Overall multi-point calibration test device and calibration test method for gear shift actuator

Abstract

The present application relates to a kind of overall multi-point calibration test device and calibration test method of gear shifting actuator, wherein device includes the locating seat with connecting shaft, one end of connecting shaft has and the spline sleeve of locating seat formation cooperation, spline sleeve and gear shaft mesh;The other end of connecting shaft has encoder;Horizontal moving mechanism is connected with second positioning mechanism, and second positioning mechanism includes the rotation driving source and pneumatic chuck connected;Second positioning mechanism is close to gear shifting actuator by horizontal moving mechanism, and drive worm is clamped and rotated, worm drives worm gear rotation, worm gear drives gear shaft rotation, gear shaft drives connecting shaft rotation, during rotation process, the rotation angle of encoder identification connecting shaft is fed back to PLC, the rotation angle of PLC control rotation driving source is to calibration position, PLC will identify the voltage signal of rotation driving source at corresponding angle, and it is transmitted to magnetic sensor.The present application realizes the multi-point calibration of gear shifting actuator.

Description

Technical Field

[0001] This invention relates to the field of gear shifter technology, and in particular to a multi-point calibration test device and calibration test method for a gear shift actuator. Background Technology

[0002] A magnetic sensor, such as a Hall effect angle sensor, is mounted on top of the gear shift actuator to detect the gear position in a car's transmission. Its circular magnet is externally mounted on the top of the gear shaft of the gear shift actuator. As the gear wheel rotates to different positions, the magnetic sensor detects these changes and converts them into electrical signals. These electrical signals are then sent to the vehicle's control unit to control the vehicle's movement.

[0003] Combination Figure 1 and Figure 2 The existing shift actuator 15 adopts a worm gear structure, as follows: the end of the gear shaft 1501 is a spline shaft with missing teeth, which is positioned to be assembled with the subsequent gearbox shift rack.

[0004] After the shift actuator is assembled, the internal chip of the self-made magnetic sensor has no data. The relative position of the magnetic sensor 1503 and the magnet 1502 is random, so it cannot correctly reflect the missing tooth position of the spline shaft. It is necessary to perform angle calibration so that the Hall angle sensor can accurately reflect the missing tooth position of the spline shaft, store the relevant position and voltage, and then make the correspondence between the magnetic sensor 1503 and the magnet 1502 more accurate.

[0005] Therefore, there is an urgent need to design a testing device that allows the Hall angle sensor to accurately reflect the position of missing teeth in the spline of a mechanism through angle calibration. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention discloses an overall multi-point calibration test device and calibration test method for a gear shifting actuator.

[0007] The technical solution adopted in this invention is as follows:

[0008] A multi-point calibration test device for a gear shifting actuator includes:

[0009] An angle recognition mechanism includes a positioning seat for placing a gear shifting actuator, a connecting shaft is provided inside the positioning seat, a spline sleeve is provided at one end of the connecting shaft, and the spline sleeve and the positioning seat are fitted together, the spline sleeve meshes with the gear shaft of the gear shifting actuator; an encoder is provided at the other end of the connecting shaft;

[0010] The first positioning mechanism lifts and presses against the shifting actuator;

[0011] A horizontal moving mechanism has a horizontal movable part, and the horizontal movable part is provided with a second positioning mechanism. The second positioning mechanism includes a rotary drive source and a pneumatic chuck. The output end of the rotary drive source is connected to the pneumatic chuck. The second positioning mechanism approaches the shifting actuator through the horizontal moving mechanism and clamps the worm gear that drives the shifting actuator to rotate.

[0012] The worm gear of the shift actuator rotates and drives the worm wheel of the shift actuator to rotate. The worm wheel of the shift actuator drives the gear shaft to rotate. The gear shaft drives the connecting shaft to rotate. During the rotation, the encoder identifies the rotation angle of the connecting shaft and feeds it back to the programmable logic controller (PLC). The PLC controls the rotation angle of the rotary drive source to the calibrated position. The PLC identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor of the shift actuator.

