CN116299499A - A transfer system and calibration method for realizing accurate and repeatable positioning of multi-station equipment - Google Patents

Abstract

The invention discloses a transfer system and a calibration method for realizing accurate and repeated positioning of multi-station equipment, relates to the technical field of transfer calibration, and solves the problem that the existing device cannot realize the free switching between the working position and the storage position, and the working position of the equipment cannot be accurately positioned repeatedly . The rigid pre-embedded supports of the transfer system are installed in pairs on the test foundation, and the fixed support frame is installed horizontally on the corresponding rigid pre-embedded supports; the lifting rail car works on the straight track of the working position, and the two sides of the rigid bracket are placed twice successively Placed on the corresponding fixed support frame, the calibration equipment is in the constructed space coordinate system, and the rigid bracket and the fixed support frame are calibrated twice successively. The positioning device is locked after the calibration equipment completes the first calibration, and the calibration equipment calibrates the reading twice successively. When the value is less than the preset value, the lifting rail car supports the rigid bracket and moves to the straight track of the storage position. The above-mentioned system and method realize the precise and repeated positioning and transfer of multi-station equipment, and have strong practicability.

Description

A transfer system and calibration method for realizing accurate and repeatable positioning of multi-station equipment

technical field

The invention relates to the technical field of transfer calibration, in particular to a transfer system and a calibration method for realizing accurate and repeated positioning of multi-station equipment.

Background technique

Antenna test, radome test, RCS test, etc. all need to use microwave anechoic chamber as the test infrastructure, and microwave anechoic chamber generally involves land acquisition, civil engineering, shielding room construction, wave-absorbing material laying, etc., and the construction period is long and the investment is large. To repeat investment and shorten the construction period, many manufacturers choose to integrate the above three test requirements into a multi-functional microwave anechoic chamber. However, the above three test scenarios have different requirements for test equipment. The installation positions and heights of each test equipment in the darkroom are different. In the traditional single-function darkroom, the installation position of each test equipment is uniquely determined. Fixed, there is no problem of repeated positioning. The key technical indicators of antenna test, radome test and RCS test have extremely high requirements on the geometric accuracy of the test position of each device. Therefore, the precise and repeated positioning of each equipment working position is the key to realize the testing function of the multi-functional test darkroom.

In order to solve the problem of precise and repetitive positioning, one way is to design the conversion track as a precision ball linear guide and rack and pinion drive form. This method needs to design the working track and storage track according to the installation requirements of the precision ball linear guide Generally, the track is installed on the base frame of the overall milling process. At the same time, there must be a height difference between the working position track and the storage position track to ensure the installation space of the track change bracket. In addition, the splicing of the precision ball linear guide requires precise cooperation, and the gap is generally less than 0.1mm, which requires a complex splicing mechanism to ensure that the equipment can move and switch on different tracks. Therefore, adopting this method will inevitably invest a large cost in the equipment conversion track system, and the work station itself accounts for a small proportion of the track system, and most of the construction has not been accurately invested in the problem of repeated positioning itself. What is even more paradoxical is that medium and large-scale test equipment requires high rigidity of the test station. If the track base is not rigid enough, it will be difficult to complete the test with high precision requirements. If the rigidity is to be improved, the cost will be further increased.

Contents of the invention

The purpose of the present invention is to provide a transfer system and a calibration method for realizing accurate and repeated positioning of multi-station equipment, which is used to solve the problem that in a multi-functional darkroom, each equipment has different work positions and needs to be switched between work positions and storage positions. Accurate and repeated positioning of the working positions of each equipment is required, but the existing devices and methods cannot realize the free switching between the working position and the storage position, and the working positions of the equipment cannot repeat the precise positioning.

In order to achieve the above object, the present invention provides the following technical solutions:

Provide a transfer system for accurate and repeatable positioning of multi-station equipment, including a fixed position support frame, equipment carrying brackets, lifting rail cars, transfer rails, calibration equipment and test bases;

The fixed position support frame includes multiple sets of rigid embedded supports and an equal number of fixed support frames, multiple sets of rigid embedded supports are installed in pairs on the test foundation, and the fixed support frames are installed horizontally on the corresponding Rigid pre-embedded support; the equipment carrying bracket includes a plurality of rigid brackets and a plurality of positioning devices for positioning the fixed support frame and the rigid bracket;

The transfer track includes a working position linear track and a storage position linear track, and the lifting rail car works on the working position linear track, and the two sides of the rigid bracket are placed on the corresponding fixed support frame twice successively. Above, the calibration device calibrates the rigid bracket and the fixed support frame twice successively in the constructed space coordinate system, the positioning device is locked after the calibration device completes the first calibration, and the calibration When the calibration reading of the equipment is less than the preset value twice successively, the lifting rail car supports the rigid bracket to move to the storage position linear track.

