CN116299499A - Transfer system and calibration method for realizing accurate repeated positioning of multi-station equipment - Google Patents

Abstract

The invention discloses a transfer system and a calibration method for realizing accurate repeated positioning of multi-station equipment, relates to the technical field of transfer calibration, and aims to solve the problem that the existing device cannot realize free switching between a working position and a storage position and cannot realize repeated accurate positioning of the working position of the equipment. The rigid pre-buried supports of the transfer system are arranged on the test foundation in pairs, and the fixed support frames are horizontally arranged on the corresponding rigid pre-buried supports; the lifting rail car works on the working position linear rail, two sides of the rigid bracket are placed on the corresponding fixed support frame twice in sequence, the calibration equipment is used for calibrating the rigid bracket and the fixed support frame twice in sequence in the constructed space coordinate system, the positioning device is locked after the calibration equipment finishes the first calibration, and when the reading number of the calibration equipment is smaller than a preset value twice in sequence, the lifting rail car supports the rigid bracket to move to the storage position linear rail. The system and the method realize accurate repeated positioning and transferring of multi-station equipment and have strong practicability.

Description

Transfer system and calibration method for realizing accurate repeated 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

The antenna test, the radome test, the RCS test and the like all need to use a microwave darkroom as a test infrastructure, and the microwave darkroom generally relates to land characterization, civil engineering, shielding room construction, wave-absorbing material laying and the like, has long construction period and large investment, and integrates the three test requirements in a multifunctional microwave darkroom for reducing repeated investment and shortening the construction period. However, the requirements of the three test scenes on the test equipment are different, the installation positions and the heights of the test equipment in the darkroom are different, in the traditional single-function darkroom, the installation positions of the test equipment are uniquely determined and are fixed after calibration, and the problem of repeated positioning is solved. The key technical indexes of antenna test, radome test and RCS test have extremely high requirements on geometric quantity precision of test positions of various devices, and in the multifunctional darkroom, various devices have different working positions and need to be switched between the working positions and the storage positions, so that the realization of accurate repeated positioning of the working positions of various devices is the key for realizing the testing function of the multifunctional darkroom.

In order to solve the problem of accurate repeated positioning, one way is to design the conversion track into a precise ball linear guide rail and a gear rack driving mode, and the way needs to design the working position track and the storage position track according to the installation requirement of the precise ball linear guide rail, generally, the tracks are installed on a base frame of integral milling processing, and meanwhile, the working position track and the storage position track have height differences so as to ensure the installation space of the rail conversion bracket. In addition, the precise ball linear guide rail is spliced by precise matching, and the gap is generally smaller than 0.1mm, so that a complex splicing mechanism is required to ensure that the equipment can be switched on different tracks. Thus, this approach tends to incur significant costs in switching the track system of the equipment where the work site itself is small in proportion and most of the construction is not devoted precisely to the problem of repositioning itself. More contradictory, the rigidity requirement of the medium-large-sized test equipment on the test station is higher, if the rigidity of the track base is insufficient, the test with high precision requirement is difficult to complete, and if the rigidity is improved, the cost is further increased.

Disclosure of Invention

The invention aims to provide a transfer system and a calibration method for realizing accurate and repeated positioning of multi-station equipment, which are used for solving the problems that in a multifunctional darkroom, each equipment is provided with different working positions, the working positions and the storage positions are required to be switched, the accurate and repeated positioning of the working positions of each equipment is required, the free switching of the working positions and the storage positions cannot be realized by the existing device and method, and the accurate and repeated positioning of the working positions of the equipment cannot be realized.

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

the transfer system for realizing accurate repeated positioning of multi-station equipment comprises 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.

Compared with the prior art, the transfer system for realizing the accurate and repeated positioning of the multi-station equipment adopts the wheel-rail type track, has low erection cost and good compatibility, adopts a pin shaft type tightly matched form as a positioning device, has effective high repeated precision, realizes mechanical repeated positioning at a working position, has no influence on the control precision of the control equipment and the precision of a feedback element, and has higher reliability; the high-precision measurement and positioning are only carried out at the working position, and the transfer part only needs to realize the transfer function, so that invalid repeated construction is avoided; if the working position supporting frame is damaged during the trial period, the coordinate system can be used for recalibration, and the method is more convenient. The whole erection cost of the transfer system is low, the adopted mechanical positioning can realize repeated high-precision positioning at a working position, the precise repeated positioning and transfer of multi-station equipment in a multifunctional darkroom are realized, the practicability is very strong,

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

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.

