CN108609558A - A kind of perpendicular turnover device of big argument based on optimization design - Google Patents
A kind of perpendicular turnover device of big argument based on optimization design Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The big argument based on optimization design that the invention discloses a kind of playing perpendicular turnover device, including：Antenna tower base plays perpendicular hydraulic cylinder, subordinate's mast, overturning hydraulic cylinder, lower link, upper connecting rod and higher level's mast；Wherein, one end of subordinate's mast is rotatablely connected with antenna tower base；The other end of subordinate's mast is rotatablely connected with one end of higher level's mast；The one end and antenna tower base for playing perpendicular hydraulic cylinder are rotatablely connected, and the other end and subordinate's mast for playing perpendicular hydraulic cylinder are rotatablely connected；Overturn one end and the subordinate's mast rotation connection of hydraulic cylinder；One end of upper connecting rod is rotatablely connected with higher level's mast, and the other end of the other end and overturning hydraulic cylinder of upper connecting rod is rotatablely connected；One end of lower link and subordinate's mast rotation connection, the other end of the other end and overturning hydraulic cylinder of lower link are rotatablely connected.The present invention provides a variety of work use patterns for radar system, and realizes the conversion of the state between different mode and the reliable locking of any position.
Description
Technical Field
The invention belongs to the field of lifting mechanisms, and particularly relates to a large-amplitude-angle erecting and overturning device based on an optimized design.
Background
The radar lifting mechanism is divided into two types, namely a fixed array ground type and a vehicle-mounted maneuvering type, and is mainly used for lifting the radar to a certain working height, so that the effective searching action distance of the radar is improved, and the influence of ground clutter is reduced. In current product application, for guaranteeing that radar system can bear great wind load under high altitude operating condition, and structure locking is reliable, on-vehicle mobile lifting mechanism's load weight and lifting height are the inverse ratio, to the demand of the military radar of heavy load, on-vehicle lifting mechanism adopts the form of perpendicular lift + auxiliary stay more, and product structure is complicated, the volume occupation space is big, and the user mode is single and state transition time is long, is difficult to satisfy radar weapon system's quick deployment and mobile transshipment operation requirement.
Disclosure of Invention
The technical problem solved by the invention is as follows: the device overcomes the defects of the prior art, provides a large-amplitude angle erecting and overturning device based on optimized design, provides multiple working use modes for a radar system, and realizes state conversion among different modes and reliable locking of any position, thereby meeting the state conversion requirements of a radar load under different modes.
The purpose of the invention is realized by the following technical scheme: the invention provides a large-amplitude angle erecting and overturning device based on optimal design, which comprises: the antenna tower comprises an antenna tower base, a vertical hydraulic cylinder, a lower-level antenna tower, a turnover hydraulic cylinder, a lower connecting rod, an upper connecting rod and a higher-level antenna tower; wherein one end of the lower antenna tower is rotatably connected with the antenna tower base; the other end of the lower-level antenna tower is rotatably connected with one end of the upper-level antenna tower; one end of the erecting hydraulic cylinder is rotatably connected with the antenna tower base, and the other end of the erecting hydraulic cylinder is rotatably connected with the lower-level antenna tower; one end of the turning hydraulic cylinder is rotatably connected with the lower-level antenna tower; one end of the upper connecting rod is rotatably connected with the upper antenna tower, and the other end of the upper connecting rod is rotatably connected with the other end of the turning hydraulic cylinder; one end of the lower connecting rod is rotatably connected with the lower-level antenna tower, and the other end of the lower connecting rod is rotatably connected with the other end of the turning hydraulic cylinder.
In the large-amplitude-angle erecting and overturning device based on the optimized design, the erecting hydraulic cylinder and the overturning hydraulic cylinder are mechanical locking hydraulic cylinders.
