Flexible large-scale precision glass lifting tool and lifting point position parameterization optimization method

Abstract

This invention discloses a flexible large-scale precision glass lifting fixture and a method for parameterizing and optimizing the lifting point positions. The fixture includes a main steel frame, M flexible support arms, and a lifting claw assembly. The main steel frame is horizontally arranged in an M-shape, with lifting equipment connected to its top. The M flexible support arms are flexibly connected to the M corner points of the main steel frame and can swing relative to it. The lifting claw assembly includes an inner ring of lifting claws and an outer ring of lifting claws at the same height. The inner ring of lifting claws is evenly distributed circumferentially on the inner ends of the M flexible support arms, each horizontally arranged and capable of active rotation along its corresponding inner lifting arm axis. The outer ring of lifting claws is evenly distributed circumferentially on the outer ends of the M flexible support arms, each horizontally arranged and capable of active rotation along its corresponding outer lifting arm axis. This invention enables the lifting of large optical glass pieces exceeding 4 meters in diameter and weighing over 10 tons without damaging the optical glass, providing flexible force balance and precise position adjustment.

Description

Technical Field

[0001] This invention relates to the field of optical telescope assembly, and in particular to a flexible large-scale precision glass lifting fixture and a method for parameterizing and optimizing the position of the lifting points. Background Technology

[0002] With the rapid development of modern astronomy, the aperture of ground-based large optical telescopes has been continuously increasing. The diameter of the primary mirror has evolved from the early 1-meter and 2-meter classes to the current 4-meter, 8-meter, and even larger. Large optical glass primary mirrors are not only enormous in diameter but also extremely heavy. For example, a primary mirror with a diameter of 4 meters can weigh more than 10 tons. Furthermore, during the manufacturing process, it undergoes high-precision polishing and coating treatment, making its surface extremely fragile and requiring very high precision in force distribution and contact positions.

[0003] When handling such glass primary mirrors, a bottom-supported hoisting method is usually used to avoid placing hoisting points directly on the mirror surface. However, the back of the telescope primary mirror often has dozens or even hundreds of support points. These support points must be completely avoided during handling; otherwise, it is very easy to cause stress concentration or damage to the coating on the primary mirror surface.

[0004] Existing lifting equipment typically employs a rigid frame structure, supporting the glass bottom surface with multiple lifting claws. However, when the number of lifting points is limited and the load is enormous, the rigid structure struggles to ensure even stress distribution across all points, easily leading to overloading of some claws and damaging the lifting equipment or the main mirror itself. Furthermore, due to the large diameter and complex weight distribution of large main mirrors, adjusting the claw positions and avoiding interference with support points during hoisting are cumbersome, resulting in low efficiency and high risk.

[0005] Therefore, there is an urgent need for a lifting device that combines flexible force balancing capability with precise position adjustment capability, which can improve the flexibility and reliability of the lifting process while ensuring the safety of large precision optical glass. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a flexible large-scale precision glass lifting fixture and a parameterized optimization method for the position of the lifting point. This flexible large-scale precision glass lifting fixture and parameterized optimization method for the position of the lifting point can achieve flexible force balance and precise position adjustment without damaging the optical glass, thus enabling the lifting of large optical glass with a diameter of over 4 meters and a weight of over 10 tons.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0008] A method for parameterizing and optimizing the position of the lifting point of a flexible large-scale precision glass lifting fixture includes the following steps.

[0009] S1. Obtain the structural and operational parameters of the glass to be hoisted; wherein, the glass to be hoisted is in the shape of a ring, and the operational parameters include hoisting posture, installation space, and bottom interference area.

[0010] S2. Establish the lifting point position parameter X for each candidate lifting point based on the structural parameters, including the inner ring lifting point radius. Outer ring lifting point radius Inner and outer ring offset angles Total number of inner ring lifting points Total number of outer ring lifting points ;in, The inner ring lifting points are evenly distributed along the inner ring of the glass to be lifted. The outer ring lifting points are evenly distributed along the outer ring of the glass to be lifted.

