A transfer system and calibration method for realizing accurate repeat positioning of a multi-station device

Abstract

This invention discloses a transfer system and calibration method for achieving precise and repeatable positioning of multi-station equipment, relating to the field of transfer and calibration technology. It addresses the problem that existing devices cannot freely switch between working and storage positions, and that the working position of the equipment cannot be precisely and repeatedly positioned. The transfer system features paired rigid pre-embedded supports installed on a test foundation, with fixed support frames horizontally mounted on the corresponding rigid pre-embedded supports. A lifting railcar operates on a straight track at the working position, placing both sides of a rigid bracket onto the corresponding fixed support frame twice. A calibration device performs two calibrations on the rigid bracket and fixed support frame within a constructed spatial coordinate system. The positioning device locks after the calibration device completes the first calibration. When the calibration readings from both calibrations are less than a preset value, the lifting railcar, carrying the rigid bracket, moves it to the straight track at the storage position. This system and method achieve precise and repeatable positioning and transfer of multi-station equipment, demonstrating strong practicality.

Description

Technical Field

[0001] This invention relates to the field of transfer calibration technology, and in particular to a transfer system and calibration method for achieving accurate and repeatable positioning of multi-station equipment. Background Technology

[0002] Antenna testing, radome testing, and RCS testing all require microwave anechoic chambers as testing infrastructure. Microwave anechoic chambers typically involve land acquisition, civil engineering, shielding room construction, and the laying of absorbing materials, resulting in long construction cycles and significant capital investment. To reduce redundant investment and shorten construction cycles, many manufacturers choose to integrate these three testing needs into a single multi-functional microwave anechoic chamber. However, the requirements for testing equipment differ among these three testing scenarios. The installation position and height of each piece of equipment within the anechoic chamber vary. In a traditional single-function anechoic chamber, the installation position of each piece of equipment is uniquely determined and fixed after calibration, eliminating the problem of repetitive positioning. The key technical indicators for antenna testing, radome testing, and RCS testing demand extremely high geometric accuracy in the testing positions of each piece of equipment. In a multi-functional anechoic chamber, each piece of equipment has different working positions and needs to switch between working and storage positions. Therefore, achieving precise and repeatable positioning of each piece of equipment's working position is crucial for enabling the multi-functional anechoic chamber to perform its testing functions.

[0003] To address the issue of precise and repeatable positioning, one approach is to design the conversion track as a precision-grade ball linear guide with a rack and pinion drive. This method requires designing the working and storage tracks according to the installation requirements of precision ball linear guides. Typically, the tracks are mounted on a milled base frame, with a height difference between the working and storage tracks to ensure sufficient installation space for the track-changing bracket. Furthermore, the splicing of these precision ball linear guides requires precise fit, with gaps generally less than 0.1mm. This necessitates a complex splicing mechanism to ensure the equipment can move and switch between different tracks. Therefore, this approach inevitably involves a significant investment in the equipment's conversion track system, while the working position itself constitutes a small portion of the track system; most of the construction investment is not precisely focused on repetitive positioning. Even more contradictory is the fact that medium to large-sized testing equipment requires high rigidity for the testing stations. Insufficient rigidity of the track base makes it difficult to complete high-precision tests, while increasing rigidity further increases costs. Summary of the Invention

[0004] The purpose of this invention is to provide a transfer system and calibration method for achieving precise and repeatable positioning of multi-station equipment. This system addresses the problem that in a multi-functional anechoic chamber, each device has different working positions and needs to switch between working positions and storage positions, requiring precise and repeatable positioning of each device's working position. Existing devices and methods cannot achieve free switching between working positions and storage positions, nor can they achieve precise and repeatable positioning of the device's working position.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A transfer system for achieving precise and repeatable positioning of multi-station equipment is provided, including a fixed position support frame, an equipment bearing bracket, a lifting railcar, a transfer rail, calibration equipment, and a testing foundation;

[0007] The fixed-position support frame includes multiple sets of rigid pre-embedded supports and an equal number of fixed support frames. The multiple sets of rigid pre-embedded supports are installed in pairs on the test foundation, and the fixed support frames are installed horizontally on the corresponding rigid pre-embedded supports. The equipment bearing bracket includes multiple rigid brackets and multiple positioning devices for positioning the fixed support frames and the rigid brackets.

[0008] The transfer track includes a working position linear track and a storage position linear track. The lifting railcar operates on the working position linear track and places both sides of the rigid bracket on the corresponding fixed support frame twice. The calibration device performs two calibrations on the rigid bracket and the fixed support frame in the constructed spatial coordinate system. The positioning device locks after the calibration device completes the first calibration. When the calibration readings of the calibration device are less than the preset value after the two calibrations, the lifting railcar carries the rigid bracket to the storage position linear track.

