CN108609558A - A kind of perpendicular turnover device of big argument based on optimization design - Google Patents

Abstract

The invention discloses a large-angle erecting and turning device based on an optimized design, which includes: an antenna tower base, an erecting hydraulic cylinder, a lower antenna tower, a turning hydraulic cylinder, a lower connecting rod, an upper connecting rod and an upper antenna tower; , one end of the lower antenna tower is rotatably connected to the base of the antenna tower; the other end of the lower antenna tower is rotatably connected to one end of the upper antenna tower; Rotationally connected with the lower antenna tower; one end of the overturning hydraulic cylinder is rotatably connected with the lower antenna tower; one end of the upper link is rotatably connected with the upper antenna tower, and the other end of the upper link is rotatably connected with the other end of the overturn hydraulic cylinder; the lower link One end of the lower link is rotatably connected to the lower antenna tower, and the other end of the lower link is rotatably connected to the other end of the flip hydraulic cylinder. The invention provides multiple working and using modes for the radar system, and realizes state transition among different modes and reliable locking at any position.

Description

A Large Angle Vertical Turning Device Based on Optimal Design

technical field

The invention belongs to the field of lifting mechanisms, and in particular relates to a large-angle vertical-turning device based on optimized design.

Background technique

The radar lifting mechanism is divided into two categories: fixed position type and vehicle-mounted mobile type. It is mainly used to lift the radar to a certain working height, thereby increasing the effective search range of the radar and reducing the influence of ground clutter. In existing product applications, in order to ensure that the radar system can withstand large wind loads under high-altitude working conditions, and the structure is locked reliably, the load weight of the vehicle-mounted mobile lifting mechanism is inversely proportional to the lifting height. To meet the needs of military radar, the vehicle-mounted lifting mechanism mostly adopts the form of vertical lifting + auxiliary support. The product structure is complex, the volume occupies a large space, the use mode is single, and the state transition time is long, which is difficult to meet the rapid deployment and mobile reprint of radar weapon systems. Requirements.

Contents of the invention

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a large-angle erecting and turning device based on optimal design, to provide a variety of working modes for the radar system, and to realize the state transition between different modes and any Reliable locking of the position, so as to meet the state transition requirements of the radar load in different modes.

The purpose of the present invention is achieved through the following technical solutions: the present invention provides a large-angle erecting and turning device based on optimized design, including: antenna tower base, erecting hydraulic cylinder, lower antenna tower, turning hydraulic cylinder, lower connecting rod , the upper connecting rod and the upper antenna tower; wherein, one end of the lower antenna tower is rotatably connected to the base of the antenna tower; the other end of the lower antenna tower is rotatably connected to one end of the upper antenna tower; One end of the vertical hydraulic cylinder is rotatably connected to the antenna tower base, the other end of the vertical hydraulic cylinder is rotatably connected to the lower antenna tower; one end of the flipping hydraulic cylinder is rotatably connected to the lower antenna tower; One end of the upper link is rotatably connected to the upper antenna tower, the other end of the upper link is rotatably connected to the other end of the flip hydraulic cylinder; one end of the lower link is rotatably connected to the lower antenna tower , the other end of the lower connecting rod is rotationally connected with the other end of the turning hydraulic cylinder.

In the above-mentioned large-angle erecting and turning device based on optimized design, both the erecting hydraulic cylinder and the turning hydraulic cylinder are mechanical locking hydraulic cylinders.

In the above-mentioned large-angle erecting and turning device based on optimized design, the mechanical locking hydraulic cylinder includes a piston, a piston rod, an inner locking sleeve, an unlocking chamber, a rod chamber, a rodless chamber and a cylinder; wherein, the piston, The piston rod and the inner locking sleeve are integrated, the piston rod is fixedly connected to the piston, the inner locking sleeve is sleeved on the piston rod through the sealing structure, and the piston, piston rod and inner locking sleeve are all located in the cylinder Inside; the unlocking chamber is opened inside the piston rod; the first oil groove opened by the inner locking sleeve is connected with the second oil groove opened by the piston rod, and the second oil groove is connected with the inner cavity of the piston rod; the rod chamber is opened in the cylinder One end of the barrel, the rodless cavity is opened at the other end of the cylinder.

In the above-mentioned large-angle erecting and turning device based on optimized design, it also includes: a base limit block and a lower tower limit block; wherein, the base limit block is set on the base of the antenna tower; the lower tower limit block is set on the lower level Antenna tower; when the lower antenna tower is erected at 90 degrees relative to the base of the antenna tower, the base limit block and the lower tower limit block are in contact and squeezed.

