CN109739010B - A self-cleaning off-axis three-mirror device - Google Patents

Abstract

The invention relates to a self-cleaning off-axis three-mirror device, comprising a first mirror assembly, a second mirror assembly and a third mirror assembly, as well as a detector assembly, an ultrasonic cleaning assembly, a mechanical arm assembly and a frame, the frame There is a cavity in the cavity, the first reflector assembly and the third reflector assembly are located at the bottom of the cavity, the second reflector assembly is located at the top of the cavity, and the detector assembly is located at the top of the frame and passes through the frame Extending into the cavity, the robotic arm assembly and the ultrasonic cleaning assembly are both arranged on the inner wall of the cavity; the ultrasonic cleaning assembly includes a cleaning room, and the cleaning room is provided with an ultrasonic generator and a transducer; the robotic arm assembly includes a mirror loading and unloading device and industrial robots that control mirror handlers. Compared with the prior art, the present invention can realize the automatic loading and unloading of the reflector through an industrial robot with a suction cup at the end, and place it on the ultrasonic cleaning component, thereby realizing automatic cleaning of the reflector.

Description

A self-cleaning off-axis three-mirror device

technical field

The invention relates to the technical field of optical imaging, in particular to a self-cleaning off-axis three-mirror device.

Background technique

The reflective optical system is divided into on-axis reflection and off-axis reflection. Among them, the off-axis three-mirror optical system is widely used in space optics due to its large field of view, high resolution, long focal length, wide wavelength band, and high modulation transfer function. remote sensing field.

Before using the off-axis three-mirror device, it is necessary to adjust the orientation of the three-side mirrors in turn with the aid of an interferometer, which is extremely difficult to manually assemble. The patent discloses an off-axis three-mirror imaging system processing device that uses an off-axis reflection system to rotate. The three-axis three-mirror imaging system processing device, the above two patents propose a method of using a diamond tool to process the three-sided mirror in one piece, which can avoid the installation and adjustment errors. However, the above two patents do not take into account the influence of the machining error of the mounting surface on the adjustment when the three-sided mirror is specifically installed, so precise adjustment is required.

The prior art (Mei Gui, Zhai Yan, Miao Jianyu. Mounting of off-axis three-trans multispectral cameras [J]. Opto-Mechanical Information, 2011, 28(08): 1-4) proposed the use of a variety of instruments Combined with the computer-aided adjustment software, the method for precise adjustment of the off-axis three-mirror system is provided, but the specific adjustment device structure is not given. Before the mirror is installed, the mirror surface needs to be machined with threaded holes. The mechanical processing will produce a force on the mirror surface, causing the mirror surface to be slightly deformed. At the same time, after the mirror is installed, since the mirror needs to be adjusted at any angle in space, there are many screws. When the mirror is tightened, there will be many screw holes on the mirror to generate stress concentration, increasing the mirror surface deformation affects the reflection performance of the mirror, and greatly affects the performance of the device.

After the off-axis three-reflection device is used for a period of time, the fine dust in the space will adhere to the surface of the reflector, which will affect the performance of the reflector, and it needs to be cleaned in time. The current off-axis three-reflection device does not have a self-cleaning function, has poor flexibility and adaptability, and cannot adjust the spatial position of the mirror surface in real time according to requirements.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a self-cleaning off-axis three-mirror device in order to overcome the above-mentioned defects of the prior art.

The object of the present invention can be realized through the following technical solutions:

A self-cleaning off-axis three-mirror device includes a first mirror assembly, a second mirror assembly and a third mirror assembly, and also includes a detector assembly, an ultrasonic cleaning assembly, a robotic arm assembly and a frame, wherein the frame is There is a cavity, the first reflector assembly and the third reflector assembly are located at the bottom of the cavity, the second reflector assembly is located at the top of the cavity, and the detector assembly is located at the bottom of the frame. The top extends into the cavity through the frame, and the robotic arm assembly and the ultrasonic cleaning assembly are both arranged on the inner wall of the cavity; the ultrasonic cleaning assembly includes a cleaning room, and the cleaning room is provided with an ultrasonic generator and a changer. The mechanical arm assembly includes a mirror loading and unloading device and an industrial robot that controls the mirror loading and unloading device.