[0009] Compared with existing technologies, the transfer system for achieving precise and repeatable positioning of multi-station equipment provided by this invention uses a wheel-rail system, which has low installation costs and good compatibility. The positioning device adopts a pin-type tight-fitting design, providing effective high repeatability. The high-precision repeatable positioning at the working position is mechanical, unaffected by the control accuracy of the control equipment or feedback components, and offers higher reliability. High-precision measurement and positioning are performed only at the working position; the transfer section only performs the transfer function, avoiding unnecessary redundant construction. If the working position support frame is damaged during trial use, recalibration can be performed using a rebuilt coordinate system, making it more convenient. The overall installation cost of the above transfer system is low, and the mechanical positioning allows for repeatable high-precision positioning at the working position, realizing precise and repeatable positioning and transfer of multi-station equipment in a multi-functional darkroom, making it highly practical.

[0010] This invention also provides a calibration method for achieving accurate and repeatable positioning of multi-station equipment, comprising the following steps:

[0011] Step S10: Based on the test in front of the quiet area of ​​the darkroom, construct a three-dimensional coordinate system with the laser tracker as the origin. The X-axis of the laser tracker coincides with the center line of the darkroom. According to the size of the darkroom, symmetrically set multiple target ball components on both sides of the X-axis of the darkroom area. Use the laser tracker to measure the coordinate value of each target ball component. Reconstruct the original coordinate system of the darkroom based on the coordinate values ​​of the original design reference point.

[0012] Step S20: Mark the bolt hole positions on the embedded part body according to the measured coordinate values ​​and the original design reference point coordinate values, install the adjusting bolts in the corresponding bolt hole positions, install the fixed support frame on the adjusting bolts, fix multiple target ball components on the fixed support frame, level the fixed support frame, and complete the installation of all fixed support frames.

[0013] Step S30: The lifting railcar carrying the rigid bracket located on the linear rail of the working position is installed on the fixed support frame. Ensure that the support frame positioning pin on the fixed support frame passes through the bracket positioning pin seat that is movably installed on the rigid bracket. Move the rigid bracket to the designed position, tighten the bracket positioning pin seat, and use the laser tracker to perform the first calibration of the rigid bracket and record the first geometric reading.

[0014] Step S40: The lifting railcar is fixed in position to lift the rigid bracket and separate it from the fixed support frame. The lifting railcar is depressurized so that the rigid bracket falls back onto the fixed support frame. The laser tracker is used to perform secondary calibration on the rigid bracket and record the secondary geometric readings. When the difference between the two geometric readings is less than a preset value, the railcar carrying the rigid bracket is moved to the linear track of the storage position to complete the workstation switch.

[0015] Compared with the prior art, the beneficial effects of the calibration method for achieving precise and repeatable positioning of multi-station equipment provided by the present invention are the same as the beneficial effects of the transfer system for achieving precise and repeatable positioning of multi-station equipment described in the above technical solution, and will not be repeated here. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a schematic diagram of the foundation.

[0018] Figure 2 This is a schematic diagram of the composition of the transfer system in an embodiment of the present invention;

[0019] Figure 3This is a schematic diagram of the transfer system's transfer status in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the calibration of the fixed support frame in an embodiment of the present invention;

[0021] Figure 5 This is a schematic cross-sectional view of the support bracket in the raised state in an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the cooperation state between the fixed support frame and the rigid bracket in an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram of the cooperation between the support frame positioning pin and the bracket positioning pin seat in an embodiment of the present invention;

[0024] Figure 8 This is a schematic diagram of the rigid bracket in the lowered state in an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of the rigid bracket in the raised state in an embodiment of the present invention;

[0026] Figure 10 This is a schematic flowchart of the transfer method in an embodiment of the present invention.

[0027] Figure label:

[0028] Fixed position support frame 1, rigid embedded support 11, embedded part body 111, support stud 112, bottom reinforcing nut 113, lower support adjusting 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, railcar bearing surface 212, bracket positioning pin seat 24, positioning pin seat body 241, locking screw 242, bracket transfer positioning pin seat 25, lifting railcar 3, railcar body 31, bearing bracket 32, hydraulic support 33, railcar positioning pin 34, working position linear rail 41, storage position linear rail 42, rail turntable 43, conversion position linear rail 44, laser tracker 51, target ball assembly 52, reference target ball seat 53, test foundation 6. Detailed Implementation

[0029] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0030] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0032] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", 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. Therefore, they should not be construed as limitations on this invention.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] like Figures 1 to 9As shown, the transfer system for achieving precise and repeatable positioning of multi-station equipment provided by the present invention includes a fixed position support frame 1, an equipment carrier 2, a lifting railcar 3, a transfer rail, calibration equipment, and a test foundation 6. The fixed position support frame 1 includes multiple sets of rigid pre-embedded supports 11 and an equal number of fixed support frames 12. The multiple sets of rigid pre-embedded supports 11 are installed in pairs on the test foundation 6, and the fixed support frames 12 are horizontally installed on the corresponding rigid pre-embedded supports 11. The equipment carrier 2 includes multiple rigid brackets 21 and multiple pairs of fixed support frames 12 and rigid brackets 11. A positioning device for positioning the rigid bracket 21; the transfer track includes a working position linear track 41 and a storage position linear track 42. The lifting railcar 3 works on the working position linear track 41 and places both sides of the rigid bracket 21 on the corresponding fixed support frame 12 twice. The calibration equipment performs two calibrations on the rigid bracket 21 and the fixed support frame 12. The positioning device is locked after the calibration equipment completes the first calibration. When the calibration readings of the calibration equipment are less than the preset value after two calibrations, the lifting railcar 3 supports the rigid bracket 21 and moves it to the storage position linear track 42.