In the large-amplitude-angle erecting and overturning device based on the optimized design, the mechanical locking hydraulic cylinder comprises a piston, a piston rod, an inner locking sleeve, an unlocking cavity, a rod cavity, a rodless cavity and a cylinder barrel; the piston, the piston rod and the inner locking sleeve are of an integrated structure, the piston rod is fixedly connected with the piston, the inner locking sleeve is sleeved on the piston rod through a sealing structure, and the piston, the piston rod and the inner locking sleeve are all located in the cylinder barrel; the unlocking cavity is arranged inside the piston rod; the first oil groove formed in the inner locking sleeve is communicated with the second oil groove formed in the piston rod, and the second oil groove is communicated with the inner cavity of the piston rod; the rod cavity is arranged at one end of the cylinder barrel, and the rodless cavity is arranged at the other end of the cylinder barrel.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: a base stopper and a lower tower stopper; the base limiting block is arranged on the antenna tower base; the lower tower limiting block is arranged on the lower-level antenna tower; when the lower-level antenna tower erects 90 degrees relative to the antenna tower base, the base limiting block and the lower tower limiting block are in contact extrusion.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: an upper tower limiting surface and a lower tower limiting surface; wherein, the upper tower limiting surface is arranged on the upper antenna tower; the lower tower limiting surface is arranged on the lower-level antenna tower; when the lower-level antenna tower is turned 180 degrees relative to the upper-level antenna tower, the upper-tower limiting surface and the lower-tower limiting surface are in contact extrusion.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: a supporting seat; wherein the support base is provided on the lower surface of the lower-level antenna tower.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: a control unit; the control unit drives the erecting hydraulic cylinder and the overturning hydraulic cylinder and collects the pressure of the erecting hydraulic cylinder and the overturning hydraulic cylinder; when the base limiting block and the lower tower limiting block are in contact extrusion, the pressure of the erecting hydraulic cylinder rises, and when the pressure step change is 3Mpa, the control unit cuts off the unlocking pressure of the erecting hydraulic cylinder, so that the mechanical locking of the erecting hydraulic cylinder is realized; when the upper tower limiting surface and the lower tower limiting surface are in contact extrusion, the pressure of the turnover hydraulic cylinder rises, and when the pressure step change is 3Mpa, the control unit disconnects the unlocking pressure of the turnover hydraulic cylinder, so that the mechanical locking of the turnover hydraulic cylinder is realized.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: a main support; wherein the main support is provided to an upper surface of the lower antenna tower.
Among the above-mentioned turning device is erected to a large margin angle based on optimal design, still include: auxiliary supporting; wherein the auxiliary support is provided to an upper surface of the lower antenna tower.
In the large-angle erecting and overturning device based on the optimized design, the relation between the driving load F of the mechanical locking hydraulic cylinder, the system pressure P and the cylinder diameter D is F-P pi D2/4。
Compared with the prior art, the invention has the following beneficial effects:
(1) the large-amplitude-angle erecting and overturning system can provide five working use modes for radar loads, and realizes state conversion of different use modes through the graded single-step action of the two sets of driving mechanisms;
(2) according to the invention, through the optimized design of the parameters of the erecting and overturning driving mechanisms, the structural parameters of the erecting hydraulic cylinder and the overturning hydraulic cylinder are consistent, and the load envelopes of the erecting and overturning hydraulic circuits are consistent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a large-angle erecting and overturning device based on an optimized design according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a mechanical locking cylinder provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a horizontal parking mode of the radar provided by an embodiment of the present invention;
FIG. 4 is a schematic illustration of a radar maintenance mode provided by an embodiment of the present invention;
FIG. 5 is a schematic illustration of a radar maintenance mode provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a radar operating mode provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of an emergency withdrawing mode of the radar according to the embodiment of the present invention;
FIG. 8 is a force analysis diagram of the triple-pivot erecting mechanism provided by the embodiment of the invention;
FIG. 9 is a force analysis diagram of the four-bar linkage turnover mechanism provided by the embodiment of the invention;
fig. 10 is a schematic diagram of congestion distance ordering provided by an embodiment of the present invention;
FIG. 11(a) is a schematic diagram of gap elimination in a vertical-to-position structure provided by an embodiment of the present invention;
FIG. 11(b) is an enlarged schematic view of region I in FIG. 11 (a);
FIG. 12(a) is a schematic view of gap elimination in a flip-to-position structure provided by an embodiment of the present invention;
fig. 12(b) is an enlarged schematic view of the region I in fig. 12 (a).
