CN110554249A - Far field test system for microwave darkroom - Google Patents
Far field test system for microwave darkroom Download PDFInfo
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- CN110554249A CN110554249A CN201910832462.2A CN201910832462A CN110554249A CN 110554249 A CN110554249 A CN 110554249A CN 201910832462 A CN201910832462 A CN 201910832462A CN 110554249 A CN110554249 A CN 110554249A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
- G01R29/08—Measuring electromagnetic field characteristics
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Abstract
the application provides a far field test system of microwave anechoic chamber, including microwave anechoic chamber, antenna test revolving stage, radio frequency signal link, control center, the antenna test revolving stage sets up in the microwave anechoic chamber, antenna test revolving stage and control center are connected to the radio frequency signal link, the antenna test revolving stage includes transmitting antenna revolving stage and receiving antenna revolving stage, the receiving antenna revolving stage is the robot revolving stage. The antenna radiation parameter measurement system adopts the six-axis industrial robot to realize large-range, high-freedom degree and high-precision antenna radiation parameter measurement.
Description
[ technical field ] A method for producing a semiconductor device
the application relates to the technical field of testing, in particular to an antenna testing system.
[ background of the invention ]
with the progress of technology, electronic devices such as mobile phones have been widely popularized. Electronic devices typically include an antenna to communicate with other electronic devices. Before the electronic device leaves a factory or when the electronic device is repaired, the performance of the antenna in the electronic device is often tested to determine whether the antenna is qualified. In the conventional technology, a lot of test instruments are usually used to test the antenna in the electronic device.
The antenna test system is a set of automatic test system which is controlled by a central computer to scan the antenna radiation field, collect data, process test data and display and output test results. The whole antenna far-field test system consists of a hardware subsystem and a software subsystem. The hardware subsystem can be further divided into a testing darkroom subsystem, a servo turntable and control subsystem, a radio frequency signal link subsystem and the like. The software subsystem comprises a test control and data acquisition subsystem, a data processing subsystem and a result display and output subsystem.
At present, the large darkroom automatic testing system in the industry is mainly based on a traditional servo turntable, due to technical limitation, the dimension of the turntable generally does not exceed three dimensions, for example, some traditional servo turntables are divided into a first-axis turntable, a second-axis turntable and a third-axis turntable according to the complexity, and the adjustment of the azimuth, the pitching and the polarization direction of an antenna is realized through a multi-axis turntable. This structure appears to be ineffective for testing large antennas. Therefore, it is necessary to provide a test system which can realize the measurement of the radiation parameters of the antenna with large range, high degree of freedom and high precision and is suitable for the far-field test of the large-scale antenna.
[ summary of the invention ]
The application aims to provide a test system which is suitable for large-scale antenna far-field test, realizes antenna radiation parameter measurement with large range, high degree of freedom and high precision.
In order to realize the purpose of the application, the following technical scheme is provided:
The application provides a far field test system of microwave anechoic chamber, including microwave anechoic chamber, antenna test revolving stage, radio frequency signal link, control center, the antenna test revolving stage sets up in the microwave anechoic chamber, antenna test revolving stage and control center are connected to the radio frequency signal link, the antenna test revolving stage includes transmitting antenna revolving stage and receiving antenna revolving stage, the receiving antenna revolving stage is the robot revolving stage.
In some embodiments, the receive antenna turret is a six-axis robotic turret. The receiving antenna turntable comprises three orthogonal shaft systems of a transverse shaft, a pitching shaft and an azimuth shaft.
In some embodiments, the receiving antenna turntable further comprises a lifting device which is stable and reliable in lifting; the shafts of the receiving antenna rotary table have the functions of simultaneously moving and positioning at respective speeds. In some embodiments, each axis of the receive antenna turret has an independent mechanical stop and electric locking device. In some embodiments, the receive antenna turntable includes a manual azimuth axis having an angular scale, a hand crank, and a position locking device.
in some embodiments, the transmitting antenna turntable is a single-axis turntable with motion and positioning functions.
In some embodiments, the darkroom far-field test system further comprises a shielding room, and the darkroom is arranged in the shielding room.
in some embodiments, the control center includes a data processing module, an information collecting module, an instruction sending module, an information receiving module, a motion control module, and a communication module, which are connected to each other, where the information collecting module is connected to the antenna testing turntable and configured to collect positioning angles of axes of the antenna testing turntable and feed back the positioning angles to the data processing module, the information receiving module is configured to receive feedback information of the antenna testing turntable and transmit the feedback information to the data processing module, the data processing module generates a control instruction after calculating according to the collected angle information and the feedback information, and sends the instruction to the antenna testing turntable via the instruction sending module, and the communication module is configured to receive the control instruction and connect with the motion control module to control the motion and positioning of the antenna testing turntable.
In some embodiments, the control center further comprises an overspeed protection module, a limit protection module and an emergency protection module connected to the antenna test turntable. The emergency protection module comprises an emergency protection button connected with the antenna test turntable.
In some embodiments, the control center includes an upper computer and a lower computer, the upper computer includes the information acquisition module, an instruction sending module, and an information receiving module, and the lower computer includes a motion control module and a communication module. Controlling the motion and the positioning of each shaft of the antenna test turntable by adopting a lower computer; and the device is communicated with an upper computer and can receive a motion command, feedback angle information and the current motion state.