[0035] In practice:

[0036] The system mainly includes a fixed position support frame 1, an equipment bearing bracket 2, a lifting railcar 3, a transfer rail, calibration equipment, and a testing foundation 6.

[0037] The fixed position support frame 1 includes a rigid pre-embedded support 11, a fixed support frame 12, and a support frame positioning pin 14. The fixed support frame 12 can be expanded according to the number of equipment, and can be expanded to include a first fixed support frame 12, a second fixed support frame 12, a third fixed support frame 12, etc. The support frame positioning pin 14 is a component of the positioning device.

[0038] The rigid embedded support 11 is made of thick steel plate and anchor hook welded together, and is installed in pairs. It is embedded in the design position before the foundation concrete solidifies, and the installation accuracy can reach the level of 10mm.

[0039] After the foundation concrete has solidified, the rigid pre-embedded support 11 is calibrated, mainly to mark the position of the threaded hole for the installation of the adjusting bolt. After determining the position of the base hole (threaded hole), the adjusting bolt is screwed into each base hole to determine the installation position of the two fixed support frames 12 in the same group on the XOY plane.

[0040] The fixed support frame 12 in the same group is installed on the adjusting bolts on the rigid pre-embedded support 11, and the height can be adjusted at different positions;

[0041] The remaining fixed support frames 12 in the group are installed and fixed in the same way. The fixed support frames 12 are designed according to the technical characteristics of equipment 1 and equipment 2, and have sufficient rigidity; they are generally made of steel plates welded together and then precision machined as a whole, with the upper surface being the installation mating surface, having a high degree of flatness, and having reserved mounting holes for positioning pins; each fixed support frame 12 has one reserved mounting position for positioning pins;

[0042] The upper part of the support frame positioning pin 14 is a tapered shaft structure that fits with the pin hole; the bottom is a round stop for positioning and increasing installation rigidity. It is installed in the pre-machined mounting hole position of the fixed support frame 12 in the same group by means of precise shaft-hole fit.

[0043] The equipment support 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 equipment.

[0044] 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 its bottom mounting surface can span and be installed on the two upper mounting surfaces of the two fixed support frames 12; the top of the rigid bracket 21 is reserved with mounting holes for fixing and adjusting the equipment.

[0045] The length of the rigid bracket 21 is basically the same as the length of the fixed support frame 12, and mounting screw holes are provided on the side bottom; the rest of the rigid brackets 21 and fixed support frames 12 adopt the same specifications.

[0046] The rigid bracket 21 includes two bottom surfaces: a fixed seat mounting surface 211 and a railcar bearing surface 212. The fixed seat mounting surface 211 is located on both sides of the bottom and is a precision-machined surface. The railcar bearing surface 212 is located in the middle of the bracket and is lower than the fixed seat mounting surface 211 in height, so it does not require precision machining. This method reduces the precision machining area, which makes it easier to ensure the flatness of the fixed seat mounting surfaces 211 on both sides, while the railcar bearing surface 212 in the middle does not require precision machining, which also reduces costs.

[0047] The mounting surface 211 of the fixed seat is reserved with two mounting holes for bracket positioning pin seats 24. These mounting holes have a certain margin and can be adjusted to adjust the installation position, and are used in conjunction with the positioning pins 14 of the support frame.

[0048] The bracket transfer positioning pin seat 25 is pre-set on the bearing surface 212 of the lifting railcar 3, and has a low-precision clearance fit with the railcar positioning pin 34 set on the lifting railcar 3, which is mainly used to prevent overturning during transfer.

[0049] The lifting railcar 3 includes a railcar body 21, a load-bearing bracket 32, a hydraulic support 33, a railcar positioning pin 34, and a railcar controller;

[0050] The transfer track assembly includes a working station linear track 41, a storage station linear track 42, a track turntable 43, and a transfer station linear track 44;

[0051] The calibration equipment group includes a laser tracker 51, a target ball assembly 52, and a reference target ball holder 53. The test foundation 6 mainly consists of a test environment foundation that is coordinated with the above subsystems. The reference target ball holder 53 provides support for the target ball assembly 52, or the target ball assembly 52 can be used directly.

[0052] The railcar body 21 is a wheel-driven railcar; the railcar support bracket 32 ​​is installed on the top of the railcar body 21 and can be raised and lowered by the railcar hydraulic support 33.