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic structural diagram of a large-angle erecting and overturning device based on an optimized design according to an embodiment of the present invention. As shown in fig. 1, the large-angle erecting and overturning device based on the optimized design comprises: the antenna tower comprises an antenna tower base 1, a vertical hydraulic cylinder 2, a lower-level antenna tower 3, a turnover hydraulic cylinder 4, a lower connecting rod 5, an upper connecting rod 6 and a higher-level antenna tower 7. Wherein,
one end of the lower-level antenna tower 3 is rotatably connected with the antenna tower base 1; the other end of the lower antenna tower 3 is rotatably connected with one end of the upper antenna tower 7; one end of the erecting hydraulic cylinder 2 is rotatably connected with the antenna tower base 1, and the other end of the erecting hydraulic cylinder 2 is rotatably connected with the lower-level antenna tower 3; one end of the turning hydraulic cylinder 4 is rotatably connected with the lower-level antenna tower 3; one end of an upper connecting rod 6 is rotatably connected with a higher-level antenna tower 7, and the other end of the upper connecting rod 6 is rotatably connected with the other end of the turning hydraulic cylinder 4; one end of the lower connecting rod 5 is rotatably connected with the lower antenna tower 3, and the other end of the lower connecting rod 5 is rotatably connected with the other end of the turning hydraulic cylinder 4.
The revolving shaft at the joint of the lower antenna tower 3 and the antenna tower base 1 and the erecting hydraulic cylinder 2 form a three-hinge-point erecting mechanism, the revolving hinge point of the mechanism is the revolving shaft at the joint of the lower antenna tower 3 and the antenna tower base 1, and the action hinge point is the upper hinge point and the lower hinge point of the erecting hydraulic cylinder 2 and is respectively connected with the lower antenna tower and the antenna tower base. The erecting mechanism drives the lower-level antenna tower to finish erecting and withdrawing actions through unfolding and folding of the erecting hydraulic cylinder.
The rotating shaft, the turning hydraulic cylinder 4, the lower connecting rod 5 and the upper connecting rod 6 at the joint of the upper antenna tower and the lower antenna tower form a four-connecting-rod turning mechanism, the rotating hinge point of the mechanism is the rotating shaft at the joint of the upper antenna tower and the lower antenna tower, the action hinge points are 3 in total, and the rotating hinge points are respectively the connecting hinge point of the upper connecting rod and the upper antenna tower, the connecting hinge point of the lower connecting rod and the lower connecting rod, and the connecting hinge points of the upper connecting rod and the lower connecting rod. The four-bar turnover mechanism is formed by a quadrangle formed by the enclosing of the rotary hinge point and the action hinge point, the driving force of the mechanism is provided by a turnover hydraulic cylinder, the upper support point and the lower support point of the turnover cylinder are designed at the joint of the lower tower and the connecting bar, and the turnover and the retraction of the upper tower can be realized by the unfolding and folding of the turnover hydraulic cylinder.
The erecting hydraulic cylinder 2 and the overturning hydraulic cylinder 4 are mechanical locking hydraulic cylinders. As shown in fig. 2, the mechanical locking hydraulic cylinder includes a piston 21, a piston rod 22, an inner locking sleeve 23, an unlocking chamber 24, a rod chamber 25, a rodless chamber 26, and a cylinder 27. Wherein,
the piston 21, the piston rod 22 and the inner locking sleeve 23 are of an integral structure, the piston rod 22 is fixedly connected with the piston 21, the inner locking sleeve 23 is sleeved on the piston rod 22 through a sealing structure, and the piston 21, the piston rod 22 and the inner locking sleeve 23 are all positioned in the cylinder 27; the unlocking cavity 24 is arranged inside the piston rod 22; a first oil groove 231 formed in the inner locking sleeve 23 is communicated with a second oil groove 232 formed in the piston rod 22, and the second oil groove 232 is communicated with the inner cavity of the piston rod 22; the rod chamber 25 opens at one end of the cylinder 27 and the rodless chamber 26 opens at the other end of the cylinder 27.
Compared with a common cylinder, the mechanical locking hydraulic cylinder is additionally provided with the built-in locking sleeve and the unlocking loop on the piston rod, and locking force is generated through interference fit between the cylinder barrel and the locking sleeve, so that position locking between the piston rod and the cylinder barrel is ensured. Meanwhile, when the oil hydraulic pressure in the unlocking cavity is greater than the unlocking pressure, the cylinder barrel expands under the action of high pressure, the hydraulic cylinder is in an unlocking state, and the working principle of the hydraulic cylinder is the same as that of a common cylinder. The hydraulic cylinder can drive the upper and lower antenna towers and mechanically lock the upper and lower antenna towers at any position by controlling the pressure of the unlocking loop.