Compared with the prior art, the calibration method for realizing the accurate repeated positioning of the multi-station equipment has the same beneficial effects as the transfer system for realizing the accurate repeated positioning of the multi-station equipment in the technical scheme, and the detailed description is omitted here.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

FIG. 1 is a schematic view of a foundation;

FIG. 2 is a schematic diagram of a transit system according to an embodiment of the present invention;

FIG. 3 is a schematic view of a transfer state of a transfer system according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of calibration of a fixed support frame in an embodiment of the invention;

FIG. 5 is a schematic cross-sectional view showing a raised state of a carrier in an embodiment of the present invention;

FIG. 6 is a schematic view showing a state where the fixed support frame is engaged with the rigid bracket according to the embodiment of the present invention;

FIG. 7 is a schematic view illustrating the cooperation of the support frame positioning pins and the bracket positioning pin sockets according to an embodiment of the present invention;

FIG. 8 is a schematic view showing a falling state of the rigid carrier in the embodiment of the present invention;

FIG. 9 is a schematic view showing a raised state of the rigid carrier in the embodiment of the present invention;

fig. 10 is a schematic flow chart of a transfer method according to an embodiment of the present invention.

Reference numerals:

fixed position support frame 1, rigid pre-buried support 11, embedded part body 111, support stud 112, bottom reinforcement nut 113, lower support adjustment nut 114, upper lock nut 115, fixed support frame 12, support frame dowel 14, equipment carrier bracket 2, rigid bracket 21, fixed seat mounting surface 211, railcar bearing surface 212, bracket dowel seat 24, dowel seat body 241, lock screw 242, bracket transfer dowel seat 25, lift railcar 3, railcar body 31, carrier bracket 32, hydraulic support 33, railcar dowel pin 34, work position linear rail 41, storage position linear rail 42, rail turntable 43, transition position linear rail 44, laser tracker 51, target ball assembly 52, reference target ball seat 53, test foundation 6.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can 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 be indirectly connected to the other element.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1 to 9, the transfer system for realizing accurate and repeated positioning of multi-station equipment provided by the invention comprises a fixed-position supporting frame 1, an equipment bearing bracket 2, a lifting rail car 3, a transfer rail, calibration equipment and a test foundation 6; the fixed position support frame 1 comprises a plurality of groups of rigid pre-buried supports 11 and an equal number of fixed support frames 12, wherein the plurality of groups of rigid pre-buried supports 11 are arranged on the test foundation 6 in pairs, and the fixed support frames 12 are horizontally arranged on the corresponding rigid pre-buried supports 11; the equipment carrier bracket 2 comprises a plurality of rigid brackets 21 and a plurality of positioning devices for positioning the fixed support frame 12 and the rigid brackets 21; the transfer rail comprises a working position linear rail 41 and a storage position linear rail 42, the lifting rail car 3 works on the working position linear rail 41, two sides of the rigid bracket 21 are placed on the corresponding fixed support frame 12 twice in sequence, the calibration equipment performs two-time calibration on the rigid bracket 21 and the fixed support frame 12 in sequence, the positioning device is locked after the calibration equipment finishes the first calibration, and when the calibration equipment performs two-time calibration reading in sequence and is smaller than a preset value, the lifting rail car 3 supports the rigid bracket 21 to move to the storage position linear rail 42.

The specific implementation method comprises the following steps:

the system mainly comprises a fixed-position supporting frame 1, an equipment bearing bracket 2, a lifting rail car 3, a transfer rail, calibration equipment and a test foundation 6.

