CN106944818A - Large Radar Antenna six degree of freedom automatic butt piece-rate system and method - Google Patents
Large Radar Antenna six degree of freedom automatic butt piece-rate system and method Download PDFInfo
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- CN106944818A CN106944818A CN201710318598.2A CN201710318598A CN106944818A CN 106944818 A CN106944818 A CN 106944818A CN 201710318598 A CN201710318598 A CN 201710318598A CN 106944818 A CN106944818 A CN 106944818A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The invention discloses a kind of Large Radar Antenna six degree of freedom automatic butt piece-rate system and method, system includes master control system, pose detecting system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and docking mechanism, apparatus for detecting position and posture gathers the positional information of docking mechanism and is transferred to pose detecting system in real time, positional information is transferred to master control system by pose detecting system, master control system converts location information into controllable relative pose parameter, and control instruction is sent to kinetic control system, kinetic control system driving hydraulic executing system adjusts docking mechanism and carries out docking separation in real time.System uses mechanical-electrical-hydraulic integration technology, using vision sensor and laser range sensor automatic identification target, block antenna, side block antenna automatic leveling in can be achieved, and the six-freedom motion of side block antenna, and then complete the automatic Mosaic of side block antenna and middle piece of antenna, separate, it is safe and efficient, overcome the shortcoming of lifting.
Description
Technical field
The present invention relates to radar antenna field, particularly a kind of Large Radar Antenna six degree of freedom automatic butt piece-rate system
And method.
Background technology
Radar is the electronic equipment using electromagnetic wave detection target.Radar emission electromagnetic wave is irradiated and received to target
Its echo, is derived from distance of the target to electromagnetic emission point, range rate（Radial velocity）, orientation, the information such as height.
Radar antenna is that radar is used for radiating and receiving electromagnetic wave and the equipment for determining its detection direction.
With the raising of radar detection demand, mobile radar because of its mobility, by territory restriction it is small the characteristics of got over
To be more widely applied.High maneuverability needs to meet the requirement in terms of fast erecting, unmarshaling, motor-driven transfer, Large Radar
Antenna will rise as the subsystem that high maneuverability structure is most complicated, volume is maximum, its structure type to the mobility of whole machine
Vital effect.Mobile radar requirement completes reliability and sets up and remove receipts in a short time.Set on radar shipping platform
A kind of locking device is put, by hydraulic-driven, with the linkage of antenna lifting hydraulic system, auto lock can be realized, unblock is servo-actuated
Function.
At present, the assembled of domestic large-scale motor driven type radar antenna manually lifts splicing using Self-carried type or free-standing crane
Complete.It there is following shortcoming：1. it is longer the time required to assembled antenna；2. lifting operation is dangerous；3. radar need to be set up special
Crane or from device for hoisting；4. environmental suitability is poor；5. mobility is poor.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of Large Radar Antenna six degree of freedom is automatically right
Piece-rate system and method are connect, system uses mechanical-electrical-hydraulic integration technology, and posture information collection is carried out using pose harvester, can
Block antenna, side block antenna automatic leveling in realization, and side block antenna six-freedom motion, and then complete side block antenna with
The automatic Mosaic of block antenna, separation, it is safe and efficient, overcome the shortcoming of lifting.
The purpose of the present invention is achieved through the following technical solutions：Large Radar Antenna six degree of freedom automatic butt point
From system, it includes master control system, pose detecting system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and right
Connection mechanism, apparatus for detecting position and posture gathers the positional information of docking mechanism and is transferred to pose detecting system in real time, pose detection system
Positional information is transferred to master control system by system, and master control system converts location information into controllable relative pose parameter, and sends
Control instruction is to kinetic control system, and kinetic control system driving hydraulic executing system adjusts docking mechanism and dock in real time divides
From.
Described apparatus for detecting position and posture include laser range finder, vision sensor and inclination sensor, laser range finder and
Vision sensor is arranged on block correspondence position in Antenna unit both sides, antenna and installs two pieces of metal plates with default target,
Block, Antenna unit and docking mechanism respectively install an inclination sensor in antenna.