In some embodiments, the control center system software has functions of setting measurement parameters, monitoring measurement data, processing data, extracting data, tracking data, transmitting data, storing data, printing data, and the like; the control center system software has a data processing mode, has antenna radiation directional diagram analysis, and can display the peak value, beam width, gain, directivity, maximum and minimum gain, polarization parameters, marks and the like of a directional diagram; the control center system software also has a directional diagram of a plane which is arbitrarily cut on a spherical field, and parameters such as peak value, beam width, gain and the like can be displayed on the directional diagram; the control center system software further has data display capacity: the peak value, the beam width, the gain, the average value, the maximum and minimum gain points and the polarization parameter of the directional diagram can display a plurality of curves in different colors on one coordinate; the system test software can support the R & S, Keysight network analyzer, and the software has the upgrade capability and can upgrade the active test capability.
compared with the prior art, the method has the following advantages:
The method introduces an industrial multi-axis robot into the field of antenna automatic test; the transmitting antenna rotary table (single shaft) has the functions of movement and positioning, and can enable the transmitting antenna to be positioned at any set position within a rotating angle range so as to facilitate the positioning of the transmitting antenna; the receiving antenna turntable is a multi-axis robot, and each axis has the functions of simultaneous movement and positioning at the respective speed; the motion and the positioning of each shaft of the table body are controlled by a lower computer; and communicating with the host computer: the motion command, the feedback angle information and the current motion state are received, the deployment is faster, the device is suitable for various frequency bands, various test products are supported, and the later-stage upgrading and reconstruction are facilitated;
The antenna radiation parameter measurement system adopts the six-axis industrial robot to realize the measurement of the antenna radiation parameters with large range, high degree of freedom and high precision, and at present, the domestic market does not have similar antenna test products and test schemes.
[ description of the drawings ]
FIG. 1 is a front perspective view of a remote field test system for a microwave anechoic chamber according to the present application;
FIG. 2 is a perspective view of a remote field test system for a microwave anechoic chamber according to the present application;
FIG. 3 is a perspective view of a six-axis robot according to an embodiment of the present application;
FIG. 4 is a perspective view of another perspective of a six-axis robot according to an embodiment of the present application;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 4;
FIG. 6 is an enlarged view of area D of FIG. 5;
FIG. 7 is an enlarged view of area C of FIG. 5;
FIG. 8 is a schematic structural diagram of a slip ring and RF link connection according to an embodiment of the present application;
FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8;
fig. 10 is a schematic view of a slip ring structure according to an embodiment of the present application.
[ detailed description ] embodiments
Referring to fig. 1 and 2, the remote testing system for a microwave anechoic chamber of the present application includes a microwave anechoic chamber 1000, antenna testing turntables 121 and 122, a radio frequency signal link (not shown), and a control center (not shown), which may be a computer. The antenna test turntables 121 and 122 are disposed in a microwave darkroom 1000, which is disposed in a shielding room, typically an aluminum-plastic shielding room. The radio frequency signal link is connected with an antenna test turntable and a control center, the antenna test turntable comprises a transmitting antenna turntable 121 and a receiving antenna turntable 122, and the receiving antenna turntable 122 is a robot turntable. In a specific embodiment, the receiving antenna turntable 122 is a six-axis robot turntable, and the transmitting antenna turntable 121 is disposed on the turntable base 123. Test product 140 is placed at the end of the arm of a six axis robotic turret.
The receiving antenna turntable comprises three orthogonal shaft systems of a transverse shaft, a pitching shaft and an azimuth shaft. The receiving antenna turntable also comprises a lifting device which is stable and reliable in lifting; the shafts of the receiving antenna rotary table have the functions of simultaneously moving and positioning at respective speeds. In some embodiments, each axis of the receive antenna turret has an independent mechanical stop and electric locking device. The receiving antenna rotary table comprises a manual azimuth shaft, and the manual azimuth shaft is provided with angle scales, a hand crank and a position locking device.
The transmitting antenna rotary table is a single-shaft rotary table and has the functions of movement and positioning. A network subsystem controller 170 and a corner reflector 180 are also provided in the darkroom.
the control center comprises a data processing module, an information acquisition module, an instruction sending module, an information receiving module, a motion control module and a communication module which are connected, wherein the information acquisition module is connected with the antenna test rotary table and used for acquiring the positioning angle of each axis of the antenna test rotary table and feeding back the positioning angle to the data processing module, the information receiving module is used for receiving the feedback information of the antenna test rotary table and transmitting the feedback information to the data processing module, the data processing module generates a control instruction after calculating according to the acquired angle information and the feedback information and sends the instruction to the antenna test rotary table through the instruction sending module, and the communication module is used for receiving the control instruction and connecting the motion control module to control the motion and the positioning of the antenna test rotary table.
The control center further comprises an overspeed protection module, a limiting protection module and an emergency protection module which are connected with the antenna test turntable. The emergency protection module comprises an emergency protection button connected with the antenna test turntable.
the control center comprises an upper computer and a lower computer, the upper computer comprises the information acquisition module, the instruction sending module and the information receiving module, and the lower computer comprises a motion control module and a communication module. Controlling the motion and the positioning of each shaft of the antenna test turntable by adopting a lower computer; and the device is communicated with an upper computer and can receive a motion command, feedback angle information and the current motion state.
The control center system software has the functions of measuring parameter setting, measuring data monitoring, data processing, data extraction, data tracking, data transmission, data storage, data printing and the like; the control center system software has a data processing mode, has antenna radiation directional diagram analysis, and can display the peak value, beam width, gain, directivity, maximum and minimum gain, polarization parameters, marks and the like of a directional diagram; the control center system software also has a directional diagram of a plane which is arbitrarily cut on a spherical field, and parameters such as peak value, beam width, gain and the like can be displayed on the directional diagram; the control center system software further has data display capacity: the peak value, the beam width, the gain, the average value, the maximum and minimum gain points and the polarization parameter of the directional diagram can display a plurality of curves in different colors on one coordinate; the system test software can support the R & S, Keysight network analyzer, and the software has the upgrade capability and can upgrade the active test capability.
