CN114576508A - Vehicle-mounted radar turnover hydraulic control system and control method - Google Patents

Vehicle-mounted radar turnover hydraulic control system and control method Download PDF

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Publication number
CN114576508A
CN114576508A CN202210101978.1A CN202210101978A CN114576508A CN 114576508 A CN114576508 A CN 114576508A CN 202210101978 A CN202210101978 A CN 202210101978A CN 114576508 A CN114576508 A CN 114576508A
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China
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valve
hydraulic cylinder
electromagnetic
electromagnetic valve
oil
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CN202210101978.1A
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Inventor
曾毅
付曙光
周黎
何刘宇
段培勇
冯世泽
谢文建
高亚东
李泳峄
吴林瑞
谢高峰
刘民
王品
李银鱼
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Beijing Institute of Space Launch Technology
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Beijing Institute of Space Launch Technology
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Priority to CN202210101978.1A priority Critical patent/CN114576508A/en
Publication of CN114576508A publication Critical patent/CN114576508A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to a vehicle-mounted radar turnover hydraulic control system, wherein a first electromagnetic valve and a second electromagnetic valve are two-position three-way reversing valves, a third electromagnetic valve is a three-position four-way reversing valve, the input end of a gear pump is communicated with an oil tank, the output end of the gear pump is respectively communicated with P ports of the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve, an A port of the first electromagnetic valve is respectively communicated with rodless cavities of a left turnover hydraulic cylinder and a right turnover hydraulic cylinder, an A port of the second electromagnetic valve is respectively communicated with rod cavities of the left turnover hydraulic cylinder and the right turnover hydraulic cylinder, and the third electromagnetic valve, the T ports of the first electromagnetic valve and the second electromagnetic valve are communicated with each other and are communicated with an oil tank, the A port of the third electromagnetic valve is communicated with rodless cavities of the left pin hydraulic cylinder and the right pin hydraulic cylinder respectively, and the B port of the third electromagnetic valve is communicated with rod cavities of the left pin hydraulic cylinder and the right pin hydraulic cylinder respectively. The invention has low power consumption, high efficiency, accurate in-place and long-time maintenance.

Description

Vehicle-mounted radar turnover hydraulic control system and control method
Technical Field
The invention relates to the technical field of hydraulic control, in particular to a vehicle-mounted radar turning hydraulic control system.
Background
When the vehicle-mounted radar is used for driving and parking, the radar is in a horizontal transportation state for a long time, and needs to be quickly and vertically turned over by 90 degrees at work, so that the radar array surface is required to have higher levelness, and the radar array surface can be kept for a long time to ensure the accuracy of data. At present common on-vehicle radar tilting mechanism has electronic upset and two kinds of forms of hydraulic pressure upset, and electronic tilting mechanism adopts servo motor direct drive screw mechanism, because the motor integration is on the lead screw, it is more to occupy the upset space, is difficult to arrange on small-size radar car. The common hydraulic turnover mechanism in the market does not meet the requirements of one-key quick automation during power-on and emergency quick manual operation during power-off.
Disclosure of Invention
The invention innovatively provides a vehicle-mounted radar turnover hydraulic control system which can comprise a vehicle-mounted radar turnover mechanism, wherein the vehicle-mounted radar turnover mechanism comprises a left turnover hydraulic cylinder, a right turnover hydraulic cylinder, a left pin hydraulic cylinder and a right pin hydraulic cylinder, so that the rapid and automatic erecting under low power is realized, meanwhile, a compact hydraulic system for maintaining the long-time position of the radar after erecting to a position is realized, and the requirements of one-key automatic erecting and manual emergency withdrawing of the vehicle-mounted radar after power failure can be met.
In order to solve the problems in the prior art, the invention provides a vehicle-mounted radar turnover hydraulic control system which comprises a vehicle-mounted radar turnover mechanism, wherein the vehicle-mounted radar turnover mechanism comprises a left turnover hydraulic cylinder, a right turnover hydraulic cylinder, a left pin hydraulic cylinder and a right pin hydraulic cylinder, the hydraulic control system comprises an oil tank, a gear pump, a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve, the first electromagnetic valve and the second electromagnetic valve are two-position three-way reversing valves, the third electromagnetic valve is a three-position four-way reversing valve, the input end of the gear pump is communicated with the oil tank, the output end of the gear pump is respectively communicated with a port P of the first electromagnetic valve, a port P of the second electromagnetic valve and a port P of the third electromagnetic valve through oil conveying pipes, a proportional speed regulating valve is arranged on the oil conveying pipe between the first electromagnetic valve and the gear pump, and a port A of the first electromagnetic valve is respectively communicated with a rodless cavity of the left turnover hydraulic cylinder and a rodless cavity of the right turnover hydraulic cylinder through a first branch oil pipe, and a port of the third electromagnetic valve is communicated with a port of the third electromagnetic valve through a rodless cavity of the right turnover hydraulic cylinder The rod chamber intercommunication, the A mouth of second solenoid valve is through second branch oil pipe respectively with the pole chamber that has of left side upset pneumatic cylinder and the pole chamber intercommunication that has of right side upset pneumatic cylinder, all be equipped with first hydraulic pressure holding element on first branch oil pipe and the second branch oil pipe, the A mouth of third solenoid valve passes through third branch oil pipe respectively with the rodless chamber of left pin pneumatic cylinder and the rodless chamber intercommunication of right pin pneumatic cylinder, the B mouth of third solenoid valve passes through fourth branch oil pipe respectively with the pole chamber that has of left pin pneumatic cylinder and the pole chamber intercommunication that has of right pin pneumatic cylinder, third branch oil pipe and fourth branch oil pipe all are equipped with second hydraulic pressure holding element, the T mouth of third solenoid valve the T mouth of first solenoid valve and the T mouth of second solenoid valve communicate each other and all communicate through oil return pipe and oil tank.
Further, the vehicle-mounted radar turnover hydraulic control system further comprises an emergency oil pipe, one end of the emergency oil pipe is communicated with an oil tank, the other end of the emergency oil pipe is communicated with an oil feeding pipe between the proportional speed regulating valve and the first electromagnetic valve, a hand pump, a first one-way valve and a second one-way valve are arranged on the emergency oil pipe, the first one-way valve is communicated with the input end of the hand pump, and the second one-way valve is communicated with the output end of the hand pump.
Furthermore, the invention discloses a vehicle-mounted radar turnover hydraulic control system, wherein a third one-way valve is arranged on an oil delivery pipe between the proportional speed regulating valve and the gear pump.
Further, according to the vehicle-mounted radar turnover hydraulic control system, a fifth branch oil pipe is connected between the emergency oil pipe at the output end of the second one-way valve and the oil return pipe, and a first overflow valve is arranged on the fifth branch oil pipe.
Furthermore, a sixth branch oil pipe is connected between the oil feeding pipe and the oil return pipe between the third one-way valve and the gear pump, a second overflow valve is arranged on the sixth branch oil pipe, and two ends of the second overflow valve are connected in parallel with a two-position two-way electromagnetic reversing valve through a seventh branch oil pipe.
