CN106944818B - Large Radar Antenna six degree of freedom automatic butt separation system and method - Google Patents
Large Radar Antenna six degree of freedom automatic butt separation system and method Download PDFInfo
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- CN106944818B CN106944818B CN201710318598.2A CN201710318598A CN106944818B CN 106944818 B CN106944818 B CN 106944818B CN 201710318598 A CN201710318598 A CN 201710318598A CN 106944818 B CN106944818 B CN 106944818B
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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
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- 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
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Abstract
The invention discloses a kind of Large Radar Antenna six degree of freedom automatic butt separation system and methods, system includes master control system, pose detection system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and docking mechanism, apparatus for detecting position and posture acquires the location information of docking mechanism in real time and is transferred to pose detection system, location information is transferred to master control system by pose detection 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 in real time and carries out docking separation.System uses mechanical-electrical-hydraulic integration technology, using visual 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 it completes side block antenna and the automatic Mosaic of middle piece of antenna, separate, it is safe and efficient, the shortcomings that overcoming lifting.
Description
Technical field
The present invention relates to radar antenna field, especially a kind of Large Radar Antenna six degree of freedom automatic butt separation system
And method.
Background technique
Radar is the electronic equipment using electromagnetic wave detection target.Radar emission electromagnetic wave is irradiated and receives to target
Its echo, thus to obtain information such as the distance of target to electromagnetic emission point, range rate (radial velocity), orientation, height.
Radar antenna is the equipment that radar is used to radiate and receive electromagnetic wave and determine its detection direction.
With the raising of radar detection demand, mobile radar is got over because of its mobility by the small feature of territory restriction
To be more widely applied.High maneuverability needs to meet the requirement of fast erecting, unmarshaling, motor-driven transfer etc., Large Radar
Antenna is most complicated as high maneuverability structure, the maximum subsystem of volume, and structure type will play the mobility of complete machine
Vital effect.Mobile radar, which requires to be completed in a short time, reliably sets up and removes receipts.It is set on radar shipping platform
A kind of locking device is set, by hydraulic-driven, links with antenna lifting hydraulic system, can be realized automatically lock, be servo-actuated unlock
Function.
Currently, the assembly of domestic large size motor driven type radar antenna is all made of Self-carried type or free-standing crane manually lifts splicing
It completes.There is following disadvantages: 1. longer the time required to assembled antenna；2. lifting operation is dangerous；3. radar need to be added dedicated
Crane or from device for hoisting；4. environmental suitability is poor；5. mobility is poor.
Summary 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
Separation system and method are connect, system uses mechanical-electrical-hydraulic integration technology, carries out posture information acquisition using pose acquisition device, can
The six-freedom motion of block antenna, side block antenna automatic leveling and side block antenna in realization, and then side block antenna is completed in
The shortcomings that automatic Mosaic of block antenna separates, safe and efficient, overcomes 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 detection system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and right
Connection mechanism, apparatus for detecting position and posture acquire the location information of docking mechanism in real time and are transferred to pose detection system, pose detection system
Location information is transferred to master control system by system, and master control system converts location information into controllable relative pose parameter, and sends
To kinetic control system, kinetic control system driving hydraulic executing system adjusts docking mechanism in real time and dock divides control instruction
From.
The apparatus for detecting position and posture includes laser range finder, visual sensor and inclination sensor, laser range finder and
Visual sensor is arranged in Antenna unit both sides, antenna block corresponding position and installs two pieces of metal plates with default target,
Block, Antenna unit and docking mechanism respectively install an inclination sensor in antenna.
The docking mechanism includes pedestal, the first platform, the second platform, third platform and the 4th platform, antenna docking
Mechanism is connected by pedestal with side block antenna trailer crossbeam, and assembling platform and antenna are gone up in first the second platform of platform and completion
Small angle rotation, the second platform enable side block antenna to complete vehicle commander direction to move horizontally by installing linear rolling guide,
Third platform enables side block antenna to complete vehicle width direction to move horizontally by installing linear rolling guide, the 4th platform
Antenna unit is simultaneously completed vehicle width direction and is moved horizontally, and the inclination sensor on docking mechanism is arranged on the first platform.