In an embodiment, the microwave darkroom far-field test system comprises two parts, namely a hardware subsystem and a software subsystem. The hardware subsystem can be further divided into: the system comprises a test darkroom subsystem, a servo turntable subsystem and a radio frequency signal link subsystem (comprising a microwave test instrument). The software subsystem includes servo revolving stage control subsystem, radio frequency signal sampling system, data processing and display subsystem triplex, the software subsystem is true the functional system that control center realized, wherein servo revolving stage control subsystem include by the motion control to the antenna test revolving stage that motion control module realized, radio frequency signal sampling system include by the radio frequency signal acquisition function that information acquisition module realized, data processing and display subsystem include by data processing and instruction generation that data processing module realized, data processing and display subsystem still include the display module and are used for showing data information. The functions of all subsystems are realized by a central computer.
The test darkroom subsystem comprises the microwave darkroom. The microwave darkroom has the functions of firstly preventing the interference of external electromagnetic waves, preventing the test activity from being influenced by the external electromagnetic environment, preventing the test signal from radiating outwards to form an interference source, polluting the electromagnetic environment and causing the interference to normal test equipment; secondly, the security can be realized and the external electromagnetic interference can be avoided by testing in a microwave darkroom, and the work is stable and reliable; thirdly, the test can be performed in an indoor test environment such as a microwave darkroom, so that all-weather work can be realized, and the interference of environmental factors can be avoided. The microwave anechoic chamber has the main function of simulating a free space environment, wave-absorbing materials 132 are adhered to all six surfaces of the microwave anechoic chamber, and the wave-absorbing materials with higher performance than other areas are adhered to the main reflecting area.
In some specific embodiments, 2mm galvanized steel plates are adopted to manufacture the shielding unit plates, assembly is completed at the installation site in the later period, and excellent radio frequency shielding and electric contact are ensured at the splicing positions of the steel plates. The excellent shielding performance not only ensures the performance of the microwave darkroom, but also ensures the long service life of the darkroom. And can effectively isolate the external electromagnetic interference. The assembly mode is easy and convenient to install, and is convenient for future relocation, and the darkroom has advanced and reliable performance. The shielding unit plates are connected by bolts with the hole pitch of 75mm, a galvanized copper net is filled between the plates to ensure no electromagnetic leakage, the shielding unit plates are mainly assembled by taking 1000mmx3000mm as units, and the plate seams are connected with the plate seams in a staggered manner to ensure the sealing performance of the plate seams. Such a design ensures the highest specification shielding effectiveness.
The size of the shielding unit plate is standard, and meanwhile, the corresponding size can be specifically designed according to the requirements of users, as the microwave darkroom is arranged in a parent building, the existing space is fully utilized, the microwave darkroom is completely processed according to construction drawings during processing, the shielding unit plate does not need to be cut again on a construction site, an electroplated layer cannot be damaged, and meanwhile, the shielding unit plate is more beneficial to compressing the time on the construction site. The connection between the shield element plates is also very important, and good RF shielding and electrical contact can be achieved by using good quality inlet conductive shield liners between all adjacent shield element plates. The adopted conductive lining has good conductive performance. The material can completely reach the shielding effectiveness of more than 100dB in the frequency range of 14KHz-40 GHz.
wave-absorbing materials are paved on the inner wall of the shielding room, the floor, the walkway and the like. The top of the shielding room is provided with an exhaust device 150. The camera can be arranged in the darkroom to monitor the condition in the darkroom, and the infrared camera can be arranged. The top of the shielded room is also provided with a filter interface 160.
The servo turntable subsystem comprises the antenna test turntable, and the antenna test turntable is a device capable of loading an antenna with certain mass and volume and is mainly used for testing the corner angle position of the antenna. Therefore, constructing a set of antenna test turntable automated test system is particularly important for the test of the antenna. The antenna test turntable comprises a transmitting antenna turntable and a receiving antenna turntable. Wherein the transmitting antenna turntable is a single axis table and the receiving antenna turntable is a multi-axis table. The whole set of turntable equipment is controlled by a computer, and optimized combinations of a stepping motor, a hydraulic swing cylinder, a hydraulic actuator cylinder and the like are adopted to drive each shaft, so that the rotation motion and the accurate positioning of the antenna such as rolling, pitching and positioning are realized. Wherein the receiving antenna turntable further comprises a lifting device. To complete the positional movement of the antenna transmitting horn about the roll axis. The receiving antenna rotary table performs rotary motion and accurate positioning around three orthogonal axes of a transverse shaft, a pitching shaft and an azimuth shaft, and lifting and accurate positioning of the receiving antenna rotary table are realized by combining a lifting device.
The servo turntable subsystem is the core of a hardware subsystem of a microwave darkroom far-field test system, and has the task of driving a transmitting antenna or a receiving antenna to move in a preset mode according to the setting or instruction of a user, feeding back position and speed information in real time, and matching with a signal link subsystem under the control of a central computer to finish the task of sampling radio-frequency signals. The traditional servo rotary table is divided into a first-axis rotary table, a second-axis rotary table and a third-axis rotary table according to complexity, and the multi-axis rotary table can realize the adjustment of the azimuth, the elevation and the polarization direction of an antenna. This application adopts six robots to realize servo revolving stage, not only can realize the adjustment of antenna position, every single move and polarization direction, because arm working range is very big, can also realize that the near field far field of antenna test switches, can realize the test of the plane near field of antenna, cylinder near field and sphere near field.
the signal link subsystem completes generation, transmission, radiation, reception and acquisition of signals. For frequency domain far-field testing, the core that constitutes the signal link is the vector network analyzer system. A generalized two-port system which is connected by an open space is formed between the antenna to be tested and the transmitting antenna, a parameter is obtained through the test of a vector network analyzer corresponding to each sampling point, and the far field amplitude distribution and the phase distribution on the far field scanning surface of the antenna to be tested can be obtained after all the sampling points are traversed.