Further, the vehicle-mounted radar turning hydraulic control system provided by the invention is characterized in that the first hydraulic holding element comprises a first balance valve and a second balance valve, the first balance valve is arranged in the left turning hydraulic cylinder, the second balance valve is arranged on a second branch oil pipe, an external control port of the first balance valve is communicated with the second branch oil pipe at an oil outlet of the second balance valve, an external control port of the second balance valve is communicated with the first branch oil pipe at an oil inlet of the first balance valve, and an external leakage port of the second balance valve is communicated with the oil tank through an eighth branch oil pipe.
Further, the vehicle-mounted radar turning hydraulic control system comprises a second hydraulic holding element, wherein the second hydraulic holding element comprises a first hydraulic control one-way valve and a second hydraulic control one-way valve, the first hydraulic control one-way valve is arranged on a third oil branch pipe, the second hydraulic control one-way valve is arranged on a fourth oil branch pipe, a hydraulic control port of the first hydraulic control one-way valve is communicated with the fourth oil branch pipe at an oil inlet of the second hydraulic control one-way valve, a hydraulic control port of the second hydraulic control one-way valve is communicated with the fourth oil branch pipe at the oil inlet of the first hydraulic control one-way valve, the third oil branch pipe is further connected with a ninth oil branch pipe, one end of the ninth oil branch pipe is communicated with the third oil branch pipe at the oil inlet of the first hydraulic control one-way valve, the other end of the ninth oil branch pipe is communicated with the third oil branch pipe at an oil outlet of the first hydraulic control one-way valve, a third overflow valve is arranged on the ninth oil branch pipe, and a pressure taking port of the third overflow valve is communicated with a second oil branch pipe at an oil outlet of the first hydraulic control one-way valve through a tenth oil branch pipe The three oil pipes are communicated.
Furthermore, the vehicle-mounted radar turnover hydraulic control system is characterized in that a first pressure measuring joint and a pressure sensor are arranged on an oil delivery pipe between the first electromagnetic valve and the proportional speed regulating valve, and a high-pressure oil filter screen and a second pressure measuring joint are arranged on the oil delivery pipe between the gear pump and the third one-way valve.
The invention also provides a control method of the vehicle-mounted radar turning hydraulic control system, which adopts the vehicle-mounted radar turning hydraulic control system and comprises an automatic erecting step, an automatic collection step and an emergency manual operation step;
the automatic erecting step comprises:
starting a motor of the gear pump to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve;
enabling an electromagnetic coil YA4 of the third electromagnetic valve to be electrified, inputting a 40% opening signal for the proportional speed regulating valve, enabling the opening signal input by the proportional speed regulating valve to be zero when the pressure value detected by the pressure sensor is not less than 10MPa, then powering off the electromagnetic coil YA4 of the third electromagnetic valve, and pulling out pins of the left pin hydraulic cylinder and the right pin hydraulic cylinder;
the electromagnetic coil YA2 of the first electromagnetic valve and the electromagnetic coil YA3 of the second electromagnetic valve are electrified, the opening degree signal input by the proportional speed regulating valve is slowly regulated to be maximum within 3S, and the left turning hydraulic cylinder and the right turning hydraulic cylinder slowly extend out; when the vertical angle of the left turning hydraulic cylinder and the right turning hydraulic cylinder reaches 85 degrees, the opening degree signal input by the proportional speed regulating valve is gradually reduced; when the turning angle of the left turning hydraulic cylinder and the right turning hydraulic cylinder reaches 89 degrees, the vertical speed of the proportional speed regulating valve is controlled to be maintained at 4'/s; when the vertical angle value is 90 +/-1' and the pressure value of the pressure sensor is more than 8MPa, the left turning hydraulic cylinder and the right turning hydraulic cylinder are in the vertical position, then the opening signal input by the proportional speed regulating valve is reset to zero, and the electromagnetic coils YA2 and YA3 of the first electromagnetic valve and the second electromagnetic valve are powered off;
enabling an electromagnetic coil YA5 of a third electromagnetic valve to be electrified, inputting 40% of opening signals for a proportional speed regulating valve, when the pressure value detected by a pressure sensor is not less than 10MPa, enabling the opening signals input by the proportional speed regulating valve to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve, powering off the electromagnetic coil YA1 of a two-position two-way electromagnetic reversing valve, delaying for 1s, closing a motor of a gear pump, and enabling pins of a left pin hydraulic cylinder and a right pin hydraulic cylinder to extend out and be locked;
the automatic collection step includes:
starting a motor of the gear pump to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve;
enabling an electromagnetic coil YA4 of the third electromagnetic valve to be electrified, inputting a 40% opening signal for the proportional speed regulating valve, enabling the opening signal input by the proportional speed regulating valve to be zero when the pressure value detected by the pressure sensor is not less than 10MPa, then powering off the electromagnetic coil YA4 of the third electromagnetic valve, and pulling out pins of the left pin hydraulic cylinder and the right pin hydraulic cylinder;
the electromagnetic coil YA3 of the second electromagnetic valve is electrified, and the opening degree signal input by the proportional speed regulating valve is slowly regulated to the maximum within 3S, so that the left turning hydraulic cylinder and the right turning hydraulic cylinder are slowly stored; when the vertical angles of the left turning hydraulic cylinder and the right turning hydraulic cylinder reach 5 degrees, the opening degree signal input by the proportional speed regulating valve is gradually reduced; when the turning angle of the left turning hydraulic cylinder and the right turning hydraulic cylinder reaches 1 degree, the vertical speed of the proportional speed regulating valve is controlled to be maintained at 4'/s; when the starting vertical angle value is 0 +/-1' and the pressure value of the pressure sensor is more than 8MPa, the left turning hydraulic cylinder and the right turning hydraulic cylinder are stored in place, then the opening signal input by the proportional speed regulating valve is reset to zero, and the electromagnetic coil YA3 of the second electromagnetic valve is powered off;
enabling an electromagnetic coil YA5 of a third electromagnetic valve to be electrified, inputting 40% of opening signals for a proportional speed regulating valve, when the pressure value detected by a pressure sensor is not less than 10MPa, enabling the opening signals input by the proportional speed regulating valve to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve, powering off the electromagnetic coil YA1 of a two-position two-way electromagnetic reversing valve, delaying for 1s, closing a motor of a gear pump, and enabling pins of a left pin hydraulic cylinder and a right pin hydraulic cylinder to extend out and be locked;
the emergency manual operation step comprises an emergency erecting step and an emergency storing step:
the emergency erecting step comprises:
manually operating an emergency knob of a third electromagnetic valve electromagnetic coil YA4, shaking a hand pump to observe the states of a left pin hydraulic cylinder and a right pin hydraulic cylinder, manually resetting the emergency knob of the third electromagnetic valve electromagnetic coil YA4 after the left pin hydraulic cylinder and the right pin hydraulic cylinder are recovered in place, manually operating the emergency knob of a first electromagnetic valve electromagnetic coil YA2, shaking the hand pump, starting erecting the left overturning hydraulic cylinder and the right overturning hydraulic cylinder, manually resetting the emergency knob of the first electromagnetic valve electromagnetic coil YA2 after the left overturning hydraulic cylinder and the right overturning hydraulic cylinder are erected in place, manually operating the emergency knob of a third electromagnetic valve electromagnetic coil YA5, shaking the hand pump to extend pins of the left pin hydraulic cylinder and the right pin hydraulic cylinder, and manually resetting the emergency knob of the third electromagnetic valve electromagnetic coil YA5 when the pins are extended in place;
the emergency collection step comprises the following steps:
the emergency knob of the third solenoid valve electromagnetic coil YA4 is manually operated, the hand-operated pump is shaken to observe the states of the left pin hydraulic cylinder and the right pin hydraulic cylinder, after the left pin hydraulic cylinder and the right pin hydraulic cylinder are recovered in place, the emergency knob of the third solenoid valve electromagnetic coil YA4 is manually reset, the emergency knob of the second solenoid valve electromagnetic coil YA3 is manually operated, the hand-operated pump is shaken, the left overturning hydraulic cylinder and the right overturning hydraulic cylinder start to erect, after the left overturning hydraulic cylinder and the right overturning hydraulic cylinder erect in place, the emergency knob of the second solenoid valve electromagnetic coil YA3 is manually reset, the emergency knob of the third solenoid valve electromagnetic coil YA5 is manually operated, the hand-operated pump is shaken to enable the pins of the left pin hydraulic cylinder and the right pin hydraulic cylinder to extend out, and when the pins extend out in place, the emergency knob of the third solenoid valve electromagnetic coil YA5 is manually reset.