Preferably, the detector assembly includes a detector head, a socket, a telescopic shaft and a mounting seat, the detector head is mounted on the socket and extends into the cavity through the frame, and the mounting seat is fixed on the top of the frame, The socket is fixed on the mounting seat through the telescopic shaft.

Preferably, the socket is provided with a circular arc-shaped installation groove and a side lug, the side lug includes two support plates arranged opposite to each other at a certain distance, the probe head is installed in the installation groove, and one end of the telescopic shaft is fixed on the two support plates. Between the supporting plates, the other end of the telescopic shaft is fixed on the mounting seat.

Preferably, the mounting seat includes a telescopic through hole for inserting the telescopic shaft, and the telescopic through hole is fixed in the telescopic through hole by a set screw.

Preferably, the mounting seat and the frame are connected by adjusting bolts, and the frame is provided with long slot holes at the connection with the adjusting bolts.

Preferably, the mirror attachment and detachment device is specifically a suction cup.

Preferably, the first reflecting mirror assembly, the second reflecting mirror assembly and the third reflecting mirror assembly are respectively provided with reflecting mirrors, mounting steel plates and electromagnets, the reflecting mirrors are connected with the mounting steel plates, and the mounting steel plates are adsorbed on the On the electromagnet, the electromagnets of the first reflector assembly and the electromagnet of the second reflector assembly are respectively rotatably connected to the inner wall of the cavity, and the electromagnet of the third reflector assembly is fixed on the inner wall of the cavity.

Preferably, the first reflector assembly and the second reflector assembly each include a base and a plurality of linear motors, the base is fixed on the inner wall of the cavity, and the first reflector assembly and the second reflector assembly are The electromagnets are respectively hinged with their respective base spheres, and the respective linear motors of the first and second reflector assemblies are evenly distributed around the electromagnets and are respectively hinged to the electromagnets and the inner wall of the cavity.

Preferably, a groove is provided in the middle of the side where the mounting steel plate is connected to the reflector.

Preferably, the bottom of the cavity is in the shape of an inverted triangle formed by two slopes with two slopes respectively inclined downward toward the middle, and the first reflector assembly and the third reflector assembly are respectively arranged on the two slopes.

Compared with the prior art, the present invention has the following advantages:

1. Using the ultrasonic cleaning component, the automatic loading and unloading of the mirror can be realized by an industrial robot with a suction cup at the end, and placed in the ultrasonic cleaning component, so as to realize the automatic cleaning of the mirror.

2. It is equipped with a detector, which can monitor the change of the optical path of the device in real time, feedback and adjust in real time, and adjust the spatial attitude of the reflector in real time according to the requirements of different optical paths.

3. The use of electromagnets to tighten the mirror avoids the machining of the mirror mounting holes and reduces the deformation of the mirror due to machining.

4. Three linear motors are used to control the space attitude of the electromagnet, so as to automatically adjust the space attitude of the reflector, avoid manual adjustment of the reflector, and realize the precise adjustment of the reflector.

5. There is a groove in the middle of the installation steel plate, which can greatly reduce the contact with the mirror, make the suction force more uniformly act on the outer edge of the mirror, and reduce the deformation of the mirror due to force.

Description of drawings

1 is a front view of a self-cleaning off-axis three-mirror device of the present invention;

2 is a left cross-sectional view of the self-cleaning off-axis three-mirror device of the present invention;

Fig. 3 is the sectional view of A-A direction in Fig. 1;

Fig. 4 is the isometric view of the slot in the present invention;

Figure 5 is an isometric view of the telescopic shaft in the present invention;

Fig. 6 is the axonometric view of the mounting seat in the present invention;

Fig. 7 is the isometric view of the frame in the present invention;

Fig. 8 is the main sectional view of installing steel plate one in the present invention;

Fig. 9 is the main sectional view of installing steel plate two in the present invention;

FIG. 10 is a front cross-sectional view of the third installation steel plate in the present invention.