The fixed position support frame 1 comprises a rigid pre-buried support 11, a fixed support frame 12 and a support frame positioning pin 14; the fixed support frames 12 can be expanded according to the number of the devices, and the first fixed support frame 12, the second fixed support frame 12, the third fixed support frame 12 and the like can be expanded, wherein the support frame positioning pins 14 belong to the component parts of the positioning device;

the rigid pre-buried support 11 is formed by welding a thick steel plate and an anchor hook, is installed in pairs, is buried in a designed position before the foundation concrete is solidified, and can be installed with the accuracy of 10 mm;

the rigid pre-buried support 11 is calibrated after the foundation concrete is solidified, the positions of threaded holes for installing adjusting bolts are mainly calibrated, after the positions of base holes (threaded holes) are determined, the adjusting bolts are screwed into the base holes, and the installation positions of two fixed support frames 12 in the same group on an XOY plane are determined;

the fixed supporting frames 12 in the same group are arranged on the adjusting bolts on the rigid embedded support 11, and the heights of different positions are adjustable;

the fixed support frames 12 in the remaining groups are mounted and fixed in the same manner. The fixed support frame 12 is designed according to the technical characteristics of the equipment 1 and the equipment 2 and has enough rigidity; generally, steel plates are welded and then integrally and precisely machined and formed, the upper surface is a mounting matching surface, the flatness is high, and positioning pin mounting holes are reserved; each fixed support frame 12 is reserved with a positioning pin installation position;

the upper part of the supporting frame positioning pin 14 is of a conical shaft structure and is matched with the pin hole; the bottom is a round spigot for positioning and increasing the mounting rigidity, and the round spigot is mounted on the position of a mounting hole which is pre-processed in the same group of internal fixed support frames 12 in a shaft hole precise matching mode;

the equipment bearing bracket 2 comprises a rigid bracket 21, a bracket positioning pin seat 24 and a bracket transferring positioning pin seat 25; the number of rigid carriers 21 is determined by the number of functional devices.

The width of the rigid bracket 21 is basically equal to the total width of the two fixed support frames 12 mounted on the foundation, so that the bottom mounting surface of the rigid bracket can span and be mounted on the two upper mounting surfaces of the 2 fixed support frames 12; the top of the rigid bracket 21 is reserved with a mounting hole site for fixing and adjusting equipment;

the length of the rigid bracket 21 is basically equal to the length of the fixed supporting frame 12, and the bottoms of the side edges are provided with mounting screw hole sites; the remaining rigid brackets 21 and the fixed support frame 12 are of the same specifications.

The rigid bracket 21 comprises a fixed seat mounting surface 211 and two bottom surfaces of a rail car bearing surface 212, wherein the fixed seat mounting surface 211 is positioned at two sides of the bottom and is a precision machining surface; the rail car bearing surface 212 is positioned in the middle of the bracket and is lower than the fixed seat mounting surface 211 in the height direction, so that precise machining is not required; the way reduces the finish machining area, is convenient for ensuring the planeness of the mounting surfaces 211 of the two sides of the fixed seat, and reduces the cost without finishing the bearing surface 212 of the middle rail car;

2 bracket positioning pin seat 24 mounting holes are reserved on the fixed seat mounting surface 211, have a certain allowance, can adjust the mounting position and are matched with the supporting frame positioning pins 14 for use;

the bracket transferring positioning pin seat 25 is preset on the bearing surface 212 of the lifting railcar 3, is in low-precision clearance fit with the railcar positioning pin 34 arranged on the lifting railcar 3, and is mainly used for preventing overturning in transferring;

the lifting rail car 3 comprises 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 comprises 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 set comprises a laser tracker 51, a target ball assembly 52 and a reference target ball seat 53, and the test infrastructure 6 is mainly a test environment foundation constructed in coordination with the subsystems; the reference target ball seat 53 provides support for the target ball assembly 52, and the target ball assembly 52 may be used directly.

The railcar body 21 is a wheeled drive type railcar; the rail car bearing bracket 32 is arranged 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 railcar hydraulic support 33 is greater than the axial clear height of the support frame locating pin and the axial clear height of the railcar locating pin 34;

the railcar locating pins 34 are mounted at the four corners of the railcar carrier 32;

a railcar controller (not shown) for controlling railcar motion, such as a hand-held control device that may preferably be wireless controlled;

the working position linear rail 41 is two groups of mutually parallel wheel rails which are in the same direction as the X axis of the test coordinate system and are fixed on the foundation, and calibration with certain geometric accuracy (generally not more than 10 mm) is required before the fixing

