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
- Publication number
- CN108609558A CN108609558A CN201810359059.8A CN201810359059A CN108609558A CN 108609558 A CN108609558 A CN 108609558A CN 201810359059 A CN201810359059 A CN 201810359059A CN 108609558 A CN108609558 A CN 108609558A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- mast
- subordinate
- tower
- turnover device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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 lifting mechanism fields more particularly to a kind of big argument based on optimization design to play perpendicular turnover device.
Background technology
Radar lifting mechanism is divided into fixed position formula and vehicle-mounted motor driven two major classes, is mainly used for Radar lifting to certain
Working depth, to promote effective influence searched for operating distance and reduce ground clutter of radar.In existing products application
In, to ensure that radar system under the conditions of aloft work can bear larger wind load, and structure reliable lock, vehicle-mounted motor driven
The load weight and lift height of lifting mechanism are inversely proportional, and are directed to the demand of heavy load military radar, and vehicle-mounted lifting mechanism is more
Using the form of vertical lifting+Auxiliary support, product structure is complicated, volume occupied space is big, and use pattern is single and state turns
It is long to change the time, it is difficult to meet the rapid deployment of radar weapon system and motor-driven reprinting requirement.
Invention content
Present invention solves the technical problem that being：It has overcome the deficiencies of the prior art and provide a kind of based on the big of optimization design
Argument rise perpendicular turnover device, provide a variety of work use patterns for radar system, and realize the state between different mode convert with
And the reliable locking of any position, to meet the state conversion requirements of radar load in different modes.
The object of the invention is achieved by the following technical programs：The present invention provides a kind of based on optimization design substantially
Perpendicular turnover device is played at angle, including：Antenna tower base plays perpendicular hydraulic cylinder, subordinate's mast, overturning hydraulic cylinder, lower link, upper connecting rod
With higher level's mast；Wherein, one end of subordinate's mast is rotatablely connected with the antenna tower base；Subordinate's mast
One end of the other end and higher level's mast be rotatablely connected；One end of described perpendicular hydraulic cylinder turns with the antenna tower base
Dynamic connection, the other end of described perpendicular hydraulic cylinder are rotatablely connected with subordinate's mast；It is described overturning hydraulic cylinder one end with
Subordinate's mast rotation connection；One end of the upper connecting rod is rotatablely connected with higher level's mast, the upper connecting rod
The other end of the other end and the overturning hydraulic cylinder is rotatablely connected；One end of the lower link connects with subordinate's mast rotation
It connects, the other end of the lower link and the other end of the overturning hydraulic cylinder are rotatablely connected.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, described perpendicular hydraulic cylinder and the overturning hydraulic cylinder
It is mechanical lock hydraulic cylinder.
The above-mentioned big argument based on optimization design rise perpendicular turnover device in, the mechanical lock hydraulic cylinder include piston,
Piston rod, internal lock be fixed, unlocking chamber, rod chamber, rodless cavity and cylinder barrel；Wherein, piston, piston rod and internal lock is fixed is integrated knot
Structure, the piston rod are fixedly connected with the piston, and internal lock is fixed to be sheathed on the piston rod, piston, work by sealing structure
Stopper rod and internal lock is fixed is respectively positioned in cylinder barrel；Unlocking chamber is opened in the inside of piston rod；Fixed the first oil groove opened up of internal lock with
The second oil groove that piston rod opens up is connected, and the second oil groove is connected with the internal cavities of piston rod；Rod chamber is opened in cylinder barrel
One end, rodless cavity is opened in the other end of cylinder barrel.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Pedestal limited block and lower tower limited block；
Wherein, pedestal limited block is set to antenna tower base；Lower tower limited block is set to subordinate's mast；When subordinate's mast relative to
Antenna tower base plays 90 degree perpendicular, pedestal limited block and lower tower limited block contact squeeze.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Upper tower confined planes and lower tower confined planes；
Wherein, upper tower confined planes are set to higher level's mast；Lower tower confined planes are set to subordinate's mast；When subordinate's mast relative to
Higher level's mast overturn 180 degree, tower confined planes contact squeeze under upper tower confined planes and lower tower.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Fulcrum bearing；Wherein, the fulcrum bearing
It is set to the lower surface of subordinate's mast.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Control unit；Wherein, control unit
Driving is described to play perpendicular hydraulic cylinder and the overturning hydraulic cylinder, and acquires the pressure for playing perpendicular hydraulic cylinder and the overturning hydraulic cylinder
Power；It when pedestal limited block and lower tower limited block contact squeeze, plays perpendicular cylinder pressure and rises, when Pressure Step changes 3Mpa, control
Unit processed has disconnected perpendicular hydraulic cylinder unlocking pressure, has realized the mechanical latching of perpendicular hydraulic cylinder；When upper tower confined planes and lower tower limit
Face contact squeeze, overturning cylinder pressure rising, when Pressure Step changes 3Mpa, control unit disconnection overturning hydraulic cylinder, which is unlocked, presses
Power realizes the mechanical latching of overturning hydraulic cylinder.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Main support；Wherein, the main support
It is set to the upper surface of subordinate's mast.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, further includes：Auxiliary support；Wherein, the auxiliary
Support is set to the upper surface of subordinate's mast.