The hydraulic executing system include hydraulic power source, middle piece of leveling circuit, platform leveling loop, platform raising circuit,
The flat-pushing circuit of vehicle money, the flat-pushing circuit of vehicle commander, platform Rotary Loop, platform are raised wages circuit and middle piece of locking circuit；
There are four tunnels in middle piece of leveling circuit, the extraordinary leveling locking cylinder of every routing one, a proportional multi-path reversing valve group, and one
Pressure sensor composition, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, one leveling cyclinder of every routing, a proportional multi-path reversing valve group, a pressure sensing
Device, a balanced valve composition, can link or individually adjust each leveling cylinder, realize the leveling of platform；
Platform raising circuit overall height direction is realized while realizing vehicle width direction movement by parallelogram sturcutre again
Movement；The circuit is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve connects
In oil inlet, balanced valve is integrated on oil cylinder；
The flat-pushing circuit of vehicle width is made of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, is realized
Vehicle width direction moves horizontally；
The flat-pushing circuit of vehicle commander is made of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction moves horizontally；
Platform Rotary Loop is made of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform.
Platform posture adjustment circuit is made of four oil cylinders, four road proportional multi-path reversing valves, is finely tuned using 4 points, realizes leveling leg
It stretches out and withdraws, rodless cavity connects pressure sensor, being capable of feeding back antenna stress degree；
It realizes locking simultaneously and unlocks by eight oil cylinders, proportional multi-path reversing valve forms all the way in middle piece of locking circuit.
The hydraulic power source uses duplex gear pump, is capable of providing the independent oil sources of two-way, and high pressure oil is used for leveling cyclinder
Unlock, low pressure oil is for leveling, dock and lock.
Large Radar Antenna six degree of freedom automatic butt separation system, which is realized, docks isolated method, it includes automatic butt
Step and it is automatically separated step；
The automatic butt includes following sub-step:
S100, middle piece of leveling, master control system are sent according to the data that the apparatus for detecting position and posture being arranged on block in antenna acquires
To kinetic control system, kinetic control system controls hydraulic executing system and completes block leveling in antenna control instruction；
S101, docking mechanism coarse adjustment are flat, the number that master control system is acquired according to the apparatus for detecting position and posture being arranged on docking mechanism
According to control instruction is sent to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y-direction distance；
S104, the first point XZ of apparatus for detecting position and posture accurate measurement 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, master control system send control according to the range data that apparatus for detecting position and posture acquires
It instructs to kinetic control system, kinetic control system controls hydraulic executing system and completes the accurate posture adjustment of docking mechanism, realizes antenna
Side block is drawn close with block in antenna and is bonded；
Block in antenna after fitting is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn initial position；
Described is automatically separated including following sub-step:
S200, docking mechanism coarse adjustment are flat, the number that master control system is acquired according to the apparatus for detecting position and posture being arranged on docking mechanism
According to control instruction is sent to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and 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 4th point XZ of apparatus for detecting position and posture accurate measurement are to distance；
S206, docking mechanism are bonded antenna mounting point, and master control system is according to the apparatus for detecting position and posture being arranged on docking mechanism
The data of acquisition send control instruction to kinetic control system, and kinetic control system controls hydraulic executing system and executes docking mechanism
It is bonded the movement of antenna mounting point；
S207, the detection of docking mechanism support force, hydraulic executing system detect the support force on docking mechanism；
S208, antenna unlock, hydraulic executing system unlock block and Antenna unit in the antenna of fitting；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
The automatic butt step specifically includes:
S1000, master control system according to be arranged on block in antenna inclination sensor acquisition data send control instruction to