[0053] The lifting stroke of the railcar hydraulic support 33 is greater than the axial net height of the support frame positioning pin and the axial net height of the railcar positioning pin 34.

[0054] The railcar positioning pins 34 are installed at the four corners of the railcar support bracket 32;

[0055] The railcar controller (not shown in the figure) is used to control the movement of the railcar. A handheld control device with wireless control is preferred.

[0056] The working position linear track 41 consists of two sets of parallel wheel-rail systems aligned with the X-axis of the test coordinate system. It is fixed to the foundation and requires calibration with a certain geometric accuracy (generally not exceeding 10mm) before fixing.

[0057] The storage position linear track 42 is generally perpendicular to the working position linear track 41, and is divided into two sections that cross the track turntable 43. After the parallelism and flatness are calibrated with a certain geometric accuracy, it is fixed on the foundation.

[0058] The track turntable 43 is located at the intersection of the working position linear track 41 and the storage position linear track 42, with reserved space on the foundation for installation and sinking.

[0059] 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 respectively during rotation;

[0060] The splicing is done with a circular arc tangent splicing, which allows the wheel and rail to maintain continuous line-to-surface contact when the drive wheel of the railcar crosses different tracks;

[0061] Reference target ball seat 53 is reserved at multiple locations with different elevations and cross sections on the test foundation 6, generally no less than 6, to serve as the benchmark for reconstructing the coordinate system of the test system; the reserved positions are determined by the XYZ coordinate values ​​during system calibration and recorded.

[0062] 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 coordinate value is unique.

[0063] The target ball holder 53 must be completely fixed to the test base 6 facility to ensure that the position is stable and unique.

[0064] The laser tracker 51, the target ball assembly 52, and the reference target ball holder 53 are primarily used to reconstruct the coordinate system of the test system.

[0065] During the reconstruction of the system coordinate system, the laser tracker 51 sequentially measures the existing coordinate values ​​of the reserved target ball components 52 and collects a sufficient number of coordinate values ​​of the target ball components 52. The reserved target ball components 52 have their original coordinate values ​​and serial numbers recorded in the original coordinate system. During reconstruction, a new coordinate system is established based on the collected current coordinate values ​​of the target ball components 52. The original recorded coordinate values ​​and the serial numbers of the target ball components are sequentially filled into the measurement software, overwriting the newly measured coordinate values. At this time, the measurement software can generate a new coordinate system, which is the original coordinate system. Using the transformation function in the software, the reconstruction of the original coordinate system can be realized.

[0066] Alternatively, because the assumed position of the laser tracker 51 cannot be completely consistent during the establishment and recalibration of the original coordinate system (i.e., the origin is different), the target ball assembly 52 needs to be used as a reference for coordinate transformation. When rebuilding the coordinate system, the newly set up laser tracker 51 measures the coordinate values ​​of the original target ball assembly 52 in sequence and establishes a new coordinate system; in the software on both sides, select coordinate system transformation, and enter the previously recorded coordinate values ​​of the target ball assembly 52 in sequence to generate the initial coordinate system of the darkroom, which facilitates the calibration of the system detection.

[0067] Note: Using a laser tracker to establish and reconstruct the coordinate system is an existing technology in the industry, and the measurement software SA can operate directly on it.

[0068] As mentioned earlier, the effective support height of the hydraulic support 33 and the tilt angle of the bracket will affect the safety of the transfer. If the height of the hydraulic support 33 is lower than the set limit value, it will cause interference between the positioning pin and the bracket during the operation of the railcar. The tilt angle will cause the equipment carried on the upper part to overturn in the case of an emergency stop of the railcar. Therefore, the safety sensor (not shown in the figure) is used to measure the above two safety-related parameters, monitor them in real time, and terminate the operation when abnormal values ​​occur.

[0069] Compared with existing technologies, the transfer system for achieving precise and repeatable positioning of multi-station equipment provided by this invention uses a wheel-rail system, which has low installation cost and good compatibility. The positioning device adopts a pin-type tight fit, which has effective high repeatability. The high-precision repeatable positioning at the working position is mechanical, without the influence of the control accuracy of the control equipment or the accuracy of the feedback element, and has higher reliability. High-precision measurement and positioning are only performed at the working position, and the transfer part only performs the transfer function, avoiding unnecessary duplication of construction. If the working position support frame is damaged during the trial period, it can be recalibrated by rebuilding the coordinate system, which is more convenient. The above-mentioned transfer system has low overall installation cost, and the mechanical positioning can achieve repeatable high-precision positioning at the working position, realizing precise and repeatable positioning and transfer of multi-station equipment in a multi-functional darkroom, which has strong practicality.

[0070] As one possible implementation, the rigid pre-embedded support 11 includes a pre-embedded part body 111 and an adjusting bolt. The pre-embedded part body 111 is formed by welding steel plate and anchor hook. The pre-embedded part body 111 is embedded in the design position before the concrete of the test foundation 6 is solidified. The pre-embedded part body 111 is provided with a marked threaded hole, and the adjusting bolt is installed in the corresponding threaded hole.