Compared with the prior art, the transfer system provided by the present invention to realize accurate and repeated positioning of multi-station equipment adopts the wheel-rail type track, which has low erection cost and good compatibility, and the positioning device adopts the pin shaft type closely matched Form, with effective high repeatability, high-precision repetitive positioning at the working position is mechanical, without the influence of the control accuracy of the control equipment and the accuracy of the feedback element, and has higher reliability; only high-precision measurement and positioning at the working position The positioning and transfer part can only realize the transfer function, avoiding invalid repeated construction; if the supporting frame of the working position is damaged during the trial period, the reconstruction coordinate system can be used for recalibration, which is more convenient. The overall erection cost of the above-mentioned transfer system is low, and the mechanical positioning adopted can realize repeated high-precision positioning at the working position, and realize the accurate and repeated positioning and transfer of multi-station equipment in a multi-functional darkroom, which has strong practicability.

The present invention also provides a calibration method for realizing accurate and repeated positioning of multi-station equipment, which includes the following steps:

Step S10: On the basis of the test in front of the quiet area of the darkroom, build a test three-dimensional coordinate system with the laser tracker as the coordinate origin. The X-axis of the laser tracker coincides with the centerline of the darkroom. A plurality of target ball assemblies are arranged symmetrically on both sides, and the coordinate value of each target ball assembly is measured by using the laser tracker, and the original coordinate system of the darkroom is reconstructed according to the coordinate values of the original design reference point;

Step S20: According to the measured coordinates and the coordinates of the original design reference point, mark the bolt holes on the body of the embedded part, install the adjusting bolts in the corresponding bolt holes, install the fixed support frame on the adjusting bolts, Fixing a plurality of target ball assemblies on the frame, leveling the fixed support frame, and completing the installation of all the fixed support frames;

Step S30: The lifting rail car on the straight rail of the working position is installed on the fixed support frame to ensure that the positioning pins of the support frame on the fixed support frame pass through the brackets movably installed on the rigid bracket. Positioning pin seat of the bracket, fastening the positioning pin seat of the bracket with the mobile design position of the rigid bracket, using the laser tracker to calibrate the rigid bracket for the first time, and recording the geometric quantity reading for the first time;

Step S40: The fixed position of the lifting rail car lifts the rigid bracket to separate from the fixed supporting frame, and the lifting rail car releases pressure so that the rigid bracket falls on the fixed supporting frame again, using the The laser tracker performs secondary calibration on the rigid bracket, records the secondary geometric quantity readings, and when the difference between the two geometric quantity readings is less than a preset value, the rigid bracket that can carry the rail car is moved To the linear track of the storage position, the station switching is completed.

Compared with the prior art, the beneficial effect of the calibration method for realizing accurate and repeated positioning of multi-station equipment provided by the present invention is the same as that of the transfer system for realizing accurate and repeated positioning of multi-station equipment described in the above technical solution, which is not mentioned here Do repeat.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Figure 1 is a schematic diagram of the foundation;

2 is a schematic diagram of the composition of the transport system in the embodiment of the present invention;

3 is a schematic diagram of the transport state of the transport system in the embodiment of the present invention;

Fig. 4 is a schematic diagram of the calibration of the fixed support frame in the embodiment of the present invention;

Fig. 5 is a schematic cross-sectional view of the lifting state of the bearing bracket in the embodiment of the present invention;

Fig. 6 is a schematic diagram of the cooperation state between the fixed support frame and the rigid bracket in the embodiment of the present invention;

Fig. 7 is a schematic diagram of cooperation between the positioning pin of the supporting frame and the positioning pin seat of the bracket in the embodiment of the present invention;

Fig. 8 is a schematic diagram of the falling state of the rigid bracket in the embodiment of the present invention;

Fig. 9 is a schematic diagram of the rising state of the rigid bracket in the embodiment of the present invention;

Fig. 10 is a schematic flow chart of the transfer method in the embodiment of the present invention.

Reference signs:

Fixed position support frame 1, rigid embedded support 11, embedded part body 111, support stud 112, bottom reinforcement nut 113, lower support adjustment nut 114, upper locking nut 115, fixed support frame 12, support frame positioning pin 14 , Equipment bearing bracket 2, rigid bracket 21, fixed seat mounting surface 211, rail car bearing surface 212, bracket positioning pin seat 24, positioning pin seat body 241, locking screw 242, bracket transfer positioning pin seat 25, Lifting rail car 3, rail car body 31, bearing bracket 32, hydraulic support 33, rail car positioning pin 34, working position linear track 41, storage position linear track 42, track turntable 43, conversion position linear track 44, laser tracking Instrument 51, target ball assembly 52, reference target ball seat 53, test base 6.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. "Several" means one or more than one, unless otherwise clearly and specifically defined.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right" etc. are based on those shown in the accompanying drawings. Orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integral connection; can be mechanical connection or electrical connection; can be direct connection or indirect connection through an intermediary, and can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