Kinetic control system, kinetic control system control in block leveling circuit complete antenna in block leveling；
S1001, the first platform coarse adjustment are flat, the data that master control system is acquired according to the inclination sensor being arranged on the first platform
Control instruction is sent to kinetic control system, it is flat that kinetic control system control platform levels circuit the first platform coarse adjustment of completion；
In place, kinetic control system control platform lifts circuit and completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the first point XZ of First look sensor accurate measurement are to distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second visual sensor accurate measurement second point XZ are to distance；
S1007, the 4th accurate posture adjustment of platform, the distance number that master control system is acquired according to laser range finder and visual sensor
According to control instruction is sent to kinetic control system, kinetic control system control platform posture adjustment circuit is completed the 4th platform and is accurately adjusted
Appearance is realized that Antenna unit is drawn close with block in antenna and is bonded；
Block in antenna after fitting is locked by S1008, locking, middle piece of locking circuit with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
The step that is automatically separated specifically includes:
S2000, the first platform coarse adjustment are flat, the data that master control system is acquired according to the inclination sensor being arranged on the first platform
Control instruction is sent to kinetic control system, it is flat that kinetic control system control platform levels circuit completion docking mechanism coarse adjustment；
In place, kinetic control system control platform lifts circuit and 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 4th point XZ of the second visual sensor accurate measurement are to distance；
S2006, docking mechanism are bonded antenna mounting point, and master control system is adopted according to the inclination sensor being arranged on the first platform
The data of collection send control instruction to kinetic control system, and kinetic control system controls hydraulic executing system and executes docking mechanism patch
Close the movement of antenna mounting point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
S2008, antenna unlock, middle piece of locking circuit unlock block and Antenna unit in the antenna of fitting；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
The beneficial effects of the present invention are: the present invention provides a kind of Large Radar Antenna six degree of freedom automatic butt segregative lines
System and method, system uses mechanical-electrical-hydraulic integration technology, using visual sensor and laser range sensor automatic identification target,
Six degree of freedom (translation of three axis of x, y, z and rotation) fortune of block antenna, side block antenna automatic leveling and side block antenna in can be achieved
It is dynamic, and then complete side block antenna and the automatic Mosaic of middle piece of antenna, separate, safe and efficient, the shortcomings that overcoming lifting.
Detailed description of the invention
Fig. 1 is automatic butt separation system composition block diagram；
Fig. 2 is that antenna docks schematic diagram.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, 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 separation system, it includes master control system, pose inspection
Examining system, kinetic control system, hydraulic executing system, apparatus for detecting position and posture and docking mechanism, apparatus for detecting position and posture acquire in real time
The location information of docking mechanism is simultaneously transferred to pose detection system, and location information is transferred to master control system by pose detection system,
Master control system converts location information into controllable relative pose parameter, and sends control instruction to kinetic control system, movement
Control system driving hydraulic executing system adjusts docking mechanism in real time and carries out docking separation.
The apparatus for detecting position and posture includes laser range finder, visual sensor and inclination sensor, laser range finder and
Visual sensor is arranged in Antenna unit both sides, antenna block corresponding position 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 suitable position, and two pieces of bands are installed in middle piece of corresponding position
There is the metal plate of default target.Laser range sensor can detect Y-axis distance, and visual sensor can detecte target actual bit
Set the X-axis and Z axis offset relative to target position.Block, Antenna unit and docking platform respectively install a horizontal biography in antenna
Sensor can detecte the horizontal departure of respective X-axis and Y-axis.It can be obtained reality of the Antenna unit relative to block in antenna as a result,
When attitude data.