The above-mentioned big argument based on optimization design rises in perpendicular turnover device, the driving load of the mechanical lock hydraulic cylinder
Relationship between F and system pressure P, diameter of cylinder D is F=P π D2/4。
The present invention has the advantages that compared with prior art：
(1) big argument of the invention plays perpendicular overturning system can provide five kinds of work use patterns for radar load, and pass through
The state conversion of different use patterns is realized in the classification single step action of two sets of driving mechanisms；
(2) present invention has been realized perpendicular hydraulic cylinder and has been turned over by the optimization design to playing perpendicular and turnover driving mechanism parameter
The structural parameters for turning hydraulic cylinder are consistent, and rise perpendicular consistent with the overturning load envelope of hydraulic circuit.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is the structural schematic diagram that the big argument provided in an embodiment of the present invention based on optimization design plays perpendicular turnover device；
Fig. 2 is the structural schematic diagram of mechanical lock hydraulic cylinder provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of radar horizon parking mode provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of radar service mode provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of radar maintenance pattern provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of radar operation mode provided in an embodiment of the present invention；
Fig. 7 is the emergent schematic diagram for removing receipts pattern of radar provided in an embodiment of the present invention；
Fig. 8 is tri-joint mechanism Erecting organ force analysis figure provided in an embodiment of the present invention；
Fig. 9 is double leval jib switching mechanism force analysis figure provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of crowding distance sequence provided in an embodiment of the present invention；
Figure 11 (a) is that provided in an embodiment of the present invention perpendicular structure interval in place eliminates schematic diagram；
Figure 11 (b) is the enlarged diagram in the areas I in Figure 11 (a)；
Figure 12 (a) is that schematic diagram is eliminated in the bit architecture gap provided in an embodiment of the present invention that is turned to；
Figure 12 (b) is the enlarged diagram in the areas I in Figure 12 (a).
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.It should be noted that in the absence of conflict, embodiment in the present invention and
Feature in embodiment can be combined with each other.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Fig. 1 is the structural schematic diagram that the big argument provided in an embodiment of the present invention based on optimization design plays perpendicular turnover device.
As shown in Figure 1, the perpendicular turnover device of the big argument based on optimization design includes：Antenna tower base 1 plays perpendicular hydraulic cylinder 2, subordinate
Mast 3, overturning hydraulic cylinder 4, lower link 5, upper connecting rod 6 and higher level's mast 7.Wherein,
One end of subordinate's mast 3 is rotatablely connected with antenna tower base 1；The other end of subordinate's mast 3 and higher level's antenna
One end of tower 7 is rotatablely connected；The one end and antenna tower base 1 for playing perpendicular hydraulic cylinder 2 are rotatablely connected, and play the other end of perpendicular hydraulic cylinder 2
It is rotatablely connected with subordinate mast 3；The one end and subordinate's mast 3 for overturning hydraulic cylinder 4 are rotatablely connected；One end of upper connecting rod 6 with
Higher level's mast 7 are rotatablely connected, and the other end of the other end and overturning hydraulic cylinder 4 of upper connecting rod 6 is rotatablely connected；The one of lower link 5
End is rotatablely connected with subordinate's mast 3, and the other end of the other end and overturning hydraulic cylinder 4 of lower link 5 is rotatablely connected.
The rotating shaft of 1 junction of subordinate's mast 3 and antenna tower base and a perpendicular hydraulic cylinder 2 constitute tri-joint mechanism and play perpendicular machine
Structure, the revolution hinge of the mechanism are the rotating shaft of 1 junction of subordinate's mast 3 and antenna tower base, and action hinge has been perpendicular liquid
The upper and lower hinge of cylinder pressure 2, is separately connected subordinate's tower and antenna tower base.Expansion and receipts of the Erecting organ by perpendicular hydraulic cylinder
Hold together to drive subordinate's mast to complete perpendicular and remove receipts action.