Labels in the figure: 1. Detector assembly, 11. Detector head, 12. Insert frame, 121. Installation slot, 122. Side ear, 13. Telescopic shaft, 131. Fastening thread hole 1, 14. Fastening screw 2, 15 .Mounting seat, 151. Telescopic through hole, 152. Fastening threaded hole 2, 153. Long slot hole 1, 16. Adjusting bolt, 17. Set screw 1, 2. Frame, 21. Through hole, 22. Long slot Hole 2, 3. The first mirror assembly, 31. Mirror 1, 32. Mounting steel plate 1, 321. Groove 1, 33. Electromagnet 1, 34. Linear motor 1, 35. Base 1, 36. Linear motor 2. 37. Linear motor 3. 4. Third mirror assembly, 41. Reflector 3, 42. Mounting steel plate 3. 421. Groove 3, 43. Electromagnet 3. 5. Ultrasonic cleaning assembly, 51. Sealing cover , 52. Ultrasonic generator, 53. Transducer, 54. Cleaning mount, 541. Cleaning chamber, 542. Cleaning fluid inlet, 543. Cleaning fluid outlet, 6. Robot arm assembly, 61. Industrial robot, 62. Suction cup , 7. Second mirror assembly, 71. Reflector two, 72. Mounting steel plate two, 721. Groove two, 73. Electromagnet two, 74. Linear motor four, 75. Base two, 76. Linear motor five, 77. Linear Motor VI.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

Example

As shown in FIGS. 1 to 3 , a self-cleaning off-axis three-mirror device includes a first mirror assembly 3 , a second mirror assembly 7 , a third mirror assembly 4 , a detector assembly 1 , and an ultrasonic cleaning assembly 5 , the robotic arm assembly 6 and the frame 2. A cavity is provided in the frame 2 . The first reflector assembly 3 and the third reflector assembly 4 are arranged at the bottom of the cavity. In this embodiment, the bottom of the cavity is an inverted triangle shape composed of two slopes on both sides that slope downward toward the middle, respectively. A mirror assembly 3 and a third mirror assembly 4 are respectively arranged on two slopes. The second mirror assembly 7 is provided on top of the cavity. The detector assembly 1 is provided on the top of the frame 2 and extends through the frame 2 into the cavity. Both the robotic arm assembly 6 and the ultrasonic cleaning assembly 5 are arranged on the inner wall of the cavity.

The ultrasonic cleaning assembly 5 is disposed on the side wall of the cavity, and includes a sealing cover 51 , a cleaning mounting seat 5415 , an ultrasonic generator 52 and a transducer 53 . The cleaning mounting seat 54 is provided with a cleaning chamber 541 . The cleaning chamber 541 is provided with a cleaning liquid inlet 542 and a cleaning liquid outlet 543 respectively communicating with the cleaning chamber 541 and the outside. The ultrasonic generator 52 and the transducer 53 are arranged in the cleaning chamber 541 . The sealing cover 51 blocks the opening in the clean room 541 . The frequency of the ultrasonic waves emitted by the ultrasonic generator 52 is 20-40 kHz, and in this embodiment, it is specifically 30 kHz.

The robotic arm assembly 6 includes a mirror handling device and an industrial robot 61 that controls the mirror handling device. In this embodiment, the mirror attachment and detachment device is specifically the suction cup 62, which can realize automatic attachment and detachment of the reflection mirror.

The detector assembly 1 includes a detector head 11 , a socket 12 , a telescopic shaft 13 and a mounting seat 15 . The probe head 11 is mounted on the socket 12 and extends into the cavity through the frame 2 . The mounting seat 15 is fixed on the top of the frame 2 , and the socket 12 is fixed on the mounting seat 15 through the telescopic shaft 13 .

As shown in FIG. 4 , the socket 12 is provided with a circular arc-shaped mounting groove 121 and a side ear 122 , and the side ear 122 includes two supporting plates arranged opposite to each other at a certain distance. The probe head 11 is installed in the installation groove 121 .

As shown in FIG. 5 , the upper end of the telescopic shaft 13 has a narrow width and is provided with a connecting hole therethrough, and the top end of the telescopic shaft 13 is provided with a fixed threaded hole 1 131 . The upper end of the telescopic shaft 13 is fixed between the two support plates. Specifically, the upper end of the telescopic shaft 13 is hinged with the two support plates through the connecting hole, and the set screw 17 is screwed into the set screw hole 131 to make the telescopic shaft 13 Secured in the side ears 122 .