[0011] S3. Based on the circular thin plate bending theory and Kirchhoff thin plate theory, a finite element model of the glass surface is established to calculate the maximum deflection of the glass, the root mean square error of the glass surface, and the coefficient of non-uniformity of the support reaction force for different candidate suspension points.

[0012] S4. Construct the feasible region of the lifting point based on the working parameters, candidate lifting points, and the motion envelope of the lifting device.

[0013] S5. Construct a multi-objective function minF with the suspension point position parameter X as the design variable; where F is the weighted sum of at least two of the following: maximum glass deflection, root mean square error of glass surface shape, and coefficient of non-uniformity of support reaction force.

[0014] S6. Within the feasible region of the lifting point, the particle swarm optimization algorithm is used to solve the multi-objective function to obtain the optimal lifting point position parameter X.

[0015] S7. Substitute the optimal lifting point position parameter X into the finite element model of the glass surface for verification, and determine the final lifting point position parameter based on the balance of support reaction force, glass deformation, and installation feasibility.

[0016] In S5, F is the weighted sum of the maximum deflection of the glass, the root mean square error of the glass surface shape, and the coefficient of non-uniformity of the support reaction force.

[0017] In S3, using the finite element model of the glass surface, it is also necessary to calculate the reaction force at each support point and the maximum principal stress of the glass under each candidate suspension point; therefore, in S4, the feasible region of the suspension point must simultaneously satisfy the following constraints:

[0018] A. Inner ring lifting point radius and outer ring support radius Must meet:

[0019] .

[0020] In the formula, and These are the inner and outer radii of the glass to be hoisted, respectively.

[0021] B. A preset safety clearance must be maintained between each inner ring lifting point and each outer ring lifting point and the glass edge, center hole, original support pad, and structural obstacles.

[0022] C. Each inner ring lifting point and each outer ring lifting point meet the requirements for lifting tool installation and rotation avoidance.

[0023] D. The reaction force at the support point does not exceed the set upper limit.

[0024] E. The maximum deflection and maximum principal stress of the glass shall not exceed the allowable values.

[0025] In S1, the structural parameters include the diameter of the glass to be hoisted. ,thickness ,weight Center of gravity position Elastic modulus Compared to Poisson ;in, Not less than 4 meters It can exceed 10 tons.

[0026] In S3, the finite element model of the glass surface adopts the bending control equation of a circular thin plate, specifically:

[0027] .

[0028] in:

[0029] In the formula, This represents the bending stiffness of the glass plate.

[0030] w(r,θ) is the normal deflection of the glass at the polar coordinate position (r,θ); r is the radial coordinate; θ is the circumferential angular coordinate.

[0031] It is a biharmonic operator used to represent the fourth-order spatial differential relation in the bending deformation of thin plates.

[0032] q(r,θ) is the equivalent surface load acting on the glass plate, which includes the surface distributed load converted from the glass's own weight and additional lifting load; Let N be the support reaction force at the i-th suspension point, 1≤i≤N; where N is... and sum.

[0033] This is a mathematical representation of the concentrated support effect, used to describe the local effect of the support reaction force on the glass plate at the corresponding suspension point. and These represent the radial and angular positions of the i-th lifting point, respectively.

[0034] A flexible large-scale precision glass lifting device includes a main steel frame, M flexible support arms, and a lifting claw assembly.

[0035] The main steel frame is laid out horizontally in a positive M-shape, with external hoisting equipment connected to its top, and can be raised, lowered, and moved left and right synchronously with the hoisting equipment.

[0036] M flexible support arms are evenly and horizontally arranged around the top of the glass to be hoisted. Each of the M flexible support arms corresponds to one of the M corner points of the main steel frame and is flexibly connected. The flexible support arms can swing relative to the main steel frame, and the swing amplitude does not exceed 20°.

[0037] The lifting claw assembly includes those located at the same height. The inner ring claw and One outer ring of the lifting claw.

[0038] One inner ring lifting claw is evenly distributed circumferentially on the inner end of M flexible support arms. The top of each inner ring lifting claw is suspended from the bottom of the inner end of the corresponding flexible support arm by an inner lifting rod. Each inner ring lifting claw is horizontally arranged and can actively rotate along the axis of the corresponding inner lifting rod.