Rotating shaft, overturning hydraulic cylinder 4, lower link 5 and the upper connecting rod 6 of upper and lower grade mast junction constitute double leval jib
Switching mechanism, the revolution hinge of the mechanism are the rotating shaft of upper and lower grade mast junction, and action hinge is at totally 3, respectively on
The connection hinge of the connection hinge of connecting rod and higher level's tower, lower link and subordinate's tower, and the connection hinge of connecting rod above and below.Revolution
The quadrangle that hinge and action hinge surround constitutes double leval jib switching mechanism, and the driving force of mechanism is provided by overturning hydraulic cylinder,
The overturning upper and lower fulcrum of cylinder is designed at subordinate's tower and connecting rod junction, can be realized by overturning expansion and the gathering of hydraulic cylinder
Grade tower overturning and remove receipts action.
It is mechanical lock hydraulic cylinder to play perpendicular hydraulic cylinder 2 and overturning hydraulic cylinder 4.As shown in Fig. 2, the mechanical lock liquid
Cylinder pressure includes piston 21, piston rod 22, internal lock fixed 23, unlocking chamber 24, rod chamber 25, rodless cavity 26 and cylinder barrel 27.Wherein,
Piston 21, piston rod 22 and internal lock fixed 23 are structure as a whole, and piston rod 22 is fixedly connected with piston 21, internal locking
Set 23 is sheathed on piston rod 22 by sealing structure, and piston 21, piston rod 22 and internal lock fixed 23 are respectively positioned in cylinder barrel 27；It unlocks
Chamber 24 is opened in the inside of piston rod 22；The second oil groove that the first oil groove 231 that internal lock fixed 23 opens up is opened up with piston rod 22
232 are connected, and the second oil groove 232 is connected with the internal cavities of piston rod 22；Rod chamber 25 is opened in one end of cylinder barrel 27, nothing
Rod cavity 26 is opened in the other end of cylinder barrel 27.
The mechanical lock hydraulic cylinder increases built-in lock sleeve and unlocking circuit, leads on the piston rod compared to ordinary cylinder
It crosses cylinder barrel and locks the interference fit of inner room to generate coupling mechanism force, to ensure that the position between piston rod and cylinder barrel locks.Meanwhile
When unlocking intracavitary oil liquid pressure is more than unlocking pressure, cylinder barrel distending under high pressure effect, hydraulic cylinder is in the unlocked state, work
Make the same ordinary cylinder of principle.Then by the control of the pressure of split lock loop, it can be achieved that hydraulic cylinder to the drivings of upper and lower grade mast and
The mechanical interlocking of any position.
Perpendicular and double leval jib is played based on tri-joint mechanism and overturns two sets of actuating mechanisms and mechanical interlocking hydraulic cylinder, and big argument rises perpendicular
The state conversion of overturning system operating mode can be acted by the classification single step of upper and lower mast to realize：
Radar horizon parking mode：Subordinate's mast play 0 ° perpendicular, 0 ° of higher level's mast overturning, as shown in figure 3, the pattern is
System level collapses lockup state, can be used for the motorized transport that radar is supported under vehicle-mounted state；
Radar service mode：Subordinate's mast, which rise, erects 0 °, and higher level's mast are overturn to 90 °, as shown in figure 4, the pattern will
Radar lifting can be used for ground test and the maintenance of radar load to away from ground 2.5m high；
Radar maintenance pattern：Subordinate's mast, which rise, erects 0 °, and higher level's mast are overturn to 180 °, as shown in figure 5, the pattern will
Radar is unfolded under horizontality and locking, can be used for the ordinary maintenance and inspection of radar load；
Radar operation mode：Subordinate's mast rise and erect to 90 °, and higher level's mast are overturn to 180 °, as shown in fig. 6, the mould
Radar load is lifted to the high altitude reconnaissance work that can be used for radar away from the ground high-altitudes 12m and locking by formula；
Radar is emergent to remove receipts pattern：Emergent receipts flow of removing is to keep the overturning of higher level's mast under radar operation mode
180 ° of postures are constant, and subordinate's mast are erected 90 ° by and remove receipts to 0 °, as shown in fig. 7, the pattern can be used for radar in high-altitude work
When making generation failure and special, system is removed into receipts to service mode.
As shown in Figure 11 (a) and Figure 11 (b), being somebody's turn to do the perpendicular turnover device of the big argument based on optimization design further includes：Pedestal
Limited block 110 and lower tower limited block 310.Wherein,
Pedestal limited block 110 is set to antenna tower base；Lower tower limited block 310 is set to subordinate's mast；When subordinate day
Transmission tower plays 90 degree perpendicular, pedestal limited block 110 and lower 310 contact squeeze of tower limited block relative to antenna tower base.
As shown in Figure 12 (a) and Figure 12 (b), being somebody's turn to do the perpendicular turnover device of the big argument based on optimization design further includes：Upper tower
Confined planes 700 and lower tower confined planes 320.Wherein,
Upper tower confined planes 700 are set to higher level's mast；Lower tower confined planes 320 are set to subordinate's mast；When subordinate day
Transmission tower overturns 180 degree relative to higher level's mast, 320 contact squeeze of tower confined planes under upper tower confined planes 700 and lower tower.
