A transfer arm device and transfer method for hoisting multi-layer nested reflectors

Abstract

This invention discloses a transfer arm device for hoisting multi-layered nested reflectors, comprising a base, a rotary lifting assembly, a transfer arm, a suspension assembly, and a flexible clamping assembly. The lower end of the rotary lifting assembly is mounted on the base, and the upper end of the rotary lifting assembly is mounted on the transfer arm. The rotary lifting assembly drives the transfer arm to move up, down, and rotate. The transfer arm is a cantilever structure, and its end is connected to the flexible clamping assembly via the suspension assembly. The movement of the suspension assembly relative to the transfer arm drives the movement of the flexible clamping assembly. The flexible clamping assembly is used for flexible adsorption and clamping of the reflectors. This invention also discloses a method for hoisting and transferring multi-layered nested reflectors based on the above device. This invention can realize the suspension, lifting, and transfer of reflectors of various specifications with different diameters, heights, and focal lengths. The device is easy to operate, allows for human-machine collaborative hoisting, has high assembly accuracy, and a reliable structure.

Description

Technical Field

[0001] This invention belongs to the field of precision assembly and adjustment technology of optical components, specifically relating to a transfer arm device and transfer method for hoisting multi-layer nested mirrors. Background Technology

[0002] Grazing-incidence X-ray focusing mirrors are key components in astronomical X-ray observations. The Wolter-I type multi-layer nested X-ray mirror is a type of X-ray focusing mirror with high focusing performance. In recent years, the Wolter-I type multi-layer nested X-ray mirror has received widespread attention and research both domestically and internationally. Currently, the main method for assembling and adjusting multi-layer nested mirrors is vertical hoisting. During vertical hoisting, the reflecting mirrors need to be transferred from the material tray to the top of the assembly and adjustment device and then lowered into the device. However, since the thickness of a single layer in a multi-layer nested mirror is usually less than 1 mm, and there are many layers, with various heights and focal lengths, the adaptability of the transfer arm device is crucial. Especially for large-diameter, heavy mirrors, manual movement is extremely inconvenient during manual transfer, easily causing changes in the mirror's surface shape and affecting the final focusing and imaging accuracy. Therefore, to facilitate convenient and accurate operation during the transfer of multi-layer nested mirrors, a transfer arm device for hoisting multi-layer nested mirrors needs to be proposed. Summary of the Invention

[0003] The purpose of this invention is to overcome the aforementioned shortcomings and provide a transfer arm device and method for hoisting multi-layer nested reflectors. This solves the technical problem that the manual transfer process for existing reflectors is extremely inconvenient and may affect the final focusing and imaging performance. This invention can suspend, lift, and transfer reflectors of various specifications with different diameters, heights, and focal lengths. The device is easy to operate, features human-machine collaborative hoisting, high assembly precision, and a reliable structure.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0005] This invention discloses a transfer arm device for suspending multi-layer nested reflectors, comprising: a base, a hand crank, a rotary lifting assembly, a positioning locking sleeve, a transfer arm, a suspension assembly, a flexible clamping assembly, and reflectors. The hand crank converts rotational motion into linear motion, enabling the rotary lifting assembly to rise and fall. The linear and rotary bearings of the rotary lifting assembly ensure smooth and precise lifting and rotation of the transfer arm, reducing tilt errors. The positioning locking sleeve is installed at the upper end of the rotary lifting assembly to lock the transfer arm, ensuring the stability of the reflectors during ascent and descent. The suspension assembly suspends the reflectors held by the flexible clamping assembly via suspension ropes, brackets, and rods. Adjusting the ropes on fixed pulleys completes the lifting and lowering of the reflectors. This device can suspend, lift, and transfer reflectors of different specifications, is easy to operate, and has a reliable structure. Through human-machine collaboration, it achieves precise assembly and adjustment of reflectors without affecting surface accuracy.

[0006] A transfer arm device for suspending multi-layer nested reflectors includes a base, a rotary lifting assembly, a transfer arm, a suspension assembly, and a flexible clamping assembly;

[0007] The lower end of the rotary lifting assembly is mounted on the base, and the upper end of the rotary lifting assembly is mounted on the transfer arm. The rotary lifting assembly is used to drive the transfer arm to lift and rotate.