Further, the invention relates to a control method of a vehicle-mounted radar turnover hydraulic control system, wherein when a motor of a gear pump is started, a motor steering self-checking step is required,
the motor steering self-checking step comprises the following steps:
inputting a 50% opening signal for the proportional speed control valve, and collecting a pressure value of the pressure sensor at the moment;
after the time delay of 1S, electrifying an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve to build pressure of the gear pump;
collecting the pressure value of the pressure sensor after delaying for 1S;
and if the rising amount of the pressure value is more than 2MPa, the opening degree signal input by the proportional speed regulating valve is reset to zero, otherwise, the motor is closed to give an alarm and a motor phase sequence error is reported.
Compared with the prior art, the vehicle-mounted radar turnover hydraulic control system has the following advantages: the invention can ensure that the vehicle-mounted radar turnover mechanism adopts the pins of the left pin hydraulic cylinder and the right pin hydraulic cylinder to lock in a transportation state and a working state, thereby achieving the purpose of in-place reliable locking and realizing long-time position maintenance of the radar; the left turning hydraulic cylinder and the right turning hydraulic cylinder can realize the precision positioning of the turning mechanism at the transportation position and the working position; the first two-position three-way reversing valve and the second two-position three-way reversing valve can keep the erection time and the collection time of the radar turnover structure basically consistent, the maximum flow required by a system is reduced, the power consumption of the system is reduced, and the working efficiency is improved; the first hydraulic holding element can ensure the stability of the erecting and storing speed of the vehicle-mounted radar turnover mechanism, and the second hydraulic holding element can ensure the reliability of long-time in-place keeping of the vehicle-mounted radar turnover mechanism.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle-mounted radar turnover mechanism;
FIG. 2 is a schematic diagram of a vehicle-mounted radar turnover hydraulic control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the specific embodiment of the vehicle-mounted radar turnover hydraulic control system of the invention comprises a vehicle-mounted radar turnover mechanism, wherein the vehicle-mounted radar turnover mechanism comprises a base 43, a vertical box 44, a left turnover hydraulic cylinder 1, a right turnover hydraulic cylinder 2, a left pin hydraulic cylinder 3, a right pin hydraulic cylinder 4 and a hydraulic control system. With the vertical setting of base 43, fix base 43 on the automobile body when in actual use, left side fixedly connected with left side board 45 at base 43, the right side fixedly connected with right side board 46 of base 43, left side board 45 and the relative parallel arrangement of right side board 46, and will rise perpendicular case 44 and rotate and connect between left side board 45 and right side board 46, it is used for fixed vehicle radar to rise perpendicular case 44 when in actual use, vehicle radar tilting mechanism's transport state is that it is in the state of horizontal position to rise perpendicular case 44 promptly, vehicle radar tilting mechanism's operating condition is that it is in the state of vertical position to rise perpendicular case 44 promptly. The left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are located on the lower side of the erecting box 44, the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are oppositely arranged between the left side plate 45 and the right side plate 46, a cylinder barrel of the left turning hydraulic cylinder 1 is hinged to the left side of the lower half portion of the base 43, a cylinder barrel of the right turning hydraulic cylinder 2 is hinged to the right side of the lower half portion of the base 43, piston rods of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are hinged to the lower side wall of the erecting box 44, when the piston rods of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are completely collected, the erecting box 44 is in a horizontal state, and when the piston rods of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are completely extended, the erecting box 44 is in a vertical state. The hinge position of the piston rod of the vertical box 44 and the left and right turning hydraulic cylinders 1 and 2 is fixedly connected with a bolt seat 47, the bolt seat 47 is positioned between the left side plate 45 and the right side plate 46, and the bolt seat 47 is vertical to the left side plate 45 and the right side plate 46. The left pin hydraulic cylinder 3 is arranged at the left end of the pin base 47, a pin (the pin is actually a piston rod) of the left pin hydraulic cylinder 3 faces the left side plate 45, the right pin hydraulic cylinder 4 is arranged at the right end of the pin base 47, a pin (the pin is actually a piston rod) of the right pin hydraulic cylinder 4 faces the right side plate 46, a first upper pin hole and a first lower pin hole are formed in the left side plate 45, a second upper pin hole and a second lower pin hole are formed in the right side plate 46, the first upper pin hole and the second upper pin hole are arranged oppositely, the first lower pin hole and the second lower pin hole are arranged oppositely, when the vertical box 44 is in a horizontal position, a pin of the left pin hydraulic cylinder 3 and the first lower pin hole are positioned, and a pin of the right pin hydraulic cylinder 4 is positioned in the second lower pin hole; when the erection tank 44 is in the vertical position, the pin of the left pin hydraulic cylinder 3 is located in the second upper pin hole, and the pin of the right pin hydraulic cylinder 4 is located in the second upper pin hole.
