision reflective surface automatic adjustment device, characterized in that: The invention comprises an active mechanism and an auxiliary mechanism, both of which have the same structure, including a telescopic structure (1), a Hooke's hinge (2), a ball hinge (3), a first fixed disk (4), a second fixed disk (5), a motor (6), a speed reducer (7), a control system (8) and a structural fastening assembly (9); The telescopic structure (1) is composed of two parts: a moving rod (10) and a static rod (11), and utilizes a structural fastening assembly (9); One end of the movable rod (10) is connected to the flange hole (12) on the fixed plate (4), and the other side of the fixed plate (4) is connected to one end of the Hooke's hinge (2); One end of the static rod (11) is connected to the flange hole (12) on the fixed disk (5), and the other side of the fixed disk (5) is integrally fixed to one end of the ball joint (3). A drive interface (16) is provided on the static rod (11). The motor (6) and the reducer (7) constitute a drive component (17), which is assembled with the drive interface (16) to assemble an active mechanism or an auxiliary mechanism (18). The two ends of the active mechanism or auxiliary mechanism (18) are respectively connected to the panel unit (19) and the back frame structure (20) to form an adjustment device, and the active mechanism or auxiliary mechanism (18) is controlled in parallel by the control system (8) to achieve automatic adjustment; There are six active mechanisms, constituting six driving and six-degree-of-freedom adjustment mechanisms; There are one or more auxiliary mechanisms, and the auxiliary mechanisms are used to increase the stability of the high-precision panel unit and the adjustment accuracy of the device; The telescopic structure (1) is a screw or a hydraulic rod; The telescopic structure (1) is a detachable structure; Before the telescopic structure (1) is disassembled, it is necessary to complete the optimal position matching adjustment of the panel unit (19). After the adjustment is completed, in each active mechanism or auxiliary mechanism (18): At least four or more supporting threaded rods (14) are connected to the supporting positioning holes (13) of the fixing plate 1 (4) and the fixing plate 2 (5) to replace the telescopic structure (1) to ensure that the position of the adjusted panel unit does not change.

2. A method for automatically adjusting a high-precision reflective surface using the high-precision reflective surface automatic adjustment device according to claim 1, characterized in that: The method uses an automatic adjustment device to complete the optimal position matching adjustment of the high-precision panel unit and the theoretical profile, and includes the following steps: S1: Position parameter calibration: Carry out initial position calibration on the high-precision panel unit equipped with automatic adjustment device, and calculate the hinge center position O of the rod group connected to the back frame structure on the adjustment device. j (x j ,y j ,z j ), where j is the jth hinge center; S2: Adjustment measurement and calculation: According to step S1, the theoretical rod group length from each mark point of the high-precision panel unit to the theoretical working position in the design coordinate system is measured and calculated, and the conversion relationship between the mechanism adjustment amount of the adjustment mechanism in the adjustment device and the rod group length is calculated; S3: Automatic adjustment of the control device: After the mechanism adjustment amount data is input into the control system (8) according to step S2, the control system (8) automatically adjusts the device according to the relevant adjustment strategy; S4: Re-measurement and verification of adjustment amount: According to steps S2 and S3, the position of the mark points of the adjusted high-precision panel unit is re-measured to verify whether the panel unit is located at the expected position; S5: Theoretical position judgment: According to step S4, the re-measurement and calibration result of the adjustment amount is compared with the theoretical working position of the panel unit mark point. If the comparison result is within the position error range, the adjustment is completed. If not, it is necessary to adjust again according to steps S2 to S5 until it meets the requirements; The adjustment method aims to adjust the initially installed panel unit to the theoretical tooling position of the reflective surface. Based on the repeatedly measured and recorded mark point position data and the length of the device rod group, the hinge center position of each rod group on the device is calculated. During the adjustment process, the working space constraint domain of the entire device needs to be taken into account. Then, by calculating the rod group length required to move the panel unit to the theoretical tooling position, the mechanism adjustment amount of each active mechanism or auxiliary mechanism is calculated. The parameter is then input into the control system for execution. Finally, re-measurement and verification are carried out to ensure that the panel unit is assembled to the reflective surface accuracy requirements. The specific steps of position parameter calibration are as follows: S11: First, use a 3D measuring device to measure and record the initial position of the panel unit marker in the design coordinate system. and the initial length of the six rods S12: Control the rod group of the device to extend and retract for the first time through the driving unit, and record the length of each rod group of the device after the first extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates S13: Control the rod group of the device to extend and retract for the second time through the driving unit, and record the length of each rod group of the device after the second extension and retraction Use 3D measuring equipment to measure and record the corresponding panel unit marker position coordinates Similarly, within the allowable telescopic range of each rod group of the adjustment device, adjust n times and record the length of each rod group of the device and the position of the corresponding panel unit mark point during each adjustment; S14: Calculate the coordinates of the hinge center of the rod group connected to the back frame structure on the adjustment device. At this time, based on the previously measured mark point position and the six rod lengths, first calculate the first mark point The corresponding first hinge center position O1(x o1 ,y o1 ,z o1 ), where i is the i-th adjustment, and the specific calculation method is as follows: S141: jth hinge center position O j (x oj ,y oj ,z oj )Calculation formula 1 definition: Where: i—the i-th adjustment; j—the j-th landmark or the corresponding j-th hinge center; k—the k-th rod group; i=1,2,…,n; j=k=1,…,6; —The position of the jth marker point during the i-th adjustment; —The length of the kth rod group during the ith adjustment; S142: Calculate the first hinge center position O1 (x o1 ,y o1 ,z o1 ), at this time, at least three sets of panel unit first mark point position and first rod group length data are required, and the expanded equation is as follows: in and All can be obtained by adjusting the measurement; S143: Calculate the remaining five hinge center positions O2 (x o2 ,y o2 ,z o2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,z o5 )、O6(x o6 ,y o6 ,z o6 ).