[0008] The transfer arm is a cantilever structure. The end of the transfer arm is connected to the flexible clamping component through a suspension component. The lifting and lowering of the suspension component relative to the transfer arm drives the lifting and lowering of the flexible clamping component.

[0009] The flexible clamping assembly is used to flexibly adhere and hold the reflector.

[0010] Furthermore, it also includes hand cranks;

[0011] The hand crank is fixed to the base. The hand crank converts the rotational motion into linear motion through the internal worm gear mechanism, providing the force required for the lifting and lowering motion of the rotating lifting component.

[0012] Furthermore, it also includes a positioning locking sleeve;

[0013] The positioning locking sleeve is used to clamp or release the rotating lifting assembly to fix or adjust the azimuth angle of the transfer arm.

[0014] Furthermore, the rotary lifting assembly includes a connecting rod, an angular contact ball bearing, a deep groove ball bearing, a linear bearing, a lifting rod, a rotating cylinder, a support cylinder, and a housing;

[0015] The lower end of the outer shell is connected to the base, and the upper end of the outer shell is connected to the lower end of the support cylinder;

[0016] The connecting rod is located inside the outer casing. The lower end of the connecting rod is connected to the base, and the upper end of the connecting rod is connected to the lower end of the lifting rod via an angular contact ball bearing. The rotating cylinder is installed inside the support cylinder via a deep groove ball bearing, and the lifting rod is installed inside the rotating cylinder via a linear bearing. Due to the support of the deep groove ball bearing, the rotating cylinder rotates relative to the support cylinder around the vertical axis under the auxiliary external force applied by the hand. Due to the support of the linear bearing, the lifting rod translates vertically relative to the rotating cylinder along the vertical axis under the external force applied by the hand crank. The rotational motion and translational motion do not occur simultaneously.

[0017] Furthermore, the suspension assembly includes suspension ropes, brackets, booms, sliders, and adjusting screws;

[0018] The suspension rope connects the end of the transfer arm to the support frame;

[0019] The bracket is a three-pronged arm structure, with sliders installed on each of the three prongs. Adjusting screws are installed on the sliders. The sliders are used to drive the boom to move linearly along the three prongs, and the adjusting screws are used to move and fix the sliders on the three prongs.

[0020] Three rods are fixedly connected to the bottom of the three sliders, and the lower end of the rods is connected to a flexible clamping assembly.

[0021] Furthermore, two fixed pulleys are installed on the transfer arm, one at the root of the transfer arm and the other at the end of the transfer arm. One end of the suspension rope is connected to the bracket, and the other end of the suspension rope passes through the fixed pulley at the end of the transfer arm and the fixed pulley at the root of the transfer arm in sequence. The flexible clamping assembly is raised and lowered by traction on the other end of the suspension rope.

[0022] Furthermore, there are three sets of flexible clamping components, each installed at the lower end of one of the three booms;

[0023] Each set of flexible clamping components includes a flexible suction cup, a bracket, a support column, an air inlet pipe, and an air extraction pipe;

[0024] The bracket is fixedly connected to the lower end of the boom and is used to support the flexible suction cup.

[0025] The flexible suction cup has an internal suction chamber connected to a suction device via a suction pipe, and an internal air intake chamber connected to a supply device via an air intake pipe. The air intake chamber is a large, continuous cavity away from the reflector, while the suction chamber consists of several independent small cavities near the reflector. When the air intake pipe is open and the suction pipe is closed, the air intake chamber of the flexible suction cup expands radially, clamping the reflector. When the air intake pipe is closed and the suction pipe is open, the local pressure in the suction chamber is lower than atmospheric pressure; under atmospheric pressure, the flexible suction cup and the reflector fit tightly together. Figure 5 The suction chamber has a bowl-shaped structure and there are three of them. When the gas in the suction chamber is extracted, the atmospheric pressure presses the back of the bowl-shaped structure, making the bowl-shaped structure fit tightly against the reflector.

[0026] After being transferred to the correct position, the suction pipe and the intake pipe are closed in sequence. The local low pressure of the flexible suction cup disappears, and its shape and volume return to their initial state, thus releasing the reflector.

[0027] The radial direction refers to the diameter direction of the reflector.