[0013] In one embodiment of the present invention, the positioning seat has a shaft hole, and a spline bearing is provided in the shaft hole. The inner hole of the spline bearing and the spline sleeve are clearance-fitted. One side of the spline bearing is provided with an adapter block, which is used to connect an encoder coupling, and the encoder coupling is connected to the encoder.

[0014] In one embodiment of the present invention, the positioning seat includes a cover plate and a plurality of side plates, the cover plate being fastened to the plurality of side plates, and the cover plate and the plurality of side plates forming a cavity.

[0015] In one embodiment of the present invention, the first positioning mechanism includes a rotary pressing cylinder and a pressing assembly, wherein the cross arm of the rotary pressing cylinder is connected to the pressing assembly, driving the pressing assembly to rotate and move up and down.

[0016] In one embodiment of the present invention, the pressing assembly includes a connecting plate and a plurality of pressing columns fixed to the connecting plate, the pressing columns being disposed toward the positioning seat.

[0017] In one embodiment of the present invention, the horizontal moving mechanism includes a sliding cylinder and a pneumatic slide, the working end of the sliding cylinder being connected to the pneumatic slide; the second positioning mechanism is disposed on the pneumatic slide.

[0018] In one embodiment of the present invention, the positioning seat is provided with a plurality of positioning pins, which are configured to be inserted into the assembly holes of the shift actuator.

[0019] In one embodiment of the present invention, the magnetic sensor is a Hall angle sensor.

[0020] In one embodiment of the present invention, a base is further included, the base supporting the angle recognition mechanism, the first positioning mechanism and the horizontal movement mechanism.

[0021] The present invention also provides a calibration test method, utilizing the multi-point calibration test device for the shift actuator as described above, characterized by comprising the following steps:

[0022] S1. Engage the gear shaft of the shift actuator with the spline sleeve of the angle recognition mechanism, wherein the missing tooth at one end of the gear shaft engages with the connecting tooth of the spline sleeve.

[0023] S2. The first positioning mechanism lifts and presses the shifting actuator, the horizontal moving mechanism drives the second positioning mechanism to approach, the pneumatic chuck clamps the worm gear of the shifting actuator to rotate a preset angle, during the rotation, the encoder identifies the rotation angle of the connecting shaft and feeds it back to the programmable logic controller, the programmable logic controller controls the rotation angle of the rotary drive source to the calibrated position, the programmable logic controller identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor of the shifting actuator;

[0024] S3. The pneumatic chuck releases the worm gear of the shifting actuator, the horizontal moving mechanism drives the second positioning mechanism to return to the initial state, and then the first positioning mechanism returns to the initial state, completing the calibration.

[0025] The technical solution of the present invention has the following advantages compared with the prior art:

[0026] 1. The overall multi-point calibration test device for the shift actuator described in this invention can achieve overall multi-point calibration, correct the internal errors of the shift actuator, the internal errors of the sensor, and the matching errors of each part, and improve the accuracy of the mechanism angle.

[0027] 2. The multi-point calibration test device for the gear shifting actuator described in this invention can perform fixed-point calibration for different working conditions, and can achieve multi-point calibration at any angle, thereby improving the freedom and flexibility of calibration and improving the angular linearity of the gear shifting actuator. Attached Figure Description

[0028] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the existing gear shifting actuator.

[0030] Figure 2 yes Figure 1 A partial cross-sectional view.

[0031] Figure 3This is a schematic diagram of the overall multi-point calibration test device for the gear shifting actuator in this invention.

[0032] Figure 4 This is a partial cross-sectional view of the angle recognition mechanism in this invention.

[0033] Figure 5 This is a schematic diagram of the initial state of the overall multi-point calibration test device for the gear shifting actuator in this invention.

[0034] Figure 6 This is a structural schematic diagram of the calibration state and usage state of the overall multi-point calibration test device for the gear shifting actuator in this invention.