[0071] The embedded part body 111, which is formed by welding steel plates and anchor hooks, ensures the overall structural strength. The embedded part body 111 is installed in the designed position before the concrete of the test foundation 6 solidifies, which ensures the stability of the embedded part body 111 on the test foundation 6 after installation. The calibrated threaded holes ensure the accuracy of the installation position.

[0072] In one possible implementation, the adjusting bolt includes a support stud 112, a bottom reinforcing nut 113, a lower support adjusting nut 114, and an upper locking nut 115. The support stud 112 extends upward through the embedded part body 111, the bottom reinforcing nut 113 fastens the support stud 112 to the embedded part body 111, the lower support adjusting nut 114 is installed in the middle of the support stud, all lower support adjusting nuts 114 are calibrated to be level by a calibration device, and the upper locking nut 115 tightens the fixed support frame 12 after the fixed support frame 12 is installed in the embedded part body 111.

[0073] The support stud 112 is installed in the calibrated threaded hole to ensure the installation effect of the fixed support frame 12. The installation of the bottom reinforcing nut 113 secures the support stud 112 and the embedded part body 111. The lower support adjusting nut 114 is installed in the middle of the support screw and can be adjusted in height according to the calibrated level. The upper locking nut 115 secures the fixed support frame 12 to the support stud 112. The installation effect of the fixed support frame 12 is ensured by calibrating the level of the lower support adjusting nut 114.

[0074] As one possible implementation, the lifting railcar 3 includes a railcar body 21, a support bracket 32, a hydraulic support 33, and railcar positioning pins 34 for positioning the rigid bracket 21. The railcar body 21 travels on the transfer rail, the support bracket 32 ​​is mounted on the railcar body 21 by the hydraulic support 33, the railcar positioning pins 34 are installed at the four corners of the support bracket 32, and the rigid bracket 21 is provided with a bracket transfer positioning pin seat 25 at the corresponding position, which cooperates with the shaft hole of the railcar positioning pin 34.

[0075] The railcar body 21 is a wheel-driven railcar that travels on the working position linear rail 41 and the storage position linear rail 42. The support bracket 32 ​​is installed on the top of the railcar body 21 via a hydraulic support 33, and can be raised and lowered by the hydraulic support 33. The railcar positioning pin 34 and the bracket transfer positioning pin seat 25 are engaged in a shaft hole fit, realizing the precise positioning and support of the rigid bracket 21 by the support bracket 32. Furthermore, the railcar positioning pin 34 is installed at the four corners of the support bracket 32 ​​to provide all-round support for the rigid bracket 21. The bracket transfer positioning pin seat 25 and the railcar positioning pin 34 set on the lifting railcar 3 have a low-precision clearance fit, mainly used to prevent overturning during transfer.

[0076] As one possible implementation, the lifting railcar 3 also includes a railcar controller for controlling the movement of the lifting railcar 3; the railcar controller is a wireless handheld control device.

[0077] The track controller, with its wireless handheld control, makes it more convenient to control the lifting track vehicle 3.

[0078] In one possible implementation, the positioning device includes a bracket positioning pin seat 24 and a support frame positioning pin 14; the support frame positioning pin 14 is mounted on the fixed support frame 12, and the bracket positioning pin seat 24 is mounted at the corresponding position on the rigid bracket 21, with the bracket positioning pin seat 24 engaging with the shaft hole of the support frame positioning pin 14. 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 in the reserved position of the rigid bracket 21. The positioning pin seat body 241 is loosely fixed by using the locking screw 242 (the positioning pin seat body 241 is reserved with a large clearance hole). It is determined that the positioning pin seat body 241 can move within a small range in the 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 positioning pin seat body 241 is tightened by the locking screw 242. The positioning conical pin is driven into the reserved conical pin hole of the positioning pin seat body 241 to achieve positioning and locking.

[0079] The bracket positioning pin seat 24 on the rigid bracket 21 and the support frame positioning pin 14 on the fixed support frame 12 cooperate to achieve precise positioning of the rigid bracket 21 and the fixed support frame 12. Furthermore, 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 guaranteed.

[0080] As one possible implementation, the calibration device includes a laser tracker 51 and multiple target ball assemblies 52; the laser tracker 51 is located on the center line along the length of the test base 6, and the multiple target ball assemblies 52 are symmetrically distributed in the dark chamber area along the center line of the test base 6.

[0081] The laser tracker 51 is located on the centerline of the test base 6 along its length, or on the centerline of the linear track 41 at the working position. Together with multiple target ball assemblies 52 symmetrically distributed on both sides of the centerline, it can accurately locate devices within the quiet chamber area and construct three-dimensional spatial coordinates, enabling precise positioning and detection of multiple different devices or components. Furthermore, the target ball assembly 52 can also be used with a reference target ball holder 53. The mechanical contact position between the target ball assembly 52 and the reference target ball holder 53 is unique, ensuring the uniqueness of the target ball's measured coordinate values. The reference target ball holder 53 must be completely fixed to the test base 6 facility to ensure a stable and unique position.

