Large aperture spliced reflector and splicing and adjusting method thereof

Abstract

The application provides a large-aperture spliced reflecting surface and a splicing and assembling method thereof, and comprises the following steps: applying a six-degree-of-freedom Stewart platform to attitude adjustment in the splicing process of upper, lower, left and right petals of the reflecting surface; the upper, lower, left and right petals of the reflecting surface are respectively parked on the Stewart platform through adjustable support tools; high-precision pose fine adjustment in the splicing process of the upper, lower, left and right petals of the reflecting surface is realized through the movement of the Stewart platform; a multi-laser tracker is used to form a multi-edge measurement system to measure the pose deviation between the petals of the reflecting surface; the pose deviation is solved as a Stewart platform pose control quantity; the Stewart platform drives the upper, lower, left and right petals of the reflecting surface to perform attitude adjustment; the surface shape after splicing is measured through a laser radar non-contact measurement; and the "assembly-measurement-adjustment" is iterated and approximated for multiple times until the splicing and assembling precision of the reflecting surface reaches the design requirement.

Description

Technical Field

[0001] This invention relates to the field of satellite optical reflector antenna assembly technology, specifically to a large-aperture spliced ​​reflector and its splicing and adjustment method, and more specifically to a high-precision and efficient splicing and adjustment method for large-aperture spliced ​​reflector antennas. Background Technology

[0002] With the development of space optics technology, space reflector antennas require larger apertures and higher surface accuracy. Large-aperture reflectors need to be multi-lobed and deployed after orbital insertion. Since the adjustment range of each lobe is limited in orbit, to achieve the maximum adjustment range after deployment, high-precision splicing and adjustment of the reflector lobes is required during ground assembly to ensure the surface accuracy meets specifications after the satellite's gravity release. For large-aperture reflectors with multi-lobed splicing, small gaps between the lobes and high surface accuracy are required, necessitating high precision in assembly and adjustment. Existing installation and debugging methods are not suitable for high-precision splicing and adjustment of reflectors. Furthermore, traditional space measurement and adjustment methods have not yet achieved integrated closed-loop control of "precision measurement-precision adjustment," making it difficult to guarantee assembly and adjustment accuracy, efficiency, and reliability.

[0003] Patent document CN221727465U (application number: 202420292503.X) discloses a spliced ​​reflector, which relates to the field of satellite antenna technology. It includes a central disk, four arc-shaped supports are uniformly fixed on the outside of the central disk, and a positioning post is fixed on the outside of the central disk between every two arc-shaped supports. A reflector is slidably connected to the outside of each positioning post, and a side-sliding protrusion is symmetrically fixed on the outside of each reflector. An assembly buckle is fixed on the side of each arc-shaped support away from the central disk. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a large-diameter spliced ​​reflective surface and its splicing and adjustment method.

[0005] A method for splicing and adjusting large-diameter interlocking reflective surfaces according to the present invention includes:

[0006] Step S1: Construct a precision measurement system based on lidar, multiple laser trackers, and an area difference meter;

[0007] Step S2: Install the middle lobe of the reflector onto the reflector back frame, which is mounted on the load parking frame;

[0008] Step S3: The adjustable support devices for the upper and lower lobes of the reflector, the left and right lobes of the reflector are installed on the corresponding Stewart platforms. The Stewart platforms are then used to move the adjustable support devices for the upper and lower lobes of the reflector, the left and right lobes of the reflector to the initial splicing positions.

[0009] Step S4: Adjust the height of the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector to the initial splicing height, respectively. Then install the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, respectively.

[0010] Step S5: Based on the precision measurement system, the splicing process is measured to obtain precision measurement data, and the precision measurement data is transmitted to the data acquisition and control system. The data acquisition and control system drives the corresponding Stewart platform to adjust the attitude of the splicing reflective surface according to the preset requirements, and repeats step S5 until the measurement results meet the preset requirements.

[0011] Step S6: Install the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the reflector back frame, respectively. Remove the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, and then remove the Stewart platform.

[0012] Preferably, step S4 includes: when the upper lobe, lower lobe, left lobe, and right lobe of the reflector are respectively installed on the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, the surface shape accuracy of the upper lobe, lower lobe, left lobe, and right lobe of the reflector is measured by a lidar, and the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector is finely adjusted to ensure that the surface shape accuracy of the upper lobe, lower lobe, left lobe, and right lobe of the reflector meets the preset requirements and eliminates the influence of gravity deformation.