Each subsystem in the software subsystem is correspondingly distributed on the upper computer and the lower computer, and the upper computer mainly completes the test work of the antenna test turntable, including the real-time acquisition of the positioning angle of each axis of the antenna test turntable, the sending of a control command to the lower computer and the receiving of the feedback information of the lower computer; the lower computer mainly controls the movement and the positioning of each axis and keeps communication with the upper computer. Each axis of the robot turntable needs to be automatically controlled by a computer, and a control system of the robot turntable needs to realize a stable and accurate positioning function, wherein the positioning accuracy is 0.05 degree.
With the development and maturity of the turntable technology, the safety and reliability become more and more important parts of the turntable indexes. Therefore, the present system is provided with the following protection functions: 1) overspeed protection, when a certain shaft of the antenna test turntable has an overspeed fault, the system automatically gives a protection signal, cuts off the control of a motor, stops the movement of the antenna test turntable and keeps the antenna test turntable still, and displays and alarms; 2) the system gives signals to cut off the control of the driving device and displays and alarms when each shaft of the antenna test turntable exceeds the preset angle limit of the system due to faults or other accidents; 3) and in emergency protection, a user emergency protection button is specially arranged in the system control cabinet, and if other accidents occur, an operator can press the button to enable the antenna test turntable to be in a protection state.
the display subsystem comprises a three-dimensional function part and a two-dimensional function part. The three-dimensional function comprises a three-dimensional spherical coordinate display function, a three-dimensional polar coordinate display function, a three-dimensional rectangular coordinate display function and an animation display function under three coordinate systems. The two-dimensional function includes a two-dimensional rectangular coordinate display function, a two-dimensional polar coordinate display function, and a two-dimensional plane display function. When the directional diagram of the antenna to be tested is tested, firstly, all the equipment of the system are connected on the main control computer, test parameters are set, then the system starts to test, and the vector network analyzer is used for testing the amplitude-phase characteristics of the antenna. When the antenna test turntable rotates to a certain angle, the transmitting signal source and the local oscillation signal source sequentially scan a plurality of frequency points, the vector network analyzer correspondingly performs receiving processing, the antenna test turntable rotates to the next angle, the vector network analyzer completes data acquisition of the multi-frequency points at different azimuth angles, and the directional diagram of the antenna to be tested is obtained after the test is completed.
The performance index that this application microwave dark room far field test system can reach:
1) frequency range: 100MHz to 50 GHz;
2) Dynamic range without low noise amplifier:
<18 GHz: better than 80 dB;
18-26.5 GHz: better than 70 dB;
26.5-40 GHz: is better than 60 dB;
40-50GHz is better than 50 dB;
3) the system can simultaneously test an amplitude directional diagram, a phase directional diagram, a cross polarization diagram and an axial ratio diagram of more than 401 frequency points;
4) The computer-controlled signal source transmits signals when the test is started, and the computer-controlled signal source turns off signals when the test is finished;
5) the data analysis software can check a plurality of test patterns at the same time, is convenient for comparison and analysis, and can also check various electrical performance parameters contained in the measured data, such as NdB beam width, level at any angle, directional gain of a calculation directional diagram and the like;
6) The transmitting antenna rotary table is a single-axis table (horizontal axis), and can realize position control, namely the transmitting antenna can be positioned at any set position in a rotation angle range, and four specific positions (0 degree, 45 degrees, 90 degrees and 135 degrees) can be set so as to facilitate the positioning of the transmitting antenna;
The positioning range is 0 to +359.99 ℃;
The positioning precision is 0.1 degree;
The rotation angle rate is 1-20 degrees/second;
7) Receiving antenna revolving stage is six robots, has a plurality of shafting:
the orientation axis positioning range is-10 to +370 ℃;
The positioning range of the transverse rolling shaft is 0 to 359.99 degrees;
the positioning range of the pitching axis is-90 to +30 degrees;
The positioning range of the lifting shaft is 0 to +90 degrees;
The adjustment range of the polarization axis is-10 to +370 ℃;
The positioning precision is 0.05 degrees;
the rotation angle rates of the azimuth axis, the transverse rolling shaft and the lifting shaft are 1-10 degrees/second;
The rotation angle rate of the pitching shaft is 0.2-1 degree/second.
referring to fig. 3-5, in an embodiment, a six-axis robot 100 is used for carrying a rf antenna to be tested, is mounted on a base plate, and is connected to a cable. The six-axis robot has a plurality of joints, wherein the joints comprise a plurality of rotary joints, and each rotary joint comprises a rotary shaft and a relative static part for mounting the rotary shaft. The cable of the existing robot is often wound at the rotary joint, which affects the performance of the cable and the transmission of signals or electricity. In this application, six axis robot's rotary joint department, with the inside hollow structure that sets to in rotation axis and static position, hollow structure internal configuration sliding ring 1, the cable penetrates rotary joint inside and walks the line, forms shaft coupling revolution mechanic by sliding ring 1, effectively solves wire winding scheduling problem, carries out the electricity reliably and/or signal transmission. A multi-axis robot generally includes a rotary joint having an S-axis and a T-axis. In this embodiment, the radio frequency cable 4 penetrates into the rotating joint S shaft and the T shaft to carry out internal wiring, the S shaft and the T shaft are set as hollow joints, the slip rings 1 are respectively configured, and the radio frequency cable 4 enters the inside of the joint and is connected into a coupling rotating structure through the slip rings 1.