Described docking mechanism includes base, the first platform, the second platform, the 3rd platform and the 4th platform, antenna docking
Mechanism is connected by base with side block antenna trailer crossbeam, and first the second platform of platform simultaneously completes upper assembling platform and antenna
Small angle rotation, the second platform enables side block antenna to complete vehicle commander direction by installing linear rolling guide to move horizontally,
3rd platform enables side block antenna to complete overall width direction by installing linear rolling guide to move horizontally, the 4th platform
Antenna unit simultaneously completes overall width direction and moved horizontally, and the inclination sensor on docking mechanism is arranged on the first platform.
Described hydraulic executing system include hydraulic power source, middle piece of leveling loop, platform leveling loop, platform raising loop,
Car money horizontal sliding loop, vehicle commander's horizontal sliding loop, platform Rotary Loop, platform are raised wages loop and middle piece of locking loop；
There are four tunnels in middle piece of leveling loop, often route an extraordinary leveling locking cylinder, a proportional multi-path reversing valve group, a pressure
Sensor group into, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, often one leveling cyclinder of route, a proportional multi-path reversing valve group, a pressure sensor,
One balanced valve composition, can link or individually adjust each leveling cylinder, realize the leveling of platform；
Platform raising loop the fortune in overall height direction is realized by parallelogram sturcutre again while realizing the motion of overall width direction
It is dynamic；The loop is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve is connected on
Oil inlet, balanced valve is integrated on oil cylinder；
Overall width horizontal sliding loop is made up of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, realizes overall width
Direction is moved horizontally；
Vehicle commander's horizontal sliding loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction is moved horizontally；
Platform Rotary Loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform.
Platform posture adjustment loop is made up of four oil cylinders, four road proportional multi-path reversing valves, using 4 points of fine settings, realizes leveling leg
Stretch out and withdraw, rodless cavity connection pressure sensor being capable of feeding back antenna stress degree；
Middle piece of locking loop is by eight oil cylinders, proportional multi-path reversing valve is constituted all the way, realizes and lock simultaneously and unlock.
Described hydraulic power source uses duplex gear pump, using the teaching of the invention it is possible to provide the oil sources of two-way independence, and hydraulic oil is used for leveling cyclinder
Unblock, low pressure oil be used for leveling, docking and lock.
Large Radar Antenna six degree of freedom automatic butt piece-rate system achieves a butt joint the method for separation, and it includes automatic butt
Step and it is automatically separated step；
Described automatic butt includes following sub-step：
S100, middle piece of leveling, the data that master control system is gathered according to the apparatus for detecting position and posture set in antenna on block, which are sent, to be controlled
Instruct to kinetic control system, kinetic control system control hydraulic executing system completes block leveling in antenna；
S101, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y-direction distance；
S104, the point XZ of apparatus for detecting position and posture accurate measurement first are to distance；
S105, apparatus for detecting position and posture accurate measurement Y-direction distance；
S106, apparatus for detecting position and posture accurate measurement second point XZ are to distance；
The accurate posture adjustment of S107, docking mechanism, the range data that master control system is gathered according to apparatus for detecting position and posture sends control instruction
To kinetic control system, kinetic control system control hydraulic executing system completes the accurate posture adjustment of docking mechanism, realizes Antenna unit
Draw close and fit with block in antenna；
Block in antenna after laminating is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position；
Described is automatically separated including following sub-step：
S200, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S201, docking mechanism lifting；
S202, apparatus for detecting position and posture bigness scale Y-direction distance；
S203, apparatus for detecting position and posture accurate measurement thirdly XZ to distance；
S204, apparatus for detecting position and posture accurate measurement Y-direction distance；
S205, the point XZ of apparatus for detecting position and posture accurate measurement the 4th are to distance；
S206, docking mechanism laminating antenna mounting point, master control system are gathered according to the apparatus for detecting position and posture set on docking mechanism
Data send control instruction to kinetic control system, kinetic control system control hydraulic executing system performs docking mechanism laminating
The motion of antenna mounting point；
Support force on S207, the detection of docking mechanism support force, hydraulic executing system detection docking mechanism；
Block and Antenna unit in S208, antenna unblock, the antenna of hydraulic executing system unblock laminating；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
Described automatic butt step is specifically included：
The data that S1000, master control system are gathered according to the inclination sensor set in antenna on block send control instruction to motion
Control system, block leveling loop completes block leveling in antenna in kinetic control system control；