[0039] One outer ring of lifting claws is evenly distributed circumferentially on the outer ends of M flexible support arms. The top of each outer ring of lifting claw is suspended from the bottom of the outer end of the corresponding flexible support arm by an outer lifting rod. Each outer ring of lifting claw is horizontally arranged and can rotate actively along the axis of the corresponding outer lifting rod.

[0040] M=3, =3, =6, each flexible support arm has an inner ring claw connected to its inner end, and two outer ring claws connected to its outer end via an isosceles triangle. The outer ring claws are offset from the inner ring claws by an inner ring offset angle. =60°.

[0041] Each flexible support arm is flexibly connected to the corresponding corner of the main steel frame via a spherical bearing. The spherical bearing includes an outer bearing ring, an inner bearing ring, and a swing limiting device. The outer bearing ring is fixedly connected to the main steel frame, and the inner bearing ring is connected to the center of mass of the flexible support arm. The inner bearing ring rotates relative to the outer bearing ring and can drive the flexible support arm to swing up, down, left, and right. The swing limiting device can limit the swing angle of the flexible support arm to within the range of ±5°~15°.

[0042] It also includes a guide positioning assembly, which includes K guide rods and K guide rollers; the K guide rods are evenly distributed around the center hole of the glass to be lifted, the top of each guide rod is mounted on the main steel frame, and each guide rod has a guide roller mounted at its bottom; the K guide rollers form a guide circle, the outer diameter of which is equal to the inner diameter of the center hole of the glass to be lifted, and the height of the plane containing the guide circle is lower than the height of the plane containing the inner or outer ring lifting claws.

[0043] A method for hoisting a flexible, large-scale precision glass lifting device includes the following steps.

[0044] Step 1, Crane claw avoidance: Each inner ring of the lifting claws actively rotates inward to form an avoidance circle; Each outer ring of the lifting claw rotates actively outward.

[0045] Step 2, Alignment of the Lifting Gear Center: The lifting gear descends in height under the drive of the lifting equipment, and the guide rollers first contact the glass to be lifted; the lifting gear then moves left and right under the drive of the lifting equipment, the guide rollers roll and enter the center hole of the glass to be lifted, all the guide rollers contact the inner wall of the center hole, so that the guide circle is concentric with the center hole, thereby aligning the lifting gear with the center of the glass to be lifted.

[0046] Step 3, Lifting claw height reduction: Under the drive of the lifting equipment, the lifting device continues to descend, and the guide rollers move downward along the inner wall of the central hole. The clearance circle enclosed by the inner ring of the lifting claws passes through the central hole and is located below the glass to be lifted.

[0047] Step 4, Position the lifting claws: Each inner ring lifting claw actively rotates outward and is arranged along the radial direction of the glass; Each outer ring of lifting claws rotates actively inward and is arranged radially along the glass.

[0048] Step 5, Lifting: The lifting equipment raises the lifting device to a higher height. The inner ring of the lifting claws will support the inner edge of the glass to be lifted. The outer ring of the lifting claws will support the outer edge of the glass to be lifted above; the lifting device continues to rise to achieve the lifting.

[0049] The present invention has the following beneficial effects:

[0050] 1. The flexible support arm of this invention can swing freely within a range of ±5°~15°, thus enabling flexible force balance and precise position adjustment without damaging the optical glass, and realizing the hoisting of large optical glass with a diameter of over 4 meters and a weight of over 10 tons.

[0051] 2. The guide and positioning component in this invention enables the lifting device to be aligned with the center of the glass to be lifted, and guides the inner ring lifting claws into the center hole of the glass to be lifted, thereby achieving precise position adjustment. Attached Figure Description

[0052] Figure 1 The diagram shows a structural schematic of a flexible large-scale precision glass lifting device according to the present invention.