Specifically, the rotating shaft S-axis 6 of the six-axis robot is a body 60 of the robot at a relatively stationary position. The S-shaft 6 is rotatably mounted to the body 60. The slip ring 1 is arranged in the hollow structure of the rotary joint of the S-shaft 6 and the body 60 to form a coupling rotary signal connection structure. The cable 4 is routed internally from within the body 60 through the central shaft hole and extends outwardly through the S-shaft 6. The cable 4 comprises a radio frequency cable and/or a control cable. In this embodiment, a radio frequency cable is taken as an example for explanation.
in some embodiments, the rotation axis is a T-axis 2 further including a six-axis robot, the relatively stationary portion is a wrist 20 of the six-axis robot, and the T-axis 2 is rotatably mounted on the wrist 20. A slip ring 1 is arranged in the hollow structure of the T-axis 2 and the wrist part 20 to form a coupling rotation signal connection structure. The cable 4 extending out of the S axis penetrates through the wrist 20, runs through the wrist and the T axis to carry out internal wiring, and penetrates through the T axis 2 to extend out so as to be connected with the radio frequency antenna to be tested.
As some embodiments, the six-axis robot further includes a plurality of movement axes, L-axis 9, R-axis 8, U-axis 7, B-axis 3, which are connected between S-axis 6 and T-axis 2. The cable 4 extending from the S axis is guided and supported by the lead mechanism 5 so as to separately perform external wiring along the outer side of the motion axis, and finally penetrates into the wrist and the T axis.
As some embodiments, the lead mechanism 5 includes a guide tube 52 and a plurality of guide support rods 51, the guide tube 52 is fixed outside the moving shaft and is disposed along the path of the cable; one end of the guide support rod 51 is fixed to the guide tube and the other end supports the cable away from the outside of the movement shaft.
an antenna fixer is arranged on a tail end motion shaft (such as a T shaft) of the six-shaft robot, a radio frequency antenna to be tested is arranged on the antenna fixer, and the test of the radiation characteristics of the antennas at different angles is realized by adjusting the posture of the six-shaft robot.
In other embodiments, a multi-axis robot, preferably a 4-8 axis multi-axis robot, may be used, including the body 60 and the connecting rotation axes S-axis 6 and T-axis 2 at both ends of the robot. The cable includes a radio frequency cable and/or a control cable, and the radio frequency cable is taken as an example for illustration. The radio frequency cable 4 extends from the body 60 through the S-axis 6 and other axes of motion to the T-axis 2. The T-axis 2 is located at the front end of the robot 100, an antenna holder (not shown) is disposed on the T-axis, the rf antenna to be tested is mounted on the antenna holder, and the test of the radiation characteristics of the antenna at different angles is realized by adjusting the posture of the robot.
Referring to fig. 6 to 10, the present embodiment takes a six-axis robot 100 as an example for further detailed description, and includes a mounting base plate 62, a six-axis robot mounted on the base plate 62, and cables 4 arranged on the six-axis robot. Six axis robot includes body 60 and six moving axis that connect gradually from body 60: an S shaft 6, an L shaft 9, an R shaft 8, a U shaft 7, a B shaft 3 and a T shaft 2. The radio frequency cable 4 arranged in the six-axis robot 100 is inserted into the through central shaft holes in the body 60, the S-axis and the T-axis, and the middle section can be supported, guided and wired by the lead mechanism 5 on the outer wall of other moving axes. The body 60 is mounted on a base plate 62, supporting the entire six-axis robot.
Of course, the other motion shafts (the L shaft 9, the R shaft 8, the U shaft 7, and the B shaft 3) of the intermediate connection may be provided with a hollow structure to form a central shaft hole, and the middle section of the cable 4 is inserted from the inside.
Referring to fig. 6-10, the inside of the T-axis rotary joint and the S-axis rotary joint of the six-axis robot rotary joint are hollow structures, and slip rings 1 are respectively added in the hollow structures to connect radio frequency cables 4 in the T-axis and the S-axis to form a coupling rotary structure (or a communicating rotary body) so as to realize the butt-joint transmission of radio frequency signals, and the radio frequency cables 4 can rotate 360 degrees in the T-axis and the S-axis without the problems of distortion, unstable signal transmission, cable damage, aging and the like.
Specifically, the S-shaft 6 is rotatably and movably fitted with respect to the body 60 of the six-shaft robot to form an S-shaft rotary joint, the S-shaft 6 and the body 60 are hollow, and specifically, central shaft holes 63 and 64 penetrating each other are formed in the S-shaft 6 and the body 60, and the slip ring 1 is disposed therein. The cable 4 is passed through the body and the inside of the S-shaft from the bottom to the top through a central shaft hole in the body 60 and internally routed. The S-shaft 6 and the body 60 are provided with slip rings 1 in hollow structures (i.e., in the central shaft holes 63 and 64), the cables 4 are connected by the slip rings 1 to form a coupling rotating structure, and are connected by the rotation between the mandrels (i.e., core wires) to form a coupling structure, so as to perform radio frequency signal transmission (or electrical transmission).
