CN114263822B - Unlocking-resistant impact hydraulic system and method of radar lifting mechanism - Google Patents
Unlocking-resistant impact hydraulic system and method of radar lifting mechanism Download PDFInfo
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Abstract
The utility model discloses an anti-unlocking impact hydraulic system and method of a radar lifting mechanism, comprising a hydraulic power source P1, a hydraulic power source P2, two parallel self-locking cylinders, an electric proportional reversing valve, an unlocking electromagnetic ball valve, a balance valve, a pressure sensor and an encoder, wherein rodless cavities A2 of the two self-locking cylinders are communicated and are communicated with a cavity opening A of the electric proportional reversing valve through the balance valve, rod cavities B2 of the two self-locking cylinders are communicated and are communicated with a cavity opening B of the electric proportional reversing valve, unlocking cavities L2 of the two self-locking cylinders are communicated and are communicated with the unlocking electromagnetic ball valve, the hydraulic power source P1 is communicated with an oil inlet of the electric proportional reversing valve, and the hydraulic power source P2 is communicated with an oil inlet of the unlocking electromagnetic ball valve; the pressure sensor is arranged on a connecting pipeline between the rodless cavity A2 and the balance valve, and the encoder and the antenna array face pitching main shaft are coaxially arranged; the utility model has the advantages that: the unlocking impact phenomenon of the radar array surface at any unlocking moment of the self-locking oil cylinder is solved.
Description
Technical Field
The utility model relates to the technical field of Lei Daju lifting mechanisms and control, in particular to an unlocking impact prevention hydraulic system and method of a radar lifting mechanism.
Background
The large heavy-duty radar adopts a lifting oil cylinder to support the radar antenna array surface for lifting and lock the antenna array surface at a specific working or maintenance position. On the one hand, in order to ensure the radar detection precision and the safety of maintenance personnel, the antenna array surface is locked at a specific position for a long time and is required to be incapable of having any sinking amount, and the requirement that the sinking amount cannot be met due to the leakage of the balance valve is not met due to the long-time locking; on the other hand, in order to meet the newly increased angle-changing working and maintenance requirements of the radar, the radar lifting mechanism is required to be reliably locked at any position for a long time. Therefore, the required radar array surface lifting oil cylinder needs to adopt a full-stroke mechanical self-locking oil cylinder, and has various forms such as an expanding self-locking oil cylinder, a spring wedge block locker type self-locking oil cylinder and the like.
The self-locking oil cylinder overcomes the gravity of the antenna array surface by the mechanical locking force of the oil cylinder to lock the array surface, and after long-time locking, the leakage of the balance valve can lead the hydraulic oil in the rodless cavity of the oil cylinder to release pressure, so that the self-locking force of the oil cylinder is suddenly released at the moment of unlocking the oil cylinder, the pressure oil in the rodless cavity of the oil cylinder is not provided, the supporting force cannot be provided, the array surface is suddenly weightless according to the principle of force balance, and the unlocking impact phenomenon occurs; in addition, the gravity loads generated by different array face angles are different, the unlocking impact force generated by the gravity loads is different, the whole automobile body is driven to shake violently and generate a bang when serious, and the serious risk of structural damage exists.
The Chinese patent grant publication No. CN212712543U discloses a radar antenna lifting synchronous driving system based on oil compensation, wherein a lifting device of a radar antenna comprises a left lifting oil cylinder, a right lifting oil cylinder, a turntable and an antenna, and the driving system comprises a control device and a hydraulic device; the hydraulic device comprises an oil tank, a proportional reversing valve and an oil supplementing integrated valve group; the control device controls the telescopic movement of the left lifting oil cylinder and the right lifting oil cylinder through the proportional reversing valve; the proportional reversing valve is also connected with two cavities of the left lifting oil cylinder and the right lifting oil cylinder through pipelines respectively, and the control device controls the oil supplementing integrated valve group to adopt a mode of flow distribution/flow collection and proportional oil supplementing synchronous control according to displacement information of the left lifting oil cylinder and the right lifting oil cylinder, so that oil supplementing is carried out in the corresponding cavities of the left lifting oil cylinder or the right lifting oil cylinder, and the movement synchronization of the left lifting oil cylinder and the right lifting oil cylinder is realized. The utility model realizes the two-stage hydraulic synchronous control from rough to fine, and improves the lifting synchronous control precision of the antenna. However, the utility model cannot solve the unlocking impact phenomenon of the radar array surface caused by the sudden removal of the self-locking force of the self-locking oil cylinder at the unlocking moment.