[0053] Among them are:

[0054] 10. Main steel frame;

[0055] 20. Flexible support arm;

[0056] 30. Outer ring lifting claw; 31. Outer lifting rod; 32. Outer rotation drive mechanism; 33. Outer support block; 34. Outer support point;

[0057] 40. Inner ring lifting claw; 41. Inner lifting rod; 42. Inner rotation drive mechanism; 43. Inner support block; 44. Inner support point;

[0058] 50. Guiding and positioning assembly; 51. Guide rod; 52. Guide roller;

[0059] 60. Glass to be hoisted; 61. Center hole. Detailed Implementation

[0060] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0061] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," 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 invention 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. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0062] like Figure 1 As shown, a flexible large-scale precision glass lifting device includes a main steel frame, M flexible support arms, a lifting claw assembly, and a guide and positioning assembly.

[0063] In this embodiment, the glass 60 to be hoisted is the primary mirror of a large ground-based optical telescope for astronomical use, with a diameter of 4 to 8 meters and a weight of over 10 tons. The upper and lower surfaces of the glass to be hoisted have high-precision polishing and coating.

[0064] The main steel frame is horizontally arranged in an M-shape, with external hoisting equipment at its top, and can be raised, lowered, and moved left and right synchronously with the hoisting equipment. In this embodiment, M=3 is preferred, that is, the main steel frame is an equilateral triangle. The main steel frame is preferably made of high-strength alloy steel or carbon fiber reinforced composite material to achieve structural lightweighting.

[0065] The bottom surface of the main steel frame is preferably equipped with a swing limiting device, which is preferably a number of limiting blocks (not shown in the figure). The bottom surface of the limiting blocks is provided with a flexible pad to prevent damage to the polishing and coating of the glass surface to be hoisted.

[0066] M flexible support arms are evenly and horizontally arranged around the top of the glass to be hoisted. Each of the M flexible support arms corresponds to one of the M corner points of the main steel frame and is flexibly connected. The flexible support arms can swing relative to the main steel frame, and the swing amplitude does not exceed 20°.

[0067] In this embodiment, there are three flexible support arms. Each flexible support arm is Y-shaped and includes an integrally formed isosceles triangular arm and a radial arm. The radial arm is arranged radially along the glass to be hoisted. Its inner left end serves as the inner hoisting point, and its outer end is connected to the vertex of the isosceles triangular arm to form a flexible connection point. Each isosceles triangular arm is symmetrically arranged about the line where the radial arm is located, and the two corner points of each isosceles triangular arm form two outer hoisting points.

[0068] Furthermore, the flexible connection point of the flexible support arm is the center of mass, and it is flexibly connected to the corresponding corner point of the main steel frame through a joint bearing. The joint bearing includes an outer ring, an inner ring, and the aforementioned swing limiting device. The outer ring is fixedly connected to the main steel frame, and the inner ring is connected to the center of mass of the flexible support arm. The inner ring rotates relative to the outer ring and can drive the flexible support arm to swing up, down, left, and right. The swing limiting device can limit the swing angle of the flexible support arm to within the range of ±5°~15°.

[0069] The lifting claw assembly includes those located at the same height. The inner ring claw 40 and One outer ring lifting claw 30; in this embodiment, preferably =3, =6, the central angle of adjacent inner ring lifting jaws is 120°, and the central angle of adjacent outer ring lifting jaws is 60°. Therefore, the offset angle between the outer ring lifting jaws and the inner ring lifting jaws is... =60°.

[0070] One inner ring lifting claw is evenly distributed circumferentially on the inner ends (i.e., inner lifting points) of M flexible support arms. Each inner ring lifting claw includes an inner lifting rod 41, an inner rotation drive mechanism 42, and an inner support block 43. The top of the inner lifting rod 41 is suspended from the bottom of the inner end of the corresponding flexible support arm. The bottom end of the inner lifting rod 41 is provided with the inner rotation drive mechanism 42, and the output shaft of the inner rotation drive mechanism 42 is connected to one end of the inner support block. The inner support block is horizontally arranged and can actively rotate along the axis of the corresponding inner lifting rod under the drive of the inner rotation drive mechanism. Furthermore, a flexible pad is provided on the top surface of the outer end of each inner support block, forming an inner support point 43.