As shown in FIG. 6 , the mounting base 15 includes a base plate and a sleeve provided on the base plate. A telescopic through hole 151 for inserting the telescopic shaft 13 is provided in the middle of the sleeve, a second fixed threaded hole 152 is arranged in the middle of the sleeve, and a long slot hole 1 153 is arranged on the bottom plate. The lower end of the telescopic shaft 13 is inserted into the telescopic through hole 151 , and the second set screw 14 is screwed into the second tightened threaded hole 152 to fix the telescopic shaft 13 in the telescopic through hole 151 .

As shown in FIG. 7 , the top of the frame 2 is provided with a through hole 21 and two long slot holes 22 at the position where the detector assembly 1 is installed. The probe head 11 is fixedly mounted in the installation groove 121 of the socket 12 , and the lower end of the probe head 11 protrudes into the cavity through the through hole 21 of the frame 2 . The mounting seat 15 is connected with the frame 2 by adjusting bolts 16 , and the mounting seat 15 and the frame 2 are fixedly connected by the adjusting bolts 16 passing through the first slot hole 153 and the second slot hole 22 .

The first reflector assembly 3 includes a reflector 1 31 , a mounting steel plate 1 32 , an electromagnet 1 33 , a base, a linear motor 1 34 , a linear motor 2 36 and a linear motor 3 37 . One side of the installation steel plate one 32 is glued to the reflector one 31 , and the other side is adsorbed on the electromagnet one 33 . The electromagnet one 33 is spherically hinged with the base one 35 , and the base one 35 is fixedly mounted on the bottom of the inner cavity of the frame 2 . The linear motor one 34, the linear motor two 36 and the linear motor three 37 are evenly distributed around the electromagnet one 33, and the front end and the tail end of the linear motor one 34, the linear motor two 36 and the linear motor three 37 are respectively connected with the electromagnet one 33. It is hinged with the spherical surface of the inner wall of the bottom of the cavity, which can realize the automatic adjustment of the spatial attitude of the mirror-31.

The second mirror assembly 7 includes a second mirror 71 , a second mounting steel plate 72 , a second electromagnet 73 , a second base 75 , a fourth linear motor 74 , a fifth linear motor 76 and a sixth linear motor 77 . One side of the second mounting plate 72 is glued to the second reflecting mirror 71 , and the other side is adsorbed on the second electromagnet 73 . The second electromagnet 73 is spherically hinged with the second base 75, and the second base 75 is fixedly mounted on the top of the cavity. The linear motor four 74, the linear motor five 76 and the linear motor six 77 are evenly distributed around the electromagnet two 73, and the front end and the tail end of the linear motor four 74, the linear motor five 76 and the linear motor six 77 are respectively connected with the electromagnet two 73. It is hinged with the spherical surface of the inner wall of the top of the cavity, which can realize the automatic adjustment of the space attitude of the mirror two 71 .

The third reflecting mirror assembly 4 includes a third reflecting mirror 41 , a third mounting steel plate 42 and a third electromagnet 43 . One side of the installation steel plate 342 is glued and connected with the mirror 3 41, and the other side is adsorbed on the electromagnet 3 43, and the electromagnet 43 is fixed at the bottom of the cavity.

Mounting steel plate one 32, mounting steel plate two 72 and mounting steel plate three 42 are respectively provided with groove one 321, groove two 721 and groove three 421 in the middle of the side connected to the reflector, as shown in Figures 8, 9 and 10 respectively. As shown in the figure, the contact between the mounting steel plate and the reflector can be greatly reduced, the suction force can be applied to the outer edge of the reflector more uniformly, and the deformation of the reflector due to the force is reduced.

In this embodiment, the currents of the first electromagnet 33 , the second electromagnet 73 and the third electromagnet 43 are all 20A.