Based on two sets of action mechanisms of three-hinge-point erecting and four-connecting-rod overturning and a mechanical locking hydraulic cylinder, the state conversion of the working mode of the large-amplitude-angle erecting and overturning system can be realized by the stepped single-step action of an upper antenna tower and a lower antenna tower:
radar horizontal parking mode: the lower-level antenna tower is erected by 0 degrees, the upper-level antenna tower is turned by 0 degrees, and as shown in fig. 3, the mode is a system horizontal folding and locking state and can be used for maneuvering transportation of radar loads in a vehicle-mounted state;
radar maintenance mode: the lower-level antenna tower is erected by 0 degree, the upper-level antenna tower is turned to 90 degrees, as shown in fig. 4, the radar is lifted to be 2.5m away from the ground in the mode, and the mode can be used for ground test and maintenance of radar loads;
radar maintenance mode: the lower-level antenna tower is erected by 0 degrees, the upper-level antenna tower is turned to 180 degrees, as shown in fig. 5, the radar is unfolded and locked in a horizontal state in the mode, and the mode can be used for daily maintenance and inspection of radar loads;
radar working mode: the lower-level antenna tower is erected to 90 degrees, the upper-level antenna tower is turned to 180 degrees, as shown in fig. 6, the radar load is lifted to the high altitude of 12m away from the ground and locked, and the mode can be used for the high altitude search work of the radar;
the radar emergency withdrawing mode comprises the following steps: in the emergency withdrawing process, under the radar working mode, the posture of the upper antenna tower is kept unchanged when the upper antenna tower is turned for 180 degrees, the lower antenna tower is withdrawn to 0 degree from the vertical position for 90 degrees, and as shown in fig. 7, the emergency withdrawing process can be used for withdrawing the system to a maintenance state when the radar works at high altitude and special faults occur.
As shown in fig. 11(a) and 11(b), the large argument erecting and overturning device based on the optimized design further includes: a base stop block 110 and a lower tower stop block 310. Wherein,
the base stopper 110 is disposed on the antenna tower base; the lower tower limiting block 310 is arranged on the lower antenna tower; when the lower level antenna tower is erected 90 degrees relative to the antenna tower base, the base stop block 110 and the lower tower stop block 310 are pressed in contact.
As shown in fig. 12(a) and 12(b), the large argument upending and turning device based on the optimized design further includes: an upper tower limiting surface 700 and a lower tower limiting surface 320. Wherein,
the upper tower limiting surface 700 is arranged on the upper antenna tower; the lower tower limiting surface 320 is arranged on the lower antenna tower; when the lower-level antenna tower is turned 180 degrees relative to the upper-level antenna tower, the upper-tower limiting surface 700 and the lower-tower limiting surface 320 are in contact extrusion.
The radar rotates at a certain rotating speed for remote search in a high-altitude working mode, and additional load is formed on a radar supporting system due to the eccentricity of the radar and the wind load effect. The posture maintaining scheme of the large-amplitude-angle erecting and overturning system is realized by a combination mode of mechanical limiting of a mechanism, pressure judgment of a hydraulic system and locking of a hydraulic cylinder:
keeping the posture in place during erecting: limiting blocks are respectively designed at the positions where the lower-level antenna tower and the antenna tower base stand for 90 degrees, as shown in fig. 11(a) and fig. 11(b), when a standing hydraulic cylinder drives the lower-level tower to stand in place, the lower-level tower limiting block is contacted with the base limiting block, the standing hydraulic cylinder drives the tower body to continue to act, the structural clearance is eliminated, and when the pressure step of a standing hydraulic system is 3MPa, the standing hydraulic cylinder is mechanically locked, so that the locking of the working state of the lower-level antenna tower is realized;
keeping the posture of turning in place: the upper antenna tower and the lower antenna tower are respectively provided with a limiting surface at the position where the upper antenna tower and the lower antenna tower are turned for 180 degrees, as shown in fig. 12(a) and 12(b), when the turning hydraulic cylinder drives the upper antenna tower to turn in place, the upper limiting surface is contacted with the lower limiting plate, the turning hydraulic cylinder drives the tower body to continue to act, the structural clearance is eliminated, and when the pressure step of the turning hydraulic system is 3MPa, the turning hydraulic cylinder is mechanically locked, so that the locking of the working state of the upper antenna tower is realized.