The storage position linear rail 42 is generally perpendicular to the working position linear rail 41, is divided into two sections crossing the rail turntable 43, and is fixed on a foundation after calibrating the parallelism and the flatness with a certain geometric accuracy;

the track turntable 43 is positioned at the crossing position of the working position linear track 41 and the storage position linear track 42, and a sinking space is reserved and installed on the foundation;

the conversion bit linear rail 44 is arranged on the upper surface of the rail turntable 43, and can be spliced with the working bit linear rail 41 and the storage bit linear rail 42 respectively in the rotation process;

the splicing is arc tangent splicing, so that the wheel rail can keep continuous line-surface contact when the driving wheel of the railway vehicle spans different rails;

the reference target ball seats 53 are reserved at a plurality of positions with different heights and different sections of the test infrastructure 6, generally not less than 6, for reconstructing a coordinate system of the test system; when the reserved bit is marked by the system, three coordinate values of XYZ are determined and recorded;

the mechanical contact position of the target ball assembly 52 and the reference target ball seat 53 is unique, so that the measurement coordinate value of the target ball is unique;

the reference target ball seat 53 needs to be fully 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 firstly used for reconstructing a test system coordinate system;

the system coordinate system is rebuilt by adopting a laser tracker 51 to sequentially measure the existing coordinate values of the reserved target ball assemblies 52, collecting the coordinate values of a sufficient number of target ball assemblies 52, recording the original coordinate values and the serial numbers of the target ball assemblies 52 in the original coordinate system by the reserved target ball assemblies 52, establishing a new coordinate system according to the collected existing coordinate values of the target ball assemblies 52 in the rebuilding process, sequentially filling the original recorded coordinate values and the serial numbers of the target ball assemblies into measurement software to cover the newly measured coordinate values, and generating a new coordinate system by the measurement software at the moment, wherein the new coordinate system is the original coordinate system by using a conversion function in the software, and rebuilding of the original coordinate system can be realized.

In other words, the original coordinate system is not completely consistent (i.e., origin is different) due to the assumed position of the laser tracker 51 when setting up and re-calibrating, and therefore the target ball assembly 52 needs to be used as a base reference for coordinate conversion. When the coordinate system is built, the newly erected laser tracker 51 sequentially measures the coordinate values of the original target ball assembly 52, and a new coordinate system is built; coordinate system conversion is selected from the software on two sides, and coordinate values of the target ball assembly 52 recorded in the prior art are sequentially recorded, so that a darkroom initial coordinate system can be generated, and calibration of system detection is facilitated.

Note that: the coordinate system is established by using a laser tracker and reconstructed into the prior art of the industry, and the measuring software SA can be directly operated.

As before, the effective support height and bracket tilt angle of the hydraulic support 33 can affect the safety of transportation; wherein, the height of the hydraulic support 33 is lower than a set limit value, which can cause interference between the locating pin and the bracket during the running process of the railway vehicle, and the inclination angle can cause the equipment borne on the upper part to possibly topple under the emergency stop state of the railway vehicle; thus, a safety sensor (not shown) is used for the above two safety-related parameter measurements, monitoring in real time, and terminating the operation when an abnormal value occurs.

Compared with the prior art, the transfer system for realizing the accurate and repeated positioning of the multi-station equipment adopts the wheel-rail type track, has low erection cost and good compatibility, adopts a pin shaft type tightly matched form as a positioning device, has effective high repeated precision, realizes mechanical repeated positioning at a working position, has no influence on the control precision of the control equipment and the precision of a feedback element, and has higher reliability; the high-precision measurement and positioning are only carried out at the working position, and the transfer part only needs to realize the transfer function, so that invalid repeated construction is avoided; if the working position supporting frame is damaged during the trial period, the coordinate system can be used for recalibration, and the method is more convenient. The whole transportation system is low in erection cost, the adopted mechanical positioning can realize repeated high-precision positioning at a working position, the accurate repeated positioning and transportation of multi-station equipment in a multifunctional dark room are realized, and the transportation system has strong practicability.

As an embodiment, the rigid embedded support 11 includes an embedded part body 111 and an adjusting bolt, the embedded part body 111 is formed by welding a steel plate and an anchor hook, the embedded part body 111 is embedded in a designed position before the concrete of the test foundation 6 is solidified, a calibrated threaded hole is formed in the embedded part body 111, 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 bought into the design position before the concrete of the test foundation 6 is solidified, the stability of the embedded part body 111 on the test foundation 6 after installation is ensured, and the accuracy of the installation position is ensured by the calibrated threaded holes.