[0071] An outer ring of lifting claws is evenly distributed circumferentially at the outer ends (i.e., outer lifting points) of M flexible support arms. Each outer ring of lifting claws includes an outer lifting rod 31, an outer rotation drive mechanism 32, and an outer support block 33. The top of the outer lifting rod is suspended from the bottom of the corresponding outer end of the flexible support arm. The bottom of the outer lifting rod is equipped with the outer rotation drive mechanism, the output shaft of which is connected to one end of the outer support block. The outer support block is horizontally positioned and can actively rotate along the axis of the corresponding outer lifting rod under the drive of the outer rotation drive mechanism. Furthermore, a flexible pad is provided on the top surface of the outer end of each outer support block, forming an outer support point 33.

[0072] The aforementioned guiding and positioning assembly preferably includes K=3 guide rods and K=3 guide rollers; the K guide rods are evenly distributed around the center hole of the glass to be lifted, the top of each guide rod is mounted on the main steel frame, and each guide rod has a guide roller mounted at its bottom; the K guide rollers form a guide circle, the outer diameter of which is equal to the inner diameter of the center hole of the glass to be lifted, and the height of the plane containing the guide circle is lower than the height of the plane containing the inner or outer ring lifting claws.

[0073] A method for hoisting a flexible, large-scale precision glass lifting device includes the following steps.

[0074] Step 1, Crane claw avoidance: Each inner ring of the lifting claws actively rotates inward to form an avoidance circle; Each outer ring of the lifting claw rotates actively outward.

[0075] Step 2, Alignment of the Lifting Gear Center: The lifting gear descends in height under the drive of the lifting equipment, and the guide rollers first contact the glass to be lifted; the lifting gear then moves left and right under the drive of the lifting equipment, the guide rollers roll and enter the center hole of the glass to be lifted, all the guide rollers contact the inner wall of the center hole, so that the guide circle is concentric with the center hole, thereby aligning the lifting gear with the center of the glass to be lifted.

[0076] Step 3, Lifting claw height reduction: Under the drive of the lifting equipment, the lifting device continues to descend, and the guide rollers move downward along the inner wall of the central hole. The clearance circle enclosed by the inner ring of the lifting claws passes through the central hole and is preferably 100mm below the glass to be lifted.

[0077] Step 4, Position the lifting claws: Each inner ring lifting claw actively rotates outward and is arranged along the radial direction of the glass; Each outer ring of lifting claws rotates actively inward and is arranged radially along the glass.

[0078] Step 5, Lifting: The lifting equipment raises the lifting device to a higher height. The inner ring of the lifting claws will support the inner edge of the glass to be lifted. The outer ring of the lifting claws will support the outer edge of the glass to be lifted; the lifting device continues to rise, achieving the lifting. Furthermore, throughout the lifting process, pressure sensors are preferably used to monitor the force on each lifting claw in real time, and the claw angle is automatically adjusted when the uneven force exceeds the preset value.

[0079] A method for parameterizing and optimizing the position of the lifting point of a flexible large-scale precision glass lifting fixture includes the following steps.

[0080] S1. Obtain the structural and operational parameters of the glass to be hoisted; the glass to be hoisted is annular in shape, and the operational parameters include hoisting posture, installation space, and bottom interference area. The structural parameters include the diameter of the glass to be hoisted. ,thickness ,weight Center of gravity position Elastic modulus Compared to Poisson ;in, Not less than 4 meters It can exceed 10 tons.

[0081] S2. Establish the lifting point position parameter X for each candidate lifting point based on the structural parameters, including the inner ring lifting point radius. Outer ring lifting point radius Inner and outer ring offset angles Total number of inner ring lifting points Total number of outer ring lifting points ;in, The inner ring lifting points are evenly distributed along the inner ring of the glass to be lifted. The outer ring lifting points are evenly distributed along the outer ring of the glass to be lifted.

[0082] The above-mentioned inner ring lifting point radius That is, the radius of the circle containing all the inner support points on the outer top surface of all the inner support blocks, and the radius of the aforementioned outer ring suspension points. That is, the radius of the circle containing all the external support points.