[0028] Furthermore, three sets of flexible clamping components are located on the outside of the reflector and are evenly distributed along the circumference of the reflector.

[0029] A method for transferring multi-layered nested mirrors, implemented using the aforementioned transfer arm device for transferring multi-layered nested mirrors, includes:

[0030] S1 places the reflector on the mounting platform and adjusts the position of the suspension component by raising and lowering the lifting assembly, so that the suspension component is positioned above the reflector.

[0031] S2 lowers the suspension assembly to a suitable height for clamping the reflector;

[0032] S3 adjusts the position of the flexible clamping component to match the diameter of the reflector, and enables the flexible clamping component to flexibly adsorb and clamp the reflector.

[0033] S4 uses a rotating lifting assembly, a suspension assembly, and a flexible clamping assembly to move the reflector directly above the assembly and adjustment platform, so that the reflector falls into the designated position on the assembly and adjustment platform.

[0034] S5 causes the flexible clamping assembly to release the reflector;

[0035] S6 Repeat steps S1~S5 to complete the hoisting and transfer of each layer of reflectors.

[0036] Furthermore, the horizontal center of the loading platform in step S1 and the horizontal center of the assembly and adjustment platform in step S4 are arranged on a circle with the transfer arm pivot as the center and the transfer arm length as the radius, with a radial error of no more than 5mm.

[0037] In step S1, the distance between the projections of the center of the suspension assembly and the center of the reflector on the same horizontal plane is less than 5mm;

[0038] In step S4, the reflector falls into the annular groove on the assembly platform, and the horizontal positional error between the center of the reflector and the center of the annular groove on the assembly platform is less than 0.5 mm.

[0039] Compared with the prior art, the present invention has at least one of the following advantages:

[0040] (1) This invention achieves precise assembly and adjustment of large-size mirrors through human-machine collaboration during the mirror hoisting and transfer process, especially without affecting the surface accuracy.

[0041] (2) The present invention uses a hand crank in conjunction with a lifting platform to raise and lower the transfer arm. Through adaptive adjustment, it can adapt to different specifications of reflectors, ensuring the smooth transfer of each layer of reflectors during the assembly and adjustment process.

[0042] (3) The present invention ensures the stability of the mirror being transferred during the rotation and lifting process by using a rotary bearing and a linear bearing;

[0043] (4) By using a flexible adsorption component, the present invention achieves low-stress flexible adsorption of the reflector, thereby reducing the decrease in surface accuracy during the transfer and hoisting of the reflector. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of a transfer arm device for hoisting multi-layer nested reflectors according to the present invention.

[0045] Figure 2 This is a partial view of the rotary lifting assembly of the present invention;

[0046] Figure 3 for Figure 2 Cross-sectional view of the rotating lifting assembly in the AA direction;

[0047] Figure 4 This is a structural diagram of the suspension assembly of the present invention;

[0048] Figure 5 This is a structural diagram of the flexible clamping component of the present invention;

[0049] Among them, 1-base, 2-hand crank, 3-rotation lifting assembly, 4-positioning locking sleeve, 5-transfer arm, 6-suspension assembly, 7-flexible clamping assembly, 8-reflector; 31-connecting rod, 32-angular contact ball bearing, 33-deep groove ball bearing, 34-linear bearing, 35-lifting rod, 36-rotating cylinder, 37-flexible cover, 38-top cover, 39-support cylinder, 310-support plate, 311-outer shell, 41-handle; 51-fixed pulley, 52-connecting block, 61-suspension rope, 62-bracket, 63-hanging rod, 64-slider, 65-adjusting screw; 71-flexible suction cup, 72-bracket, 73-support column, 74-air inlet pipe, 75-extraction pipe, 76-connecting nut. Detailed Implementation

[0050] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0051] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0052] Existing mirror transfer operations are all performed manually, with people directly grasping, moving, and placing the mirrors. This is particularly inconvenient for transferring large mirrors, and manual operation can affect the mirror's surface accuracy, thus impacting the final focusing and imaging performance. Therefore, to address the problems in mirror transfer and hoisting, reduce the accuracy loss caused by manual operation, and achieve smooth mirror transfer, this invention provides a transfer arm device for hoisting multi-layered nested mirrors. This device can suspend, lift, and transfer mirrors of various sizes, diameters, heights, and focal lengths. The device is easy to operate, allows for human-machine collaborative hoisting, boasts high assembly accuracy, and has a reliable structure.