As one embodiment, the adjusting bolt includes a support stud 112, a bottom reinforcing nut 113, a lower support adjusting nut 114, and an upper lock nut 115; the support studs 112 penetrate out of the embedded part body 111 upwards, the bottom reinforcing nuts 113 fasten the support studs 112 on the embedded part body 111, the lower support adjusting nuts 114 are installed in the middle of the support studs, all the lower support adjusting nuts 114 are calibrated horizontally by calibration equipment, and the upper locking nuts 115 fasten the fixed support frame 12 after the fixed support frame 12 is installed on the embedded part body 111.

The support stud 112 is arranged in the calibrated threaded hole, so that the installation effect of the fixed support frame 12 is guaranteed, the installation of the bottom reinforcing nut 113 is realized, the support stud 112 and the embedded part body 111 are fastened, the lower support adjusting nut 114 is arranged in the middle of the support stud, the height can be adjusted according to the calibrated level, the upper locking nut 115 is used for fastening the fixed support frame 12 on the support stud 112, and the installation effect of the fixed support frame 12 is guaranteed through the horizontal calibration of the lower support adjusting nut 114.

As one possible embodiment, the lifting rail car 3 comprises a rail car body 21, a carrier bracket 32, a hydraulic support 33 and a rail car locating pin 34 for locating the rigid bracket 21; the rail car body 21 runs on the transfer rail, the bearing bracket 32 is installed on the rail car body 21 through the hydraulic support 33, the rail car locating pins 34 are installed at four corners of the bearing bracket 32, the bracket transfer locating pin seats 25 are arranged at corresponding positions on the rigid bracket 21, and the bracket transfer locating pin seats 25 are matched with shaft holes of the rail car locating pins 34.

The railcar body 21 is the railcar of wheeled drive form, walks on work position straight line track 41 and storage position straight line track 42, and bear the weight of the bracket 32 and install at railcar body 21 top through hydraulic support 33, can realize going up and down under the drive of hydraulic support 33, railcar locating pin 34 axle and bracket transportation locating pin seat 25 carry out shaft hole cooperation, have realized bearing the accurate location and the support of bracket 32 to rigid bracket 21. Further, the railcar positioning pins 34 are installed at four corners of the bearing bracket 32 to provide omnibearing support for the rigid bracket 21, and the bracket transfer positioning pin seat 25 is in low-precision clearance fit with the railcar positioning pins 34 arranged on the lifting railcar 3, and is mainly used for preventing overturning in transfer;

as one possible embodiment, the lifting rail car 3 further comprises a rail car controller for controlling the movement of the lifting rail car 3; the railcar controller is a wireless handheld control device.

The track controller is in a wireless handheld control mode, so that the control of the lifting track car 3 is more convenient.

As one embodiment, the positioning device includes a bracket dowel seat 24 and a support frame dowel 14; the support frame locating pins 14 are mounted on the fixed support frame 12, the bracket locating pin seats 24 are mounted at corresponding positions of the rigid brackets 21, and the bracket locating pin seats 24 are matched with shaft holes of the support frame locating pins 14. Further, the bracket locating boss 24 includes a locating boss body 241, a locking screw 242, and a locating taper pin (not shown). The locating pin seat body 241 is pre-installed at a reserved position of the rigid bracket 21, the locating pin seat body 241 is arranged in a loose fixing mode by using the locking screw 242 (the locating pin seat body 241 is reserved as a large clearance hole), the locating pin seat body 241 can move in a small range in two directions X, Y, after the rigid bracket 21 is placed on the fixed supporting frame 12, and the supporting frame locating pin 14 slides into the locating pin seat body 241, the locating pin seat body 241 is fastened by the locking screw 242, and locating taper pins are driven into taper pin holes reserved in the locating pin seat body 241, so that locating locking is realized.

The bracket locating pin seat 24 on the rigid bracket 21 is matched with the support frame locating pin 14 on the fixed support frame 12, so that the rigid bracket 21 and the fixed support frame 12 are accurately located. Further, by fastening and locking the bracket locating pin seat 24, a locating effect between the support frame locating pin 14 and the bracket locating pin seat 24 is ensured.

As one embodiment, the calibration apparatus 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 plurality of target ball assemblies 52 are symmetrically distributed along the center line of the test base 6 in the darkroom area.