[0013] Preferably, step S5 includes:

[0014] Step S5.1: Set calibration feature points on the middle lobe of the reflecting surface, and calibrate the relationship between the feature points of the middle lobe of the reflecting surface and the surface shape using lidar and laser tracker;

[0015] Step S5.2: Set up precision measurement feature points on each Stewart platform. Set calibration feature points for the upper lobe, lower lobe, left lobe, and right lobe of the reflector. Use multiple laser trackers to form a polygonal measurement system to measure the relative pose relationship between each Stewart platform and the upper lobe, lower lobe, left lobe, and right lobe of the reflector. Use lidar and laser trackers to calibrate the relationship between the upper lobe, lower lobe, left lobe, and right lobe of the reflector and the surface shape.

[0016] Step S5.3: Measure the calibration feature points of the middle lobe, upper lobe, lower lobe, left lobe, and right lobe of the reflector using multiple laser trackers. Based on the relationship between the calibration feature points and the surface shape, as well as the relative pose relationship between the Stewart platform and the upper lobe, lower lobe, left lobe, and right lobe of the reflector, and then measure the gap and height difference between the upper lobe, lower lobe, left lobe, right lobe, and middle lobe of the reflector using an area difference meter to obtain the precise measurement data.

[0017] Step S5.4: Transmit the precision measurement data to the data acquisition and control system. The data acquisition and control system calculates the pose adjustment of the upper lobe, lower lobe, left lobe, and right lobe of the reflector in the Stewart platform coordinate system based on the precision measurement data and the theoretical values ​​of the digital model.

[0018] Step S5.5: Drive and control the Stewart platform to adjust the pose of the upper lobe, lower lobe, left lobe, and right lobe of the reflector.

[0019] Preferably, step S5.1 includes: setting feature points for precision calibration in the non-coated surface area of ​​the middle lobe of the reflective surface, including the sides and back.

[0020] Preferably, step S5.2 includes: setting feature points for precision calibration on the non-coated surface areas, including the sides and back sides, of the upper lobe, lower lobe, left lobe, and right lobe of the reflective surface.

[0021] Preferably, step S5.5 includes: driving and controlling the Stewart platform to adjust the pose of the upper lobe, lower lobe, left lobe, and right lobe of the reflector by first rotating and then translating.

[0022] Preferably, during the attitude adjustment process, a laser rangefinder sensor is installed on the upper lobe of the reflective surface and the lower lobe of the reflective surface; a laser rangefinder sensor is installed on the left lobe of the reflective surface and the right lobe of the reflective surface to perform anti-collision monitoring.

[0023] Preferably, step S6 includes: installing the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the reflector back frame, and then lowering the support height of the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe to below the reflector back frame. The Stewart platform then removes the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe from the reflector back frame, completing the removal of the adjustment devices and equipment.

[0024] According to the present invention, a large-diameter spliced ​​reflective surface is obtained by using the above-described splicing and adjustment method for large-diameter spliced ​​reflective surfaces.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This invention applies the high-precision Stewart platform to the attitude fine-tuning during the splicing process of the spliced ​​reflective surface, which can both ensure the splicing and adjustment accuracy and improve the splicing and adjustment efficiency.

[0027] 2. This invention establishes a high-precision measurement system combining multiple laser trackers and lidar by setting feature points. Through precise measurement, the relationship between the feature points and the surface shape of the reflective surface is calibrated, and the surface shape accuracy is converted into the pose accuracy of the feature points. The measurement system has high measurement accuracy, and the measurement is more convenient and easier to implement after calibration and conversion.

[0028] 3. This invention calculates the precision measurement data using calculation software, and calculates the pose deviation of each lobe of the reflector relative to the reference middle lobe as the pose adjustment amount in the Stewart platform coordinate system, directly driving the Stewart platform to perform iterative fine-tuning. Through closed-loop control, it realizes the integrated control of "precision measurement-precision assembly and adjustment" to ensure the final splicing and installation accuracy.

[0029] 4. The present invention has a simple process for the "assembly-measurement-adjustment" of the spliced ​​reflective surface. Each lobe of the reflective surface is assembled and adjusted independently, and the assembly and adjustment processes do not affect each other.