S1001, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes the first platform coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the point XZ of First look sensor accurate measurement first are to distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second vision sensor accurate measurement second point XZ are to distance；
S1007, the 4th accurate posture adjustment of platform, the range data that master control system is gathered according to laser range finder and vision sensor are sent out
Send control instruction to kinetic control system, kinetic control system control platform posture adjustment loop completes the 4th accurate posture adjustment of platform, real
Existing Antenna unit is drawn close with block in antenna fits；
Block in antenna after laminating is locked by S1008, locking, middle piece of locking loop with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
The described step that is automatically separated is specifically included：
S2000, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S2001, docking mechanism lifting；
S2002, laser range finder bigness scale Y-direction distance；
S2003, First look sensor accurate measurement thirdly XZ to distance；
S2004, laser range finder accurate measurement Y-direction distance；
S2005, the point XZ of the second vision sensor accurate measurement the 4th are to distance；
S2006, docking mechanism laminating antenna mounting point, master control system are gathered according to the inclination sensor set on the first platform
Data send control instruction to kinetic control system, and kinetic control system control hydraulic executing system performs docking mechanism laminating day
The motion of the line strong point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
Block and Antenna unit in S2008, antenna unblock, the antenna of middle piece of locking loop unblock laminating；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
The beneficial effects of the invention are as follows：The invention provides a kind of Large Radar Antenna six degree of freedom automatic butt segregative line
System and method, system use mechanical-electrical-hydraulic integration technology, using vision sensor and laser range sensor automatic identification target,
Block antenna, side block antenna automatic leveling in can be achieved, and side block antenna six degree of freedom（The axle of x, y, z three is translated and rotated）Fortune
It is dynamic, and then complete the automatic Mosaic of side block antenna and middle piece of antenna, separate, it is safe and efficient, overcome the shortcoming of lifting.
Brief description of the drawings
Fig. 1 is automatic butt piece-rate system composition frame chart；
Fig. 2 is that antenna docks schematic diagram.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in figure 1, Large Radar Antenna six degree of freedom automatic butt piece-rate system, it includes master control system, pose and examined
Examining system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and docking mechanism, apparatus for detecting position and posture are gathered in real time
The positional information of docking mechanism is simultaneously transferred to pose detecting system, and positional information is transferred to master control system by pose detecting system,
Master control system converts location information into controllable relative pose parameter, and sends control instruction to kinetic control system, motion
Control system driving hydraulic executing system adjusts docking mechanism and carries out docking separation in real time.
Described apparatus for detecting position and posture include laser range finder, vision sensor and inclination sensor, laser range finder and
Vision sensor is arranged on block correspondence position in Antenna unit both sides, antenna and installs two pieces of metal plates with default target,
Block, Antenna unit and docking mechanism respectively install an inclination sensor in antenna.
Two sets of sighting distance sensors are fixed on Antenna unit both sides correct position, and two pieces of bands are installed in middle piece of correspondence position
There is the metal plate of default target.Laser range sensor can detect Y-axis distance, and vision sensor can detect target actual bit
Put the X-axis and Z axis offset relative to target location.Block, Antenna unit and docking platform are respectively installed a level and passed in antenna
Sensor, can detect the horizontal departure of respective X-axis and Y-axis.Thus, you can obtain reality of the Antenna unit relative to block in antenna
When attitude data.
Described docking mechanism includes base, the first platform, the second platform, the 3rd platform and the 4th platform, antenna docking
Mechanism is connected by base with side block antenna trailer crossbeam, between base and the one one platform set parallel-crank mechanism and
Hydraulic pressure lifting oil cylinder, while completing the displacement on overall width direction and overall height direction；First the second platform of platform is simultaneously completed
The small angle rotation of assembling platform and antenna, meanwhile, the first platform adds four flat small oil tanks of accurate adjustment, not only plays antenna tune
Appearance, the effect of auxiliary docking, and oil cylinder carries pressure detecting, also can auxiliary antenna separation；Second platform is rolled by installing
Line slideway auxiliary enables side block antenna to complete vehicle commander direction to move horizontally, and the 3rd platform is made by installing linear rolling guide
Side block antenna can complete overall width direction and move horizontally, and the 4th platform Antenna unit simultaneously completes overall width direction and moved horizontally,
Inclination sensor on docking mechanism is arranged on the first platform.