[0083] S3. Based on the circular thin plate bending theory and Kirchhoff thin plate theory, a finite element model of the glass surface is established to calculate the maximum deflection of the glass, the root mean square error of the glass surface, the non-uniformity coefficient of the support reaction force, the reaction force at each support point, and the maximum principal stress of the glass at different candidate suspension points.

[0084] The above-mentioned finite element model of the glass surface adopts the bending control equation of a circular thin plate, which is preferably as follows:

[0085] .

[0086] in:

[0087]

[0088] In the formula, This represents the bending stiffness of the glass plate.

[0089] w(r,θ) is the normal deflection of the glass at the polar coordinate position (r,θ); r is the radial coordinate; θ is the circumferential angular coordinate.

[0090] It is a biharmonic operator used to represent the fourth-order spatial differential relation in the bending deformation of thin plates.

[0091] q(r,θ) is the equivalent surface load acting on the glass plate, which includes the surface distributed load converted from the glass's own weight and additional lifting load; Let N be the support reaction force at the i-th suspension point, 1≤i≤N; where N is... and sum.

[0092] This is a mathematical representation of the concentrated support effect, used to describe the local effect of the support reaction force on the glass plate at the corresponding suspension point. and These represent the radial and angular positions of the i-th lifting point, respectively.

[0093] S4. Construct the feasible region of the lifting point based on the working parameters, candidate lifting points, and the motion envelope of the lifting device.

[0094] The optimal selection of the feasible region for the above-mentioned lifting points must simultaneously satisfy the following constraints:

[0095] A. Inner ring lifting point radius and outer ring support radius Must meet:

[0096] .

[0097] In the formula, and These are the inner and outer radii of the glass to be hoisted, respectively.

[0098] B. A preset safety clearance must be maintained between each inner ring lifting point and each outer ring lifting point and the glass edge, center hole, original support pad, and structural obstacles.

[0099] C. Each inner ring lifting point and each outer ring lifting point meet the requirements for lifting tool installation and rotation avoidance.

[0100] D. The reaction force at the support point does not exceed the set upper limit.

[0101] E. The maximum deflection and maximum principal stress of the glass shall not exceed the allowable values.

[0102] That is, the following areas need to be excluded from the feasible region of the lifting point of this invention:

[0103] 1. Areas that overlap with or are too close to the original support pads at the bottom of the glass.

[0104] 2. Areas that interfere with the main mirror center hole, unloading hole, and process hole.

[0105] 3. Areas that interfere with back reinforcement, bosses, mounting ribs, or testing reference surfaces.

[0106] 4. Areas that interfere with the rotation trajectory of the lifting claw, the guide rod, and the motor mounting base.

[0107] 5. Areas too close to the glass edge that may cause stress concentration at the edge.

[0108] S5. Construct a multi-objective function minF with the suspension point position parameter X as the design variable; where F is the maximum deflection of the glass. Root mean square error of glass surface and the coefficient of non-uniformity of support reaction force The weighted sum of at least two (preferably three) values.

[0109] Objective 1: To reduce the maximum deflection of the glass Recorded as The expression is:

[0110]

[0111] Objective 2: Reduce the root mean square error of the surface shape Recorded as The expression is:

[0112]

[0113] In the formula, A is the surface area of ​​the glass to be hoisted. Let the glass deflection be the glass deflection at each integration point on the glass to be hoisted. This represents the average deflection of the glass surface to be hoisted.

[0114] Objective 3: Minimize the coefficient of non-uniformity of support reaction force

[0115] In the formula, The reaction force at each support point.

[0116] The comprehensive objective function can be constructed using a weighted summation method:

[0117]

[0118] in, ~ These are the weighting coefficients.

[0119] S6. Within the feasible region of the lifting point, the particle swarm optimization algorithm is used to solve the multi-objective function and obtain the optimal lifting point position parameter X.

[0120] S7. Substitute the optimal lifting point position parameter X into the finite element model of the glass surface for verification, and determine the final lifting point position parameter based on the balance of support reaction force, glass deformation, and installation feasibility.