As shown in Figures 1 to 9, the transfer system provided by the present invention to realize accurate and repeated positioning of multi-station equipment includes a fixed-position support frame 1, an equipment carrying bracket 2, a lifting rail car 3, a transfer track, calibration equipment and a test Foundation 6; fixed position support frame 1 includes multiple sets of rigid embedded supports 11 and an equal number of fixed support frames 12, multiple sets of rigid embedded supports 11 are installed in pairs on the test foundation 6, and fixed support frames 12 are installed horizontally on the corresponding rigid On the pre-embedded support 11; the equipment carrying bracket 2 includes a plurality of rigid brackets 21 and a plurality of positioning devices for positioning the fixed support frame 12 and the rigid bracket 21; the transfer track includes a working position linear track 41 and a storage position linear track 42. The lifting rail car 3 works on the straight track 41 of the working position, and the two sides of the rigid bracket 21 are placed on the corresponding fixed support frame 12 twice successively. For the second calibration, the positioning device is locked after the first calibration of the calibration equipment, and when the calibration readings of the calibration equipment are smaller than the preset value twice, the lifting rail car 3 supports the rigid bracket 21 and moves to the linear track 42 of the storage position.

When implementing it:

The system mainly includes fixed position support frame 1, equipment carrying bracket 2, lifting rail vehicle 3, transfer rail, calibration equipment, and test base 6.

Fixed position support frame 1 includes rigid pre-embedded support 11, fixed support frame 12 and support frame positioning pin 14; fixed support frame 12 can be expanded according to the number of equipment, and the first fixed support frame 12 and the second fixed support frame 12 can be expanded , the third fixed support frame 12, etc., wherein the support frame positioning pin 14 belongs to the component part of the positioning device;

The rigid pre-embedded support 11 is formed by welding thick steel plates and anchor hooks, installed in pairs, and embedded in the design position before the foundation concrete solidifies, and the installation accuracy can reach the order of 10mm;

Rigid pre-buried support 11 is calibrated after the foundation concrete is solidified, mainly to calibrate the position of the threaded hole where the adjusting bolt is installed. After determining the position of the foundation hole (threaded hole), screw the adjusting bolt into each foundation hole to determine the two A fixed support frame 12 is installed in the XOY plane;

The fixed support frame 12 in the same group is installed on the adjusting bolts on the rigid embedded support 11, and the height can be adjusted in different positions;

The fixed support frames 12 in the remaining groups are installed and fixed in the same way. The fixed support frame 12 is designed according to the technical characteristics of equipment 1 and equipment 2, and has sufficient rigidity; generally, it is formed by integral precision machining after welding with steel plates. Mounting holes; each fixed support frame 12 reserves a positioning pin mounting position;

The upper part of the support frame positioning pin 14 is a tapered shaft structure, which is matched with the pin hole; the bottom is a circular seam, which is used for positioning and increasing the installation rigidity. On the position of the mounting hole;

The equipment carrying bracket 2 includes a rigid bracket 21, a bracket positioning pin seat 24, and a bracket transfer positioning pin seat 25; the number of rigid brackets 21 is determined according to the number of functional devices.

The width of the rigid bracket 21 is basically the same as the total width of the two fixed support frames 12 installed on the foundation, ensuring that the bottom installation surface can span and be installed on the two upper installation surfaces of the two fixed support frames 12; the rigid bracket 21 Mounting holes are reserved on the top for fixing and adjusting the equipment;

The length of the rigid bracket 21 is basically equal to the length of the fixed support frame 12, and the bottom of the side is provided with mounting screw holes; the rest of the rigid bracket 21 and the fixed support frame 12 adopt the same specifications.

The rigid bracket 21 includes two bottom surfaces of a fixed seat mounting surface 211 and a rail car bearing surface 212, wherein the fixed seat mounting surface 211 is located on both sides of the bottom and is a precision machined surface; For the mounting surface 211 of the fixed seat, precision machining is not required; this method reduces the finishing area, which is convenient to ensure the flatness of the mounting surface 211 of the fixed seat on both sides, and the bearing surface 212 of the rail car in the middle does not need to be finished and also reduces the cost;

Two bracket positioning pin seats 24 mounting holes are reserved on the mounting surface 211 of the fixing seat. The mounting holes have a certain margin, the installation position can be adjusted, and are used in conjunction with the supporting frame positioning pins 14;

The bracket transfer positioning pin seat 25 is preset on the bearing surface 212 of the lifting rail car 3, and cooperates with the rail car positioning pin 34 arranged on the lifting rail car 3 in a low-precision clearance, and is mainly used for anti-overturning during transfer;

The lifting rail car 3 includes a rail car body 21, a bearing bracket 32, a hydraulic support 33, a rail car positioning pin 34 and a rail car controller;

The transfer track group includes a working position linear track 41, a storage position linear track 42, a track turntable 43, and a conversion position linear track 44;

The calibration equipment group includes a laser tracker 51, a target ball assembly 52, and a reference target ball seat 53. The test infrastructure 6 facilities are mainly the test environment foundation coordinated with the above-mentioned subsystems; the reference target ball seat 53 provides support for the target ball assembly 52, Also can directly select target ball assembly 52 for use.