The laser tracker 51 is located on the central line of the length direction of the test foundation 6, or on the central line of the linear track 41 of the working position, and is matched with a plurality of target ball assemblies 52 symmetrically distributed on two sides of the central line, so that devices in the range of the dead space can be accurately positioned, three-dimensional space coordinates are constructed, and accurate positioning and detection of a plurality of different devices or components are realized. Further, the target ball assembly 52 can also be matched with the reference target ball seat 53 for use, and the mechanical contact position of the target ball assembly 52 and the reference target ball seat 53 is unique, so that the unique coordinate value of the target ball measurement is ensured; the reference target ball seat 53 needs to be fully fixed on the test infrastructure 6 to ensure a stable and unique position.

As an embodiment, the transfer rail further includes a rail turntable 43 and a transfer linear rail 44; the work bit linear rail 41 and the storage bit linear rail 42 are vertically arranged, the rail turntable 43 is arranged in an intersecting area of the work bit linear rail 41 and the storage bit linear rail 42, the conversion linear rail is arranged on the rail turntable 43, and the rail turntable 43 rotates to enable the conversion linear rail to be selectively communicated with the work bit linear rail 41 or the storage bit linear rail 42.

The track turntable 43 is positioned at the crossing position of the working position linear track 41 and the storage position linear track 42, and a sinking space is reserved and installed on the foundation; the conversion bit linear rail 44 is arranged on the upper surface of the rail turntable 43, and can be spliced with the working bit linear rail 41 and the storage bit linear rail 42 respectively in the rotation process; the splicing is arc tangent splicing, so that the wheel rail can keep continuous line-surface contact when the driving wheel of the railway vehicle spans different rails; the switching of the lift railcar 3 between the work position linear rail 41 and the storage position linear rail 42 is realized.

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

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 installation and fixation 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 penetrates through a bracket locating pin seat movably arranged on the rigid bracket, the rigid bracket is movably designed in position, the bracket locating pin seat is fastened, the rigid bracket is calibrated for the first time by using a laser tracker, and the first geometrical quantity reading is recorded;

step S40: and when the difference value of the two geometric quantity readings is smaller than a preset value, the railway carriage can be carried by the railway carriage to move to the storage position linear rail 42, so that station switching is completed.

The specific implementation method comprises the following steps:

for convenience of expression, O is used as the origin of a system coordinate system; the X direction is the microwave transmission direction (namely, the origin is toward the center of the dead zone); the Y direction is perpendicular to the X direction; OXY is a horizontal plane; z direction is height direction;

1. in darkroom construction, a test system total coordinate system is established by taking key equipment such as a reflecting surface and the like as a reference, wherein the step is an essential link and is generally constructed by a system underwriting party;

2. in the process of establishing the coordinate system, the reference target ball seats 53 are reserved at positions of different heights (namely, the XYZ coordinates have a certain span, the span is determined according to the size of the darkroom, the XY direction is generally more than 2000mm and the Z direction is more than 200 mm) in the vicinity of a dead zone of the darkroom, and the number of the reference target ball seats 53 is preferably 12-20 (because the construction process is damaged and part of the reference target ball seats 53 can be in a newly-erected blind zone of the laser tracker 51 during the reconstruction of a subsequent coordinate system);

3. a laser tracker 51 is erected on the hard ground in front of a darkroom dead zone (namely the space envelope range of the equipment working area), and is as close to the centerline of the darkroom as possible in the Y direction;

4. the target ball assembly 52 is sequentially fixed on the reference target ball seat 53 (only a target ball can be used in the step and is determined according to the structure of the reference target ball seat 53), the coordinate values of all positions are sequentially measured by using the laser tracker 51, and a darkroom original coordinate system is reconstructed according to the original recorded coordinate values of all reference points;

5. the target ball assembly 52 is placed on a reserved mark position on the upper surface of the rigid pre-buried support 11, and the position of the mounting stud hole is marked according to the coordinate value and the design theoretical value, and the accuracy order of the step is required to be +/-3 mm;

6. punching and tapping holes are formed in the rigid pre-buried support 11 according to the steps, support studs 112 are installed, and a bottom reinforcing nut and an installation lower layer nut are screwed into each support stud 112;