after the cable 4 passes through the S shaft, the cable extends to the B shaft 3 along the outer walls of the L shaft 9, the R shaft 8 and the U shaft 7. Wherein the outer walls of these axes of motion through which the cable 4 passes are supported and routed by a wire-guiding mechanism 5. The outer wall of the motion shaft is correspondingly provided with a guide pipe 52, the guide pipe 52 is used for parallelly guiding the wiring of the cable 4, the guide pipe 52 can be arranged away from the wall of the motion shaft at intervals, the guide pipe 52 is transversely connected with a guide support rod 51 at certain intervals, and two ends of the guide support rod 51 respectively clamp the guide pipe 52 and the cable 4, so that the cable 4 is supported away from the outer wall of the motion shaft section of the six-shaft robot, and the winding or the influence on the complex multi-shaft motion of the six-shaft robot is avoided. In some embodiments, the guide tube 52 is a rigid rod-shaped or tubular structure and is fixedly disposed along the outer wall of the motion axis of the six-axis robot, and preferably, the guide tube 52 is fixedly disposed on the outer wall of the motion axis of the six-axis robot at intervals. One end of the guide support rod 51 is fixedly connected to the guide tube 52, and forms a lead mechanism 5 of the cable 4 together with the guide tube 52, and the other end of the guide support rod 51 forms a wire guide 53, and the cable 4 is held in the wire guide 53. The cable 4 is inserted through the wire guide 53 and is received in the wire guide 53 in a limited manner, and the cable 4 is slidably inserted through the wire guide 53 of the plurality of guide support rods 51. The guide support rod 51 is used for supporting one end of the cable to be bent to form a wire guide 53.
in one embodiment, the guide support rod 51 is a collar, such as a flat collar, and opposite ends of the collar are respectively sleeved on the cable 4 and the guide tube 52. One end of the holding cable 4 is bent to form a narrow conductor groove 53, and the cable 4 is slidably and limitedly accommodated. The other end of the guide support rod 51 is fixedly connected to the guide tube 52. A plurality of guide support rods 51 are supported in parallel between the cable 4 and the guide tube 52 at a certain distance, and the cable 4 is supported in parallel at a certain distance to one side of the guide tube 52, thereby safely supporting the cable 4 from the six-axis robot rotation axis.
The six-axis robot 100 according to the embodiment of the present invention has a B-axis 3 and a front end connected to a rotation T-axis 2 via a wrist 20. The T-axis 2 and the wrist 20 are rotatably engaged to form a T-axis rotary joint, and the T-axis 2 and the wrist 20 are hollow and have central axis holes 21 and 22 penetrating each other. The cable 4 penetrates from the wrist part 20, sequentially penetrates through a central shaft hole 22 in the wrist part 20 and a central shaft hole 21 in the T shaft 2, and extends towards the outside of the T shaft 2 so as to be connected with a radio frequency antenna to be tested installed on the T shaft. Preferably, the inside of the hollow structure inside the T-axis 2 and the wrist portion 20, specifically, the central axis holes 21 and 22 inside the T-axis 2 and the wrist portion 20, are configured with the slip ring 1 therein, the cable 4 passes through the wrist portion 20 to the T-axis 2, and is connected to the coupling rotating structure (or the communicating rotating body) inside the wrist portion 20 and the T-axis 2 through the slip ring 1, so as to realize the butt-joint transmission of the radio frequency signal.
The slip ring 1 is arranged at the rotary joint, forms a coaxial rotary structure with the S shaft and the T shaft, and is arranged in a central shaft hole of the S shaft/the T shaft. The slip ring 1 of the embodiment comprises a mandrel 11, a joint 19 on the outer layer of the mandrel and an outer sleeve 13 on the outermost layer, wherein the mandrel, the joint 19 and the outer sleeve form a coaxial ring sleeve structure from inside to outside. The joint 19 of the outer layer of the mandrel is sleeved with the outer sleeve 13 of the outermost layer, a central shaft hole of the slip ring is formed in the joint, and the mandrel 11 is arranged in the central shaft hole along the central axis. The joint 19 is a tubular jacket, wherein a hollow inner core is used for accommodating and protecting the mandrel 11, the mandrel 11 is arranged along the central shaft direction in accordance with the length direction of the joint 19, and the mandrel 11 is supported and fixed on the inner wall of the joint 19 and/or the outer sleeve 13 through the insulating support 12, namely supported on the inner wall of a central shaft hole of the slip ring through the insulating support 12. The outer sleeve 13 is in a sleeve shape, a mounting convex portion 130 is formed on the outer side of the outer sleeve, a mounting hole 131 is formed on the mounting convex portion 130, and a screw or a pin penetrates through the mounting hole 131 to connect the slip ring 1 to a rotating shaft (such as an S-shaft and a T-shaft) so as to integrally mount the slip ring 1 on the rotating shaft of the six-shaft robot rotary joint to form a synchronous rotating structure. In this embodiment, the mounting protrusion 130 formed on the outer wall of the outer sleeve 13 is annular, and the outer sleeve 13 is connected to the rotating shaft by screws, pins, or other fasteners, so as to connect the respective slip rings 1 to the inner walls of the S-axis and the T-axis, and to enable the slip rings 1 to rotate synchronously with the rotating shaft of the six-axis robot.