Claims (7)

1. A self-cleaning off-axis three-mirror device comprises a first mirror assembly (3), a second mirror assembly (7) and a third mirror assembly (4), and is characterized by further comprising a detector assembly (1), an ultrasonic cleaning assembly (5), a mechanical arm assembly (6) and a frame (2), wherein a cavity is formed in the frame (2), the first mirror assembly (3) and the third mirror assembly (4) are arranged at the bottom of the cavity, the second mirror assembly (7) is arranged at the top of the cavity, the detector assembly (1) is arranged at the top of the frame (2) and penetrates through the frame (2) to extend into the cavity, and the mechanical arm assembly (6) and the ultrasonic cleaning assembly (5) are arranged on the inner wall of the cavity; the ultrasonic cleaning assembly (5) comprises a cleaning chamber (541), wherein an ultrasonic generator (52) and a transducer (53) are arranged in the cleaning chamber (541); a cleaning liquid inlet (542) and a cleaning liquid outlet (543) which are respectively communicated with the cleaning chamber (541) and the outside are arranged in the cleaning chamber (541), and the ultrasonic generator (52) and the transducer (53) are arranged in the cleaning chamber (541); a sealing cover (51) for sealing the opening of the cleaning chamber (541); the robot arm assembly (6) comprises a mirror handling device and an industrial robot (61) controlling the mirror handling device;

the detector assembly (1) comprises a detection head (11), an insertion frame (12), a telescopic shaft (13) and a mounting seat (15), wherein the detection head (11) is installed on the insertion frame (12) and penetrates through the frame (2) to extend into the cavity, the mounting seat (15) is fixed to the top of the frame (2), and the insertion frame (12) is fixed to the mounting seat (15) through the telescopic shaft (13);

the inserting frame (12) is provided with an arc-shaped mounting groove (121) and a side lug (122), the side lug (122) comprises two support plates which are oppositely arranged at a certain distance, the detecting head (11) is mounted in the mounting groove (121), one end of the telescopic shaft (13) is fixed between the two support plates, and the other end of the telescopic shaft (13) is fixed on the mounting seat (15); the upper end of the telescopic shaft (13) is hinged with the two support plates through connecting holes;

the reflector assembling and disassembling device is a sucker (62);

the automatic assembling and disassembling of the reflector are realized by adopting the ultrasonic cleaning component (5) and an industrial robot (61) with a suction cup (62) at the tail end, and the reflector is placed on the ultrasonic cleaning component (5), so that the reflector is automatically cleaned.

2. A self-cleaning off-axis three-mirror device according to claim 1, wherein the mounting seat (15) comprises a telescopic through hole (151) for inserting the telescopic shaft (13), the telescopic shaft (13) being fixed in the telescopic through hole (151) by a set screw.

3. A self-cleaning off-axis three-mirror device according to claim 1, wherein the mounting base (15) is connected to the frame (2) by means of an adjusting bolt (16), and the frame (2) is provided with a slotted hole at the connection with the adjusting bolt (16).

4. An off-axis self-cleaning three-mirror device according to claim 1, wherein the first mirror assembly (3), the second mirror assembly (7) and the third mirror assembly (4) are respectively provided with a mirror, a mounting steel plate and an electromagnet, the mirror is connected with the mounting steel plate, the mounting steel plate is adsorbed on the electromagnet, the electromagnets of the first mirror assembly (3) and the second mirror assembly (7) are respectively rotatably connected with the inner wall of the cavity, and the electromagnet of the third mirror assembly (4) is fixed on the inner wall of the cavity.

5. An off-axis self-cleaning three-mirror device according to claim 4, wherein the first mirror assembly (3) and the second mirror assembly (7) respectively comprise a base and a plurality of linear motors, the base is fixed on the inner wall of the cavity, the electromagnets of the first mirror assembly (3) and the second mirror assembly (7) are respectively hinged with the respective base spherical surfaces, and the respective linear motors of the first mirror assembly (3) and the second mirror assembly (7) are uniformly distributed around the electromagnets and are respectively hinged with the electromagnets and the inner wall spherical surfaces of the cavity.

6. A self-cleaning off-axis three-mirror device as claimed in claim 4, wherein a groove is provided in the middle of the side of the mounting steel plate connected to the mirror.

7. An off-axis self-cleaning triple mirror device according to claim 1, wherein the bottom of the cavity is in an inverted triangular shape with two slopes sloping downward toward the middle at both sides, and the first mirror assembly (3) and the third mirror assembly (4) are respectively disposed on the two slopes.

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