The docking mechanism includes pedestal, the first platform, the second platform, third platform and the 4th platform, antenna docking
Mechanism is connected by pedestal with side block antenna trailer crossbeam, between pedestal and the one one platform setting parallelogram mechanism and
Hydraulic pressure lifting oil cylinder, the displacement being completed at the same time in vehicle 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 increases four flat small oil tanks of accurate adjustment, not only plays antenna tune
The effect that appearance, auxiliary are docked, and oil cylinder carries pressure detecting, it can also auxiliary antenna separation；Second platform is rolled by installation
Line slideway auxiliary enables side block antenna to complete vehicle commander direction to move horizontally, and third platform is made by installing linear rolling guide
Side block antenna can complete vehicle width direction and move horizontally, and the 4th platform Antenna unit is simultaneously completed vehicle width direction and moved horizontally,
Inclination sensor on docking mechanism is arranged on the first platform.
The hydraulic executing system include hydraulic power source, middle piece of leveling circuit, platform leveling loop, platform raising circuit,
The flat-pushing circuit of vehicle money, the flat-pushing circuit of vehicle commander, platform Rotary Loop, platform are raised wages circuit and middle piece of locking circuit；
There are four tunnels in middle piece of leveling circuit, the extraordinary leveling locking cylinder of every routing one, a proportional multi-path reversing valve group, and one
Pressure sensor composition, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, one leveling cyclinder of every routing, a proportional multi-path reversing valve group, a pressure sensing
Device, a balanced valve composition, can link or individually adjust each leveling cylinder, realize the leveling of platform；
Platform raising circuit overall height direction is realized while realizing vehicle width direction movement by parallelogram sturcutre again
Movement；The circuit is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve connects
It is synchronous using shunt, it can be achieved that elevating ram synchronizes requirement, guarantee synchronization accuracy≤3% in oil inlet.Balanced valve is integrated
On oil cylinder, can balancing cylinder load, keep its movement steady；
The flat-pushing circuit of vehicle width is made of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, is realized
Vehicle width direction moves horizontally；
The flat-pushing circuit of vehicle commander is made of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction moves horizontally；
Platform Rotary Loop is made of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform.
Platform posture adjustment circuit is made of four oil cylinders, four road proportional multi-path reversing valves, is finely tuned using 4 points, realizes leveling leg
It stretches out and withdraws, rodless cavity connects pressure sensor, being capable of feeding back antenna stress degree；
It realizes locking simultaneously and unlocks, oil cylinder by eight oil cylinders, proportional multi-path reversing valve forms all the way in middle piece of locking circuit
In be integrated with detection switch, unlock/locking signal can be provided.
The hydraulic power source uses duplex gear pump, is capable of providing the independent oil sources of two-way, and high pressure oil is used for leveling cyclinder
Unlock, low pressure oil is for leveling, dock and lock.
Because this system precision prescribed is high, therefore valve group uses proportional multi-path reversing valve.The valve is combination valve, is folded by multiple plate valves
Add and be composed, each multi-way valve can single movement, have it is compact-sized, output flow is adjustable, the high spy of response frequency
Point, output flow can be stepless adjustable according to the realization of input electrical signal size, and multiple executive components can be made simultaneously and mutually indepedent
Worked with different motion direction and movement velocity, be conducive to control system implementation and be precisely controlled.The valve group also has manual control
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) precisely, control speed is stepless adjustable for control；
2) Ioad-sensing control makes whole system off-load when system attonity, reduces power consumption and fever, maintains hydraulic
The stability of system.
3) additional function can be increased easily and change circuit, and is compact-sized, installation space is small；
4) subsidiary manual function, facilitates operation in emergency rating, handle is detachable；
5) without making valve block, shorten the design cycle.
This system uses angular error regulation scheme, i.e., first levels X-direction, then Y direction is leveled.Although adjusting
Time is slightly long, but harmony is good.And one pressure sensor is installed in the rodless cavity of every leveling leg, so as to real-time detection tune
Flat leg pressure guarantees after leveling without empty leg phenomenon.