Inside the rotary joint, the radio frequency cable 4 is formed by connecting two sections of radio frequency cables into a whole radio frequency cable through the slip ring 1, and the two tail ends of the slip ring 1 are connecting ends 110 and 120 which are respectively connected with the tail end of one section of radio frequency cable 4. The outer walls of the connecting ends 110 and 120 of the slip ring 1 and the connecting ends of the two sections of radio frequency wires are provided with protrusions 17 and/or clamping grooves 18, and the protrusions and the clamping grooves/protrusions on the inner wall of the lantern ring 10 are clamped to form a rotary clamping structure. Wherein the connection end 110 of the slip ring 1 is formed by one end of the outer sleeve 13 and the other connection end 120 is formed by one end of the joint 19. The outer sleeve 13 is tightly sleeved on the outer wall of the joint 19, a pressing sleeve 16 and a bearing 15 are further arranged between the outer wall of the joint 19 and the inner wall of the outer sleeve 13, one side of the bearing 15 is limited by a stop ring 14 arranged on the outer wall of the joint 19, and therefore the bearing 15 is clamped between the end part of the pressing sleeve 16 and the stop ring 14 so as to limit and reduce friction. The press sleeves 16 are snap-fitted between the outer sleeve 13 and the joint 19, respectively, so that the outer sleeve 13 grips the joint 19. The bearing 15 is disposed (vertically abutted) between the inner wall of the outer sleeve 13 and the outer wall of the joint 19, both sides of the bearing 15 are respectively abutted against the inner end of the pressing sleeve and the retainer ring 14, and the bearing 15 is used for supporting and reducing friction force.
The outer sleeve 13 of the slip ring 1 is connected with the joint 19 in a ring-sleeved mode, a coaxial central shaft hole is formed in the center, and the mandrel 11 is supported on the inner wall of the central shaft hole through the insulating support 12 along the direction of the central shaft. Specifically, the mandrel 11 is formed by butting two mandrels, preferably, the butt joint is that a rotating shaft is matched with a shaft hole. The two ends of each mandrel are recessed inwards or extend forwards to form a butt-joint shaft 111 or a butt-joint shaft hole 112 respectively, the butt-joint ends of the two mandrels are inserted into the butt-joint shaft hole 112 through the butt-joint shaft 111, electric transmission and/or signal transmission are realized between the two mandrels, and preferably, the butt-joint shaft 111 is in rotary contact with the butt-joint shaft hole 112. The other ends of the two mandrels (or the two ends of the mandrel 11) are respectively butted with the mandrels of the two sections of radio frequency cables 4. The two ends of the mandrel 11 are respectively supported by the insulating supports 12 on the inner wall of the central shaft hole of the slip ring, in this embodiment, the two ends of the mandrel 11 are respectively supported by the insulating supports 12 on the inner wall of the central shaft hole of the outer sleeve 13 and the inner wall of the central shaft hole of the joint 19, more specifically, one end of each of the two mandrels of the mandrel 11 is respectively supported by the insulating supports 12, so that the end of the mandrel 11 extends forward, so as to facilitate the butt-joint fit with the mandrel 40 of the radio frequency cable 4.
the ends (connecting ends) of two segments of radio frequency cables 4 are respectively butted with two connecting ends 110, 120 of the slip ring 1, the outer layers of the two segments of radio frequency cables 4 are stripped at the connecting ends to make the mandrel 40 extend forwards, and correspondingly, a butting shaft 111/butting shaft hole 112 is also formed on the end surface of the mandrel 40, and is butted with the butting shaft hole 112/butting shaft hole 111 on the end surface of the mandrel 11 in the slip ring to form a plugging fit, electric transmission and/or signal transmission are realized between the mandrel 40 and the mandrel 11, and preferably, the mandrel 40 is in rotational contact with the butting shaft 111/butting shaft hole 112 on the end of the mandrel 11.
the lantern ring 10 is arranged at the outer side of the butt joint of the mandrel 40 and the mandrel 11, namely at the connecting ends of the two connecting ends of the slip ring and the two sections of radio frequency wires, so that a rotary coupling structure is formed between the mandrel 40 and the mandrel 11 inside. In particular, the two connection ends 110, 120 of the slip ring 1 and the connection end of the cable 4 form a rotary coupling structure by means of the collar 10, the docking between the mandrels is for electrical or signal transmission, and the docking between the mandrels is in a plug-in manner, more particularly the docking shaft 111/the docking shaft hole 112 between the mandrel ends forms a shaft fit, preferably a rotational contact fit. During specific implementation, the outer layer of the mandrel at the connecting end of the cable 4 is provided with a cable pressing sleeve 41, the mandrel at the end of the cable and the end of the cable at the rear section are tightly wrapped and fixed, an insulating support 12 is arranged between the pressing sleeve 41 and the mandrel at the end, that is, the mandrel 40 at the connecting end of the radio frequency cable 4 is supported on the inner wall of the pressing sleeve 41 through the insulating support 12. The outer wall of the pressing sleeve 41 is also provided with a clamping groove 18 and/or a protrusion 17.
The slip ring is provided with the lantern rings 10 at two ends respectively, the connecting end 110/120 of the slip ring is rotatably butted with the connecting end of the cable 4 respectively, the clamping grooves/bulges on the inner walls of the lantern rings 10 are correspondingly butted with the bulges 17/clamping grooves 18 on the outer wall of the connecting end 110/120 of the slip ring, and the bulges 17/clamping grooves 18 on the outer wall of the connecting end of the cable 4 form a clamping structure, so that shaft coupling butt joint is formed, two sections of radio frequency cables 4 are butted in the shaft coupling inside a rotary joint through the slip ring 1, internal wiring is carried out, signal transmission is carried out simultaneously, the problem of wire winding is effectively solved, a mandrel of the radio frequency cables is connected through the slip ring, the mandrel ends are in rotating contact, stable transmission.