[0035] Figure 7 This is a schematic diagram of the working state of the overall multi-point calibration test device for the gear shifting actuator in this invention.

[0036] Figure 8 This is a flowchart of the calibration test method in this invention.

[0037] Figure 9 This is a schematic diagram of the calibration and testing process in this invention.

[0038] Explanation of reference numerals in the accompanying drawings: 1. Base; 2. Spline sleeve; 3. Positioning pin; 4. Angle recognition mechanism; 401. Side plate; 402. Connecting shaft; 403. Spline bearing; 404. Cover plate; 405. Adapter block; 406. Encoder coupling; 407. Encoder; 408. Encoder mounting plate; 5. Rotary clamping cylinder; 6. Pressing assembly; 7. Pneumatic chuck; 8. First synchronous pulley; 9. Servo motor; 10. Synchronous belt; 11. Pneumatic slide; 12. Sliding cylinder; 13. Upper plate; 14. Second synchronous pulley; 15. Gear shifting mechanism; 1501. Gear shaft; 1502. Magnet; 1503. Magnetic sensor. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0040] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front, or back, are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the present invention. Furthermore, in all embodiments, the same reference numerals denote the same elements.

[0041] Combination Figure 3 , Figure 4and Figure 8 A multi-point calibration test device for a gear shifting actuator, comprising:

[0042] Angle recognition mechanism 4 includes a positioning seat for placing a shift actuator 15. A connecting shaft 402 is provided inside the positioning seat. A spline sleeve 2 is provided at one end of the connecting shaft 402, and the spline sleeve 2 and the positioning seat 15 are fitted together. The spline sleeve 2 meshes with the gear shaft 1501 of the shift actuator 15. An encoder 407 is provided at the other end of the connecting shaft 402.

[0043] First positioning mechanism, lifting and pressing shifting actuator 15;

[0044] The horizontal moving mechanism has a horizontal movable part, and the horizontal movable part is provided with a second positioning mechanism. The second positioning mechanism includes a rotary drive source and a pneumatic chuck 7. The output end of the rotary drive source is connected to the pneumatic chuck 7. The second positioning mechanism approaches the shifting actuator 15 through the horizontal moving mechanism and clamps the worm gear that drives the shifting actuator 15 to rotate.

[0045] The base 1 supports the angle recognition mechanism 4, the first positioning mechanism, and the horizontal movement mechanism. Preferably, the upper surface of the base 1 may also be provided with an upper plate 13, which reduces the pressure of the angle recognition mechanism 4, the first positioning mechanism, and the horizontal movement mechanism on the base 1, thus protecting the base 1.

[0046] The worm gear of the shift actuator 15 rotates and drives the worm wheel of the shift actuator 15 to rotate. The worm wheel of the shift actuator 15 drives the gear shaft 1501 to rotate. The gear shaft 1501 drives the connecting shaft 402 to rotate. During the rotation, the encoder 407 identifies the rotation angle of the connecting shaft 402 and feeds it back to the programmable logic controller (PLC). The PLC controls the rotation angle of the rotary drive source to the calibrated position. The PLC transmits the rotation angle signal and the voltage signal of the rotary drive source to the host computer at the same time. The host computer transmits the received rotation angle signal and voltage signal to the magnetic sensor 1503 of the shift actuator 15 at the same time.

[0047] The first positioning mechanism includes a rotary clamping cylinder 5 and a pressing assembly 6. The horizontal arm of the rotary clamping cylinder 5 is connected to the pressing assembly 6, driving the pressing assembly 6 to rotate and move up and down. Specifically, the pressing assembly 6 includes a connecting plate and multiple pressing columns fixed to the connecting plate, with the pressing columns facing the positioning seat. In this embodiment, based on the size of the shift actuator 15 to be pressed and the number and position of the mounting holes of the shift actuator 15, three identical pressing columns are designed. The line connecting the centers of the three pressing columns forms an equilateral triangle. When the horizontal arm of the rotary clamping cylinder 5 performs the pressing action, the three pressing columns can press against the mounting holes of the shift actuator 15, thereby achieving the pressing of the shift actuator 15.