The above-mentioned large-angle erecting and turning device based on the optimized design also includes: the upper tower limit surface and the lower tower limit surface; wherein, the upper tower limit surface is set on the upper antenna tower; the lower tower limit surface is set on the lower antenna Tower; when the lower antenna tower is turned 180 degrees relative to the upper antenna tower, the limit surface of the upper tower and the limit surface of the lower tower are contacted and squeezed.

The above-mentioned large-angle erecting and turning device based on the optimal design further includes: a supporting seat; wherein, the supporting seat is arranged on the lower surface of the lower antenna tower.

The above-mentioned large-angle erecting and turning device based on optimized design further includes: a control unit; wherein, the control unit drives the erecting hydraulic cylinder and the turning hydraulic cylinder, and collects the hydraulic pressure of the erecting hydraulic cylinder and the turning hydraulic pressure. The pressure of the cylinder; when the base limit block and the lower tower limit block are contacted and squeezed, the pressure of the erecting hydraulic cylinder rises. When the pressure changes step by step by 3Mpa, the control unit disconnects the unlocking pressure of the erecting hydraulic cylinder to realize the erecting hydraulic cylinder When the limit surface of the upper tower and the limit surface of the lower tower are contacted and squeezed, the pressure of the overturning hydraulic cylinder rises. When the pressure changes step by step by 3Mpa, the control unit disconnects the unlocking pressure of the overturning hydraulic cylinder to realize the mechanical locking of the overturning hydraulic cylinder. .

The above-mentioned large-angle erecting and turning device based on optimized design further includes: a main support; wherein, the main support is arranged on the upper surface of the lower antenna tower.

The above-mentioned large-angle erecting and turning device based on optimized design further includes: auxiliary supports; wherein, the auxiliary supports are arranged on the upper surface of the lower antenna tower.

In the large-angle erecting and turning device based on the optimized design, the relationship between the driving load F of the mechanical locking hydraulic cylinder, the system pressure P, and the cylinder diameter D is F=PπD ² /4.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The large-angle vertical turning system of the present invention can provide five working modes for the radar load, and realize the state transition of different modes of use through the hierarchical single-step action of two sets of driving mechanisms;

(2) The present invention realizes the consistent structural parameters of the erecting hydraulic cylinder and the turning hydraulic cylinder, and the consistent load envelope of the erecting and turning hydraulic circuits through the optimized design of the parameters of the erecting and turning driving mechanism.

Description of 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 embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

Fig. 1 is a schematic structural view of a large-angle erecting and turning device based on an optimized design provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a mechanical locking hydraulic cylinder provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a radar horizontal parking mode provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of a radar maintenance mode provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of a radar maintenance mode provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of a radar working mode provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of a radar emergency withdrawal mode provided by an embodiment of the present invention;

Fig. 8 is a force analysis diagram of the three-hinge point erecting mechanism provided by the embodiment of the present invention;

Fig. 9 is a force analysis diagram of the four-link turning mechanism provided by the embodiment of the present invention;

Fig. 10 is a schematic diagram of congestion distance sorting provided by an embodiment of the present invention;

Fig. 11(a) is a schematic diagram of clearance elimination of erecting in place structure provided by the embodiment of the present invention;

Figure 11(b) is an enlarged schematic view of the I zone in Figure 11(a);

Fig. 12(a) is a schematic diagram of gap elimination provided by the embodiment of the present invention;

FIG. 12( b ) is an enlarged schematic view of region I in FIG. 12( a ).

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although 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 by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

Fig. 1 is a schematic structural diagram of a large-angle erecting and turning device based on an optimized design provided by an embodiment of the present invention. As shown in Figure 1, the large-angle erecting and turning device based on optimized design includes: antenna tower base 1, erecting hydraulic cylinder 2, lower antenna tower 3, turning hydraulic cylinder 4, lower connecting rod 5, and upper connecting rod 6 and superior antenna tower 7. in,

One end of the lower-level antenna tower 3 is rotatably connected to the antenna tower base 1; the other end of the lower-level antenna tower 3 is rotatably connected to one end of the upper-level antenna tower 7; one end of the vertical hydraulic cylinder 2 is rotatably connected to the antenna tower base 1. The other end of the hydraulic cylinder 2 is rotatably connected with the lower antenna tower 3; one end of the overturning hydraulic cylinder 4 is rotatably connected with the lower antenna tower 3; The other end of the overturning hydraulic cylinder 4 is rotatably connected; 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 overturning hydraulic cylinder 4 .