Disclosure of Invention
The technical problem to be solved by the utility model is that the unlocking impact phenomenon of the radar array surface caused by the sudden unloading of the self-locking force of the self-locking oil cylinder cannot be solved in the prior art; secondly, the problem of different unlocking impact forces generated by different array surface angles cannot be solved.
The utility model solves the technical problems by the following technical means: the anti-unlocking impact hydraulic system of the radar lifting mechanism comprises a hydraulic power source P1, a hydraulic power source P2, two parallel self-locking oil cylinders (100), an electric proportional reversing valve (200), an unlocking electromagnetic ball valve (300), a balance valve (400), a pressure sensor (500) and an encoder (600), wherein an antenna array surface (1) is lifted, descended and supported and locked through the two parallel self-locking oil cylinders (100), a rodless cavity A2 of the two self-locking oil cylinders (100) is communicated with a cavity opening A of the electric proportional reversing valve (200) through the balance valve (400), a rod cavity B2 of the two self-locking oil cylinders (100) is communicated with a cavity opening B of the electric proportional reversing valve (200), an unlocking cavity L2 of the two self-locking oil cylinders (100) is communicated with the unlocking electromagnetic ball valve (300), an oil return opening T of the electric proportional reversing valve (200) and an oil return opening T2 of the unlocking electromagnetic ball valve (300) are communicated with an oil tank, the hydraulic power source P1 is communicated with an oil inlet of the electric proportional reversing valve (200), and the oil inlet P2 of the electric proportional reversing valve (300) is communicated with the electric proportional reversing valve (300); the pressure sensor (500) is arranged on a connecting pipeline between the rodless cavity A2 and the balance valve (400), the encoder (600) and the pitching main shaft of the antenna array surface (1) are coaxially arranged, and the pressure sensor (500) and the encoder (600) are connected with the servo controller; the servo controller controls the electric proportional reversing valve (200) to act to supplement oil to the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 acquired by the pressure sensor (500) reaches a preset oil supplementing pressure value, the electric proportional reversing valve (200) is deenergized to return to a zero position, and the pressure in the rodless cavity A2 is maintained by the balance valve (400); the preset oil supplementing pressure value is associated with the array angle value, and the servo controller calls the preset oil supplementing pressure value required by the current array angle position through the numerical value of the encoder (600).
According to the utility model, the servo controller controls the electric proportional reversing valve (200) to act, oil is replenished to the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 collected by the pressure sensor (500) reaches a preset oil replenishing pressure value, the electric proportional reversing valve (200) is deenergized to a zero position, the pressure in the rodless cavity A2 is maintained by the balance valve (400), when the self-locking oil cylinder (100) is unlocked, the servo controller controls the unlocking electromagnetic ball valve (300) to be electrified, the self-locking oil cylinder (100) is in an unlocking state, the pressure in the rodless cavity A2 is just balanced with the gravity load of the array surface at the moment, unlocking impact of the self-locking oil cylinder (100) can not occur, the unlocking impact phenomenon of the radar array surface caused by sudden unloading of the self-locking force of the oil cylinder is effectively solved, the preset oil replenishing pressure value is related to the angle value of the array surface, and the preset oil replenishing pressure value required by the current angle position of the array surface is automatically invoked by the value of the encoder (600), and the electrodeless balance of the gravity load generated by different angle of the array surface is realized.
Further, the hydraulic power source P1 provides pressure oil for the rodless cavity A2 or the rod cavity B2 of the self-locking oil cylinder (100).
Further, the hydraulic power source P2 provides high-pressure oil with constant pressure for the unlocking cavity L2 of the self-locking oil cylinder (100).
Further, the maximum pushing force or the maximum pulling force provided by the hydraulic power source P1 to the self-locking oil cylinder (100) is smaller than the locking force of the self-locking oil cylinder (100), namely when the self-locking oil cylinder (100) is in a locking state, the piston rod of the self-locking oil cylinder (100) cannot act.
Further, the self-locking oil cylinder (100) is an expanding self-locking oil cylinder or a spring wedge block locker type self-locking oil cylinder.