The rail car body 21 is a wheel-driven rail car; the rail car carrying bracket 32 is installed on the top of the rail car body 21, and can be lifted by the rail car hydraulic support 33;

The lifting stroke of the rail car hydraulic support 33 is greater than the axial net height of the support frame positioning pin and the axial net height of the rail car positioning pin 34;

The rail car positioning pin 34 is installed on the four corners of the rail car carrying bracket 32;

The rail car controller (not shown in the figure) is used to control the motion of the rail car, such as a hand-held control device with wireless control that can be preferably used;

The working position linear track 41 is two sets of wheel rails parallel to each other and the same direction as the X axis of the test coordinate system, fixed on the foundation, and needs to be calibrated with a certain geometric accuracy before fixing (generally no more than 10mm)

The linear track 42 of the storage position is generally perpendicular to the linear track 41 of the working position, and is divided into two sections across the track turntable 43, and is fixed on the foundation after the parallelism and flatness are calibrated to a certain geometric accuracy;

The track turntable 43 is located at the crossing position of the linear track 41 of the working position and the linear track 42 of the storage position, and a sinking space is reserved on the foundation for installation;

The conversion position linear track 44 is installed on the upper surface of the track turntable 43, and can be spliced with the working position linear track 41 and the storage position linear track 42 during the rotation;

The splicing is arc-shaped tangent splicing, which can make the wheel and rail maintain continuous line-surface contact when the driving wheel of the rail car crosses different tracks;

The reference target ball seat 53 is reserved in multiple positions of different elevations and different cross-sections of the test infrastructure 6 facilities, generally not less than 6, and is used as a benchmark for the reconstruction of the coordinate system of the test system; the reserved position is determined by XYZ when the system is calibrated Three coordinate values, and recorded;

The mechanical contact position between the target ball assembly 52 and the reference target ball seat 53 is unique, ensuring that the target ball measurement coordinates are unique;

The reference target ball seat 53 needs to be completely fixed on the test infrastructure 6 to ensure a stable and unique position.

The laser tracker 51, the target ball assembly 52 and the reference target ball seat 53 are first used for the reconstruction of the coordinate system of the test system;

When the system coordinate system is rebuilt, the laser tracker 51 is used to sequentially measure the existing coordinate values of the reserved target ball assemblies 52, and the coordinate values of a sufficient number of target ball assemblies 52 are collected, and the reserved target ball assemblies 52 are recorded in the original coordinate system There are the original coordinate values and the serial number of the target ball assembly 52. During the reconstruction, a new coordinate system is established according to the collected current coordinate values of the target ball assembly 52, and the original recorded coordinate values and the serial number of the target ball assembly are filled in sequentially. In the measurement software, the newly measured coordinate values are overwritten. At this time, the measurement software can generate a new coordinate system, which is the original coordinate system. Using the conversion function in the software, the original coordinate system can be reconstructed.

In other words, the original coordinate system cannot be completely consistent (ie, the origin is different) because the assumed position of the laser tracker 51 cannot be completely consistent during establishment and recalibration. Therefore, the target ball assembly 52 needs to be used as a reference during coordinate conversion. When rebuilding the coordinate system, the newly erected laser tracker 51 measures the coordinate values of the original target ball assembly 52 in turn, and establishes a new coordinate system; select coordinate system conversion in the software on both sides, and convert the original recorded The coordinate values of the target ball assembly 52 are entered sequentially to generate the initial coordinate system of the darkroom, which facilitates the calibration of the system detection.

Note: It is an existing technology in the industry to use a laser tracker to establish a coordinate system and reconstruct it, and the measurement software SA can be directly operated.

As before, because the effective support height of the hydraulic support 33 and the inclination angle of the bracket will affect the safety of the transfer; the height of the hydraulic support 33 is lower than the set limit value, which will cause interference between the positioning pin and the bracket during the operation of the railcar, and the inclination angle It will cause the equipment carried on the upper part to overturn when the rail car stops suddenly; therefore, the safety sensor (not shown in the figure) is used to measure the above two parameters related to safety, monitor in real time, and terminate the operation when abnormal values appear .

Compared with the prior art, the transfer system provided by the present invention to realize accurate and repeated positioning of multi-station equipment adopts the wheel-rail type track, which has low erection cost and good compatibility, and the positioning device adopts the pin shaft type closely matched Form, with effective high repeatability, high-precision repetitive positioning at the working position is mechanical, without the influence of the control accuracy of the control equipment and the accuracy of the feedback element, and has higher reliability; only high-precision measurement and positioning at the working position The positioning and transfer part can only realize the transfer function, avoiding invalid repeated construction; if the supporting frame of the working position is damaged during the trial period, the reconstruction coordinate system can be used for recalibration, which is more convenient. The overall erection cost of the above-mentioned transfer system is low, and the mechanical positioning adopted can realize repeated high-precision positioning at the working position, and realize the accurate and repeated positioning and transfer of multi-station equipment in a multi-functional darkroom, which has strong practicability.

As a possible implementation, the rigid embedded support 11 includes an embedded part body 111 and an adjusting bolt. The embedded part body 111 is formed by welding steel plates and anchor hooks. The embedded part body 111 is embedded before the concrete of the test foundation 6 is solidified. In the design position, the embedded part body 111 is provided with a calibrated threaded hole, and the adjusting bolt is installed in the corresponding threaded hole.