For the precision for guaranteeing leveling, this system replaces traditional solenoid directional control valve to control using proportional multi-way valve control.It can
Make multiple executive components simultaneously and it is mutually independent worked with different motion direction and movement velocity, the valve arrangement is compact, output
Flow can be stepless adjustable according to the realization of input electrical signal size, and response frequency is high, is able to satisfy this system requirement.
As shown in Fig. 2, after the block automatic leveling of side, load lifting cylinder movement makes side block antenna in overall height and vehicle width direction in
Block antenna is close, then cylinder, vehicle commander's cylinder, vehicle width cylinder, rotating cylinder movement is leveled by side block, using sighting distance sensor signal as base
Plinth constantly adjusts the posture of side block antenna, side block antenna is gradually drawn close to middle piece of antenna, final to realize side block antenna and middle piece
The docking of antenna locks.
When separation, on the basis of docking control, in addition the control of posture cylinder, to guarantee the 4th platform reliably by side block
Antenna is lifted, and guarantees smoothly unlock.Each posture cylinder is equipped with pressure sensor, and the 4th platform opposite side block antenna of detection is lifted
The case where.
Large Radar Antenna six degree of freedom automatic butt separation system, which is realized, docks isolated method, it includes automatic butt
Step and it is automatically separated step；
The automatic butt includes following sub-step:
S100, middle piece of leveling, master control system are sent according to the data that the apparatus for detecting position and posture being arranged on block in antenna acquires
To kinetic control system, kinetic control system controls hydraulic executing system and completes block leveling in antenna control instruction；
S101, docking mechanism coarse adjustment are flat, the number that master control system is acquired according to the apparatus for detecting position and posture being arranged on docking mechanism
According to control instruction is sent to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y-direction distance；
S104, the first point XZ of apparatus for detecting position and posture accurate measurement 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, master control system send control according to the range data that apparatus for detecting position and posture acquires
It instructs to kinetic control system, kinetic control system controls hydraulic executing system and completes the accurate posture adjustment of docking mechanism, realizes antenna
Side block is drawn close with block in antenna and is bonded；
Block in antenna after fitting is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn initial position；
Described is automatically separated including following sub-step:
S200, docking mechanism coarse adjustment are flat, the number that master control system is acquired according to the apparatus for detecting position and posture being arranged on docking mechanism
According to control instruction is sent to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and 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 4th point XZ of apparatus for detecting position and posture accurate measurement are to distance；
S206, docking mechanism are bonded antenna mounting point, and master control system is according to the apparatus for detecting position and posture being arranged on docking mechanism
The data of acquisition send control instruction to kinetic control system, and kinetic control system controls hydraulic executing system and executes docking mechanism
It is bonded the movement of antenna mounting point；
S207, the detection of docking mechanism support force, hydraulic executing system detect the support force on docking mechanism；
S208, antenna unlock, hydraulic executing system unlock block and Antenna unit in the antenna of fitting；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
The automatic butt step specifically includes:
S1000, master control system according to be arranged on block in antenna inclination sensor acquisition data send control instruction to
Kinetic control system, kinetic control system control in block leveling circuit complete antenna in block leveling；
S1001, the first platform coarse adjustment are flat, the data that master control system is acquired according to the inclination sensor being arranged on the first platform
Control instruction is sent to kinetic control system, it is flat that kinetic control system control platform levels circuit the first platform coarse adjustment of completion；
In place, kinetic control system control platform lifts circuit and completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the first point XZ of First look sensor accurate measurement are to distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second visual sensor accurate measurement second point XZ are to distance；
S1007, the 4th accurate posture adjustment of platform, the distance number that master control system is acquired according to laser range finder and visual sensor