Radar carries out long-range search under aloft work pattern, with certain rotating speed rotation, since radar is eccentric and wind
Load acts on, and additional load is formed to radar support system.The posture that big argument plays perpendicular overturning system keeps scheme to pass through mechanism machine
The combination of tool limit+hydraulic system pressure judgement+locked hydraulic cylinder is realized：
Perpendicular posture in place is played to keep：It rises to erect in subordinate's mast and antenna tower base respectively and designs limit at 90 ° of positions
Block erects in place, lower tower limited block is limited with pedestal as shown in Figure 11 (a) and Figure 11 (b) when Qi Shu Driven by Hydraulic Cylinder subordinate tower rises
Block contact, rise a perpendicular Driven by Hydraulic Cylinder tower body continue to act, eliminate structure interval, when rise perpendicular hydraulic system Pressure Step 3MPa,
Perpendicular hydraulic cylinder mechanical latching is played, realizes the locking of subordinate's mast working condition；
The posture of overturning in place is kept：It is overturn respectively in higher level's mast and subordinate's mast and designs limit at 180 ° of positions
Face, as shown in Figure 12 (a) and Figure 12 (b), when overturning Driven by Hydraulic Cylinder higher level's tower is overturn in place, upper tower confined planes are limited with lower tower
Plate contacts, and overturning Driven by Hydraulic Cylinder tower body continues to act, and eliminates structure interval, as the Pressure Step 3MPa of turning hydraulic system,
Hydraulic cylinder mechanical latching is overturn, realizes the locking of higher level's mast working condition.
The big argument based on optimization design plays perpendicular turnover device：Control unit.Wherein, control unit drives
Perpendicular hydraulic cylinder 2 and overturning hydraulic cylinder 4, and acquired perpendicular hydraulic cylinder 2 and overturn the pressure of hydraulic cylinder 4；When 110 He of pedestal limited block
Lower 310 contact squeeze of tower limited block plays 2 pressure of perpendicular hydraulic cylinder and rises, and when Pressure Step changes 3Mpa, control unit has disconnected perpendicular
2 unlocking pressure of hydraulic cylinder, has realized the mechanical latching of perpendicular hydraulic cylinder 2；When upper tower confined planes 700 and lower tower confined planes 320 contact
It squeezing, overturning 4 pressure of hydraulic cylinder rises, and when Pressure Step changes 3Mpa, control unit disconnects overturning 4 unlocking pressure of hydraulic cylinder,
Realize the mechanical latching of overturning hydraulic cylinder 4.
As shown in Figure 1, the perpendicular turnover device of the big argument based on optimization design further includes：Main support 8；Wherein, main branch
Support 8 is set to the upper surface of subordinate's mast 3.Main support 8 for by subordinate's mast 3 and higher level's mast at a distance of it is certain away from
From to protect subordinate's mast 3 and higher level's mast well.Further, main support 8 is rigid support.
As shown in Figure 1, the perpendicular turnover device of the big argument based on optimization design further includes：Auxiliary support 9；Wherein, auxiliary
Support 9 is helped to be set to the upper surface of subordinate's mast 3.Auxiliary support 9 is used for subordinate's mast 3 and higher level's mast at a distance of one
Fixed distance, to protect subordinate's mast 3 and higher level's mast well.Further, Auxiliary support 9 is resilient support.
As shown in Figure 1, the perpendicular turnover device of the big argument based on optimization design further includes：Fulcrum bearing 31；Wherein, it supports
Seat 31 is set to the lower surface of subordinate's mast 3.Fulcrum bearing 31 is used to support subordinate's mast 3, to protect subordinate well
Mast 3.
The equivalent load of tri-joint mechanism Erecting organ transmits as shown in Figure 8.During playing perpendicular, with the change for playing vertical angle degree
Change, the centroid position for playing vertical part point (upper and lower grade mast and radar load) constantly changes therewith, then establishes static and turn
Move two local coordinate systems, wherein rest frame is to play perpendicular rotating shaft as origin, and in the horizontal direction, Y-axis is vertically upward for X-axis；
Rotating coordinate system is connected with vertical part point is played, and for coordinate origin with static coordinate system, A axis is axial along subordinate's mast, and R axis is along subordinate day
Transmission tower is vertical.
The coordinate (x, y) that any point (a, r) is transformed under rest frame in rotating coordinate system is
In formula, angle has been vertical angle degree (Two coordinate system angle).Above formula is remembered respectively as coordinate transfer function
For RTNX (a, r), RTNY (a, r).