The embedded part body 111 formed by welding the steel plate and the anchor hook ensures the overall structural strength. The embedded part body 111 is placed in the design position before the concrete of the test foundation 6 solidifies, ensuring that the embedded part body 111 is in the test position after installation. The stability on the foundation 6 and the calibrated threaded holes ensure the accuracy of the installation position.

As a possible implementation, the adjusting bolt includes a supporting stud 112, a bottom reinforcing nut 113, a lower supporting adjusting nut 114 and an upper locking nut 115; The support stud 112 is fastened on the embedded part body 111, the lower support adjustment nut 114 is installed in the middle of the support screw rod, all the lower support adjustment nuts 114 are calibrated by the calibration equipment, and the upper lock nut 115 is installed on the fixed support frame 12 After embedding the body 111, the support frame 12 is fastened.

The support stud 112 is installed in the calibrated threaded hole, which ensures the installation effect of the fixed support frame 12. The installation of the bottom reinforcement nut 113 realizes the fastening of the support stud 112 and the embedded part body 111, and the lower support adjustment nut 114 Installed in the middle of the support screw, the height can be adjusted according to the calibrated level, the upper lock nut 115 fastens the fixed support frame 12 on the support stud 112, and the level of the lower support adjustment nut 114 is calibrated to ensure the fixed The installation effect of the support frame 12.

As a possible embodiment, the lifting rail car 3 includes a rail car body 21, a bearing bracket 32, a hydraulic support 33 and a rail car positioning pin 34 for positioning the rigid bracket 21; the rail car body 21 travels on On the transfer track, the carrying bracket 32 is installed on the rail car body 21 through the hydraulic support 33, the rail car positioning pins 34 are installed at the four corners of the carrying bracket 32, and the corresponding position on the rigid bracket 21 is provided with a bracket transfer positioning pin. Pin seat 25, bracket transfer positioning pin seat 25 cooperates with rail car positioning pin 34 axle holes.

The rail car body 21 is a rail car in the form of wheel drive, and walks on the working position linear track 41 and the storage position linear track 42. The load bracket 32 is installed on the top of the rail car body 21 through a hydraulic support 33, and can be mounted on the hydraulic support. Realize lifting under the drive of 33, rail car positioning pin 34 axles and bracket transfer positioning pin seat 25 carry out shaft hole cooperation, have realized the precise positioning and support of bearing bracket 32 to rigid bracket 21. Further, the rail car positioning pins 34 are installed at the four corners of the bearing bracket 32 to provide a full range of support for the rigid bracket 21. It is a low-precision clearance fit, mainly used for anti-overturning during transfer;

As a possible implementation, the lifting rail car 3 also includes a rail car controller for controlling the movement of the lifting rail car 3; the rail car controller is a wireless handheld control device.

The track controller is in the form of wireless handheld control, which is more convenient for the control of the lifting track car 3 .

As a possible embodiment, the positioning device includes a bracket positioning pin seat 24 and a support frame positioning pin 14; position, the bracket positioning pin seat 24 is matched with the support frame positioning pin 14 shaft holes. Further, the bracket positioning pin seat 24 includes a positioning pin seat body 241 , a locking screw 242 and a positioning conical pin (not shown in the figure). The positioning pin seat body 241 is pre-installed on the reserved position of the rigid bracket 21, and the positioning pin seat body 241 is placed in a loose and fixed manner using the locking screw 242 (the positioning pin seat body 241 is reserved as a large clearance hole), and it is determined The positioning pin seat body 241 can move in a small range in X and Y directions. After the rigid bracket 21 is placed on the fixed support frame 12, and the support frame positioning pin 14 slides into the positioning pin seat body 241, the locking screw 242 fastens the positioning pin seat body 241, and drives the positioning taper pin into the reserved conical pin hole of the positioning pin seat body 241 to realize positioning locking.

The bracket positioning pin seat 24 on the rigid bracket 21 cooperates with the supporting frame positioning pin 14 on the fixed supporting frame 12 to realize precise positioning of the rigid bracket 21 and the fixed supporting frame 12 . Further, by fastening and locking the bracket positioning pin seat 24 , the positioning effect between the support frame positioning pin 14 and the bracket positioning pin seat 24 is ensured.

As a possible implementation mode, the calibration equipment includes a laser tracker 51 and a plurality of target ball assemblies 52; the laser tracker 51 is located on the center line of the test base 6 in the length direction, and the multiple target ball assemblies 52 are located along the test base in the darkroom area. The center line of 6 is distributed symmetrically.

The laser tracker 51 is located on the centerline of the test base 6 in the lengthwise direction, or on the centerline of the linear track 41 of the work position, and is matched with a plurality of target ball assemblies 52 symmetrically distributed on both sides of the centerline, so that it can track the distance between the objects in the quiet room. Accurate positioning of the device and construction of three-dimensional space coordinates to achieve precise positioning and detection of multiple different devices or components. Further, the target ball assembly 52 can also be used in conjunction with the reference target ball seat 53. The mechanical contact position between the target ball assembly 52 and the reference target ball seat 53 is unique, ensuring that the target ball measurement coordinates are unique; the reference target ball seat 53 must be completely fixed on the test surface. In terms of basic facilities, ensure that the location is stable and unique.