According to control instruction is sent to kinetic control system, kinetic control system control platform posture adjustment circuit is completed the 4th platform and is accurately adjusted
Appearance is realized that Antenna unit is drawn close with block in antenna and is bonded；
Block in antenna after fitting is locked by S1008, locking, middle piece of locking circuit with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
The step that is automatically separated specifically includes:
S2000, the first platform coarse adjustment are flat, the data that master control system is acquired according to the inclination sensor being arranged on the first platform
Control instruction is sent to kinetic control system, it is flat that kinetic control system control platform levels circuit completion docking mechanism coarse adjustment；
In place, kinetic control system control platform lifts circuit and 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 4th point XZ of the second visual sensor accurate measurement are to distance；
S2006, docking mechanism are bonded antenna mounting point, and master control system is adopted according to the inclination sensor being arranged on the first platform
The data of collection send control instruction to kinetic control system, and kinetic control system controls hydraulic executing system and executes docking mechanism patch
Close the movement of antenna mounting point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
S2008, antenna unlock, middle piece of locking circuit unlock block and Antenna unit in the antenna of fitting；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
Large Radar Antenna six degree of freedom automatic butt separation system of the invention and method, system use mechanical electronic hydraulic integrated
Change technology, using visual sensor with laser range sensor automatic identification target, it can be achieved that middle block antenna, side block antenna are automatic
Leveling and six degree of freedom (translation of three axis of x, y, z and rotation) movement of side block antenna, and then complete side block antenna and middle piece of day
The automatic Mosaic of line, separation, it is safe and efficient, without lifting mode, safely, quickly, conveniently, currently, having been used for certain type rice
Wave radar antenna.
Claims (7)
1. Large Radar Antenna six degree of freedom automatic butt separation method, it is characterised in that: it includes automatic butt step and oneself
Dynamic separating step:
The automatic butt includes following sub-step:
S100, middle piece of leveling, master control system send control according to the data that the apparatus for detecting position and posture being arranged on block in antenna acquires
It instructs to kinetic control system, kinetic control system controls hydraulic executing system and completes block leveling in antenna；
S101, docking mechanism coarse adjustment are flat, and master control system is sent out according to the data that the apparatus for detecting position and posture being arranged on docking mechanism acquires
Send control instruction to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and completes docking mechanism lifting for S102, docking mechanism lifting；
S103, apparatus for detecting position and posture bigness scale Y are to distance；
S104, the first point X of apparatus for detecting position and posture accurate measurement to Z-direction distance；
S105, apparatus for detecting position and posture accurate measurement Y are to distance；
S106, apparatus for detecting position and posture accurate measurement second point X to Z-direction distance；
The accurate posture adjustment of S107, docking mechanism, master control system send control instruction according to the range data that apparatus for detecting position and posture acquires
To kinetic control system, kinetic control system controls hydraulic executing system and completes the accurate posture adjustment of docking mechanism, realizes Antenna unit
It draws close and is bonded with block in antenna；
Block in antenna after fitting is locked by S108, locking, hydraulic executing system with Antenna unit；
S109, docking mechanism remove receipts, and docking mechanism is withdrawn initial position；
Described is automatically separated including following sub-step:
S200, docking mechanism coarse adjustment are flat, and master control system is sent out according to the data that the apparatus for detecting position and posture being arranged on docking mechanism acquires
Send control instruction to kinetic control system, it is flat that kinetic control system controls hydraulic executing system completion docking mechanism coarse adjustment；
In place, kinetic control system controls hydraulic executing system and completes docking mechanism lifting for S201, docking mechanism lifting；
S202, apparatus for detecting position and posture bigness scale Y are to distance；
S203, apparatus for detecting position and posture accurate measurement thirdly X to Z-direction distance；
S204, apparatus for detecting position and posture accurate measurement Y are to distance；
S205, the 4th point X of apparatus for detecting position and posture accurate measurement to Z-direction distance；