This turning device erects based on large argument of optimal design still includes: a control unit. The control unit drives the erecting hydraulic cylinder 2 and the overturning hydraulic cylinder 4 and collects the pressure of the erecting hydraulic cylinder 2 and the overturning hydraulic cylinder 4; when the base limiting block 110 and the lower tower limiting block 310 contact and extrude, the pressure of the erecting hydraulic cylinder 2 rises, and when the pressure step change is 3Mpa, the control unit cuts off the unlocking pressure of the erecting hydraulic cylinder 2, so that the mechanical locking of the erecting hydraulic cylinder 2 is realized; when the upper tower limiting surface 700 and the lower tower limiting surface 320 are in contact extrusion, the pressure of the turnover hydraulic cylinder 4 rises, and when the pressure step change is 3Mpa, the control unit disconnects the unlocking pressure of the turnover hydraulic cylinder 4, so that the mechanical locking of the turnover hydraulic cylinder 4 is realized.
As shown in fig. 1, the large argument erecting and overturning device based on the optimized design further includes: a main support 8; wherein the main support 8 is provided on the upper surface of the lower antenna tower 3. The main support 8 is used for keeping the lower antenna tower 3 and the upper antenna tower at a certain distance, so that the lower antenna tower 3 and the upper antenna tower are well protected. Further, the main support 8 is a rigid support.
As shown in fig. 1, the large argument erecting and overturning device based on the optimized design further includes: an auxiliary support 9; wherein the auxiliary support 9 is provided on the upper surface of the lower antenna tower 3. The auxiliary support 9 is used for keeping the lower antenna tower 3 and the upper antenna tower at a certain distance, so that the lower antenna tower 3 and the upper antenna tower are well protected. Further, the auxiliary support 9 is an elastic support.
As shown in fig. 1, the large argument erecting and overturning device based on the optimized design further includes: a support base 31; the support base 31 is provided on the lower surface of the lower antenna tower 3. The bearing 31 is used to support the lower antenna tower 3, thereby well protecting the lower antenna tower 3.
The equivalent load transfer of the triple-hinge erecting mechanism is shown in fig. 8. In the erecting process, along with the change of the erecting angle, the position of the mass center of the erecting part (an upper antenna tower, a lower antenna tower and a radar load) is continuously changed, and then a static coordinate system and a rotating local coordinate system are established, wherein the static coordinate system takes the erecting rotating shaft as an origin, the X axis is along the horizontal direction, and the Y axis is vertically upward; the rotating coordinate system is fixedly connected with the erecting part, the origin of coordinates is the same as a static coordinate system, the axis A is along the axial direction of the lower-level antenna tower, and the axis R is vertical along the lower-level antenna tower.
Any point (a, r) in the rotating coordinate system is converted into coordinates (x, y) under the static coordinate system
In the formula, angle is a vertical angle (an angle between two coordinate systems). The above equations are denoted as RTNX (a, r), RTNY (a, r), respectively, as coordinate transfer functions.
Arranged in a static coordinate system, the total mass and the mass center coordinate of the vertical part are m0、(x0,y0) Before erecting, the coordinate of the upper supporting point is (x)2,y2) The coordinate of the lower fulcrum is (x)1,y1) When the hydraulic cylinder is erected at any angle, the length L of the hydraulic cylinder is erectedcylAnd the distance hh from the hydraulic cylinder to the rotating shaft:
then the vertical load FcylComprises the following steps:
in the formula, FwindAnd (x)1,y1) The wind load and the load coordinate acting on the vertical part.
The equivalent load transfer of the four-bar tilting mechanism is shown in fig. 9, the origin of coordinates is the tilting center of the upper and lower antenna towers, the X-axis is along the horizontal direction, and the Y-axis is vertically upward. In the process that the upper tower overturns around the rotation center, the overturning hydraulic cylinder provides driving force, and the load pushes the overturning part (the upper tower and the radar load) to rotate through the upper connecting rod (BC).