The hydraulic control system comprises an oil tank 5, a gear pump 6, a first solenoid valve 7, a second solenoid valve 8 and a third solenoid valve 9. The first solenoid valve 7 and the second solenoid valve 8 are two-position three-way reversing valves, and the third solenoid valve 9 is a three-position four-way reversing valve. The input end of the gear pump 6 is communicated with the oil tank 5, and the output end of the gear pump 6 is respectively communicated with the P port of the first electromagnetic valve 7, the P port of the second electromagnetic valve 8 and the P port of the third electromagnetic valve 9 through an oil delivery pipe 10. A proportional speed regulating valve 11 is arranged on an oil delivery pipe 10 between the first electromagnetic valve 7 and the gear pump 6. The port A of the first electromagnetic valve 7 is communicated with the rodless cavity of the left turning hydraulic cylinder 1 and the rodless cavity of the right turning hydraulic cylinder 2 through a first branch oil pipe 12, the port A of the second electromagnetic valve 8 is communicated with the rod cavity of the left turning hydraulic cylinder 1 and the rod cavity of the right turning hydraulic cylinder 2 through a second branch oil pipe 13, and first hydraulic maintaining elements are arranged on the first branch oil pipe 12 and the second branch oil pipe 13. The port A of the third electromagnetic valve 9 is respectively communicated with the rodless cavity of the left pin hydraulic cylinder 3 and the rodless cavity of the right pin hydraulic cylinder 4 through a third branch oil pipe 15, the port B of the third electromagnetic valve 9 is respectively communicated with the rod cavity of the left pin hydraulic cylinder 3 and the rod cavity of the right pin hydraulic cylinder 4 through a fourth branch oil pipe 16, and the third branch oil pipe 15 and the fourth branch oil pipe 16 are both provided with second hydraulic pressure maintaining elements. The T port of the third electromagnetic valve 9, the T port of the first electromagnetic valve 7 and the T port of the second electromagnetic valve 8 are communicated with each other and are communicated with the oil tank 5 through an oil return pipe 14.
In practical application, when the vehicle-mounted radar needs to be converted from a transportation state to a working state (namely, automatically erected), firstly, the step 1 is executed: the motor of the gear pump 6 is started, the electromagnetic coil YA4 of the three-position four-way reversing valve 9 is electrified, the hydraulic oil pumped out by the gear pump 6 flows in from the P port of the three-position four-way reversing valve 9 through the oil feeding pipe 10, flows in the rod cavities of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 respectively through the fourth oil pipe 16 from the B port of the three-position four-way reversing valve 9, the hydraulic oil in the rodless cavities of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 flows in from the A port of the three-position four-way reversing valve 9 through the third oil pipe 15, flows back to the oil tank 5 from the T port of the three-position four-way reversing valve 9 through the oil return pipe 14, at the moment, the bolts of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are pulled out (namely, the piston rods are collected in the cylinder barrel), when the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are stored in place, the electromagnetic coil YA4 of the three-position four-way reversing valve 9 is powered off, and the bolts of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are kept in the stored state all the time by using a second hydraulic holding element; then, step 2 is performed: the electromagnetic coil YA2 of the first two-position three-way reversing valve 7 and the electromagnetic coil YA3 of the second two-position three-way reversing valve 8 are electrified, at the moment, hydraulic oil pumped out by the gear pump 6 flows into rodless cavities of the first two-position three-way reversing valve 7 through the oil feeding pipe 10, flows into rodless cavities of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 from the port A of the first two-position three-way reversing valve 7 through the first oil branch pipe 12, so that the volumes of the rodless cavities of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are gradually increased and the volumes of the rod cavities are gradually reduced, the hydraulic oil in the rod cavities of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 flows into the port A of the second two-position three-way reversing valve 8 and flows back to the port P of the first two-position three-way reversing valve 7 from the port P of the second two-position three-way reversing valve 8, and finally the hydraulic oil in the rod cavities of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 flows back to the rodless cavities of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 to accelerate the extension of the piston rods, when the piston rod extends to the right position, the electromagnetic coil YA2 of the first two-position three-way reversing valve 7 and the electromagnetic coil YA3 of the second two-position three-way reversing valve 8 are powered off, and the electric power of the hydraulic system is not more than 800W; finally, step 3 is executed: when the electromagnetic coil YA5 of the three-position four-way reversing valve 9 is electrified, hydraulic oil pumped out by the gear pump 6 flows in from the P port of the three-position four-way reversing valve 9 through the oil feeding pipe 10, flows in rodless cavities of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 through the A port of the three-position four-way reversing valve 9 and the third oil pipe 15 respectively, hydraulic oil in rod cavities of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 flows in from the B port of the three-position four-way reversing valve 9 through the fourth oil pipe 16, flows back to the oil tank 5 through the oil return pipe 14 from the T port of the three-position four-way reversing valve 9, the bolts of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 extend out (namely, the piston rods extend out of the cylinder barrels), when the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 extend out to the proper positions, the electromagnetic coil YA5 of the three-position four-way reversing valve 9 is powered off, and the second hydraulic maintaining element is utilized to maintain the bolts of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 in the extending state all the time, the purpose of reliable locking and keeping is achieved, long-time position keeping of the vehicle-mounted radar is achieved, and the whole process lasts for 40 s.
When the vehicle-mounted radar needs to be changed from the working state to the transportation state under the working condition (namely, automatic collection), the step 1 is executed firstly; then step 4 is executed: when the electromagnetic coil YA3 of the second two-position three-way reversing valve 8 is powered on, hydraulic oil pumped out by the gear pump 6 flows in from the P port of the second two-position three-way reversing valve 8 through the oil feeding pipe 10, flows in the rod cavities of the left and right reversing hydraulic cylinders 1 and 2 through the second branch oil pipe 13 from the a port of the second two-position three-way reversing valve 8, so that the volumes of the rod cavities of the left and right reversing hydraulic cylinders 1 and 2 are gradually increased and the volumes of the rod cavities are gradually reduced, hydraulic oil in the rod cavities of the left and right reversing hydraulic cylinders 1 and 2 flows in through the a port of the first two-position three-way reversing valve 7, flows back to the oil tank 5 through the oil return pipe 14 from the T port of the first two-position three-way reversing valve 7, and when the piston rods of the left and right reversing hydraulic cylinders 1 and 2 are stored in place, the electromagnetic coil YA3 of the second two-position three-way reversing valve 8 is powered off; finally, executing the step 3; and finally, completing the transition of the vehicle-mounted radar from the working state to the transportation state, wherein the whole process lasts for 40 s.
The invention can realize quick automatic erection under low power, simultaneously realize a compact hydraulic system for keeping the position of the vehicle-mounted radar for a long time after the radar is erected to a position, meet the requirement of one-key automatic erection of the vehicle-mounted radar, simultaneously realize the basic consistency of erection and storage time, reduce the maximum flow required by the hydraulic system, reduce the power consumption of the system and improve the working efficiency.