[0082] As one possible implementation, 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 arranged vertically, the track turntable 43 is located in the area where the working position linear track 41 and the storage position linear track 42 intersect, the conversion to a linear track is set on the track turntable 43, and the rotation of the track turntable 43 causes the conversion to a linear track to connect to either the working position linear track 41 or the storage position linear track 42.

[0083] The track turntable 43 is located at the intersection of the working position linear track 41 and the storage position linear track 42, with reserved space for installation and sinking on the foundation; the switching 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 respectively during rotation; the splicing is an arc-shaped tangential splicing, which can make the wheel and rail maintain continuous line-surface contact when the drive wheel of the railcar crosses different tracks; realizing the switching of the lifting railcar 3 between the working position linear track 41 and the storage position linear track 42.

[0084] This invention also provides a calibration method for achieving accurate and repeatable positioning of multi-station equipment, comprising the following steps:

[0085] Step S10: Based on the test in front of the quiet area of ​​the darkroom, construct a three-dimensional coordinate system with the laser tracker as the origin. The X-axis of the laser tracker coincides with the center line of the darkroom. According to the size of the darkroom, set up multiple target ball components symmetrically on both sides of the X-axis of the darkroom area. Use the laser tracker to measure the coordinate value of each target ball component. Reconstruct the original coordinate system of the darkroom based on the coordinate values ​​of the original design reference point.

[0086] Step S20: Mark the bolt hole positions on the embedded part body according to the measured coordinate values ​​and the original design reference point coordinate values, install the adjusting bolts in the corresponding bolt hole positions, install the fixed support frame on the adjusting bolts, fix multiple target ball components on the fixed support frame, level the fixed support frame, and complete the installation and fixing of all fixed support frames.

[0087] Step S30: The lifting railcar carrying the rigid bracket on the linear rail of the working position is installed on the fixed support frame. Ensure that the support frame positioning pin on the fixed support frame passes through the bracket positioning pin seat that is movably installed on the rigid bracket. Move the rigid bracket to the designed position, tighten the bracket positioning pin seat, use a laser tracker to perform the first calibration of the rigid bracket, and record the first geometric reading.

[0088] Step S40: The lifting railcar lifts the rigid bracket from its fixed position to separate it from the fixed support frame. The lifting railcar depressurizes, causing the rigid bracket to fall back onto the fixed support frame. The rigid bracket is then calibrated a second time using a laser tracker, and the second geometric reading is recorded. When the difference between the two geometric readings is less than a preset value, the railcar carrying the rigid bracket is moved to the storage position linear track 42 to complete the workstation switch.

[0089] In practice:

[0090] For ease of description, O is taken as the origin of the system coordinate system; the X-axis is the microwave transmission direction (i.e., from the origin to the center of the quiet zone); the Y-axis is perpendicular to the X-axis; OXY is the horizontal plane; and the Z-axis is the height direction.

[0091] 1. In the construction of the darkroom, the overall coordinate system of the test system is established based on key equipment such as the reflective surface. This step is a necessary step and is generally undertaken by the system manufacturer.

[0092] 2. During the establishment of the above coordinate system, in the quiet zone of the darkroom, reference target ball seats 53 are reserved at different elevations (i.e., the XYZ coordinates have a certain span, which is determined according to the size of the darkroom, generally greater than 2000mm in the XY direction and greater than 200mm in the Z direction). The number should be 12 to 20 (because there will be damage during the construction process and some reference target ball seats 53 may be in the blind zone of the newly set up laser tracker 51 when the coordinate system is rebuilt later).

[0093] 3. Install the laser tracker 51 on the hard ground in front of the quiet zone of the darkroom (i.e., the spatial envelope of the equipment working area), as close as possible to the center line of the darkroom in the Y direction;

[0094] 4. Fix the target ball assembly 52 onto the reference target ball holder 53 in sequence (this step can be done by using only the target ball, depending on the structure of the reference target ball holder 53), use the laser tracker 51 to measure the coordinate values ​​of each position in sequence, and reconstruct the original coordinate system of the darkroom based on the original recorded coordinate values ​​of each reference point.

[0095] 5. Place the target ball assembly 52 on the reserved positioning mark on the upper surface of the rigid pre-embedded support 11, and mark the installation stud hole position according to the coordinate value and design theoretical value. The accuracy requirement for this step is ±3mm.

[0096] 6. Following the steps above, drill and tap holes in the rigid embedded support 11, install the support studs 112, and screw in the bottom reinforcing nut and the lower layer nut into each support stud 112.

[0097] 7. Hoist the fixed support frame 12 onto the support studs 112 according to the mounting hole positions. Place the target ball assembly 52 at least 4 positions on the top of the fixed support frame 12. Adjust the installation of the lower layer nuts to make the Z value of each position consistent. Then screw in the upper layer nuts to complete the leveling. The levelness of this step can be better than ±0.02mm.