It is located in rest frame, plays vertical part and gross mass and center-of-mass coordinate is divided to be m0、(x0,y0), it rises before erecting, upper fulcrum is sat
It is designated as (x2,y2), lower fulcrum coordinate is (x1,y1), then it rises when erecting unspecified angle angle, plays the length L of perpendicular hydraulic cylindercylWith
And hydraulic cylinder is to the distance hh of rotating shaft：
Then play perpendicular load FcylFor：
In formula, Fwind(x1,y1) it is the wind load and load coordinate acted on vertical part point.
The equivalent load of double leval jib switching mechanism transmits as shown in figure 9, coordinate origin is in the overturning of upper and lower grade mast
The heart, in the horizontal direction, Y-axis is vertically upward for X-axis.In higher level's tower in centre of gyration switching process, drive is provided by overturning hydraulic cylinder
Power, load push flip portion (higher level's tower and radar load) rotation by upper connecting rod (BC).
If higher level's tower is overturn to unspecified angle deg_num, in coordinate system, the tri- point coordinates position A, D and E is constant, B and
C points are moving axes point, wherein C point coordinates is：
Xc=LCD cos(θ0-deg_num)
Yc=LCD sin(θ0-deg_num)
B point coordinates is determined by following analytic expression：
XB=LAB cos(β0+β1+β2)+XA
YB=LAB sin(β0+β1+β2)+YA
Overturn the length L of hydraulic cylinderBEFor：
After determining various point locations, the load of overturning hydraulic cylinder and each connecting rod is calculated by equalising torque.Wherein, for overturning
Part, the turning torque around D points are only provided by BC bars, and the moment of resistance is provided by gravity with wind load jointly, to have：
FBC=(MM+MWind)/LD⊥BC
For A points, the torque rotated around it is provided by overturning hydraulic cylinder and BC bars, and overturning can be obtained by equalising torque
The driving load F of hydraulic cylinderBEWith the load F of lower linkAB：
FBC×LA⊥BC=FBE×LA⊥EB
FBC×LE⊥BC=FAB×LE⊥AB
The parameter designing envelope of fluid power system determines by the structural parameters of hydraulic circuit operating pressure P and hydraulic cylinder,
Wherein, operating pressure P is provided by hydraulic pump.
For tri-joint mechanism Erecting organ, drive system has been perpendicular hydraulic cylinder, and design parameter includes：Diameter of cylinder Dq, liquid
The initial gathering length L of cylinder pressurecyl0, length of run Lcyl1, maximum drive load Fcyl0With maximum draws load Fcyl1。
For double leval jib switching mechanism, drive system is overturning hydraulic cylinder, and design parameter includes：Diameter of cylinder Df, liquid
The initial gathering length L of cylinder pressureBE0, length of run LBE1, maximum drive load FBE0With maximum draws load FBE1。
It is F=P π D to drive the relationship between load F and system pressure P, diameter of cylinder D2/ 4, then fluid power system set
Meter parameter can be reduced to driving load F0With drawing load F1And the gathering L of hydraulic cylinder0With length of run L1.These parameters are by driving
The position of articulating point coordinate of dynamic system determines, includes the hinge coordinate (x of Erecting organ2,y2) and (x1,y1), the hinge of switching mechanism
Coordinate (xA,yA)、(xB,yB)、(xC,yC) and (xE,yE)。
The integrated design of tri-joint mechanism and double leval jib driving mechanism, i.e., by the preferred arrangement of mechanism hinge coordinate, thus
Realize the unification of Driving Scheme parameter.To sum up, the mathematical model of optimizing design of two sets of driving mechanisms is represented by：
The mathematical model envelope all design parameters of two sets of drive systems, parsing are as follows：Perpendicular and switching mechanism is taken
Hinge coordinate be design variable；It no more than 5mm is design constraint to have taken perpendicular and hydraulic cylinder gathering and length of run difference
Boundary；It has taken perpendicular and turning hydraulic system driving load difference and has drawn 2 optimization aim letters of the minimum model of load difference
Number.
For the integrated design model of driving mechanism, design parameter can be asked by tri-joint mechanism and double leval jib mathematical model
Solution, and the Optimized Iterative of design variable can be obtained by Multi-objective genetic algorithm.Using II genetic algorithms of NSGA and driving machine
The mathematical optimization models of structure are combined, i.e., map directly to 2 optimization target values in fitness function, by comparing desired value
Dominance relation find effective solution of problem, basic procedure is described as follows：
(1) discrete heat sources.The generation of initial population is random in genetic algorithm, and it is that string is grown to take L, to variable xiInto
Row binary coding (cL-1cL-2…c0)2, and be corresponding real number in section by coding mapping by following formula：
(2) fitness evaluation.Determine that object function f to the transformation rule of individual adaptation degree, that is, selects individual adaptation degree
Method for quantitatively evaluating, genetic manipulation will determine that the chance of individual reproduction, the high individual of fitness are obtained according to the size of fitness
The chance of breeding is more than the low individual of fitness, to make the average fitness of new population be higher than old group.