The rotary shaft at the connection between the lower-level antenna tower 3 and the antenna tower base 1 and the erecting hydraulic cylinder 2 constitute a three-hinge-point erecting mechanism. The rotary shaft and the action hinge point are the upper and lower hinge points of the erecting hydraulic cylinder 2, respectively connecting the lower tower and the base of the antenna tower. The erecting mechanism drives the lower antenna tower to complete the erecting and retracting actions through the deployment and retraction of the erecting hydraulic cylinder.

The rotary shaft at the connection between the upper and lower antenna towers, the tilting hydraulic cylinder 4, the lower connecting rod 5 and the upper connecting rod 6 constitute a four-link turning mechanism, and the rotary hinge point of this mechanism is the rotary shaft at the connection between the upper and lower antenna towers , there are 3 action hinge points in total, namely the connection hinge point between the upper link and the upper tower, the connection hinge point between the lower link and the lower tower, and the connection hinge point between the upper link and the lower link. The quadrilateral surrounded by the rotary hinge point and the action hinge point constitutes a four-link turning mechanism. The driving force of the mechanism is provided by the turning hydraulic cylinder. The upper and lower fulcrums of the turning cylinder are designed at the connection between the lower tower and the connecting rod. The flipping and retracting action of the upper tower can be realized by unfolding and retracting.

Erection hydraulic cylinder 2 and turning hydraulic cylinder 4 are all 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 . in,

The piston 21, the piston rod 22 and the inner locking sleeve 23 are integrally structured, the piston rod 22 is fixedly connected with the piston 21, the inner locking sleeve 23 is sleeved on the piston rod 22 through the sealing structure, and the piston 21, the piston rod 22 and the inner locking The sleeves 23 are all located in the cylinder 27; the unlocking cavity 24 is opened inside the piston rod 22; the first oil groove 231 provided by the inner locking sleeve 23 communicates with the second oil groove 232 provided by the piston rod 22, and the second oil groove 232 is connected with the piston rod. The internal cavities of the rods 22 are connected; the rod cavity 25 is set at one end of the cylinder 27 , and the rodless cavity 26 is set at the other end of the cylinder 27 .

Compared with ordinary cylinders, this mechanical locking hydraulic cylinder has a built-in locking sleeve and an unlocking circuit on the piston rod, and the locking force is generated through the interference fit between the cylinder and the locking sleeve, thereby ensuring that the piston rod and the cylinder position lock. At the same time, when the oil pressure in the unlocking cavity is greater than the unlocking pressure, the cylinder expands under the action of high pressure, and the hydraulic cylinder is in the unlocked state, and its working principle is the same as that of ordinary cylinders. Then, through the pressure control of the unlocking circuit, the hydraulic cylinder can realize the driving of the upper and lower antenna towers and the mechanical locking of any position.

Based on the two sets of action mechanisms of three-hinge-point erection and four-link overturn, as well as mechanical locking hydraulic cylinders, the state transition of the working mode of the large-angle erection and overturn system can be realized through hierarchical single-step actions of the upper and lower antenna towers:

Radar horizontal parking mode: the lower antenna tower is erected at 0°, and the upper antenna tower is flipped at 0°. As shown in Figure 3, this mode is the system horizontally retracted and locked state, which can be used for motorized transportation when the radar load is in the vehicle state;

Radar maintenance mode: the lower antenna tower is erected at 0°, and the upper antenna tower is turned to 90°, as shown in Figure 4, this mode lifts the radar to a height of 2.5m from the ground, which can be used for ground testing and maintenance of radar loads;

Radar maintenance mode: the lower-level antenna tower is erected at 0°, and the upper-level antenna tower is turned to 180°, as shown in Figure 5. This mode unfolds and locks the radar in a horizontal state, which can be used for daily maintenance and inspection of radar loads;

Radar working mode: the lower-level antenna tower is erected to 90°, and the upper-level antenna tower is turned to 180°, as shown in Figure 6. This mode lifts the radar load to a height of 12m above the ground and locks it, which can be used for radar high-altitude search work ;

Radar emergency withdrawal mode: The emergency withdrawal process is in the radar working mode, keeping the posture of the upper antenna tower turned 180° unchanged, and withdrawing the lower antenna tower from erection 90° to 0°, as shown in Figure 7, the The mode can be used to withdraw the system to the maintenance state when a special fault occurs when the radar works at high altitude.