Other multi-axis robots can also be designed according to the above principle. A rotary joint is arranged between the S shaft and the body to form a coupling rotary structure, a slip ring is used as the rotary joint, and a through central shaft hole is formed in the center of the rotary joint for the cable 4 to pass through and run. Similarly, a similar rotary joint is arranged between the T-axis and the wrist to form a cable signal transmission structure for coupling rotation. The other outer wall of the movement axis of the six-axis robot 100 supports the cable 4 on the outer wall of the movement axis via the guide tube 52 and the guide support rod 51, and externally runs the cable at intervals. The structural design effectively solves the problems of test requirements of specific products and two-axis winding, the radio frequency cable and the control cable are hidden inside the machine, the appearance of the whole set of equipment is neat, and the winding risk of the six-axis robot in the complex multi-axis motion process is effectively reduced. Therefore, the six-axis robot with the structure and the characteristics can dynamically adjust the motion track without being limited by the motion mode of the traditional robot, and the use flexibility and the reliability of the radio frequency test robot are greatly improved.
The above description is only a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any equivalent changes based on the technical solutions of the present application are included in the protection scope of the present application.
Claims (10)
1. The far-field test system for the microwave darkroom is characterized by comprising the microwave darkroom, an antenna test rotary table, a radio-frequency signal link and a control center, wherein the antenna test rotary table is arranged in the microwave darkroom, the radio-frequency signal link is connected with the antenna test rotary table and the control center, the antenna test rotary table comprises a transmitting antenna rotary table and a receiving antenna rotary table, and the receiving antenna rotary table is a robot rotary table.
2. The darkroom far-field test system of claim 1, in which the receive antenna turret is a six-axis robotic turret.
3. The micro-anechoic far-field testing system of claim 1, wherein the receiving antenna turret includes three orthogonal axes, a roll axis, a pitch axis, and an azimuth axis.
4. The darkroom far-field test system of claim 3, in which the receive antenna turret includes a lifting device.
5. The darkroom far-field test system of claim 3, in which each axis of the receiving antenna turntable has an independent mechanical stop and an electric lock.
6. The darkroom far-field test system of claim 1, in which the transmit antenna turntable is a single axis turntable.
7. The micro-anechoic far-field testing system of claim 1, wherein the receiving antenna turntable comprises a manual azimuth shaft having an angular scale, a hand crank, and a position locking device.
8. The darkroom far-field test system of claim 1, further comprising a shielded room, wherein the darkroom is disposed within the shielded room.
9. The far-field test system for microwave anechoic chamber according to claim 1, wherein the control center comprises a data processing module, an information collecting module, an instruction transmitting module, an information receiving module, a motion control module and a communication module which are connected, the information acquisition module is connected with the antenna test turntable and used for acquiring the positioning angle of each axis of the antenna test turntable and feeding the positioning angle back to the data processing module, the information receiving module is used for receiving the feedback information of the antenna testing turntable and transmitting the feedback information to the data processing module, the data processing module generates a control instruction after calculating according to the collected angle information and the feedback information, and then sends the instruction to the antenna testing turntable through the instruction sending module, the communication module is used for receiving the control instruction and is connected with the motion control module to control the motion and the positioning of the antenna test turntable.
10. The darkroom far-field test system of claim 9, wherein the control center further comprises an overspeed protection module, a limit protection module, and an emergency protection module coupled to the antenna test turret, the emergency protection module comprising an emergency protection button coupled to the antenna test turret.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910832462.2A CN110554249A (en) | 2019-09-04 | 2019-09-04 | Far field test system for microwave darkroom |
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| CN201910832462.2A CN110554249A (en) | 2019-09-04 | 2019-09-04 | Far field test system for microwave darkroom |
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| CN110554249A true CN110554249A (en) | 2019-12-10 |
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| CN201910832462.2A Pending CN110554249A (en) | 2019-09-04 | 2019-09-04 | Far field test system for microwave darkroom |
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| CN111751630A (en) * | 2020-07-07 | 2020-10-09 | 马玉丰 | Synchronous pulse generation method of mechanical arm antenna test system |
| CN111965439A (en) * | 2020-06-24 | 2020-11-20 | 中国电子科技集团公司第十四研究所 | Antenna testing system, method and device based on mechanical arm |
| CN113341355A (en) * | 2021-05-08 | 2021-09-03 | 中国舰船研究设计中心 | Three-dimensional space electromagnetic field distribution measuring system and testing method |
| CN113533866A (en) * | 2021-07-09 | 2021-10-22 | 西安博瑞集信电子科技有限公司 | Antenna test and direction demonstration system, antenna test method and antenna direction demonstration method |
| CN113866522A (en) * | 2021-12-07 | 2021-12-31 | 成都锐芯盛通电子科技有限公司 | Directional diagram test method and system of phased array antenna |
| CN114113700A (en) * | 2021-11-12 | 2022-03-01 | 中国电子科技集团公司第二十九研究所 | Microwave anechoic chamber direction-finding test device and method supporting multiple antenna polarizations |
| CN118033573A (en) * | 2024-04-11 | 2024-05-14 | 成都天成电科科技有限公司 | Phased array antenna pattern acquisition method, device, equipment and medium |
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| CN114113700A (en) * | 2021-11-12 | 2022-03-01 | 中国电子科技集团公司第二十九研究所 | Microwave anechoic chamber direction-finding test device and method supporting multiple antenna polarizations |
| CN114113700B (en) * | 2021-11-12 | 2023-05-09 | 中国电子科技集团公司第二十九研究所 | Device and method for supporting direction-finding test of microwave darkroom with multiple antenna polarizations |
| CN113866522A (en) * | 2021-12-07 | 2021-12-31 | 成都锐芯盛通电子科技有限公司 | Directional diagram test method and system of phased array antenna |
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