[0048] The horizontal movement mechanism includes a sliding cylinder 12 and a pneumatic slide 11, with the actuating end of the sliding cylinder 12 connected to the pneumatic slide 11. A second positioning mechanism is located on the pneumatic slide 11, comprising a rotary drive source and a pneumatic chuck 7, with the output end of the rotary drive source connected to the pneumatic chuck 7. Further, to enable better horizontal sliding of the pneumatic slide 11, the horizontal movement mechanism also includes a set of guide rails and at least one slider sliding along the guide rails. The guide rails are mounted on a fixed plate, which is mounted on a base. The slider and the pneumatic slide 11 are fixedly connected. The distance between the guide rails is less than or equal to the width of the pneumatic slide 11, where the width refers to the side of the pneumatic slide 11 with the shorter length. The number of sliders on each guide rail can be designed to be multiple depending on the size of the pneumatic slide 11.

[0049] In this embodiment, the rotary drive source includes a first synchronous pulley 8, a servo motor 9, a synchronous belt 10, and a second synchronous pulley 14. The output end of the servo motor 9 is connected to the first synchronous pulley 8. The synchronous belt 10 is tensioned between the first synchronous pulley 8 and the second synchronous pulley 14. That is, the first synchronous pulley 8 and the second synchronous pulley 14 rely on the synchronous belt 10 to transmit power to achieve the required rotational speed. The second synchronous pulley 14 is connected to the pneumatic chuck 7.

[0050] like Figure 4 As shown, the positioning seat has a shaft hole, and a spline bearing 403 is installed inside the shaft hole. The inner hole of the spline bearing 403 and the spline sleeve 2 are clearance-fitted. One side of the spline bearing 403 is provided with an adapter block 405, which is used to connect the encoder coupling 406. The encoder coupling 406 is connected to the encoder 407 by an internal hex bolt. The encoder 407 is mounted on the encoder mounting plate 408, and the encoder mounting plate 408 is installed inside the positioning seat. Specifically, the positioning seat includes a cover plate 404 and multiple side plates 401. The cover plate 404 is fastened to the multiple side plates 401, and the cover plate 404 and the multiple side plates 401 surround to form a cavity.

[0051] The positioning seat is provided with multiple positioning pins 3, which are configured to insert into the mounting holes of the shift actuator 15. It can be understood that the number and position of the positioning pins 3 are designed according to the number and position of the mounting holes of the shift actuator 15.

[0052] In this embodiment, the magnetic sensor 1503 is a Hall angle sensor.

[0053] Combination Figures 5-8 The calibration test method using the above-mentioned multi-point calibration test device for the gear shift actuator is as follows:

[0054] S1, such as Figure 5 As shown, the first positioning mechanism, the horizontal moving mechanism, and the second positioning mechanism are all in their initial states. Figure 6As shown, the missing tooth position of the spline sleeve 2 of the angle recognition component 4 is found according to the missing tooth position of the gear shaft 1501 of the shift actuator 15. After the gear shaft 1501 and the spline sleeve 2 are meshed, they are placed on the positioning pin 3. At this time, the worm of the shift actuator 15 can be rotated by hand to make it drive the spline sleeve 2 to rotate forward and backward. The angle position of the current gear shaft 1501 can be measured by the angle recognition component 4.

[0055] S2, such as Figure 7 As shown, the first positioning mechanism lifts and presses the shifting actuator 15, the horizontal moving mechanism drives the second positioning mechanism to approach, the pneumatic chuck 7 clamps the worm gear of the shifting actuator 15 to rotate a preset angle, during the rotation, the encoder 407 identifies the rotation angle of the connecting shaft 402 and feeds it back to the programmable logic controller, the programmable logic controller controls the rotation angle of the rotary drive source to the calibrated position, the programmable logic controller identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor 1503 of the shifting actuator 15.