As shown in FIG. 11( a ) and FIG. 11( b ), the large-angle erecting and turning device based on optimal design further includes: a base limit block 110 and a lower tower limit block 310 . in,

The base limit block 110 is arranged on the base of the antenna tower; the lower tower limit block 310 is arranged on the lower antenna tower; The bit block 310 is contact extruded.

As shown in FIG. 12( a ) and FIG. 12( b ), the large-angle erecting and turning device based on optimized design further includes: an upper tower limiting surface 700 and a lower tower limiting surface 320 . in,

The limit surface 700 of the upper tower is set on the upper antenna tower; the limit surface 320 of the lower tower is set on the lower antenna tower; when the lower antenna tower is turned 180 degrees relative to the upper antenna tower, the limit surface 700 of the upper tower and the limit surface of the lower tower 320 contact extrusion.

In the high-altitude working mode, the radar rotates at a certain speed for long-range search. Due to the eccentricity of the radar and the effect of wind load, an additional load is formed on the radar support system. The posture maintenance scheme of the large-angle vertical turning system is realized through the combination of mechanism mechanical limit + hydraulic system pressure judgment + locking hydraulic cylinder:

Attitude maintenance when the erection is in place: Design limit blocks at the 90° position of the erection of the lower antenna tower and the base of the antenna tower, as shown in Figure 11(a) and Figure 11(b), when the erection hydraulic cylinder drives the lower When the tower is erected in place, the lower tower limit block is in contact with the base limit block, and the vertical hydraulic cylinder drives the tower body to continue to move, eliminating structural gaps. When the pressure step of the vertical hydraulic system increases by 3MPa, the vertical hydraulic cylinder is mechanically locked, Realize the locking of the working state of the lower antenna tower;

Attitude maintenance when flipped in place: design limit surfaces at the 180° flip positions of the upper antenna tower and the lower antenna tower respectively, as shown in Figure 12(a) and Figure 12(b), when the flipping hydraulic cylinder drives the upper tower to flip in place, The limit surface of the upper tower is in contact with the limit plate of the lower tower, and the tilting hydraulic cylinder drives the tower body to continue to move, eliminating the structural gap. When the pressure step of the tilting hydraulic system increases by 3MPa, the tilting hydraulic cylinder is mechanically locked to realize the lock of the working state of the upper antenna tower tight.

The large-angle erecting and turning device based on optimized design also includes: 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; The pressure of the vertical hydraulic cylinder 2 rises. When the pressure changes stepwise by 3Mpa, the control unit disconnects the unlocking pressure of the vertical hydraulic cylinder 2 to realize the mechanical locking of the vertical hydraulic cylinder 2; when the upper tower limit surface 700 and the lower tower limit surface 320 The pressure of the overturning hydraulic cylinder 4 rises due to contact extrusion, and when the pressure changes stepwise by 3Mpa, the control unit disconnects the unlocking pressure of the overturning hydraulic cylinder 4 to realize the mechanical locking of the overturning hydraulic cylinder 4 .

As shown in FIG. 1 , the large-angle erecting and turning device based on optimized design further includes: a main support 8 ; wherein, the main support 8 is arranged on the upper surface of the lower antenna tower 3 . The main support 8 is used to keep the lower antenna tower 3 and the upper antenna tower at a certain distance, so as to well protect the lower antenna tower 3 and the upper antenna tower. Further, the main support 8 is a rigid support.

As shown in FIG. 1 , the large-angle erecting and turning device based on the optimal design further includes: an auxiliary support 9 ; wherein, the auxiliary support 9 is arranged on the upper surface of the lower antenna tower 3 . The auxiliary support 9 is used to keep the lower antenna tower 3 and the upper antenna tower at a certain distance, so as to well protect the lower antenna tower 3 and the upper antenna tower. Further, the auxiliary support 9 is an elastic support.

As shown in FIG. 1 , the large-angle erecting and turning device based on the optimal design further includes: a supporting base 31 ; wherein, the supporting base 31 is arranged on the lower surface of the lower antenna tower 3 . The support base 31 is used to support the lower antenna tower 3 so as to protect the lower antenna tower 3 well.

The equivalent load transfer of the three-hinge erecting mechanism is shown in Figure 8. During the erection process, with the change of the erection angle, the position of the center of mass of the erection part (upper and lower antenna towers and radar loads) is constantly changing, and two local coordinate systems, stationary and rotating, are established. Among them, the stationary The coordinate system takes the vertical axis of rotation as the 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, and the origin of the coordinates is the same as the static coordinate system. The A axis is along the axis of the lower antenna tower, and the R axis is along the The lower antenna tower is vertical.