[0030] 5. This invention uses a laser rangefinder sensor to monitor for collisions during the assembly and adjustment process, thereby avoiding collisions and effectively controlling assembly and adjustment risks to ensure the reliability of splicing and assembly.

[0031] 6. This invention solves the technical problems of large-diameter reflective surfaces with multi-lobed splicing, which require small splicing gaps and high surface accuracy, resulting in high splicing and adjustment difficulty, low adjustment accuracy, low adjustment efficiency and low reliability. Through integrated closed-loop control of "assembly-measurement-adjustment", combined with precision measurement and high-precision attitude fine adjustment, the accuracy, efficiency and reliability of reflective surface splicing and adjustment are improved. Attached Figure Description

[0032] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This describes the process flow for splicing and assembling interlocking reflective surfaces.

[0034] Figure 2 This is a schematic diagram of the splicing and adjustment method for the spliced ​​reflective surface.

[0035] Among them, 1-load parking frame; 2-reflector back frame; 3-reflector middle lobe; 4-reflector upper lobe; 5-reflector lower lobe; 6-reflector left lobe; 7-reflector right lobe; 8-reflector upper lobe adjustable support device; 9-reflector lower lobe adjustable support device; 10-reflector left lobe adjustable support device; 11-reflector right lobe adjustable support device; 12-first Stewart platform; 13-second Stewart platform; 14-third Stewart platform; 15-fourth Stewart platform; 16-reflector upper lobe stitched laser rangefinder sensor; 17-reflector lower lobe stitched laser rangefinder sensor; 18-reflector left lobe stitched laser rangefinder sensor; 19-reflector right lobe stitched laser rangefinder sensor; 20-LiDAR; 21-first laser tracker; 22-second laser tracker; 23-third laser tracker; 24-fourth laser tracker; 25-area difference meter; 26-data acquisition and control system. Detailed Implementation

[0036] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0037] Example 1

[0038] According to the present invention, a method for splicing and adjusting large-diameter interlocking reflective surfaces is provided, such as... Figure 1-2 As shown, it includes: high-precision multi-degree-of-freedom attitude adjustment of the spliced ​​reflective surface based on the Stewart platform; high-precision measurement of the splicing process by lidar and multi-laser trackers; and calculation and control system for precision measurement data acquisition and processing to calculate the attitude adjustment requirements and drive the Stewart platform to adjust the attitude of the spliced ​​reflective surface. Through the integrated closed-loop control of "precision measurement - precision assembly and adjustment", high-precision and efficient splicing of the reflective surface is achieved.

[0039] Specifically, including:

[0040] Step 1: The reflector back frame 2 is installed on the load parking frame 1. The reflector center lobe 3 is hoisted and installed on the reflector back frame 2. The lidar 20 and the first laser tracker 21, the second laser tracker 22, the third laser tracker 23, and the fourth laser tracker 24 establish a precision measurement system. Feature points for precision measurement calibration are set on the non-coated areas such as the side and back of the reflector center lobe 3. The feature points and surface shape of the reflector center lobe 3 are precisely measured, and the relationship between the feature points and surface shape of the reflector center lobe 3 is calibrated. The above precision measurement data is collected and retrieved by the data acquisition and control system 26.

[0041] Step 2: Install the upper lobe 4, lower lobe 5, left lobe 6, right lobe 7, upper lobe adjustable support device 8, lower lobe adjustable support device 9, left lobe adjustable support device 10, and right lobe adjustable support device 11 onto the corresponding first Stewart platform 12, second Stewart platform 13, third Stewart platform 14, and fourth Stewart platform 15, respectively. The first Stewart platform 12, second Stewart platform 13, third Stewart platform 14, and fourth Stewart platform 15 have a moving function. Move the above assembly to the initial splicing position below the reflector back frame 2 corresponding to the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7, respectively.

[0042] Step 3: Based on the theoretical model and the proposed initial splicing height, analyze and determine the required support heights for the adjustable support devices 8 (upper lobe), 9 (lower lobe), 10 (left lobe), and 11 (right lobe) of the reflector, and adjust them accordingly. Then, hoist and install the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 onto the adjustable support devices 8, 9, and 11 respectively. 0. On the adjustable support device 11 for the right lobe of the reflector, the surface accuracy of the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector is measured by the lidar 20. Based on the measurement results, the adjustable support devices 8, 9, 10, and 11 for the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector are finely adjusted to ensure the surface accuracy of the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector and to eliminate the influence of gravity deformation.