As a possible embodiment, the transfer track also includes a track turntable 43 and a conversion position linear track 44; the working position linear track 41 and the storage position linear track 42 are vertically arranged, and the track turntable 43 is arranged on the working position linear track 41 and the storage position linear track. 42 intersecting areas are converted into linear tracks and arranged on the track turntable 43, and the track turntable 43 rotates to convert into linear tracks and select to communicate with the working position linear track 41 or the storage position linear track 42.

The track turntable 43 is located at the intersecting position of the linear track 41 of the working position and the linear track 42 of the storage position, and a sinking space is reserved on the foundation; The linear track 41 and the storage position linear track 42 realize splicing; the splicing is arc-shaped tangential splicing, which can make the wheel rails maintain continuous line-surface contact when the drive wheels of the rail car cross different tracks; realize the elevating rail car 3 in a straight line at the working position Switching between track 41 and storage bit line track 42.

The present invention also provides a calibration method for realizing precise and repeated positioning of multi-station equipment, which includes the following steps:

Step S10: On the basis of the test in front of the quiet area of the darkroom, build a test three-dimensional coordinate system with the laser tracker as the coordinate origin. The X-axis of the laser tracker coincides with the centerline of the darkroom. According to the size of the darkroom, on both sides of the X-axis of the darkroom area Set up multiple target ball components symmetrically, use the laser tracker to measure the coordinate value of each target ball component, and rebuild the original coordinate system of the darkroom according to the coordinate values of the original design reference point;

Step S20: Mark the bolt holes on the body of the embedded part according to the measured coordinates and the coordinates of the original design reference point, install the adjusting bolts in the corresponding bolt holes, install the fixed support frame on the adjustment bolts, and install the fixed support frame on the fixed support frame. Fix multiple target ball components, level the fixed support frame, and complete the installation and fixation of all fixed support frames;

Step S30: The lifting rail car on the straight rail of the working position is installed on the fixed support frame to ensure that the support frame positioning pin on the fixed support frame passes through the bracket positioning pin seat movably installed on the rigid bracket. Rigid bracket mobile design position, fasten the positioning pin seat of the bracket, use the laser tracker to calibrate the rigid bracket for the first time, and record the first geometric reading;

Step S40: Lift the rigid bracket at the fixed position of the lifting rail car and separate it from the fixed support frame, release the pressure of the lifting rail car so that the rigid bracket falls on the fixed support frame again, use the laser tracker to perform secondary calibration on the rigid bracket, and record For the secondary geometric quantity reading, when the difference between the two geometric quantity readings is less than the preset value, the rigid bracket carrying the rail car can be moved to the storage position linear track 42 to complete the station switching.

When implementing it:

For the convenience of expression, take O as the origin of the system coordinate system; X direction is the microwave transmission direction (that is, the origin is toward the center of the quiet zone); Y direction is perpendicular to X direction; OXY is the horizontal plane; Z direction is the height direction;

1. In the construction of the darkroom, the overall coordinate system of the test system is established based on the key equipment such as the reflective surface. This step is a necessary link and is generally undertaken by the system manufacturer;

2. During the establishment of the above-mentioned coordinate system, near the quiet zone of the darkroom, there is a certain span of different elevations (that is, the XYZ coordinates have a certain span, and the span is determined by the size of the darkroom. Generally, the XY direction is greater than 2000mm, and the Z direction is greater than 200mm). Target ball seat 53, the quantity is advisable with 12～20 (because the construction process will have damage and some reference target ball seats 53 may be in the blind spot of newly erected laser tracker 51 when the follow-up coordinate system is reconstructed);

3. Set up a laser tracker 51 on the hard ground in front of the quiet zone of the darkroom (that is, the space envelope of the equipment work area), and set it up as close as possible to the centerline of the darkroom in the Y direction;

4. Fix the target ball assembly 52 on the reference target ball seat 53 in turn (this step can only use the target ball, depending on the structure of the reference target ball seat 53 to determine), use the laser tracker 51 to measure the coordinates of each position in turn, Reconstruct the original coordinate system of the darkroom according to the coordinate values of each reference point recorded in the original record;

5. Place the target ball assembly 52 on the reserved mark on the upper surface of the rigid embedded support 11, and mark the installation stud hole position according to the coordinate value and the design theoretical value. The accuracy level requirement of this step is ±3mm;

6. According to the above steps, drill holes and tap on the rigid embedded support 11, install the support studs 112, screw in the bottom reinforcement nuts and install the lower nuts on each support stud 112;

7. Hoist the fixed support frame 12 onto the support studs 112 according to the installation hole position, place the target ball assembly 52 at least 4 positions on the top of the fixed support frame 12, adjust and install the lower nuts so that the Z values of each position are consistent, Then screw in the fixed upper nut to complete the leveling. The levelness of this step can be better than ±0.02mm;