The coordinates (x, y) of any point (a, r) in the rotating coordinate system converted to the stationary coordinate system are

In the formula, angle is the vertical angle (the angle between the two coordinate systems). The above formulas are used as coordinate conversion functions and are recorded as RTNX(a,r) and RTNY(a,r) respectively.

Assuming in the static coordinate system, the coordinates of the total mass and center of mass of the erecting part are m ₀ , (x ₀ , y ₀ ), before erecting, the coordinates of the upper fulcrum are (x ₂ , y ₂ ), and the coordinates of the lower fulcrum are (x ₁ ,y ₁ ), then when erecting to any angle angle, the length L _cyl of the erecting hydraulic cylinder and the distance hh from the hydraulic cylinder to the rotary axis:

Then the erecting load F _cyl is:

In the formula, F _wind and (x ₁ , y ₁ ) are the wind load and load coordinates acting on the erection part.

The equivalent load transfer of the four-link turning mechanism is shown in Figure 9. The coordinate origin is the turning center of the upper and lower antenna towers, the X axis is along the horizontal direction, and the Y axis is vertically upward. During the turning process of the upper tower around the center of rotation, the driving force is provided by the turning hydraulic cylinder, and the load pushes the turning part (upper tower and radar load) to rotate through the upper connecting rod (BC).

When the superior tower is flipped to any angle deg_num, in the coordinate system, the coordinate positions of points A, D and E remain unchanged, and points B and C are moving coordinate points, where the coordinates of point C are:

X _c ＝LCD cos(θ _{0 -deg_num} )

Y _c ＝LCD sin(θ _{0 -deg_num} )

The coordinates of point B are determined by the following analytical formula:

X _B ＝L _AB cos(β ₀ +β ₁ +β ₂ )+X _A

Y _B ＝L _AB sin(β ₀ +β ₁ +β ₂ )+Y _A

The length L _BE of the overturning hydraulic cylinder is:

After determining the position of each point, the load of the overturning hydraulic cylinder and each connecting rod is calculated by moment balance. Among them, for the overturning part, the overturning moment around the point D is only provided by the BC rod, and the resistance moment is provided by the gravity and the wind load, so that:

F _BC ＝(M _M +M _Wind )/L _D⊥BC

For point A, the torque around it is provided by the overturning hydraulic cylinder and BC rod, and the driving load F _BE of the overturning hydraulic cylinder and the load _FAB of the lower link can be obtained from the moment balance:

F _BC ×L _A⊥BC = F _BE ×L _A⊥EB

F _BC ×L _E⊥BC ＝F _AB ×L _E⊥AB

The parameter design envelope of the hydraulic drive system is determined by the working pressure P of the hydraulic circuit and the structural parameters of the hydraulic cylinder, where the working pressure P is provided by the hydraulic pump.

For the three-hinge-point erecting mechanism, its drive system is an erecting hydraulic cylinder, and the design parameters include: cylinder diameter D _q , hydraulic cylinder's initial retracted length L _cyl0 , extended length L _cyl1 , maximum driving load F _cyl0 and maximum tensile load F _cyl1 .

For the four-link turning mechanism, its driving system is a turning hydraulic cylinder, and the design parameters include: cylinder diameter D _f , initial retracted length L _BE0 of the hydraulic cylinder, expanded length L _BE1 , maximum driving load F _BE0 and maximum pulling load F _BE1 .

The relationship between the driving load F, the system pressure P, and the cylinder diameter D is F=PπD ² /4, then the design parameters of the hydraulic drive system can be simplified to the driving load F ₀ and the pulling load F ₁ , and the retraction L ₀ of the hydraulic cylinder and an expanded length L ₁ . These parameters are determined by the hinge position coordinates of the drive system, including the hinge point coordinates (x ₂ , y ₂ ) and (x ₁ , y ₁ ) of the erecting mechanism, the hinge point coordinates (x _A , y _A ) of the turning mechanism, (x _B ,y _B ), (x _C ,y _C ), and (x _E ,y _E ).

The integrated design of the three-hinge point and four-link driving mechanism means that the design parameters of the driving system are consistent through the optimal arrangement of the coordinates of the hinge point of the mechanism. In summary, the mathematical models for the optimal design of the two sets of driving mechanisms can be expressed as:

The mathematical model envelops all the design parameters of the two sets of drive systems, and the analysis is as follows: take the coordinates of the hinge points of the vertical and turning mechanisms as the design variables; The boundary of design constraints; the two optimization objective functions of the model are taken to minimize the driving load difference and the pulling load difference of the vertical and turning hydraulic systems.