[0043] Step 4: Set feature points for precision measurement on the first Stewart platform 12, the second Stewart platform 13, the third Stewart platform 14, and the fourth Stewart platform 15, respectively. Set feature points for precision calibration on the non-coated areas such as the sides and back of the upper lobe 4, the lower lobe 5, the left lobe 6, and the right lobe 7 of the reflecting surface. A polygonal measurement system is formed by the first laser tracker 21, the second laser tracker 22, the third laser tracker 23, and the fourth laser tracker 24 to measure the distances between the first Stewart platform 12 and the upper lobe 4, the second Stewart platform 15, and the right lobe 7. The relative pose relationships between the Stewart platform 13 and the lower lobe 5 of the reflector, the third Stewart platform 14 and the left lobe 6 of the reflector, and the fourth Stewart platform 15 and the right lobe 7 of the reflector are determined. The precision measurement system established by the lidar 20 and the first laser tracker 21, the second laser tracker 22, the third laser tracker 23, and the fourth laser tracker 24 precisely measures the feature points and surface shapes of the upper lobe 4, the lower lobe 5, the left lobe 6, and the right lobe 7 of the reflector, and calibrates the relationship between the feature points and surface shapes of each lobe. The precision measurement data is collected and retrieved by the data acquisition and control system 26.

[0044] Step 5: Using the surface difference meter 25, measure the seam gaps and height differences between the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector and the middle lobe 3 of the reflector. The seam difference data is collected and retrieved by the data acquisition and control system 26. Based on the precise measurement data from Steps 1 and 4 and the theoretical values ​​from the digital model, the data acquisition and control system 26 calculates the pose adjustment amounts of the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector in the coordinate systems of the first Stewart platform 12, the second Stewart platform 13, the third Stewart platform 14, and the fourth Stewart platform 15. The data acquisition and control system 26 then drives and controls the first Stewart platform... Platform 12, the second Stewart platform 13, the third Stewart platform 14, and the fourth Stewart platform 15 drive the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector to adjust the pose of each spliced ​​lobe of the reflector using a strategy of first rotating and then translating. During the adjustment process, anti-collision monitoring is performed by the laser ranging sensor 16 installed on the back of the upper lobe, the laser ranging sensor 17 installed on the back of the lower lobe, the laser ranging sensor 18 installed on the back of the left lobe, and the laser ranging sensor 19 installed on the back of the right lobe. The data acquisition and control system 26 sets alarm values ​​to avoid collisions during the adjustment process.

[0045] Step 6: After the attitude adjustment of the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector is completed, the surface shape of the spliced ​​reflector is measured by the lidar 20. If the required surface accuracy is not met, the feature points of the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflector are precisely measured by the first laser tracker 21, the second laser tracker 22, the third laser tracker 23, and the fourth laser tracker 24. Then, step 5 is repeated. The closed loop is formed by attitude adjustment, accuracy measurement, and software calculation. Multiple iterations are performed to gradually approach the surface shape until it meets the splicing and installation accuracy requirements.

[0046] Step 7: After the reflective surface shape meets the splicing and installation accuracy requirements, install the upper lobe 4, lower lobe 5, left lobe 6, and right lobe 7 of the reflective surface to the reflective back frame 2 respectively. Then, adjust the support height of the adjustable support devices 8, 9, 10, and 11 of the upper lobe, lower lobe, left lobe, and right lobe to below the reflective back frame 2. The first Stewart platform 12, the second Stewart platform 13, the third Stewart platform 14, and the fourth Stewart platform 15, respectively, with the adjustable support devices 8, 9, 10, and 11 of the upper lobe, lower lobe, left lobe, and right lobe, are removed from the reflective back frame 2, completing the removal of the adjustment devices and equipment.