[0053] The present invention provides a transfer arm device for hoisting multi-layer nested reflectors, comprising a base 1, a hand crank 2, a rotary lifting assembly 3, a positioning locking sleeve 4, a transfer arm 5, a suspension assembly 6, a flexible clamping assembly 7, and a reflector 8;

[0054] Base 1 is located at the bottom and is used to fix the entire device in place;

[0055] The hand crank 2 is fixed on the base 1, and it converts the rotational motion into linear motion through the worm gear mechanism, which drives the connecting rod 31 to rise and fall;

[0056] The connecting rod 31 is connected to the lifting rod 35 through two angular contact ball bearings, enabling simultaneous linear motion and relative rotational motion.

[0057] The lifting rod 35 is installed inside the rotating cylinder 36 via two linear bearings 34, and the rotating cylinder 36 is installed inside the support cylinder 39 via two deep groove ball bearings, thereby realizing the linear movement of the lifting rod 35 relative to the rotating cylinder 36, and the rotational movement of the lifting rod 35 and the rotating cylinder 36 relative to the support cylinder 39 at the same time.

[0058] The transfer arm 5 is a cantilever structure installed on the upper end of the lifting rod 35, with two fixed pulleys 51 installed on it. The suspension rope 61 of the suspension assembly 6 slides on the fixed pulleys 51 to realize the lifting and lowering of the support 62.

[0059] Three circumferentially distributed suspension rods 63 are fixed below the bracket 62. A flexible clamping component 7 is fixed at the lower end of the suspension rods 63, and a flexible suction cup 71 flexibly adsorbs and clamps the reflector 8.

[0060] In one specific embodiment, the angular contact ball bearing 32 of the rotary lifting assembly 3 provides axial and radial support, while the linear bearing 34 and the deep groove ball bearing 33 provide radial support.

[0061] The upper end of the rotary lifting assembly 3 is provided with a top cover 38 and a flexible cover 37 to prevent foreign objects from entering the interior of the rotary lifting assembly 3.

[0062] In one specific embodiment, the positioning locking sleeve 4 is fixed on the top cover 38, and the lifting rod 35 is clamped or released by rotating the handle 41 to achieve precise fixation of the azimuth angle of the transfer arm 5.

[0063] In one specific embodiment, the flexible clamping assembly 7 includes a flexible suction cup 71, a bracket 72, a support column 73, an air inlet pipe 74, and an air extraction pipe 75. The feature is that the air inlet pipe 74 adjusts the air pressure inside the flexible suction cup 71 to cause radial deformation, allowing it to conform to the outer surface of the reflector 8. The air extraction pipe 75 extracts air, causing the local pressure of the flexible suction cup to be lower than atmospheric pressure, thus achieving flexible adsorption and clamping of the reflector. The bracket 72 provides axial support to the flexible suction cup 71, improving the axial stiffness of the flexible clamping assembly 7 and ensuring the stability and reliability of the reflector during lifting.

[0064] A method for transferring multi-layer nested reflectors using a transfer arm device includes:

[0065] S1: Place the reflector 8 on the installation platform, manually rotate the hand crank 2 to adjust the height of the rotating lifting component 3, and manually rotate the transfer arm 5 to position the suspension component 6 above the reflector 8, and then lock the positioning locking sleeve 4.

[0066] S2: Manually adjust the suspension rope 61 to slowly lower the suspension assembly 6 to a suitable height for flexible adsorption and clamping of the reflector 8.

[0067] S3: Adjust the position of the three sliders 64 in the suspension assembly 6 on the bracket 62 to fit the corresponding diameter of the reflector 8, and then tighten the adjusting screw 65;

[0068] S4: Open the air valve and introduce compressed air into the three flexible suction cups 71 through the air inlet pipe 74, causing the flexible suction cups 71 to deform radially and approach the outer surface of the reflector 8. Then, extract the air through the air extraction pipe 75 to make the local air pressure of the flexible suction cups 71 lower than the atmospheric pressure, that is, to form a local negative pressure, so as to achieve flexible adsorption and clamping of the reflector 8.