(3) genetic manipulation.The crossing operation rule of the integrated design model of drive system, variable can according to the following formula really
It is fixed：
In formula, xi (1,t)And xi (2,t)Two parent individualities in respectively current population, xi (1,t+1)And xi (2,t+1)To be formed
New individual, βqiTo intersect the factor.
The new variation individual that variable can be generated further is
In formula, δqFor mutagenic factor.
(4) non-bad sequence.The individual in new group is pressed it two-by-two by Pareto iptimum relationships in purpose-function space
Object function vector is compared, and all individuals are divided into multiple forward position layers controlled successively.It is Pareto layers different belonging to
When, Utilization assessment Pareto superiority come evaluate individual quality；Belong to same Pareto layers of individual, it is believed that have bigger crowded
The individual of distance is more excellent, finally selects new individual and carries out noninferior solution archive, keeps the forward positions Pareto continuous during evolution
It approaches forward.
After the according to target function ascending order arrangement of Pareto layers of individuals, two with minimum target value and maximum target value
Boundary individual is endowed unlimited distance value respectively, defines xiFront and back adjacent body xi-1And xi+1The absolute value of the difference of desired value is
Its distance value, as shown in Figure 10, individual xiIn f1And f2On distance value be respectively di1And di2, then individual xiCrowding definition
For the sum of distance value in each target (di1+di2)。
(5) termination rules.If meeting end condition, algorithm terminates, on the contrary then continue.
The integrated tri-joint mechanism of the present embodiment plays perpendicular and double leval jib overturning Liang Tao mechanisms and respectively drives subordinate and higher level's mast, can
Realize that subordinate's tower plays perpendicular and higher level's tower around the centre of gyration within the scope of 0-180 ° around the centre of gyration within the scope of 0-90 °
Overturning, to meet the state conversion requirements of radar load in different modes；By establishing tri-joint mechanism and double leval jib driving machine
The mathematical analysis model of structure parameterizes the design variable of Liang Tao mechanisms, introduces multi-objective genetic algorithm structure driving mechanism
Mathematical optimization models, and Optimized Iterative is unfolded to design value, it is perpendicular consistent with turning hydraulic system design parameter to obtain
Technical solution simplifies system design, reduces product cost；Radar loads the posture under aloft work pattern and keeps technology.Using
Mechanism Clearance eliminates the design scheme that control strategy and mechanical lock hydraulic cylinder are combined, i.e., in upper and lower grade mast and
Pedestal design action position-limit mechanism in place realizes effectively eliminating for structure interval, and bonding machine by the contact squeeze of confined planes
Tool formula locked hydraulic cylinder realizes secure ratcs and posture holding under the arbitrary operating mode of system.
The big argument of the present embodiment plays perpendicular overturning system can provide five kinds of work use patterns for radar load, and pass through two
The state conversion of different use patterns is realized in the classification single step action for covering driving mechanism；And the present embodiment by rise it is perpendicular and
The optimization design of turnover driving mechanism parameter, realized perpendicular hydraulic cylinder with overturning the structural parameters of hydraulic cylinder it is consistent, Yi Jiqi
It is perpendicular consistent with the overturning load envelope of hydraulic circuit.
Embodiment described above is the present invention more preferably specific implementation mode, and those skilled in the art is in this hair
The usual variations and alternatives carried out in bright technical proposal scope should be all included within the scope of the present invention.
Claims (10)
1. a kind of big argument based on optimization design plays perpendicular turnover device, it is characterised in that including：Antenna tower base (1) rises and erects
Hydraulic cylinder (2), subordinate's mast (3), overturning hydraulic cylinder (4), lower link (5), upper connecting rod (6) and higher level's mast (7)；Its
In,
One end of subordinate's mast (3) is rotatablely connected with the antenna tower base (1)；
The other end of subordinate's mast (3) and one end of higher level's mast (7) are rotatablely connected；
One end of described perpendicular hydraulic cylinder (2) is rotatablely connected with the antenna tower base (1), described perpendicular hydraulic cylinder (2) it is another
One end is rotatablely connected with subordinate's mast (3)；
One end of the overturning hydraulic cylinder (4) is rotatablely connected with subordinate's mast (3)；
One end of the upper connecting rod (6) is rotatablely connected with higher level's mast (7), the other end of the upper connecting rod (6) and institute
State the other end rotation connection of overturning hydraulic cylinder (4)；
One end of the lower link (5) is rotatablely connected with subordinate's mast (3), the other end of the lower link (5) and institute
State the other end rotation connection of overturning hydraulic cylinder (4).
2. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that：Described perpendicular
Hydraulic cylinder (2) and the overturning hydraulic cylinder (4) are mechanical lock hydraulic cylinder.