As shown in fig. 2, on the basis of the above embodiment, an emergency oil pipe 17 is further included in the present embodiment. One end of an emergency oil pipe 17 is communicated with the oil tank 5, and the other end of the emergency oil pipe 17 is communicated with an oil delivery pipe 10 between the proportional speed regulating valve 11 and the first electromagnetic valve 7. The emergency oil pipe 17 is provided with a hand pump 18, a first one-way valve 19 and a second one-way valve 20, the first one-way valve 19 is communicated with the input end of the hand pump 18, and the second one-way valve 20 is communicated with the output end of the hand pump 18. Hand pump 8 plays the effect of gear pump 6 in above-mentioned embodiment in this embodiment, and first check valve 19 and second check valve 20 play the effect that prevents hand pump 8 hydraulic oil backward flow, utilize hand pump 8 can realize vehicle radar's emergency operation under the outage circumstances, satisfy vehicle radar "manual emergent the demand of removing" after the outage to improve the adaptability of system. And a third check valve 21 is arranged on the oil feed pipe 10 between the proportional speed regulating valve 11 and the gear pump 6. The third check valve 21 also plays a role in preventing the hydraulic oil of the hand pump 8 from flowing back, and the stability of the hydraulic system under the emergency working condition is further enhanced. In order to limit the highest pressure of the hand pump 8 and ensure the stable operation of the hydraulic system, a fifth branch oil pipe 22 is connected between the emergency oil pipe 17 at the output end of the second check valve 20 and the oil return pipe 14, and a first overflow valve 23 is arranged on the fifth branch oil pipe 22, when the hydraulic pressure generated by the hand pump 8 reaches a preset value, the first overflow valve 23 is conducted, and the hydraulic oil flows back to the oil tank through the fifth branch oil pipe 22 and the oil return pipe 14 to maintain the stability of the system.
As shown in fig. 2, in order to facilitate pressure build-up and unloading of the gear pump 6, prevent hydraulic oil from impacting an oil pipe, and control the oil pipe pressure of the hydraulic system, a sixth branch oil pipe 24 is connected between the oil feed pipe 10 and the oil return pipe 14 between the third check valve 21 and the gear pump 6, a second overflow valve 25 is arranged on the sixth branch oil pipe 24, two ends of the second overflow valve 25 are connected in parallel with a two-position two-way electromagnetic directional valve 27 through a seventh branch oil pipe 26, the two-position two-way electromagnetic directional valve 27 is a two-position two-way normal-through type electromagnetic directional valve, when the gear pump 6 builds pressure, an electromagnetic coil YA1 of the two-position two-way electromagnetic directional valve 27 is powered on, the sixth branch oil pipe 24 is not conducted, and the gear pump 6 builds pressure; when the pressure of the hydraulic system reaches a preset value, the second overflow valve 25 is switched on, and the hydraulic oil flows back to the oil tank through the sixth branch oil pipe 24 and the oil return pipe 14 to maintain the stability of the system.
As shown in fig. 2, in order to balance the load generated during the vehicle radar turning process and ensure the stability of the turning speed when the vehicle radar is erected and stored, the first hydraulic pressure maintaining element in the embodiment specifically comprises a first balance valve 28 and a second balance valve 29. A first balance valve 28 is provided in the left-hand tumble cylinder 1, and a second balance valve 29 is provided on the second branch oil pipe 13. The external control port of the first balance valve 28 is communicated with the second branch oil pipe 13 at the oil outlet of the second balance valve 29, the external control port of the second balance valve 29 is communicated with the first branch oil pipe 12 at the oil inlet of the first balance valve 28, and the external drain port of the second balance valve 29 is communicated with the oil tank 5 through the eighth branch oil pipe 30. In this embodiment, the first balance valve 28 is arranged in the left-turning hydraulic cylinder 1, so that the explosion-proof function of the hydraulic system can be realized, a certain resistance can be added to the hydraulic circuit of the vehicle through the first balance valve 28 and the second balance valve 29, the negative load generated in the turning process of the vehicle-mounted radar can be offset by using the resistance, the left-turning hydraulic cylinder 1 and the right-turning hydraulic cylinder 2 are prevented from acting too fast, and the purpose of improving the stability of the hydraulic system is achieved.
As shown in fig. 2, the second hydraulic holding element in this embodiment comprises in particular a first hydraulically controlled one-way valve 31 and a second hydraulically controlled one-way valve 32 for the purpose of locking the left pin cylinder 3 and the right pin cylinder 4 in place. The first pilot operated check valve 31 is provided on the third branch oil pipe 15, and the second pilot operated check valve 32 is provided on the fourth branch oil pipe 16. Let the hydraulic control mouth of first hydraulic control check valve 31 communicate with the fourth oil pipe 16 of the oil inlet department of second hydraulic control check valve 32, the hydraulic control mouth of second hydraulic control check valve 32 communicates with the fourth oil pipe 16 of the oil inlet department of first hydraulic control check valve 31. Through the connection, when the bolts of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 extend, the three-position four-way reversing valve 9 is in the left position (namely the electromagnetic coil YA5 of the three-position four-way reversing valve 9 is electrified), the first hydraulic control one-way valve 31 is conducted, the fourth branch oil pipe 16 is equivalent to a passage, when the bolts extend to the right position, the three-position four-way reversing valve 9 is in the middle position, and at the moment, the first hydraulic control one-way valve 31 and the second hydraulic control one-way valve 32 are cut off, so that the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are locked in place; when the plugs of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are collected, the three-position four-way reversing valve 9 is in the right position (namely the electromagnetic coil YA4 of the three-position four-way reversing valve 9 is electrified), the second hydraulic control one-way valve 32 is conducted, the third branch oil pipe 16 is equivalent to a passage, when the plugs are collected in place, the three-position four-way reversing valve 9 is in the middle position, and at the moment, the first hydraulic control one-way valve 31 and the second hydraulic control one-way valve 32 are cut off, so that the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are locked in place. In order to ensure the stability of the pressure at the positions of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4, a ninth branch oil pipe 33 is further connected to the third branch oil pipe 15, one end of the ninth branch oil pipe 33 is communicated with the third branch oil pipe 15 at the oil inlet of the first pilot-controlled check valve 31, the other end of the ninth branch oil pipe 33 is communicated with the third branch oil pipe 15 at the oil outlet of the first pilot-controlled check valve 31, a third overflow valve 34 is arranged on the ninth branch oil pipe 33, a pressure taking port of the third overflow valve 34 is communicated with the third branch oil pipe 15 at the oil outlet of the first pilot-controlled check valve 31 through a tenth branch oil pipe 35, the third overflow valve 34 takes pressure through the tenth branch oil pipe 35, when the pressure exceeds a preset value, the third overflow valve 34 is communicated, the hydraulic oil flows back into a mailbox, and the pressure can be prevented from being held while the stability of the hydraulic system is maintained.
As shown in fig. 2, in the present embodiment, a first pressure measuring joint 36 and a pressure sensor 37 are provided on the oil feed pipe 10 between the first electromagnetic valve 7 and the proportional speed control valve 11, and a high-pressure oil screen 38 and a second pressure measuring joint 39 are provided on the oil feed pipe 10 between the gear pump 6 and the third check valve 21. The first pressure measuring joint 36 and the second pressure measuring joint 39 can be connected to a pressure gauge to monitor the system pressure during troubleshooting, and the working condition of the gear pump 6 is judged; the working pressure of the hydraulic system can be monitored in real time by using the pressure sensor 37; hydraulic oil entering the hydraulic system may be filtered using a high pressure oil screen 38.