[0069] S5: Manually adjust the suspension rope 61 to slowly raise the reflector 8 to a suitable height, loosen the positioning locking sleeve 4, and slowly rotate the transfer arm 5 to reach directly above the assembly platform, and then tighten the positioning locking sleeve 4.

[0070] S6: Manually release the suspension rope 61 to drive the reflector 8 to descend slowly. During the descent, always pay attention to the aerial position of the reflector 8, reduce the vibration of the reflector 8, and let the reflector 8 slowly fall into the designated position on the assembly and adjustment platform. During the descent, human-machine collaboration is required. Continuously and manually touch the outer surface of the reflector 8 to make timely and accurate adjustments.

[0071] S7: Close the air valves of the air inlet pipe 74 and the air extraction pipe 75, so that the flexible suction cup 71 releases the reflector 8, and manually adjust the suspension rope 61 to rise to a suitable height, and loosen the positioning locking sleeve 4.

[0072] S8: Repeat steps S1 to S7 to complete the hoisting and transfer operations of each layer of reflectors 8.

[0073] In one specific implementation, the loading platform in step S1 and the assembly platform in step S5 should be arranged on a circle with the transfer arm pivot as the center and the transfer arm length as the radius, with a radial error of no more than 5mm.

[0074] In one specific implementation, in step S1, the lateral positional error between the suspension assembly 6 and the reflector 8 is less than 5 mm.

[0075] In one specific implementation, in step S6, the lateral position error of the reflector 8 relative to the designated position on the assembly platform is less than 0.5 mm.

[0076] Example:

[0077] This invention provides a transfer arm device for suspending multi-layer nested reflectors. The technical solution for implementing this invention is as follows:

[0078] like Figure 1 As shown, a transfer arm device for suspending multi-layer nested reflectors includes: a base 1, a hand crank 2, a rotary lifting assembly 3, a positioning locking sleeve 4, a transfer arm 5, a suspension assembly 6, and a flexible clamping assembly 7. The base 1 is located at the bottom and is used to fix the entire device in place. The hand crank 2 is fixed to the base 1 and converts rotational motion into linear motion through an internal worm gear mechanism, providing the force required for the rotary lifting assembly 3 to move up and down. The rotary lifting assembly 3 drives the transfer arm 5 to achieve lifting and rotational motion. The transfer arm 5 is installed on the upper end of the rotary lifting assembly 3, and the suspension assembly 6 is located below the transfer arm 5. The flexible clamping assembly 7 is installed at the lower end of the three lifting rods 63 of the suspension assembly 6, and achieves flexible adsorption, clamping, and release of the reflectors 8 by adjusting the internal air pressure of the flexible suction cup 71.

[0079] like Figure 2 , Figure 3As shown, the connecting rod 31 of the rotary lifting assembly 3 is connected to the lifting rod 35 through two angular contact ball bearings 32. The angular contact ball bearings 32 are used to bear radial and axial forces. The lower end of the connecting rod 31 is fixedly connected to the worm gear that can move linearly inside the hand crank 2. The lifting rod 35 is installed inside the rotating cylinder 36 through two linear bearings 34. The rotating cylinder 36 is installed inside the support cylinder 39 through two deep groove ball bearings 33. The linear bearings 34 and the deep groove ball bearings 33 are arranged in pairs to improve the stability of the lifting rod 35 during movement. The upper end of the rotary lifting assembly 3 is provided with a top cover 38 and a flexible cover 37 to prevent foreign objects from entering the interior of the rotary lifting assembly 3. The positioning locking sleeve 4 is fixed on the top cover 38. The lifting rod 35 is clamped or released by rotating the handle 41 to achieve precise fixation of the azimuth angle of the transfer arm 5.

[0080] The process of realizing vertical linear motion: Manually rotate the hand crank 2, and its worm gear mechanism converts the rotation into vertical linear motion, which drives the connecting rod 31, and then drives the lifting rod 35 to realize vertical linear motion relative to the rotating cylinder 36. At this time, the rotating cylinder 36 remains stationary.