When the upper tower is turned over to any angle deg _ num, the coordinate positions of A, D and E are unchanged in a coordinate system, and B and C are moving coordinate points, wherein the coordinate of C is as follows:
Xc＝LCDcos(θ0-deg_num)
Yc＝LCDsin(θ0-deg_num)
the coordinates of point B are determined by the following analytical formula:
XB＝LABcos(β0+β1+β2)+XA
YB＝LABsin(β0+β1+β2)+YA
length L of the tilting cylinderBEComprises the following steps:
and after each point position is determined, calculating the load of the overturning hydraulic cylinder and each connecting rod through moment balance. Wherein, to the upset part, the upset moment around D point is only provided by BC pole, and the resistance moment is provided jointly by gravity and wind load to there are:
FBC＝(MM+MWind)/LD⊥BC
for point A, the moment rotating around the point A is provided by the overturning hydraulic cylinder and the BC rod, and the driving of the overturning hydraulic cylinder can be obtained by the moment balanceDynamic load FBEAnd load F of lower linkAB：
FBC×LA⊥BC＝FBE×LA⊥EB
FBC×LE⊥BC＝FAB×LE⊥AB
The parameter design envelope of the hydraulic drive system is determined by the hydraulic circuit working pressure P provided by the hydraulic pump and the structural parameters of the hydraulic cylinders.
For the three-hinge-point erecting mechanism, a driving system of the three-hinge-point erecting mechanism is an erecting hydraulic cylinder, and design parameters comprise: diameter D of cylinderqInitial furled length L of hydraulic cylindercyl0And a developed length Lcyl1Maximum driving load Fcyl0And maximum tensile load Fcyl1。
For a four-bar linkage turnover mechanism, a driving system of the four-bar linkage turnover mechanism is a turnover hydraulic cylinder, and design parameters comprise: diameter D of cylinderfInitial furled length L of hydraulic cylinderBE0And a developed length LBE1Maximum driving load FBE0And maximum tensile load FBE1。
The relation between the driving load F, the system pressure P and the cylinder diameter D is F ═ Ppi D2/4, the design parameters of the hydraulic drive system can be reduced to drive load F0And tensile load F1And retraction L of the hydraulic cylinder0And a deployment length L1. These parameters are determined by the coordinates of the pivot point of the drive system, including the (x) coordinates of the pivot point of the erecting mechanism2,y2) And (x)1,y1) Hinge point coordinate (x) of the tilting mechanismA,yA)、(xB,yB)、(xC,yC) And (x)E,yE)。
The three-hinge-point and four-link driving mechanism is designed in an integrated manner, namely, the design parameters of the driving system are consistent through the optimized arrangement of the coordinates of the hinge points of the mechanism. In summary, the optimal design mathematical model of the two sets of driving mechanisms can be expressed as:
the mathematical model envelops all design parameters of two sets of driving systems, and the analysis is as follows: taking the coordinates of the hinged points of the vertical turning mechanism and the turning mechanism as design variables; taking the difference value between the furled length and the unfolded length of the vertical cylinder and the hydraulic cylinder which are not more than 5mm as a design constraint boundary; and taking the minimum difference value of the driving load and the pulling load of the lifting and overturning hydraulic system as 2 optimized objective functions of the model.
For the integrated design model of the driving mechanism, the design parameters can be solved by a three-hinge-point and four-connecting-rod mathematical model, and the optimization iteration of the design variables can be obtained by a multi-objective genetic optimization algorithm. The NSGA II genetic algorithm is combined with an optimization design model of a driving mechanism, namely 2 optimization target values are directly mapped into a fitness function, the domination relationship of the target values is compared to find an effective solution of the problem, and the basic flow is described as follows:
(1) discrete design variables. The generation of initial population in genetic algorithm is random, taking L as string length, and for variable xiCarry out binary coding (c)L-1cL-2…c0)2And mapping the codes to corresponding real numbers in the interval by the following formula:
(2) and (5) evaluating the fitness. And determining a conversion rule from the target function f to the individual fitness, namely selecting a quantitative evaluation method of the individual fitness, determining the propagation opportunity of the individual by genetic operation according to the fitness, wherein the propagation opportunity of the individual with high fitness is greater than that of the individual with low fitness, so that the average fitness of a new population is higher than that of an old population.