[0056] S3. The pneumatic chuck 7 releases the worm gear of the shifting actuator 15, the horizontal moving mechanism drives the second positioning mechanism to return to the initial state, and then the first positioning mechanism returns to the initial state, completing the calibration.

[0057] Among them, such as Figure 9 As shown, taking five-point calibration as an example, the working principle of this invention is as follows:

[0058] Servo motor 9 drives gear shaft 1501 of shift actuator 15 back to the initial position, and shift actuator 15 calibrates the zero point;

[0059] Servo motor 9 drives the worm gear of shift actuator 15 to rotate, which in turn drives the worm wheel of shift actuator 15 to rotate. The worm wheel of shift actuator 15 drives the gear shaft 1501 to rotate, and the gear shaft 1501 drives the connecting shaft 402 to rotate. During the rotation, encoder 407 identifies the rotation angle of connecting shaft 402 and feeds it back to programmable logic controller (PLC). PLC controls the rotation angle of the rotary drive source to point A. Servo motor 9 drives the missing tooth of gear shaft 1501 to point A. PLC identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to magnetic sensor 1503 of shift actuator 15. Magnetic sensor 1503 writes the voltage at point A, and then magnetic sensor 1503 stores the position and voltage of point A.

[0060] The programmable logic controller controls the rotation angle of the rotary drive source to point B. The servo motor 9 drives the missing tooth of the gear shaft 1501 to point B. The programmable logic controller identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor 1503 of the shift actuator 15. The magnetic sensor 1503 writes the voltage at point B, and then the magnetic sensor 1503 stores the position and voltage of point B.

[0061] The programmable logic controller controls the rotation angle of the servo motor 9 to point C. The servo motor 9 drives the missing tooth of the gear shaft 1501 to point C. The programmable logic controller identifies the voltage signal of the rotation drive source at the corresponding angle and transmits it to the magnetic sensor 1503 of the shift actuator 15. The voltage of the magnetic sensor 1503 is written to the voltage at point C. Then the magnetic sensor 1503 stores the position and voltage of point C.

[0062] The programmable logic controller controls the rotation angle of the servo motor 9 to point D. The servo motor 9 drives the missing tooth of the gear shaft 1501 to point D. The programmable logic controller identifies the voltage signal of the rotation drive source at the corresponding angle and transmits it to the magnetic sensor 1503 of the shift actuator 15. The magnetic sensor 1503 writes the voltage at point D, and then the magnetic sensor 1503 stores the position and voltage of point D.

[0063] The programmable logic controller controls the rotation angle of the servo motor 9 to point E. The servo motor 9 drives the missing tooth of the gear shaft 1501 to point E. The programmable logic controller identifies the voltage signal of the rotation drive source at the corresponding angle and transmits it to the magnetic sensor 1503 of the shift actuator 15. The magnetic sensor 1503 writes the voltage at point E, and then the magnetic sensor 1503 stores the position and voltage of point E.

[0064] The servo motor 9 drives the gear shaft 1501 of the shift actuator 15 back to the initial position, ending the calibration process.

[0065] It should be noted that the five points were chosen because the magnetic sensor 1503 to be calibrated has angles of 200° and 160°. The angles of the magnetic sensor 1503 are divided proportionally into five points. Of course, multi-point calibration at any angle can also be performed according to the different angles to be calibrated for different products.