It should be noted that, an oil return filter 40 is further disposed on the oil return pipe, and the oil return filter 40 can be used to filter the hydraulic oil entering the oil tank; the oil tank 5 is provided with a circular oil pointer 41 and an air filter 42, the liquid level of the hydraulic oil in the oil tank 5 can be obtained by using the circular oil pointer 41, and impurities in the air can be filtered by using the air filter 42.
The invention also provides a control method of the vehicle-mounted radar turning hydraulic control system, and the control method comprises an automatic erecting step, an automatic collecting step and an emergency manual operation step;
the automatic erecting step comprises:
starting a motor of the gear pump 6 to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic directional valve 27;
electrifying an electromagnetic coil YA4 of the third electromagnetic valve 9, inputting a 40% opening signal for the proportional speed regulating valve 11, when the pressure value detected by the pressure sensor 37 is not less than 10MPa, enabling the opening signal input by the proportional speed regulating valve 11 to be zero, then powering off the electromagnetic coil YA4 of the third electromagnetic valve 9, and pulling out pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4;
the electromagnetic coil YA2 of the first electromagnetic valve 7 and the electromagnetic coil YA3 of the second electromagnetic valve 8 are electrified, the opening degree signal input by the proportional speed regulating valve 11 is slowly regulated to be maximum in 3S, and the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 slowly extend out; when the vertical angle of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 reaches 85 degrees, the opening degree signal input by the proportional speed regulating valve 11 is gradually reduced; when the turning angle of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 reaches 89 degrees, the vertical speed is controlled to be maintained at 4'/s by the proportional speed regulating valve 11; when the starting vertical angle value is 90 degrees +/-1' and the pressure value of the pressure sensor 37 is greater than 8MPa, the starting vertical positions of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are in place, then the opening degree signal input by the proportional speed regulating valve 11 is reset to zero, and the electromagnetic coil YA2 of the first electromagnetic valve 7 and the electromagnetic coil YA3 of the second electromagnetic valve 8 are powered off;
enabling an electromagnetic coil YA5 of the third electromagnetic valve 9 to be electrified, inputting 40% of opening degree signals for the proportional speed regulating valve 11, when the pressure value detected by the pressure sensor 37 is not less than 10MPa, enabling the opening degree signals input by the proportional speed regulating valve 11 to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve 9, powering off the electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve 27, delaying for 1s, then closing a motor of the gear pump 6, and enabling pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 to stretch out and lock;
the automatic collection step comprises:
starting a motor of the gear pump 6 to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic directional valve 27;
electrifying an electromagnetic coil YA4 of the third electromagnetic valve 9, inputting a 40% opening signal for the proportional speed regulating valve 11, when the pressure value detected by the pressure sensor 37 is not less than 10MPa, enabling the opening signal input by the proportional speed regulating valve 11 to be zero, then powering off the electromagnetic coil YA4 of the third electromagnetic valve 9, and pulling out pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4;
electrifying an electromagnetic coil YA3 of the second electromagnetic valve 8, slowly adjusting the opening signal input by the proportional speed regulating valve 11 to be maximum in 3S, and slowly storing the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2; when the vertical angle of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 reaches 5 degrees, the opening degree signal input by the proportional speed regulating valve 11 is gradually reduced; when the turning angle of the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 reaches 1 degree, the vertical speed is controlled to be maintained at 4'/s by the proportional speed regulating valve 11; when the starting vertical angle value is 0 +/-1' and the pressure value of the pressure sensor 37 is greater than 8MPa, the left overturning hydraulic cylinder 1 and the right overturning hydraulic cylinder 2 are stored in place, then the opening signal input by the proportional speed regulating valve 11 is reset to zero, and the electromagnetic coil YA3 of the second electromagnetic valve 8 is powered off;
enabling an electromagnetic coil YA5 of the third electromagnetic valve 9 to be electrified, inputting 40% of opening degree signals for the proportional speed regulating valve 11, when the pressure value detected by the pressure sensor 37 is not less than 10MPa, enabling the opening degree signals input by the proportional speed regulating valve 11 to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve 9, powering off the electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve 27, delaying for 1s, then closing a motor of the gear pump 6, and enabling pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 to stretch out and lock;
the emergency manual operation step comprises an emergency erecting step and an emergency storing step:
the emergency erecting step comprises:
the emergency knob of the solenoid YA4 of the third solenoid valve 9 is manually operated, the hand pump 18 is shaken, the states of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are observed, after the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are recovered in place, the emergency knob of the electromagnetic coil YA4 of the third electromagnetic valve 9 is manually reset, the emergency knob of the electromagnetic coil YA2 of the first electromagnetic valve 7 is manually operated, the hand-operated pump 18 is shaken, the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 start to be erected, when the left overturning hydraulic cylinder 1 and the right overturning hydraulic cylinder 2 are erected in place, the emergency knob of the electromagnetic coil YA2 of the first electromagnetic valve 7 is manually reset, the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve 9 is manually operated, the hand-operated pump 18 is shaken to enable the pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 to extend out, when the pin is extended to the right position, the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve 9 is reset manually;
the emergency collection step comprises:
the emergency knob of the solenoid YA4 of the third solenoid valve 9 is manually operated, the hand pump 18 is shaken, the states of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are observed, after the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 are recovered in place, the emergency knob of the electromagnetic coil YA4 of the third electromagnetic valve 9 is manually reset, the emergency knob of the electromagnetic coil YA3 of the second electromagnetic valve 8 is manually operated, the hand-operated pump 18 is shaken, the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 start to be erected, when the left turning hydraulic cylinder 1 and the right turning hydraulic cylinder 2 are erected in place, the emergency knob of the electromagnetic coil YA3 of the second electromagnetic valve 8 is reset manually, the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve 9 is operated manually, the hand-operated pump 18 is shaken to enable the pins of the left pin hydraulic cylinder 3 and the right pin hydraulic cylinder 4 to extend out, when the pin is extended in position, the emergency knob of solenoid YA5 of the third solenoid valve 9 is manually reset.
In this embodiment, through the above control steps, the quick and stable control of the hydraulic system can be realized, the in-place precision of each execution element is ensured, and the working efficiency of the hydraulic system is improved.
On the basis of the above embodiment, in this embodiment, when the motor of the gear pump 6 is started, a motor steering self-checking step is further performed to ensure the normal operation of the hydraulic system.
Wherein, the motor turns to the self-checking step and specifically includes:
inputting a 50% opening signal for the proportional speed control valve 11, and collecting a pressure value of the pressure sensor 37 at the moment;
after the time delay of 1S, electrifying an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve 27 to build pressure of the gear pump 6;
collecting the pressure value of the pressure sensor 37 after delaying 1S;
if the rising amount of the pressure value is more than 2MPa, the opening degree signal input by the proportional speed regulating valve 11 is reset to zero, otherwise, the motor is closed to alarm and the motor phase sequence error is reported.