Described hydraulic executing system include hydraulic power source, middle piece of leveling loop, platform leveling loop, platform raising loop,
Car money horizontal sliding loop, vehicle commander's horizontal sliding loop, platform Rotary Loop, platform are raised wages loop and middle piece of locking loop；
There are four tunnels in middle piece of leveling loop, often route an extraordinary leveling locking cylinder, a proportional multi-path reversing valve group, a pressure
Sensor group into, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, often one leveling cyclinder of route, a proportional multi-path reversing valve group, a pressure sensor,
One balanced valve composition, can link or individually adjust each leveling cylinder, realize the leveling of platform；
Platform raising loop the fortune in overall height direction is realized by parallelogram sturcutre again while realizing the motion of overall width direction
It is dynamic；The loop is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve is connected on
Oil inlet, it is synchronous using shunting, the synchronous requirement of elevating ram can be achieved, it is ensured that synchronization accuracy≤3%.Balanced valve is integrated in
On oil cylinder, can balancing cylinder load, keep its stable movement；
Overall width horizontal sliding loop is made up of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, realizes overall width
Direction is moved horizontally；
Vehicle commander's horizontal sliding loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction is moved horizontally；
Platform Rotary Loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform.
Platform posture adjustment loop is made up of four oil cylinders, four road proportional multi-path reversing valves, using 4 points of fine settings, realizes leveling leg
Stretch out and withdraw, rodless cavity connection pressure sensor being capable of feeding back antenna stress degree；
Middle piece of locking loop is by eight oil cylinders, proportional multi-path reversing valve is constituted all the way, realizes and lock simultaneously and unlock, collects in oil cylinder
Into detection switch, unblock/locking signal can be provided.
Described hydraulic power source uses duplex gear pump, using the teaching of the invention it is possible to provide the oil sources of two-way independence, and hydraulic oil is used for leveling cyclinder
Unblock, low pressure oil be used for leveling, docking and lock.
Because the system precision prescribed is high, therefore valve group adoption rate multiple directional control valve.The valve is combination valve, is folded by multiple plate valves
Plus combine, each banked direction control valves can single movement, with compact conformation, output flow is adjustable, the high spy of response frequency
Point, its output flow can be realized according to input electrical signal size it is stepless adjustable, can make multiple executive components simultaneously and it is separate
Worked with different motion direction and movement velocity, be conducive to control system to implement to be precisely controlled.The valve group is also with control manually
Handle processed, for operation control system under case of emergency.
Proportional multi-path reversing valve has the advantage that compared with traditional superposing type valve：
1）Control is accurate, and control speed is stepless adjustable；
2）Ioad-sensing control, when system attonity, makes whole system off-load, reduces power consumption and heating, maintain hydraulic system
Stability.
3）Additional function can be increased easily and change loop, and compact conformation, installing space is small；
4）Subsidiary manual function, in the convenient operation of emergency rating, handle is detachable；
5）Valve block need not be made, shortens the design cycle.
The system uses angular error regulation scheme, i.e., first by X-direction leveling, then by Y direction leveling.Although regulation
Time is slightly long, but harmony is good.And one pressure sensor is installed in the rodless cavity of every leveling leg, so that detection is adjusted in real time
Flat leg pressure, it is ensured that leveling terminate after without empty leg phenomenon.
To ensure the precision of leveling, the control of the system adoption rate banked direction control valves replaces traditional solenoid directional control valve to control.Can
Make multiple executive components simultaneously and separate with different motion direction and movement velocity work, the valve arrangement is compact, output
Flow can realize stepless adjustable, response frequency height according to input electrical signal size, can meet the system requirement.