[0081] The process of rotational motion around the vertical axis: The transfer arm 5 is driven by hand to rotate around the vertical axis, which drives the lifting rod 35, and then drives the rotating cylinder 36 (since the linear bearing 34 can withstand the torque around the axis) to achieve rotational motion relative to the support cylinder 39. At this time, the connecting rod 31 remains stationary.

[0082] like Figure 4 As shown, the suspension assembly 6 includes a suspension rope 61, a bracket 62, suspension rods 63, a slider 64, and an adjusting screw 65. The suspension rope 61 is mounted on two fixed pulleys 51 and its end is connected to the bracket 62. The suspension rope 61 should be smooth and have low extensibility. The three suspension rods 63 are fixed to the three-pronged arms of the bracket 62 by the sliders 64. The three-pronged arms are evenly distributed on the circumference. By loosening the adjusting screw 65, the slider 64 can slide radially along the three-pronged arms to accommodate different sizes of reflectors 8. After adjustment, the adjusting screw 65 is tightened to ensure a rigid connection between the suspension rods 63 and the bracket 62. The lower end of the suspension rod 63 has threads for connecting and fixing the flexible clamping assembly 7.

[0083] like Figure 5 As shown, the flexible clamping assembly 7 includes a flexible suction cup 71, a bracket 72, a support column 73, an air inlet pipe 74, an air extraction pipe 75, and a connecting nut 76. The bracket 72 is fixedly installed at the lower end of the lifting rod 63 by the connecting nut 76. The flexible suction cup 71 has an air inlet chamber and an air extraction chamber inside. The two chambers are independent of each other and are not connected. The air inlet chamber is a large through-hole located on the side of the flexible suction cup 71 away from the reflector 8. The air extraction chamber consists of several small chambers located on the side of the flexible suction cup 71 closer to the reflector 8. The small chambers are related to the bowl-shaped structure of the flexible suction cup 71. Figure 5(There are 3 in total) One-to-one correspondence. Compressed air is introduced into the air intake cavity of the flexible suction cup 71 made of silicone material through the air intake pipe 74, causing it to deform radially to adapt to the outer surface of the reflector 8; then, air is extracted from the air extraction cavity through the air extraction pipe 75, so that the pressure at the bowl-shaped structure of the flexible suction cup 71 near the reflector 8 is lower than atmospheric pressure. Under the action of atmospheric pressure, the bowl-shaped structure of the flexible suction cup 71 fits tightly with the reflector 8, realizing flexible adsorption and clamping of the reflector 8. The bracket 72 provides vertical support for the flexible suction cup 71, improves the vertical stiffness of the flexible clamping assembly 7, and ensures the stability and reliability of the reflector 8 during the lifting process; after being transferred to the position, the air valves of the air extraction pipe 75 and the air valve of the air intake pipe 74 are closed in sequence, the local low pressure of the flexible suction cup 71 disappears, and its shape and volume return to the initial state, realizing the release of the reflector 8.

[0084] The method for transferring multi-layer nested mirrors using a transfer arm device for hoisting multi-layer nested mirrors according to the present invention comprises the following steps:

[0085] First, place the reflector 8 on the installation platform, manually rotate the hand crank 2 to adjust the height of the rotating lifting component 3, and manually rotate the transfer arm 5 to position the suspension component 6 above the reflector 8, and then lock the positioning locking sleeve 4.

[0086] The second step is to manually adjust the suspension rope 61 so that the suspension component 6 slowly descends to a suitable height for flexible adsorption and clamping of the reflector 8.

[0087] The third step is to adjust the position of the three sliders 64 in the suspension assembly 6 on the bracket 62 so that they fit the corresponding diameter of the reflector 8, and then tighten the adjusting screws 65.

[0088] The fourth step is to open the air valve and introduce compressed air into the three flexible suction cups 71 through the air inlet pipe 74, causing the flexible suction cups 71 to deform radially and approach the outer surface of the reflector 8. Then, the air is extracted through the air extraction pipe 75, so that the local air pressure of the flexible suction cups 71 is lower than the atmospheric pressure, that is, a local negative pressure is formed, so as to achieve flexible adsorption and clamping of the reflector 8.

[0089] Fifth step, manually adjust the suspension rope 61 to slowly raise the reflector 8 to a suitable height, loosen the positioning locking sleeve 4, and slowly rotate the transfer arm 5 to reach directly above the assembly platform, and then tighten the positioning locking sleeve 4.