In the embodiment, whether the phase sequence of the motor is wrong or not is judged by comparing the pressure values measured before and after the pressure sensor, the processing mechanism is simple, the data acquisition speed is high, the system redundancy can be greatly reduced, and the working efficiency is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
The above embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the scope of the invention as claimed, and various modifications made by those skilled in the art according to the technical solutions of the present invention should fall within the scope of the invention defined by the claims without departing from the spirit of the present invention.

Claims (10)

1. A vehicle-mounted radar turnover hydraulic control system comprises a vehicle-mounted radar turnover mechanism, wherein the vehicle-mounted radar turnover mechanism comprises a left turnover hydraulic cylinder (1), a right turnover hydraulic cylinder (2), a left pin hydraulic cylinder (3) and a right pin hydraulic cylinder (4), and is characterized in that the hydraulic control system comprises an oil tank (5), a gear pump (6), a first electromagnetic valve (7), a second electromagnetic valve (8) and a third electromagnetic valve (9), the first electromagnetic valve (7) and the second electromagnetic valve (8) are two-position three-way reversing valves, the third electromagnetic valve (9) is a three-position four-way reversing valve, the input end of the gear pump (6) is communicated with the oil tank (5), the output end of the gear pump (6) is respectively communicated with a P port of the first electromagnetic valve (7), a P port of the second electromagnetic valve (8) and a P port of the third electromagnetic valve (9) through an oil delivery pipe (10), the hydraulic control system is characterized in that a proportional speed regulating valve (11) is arranged on an oil conveying pipe (10) between a first electromagnetic valve (7) and a gear pump (6), an A port of the first electromagnetic valve (7) is communicated with a rodless cavity of a left overturning hydraulic cylinder (1) and a rodless cavity of a right overturning hydraulic cylinder (2) through a first oil supporting pipe (12), an A port of a second electromagnetic valve (8) is communicated with a rod cavity of the left overturning hydraulic cylinder (1) and a rod cavity of the right overturning hydraulic cylinder (2) through a second oil supporting pipe (13), first hydraulic maintaining elements are arranged on the first oil supporting pipe (12) and the second oil supporting pipe (13), an A port of a third electromagnetic valve (9) is communicated with a rodless cavity of the left pin hydraulic cylinder (3) and a rodless cavity of the right pin hydraulic cylinder (4) through a third oil supporting pipe (15), and a B port of the third electromagnetic valve (9) is communicated with a rod cavity of the left oil pipe hydraulic cylinder (3) and a rodless cavity of the right pin hydraulic cylinder (4) through a fourth oil supporting pipe (16) respectively The rod cavities are communicated, a third branch oil pipe (15) and a fourth branch oil pipe (16) are respectively provided with a second hydraulic holding element, and a T port of a third electromagnetic valve (9), a T port of a first electromagnetic valve (7) and a T port of a second electromagnetic valve (8) are communicated with each other and are communicated with an oil tank (5) through an oil return pipe (14).
2. The vehicle-mounted radar turnover hydraulic control system according to claim 1, further comprising an emergency oil pipe (17), wherein one end of the emergency oil pipe (17) is communicated with the oil tank (5), the other end of the emergency oil pipe (17) is communicated with an oil feeding pipe (10) between the proportional speed regulating valve (11) and the first electromagnetic valve (7), a hand pump (18), a first one-way valve (19) and a second one-way valve (20) are arranged on the emergency oil pipe (17), the first one-way valve (19) is communicated with an input end of the hand pump (18), and the second one-way valve (20) is communicated with an output end of the hand pump (18).
3. A vehicle radar turning hydraulic control system according to claim 2, characterised in that a third non return valve (21) is arranged on the oil feed pipe (10) between the proportional speed regulating valve (11) and the gear pump (6).
4. The vehicle-mounted radar turnover hydraulic control system according to claim 3, wherein a fifth branch oil pipe (22) is connected between the emergency oil pipe (17) at the output end of the second check valve (20) and the oil return pipe (14), and a first overflow valve (23) is arranged on the fifth branch oil pipe (22).
5. The vehicle-mounted radar turnover hydraulic control system according to claim 3, wherein a sixth branch oil pipe (24) is connected between the oil feed pipe (10) and the oil return pipe (14) between the third check valve (21) and the gear pump (6), a second overflow valve (25) is arranged on the sixth branch oil pipe (24), and two ends of the second overflow valve (25) are connected in parallel through a seventh branch oil pipe (26) to form a two-position two-way electromagnetic directional valve (27).
6. A vehicle radar turning hydraulic control system according to claim 3, wherein the first hydraulic holding member includes a first balance valve (28) and a second balance valve (29), the first balance valve (28) is disposed in the left turning hydraulic cylinder (1), the second balance valve (29) is disposed on a second branch oil pipe (13), an external control port of the first balance valve (28) communicates with the second branch oil pipe (13) at an oil outlet of the second balance valve (29), an external control port of the second balance valve (29) communicates with the first branch oil pipe (12) at an oil inlet of the first balance valve (28), and an external discharge port of the second balance valve (29) communicates with the oil tank (5) through an eighth branch oil pipe (30).
7. The vehicle-mounted radar rollover hydraulic control system according to claim 6, wherein the second hydraulic holding element comprises a first hydraulic control check valve (31) and a second hydraulic control check valve (32), the first hydraulic control check valve (31) is disposed on a third branch oil pipe (15), the second hydraulic control check valve (32) is disposed on a fourth branch oil pipe (16), a hydraulic control port of the first hydraulic control check valve (31) is communicated with the fourth branch oil pipe (16) at an oil inlet of the second hydraulic control check valve (32), a hydraulic control port of the second hydraulic control check valve (32) is communicated with the fourth branch oil pipe (16) at an oil inlet of the first hydraulic control check valve (31), a ninth branch oil pipe (33) is further connected to the third branch oil pipe (15), one end of the ninth branch oil pipe (33) is communicated with the third branch oil pipe (15) at the oil inlet of the first hydraulic control check valve (31), the other end of the ninth branch oil pipe (33) is communicated with a third branch oil pipe (15) at the oil outlet of the first hydraulic control one-way valve (31), a third overflow valve (34) is arranged on the ninth branch oil pipe (33), and a pressure taking port of the third overflow valve (34) is communicated with the third branch oil pipe (15) at the oil outlet of the first hydraulic control one-way valve (31) through a tenth branch oil pipe (35).
8. The vehicle-mounted radar turnover hydraulic control system according to claim 7, characterized in that a first pressure measuring joint (36) and a pressure sensor (37) are arranged on the oil feed pipe (10) between the first electromagnetic valve (7) and the proportional speed regulating valve (11), and a high-pressure oil screen (38) and a second pressure measuring joint (39) are arranged on the oil feed pipe (10) between the gear pump (6) and the third check valve (21).