As shown in Fig. 2 after the block automatic leveling of side, load lifting cylinder action makes side block antenna in overall height and overall width direction in
Block antenna is close, is then acted by side block leveling cylinder, vehicle commander's cylinder, overall width cylinder, rotating cylinder, using sighting distance sensor signal as base
The attitude of plinth, constantly adjustment side block antenna, side block antenna is progressively drawn close to middle piece of antenna, side block antenna and middle piece is finally realized
The docking locking of antenna.
During separation, on the basis of docking control, the control of attitude cylinder is added, to ensure the 4th platform reliably by side block
Antenna is lifted, it is ensured that smoothly unblock.Each attitude cylinder is equipped with pressure sensor, and the 4th platform opposite side block antenna of detection is lifted
Situation.
Large Radar Antenna six degree of freedom automatic butt piece-rate system achieves a butt joint the method for separation, and it includes automatic butt
Step and it is automatically separated step；
Described automatic butt includes following sub-step：
S100, middle piece of leveling, the data that master control system is gathered according to the apparatus for detecting position and posture set in antenna on block, which are sent, to be controlled
Instruct to kinetic control system, kinetic control system control hydraulic executing system completes block leveling in antenna；
S101, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y-direction distance；
S104, the point XZ of apparatus for detecting position and posture accurate measurement first are to distance；
S105, apparatus for detecting position and posture accurate measurement Y-direction distance；
S106, apparatus for detecting position and posture accurate measurement second point XZ are to distance；
The accurate posture adjustment of S107, docking mechanism, the range data that master control system is gathered according to apparatus for detecting position and posture sends control instruction
To kinetic control system, kinetic control system control hydraulic executing system completes the accurate posture adjustment of docking mechanism, realizes Antenna unit
Draw close and fit with block in antenna；
Block in antenna after laminating is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position；
Described is automatically separated including following sub-step：
S200, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S201, docking mechanism lifting；
S202, apparatus for detecting position and posture bigness scale Y-direction distance；
S203, apparatus for detecting position and posture accurate measurement thirdly XZ to distance；
S204, apparatus for detecting position and posture accurate measurement Y-direction distance；
S205, the point XZ of apparatus for detecting position and posture accurate measurement the 4th are to distance；
S206, docking mechanism laminating antenna mounting point, master control system are gathered according to the apparatus for detecting position and posture set on docking mechanism
Data send control instruction to kinetic control system, kinetic control system control hydraulic executing system performs docking mechanism laminating
The motion of antenna mounting point；
Support force on S207, the detection of docking mechanism support force, hydraulic executing system detection docking mechanism；
Block and Antenna unit in S208, antenna unblock, the antenna of hydraulic executing system unblock laminating；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
Described automatic butt step is specifically included：
The data that S1000, master control system are gathered according to the inclination sensor set in antenna on block send control instruction to motion
Control system, block leveling loop completes block leveling in antenna in kinetic control system control；
S1001, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes the first platform coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the point XZ of First look sensor accurate measurement first are to distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second vision sensor accurate measurement second point XZ are to distance；
S1007, the 4th accurate posture adjustment of platform, the range data that master control system is gathered according to laser range finder and vision sensor are sent out
Send control instruction to kinetic control system, kinetic control system control platform posture adjustment loop completes the 4th accurate posture adjustment of platform, real
Existing Antenna unit is drawn close with block in antenna fits；
Block in antenna after laminating is locked by S1008, locking, middle piece of locking loop with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
The described step that is automatically separated is specifically included：
S2000, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S2001, docking mechanism lifting；
S2002, laser range finder bigness scale Y-direction distance；
S2003, First look sensor accurate measurement thirdly XZ to distance；
S2004, laser range finder accurate measurement Y-direction distance；
S2005, the point XZ of the second vision sensor accurate measurement the 4th are to distance；
S2006, docking mechanism laminating antenna mounting point, master control system are gathered according to the inclination sensor set on the first platform
Data send control instruction to kinetic control system, and kinetic control system control hydraulic executing system performs docking mechanism laminating day
The motion of the line strong point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
Block and Antenna unit in S2008, antenna unblock, the antenna of middle piece of locking loop unblock laminating；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
The Large Radar Antenna six degree of freedom automatic butt piece-rate system and method for the present invention, system uses mechanical electronic hydraulic integrated
Change technology, using vision sensor and laser range sensor automatic identification target, block antenna, side block antenna are automatic in can be achieved
Leveling, and side block antenna six degree of freedom（The axle of x, y, z three is translated and rotated）Motion, and then complete side block antenna and middle piece of day
The automatic Mosaic of line, separation, it is safe and efficient, without using lifting mode, safely, quickly, conveniently, at present, have been used for certain type rice
Ripple radar antenna.