(3) And (4) genetic manipulation. The cross operation rule of variables of the integrated design model of the driving system can be determined according to the following formula:
in the formula, xi (1,t)And xi (2,t)Are respectively two parent individuals in the current population, xi (1,t+1)And xi (2,t+1)to form new individuals, βqiIs a cross factor.
New variant individuals whose variables can further be generated are
In the formula, deltaqIs a variation factor.
(4) And (4) non-inferior sorting. And comparing every two individuals in the new population according to the target function vectors thereof in the target function space according to the Pareto optimal relationship, and dividing all the individuals into a plurality of sequentially controlled front-edge layers. When the Pareto layers belong to different Pareto layers, evaluating the superiority of the Pareto to evaluate the superiority of the individual; and (3) regarding the individuals belonging to the same Pareto layer as the individuals with more crowding distance as being more excellent, and finally selecting new individuals to carry out non-inferior solution archiving so that the front edge of Pareto continuously approaches forward in the evolution process.
After the individuals in the Pareto layer are arranged in ascending order according to the objective function, two boundary individuals with the minimum target value and the maximum target value are respectively endowed with infinite distance values, and x is definediFront and back adjacent individuals xi-1And xi+1The absolute value of the difference between the target values is its distance value, as shown in FIG. 10, for an individual xiAt f1And f2Respectively, is di1And di2Then the individual xiIs defined as the sum of the distance values (d) at each targeti1+di2)。
(5) The rule is terminated. If the termination condition is met, the algorithm is ended, otherwise, the process is continued.
In the embodiment, two sets of mechanisms of three-hinge-point erecting and four-link overturning are integrated to respectively drive the lower-level antenna tower and the upper-level antenna tower, so that erecting of the lower-level tower within the range of 0-90 degrees around the rotation center and overturning of the upper-level tower within the range of 0-180 degrees around the rotation center can be realized, and the state conversion requirements of radar loads under different modes are met; by establishing a mathematical analysis model of the three-hinge-point and four-bar driving mechanism, parameterizing design variables of the two mechanisms, introducing a multi-objective genetic algorithm to construct an optimized design model of the driving mechanism, and performing optimized iteration on design values, a technical scheme that design parameters of erecting and turning hydraulic systems are consistent is obtained, system design is simplified, and product cost is reduced; the attitude keeping technology under the high-altitude working mode of the radar load. The design scheme combining a mechanism clearance elimination control strategy and a mechanical locking hydraulic cylinder is adopted, namely, the upper and lower antenna towers and the base are designed to act in place limiting mechanisms, the effective elimination of the structural clearance is realized through the contact extrusion of limiting surfaces, and the reliable locking and attitude keeping of the system in any working mode is realized by combining the mechanical locking hydraulic cylinder.
The large-amplitude erecting and overturning system can provide five working use modes for the radar load, and realizes state conversion of different use modes through the graded single-step action of the two sets of driving mechanisms; in addition, according to the embodiment, through the optimal design of the parameters of the erecting and overturning driving mechanisms, the structural parameters of the erecting hydraulic cylinder and the overturning hydraulic cylinder are consistent, and the load envelopes of the erecting and overturning hydraulic circuits are consistent.
The above-described embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a by a wide margin angle erects turning device based on optimal design which characterized in that includes: the antenna tower comprises an antenna tower base (1), a vertical hydraulic cylinder (2), a lower-level antenna tower (3), a turnover hydraulic cylinder (4), a lower connecting rod (5), an upper connecting rod (6) and a higher-level antenna tower (7); wherein,
one end of the lower-level antenna tower (3) is rotatably connected with the antenna tower base (1);
the other end of the lower antenna tower (3) is rotatably connected with one end of the upper antenna tower (7);
one end of the erecting hydraulic cylinder (2) is rotatably connected with the antenna tower base (1), and the other end of the erecting hydraulic cylinder (2) is rotatably connected with the lower-level antenna tower (3);
one end of the turning hydraulic cylinder (4) is rotatably connected with the lower-level antenna tower (3);
one end of the upper connecting rod (6) is rotatably connected with the upper antenna tower (7), and the other end of the upper connecting rod (6) is rotatably connected with the other end of the turning hydraulic cylinder (4);
one end of the lower connecting rod (5) is rotatably connected with the lower antenna tower (3), and the other end of the lower connecting rod (5) is rotatably connected with the other end of the turning hydraulic cylinder (4).