For the integrated design model of the driving mechanism, its design parameters can be solved by the three-hinge point and four-link mathematical model, and the optimization iteration of the design variables can be obtained by the multi-objective genetic optimization algorithm. The NSGA II genetic algorithm is combined with the optimal design model of the driving mechanism, that is, the two optimization target values are directly mapped to the fitness function, and the effective solution to the problem is found by comparing the dominance relationship of the target values. The basic process is described as follows:

(1) Discrete design variables. The generation of the initial population in the genetic algorithm is random, and L is taken as the string length, and the variable x _i is binary coded (c _L-1 c _L-2 …c ₀ ) ₂ , and the code is mapped to the interval by the following formula Corresponding real numbers:

(2) Fitness evaluation. Determine the conversion rule from the objective function f to the individual fitness, that is, select the quantitative evaluation method of the individual fitness. The genetic operation will determine the chance of individual reproduction according to the size of the fitness. Individuals with high fitness have a higher chance of breeding than those with low fitness Individuals, so that the average fitness of the new population is higher than that of the old population.

(3) Genetic manipulation. For the integrated design model of the drive system, the cross calculation rules of its variables can be determined according to the following formula:

In the formula, x _i ^(1,t) and x _i ^(2,t) are the two parent individuals in the current population respectively, and x _i ^(1,t+1) and x _i ^(2,t+1) are The new individual formed, β _qi is the crossover factor.

Variables can further generate new mutant individuals as

In the formula, δ _q is the variation factor.

(4) Non-inferior sorting. In the objective function space, according to the Pareto optimal relationship, the individuals in the new population are compared according to their objective function vectors, and all the individuals are divided into multiple sequentially controlled frontier layers. When belonging to different Pareto layers, use the evaluation of Pareto superiority to evaluate the individual's pros and cons; individuals belonging to the same Pareto layer, think that the individual with a larger crowding distance is better, and finally select a new individual for non-inferior solution archiving, so that The Pareto front is constantly approaching in the evolution process.

After the individuals in the same Pareto layer are arranged in ascending order of the objective function, the two boundary individuals with the minimum objective value and the maximum objective value are respectively given infinite distance values, and the adjacent individuals x _i-1 and x _i+1 targets before and after x _i are defined The absolute value of the value difference is its distance value, as shown in Figure 10, the distance values of individual x _i on f ₁ and f ₂ are d _i1 and d _i2 respectively, then the crowding degree of individual x _i is defined as The sum of distance values on the target (d _i1 +d _i2 ).

(5) TERMINATION RULES. If the termination condition is met, the algorithm ends, otherwise it continues.

This embodiment integrates three-hinge-point erection and four-link overturning mechanisms to drive the lower and upper antenna towers respectively, which can realize the erection of the lower tower within the range of 0-90° around the center of rotation, and the upper tower around the center of rotation within 0° Flip within the range of 0-180°, so as to meet the state transition requirements of the radar load in different modes; through the establishment of the mathematical analysis model of the three-hinge point and four-link drive mechanism, the design variables of the two sets of mechanisms are parameterized, and multiple The objective genetic algorithm constructs the optimal design model of the drive mechanism, and performs optimization iterations on the design values, so as to obtain a technical solution with consistent design parameters of the erecting and turning hydraulic systems, which simplifies system design and reduces product costs; Posture-keeping technique. The design scheme combining the mechanism gap elimination control strategy and the mechanical locking hydraulic cylinder is adopted, that is, the upper and lower antenna towers and the base are designed to move in place to limit the mechanism, and the effective elimination of the structural gap is realized through the contact extrusion of the limit surface , combined with a mechanical locking hydraulic cylinder to achieve reliable locking and attitude maintenance in any working mode of the system.

The large-angle erecting and turning system of this embodiment can provide five working modes for the radar load, and through the hierarchical single-step action of two sets of driving mechanisms, the state conversion of different modes of use is realized; The optimal design of the parameters of the driving mechanism and the tilting drive mechanism realizes the consistency of the structure parameters of the erecting hydraulic cylinder and the tilting hydraulic cylinder, and the consistency of the load envelopes of the erecting and tilting hydraulic circuits.

The above-described embodiments are only preferred specific implementations of the present invention, and ordinary changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be 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。