Claims (8)
1. Large Radar Antenna six degree of freedom automatic butt piece-rate system, it is characterised in that：It includes master control system, pose and detected
System, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and docking mechanism, apparatus for detecting position and posture collection pair in real time
The positional information of connection mechanism is simultaneously transferred to pose detecting system, and positional information is transferred to master control system by pose detecting system, main
Control system converts location information into controllable relative pose parameter, and sends control instruction to kinetic control system, motion control
System drive hydraulic executing system processed adjusts docking mechanism and carries out docking separation in real time.
2. Large Radar Antenna six degree of freedom automatic butt piece-rate system according to claim 1, it is characterised in that：It is described
Apparatus for detecting position and posture include laser range finder, vision sensor and inclination sensor, laser range finder and vision sensor are set
Put the block correspondence position in Antenna unit both sides, antenna and block, antenna in two pieces of metal plates with default target, antenna are installed
Side block respectively installs an inclination sensor with docking mechanism.
3. Large Radar Antenna six degree of freedom automatic butt piece-rate system according to claim 1, it is characterised in that：It is described
Docking mechanism include base, the first platform, the second platform, the 3rd platform and the 4th platform, antenna docking mechanism passes through base
It is connected with side block antenna trailer crossbeam, first the second platform of platform and the small angle rotation for completing upper assembling platform and antenna,
Second platform enables side block antenna to complete vehicle commander direction by installing linear rolling guide to move horizontally, and the 3rd platform passes through
Installing linear rolling guide enables side block antenna to complete overall width direction to move horizontally, and the 4th platform Antenna unit is simultaneously complete
Moved horizontally into overall width direction, the inclination sensor on docking mechanism is arranged on the first platform.
4. Large Radar Antenna six degree of freedom automatic butt piece-rate system according to claim 1, it is characterised in that：It is described
Hydraulic executing system include hydraulic power source, middle piece of leveling loop, platform leveling loop, platform raising loop, car money horizontal sliding loop,
Vehicle commander's horizontal sliding loop, platform Rotary Loop, platform are raised wages loop and middle piece of locking loop；
There are four tunnels in middle piece of leveling loop, often route an extraordinary leveling locking cylinder, a proportional multi-path reversing valve group, a pressure
Sensor group into, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, often one leveling cyclinder of route, a proportional multi-path reversing valve group, a pressure sensor,
One balanced valve composition, can link or individually adjust each leveling cylinder, realize the leveling of platform；
Platform raising loop the fortune in overall height direction is realized by parallelogram sturcutre again while realizing the motion of overall width direction
It is dynamic；The loop is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve is connected on
Oil inlet, balanced valve is integrated on oil cylinder；
Overall width horizontal sliding loop is made up of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, realizes overall width
Direction is moved horizontally；
Vehicle commander's horizontal sliding loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction is moved horizontally；
Platform Rotary Loop is made up of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform.
Platform posture adjustment loop is made up of four oil cylinders, four road proportional multi-path reversing valves, using 4 points of fine settings, realizes that leveling leg stretches out
And withdrawal, rodless cavity connection pressure sensor being capable of feeding back antenna stress degree；
Middle piece of locking loop is by eight oil cylinders, proportional multi-path reversing valve is constituted all the way, realizes and lock simultaneously and unlock.
5. Large Radar Antenna six degree of freedom automatic butt piece-rate system according to claim 4, it is characterised in that：It is described
Hydraulic power source use duplex gear pump, using the teaching of the invention it is possible to provide the oil sources of two-way independence, hydraulic oil be used for leveling cyclinder unblock, low pressure oil
For leveling, docking and locking.