2. The large-amplitude-angle erecting and overturning device based on the optimized design as claimed in claim 1, wherein: the erecting hydraulic cylinder (2) and the overturning hydraulic cylinder (4) are both mechanical locking hydraulic cylinders.
3. The large-amplitude-angle erecting and overturning device based on the optimized design as claimed in claim 2, wherein: the mechanical locking hydraulic cylinder comprises a piston (21), a piston rod (22), an inner locking sleeve (23), an unlocking cavity (24), a rod cavity (25), a rodless cavity (26) and a cylinder barrel (27); wherein,
the piston (21), the piston rod (22) and the inner locking sleeve (23) are of an integral structure, the piston rod (22) is fixedly connected with the piston (21), the inner locking sleeve (23) is sleeved on the piston rod (22) through a sealing structure, and the piston (21), the piston rod (22) and the inner locking sleeve (23) are all located in the cylinder barrel (27);
the unlocking cavity (24) is arranged in the piston rod (22);
a first oil groove (231) formed in the inner locking sleeve (23) is communicated with a second oil groove (232) formed in the piston rod (22), and the second oil groove (232) is communicated with an inner cavity of the piston rod (22);
the rod chamber (25) is arranged at one end of the cylinder barrel (27), and the rodless chamber (26) is arranged at the other end of the cylinder barrel (27).
4. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: a base stopper (110) and a lower tower stopper (310); wherein,
the base limiting block (110) is arranged on the antenna tower base;
the lower tower limiting block (310) is arranged on the lower-level antenna tower;
when the lower-level antenna tower is erected 90 degrees relative to the antenna tower base, the base limiting block (110) and the lower tower limiting block (310) are in contact extrusion.
5. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: an upper tower limiting surface (700) and a lower tower limiting surface (320); wherein,
the upper tower limiting surface (700) is arranged on the upper antenna tower;
the lower tower limiting surface (320) is arranged on the lower antenna tower;
when the lower-level antenna tower is turned 180 degrees relative to the upper-level antenna tower, the upper-tower limiting surface (700) and the lower-tower limiting surface (320) are in contact extrusion.
6. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: a support base (31); wherein,
the supporting seat (31) is arranged on the lower surface of the lower-level antenna tower (3).
7. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: a control unit; wherein,
the control unit drives the erecting hydraulic cylinder (2) and the overturning hydraulic cylinder (4) and collects the pressure of the erecting hydraulic cylinder (2) and the overturning hydraulic cylinder (4);
when the base limiting block (110) and the lower tower limiting block (310) are in contact extrusion, the pressure of the erecting hydraulic cylinder (2) rises, and when the pressure step change is 3Mpa, the control unit cuts off the unlocking pressure of the erecting hydraulic cylinder (2), so that the mechanical locking of the erecting hydraulic cylinder (2) is realized;
when the upper tower limiting surface (700) and the lower tower limiting surface (320) are in contact extrusion, the pressure of the turnover hydraulic cylinder (4) rises, and when the pressure step change is 3Mpa, the control unit disconnects the unlocking pressure of the turnover hydraulic cylinder (4), so that the mechanical locking of the turnover hydraulic cylinder (4) is realized.
8. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: a main support (8); wherein,
the main support (8) is arranged on the upper surface of the lower antenna tower (3).
9. The optimally designed large-format-angle erecting and overturning device as recited in claim 1, further comprising: an auxiliary support (9); wherein,
the auxiliary support (9) is arranged on the upper surface of the lower antenna tower (3).
10. The large-amplitude-angle erecting and overturning device based on the optimized design as claimed in claim 3, wherein: the relation between the driving load F of the mechanical locking hydraulic cylinder, the system pressure P and the cylinder diameter D is that F is equal to P pi D2/4。
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| CN201810359059.8A CN108609558A (en) | 2018-04-20 | 2018-04-20 | A kind of perpendicular turnover device of big argument based on optimization design |
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| CN201810359059.8A CN108609558A (en) | 2018-04-20 | 2018-04-20 | A kind of perpendicular turnover device of big argument based on optimization design |
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| CN113690563A (en) * | 2021-08-24 | 2021-11-23 | 中国电子科技集团公司第三十八研究所 | Radar antenna lifting mechanism with antenna fixedly connected on connecting rod |
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