7. hoisting the fixed support frame 12 to the support studs 112 according to the mounting hole positions, placing the target ball assembly 52 at least 4 positions on the top of the fixed support frame 12, adjusting and mounting the lower nuts so that Z values of all positions are consistent, and screwing the upper nuts, thereby finishing leveling, wherein the levelness of the step can be better than +/-0.02 mm;

8. repeating the steps 5 to 7 to sequentially finish the positioning and fixing of the fixed support frames 12 on the two sides and the fixed support frames 12 for the rest equipment;

9. placing the equipment bearing bracket 2 on the lifting rail car 3, ensuring that the rail car positioning pin 34 is positioned in the bracket transferring positioning pin seat 25, and lifting the hydraulic support 33 to enable the lifting rail car 3 to be positioned in a high-position state;

10. the locating pin seat body 241 in the bracket locating pin seat 24 is pre-installed at the reserved position of the bracket, the locating pin seat body 241 is arranged in a loose fixing mode by using the locking screw 242 (the locating pin seat body 241 is reserved as a large clearance hole), and the locating pin seat body 241 can move in a small range in two directions of X, Y;

11. controlling the lifting railcar 3 to move to the position of the fixed supporting frame 12 by using the railcar controller, wherein the bearing bracket 32 can completely cross the fixed supporting frame 12, controlling the hydraulic support 33 to reduce the height until the hydraulic support is completely decompressed, and dropping the bearing bracket 32 on the upper surface of the fixed supporting frame 12;

12. at this time, the bracket locating pin seat 24 will fall along the taper guide of the supporting frame locating pin 14, so as to complete the tight fit between the supporting frame locating pin 14 and the locating pin seat body 241;

13. placing the target ball assembly 52 on a reference zero position on the equipment or equipment rigid bracket 21, measuring the current OXY position by using a laser tracker 51 (51), and controlling the lifting railcar 3 to move or manually adjust to move the rigid bracket 21 to a position required by design; ( The absolute position accuracy of the position on an OXY coordinate system can reach +/-3 mm; the position is determined based on the test requirement, and the repeated positioning is performed after the position is determined )

14. Checking the states of the two bracket positioning pin seats 24, determining to complete the matching of the step 12, locking respective locking screws 242, and driving positioning taper pins into taper pin holes reserved in the positioning pin seat body 241;

15. the hydraulic support 33 is lifted to maximum height using the railcar controller, disengaging the carriage alignment pin seat 24 and the support frame alignment pin 14 is accomplished, and the hydraulic support 33 is lowered again to depressurize, checking the geometry reading of the laser tracker 51. At this time, the reading change is generally about + -0.02 mm;

16. to this end, the rigid carrier 21 achieves a repeatable mechanical fit with high precision with the fixed support frame 12;

17. recording the height value of the hydraulic support 33, and setting a height monitoring sensor range;

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

19. after the steps are finished, an alarm range of the inclination angle sensor can be set;

20. the lifting railcar 3 is controlled to move towards the railcar turntable, the turntable is controlled to rotate when the railcar is completely positioned on part of the track of the turntable, and the railcar is rotated to a storage position track splicing position (with a limiting mechanism)

21. Controlling the lifting railcar 3 (comprising bearing equipment) to run to a storage position, namely finishing station switching of the equipment;

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

23. in the event of a safety sensor alarm, the hydraulic support 33 is checked and operated after the alarm has been released.

Compared with the prior art, the calibration method for realizing the accurate repeated positioning of the multi-station equipment has the advantages that the wheel-rail type track is selected, the erection cost is low, the compatibility is good, the pin shaft type tight fit mode is selected as the positioning device, the effective high repeated precision is realized, the high-precision repeated positioning at the working position is mechanical, the control precision of the control equipment and the precision influence of the feedback element are avoided, and the reliability is higher; the high-precision measurement and positioning are only carried out at the working position, and the transfer part only needs to realize the transfer function, so that invalid repeated construction is avoided; if the working position supporting frame is damaged during the trial period, the coordinate system can be used for recalibration, and the method is more convenient. The whole transportation system is low in erection cost, the adopted mechanical positioning can realize repeated high-precision positioning at a working position, the accurate repeated positioning and transportation of multi-station equipment in a multifunctional dark room are realized, and the transportation system has strong practicability.

As an embodiment, the preset value is ±0.02mm.

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

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to 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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