[0066] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multi-point calibration and testing device for a gear shifting actuator, characterized in that, include: An angle recognition mechanism (4) includes a positioning seat for placing a shift actuator (15), a connecting shaft (402) is provided in the positioning seat, a spline sleeve (2) is provided at one end of the connecting shaft (402), and the spline sleeve (2) and the positioning seat are fitted together, and the spline sleeve (2) meshes with the gear shaft (1501) of the shift actuator (15); an encoder (407) is provided at the other end of the connecting shaft (402); The first positioning mechanism lifts and presses against the shifting actuator (15); The horizontal moving mechanism has a horizontal movable part, and the horizontal movable part is provided with a second positioning mechanism. The second positioning mechanism includes a rotary drive source and a pneumatic chuck (7). The output end of the rotary drive source is connected to the pneumatic chuck (7). The second positioning mechanism approaches the shifting actuator (15) through the horizontal moving mechanism and clamps the worm gear that drives the shifting actuator (15) to rotate. The worm of the shift actuator (15) rotates and drives the worm wheel of the shift actuator (15) to rotate. The worm wheel of the shift actuator (15) drives the gear shaft (1501) to rotate. The gear shaft (1501) drives the connecting shaft (402) to rotate. During the rotation, the encoder (407) identifies the rotation angle of the connecting shaft (402) and feeds it back to the programmable logic controller. The programmable logic controller controls the rotation angle of the rotary drive source to the calibrated position. The programmable logic controller identifies the voltage signal of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor (1503) of the shift actuator (15).

2. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The positioning seat has a shaft hole, and a spline bearing (403) is provided in the shaft hole. The inner hole of the spline bearing (403) and the spline sleeve (2) are clearance-fitted. One side of the spline bearing (403) is provided with an adapter block (405). The adapter block (405) is used to connect the encoder coupling (406). The encoder coupling (406) is connected to the encoder (407).

3. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The positioning seat includes a cover plate (404) and a plurality of side plates (401), the cover plate (404) being fastened to the plurality of side plates (401), and the cover plate (404) and the plurality of side plates (401) forming a cavity.

4. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The first positioning mechanism includes a rotary pressing cylinder (5) and a pressing assembly (6). The horizontal arm of the rotary pressing cylinder (5) is connected to the pressing assembly (6), driving the pressing assembly (6) to rotate and rise.

5. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 4, characterized in that, The pressing assembly (6) includes a connecting plate and a plurality of pressing columns fixed to the connecting plate, the pressing columns being disposed toward the positioning seat.

6. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The horizontal moving mechanism includes a sliding cylinder (12) and a pneumatic slide (11), with the working end of the sliding cylinder (12) connected to the pneumatic slide (11); the second positioning mechanism is located on the pneumatic slide (11).

7. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The positioning seat is provided with a plurality of positioning pins (3), which are configured to be inserted into the assembly holes of the shift actuator (15).

8. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, The magnetic sensor (1503) is a Hall angle sensor.

9. The overall multi-point calibration and testing device for the gear shifting actuator according to claim 1, characterized in that, It also includes a base (1) that supports the angle recognition mechanism (4), the first positioning mechanism and the horizontal movement mechanism.

10. A calibration test method, utilizing the overall multi-point calibration test device for the gear shift actuator as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Engage the gear shaft (1501) of the gear shifting actuator (15) with the spline sleeve (2) of the angle recognition mechanism (4), wherein the missing tooth at one end of the gear shaft (1501) engages with the tooth of the spline sleeve (2). S2, the first positioning mechanism lifts and presses the shifting actuator (15), the horizontal moving mechanism drives the second positioning mechanism to approach, the pneumatic chuck (7) clamps the worm gear of the shifting actuator (15) to rotate at a preset angle, during the rotation, the encoder (407) identifies the rotation angle of the connecting shaft (402) and feeds it back to the programmable logic controller, the programmable logic controller controls the rotation angle of the rotary drive source to the calibrated position, the programmable logic controller identifies the voltage signal transmission of the rotary drive source at the corresponding angle and transmits it to the magnetic sensor (1503) of the shifting actuator (15); S3. The pneumatic chuck (7) releases the worm gear of the shifting actuator (15), the horizontal moving mechanism drives the second positioning mechanism to return to the initial state, and then the first positioning mechanism returns to the initial state to complete the calibration.

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