3. The high-precision reflective surface automatic adjustment method according to claim 2, characterized in that: The specific steps of measuring and calculating the adjustment amount are as follows: S21: The six hinge center positions O1 (x o1 ,y o1 ,z o1 )、O2(x o2 ,y o2 ,z o2 )、O3(x o3 ,y o3 ,z o3 )、O4(x o4 ,y o4 ,z o4 )、O5(x o5 ,y o5 ,z o5 )、O6(x o6 ,y o6 ,z o6 ) Calculate the theoretical rod group length from each mark point to the theoretical working position in reverse order as follows: S211: length of the kth rod group l k* Calculation formula (2) definition: Where: j is the jth landmark or the corresponding jth hinge center; k is the kth rod group, j = k = 1, ..., 6; p j* (x j* ,y j* ,z j* )—theoretical working position of the jth landmark point; O j (x oj ,y oj ,z oj )—the center position of the jth hinge; S212: Calculate the length l of the first rod group according to step S211 1* , at this time, the first hinge center position O1(x o1 ,y o1 ,z o1 ) and the theoretical working position of the first landmark point p 1* (x 1* ,y 1* ,z 1* ): S213: Calculate the lengths l of the remaining five rod groups from steps S211 and S212 2* 、l 3* 、l 4* 、l 5* 、l 6* ; S22: Calculation of the mechanism adjustment amount, the theoretical working rod group length L calculated by steps S212 and S213 * (l 1* ,l 2* ,l 3* ,l 4* ,l 5* ,l 6* ) and the position of the marker point measured after adjusting the i-th time The actual rod length is calculated by formula 1 Calculate the adjustment of the entire device as follows: S221: Mechanism adjustment amount Δl k Calculation formula (3) definition: Where: Δl k If it is a positive value, it means the rod needs to be extended; Δl k If it is a negative value, it means the rod needs to be shortened; i—i-th adjustment, i=1,2,…,n; k—k-th rod group, k=1,…,6; S222: Calculate the adjustment amount ΔL (Δl) of the entire device according to step S221. 1 ,Δl 2 ,Δl 3 ,Δl 4 ,Δl 5 ,Δl 6 ).

4. The high-precision automatic adjustment method for a reflective surface according to claim 2, wherein: The position error range refers to the error between the measured position of the mark point on the panel unit after adjustment and the theoretical position in the horizontal, axial and vertical directions. The position error range of the mark point is: That is, the adjustment is completed if the position errors of the marking points on the panel unit in the three directions of the x-axis, y-axis, and z-axis are all less than or equal to ±0.01mm.

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