9. A control method of a vehicle-mounted radar turning hydraulic control system is characterized in that the vehicle-mounted radar turning hydraulic control system is adopted, and the control method comprises an automatic erecting step, an automatic storing step and an emergency manual operation step;
the automatic erecting step comprises:
starting a motor of the gear pump (6) to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve (27);
enabling an electromagnetic coil YA4 of the third electromagnetic valve (9) to be electrified, inputting a 40% opening signal for the proportional speed regulating valve (11), when the pressure value detected by the pressure sensor (37) is not less than 10MPa, enabling the opening signal input by the proportional speed regulating valve (11) to be zero, then powering off the electromagnetic coil YA4 of the third electromagnetic valve (9), and pulling out pins of the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4);
enabling an electromagnetic coil YA2 of the first electromagnetic valve (7) and an electromagnetic coil YA3 of the second electromagnetic valve (8) to be electrified, slowly adjusting an opening signal input by the proportional speed regulating valve (11) to be maximum within 3S, and slowly extending the left overturning hydraulic cylinder (1) and the right overturning hydraulic cylinder (2); when the vertical angle of the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) reaches 85 degrees, the opening degree signal input by the proportional speed regulating valve (11) is gradually reduced; when the turning angle of the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) reaches 89 degrees, the vertical speed is controlled to be maintained at 4'/s by the proportional speed regulating valve (11); when the starting vertical angle value is 90 degrees +/-1' and the pressure value of the pressure sensor (37) is more than 8MPa, the starting vertical positions of the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) are in place, then the opening signal input by the proportional speed regulating valve (11) is reset to zero, and the electromagnetic coil YA2 of the first electromagnetic valve (7) and the electromagnetic coil YA3 of the second electromagnetic valve (8) are powered off;
enabling an electromagnetic coil YA5 of a third electromagnetic valve (9) to be electrified, inputting 40% of opening signals for a proportional speed regulating valve (11), when the pressure value detected by a pressure sensor (37) is not less than 10MPa, enabling the opening signals input by the proportional speed regulating valve (11) to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve (9), powering off an electromagnetic coil YA1 of a two-position two-way electromagnetic reversing valve (27), closing a motor of a gear pump (6) after delaying for 1s, and enabling pins of a left pin hydraulic cylinder (3) and a right pin hydraulic cylinder (4) to stretch out and lock;
the automatic collection step includes:
starting a motor of the gear pump (6) to electrify an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve (27);
enabling an electromagnetic coil YA4 of the third electromagnetic valve (9) to be electrified, inputting a 40% opening signal for the proportional speed regulating valve (11), when the pressure value detected by the pressure sensor (37) is not less than 10MPa, enabling the opening signal input by the proportional speed regulating valve (11) to be zero, then powering off the electromagnetic coil YA4 of the third electromagnetic valve (9), and pulling out pins of the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4);
electrifying an electromagnetic coil YA3 of the second electromagnetic valve (8), slowly adjusting the opening signal input by the proportional speed regulating valve (11) to be maximum in 3S, and slowly storing the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2); when the vertical angles of the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) reach 5 degrees, the opening degree signal input by the proportional speed regulating valve (11) is gradually reduced; when the turning angle of the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) reaches 1 degree, the vertical speed is controlled to be maintained at 4'/s by the proportional speed regulating valve (11); when the starting vertical angle value is 0 +/-1' and the pressure value of the pressure sensor (37) is more than 8MPa, the left turning hydraulic cylinder (1) and the right turning hydraulic cylinder (2) are stored in place, then the opening signal input by the proportional speed regulating valve (11) is reset to zero, and the electromagnetic coil YA3 of the second electromagnetic valve (8) is powered off;
enabling an electromagnetic coil YA5 of a third electromagnetic valve (9) to be electrified, inputting 40% of opening signals for a proportional speed regulating valve (11), when the pressure value detected by a pressure sensor (37) is not less than 10MPa, enabling the opening signals input by the proportional speed regulating valve (11) to be zero, then powering off the electromagnetic coil YA5 of the third electromagnetic valve (9), powering off an electromagnetic coil YA1 of a two-position two-way electromagnetic reversing valve (27), closing a motor of a gear pump (6) after delaying for 1s, and enabling pins of a left pin hydraulic cylinder (3) and a right pin hydraulic cylinder (4) to stretch out and lock;
the emergency manual operation step comprises an emergency erecting step and an emergency storing step:
the emergency erecting step comprises:
manually operating an emergency knob of an electromagnetic coil YA4 of a third electromagnetic valve (9), shaking a hand shaking pump (18) to observe the states of a left pin hydraulic cylinder (3) and a right pin hydraulic cylinder (4), manually resetting the emergency knob of the electromagnetic coil YA4 of the third electromagnetic valve (9) after the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4) are recovered in place, manually operating the emergency knob of the electromagnetic coil YA2 of a first electromagnetic valve (7), shaking the hand shaking pump (18), starting erecting the left overturning hydraulic cylinder (1) and the right overturning hydraulic cylinder (2), manually resetting the emergency knob of the electromagnetic coil YA2 of the first electromagnetic valve (7) after the left overturning hydraulic cylinder (1) and the right overturning hydraulic cylinder (2) are erected in place, manually operating the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve (9), shaking the hand shaking pump (18) to extend pins of the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4), when the pin is extended to the right position, the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve (9) is reset manually;
the emergency collection step comprises the following steps:
manually operating an emergency knob of an electromagnetic coil YA4 of a third electromagnetic valve (9), shaking a hand shaking pump (18) to observe the states of a left pin hydraulic cylinder (3) and a right pin hydraulic cylinder (4), manually resetting the emergency knob of the electromagnetic coil YA4 of the third electromagnetic valve (9) after the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4) are recovered in place, manually operating an emergency knob of an electromagnetic coil YA3 of a second electromagnetic valve (8), shaking the hand shaking pump (18), starting erecting the left overturning hydraulic cylinder (1) and the right overturning hydraulic cylinder (2), manually resetting the emergency knob of the electromagnetic coil YA3 of the second electromagnetic valve (8) after the left overturning hydraulic cylinder (1) and the right overturning hydraulic cylinder (2) are erected in place, manually operating the emergency knob of the electromagnetic coil YA5 of the third electromagnetic valve (9), shaking the hand shaking pump (18) to extend pins of the left pin hydraulic cylinder (3) and the right pin hydraulic cylinder (4), when the pin is extended in position, the emergency knob of the third solenoid (9) solenoid YA5 is manually reset.
10. The control method for the vehicle-mounted radar turnover hydraulic control system according to the claim 8, characterized in that when the motor of the gear pump (6) is started, a motor steering self-checking step is required,
the motor steering self-checking step comprises the following steps:
inputting a 50% opening signal for the proportional speed control valve (11), and collecting a pressure value of the pressure sensor (37) at the moment;
after the time delay of 1S, electrifying an electromagnetic coil YA1 of the two-position two-way electromagnetic reversing valve (27) to build pressure of the gear pump (6);
collecting the pressure value of the pressure sensor (37) after delaying 1S;
if the rising amount of the pressure value is more than 2MPa, the opening degree signal input by the proportional speed regulating valve (11) is reset to zero, otherwise, the motor is closed to alarm and the motor phase sequence error is reported.
CN202210101978.1A 2022-01-27 2022-01-27 Vehicle-mounted radar turnover hydraulic control system and control method Pending CN114576508A (en)

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