Further, when the unlocking electromagnetic ball valve (300) is powered off, the unlocking electromagnetic ball valve works in the right position, an unlocking cavity L2 of the self-locking oil cylinder (100) is communicated with the oil tank, and the self-locking oil cylinder (100) is in a locking state; when the unlocking electromagnetic ball valve (300) is powered on, the unlocking electromagnetic ball valve works in the left position, an unlocking cavity L2 of the self-locking oil cylinder (100) is communicated with the hydraulic power source P2, and the self-locking oil cylinder (100) is in an unlocking state.
Further, the electric proportional reversing valve (200) is a three-position four-way valve, and when in a zero position, the hydraulic power source P1 is communicated with the oil tank, and the hydraulic system is in an unloading state; when the electric proportional reversing valve (200) is in a first working position, the hydraulic power source P1 is communicated with the rodless cavity A2 of the self-locking oil cylinder (100) through the balance valve (400), the rod cavity B2 of the self-locking oil cylinder (100) is communicated with the oil tank, and the lifting action of the antenna array surface (1) is executed when the oil cylinder is unlocked; when the electric proportional reversing valve (200) is in the second working position, the hydraulic power source P1 is communicated with the rod cavity B2 of the self-locking oil cylinder (100), the rod-free cavity A2 of the self-locking oil cylinder (100) is communicated with the oil tank through the balance valve 400, and the antenna array surface (1) is lowered when the oil cylinder is unlocked.
Furthermore, the electric proportional reversing valve (200) can realize stepless speed regulation of flow when being in the first working position and the second working position.
Further, the encoder (600) collects the lifting angle value of the antenna array surface (1) in real time and feeds the lifting angle value back to the servo controller in real time.
The utility model also provides a method for unlocking the impact hydraulic system of the radar lifting mechanism, which comprises the following steps:
the self-locking oil cylinder (100) obtains a pressure value of a rodless cavity A2 of any lifting angle of the antenna array surface (1) in advance through the pressure sensor (500), and at the moment, the thrust of the self-locking oil cylinder (100) and the gravity load of the antenna array surface (1) are balanced, and an angle-pressure curve is formed between the thrust and the angle of the antenna array surface (1);
before the self-locking oil cylinder (100) acts, according to the current antenna array surface (1) angle value fed back by the encoder (600), after judging that the angle is within the lifting angle range, a preset oil supplementing pressure value required by balancing the gravity load of the antenna array surface (1) corresponding to the angle is obtained by calling an angle-pressure curve;
the servo controller controls the electric proportional reversing valve (200) to be in a first working position and supplements oil for the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 acquired by the pressure sensor (500) reaches a preset oil supplementing pressure value, the electric proportional reversing valve (200) is deenergized to return to a zero position, and at the moment, the pressure in the rodless cavity A2 is maintained by the balance valve (400);
the servo controller controls the unlocking electromagnetic ball valve (300) to be electrified, the self-locking oil cylinder (100) is in an unlocking state, at the moment, the pressure in the rodless cavity A2 is just balanced with the gravity load of the array surface (1), unlocking impact cannot occur, and finally, the servo controller controls the electric proportional reversing valve (100) to be in a first working position or a second working position, the self-locking oil cylinder (100) performs lifting or descending actions, and the unlocking electromagnetic ball valve (300) is always in an electrified state in the action process.
The utility model has the advantages that: according to the utility model, the servo controller controls the electric proportional reversing valve (200) to act, oil is replenished to the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 collected by the pressure sensor (500) reaches a preset oil replenishing pressure value, the electric proportional reversing valve (200) is deenergized to a zero position, the pressure in the rodless cavity A2 is maintained by the balance valve (400) at the moment, when the pressure is unlocked, the servo controller controls the unlocking electromagnetic ball valve (300) to be electrified, the self-locking oil cylinder (100) is in an unlocking state, the pressure in the rodless cavity A2 is just balanced with the gravity load of the array surface at the moment, unlocking impact can not occur, and the unlocking impact phenomenon of the radar array surface caused by sudden unloading of the self-locking force of the oil cylinder is effectively solved. Meanwhile, the preset oil supplementing pressure value is associated with the array surface angle value, and the servo controller can automatically call the preset oil supplementing pressure value required by the current array surface angle position through the numerical value of the encoder (600) so as to realize the stepless balance of gravity loads generated by different array surface angles.