[0121] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A method for parameterizing and optimizing the position of lifting points in a flexible, large-scale precision glass lifting fixture, characterized in that: include: S1. Obtain the structural and operational parameters of the glass to be hoisted; wherein, the glass to be hoisted is in the shape of a ring, and the operational parameters include hoisting posture, installation space, and bottom interference area; S2. Establish the lifting point position parameter X for each candidate lifting point based on the structural parameters, including the inner ring lifting point radius. Outer ring lifting point radius Inner and outer ring offset angles Total number of inner ring lifting points Total number of outer ring lifting points ;in, The inner ring lifting points are evenly distributed along the inner ring of the glass to be lifted. The outer ring lifting points are evenly distributed along the outer ring of the glass to be lifted; S3. Based on the circular thin plate bending theory and Kirchhoff thin plate theory, a finite element model of glass surface shape is established, and the maximum deflection of glass, root mean square error of glass surface shape and non-uniformity coefficient of support reaction force are calculated for different candidate suspension points. S4. Construct the feasible region of the lifting point based on the working parameters, candidate lifting points, and the motion envelope of the lifting device; S5. Construct a multi-objective function minF with the suspension point position parameter X as the design variable; where F is the weighted sum of at least two of the following: maximum glass deflection, root mean square error of glass surface shape, and coefficient of non-uniformity of support reaction force. S6. Within the feasible region of the lifting point, the particle swarm optimization algorithm is used to solve the multi-objective function to obtain the optimal lifting point position parameter X; S7. Substitute the optimal lifting point position parameter X into the finite element model of the glass surface for verification, and determine the final lifting point position parameter based on the balance of support reaction force, glass deformation, and installation feasibility.

2. The method for parameterizing and optimizing the lifting point position of the flexible large-scale precision glass lifting fixture according to claim 1, characterized in that: In S5, F is the weighted sum of the maximum deflection of the glass, the root mean square error of the glass surface shape, and the coefficient of non-uniformity of the support reaction force.

3. The method for parameterizing and optimizing the lifting point position of the flexible large-scale precision glass lifting fixture according to claim 1, characterized in that: In S3, using the finite element model of the glass surface, it is also necessary to calculate the reaction force at each support point and the maximum principal stress of the glass under each candidate suspension point; therefore, in S4, the feasible region of the suspension point must simultaneously satisfy the following constraints: A. Inner ring lifting point radius and outer ring support radius Must meet: ； In the formula, and These are the inner and outer radii of the glass to be hoisted, respectively. B. A preset safety clearance must be maintained between each inner ring lifting point and each outer ring lifting point and the glass edge, the center hole, the original support pad, and structural obstacles. C. Each inner ring lifting point and each outer ring lifting point meet the requirements for lifting tool installation and rotation avoidance; D. The reaction force at the support point does not exceed the set upper limit; E. The maximum deflection and maximum principal stress of the glass shall not exceed the allowable values.

4. The method for parameterizing and optimizing the lifting point position of the flexible large-scale precision glass lifting fixture according to claim 1, characterized in that: In S1, the structural parameters include the diameter of the glass to be hoisted. ,thickness ,weight Center of gravity position Elastic modulus Compared to Poisson ;in, Not less than 4 meters It can exceed 10 tons.

5. The method for parameterizing and optimizing the lifting point position of the flexible large-scale precision glass lifting fixture according to claim 4, characterized in that: In S3, the finite element model of the glass surface adopts the bending control equation of a circular thin plate, specifically: ； in: In the formula, For the bending stiffness of the glass plate; w(r,θ) is the normal deflection of the glass at the polar coordinate position (r,θ); r is the radial coordinate; θ is the circumferential angular coordinate. It is a biharmonic operator used to represent the fourth-order spatial differential relation in the bending deformation of thin plates; q(r,θ) is the equivalent surface load acting on the glass plate, which includes the surface distributed load converted from the glass's own weight and additional lifting load; Let N be the support reaction force at the i-th suspension point, 1≤i≤N; where N is... and sum; This is a mathematical representation of the concentrated support effect, used to describe the local effect of the support reaction force on the glass plate at the corresponding suspension point. and These represent the radial and angular positions of the i-th lifting point, respectively.