8. Repeat steps 5 to 7 above to complete the positioning and fixing of the fixed support frames 12 on both sides and the fixed support frames 12 for other equipment in sequence;

9. Put the equipment carrying bracket 2 on the lifting rail car 3, ensure that the rail car positioning pin 34 is located in the bracket transfer positioning pin seat 25, raise the hydraulic support 33, and make the lifting rail car 3 in a high position;

10. Install the positioning pin seat body 241 in the bracket positioning pin seat 24 in advance on the reserved position of the bracket, and use the locking screw 242 to place the positioning pin seat body 241 in a loose and fixed manner (the positioning pin seat body 241 Reserved as a large clearance hole), it is determined that the positioning pin seat body 241 can move in a small range in the X and Y directions;

11. Use the rail car controller to control the lifting rail car 3 to move to the position of the fixed support frame 12. At this time, the bearing bracket 32 can completely cross the fixed support frame 12, and control the hydraulic support 33 to lower the height until the pressure is completely released, and the bearing bracket 32 falls into the upper surface of the fixed support frame 12;

12. At this time, the bracket positioning pin seat 24 will fall along the taper guide of the supporting frame positioning pin 14, and complete the tight fit between the supporting frame positioning pin 14 and the positioning pin seat body 241;

13. Place the target ball assembly 52 on the equipment or the reference zero position on the equipment rigid bracket 21, use the laser tracker 51 (51) to measure the current OXY position, control the movement of the lifting rail car 3 or manually adjust the rigid bracket 21 Move to the position required by the design; (the absolute position accuracy of this position on the OXY coordinate system can reach ±3mm; this position is subject to meeting the test requirements, and it is repeated positioning after the position is determined)

14. Check the state of the positioning pin seats 24 of the two brackets, confirm that the cooperation in step 12 is completed, lock the respective locking screws 242, and drive the positioning conical pins into the conical pin holes reserved in the positioning pin seat body 241;

15. Use the rail car controller to lift the hydraulic support 33 to the maximum height, realize the detachment of the positioning pin seat 24 of the bracket and the positioning pin 14 of the support frame, and lower the hydraulic support 33 again to release the pressure, and check the geometry of the laser tracker 51 volume readings. At this time, the reading change is generally around ±0.02mm;

16. So far, the rigid bracket 21 and the fixed support frame 12 have achieved high-precision repeatable mechanical cooperation;

17. Record the height value of the hydraulic support 33, and set the height monitoring sensor range;

18. Repeat steps 11 to 17 for the remaining fixed support frames 12 to complete the high-precision repeatable mechanical cooperation between the remaining fixed support frames 12 and the rigid bracket 21;

19. After the above steps are completed, the alarm range of the inclination sensor can be set;

20. Control the lifting rail car 3 to move to the rail car turntable, and control the turntable to rotate when the rail car is completely on the part of the track of the turntable.

21. Control the lifting rail car 3 (including the carrying equipment) to run to the storage position, that is, complete the station switching of the equipment;

22. During the process of steps 20-21, the hydraulic support 33 is always kept at a high position, and can be lowered to a low position after the storage position is in place;

23. When the safety sensor alarms, the hydraulic support 33 needs to be checked, and it can only be operated after the alarm is released.

Compared with the prior art, the calibration method for accurate and repeated positioning of multi-station equipment provided by the present invention uses a wheel-rail type track, which has low erection cost and good compatibility, and the positioning device uses a pin-type close fit Form, with effective high repeatability, high-precision repetitive positioning at the working position is mechanical, without the influence of the control accuracy of the control equipment and the accuracy of the feedback element, and has higher reliability; only high-precision measurement and positioning at the working position The positioning and transfer part can only realize the transfer function, avoiding invalid repeated construction; if the supporting frame of the working position is damaged during the trial period, the reconstruction coordinate system can be used for recalibration, which is more convenient. The overall erection cost of the above-mentioned transfer system is low, and the mechanical positioning adopted can realize repeated high-precision positioning at the working position, and realize the accurate and repeated positioning and transfer of multi-station equipment in a multi-functional darkroom, which has strong practicability.

As an implementable manner, the preset value is ±0.02mm.

In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in an appropriate manner.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. The transfer system for realizing accurate repeated positioning of multi-station equipment is characterized by comprising a fixed-position supporting frame, an equipment bearing bracket, a lifting rail car, a transfer rail, calibration equipment and a test foundation;

the fixed position support frames comprise a plurality of groups of rigid pre-buried supports and an equal number of fixed support frames, wherein the plurality of groups of rigid pre-buried supports are arranged on the test foundation in pairs, and the fixed support frames are horizontally arranged on the corresponding rigid pre-buried supports; the equipment carrying bracket comprises a plurality of rigid brackets and a plurality of positioning devices for positioning the fixed support frame and the rigid brackets;

the transfer track comprises a working position linear track and a storage position linear track, the lifting track car works on the working position linear track, two sides of the rigid bracket are placed on the corresponding fixed support frame successively for two times, the rigid bracket and the fixed support frame are calibrated successively by the calibration equipment in a constructed space coordinate system for two times, the positioning device is locked after the first calibration of the calibration equipment is completed, and when the reading of the calibration equipment for two times successively is smaller than a preset value, the lifting track car supports the rigid bracket to move to the storage position linear track.