[0047] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0048] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for assembling and adjusting large-diameter spliced ​​reflective surfaces, characterized in that, include: Step S1: Construct a precision measurement system based on lidar, multiple laser trackers, and an area difference meter; Step S2: Install the middle lobe of the reflector onto the reflector back frame, which is mounted on the load parking frame; Step S3: The adjustable support devices for the upper and lower lobes of the reflector, the left and right lobes of the reflector are installed on the corresponding Stewart platforms. The Stewart platforms are then used to move the adjustable support devices for the upper and lower lobes of the reflector, the left and right lobes of the reflector to the initial splicing positions. Step S4: Adjust the height of the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector to the initial splicing height, respectively. Then install the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the adjustable support device for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, respectively. Step S5: Based on the precision measurement system, the splicing process is measured to obtain precision measurement data, and the precision measurement data is transmitted to the data acquisition and control system. The data acquisition and control system drives the corresponding Stewart platform to adjust the attitude of the splicing reflective surface according to the preset requirements, and repeats step S5 until the measurement results meet the preset requirements. Step S6: Install the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the reflector back frame, respectively. Remove the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, and then remove the Stewart platform.

2. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 1, characterized in that, Step S4 includes: when the upper lobe, lower lobe, left lobe, and right lobe of the reflector are respectively installed on the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe of the reflector, the surface shape accuracy of the upper lobe, lower lobe, left lobe, and right lobe of the reflector is measured by a lidar, and the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe of the reflector are finely adjusted to ensure that the surface shape accuracy of the upper lobe, lower lobe, left lobe, and right lobe of the reflector meets the preset requirements and eliminates the influence of gravity deformation.

3. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 1, characterized in that, Step S5 includes: Step S5.1: Set calibration feature points on the middle lobe of the reflecting surface, and calibrate the relationship between the feature points of the middle lobe of the reflecting surface and the surface shape using lidar and laser tracker; Step S5.2: Set up precision measurement feature points on each Stewart platform. Set calibration feature points for the upper lobe, lower lobe, left lobe, and right lobe of the reflector. Use multiple laser trackers to form a polygonal measurement system to measure the relative pose relationship between each Stewart platform and the upper lobe, lower lobe, left lobe, and right lobe of the reflector. Use lidar and laser trackers to calibrate the relationship between the upper lobe, lower lobe, left lobe, and right lobe of the reflector and the surface shape. Step S5.3: Measure the calibration feature points of the middle lobe, upper lobe, lower lobe, left lobe, and right lobe of the reflector using multiple laser trackers. Based on the relationship between the calibration feature points and the surface shape, as well as the relative pose relationship between the Stewart platform and the upper lobe, lower lobe, left lobe, and right lobe of the reflector, and then measure the gap and height difference between the upper lobe, lower lobe, left lobe, right lobe, and middle lobe of the reflector using an area difference meter to obtain the precise measurement data. Step S5.4: Transmit the precision measurement data to the data acquisition and control system. The data acquisition and control system calculates the pose adjustment of the upper lobe, lower lobe, left lobe, and right lobe of the reflector in the Stewart platform coordinate system based on the precision measurement data and the theoretical values ​​of the digital model. Step S5.5: Drive and control the Stewart platform to adjust the pose of the upper lobe, lower lobe, left lobe, and right lobe of the reflector.

4. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 3, characterized in that, Step S5.1 includes setting feature points for precision calibration in the non-coated surface area of ​​the middle lobe of the reflective surface, including the sides and back.

5. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 3, characterized in that, Step S5.2 includes setting feature points for precision calibration on the non-coated surface areas, including the sides and back sides, of the upper lobe, lower lobe, left lobe, and right lobe of the reflective surface.

6. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 3, characterized in that, Step S5.5 includes: driving and controlling the Stewart platform to adjust the pose of the upper lobe, lower lobe, left lobe, and right lobe of the reflector by first rotating and then translating.

7. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 1, characterized in that, During the attitude adjustment process, laser rangefinders are spliced ​​on the upper lobe and lower lobe of the reflective surface, respectively, and on the left and right lobe of the reflective surface, respectively, to perform anti-collision monitoring.

8. The method for splicing and adjusting large-diameter interlocking reflective surfaces according to claim 1, characterized in that, Step S6 includes: installing the upper lobe, lower lobe, left lobe, and right lobe of the reflector onto the reflector back frame, and then lowering the support height of the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe to below the reflector back frame. The Stewart platform then removes the adjustable support devices for the upper lobe, lower lobe, left lobe, and right lobe from the reflector back frame, completing the removal of the adjustment devices and equipment.

9. A large-diameter, spliced ​​reflective surface, characterized in that, It is obtained by using the large-diameter splicing and adjustment method for reflective surfaces as described in any one of claims 1 to 8.

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