6. the Large Radar Antenna six degree of freedom automatic butt piece-rate system realization pair as described in any one in claim 1-5
The method for connecing separation, it is characterised in that：It includes automatic butt step and is automatically separated step；
Described automatic butt includes following sub-step：
S100, middle piece of leveling, the data that master control system is gathered according to the apparatus for detecting position and posture set in antenna on block, which are sent, to be controlled
Instruct to kinetic control system, kinetic control system control hydraulic executing system completes block leveling in antenna；
S101, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y-direction distance；
S104, the point XZ of apparatus for detecting position and posture accurate measurement first are to distance；
S105, apparatus for detecting position and posture accurate measurement Y-direction distance；
S106, apparatus for detecting position and posture accurate measurement second point XZ are to distance；
The accurate posture adjustment of S107, docking mechanism, the range data that master control system is gathered according to apparatus for detecting position and posture sends control instruction
To kinetic control system, kinetic control system control hydraulic executing system completes the accurate posture adjustment of docking mechanism, realizes Antenna unit
Draw close and fit with block in antenna；
Block in antenna after laminating is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position；
Described is automatically separated including following sub-step：
S200, docking mechanism coarse adjustment are put down, and the data that master control system is gathered according to the apparatus for detecting position and posture set on docking mechanism are sent out
Send control instruction to kinetic control system, kinetic control system control hydraulic executing system completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control hydraulic executing system completes docking mechanism lifting for S201, docking mechanism lifting；
S202, apparatus for detecting position and posture bigness scale Y-direction distance；
S203, apparatus for detecting position and posture accurate measurement thirdly XZ to distance；
S204, apparatus for detecting position and posture accurate measurement Y-direction distance；
S205, the point XZ of apparatus for detecting position and posture accurate measurement the 4th are to distance；
S206, docking mechanism laminating antenna mounting point, master control system are gathered according to the apparatus for detecting position and posture set on docking mechanism
Data send control instruction to kinetic control system, kinetic control system control hydraulic executing system performs docking mechanism laminating
The motion of antenna mounting point；
Support force on S207, the detection of docking mechanism support force, hydraulic executing system detection docking mechanism；
Block and Antenna unit in S208, antenna unblock, the antenna of hydraulic executing system unblock laminating；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
7. Large Radar Antenna six degree of freedom automatic butt separation method according to claim 6, it is characterised in that：It is described
Automatic butt step specifically include：
The data that S1000, master control system are gathered according to the inclination sensor set in antenna on block send control instruction to motion
Control system, block leveling loop completes block leveling in antenna in kinetic control system control；
S1001, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes the first platform coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the point XZ of First look sensor accurate measurement first are to distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second vision sensor accurate measurement second point XZ are to distance；
S1007, the 4th accurate posture adjustment of platform, the range data that master control system is gathered according to laser range finder and vision sensor are sent out
Send control instruction to kinetic control system, kinetic control system control platform posture adjustment loop completes the 4th accurate posture adjustment of platform, real
Existing Antenna unit is drawn close with block in antenna fits；
Block in antenna after laminating is locked by S1008, locking, middle piece of locking loop with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
8. Large Radar Antenna six degree of freedom automatic butt separation method according to claim 6, it is characterised in that：It is described
The step that is automatically separated specifically include：
S2000, the first platform coarse adjustment are put down, and the data that master control system is gathered according to the inclination sensor set on the first platform are sent
Control instruction is to kinetic control system, and kinetic control system control platform leveling loop completes docking mechanism coarse adjustment and put down；
In place, kinetic control system control platform lifting loop completes docking mechanism lifting for S2001, docking mechanism lifting；
S2002, laser range finder bigness scale Y-direction distance；
S2003, First look sensor accurate measurement thirdly XZ to distance；
S2004, laser range finder accurate measurement Y-direction distance；
S2005, the point XZ of the second vision sensor accurate measurement the 4th are to distance；
S2006, docking mechanism laminating antenna mounting point, master control system are gathered according to the inclination sensor set on the first platform
Data send control instruction to kinetic control system, and kinetic control system control hydraulic executing system performs docking mechanism laminating day
The motion of the line strong point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
Block and Antenna unit in S2008, antenna unblock, the antenna of middle piece of locking loop unblock laminating；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn into initial position.
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