[0090] Step 6: Manually release the suspension rope 61 to slowly lower the reflector 8. During the descent, always pay attention to the aerial position of the reflector 8, reduce the vibration of the reflector 8, and let the reflector 8 slowly fall into the designated position on the assembly and adjustment platform. During the descent, human-machine collaboration is required. Continuously and manually touch the outer surface of the reflector 8 to make timely and precise adjustments.

[0091] Step 7: Close the air valves of the air inlet pipe 74 and the air extraction pipe 75, so that the flexible suction cup 71 releases the reflector 8, and manually adjust the suspension rope 61 to rise to a suitable height, and loosen the positioning locking sleeve 4.

[0092] Step 8: Repeat steps 1 through 7 to complete the hoisting and transfer of each layer of reflectors 8.

[0093] It should be noted that the loading platform in the first step and the assembly and adjustment platform in the fifth step should be arranged on a circle with the transfer arm pivot as the center and the transfer arm length as the radius, with a radial error of no more than 5mm.

[0094] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0095] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A transfer arm apparatus for hoisting a multi-layer nested mirror, the apparatus comprising: It comprises a base (1), a rotating lifting assembly (3), a transfer arm (5), a suspension assembly (6) and a flexible clamping assembly (7); The lower end of the rotating lifting assembly (3) is installed on the base (1), and the upper end of the rotating lifting assembly (3) is installed with the transfer arm (5), and the rotating lifting assembly (3) is used to drive the transfer arm (5) to lift and rotate; The transfer arm (5) is a cantilever structure, the end of the transfer arm (5) is connected with the flexible clamping assembly (7) through the suspension assembly (6), and the lifting of the suspension assembly (6) relative to the transfer arm (5) drives the flexible clamping assembly (7) to lift; The flexible clamping assembly (7) is used for flexible adsorption and clamping of the mirror (8); The suspension assembly (6) comprises a suspension rope (61), a support (62), a hanger rod (63), a sliding block (64) and an adjusting screw (65); The suspension rope (61) is connected with the end of the transfer arm (5) and the support (62); The support (62) is a three-pronged arm structure, and the three-pronged arm is respectively provided with the sliding block (64), and the adjusting screw (65) is installed on the sliding block (64), the sliding block (64) is used to drive the hanger rod (63) to move linearly along the three-pronged arm, and the adjusting screw (65) is used to realize the movement and fixation of the sliding block (64) on the three-pronged arm; The lower end of the transfer arm (5) is connected with the flexible clamping assembly (7) through the suspension assembly (6), and the lifting of the suspension assembly (6) relative to the transfer arm (5) drives the flexible clamping assembly (7) to lift; The flexible clamping assembly (7) is used for flexible adsorption and clamping of the mirror (8); Each flexible clamping assembly (7) comprises a flexible suction cup (71), a bracket (72), a support column (73), an air inlet pipe (74) and an air outlet pipe (75); The bracket (72) is fixedly connected to the lower end of the hanger rod (63), and the bracket (72) is used to support the flexible suction cup (71); The air outlet pipe (75) is connected with the air outlet device, and the air inlet pipe (74) is connected with the air supply device; the air inlet pipe (74) is a through large cavity away from the mirror (8), and the air outlet pipe (75) is a plurality of independent small cavities close to the mirror (8); When the air inlet pipe (74) is opened and the air outlet pipe (75) is closed, the air inlet cavity of the flexible suction cup (71) expands radially, and the mirror (8) is clamped; when the air inlet pipe (74) is closed and the air outlet pipe (75) is opened, the local pressure of the air outlet cavity is lower than the atmospheric pressure, and under the action of the atmospheric pressure, the flexible suction cup (71) is tightly attached to the mirror (8); After the transfer is completed, the air outlet pipe (75) and the air inlet pipe (74) are closed in turn, the local low pressure of the flexible suction cup (71) disappears, and the shape and volume return to the initial state, so that the mirror (8) is released; The radial direction is the diameter direction of the mirror (8).

2. A transfer arm device for lifting a plurality of nested mirrors according to claim 1, wherein, It also comprises a hand wheel (2); The hand wheel (2) is fixed on the base (1), and the hand wheel (2) converts the rotary motion into linear motion through the internal worm gear mechanism, and provides the force required for the lifting motion of the rotating lifting assembly (3).