6. A flexible, large-scale precision glass lifting device, characterized in that: Includes the main steel frame, M flexible support arms, and lifting claw assembly; The main steel frame is laid out horizontally in a positive M-shape, with external hoisting equipment connected to its top, and can be raised, lowered and moved left and right synchronously with the hoisting equipment; M flexible support arms are evenly arranged horizontally along the top circumference of the glass to be hoisted. Each of the M flexible support arms corresponds to one of the M corner points of the main steel frame and is flexibly connected. The flexible support arms can swing relative to the main steel frame, and the swing amplitude does not exceed 20°. The lifting claw assembly includes those located at the same height. The inner ring claw and One outer ring lifting claw; One inner ring claw is evenly distributed circumferentially on the inner end of M flexible support arms. The top of each inner ring claw is suspended from the bottom of the inner end of the corresponding flexible support arm by an inner rod. Each inner ring claw is horizontally arranged and can rotate actively along the axis of the corresponding inner rod. One outer ring of lifting claws is evenly distributed circumferentially on the outer ends of M flexible support arms. The top of each outer ring of lifting claw is suspended from the bottom of the outer end of the corresponding flexible support arm by an outer lifting rod. Each outer ring of lifting claw is horizontally arranged and can rotate actively along the axis of the corresponding outer lifting rod.

7. The flexible large-scale precision glass lifting fixture according to claim 6, characterized in that: M=3, =3, =6, each flexible support arm has an inner ring claw connected to its inner end, and two outer ring claws connected to its outer end via an isosceles triangle. The outer ring claws are offset from the inner ring claws by an inner ring offset angle. =60°.

8. The flexible large-scale precision glass lifting fixture according to claim 6, characterized in that: Each flexible support arm is flexibly connected to the corresponding corner of the main steel frame via a spherical bearing. The spherical bearing includes an outer bearing ring, an inner bearing ring, and a swing limiting device. The outer bearing ring is fixedly connected to the main steel frame, and the inner bearing ring is connected to the center of mass of the flexible support arm. The inner bearing ring rotates relative to the outer bearing ring and can drive the flexible support arm to swing up, down, left, and right. The swing limiting device can limit the swing angle of the flexible support arm to within the range of ±5°~15°.

9. The flexible large-scale precision glass lifting device according to claim 6, characterized in that: It also includes a guide positioning assembly, which includes K guide rods and K guide rollers; the K guide rods are evenly distributed around the center hole of the glass to be lifted, the top of each guide rod is mounted on the main steel frame, and each guide rod has a guide roller mounted at its bottom; the K guide rollers form a guide circle, the outer diameter of which is equal to the inner diameter of the center hole of the glass to be lifted, and the height of the plane containing the guide circle is lower than the height of the plane containing the inner or outer ring lifting claws.

10. A method for hoisting a flexible, large-scale precision glass lifting device, characterized in that: Includes the following steps: Step 1, Crane claw avoidance: Each inner ring of the lifting claws actively rotates inward to form an avoidance circle; Each outer ring of the lifting claws rotates actively outward; Step 2, Alignment of the Lifting Gear Center: The lifting gear descends in height under the drive of the lifting equipment, and the guide rollers first contact the glass to be lifted; the lifting gear then moves left and right under the drive of the lifting equipment, the guide rollers roll and enter the center hole of the glass to be lifted, all the guide rollers contact the inner wall of the center hole, making the guide circle concentric with the center hole, thereby aligning the lifting gear with the center of the glass to be lifted. Step 3, Lifting claw height reduction: Under the drive of the lifting equipment, the lifting device continues to descend, and the guide rollers move downward along the inner wall of the central hole. The clearance circle enclosed by the inner ring of the lifting claws passes through the central hole and is located below the glass to be lifted; Step 4, Position the lifting claws: Each inner ring lifting claw actively rotates outward and is arranged along the radial direction of the glass; Each outer ring of lifting claws rotates actively inward and is arranged along the radial direction of the glass; Step 5, Lifting: The lifting equipment raises the lifting device to a higher height. The inner ring of the lifting claws will support the inner edge of the glass to be lifted. The outer ring of the lifting claws will support the outer edge of the glass to be lifted above; the lifting device continues to rise to achieve the lifting.

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