S206, docking mechanism are bonded antenna mounting point, and master control system is acquired according to the apparatus for detecting position and posture being arranged on docking mechanism
Data send control instruction to kinetic control system, kinetic control system controls hydraulic executing system and executes docking mechanism fitting
The movement of antenna mounting point；
S207, the detection of docking mechanism support force, hydraulic executing system detect the support force on docking mechanism；
S208, antenna unlock, hydraulic executing system unlock block and Antenna unit in the antenna of fitting；
S209, docking mechanism remove receipts, and docking mechanism is withdrawn initial position；
The automatic butt step specifically includes:
S1000, master control system send control instruction to movement according to the data for the inclination sensor acquisition being arranged on block in antenna
Control system, kinetic control system control in block leveling circuit complete antenna in block leveling；
S1001, the first platform coarse adjustment are flat, and master control system is sent according to the data that the inclination sensor being arranged on the first platform acquires
For control instruction to kinetic control system, it is flat that kinetic control system control platform levels circuit the first platform coarse adjustment of completion；
In place, kinetic control system control platform lifts circuit and completes docking mechanism lifting for S1002, docking mechanism lifting；
S1003, laser range finder bigness scale Y-direction distance；
S1004, the first point X of First look sensor accurate measurement to Z-direction distance；
S1005, laser range finder accurate measurement Y-direction distance；
S1006, the second visual sensor accurate measurement second point X to Z-direction distance；
S1007, the 4th accurate posture adjustment of platform, master control system are sent out according to the range data that laser range finder and visual sensor acquire
Send control instruction to kinetic control system, the 4th accurate posture adjustment of platform is completed in kinetic control system control platform posture adjustment circuit, real
Existing Antenna unit is drawn close with block in antenna to be bonded；
Block in antenna after fitting is locked by S1008, locking, middle piece of locking circuit with Antenna unit；
S1009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
2. Large Radar Antenna six degree of freedom automatic butt separation method according to claim 1, it is characterised in that: institute
The step that is automatically separated stated specifically includes:
S2000, the first platform coarse adjustment are flat, and master control system is sent according to the data that the inclination sensor being arranged on the first platform acquires
For control instruction to kinetic control system, it is flat that kinetic control system control platform levels circuit completion docking mechanism coarse adjustment；
In place, kinetic control system control platform lifts circuit and 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 X to Z-direction distance；
S2004, laser range finder accurate measurement Y-direction distance；
S2005, the 4th point X of the second visual sensor accurate measurement to Z-direction distance；
S2006, docking mechanism are bonded antenna mounting point, and master control system is acquired according to the inclination sensor being arranged on the first platform
Data send control instruction to kinetic control system, and kinetic control system controls hydraulic executing system and executes docking mechanism fitting day
The movement of line supporting point；
S2007, the detection of the 4th platform support force, hydraulic executing system detect the support force on the 4th platform；
S2008, antenna unlock, middle piece of locking circuit unlock block and Antenna unit in the antenna of fitting；
S2009, docking mechanism remove receipts, and docking mechanism is withdrawn initial position.
3. Large Radar Antenna six degree of freedom automatic butt separation system, it is characterised in that: using any one of claim 1-2
The method, and including master control system, pose detection system, kinetic control system, hydraulic executing system, pose detection dress
It sets and docking mechanism, apparatus for detecting position and posture acquires the location information of docking mechanism in real time and be transferred to pose detection system, pose
Location information is transferred to master control system by detection system, and master control system converts location information into controllable relative pose parameter,
And send control instruction to kinetic control system, kinetic control system driving hydraulic executing system adjust in real time docking mechanism into
Row docking separation.
4. Large Radar Antenna six degree of freedom automatic butt separation system according to claim 3, it is characterised in that: institute
The apparatus for detecting position and posture stated includes laser range finder, visual sensor and inclination sensor, laser range finder and visual sensor
Block corresponding position is set in Antenna unit both sides, antenna, two pieces of metal plates with default target are installed, block in antenna,
Antenna unit and docking mechanism respectively install an inclination sensor.