[0098] 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 the remaining equipment.

[0099] 9. Place the equipment support bracket 2 on the lifting railcar 3, ensuring that the railcar positioning pin 34 is located in the bracket transfer positioning pin seat 25, and raise the hydraulic support 33 so that the lifting railcar 3 is in a high position.

[0100] 10. Install the positioning pin body 241 in the bracket positioning pin seat 24 in the reserved position of the bracket in advance, and use the locking screw 242 to loosely fix the positioning pin body 241 (the positioning pin body 241 is reserved with a large clearance hole) to ensure that the positioning pin body 241 can move within a small range in the X and Y directions.

[0101] 11. Use the railcar controller to control the lifting railcar 3 to run to the position of the fixed support frame 12. At this time, the bearing bracket 32 ​​can completely cross the fixed support frame 12. Control the hydraulic support 33 to lower the height until the pressure is completely released, and let the bearing bracket 32 ​​fall into the upper surface of the fixed support frame 12.

[0102] 12. At this time, the bracket positioning pin seat 24 will fall into the support frame positioning pin 14 along the tapered guide, completing the tight fit between the support frame positioning pin 14 and the positioning pin seat body 241.

[0103] 13. Place the target ball assembly 52 on the reference zero position on the equipment or the rigid bracket 21 of the equipment, use the laser tracker 51 (51) to measure the current OXY position, control the lifting railcar 3 to move or manually adjust to move the rigid bracket 21 to the position required by the design; (the absolute position accuracy of this position in the OXY coordinate system can reach ±3mm; this position is based on meeting the test requirements and is the repeat positioning after this position is determined)

[0104] 14. Check the status of the two bracket positioning pin seats 24 to confirm the cooperation in step 12, tighten the respective locking screws 242, and drive the positioning conical pin into the pre-reserved conical pin hole in the positioning pin seat body 241.

[0105] 15. Using the railcar controller, raise the hydraulic support 33 to its maximum height to disengage the bracket positioning pin seat 24 and the support frame positioning pin 14. Then, lower the hydraulic support 33 again to depressurize and check the geometric reading of the laser tracker 51. At this time, the reading change is generally around ±0.02mm.

[0106] 16. At this point, the rigid bracket 21 and the fixed support frame 12 achieve a high-precision, repeatable mechanical fit;

[0107] 17. Record the height value of the hydraulic support 33 and set the range of the height monitoring sensor;

[0108] 18. Repeat steps 11 to 17 for the remaining fixed support frames 12 to complete the high-precision repeatable mechanical fit between the remaining fixed support frames 12 and the rigid bracket 21;

[0109] 19. After completing the above steps, the alarm range of the tilt sensor can be set;

[0110] 20. Control the lifting railcar 3 to move towards the railcar turntable. When the railcar is completely on the turntable section of the track, control the turntable to rotate. When rotating to the storage position track splicing position (limiting mechanism).

[0111] 21. Control the lifting railcar 3 (including the carrying equipment) to run to the storage position, thus completing the workstation switch of the equipment;

[0112] 22. During steps 20 to 21, the hydraulic support 33 remains in a high position and can be lowered to a low position after the storage position is in place.

[0113] 23. If the safety sensor alarms, the hydraulic support 33 must be checked. Operation is only permitted after the alarm is cleared.

[0114] Compared with existing technologies, the calibration method for achieving precise and repeatable positioning of multi-station equipment provided by this invention uses a wheel-rail system, which has low installation costs and good compatibility. The positioning device uses a pin-type tight fit, which has effective high repeatability. The high-precision repeatable positioning at the working position is mechanical, without the influence of the control equipment's control accuracy or the accuracy of feedback components, and has higher reliability. High-precision measurement and positioning are only performed at the working position, and the transfer part only performs the transfer function, avoiding unnecessary duplication of construction. If the working position support frame or other components are damaged during the trial period, recalibration can be performed by rebuilding the coordinate system, which is more convenient. The above-mentioned transfer system has low overall installation costs, and the mechanical positioning can achieve repeatable high-precision positioning at the working position, realizing precise and repeatable positioning and transfer of multi-station equipment in a multi-functional darkroom, which has strong practicality.

[0115] As one possible implementation method, the preset value is ±0.02mm.

[0116] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0117] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A transfer system for achieving precise and repeatable positioning of multi-station equipment, characterized in that, This includes a fixed-position support frame, equipment bearing bracket, lifting railcart, transfer rail, calibration equipment, and testing foundation; The fixed-position support frame includes multiple sets of rigid pre-embedded supports and an equal number of fixed support frames. The multiple sets of rigid pre-embedded supports are installed in pairs on the test foundation, and the fixed support frames are installed horizontally on the corresponding rigid pre-embedded supports. The equipment bearing bracket includes multiple rigid brackets and multiple positioning devices for positioning the fixed support frames and the rigid brackets. The transfer track includes a working position linear track and a storage position linear track. The lifting railcar operates on the working position linear track and places both sides of the rigid bracket on the corresponding fixed support frame twice. The calibration device performs two calibrations on the rigid bracket and the fixed support frame in the constructed spatial coordinate system. The positioning device locks after the calibration device completes the first calibration. When the calibration readings of the calibration device are less than the preset value after the two calibrations, the lifting railcar carries the rigid bracket to the storage position linear track.

2. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 1, characterized in that, The rigid pre-embedded support includes a pre-embedded part body and an adjusting bolt. The pre-embedded part body is formed by welding steel plate and anchor hook. The pre-embedded part body is embedded in the design position before the concrete of the test foundation solidifies. The pre-embedded part body is provided with a marked threaded hole, and the adjusting bolt is installed in the corresponding threaded hole.

3. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 2, characterized in that, The adjusting bolt includes a support stud, a bottom reinforcing nut, a lower support adjusting nut, and an upper locking nut; The support stud extends upward through the embedded part body, the bottom reinforcing nut fastens the support stud to the embedded part body, the lower support adjusting nut is installed in the middle of the support stud, all the lower support adjusting nuts are calibrated horizontally by the calibration equipment, and the upper locking nut tightens the fixed support frame after the fixed support frame is installed on the embedded part body.

4. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 1, characterized in that, The lifting railcar includes a railcar body, a load-bearing bracket, a hydraulic support, and a railcar positioning pin for positioning the rigid bracket. The railcar body travels on the transfer track, the bearing bracket is installed on the railcar body by the hydraulic support, the railcar positioning pin is installed at the four corners of the bearing bracket, and the rigid bracket is provided with a bracket transfer positioning pin seat at the corresponding position, and the railcar positioning pin is engaged with the shaft hole of the bracket transfer positioning pin seat.

5. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 4, characterized in that, The lifting railcar also includes a railcar controller for controlling the movement of the lifting railcar; The railcar controller is a wireless handheld control device.

6. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 1, characterized in that, The positioning device includes a bracket positioning pin seat and a support frame positioning pin; The support frame positioning pin is installed on the fixed support frame, and the bracket positioning pin seat is installed at the corresponding position of the rigid bracket. The bracket positioning pin seat is engaged with the support frame positioning pin shaft hole.

7. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 1, characterized in that, The calibration equipment includes a laser tracker and multiple target ball components; The laser tracker is located on the center line along the length of the test base, and multiple target ball components are symmetrically distributed in the darkroom area along the center line of the test base.

8. The transfer system for achieving precise and repeatable positioning of multi-station equipment according to claim 1, characterized in that, The transfer track also includes a track turntable and a transfer station linear track; The working position linear track and the storage position linear track are arranged perpendicularly. The track turntable is located in the area where the working position linear track and the storage position linear track intersect. The conversion position linear track is located on the track turntable. The rotation of the track turntable allows the conversion position linear track to selectively connect to either the working position linear track or the storage position linear track.

9. A calibration method for achieving precise and repeatable positioning of multi-station equipment, characterized in that, Includes the following steps: Step S10: Based on the test in front of the quiet area of ​​the darkroom, construct a three-dimensional coordinate system with the laser tracker as the origin. The X-axis of the laser tracker coincides with the center line of the darkroom. According to the size of the darkroom, symmetrically set multiple target ball components on both sides of the X-axis of the darkroom area. Use the laser tracker to measure the coordinate value of each target ball component. Reconstruct the original coordinate system of the darkroom based on the coordinate values ​​of the original design reference point. Step S20: Mark the bolt hole positions on the embedded part body according to the measured coordinate values ​​and the original design reference point coordinate values, install the adjusting bolts in the corresponding bolt hole positions, install the fixed support frame on the adjusting bolts, fix multiple target ball components on the fixed support frame, level the fixed support frame, and complete the installation of all fixed support frames. Step S30: The lifting railcar carrying the rigid bracket located on the linear rail of the working position is installed on the fixed support frame. Ensure that the support frame positioning pin on the fixed support frame passes through the bracket positioning pin seat that is movably installed on the rigid bracket. Move the rigid bracket to the designed position, tighten the bracket positioning pin seat, and use the laser tracker to perform the first calibration of the rigid bracket and record the first geometric reading. Step S40: The lifting railcar is fixed in position to lift the rigid bracket and separate it from the fixed support frame. The lifting railcar depressurizes and allows the rigid bracket to fall back onto the fixed support frame. The laser tracker is used to perform secondary calibration on the rigid bracket and record the secondary geometric readings. When the difference between the two geometric readings is less than a preset value, the lifting railcar moves the rigid bracket it carries to the storage position linear track to complete the workstation switch.

10. The calibration method for achieving precise and repeatable positioning of multi-station equipment according to claim 9, characterized in that, The preset value is ±0.02mm.

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