3. the big argument according to claim 2 based on optimization design plays perpendicular turnover device, it is characterised in that：The machinery
Formula locked hydraulic cylinder includes piston (21), piston rod (22), internal lock fixed (23), unlocking chamber (24), rod chamber (25), rodless cavity
(26) and cylinder barrel (27)；Wherein,
Piston (21), piston rod (22) and internal lock fixed (23) are structure as a whole, the piston rod (22) and the piston (21)
It is fixedly connected, internal lock fixed (23) is sheathed on the piston rod (22) by sealing structure, piston (21), piston rod (22) and interior
Lock sleeve (23) is respectively positioned in cylinder barrel (27)；
Unlocking chamber (24) is opened in the inside of piston rod (22)；
The first oil groove (231) that internal lock fixed (23) opens up is connected with the second oil groove (232) that piston rod (22) opens up, and second
Oil groove (232) is connected with the internal cavities of piston rod (22)；
Rod chamber (25) is opened in one end of cylinder barrel (27), and rodless cavity (26) is opened in the other end of cylinder barrel (27).
4. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：Base
Seat limited block (110) and lower tower limited block (310)；Wherein,
Pedestal limited block (110) is set to antenna tower base；
Lower tower limited block (310) is set to subordinate's mast；
When subordinate's mast play 90 degree perpendicular, pedestal limited block (110) and the contact of lower tower limited block (310) relative to antenna tower base
It squeezes.
5. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：On
Tower confined planes (700) and lower tower confined planes (320)；Wherein,
Upper tower confined planes (700) are set to higher level's mast；
Lower tower confined planes (320) are set to subordinate's mast；
When subordinate's mast overturn 180 degree relative to higher level's mast, tower confined planes under upper tower confined planes (700) and lower tower
(320) contact squeeze.
6. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：Branch
Bearing (31)；Wherein,
The fulcrum bearing (31) is set to the lower surface of subordinate's mast (3).
7. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：Control
Unit processed；Wherein,
Control unit driving is described to play perpendicular hydraulic cylinder (2) and the overturning hydraulic cylinder (4), and perpendicular hydraulic cylinder (2) is played described in acquisition
With the pressure of the overturning hydraulic cylinder (4)；
When pedestal limited block (110) and lower tower limited block (310) contact squeeze, plays perpendicular hydraulic cylinder (2) pressure and rise, when pressure rank
Transition 3Mpa, control unit have disconnected perpendicular hydraulic cylinder (2) unlocking pressure, have realized the mechanical latching of perpendicular hydraulic cylinder (2)；
When upper tower confined planes (700) and lower tower confined planes (320) contact squeeze, overturning hydraulic cylinder (4) pressure rises, when pressure rank
Transition 3Mpa, control unit disconnect overturning hydraulic cylinder (4) unlocking pressure, realize the mechanical latching of overturning hydraulic cylinder (4).
8. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：It is main
It supports (8)；Wherein,
The main support (8) is set to the upper surface of subordinate's mast (3).
9. the big argument according to claim 1 based on optimization design plays perpendicular turnover device, it is characterised in that further include：It is auxiliary
Help support (9)；Wherein,
The Auxiliary support (9) is set to the upper surface of subordinate's mast (3).
10. the big argument according to claim 3 based on optimization design plays perpendicular turnover device, it is characterised in that：The machine
Relationship between the driving load F and system pressure P, diameter of cylinder D of tool formula locked hydraulic cylinder is F=P π D2/4。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810359059.8A CN108609558A (en) | 2018-04-20 | 2018-04-20 | A kind of perpendicular turnover device of big argument based on optimization design |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810359059.8A CN108609558A (en) | 2018-04-20 | 2018-04-20 | A kind of perpendicular turnover device of big argument based on optimization design |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108609558A true CN108609558A (en) | 2018-10-02 |
Family
ID=63660444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810359059.8A Pending CN108609558A (en) | 2018-04-20 | 2018-04-20 | A kind of perpendicular turnover device of big argument based on optimization design |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108609558A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275209A (en) * | 2019-05-24 | 2019-09-24 | 北京建筑大学 | A kind of preposition load simulator of Ground Penetrating Radar |