2. The transfer system for realizing accurate repeated positioning of multi-station equipment according to claim 1, wherein the rigid embedded support comprises an embedded part body and an adjusting bolt, the embedded part body is formed by welding a steel plate and an anchor hook, the embedded part body is embedded into a designed position before the concrete of the test foundation is solidified, a calibrated threaded hole is formed in the embedded part body, and the adjusting bolt is installed in the corresponding threaded hole.

3. The transfer system for achieving accurate and repeatable positioning of a multi-station apparatus according to claim 2, wherein the adjusting bolt comprises a support stud, a bottom reinforcing nut, a lower support adjusting nut and an upper lock nut;

the support studs penetrate out of the embedded part body upwards, the bottom reinforcing nuts fasten the support studs on the embedded part body, the lower support adjusting nuts are installed in the middle of the support studs, all the lower support adjusting nuts are calibrated horizontally by the calibrating equipment, and the upper locking nuts fasten the fixed support frame after the fixed support frame is installed on the embedded part body.

4. The transfer system for achieving accurate repeat location of a multi-station apparatus of claim 1 wherein said lift railcar comprises a railcar body, a carrier bracket, a hydraulic support, and a railcar locating pin for locating said rigid bracket;

the rail car body moves on the transfer rail, the bearing bracket is installed on the rail car body through the hydraulic support, the rail car locating pins are installed at four corners of the bearing bracket, the bracket transfer locating pin seats are arranged at corresponding positions on the rigid bracket, and the rail car locating pins are matched with the bracket transfer locating pin seat shaft holes.

5. The transfer system for achieving accurate repositioning of a multi-station apparatus of claim 4 wherein the lift rail car further comprises a rail car controller for controlling movement of the lift rail car;

the railcar controller is a wireless handheld control device.

6. The transfer system for achieving accurate repeat positioning of a multi-station apparatus of claim 1, wherein said positioning means comprises a bracket dowel seat and a support frame dowel pin;

the support frame locating pin is installed on the fixed support frame, the bracket locating pin seat is installed at a corresponding position of the rigid bracket, and the bracket locating pin seat is matched with the support frame locating pin shaft hole.

7. The transfer system for achieving accurate and repeatable positioning of a multi-station apparatus according to claim 1, wherein the calibration apparatus comprises a laser tracker and a plurality of target ball assemblies;

the laser tracker is positioned on the central line of the testing foundation in the length direction, and the target ball assemblies are symmetrically distributed along the central line of the testing foundation in the darkroom area.

8. The transfer system for achieving accurate and repeatable positioning of a multi-station apparatus according to claim 1, wherein the transfer track further comprises a track turntable and a transfer linear track;

the working position linear track and the storage position linear track are vertically arranged, the track turntable is arranged in an area where the working position linear track and the storage position linear track are intersected, the conversion linear track is arranged on the track turntable, and the track turntable rotates to enable the conversion linear track to be selectively communicated with the working position linear track or the storage position linear track.

9. The calibration method for realizing accurate repeated positioning of multi-station equipment is characterized by comprising the following steps of:

step S10: constructing a test three-dimensional coordinate system taking a laser tracker as an origin of coordinates on the basis of a test in front of a darkroom dead zone, wherein an X-axis of the laser tracker coincides with a darkroom central line, a plurality of target ball assemblies are symmetrically arranged on two sides of the X-axis of a darkroom area according to darkroom dimensions, the coordinate value of each target ball assembly is measured by using the laser tracker, and a darkroom original coordinate system is reconstructed according to original design reference point coordinate values;

step S20: marking bolt hole sites on the embedded part body according to the measured coordinate values and the original design reference point coordinate values, installing an adjusting bolt on the corresponding bolt hole site, installing a fixed supporting frame on the adjusting bolt, fixing a plurality of target ball assemblies on the fixed supporting frame, leveling the fixed supporting frame, and completing the installation of all the fixed supporting frames;

step S30: the lifting railcar bearing rigid bracket on the working position linear rail is arranged on the fixed supporting frame, so that a supporting frame locating pin on the fixed supporting frame passes through a bracket locating pin seat movably arranged on the rigid bracket, the rigid bracket is movably designed to be positioned, the bracket locating pin seat is fastened, the rigid bracket is calibrated for the first time by using the laser tracker, and the first geometrical quantity reading is recorded;

step S40: the rigid bracket is lifted at the fixed position of the lifting track car and separated from the fixed supporting frame, the lifting track car is decompressed to enable the rigid bracket to fall on the fixed supporting frame again, the laser tracker is used for carrying out secondary calibration on the rigid bracket, secondary geometric sense reading is recorded, and when the difference value of the secondary geometric sense reading is smaller than a preset value, the rigid bracket can be carried by the track car and moved to the storage position linear track, so that station switching is completed.

10. The calibration method for achieving accurate and repeated positioning of multi-station equipment according to claim 9, wherein the preset value is +/-0.02 mm.

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