5. Large Radar Antenna six degree of freedom automatic butt separation system according to claim 3, it is characterised in that: institute
The docking mechanism stated includes pedestal, the first platform, the second platform, third platform and the 4th platform, and antenna docking mechanism passes through bottom
Seat is connected with side block antenna trailer crossbeam, first the second platform of platform and the low-angle rotation for completing upper assembling platform and antenna
Turn, the second platform enables side block antenna to complete vehicle commander direction to move horizontally by installation linear rolling guide, third platform
Enable side block antenna to complete vehicle width direction by installation linear rolling guide to move horizontally, the 4th platform antenna side
Block is simultaneously completed vehicle width direction and is moved horizontally, and the inclination sensor on docking mechanism is arranged on the first platform.
6. Large Radar Antenna six degree of freedom automatic butt separation system according to claim 3, it is characterised in that: institute
The hydraulic executing system stated includes hydraulic power source, middle piece of leveling circuit, platform leveling loop, platform raising circuit, vehicle money flat-pushing time
Road, the flat-pushing circuit of vehicle commander, platform Rotary Loop, platform are raised wages circuit and middle piece of locking circuit；
There are four tunnels, the extraordinary leveling locking cylinder of every routing one, a proportional multi-path reversing valve group, a pressure in middle piece of leveling circuit
Sensor composition, can link or individually adjust each leveling cylinder, the leveling of block in realization；
Platform leveling loop has four tunnels, one leveling cyclinder of every routing, 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 circuit the fortune for realizing overall height direction while vehicle width direction movement again is realized by parallelogram sturcutre
It is dynamic；The circuit is by two oil cylinders, a proportional multi-path reversing valve group, a synchronous valve and two balanced valve compositions；Synchronous valve connects
Oil inlet, balanced valve are integrated on oil cylinder；
The flat-pushing circuit of vehicle width is made of two oil cylinders, a proportional multi-path reversing valve group, and linkage adjusts two oil cylinders, realizes vehicle width
Direction moves horizontally；
The flat-pushing circuit of vehicle commander is made of an oil cylinder, a proportional multi-path reversing valve group, realizes that vehicle commander direction moves horizontally；
Platform Rotary Loop is made of an oil cylinder, a proportional multi-path reversing valve group, realizes the horizontal rotation of platform；
Platform posture adjustment circuit is made of four oil cylinders, four road proportional multi-path reversing valves, is finely tuned using 4 points, realizes that leveling leg is stretched out
And withdrawal, rodless cavity connect pressure sensor, it being capable of feeding back antenna stress degree；
It realizes locking simultaneously and unlocks by eight oil cylinders, proportional multi-path reversing valve forms all the way in middle piece of locking circuit.
7. Large Radar Antenna six degree of freedom automatic butt separation system according to claim 6, it is characterised in that: institute
The hydraulic power source stated uses duplex gear pump, is capable of providing the independent oil sources of two-way, and high pressure oil is used for the unlock of leveling cyclinder, low pressure
Oil is for leveling, docking and locking.
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| CN107776459B (en) * | 2017-10-19 | 2023-12-05 | 成都锦江电子系统工程有限公司 | Bionic vehicle-mounted unfolding and folding leveling device |
| CN109212497A (en) * | 2018-10-30 | 2019-01-15 | 哈尔滨工业大学 | A kind of measurement of space six degree of freedom vehicle radar antenna pose deviation and interconnection method |
| CN110039291B (en) * | 2019-05-07 | 2020-02-14 | 燕山大学 | High-position automatic butt-joint platform for large-scale maneuvering radar |
| CN110501958A (en) * | 2019-09-06 | 2019-11-26 | 中国科学院长春光学精密机械与物理研究所 | A kind of control system of 6-dof motion platform |
| CN111736633B (en) * | 2020-06-09 | 2021-08-06 | 南京航空航天大学 | Pose regulation and control method based on birefringence phenomenon of light |
| CN112692798B (en) * | 2020-12-14 | 2022-08-16 | 武汉红星杨科技有限公司 | High-precision 13-degree-of-freedom automatic butt joint device and method |
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