| CN112199791A (en) * | 2020-09-30 | 2021-01-08 | 燕山大学 | Hydraulic series mechanism joint hinge point position optimization method and system based on light weight |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2345388A1 (en) * | 1976-03-25 | 1977-10-21 | Sabria Const Metalliques Marce | Elevated working platform mounted on vehicle - has nacelle on telescopic arm extended by hydraulic ram and chains and mounted on turntable |
| CN200947462Y (en) * | 2006-09-14 | 2007-09-12 | 中国兵器工业第二○六研究所 | Folding radar antenna lifting gearing |
| CN201590472U (en) * | 2009-12-18 | 2010-09-22 | 安徽四创电子股份有限公司 | Automatic horizontal folding large-flat antenna |
| CN202423532U (en) * | 2011-12-12 | 2012-09-05 | 南京恩瑞特实业有限公司 | Hydraulic-drive collapsible radar antenna elevating mechanism |
| CN202451514U (en) * | 2012-01-12 | 2012-09-26 | 四川长江液压件有限责任公司 | Mechanical locking hydraulic cylinder |
| CN205676109U (en) * | 2016-06-20 | 2016-11-09 | 龙岩市海德馨汽车有限公司 | High-altitude operation vehicle with lifting illumination device |
-
2018
- 2018-04-20 CN CN201810359059.8A patent/CN108609558A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2345388A1 (en) * | 1976-03-25 | 1977-10-21 | Sabria Const Metalliques Marce | Elevated working platform mounted on vehicle - has nacelle on telescopic arm extended by hydraulic ram and chains and mounted on turntable |
| CN200947462Y (en) * | 2006-09-14 | 2007-09-12 | 中国兵器工业第二○六研究所 | Folding radar antenna lifting gearing |
| CN201590472U (en) * | 2009-12-18 | 2010-09-22 | 安徽四创电子股份有限公司 | Automatic horizontal folding large-flat antenna |
| CN202423532U (en) * | 2011-12-12 | 2012-09-05 | 南京恩瑞特实业有限公司 | Hydraulic-drive collapsible radar antenna elevating mechanism |
| CN202451514U (en) * | 2012-01-12 | 2012-09-26 | 四川长江液压件有限责任公司 | Mechanical locking hydraulic cylinder |
| CN205676109U (en) * | 2016-06-20 | 2016-11-09 | 龙岩市海德馨汽车有限公司 | High-altitude operation vehicle with lifting illumination device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275209A (en) * | 2019-05-24 | 2019-09-24 | 北京建筑大学 | A kind of preposition load simulator of Ground Penetrating Radar |
| CN110275209B (en) * | 2019-05-24 | 2020-10-30 | 北京建筑大学 | Ground penetrating radar front load simulation device |
| CN112199791A (en) * | 2020-09-30 | 2021-01-08 | 燕山大学 | Hydraulic series mechanism joint hinge point position optimization method and system based on light weight |
| CN112199791B (en) * | 2020-09-30 | 2022-05-03 | 燕山大学 | Hydraulic series mechanism joint hinge point position optimization method and system based on light weight |
| 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 |
| CN113690563B (en) * | 2021-08-24 | 2023-06-06 | 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 to connecting rod |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108609558A (en) | A kind of perpendicular turnover device of big argument based on optimization design | |
| US4662465A (en) | Walking vehicle | |
| CN104925232B (en) | A kind of carrier-based helicopter stabilized platform | |
| US10717484B2 (en) | Walking mechanism | |
| CN103398035A (en) | Multi-platform multi-cylinder-synergy automatic leveling system | |
| CN105836638A (en) | Combined type cantilever crane and hoisting equipment | |
| CN107508027A (en) | A kind of hydraulic pressure multi link lifting mechanism for radar antenna | |
| CN109398524A (en) | A kind of multi-functional walking carrying platform | |
| CN107053677A (en) | A kind of simple polygon multi-layer rotating body generation method and system towards 3D printing | |
| CN107472210A (en) | Fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design | |
| CN209373905U (en) | A kind of mobile multi-angle display platform shown for buildings model | |
| CN209441470U (en) | A kind of huge six limbs leg crawler belt foot polar region scientific investigation vehicle | |
| CN106050121A (en) | Multifunctional combined ladder | |
| CN208980252U (en) | A kind of lift Self-loading-unloading power test mobile platform | |
| US2010679A (en) | Hydraulic jack | |
| CN207106471U (en) | Fluid pressure type levelling control system based on mechanical-electrical-hydraulic integration design | |
| CN207195476U (en) | A kind of auto-lock function type universal-joint fork | |
| CN105217527B (en) | A kind of tray truck | |
| CN203379614U (en) | Multifunctional three-freedom-degree lifting platform | |
| CN211898603U (en) | Integrated foundation pile horizontal bearing capacity detection mechanism | |
| CN113446492A (en) | Fixing support of synthetic aperture radar | |
| CN102071685A (en) | Hydraulic extruding and expanding device and method for pile foundation | |
| CN201962669U (en) | Hydraulic squeezing and expansion device for pile foundation | |
| CN215048396U (en) | Multi-angle multi-directional valve jack | |
| CN112319648B (en) | Leg mechanism of foot type robot with switchable degrees of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181002 |
|
| RJ01 | Rejection of invention patent application after publication |