3. A transfer arm device for lifting a plurality of nested mirrors according to claim 1, wherein, It also comprises a positioning locking sleeve (4). The positioning locking sleeve (4) is used for clamping or loosening the rotating lifting assembly (3) to realize the fixing or adjustment of the azimuth angle of the transfer arm (5).

4. The transfer arm apparatus for lifting a multi-layer nested mirror according to claim 1, wherein, The rotating lifting assembly (3) comprises a connecting rod (31), an angular contact ball bearing (32), a deep groove ball bearing (33), a linear bearing (34), a lifting rod (35), a rotating cylinder (36), a supporting cylinder (39) and a shell (311); The lower end of the shell (311) is connected with the base (1), and the upper end of the shell (311) is connected with the lower end of the supporting cylinder (39); The connecting rod (31) is located in the shell (311), the lower end of the connecting rod (31) is connected with the base (1), the upper end of the connecting rod (31) is connected with the lower end of the lifting rod (35) through the angular contact ball bearing (32), the rotating cylinder (36) is installed in the supporting cylinder (39) through the deep groove ball bearing (33), and the lifting rod (35) is installed in the rotating cylinder (36) through the linear bearing (34); under the action of the auxiliary external force applied by the hand, the rotating cylinder (36) rotates around the vertical shaft relative to the supporting cylinder (39) due to the support of the deep groove ball bearing (33); under the action of the external force applied by the hand crank (2), the lifting rod (35) translates up and down along the vertical shaft relative to the rotating cylinder (36) due to the support of the linear bearing (34); the rotating motion and the translation motion do not occur at the same time.

5. The transfer arm apparatus for lifting a multi-layer nested mirror according to claim 1, wherein, Two fixed pulleys (51) are installed on the transfer arm (5), one of which is arranged at the root of the transfer arm (5), and the other is arranged at the end of the transfer arm (5); one end of the suspension rope (61) is connected with the support (62), and the other end of the suspension rope (61) passes through the fixed pulley (51) at the end of the transfer arm (5) and the fixed pulley at the root of the transfer arm (5) in sequence, and the flexible clamping assembly (7) is lifted by pulling the other end of the suspension rope (61).

6. The transfer arm device for lifting a multi-layer nested mirror according to claim 1, wherein, Three groups of flexible clamping assemblies (7) are located outside the reflector (8) and are uniformly distributed along the circumference of the reflector (8).

7. A method of transferring a hoisted multi-layer nested mirror, characterized by, The transfer arm device for hoisting a multi-layer nested reflector is realized by using the device of any one of claims 1-6, comprising: S1, placing the reflector (8) on a waiting platform, adjusting the position of the suspension assembly (6) by lifting and rotating the rotating lifting assembly (3), so that the suspension assembly (6) is located above the reflector (8); S2, lowering the suspension assembly (6) to a height suitable for clamping the reflector (8); S3, adjusting the position of the flexible clamping assembly (7) to match the diameter of the reflector (8), and completing the flexible adsorption and clamping of the reflector (8) by the flexible clamping assembly (7); S4, transferring the reflector (8) to the upper side of the installation and adjustment platform by the rotating lifting assembly (3), the suspension assembly (6) and the flexible clamping assembly (7), so that the reflector (8) falls into the specified position of the installation and adjustment platform; S5, releasing the reflector (8) by the flexible clamping assembly (7); S6, repeating steps S1-S5 to complete the hoisting and transferring of each layer of reflector (8).

8. The method of claim 7, wherein, The horizontal center of the waiting platform in step S1 and the horizontal center of the installation and adjustment platform in step S4 are arranged on a circle with the rotating shaft of the transfer arm (5) as the center and the length of the transfer arm (5) as the radius, and the radial error is not greater than 5mm. In step S1, the distance between the center of the suspension assembly (6) and the projection of the center of the mirror (8) on the same horizontal plane is less than 5mm; In step S4, the mirror (8) falls into the annular groove on the mounting platform, and the horizontal position error between the center of the mirror (8) and the center of the annular groove on the mounting platform is less than 0.5mm.

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