Drawings
Fig. 1 is a schematic block diagram of an unlocking-preventing impact hydraulic system of a radar lifting mechanism according to an embodiment of the present utility model;
fig. 2 is an antenna array surface assembly diagram of an anti-unlocking impact hydraulic system of a radar lifting mechanism according to an embodiment of the present utility model;
FIG. 3 is a schematic view of an angle-pressure curve in an anti-unlocking impact hydraulic system of a radar lifting mechanism according to an embodiment of the present utility model;
fig. 4 is a flowchart of a method for unlocking an impact hydraulic system of a radar lifting mechanism according to an embodiment of the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments of the present utility model will be clearly and completely described in the following in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
As shown in fig. 1, an anti-unlocking impact hydraulic system of a radar lifting mechanism comprises a hydraulic power source P1, a hydraulic power source P2, two parallel self-locking oil cylinders 100, an electric proportional reversing valve 200, an unlocking electromagnetic ball valve 300, a balance valve 400, a pressure sensor 500 and an encoder 600, wherein an antenna array surface 1 lifts, descends and supports and locks through the two parallel self-locking oil cylinders 100, rodless cavities A2 of the two self-locking oil cylinders 100 are communicated with a cavity opening a of the electric proportional reversing valve 200 through the balance valve 400, rod cavities B2 of the two self-locking oil cylinders 100 are communicated with a cavity opening B of the electric proportional reversing valve 200, unlocking cavities L2 of the two self-locking oil cylinders 100 are communicated with the unlocking electromagnetic ball valve 300, an oil return opening T of the electric proportional reversing valve 200 and the oil return opening T2 of the unlocking electromagnetic ball valve 300 are communicated with the oil tank, the hydraulic power source P1 is communicated with an oil inlet of the electric proportional reversing valve 200, and the hydraulic power source P2 is communicated with the unlocking electromagnetic ball valve 300; the pressure sensor 500 is arranged on a connecting pipeline between the rodless cavity A2 and the balance valve 400, the pressure of the rodless cavity A2 of the self-locking oil cylinder 100 is detected, the encoder 600 is coaxially arranged with the pitching main shaft of the antenna array surface 1, the pressure sensor 500 and the encoder 600 are connected with the servo controller, and the encoder 600 acquires the lifting angle value of the antenna array surface 1 in real time and feeds back to the servo controller in real time. The servo controller controls the flow rate of the electric proportional reversing valve 200 and the opening and closing of the unlocking solenoid valve 300.
The hydraulic power source P1 provides pressure oil for the rodless cavity A2 or the rod cavity B2 of the self-locking oil cylinder 100, and the pressure value is determined by the load. The hydraulic power source P2 provides high-pressure oil with constant pressure for the unlocking cavity L2 of the self-locking cylinder 100. The maximum pushing force or the maximum pulling force provided by the hydraulic power source P1 to the self-locking cylinder 100 is smaller than the locking force of the self-locking cylinder 100, i.e. when the self-locking cylinder 100 is in a locking state, the piston rod of the self-locking cylinder 100 cannot act. The self-locking oil cylinder 100 is an expanding self-locking oil cylinder or a spring wedge block locker type self-locking oil cylinder.
When the unlocking electromagnetic ball valve 300 is powered off, the unlocking electromagnetic ball valve works in the right position, an unlocking cavity L2 of the self-locking oil cylinder 100 is communicated with an oil tank, and the self-locking oil cylinder 100 is in a locking state; when the unlocking electromagnetic ball valve 300 is powered on, the unlocking electromagnetic ball valve works in the left position, the unlocking cavity L2 of the self-locking oil cylinder 100 is communicated with the hydraulic power source P2, and the self-locking oil cylinder 100 is in an unlocking state.
The electric proportional reversing valve 200 is a three-position four-way valve, which belongs to the prior art, and the structure in the dashed line frame of the electric proportional reversing valve 200 in fig. 1 belongs to the existing inherent structure, and only the cavity opening a, the cavity opening B, the oil inlet and the oil return opening T of the electric proportional reversing valve 200 are focused on in the application, so that the internal structure is not described herein, and when the electric proportional reversing valve 200 is in the zero position, the hydraulic power source P1 is communicated with the oil tank, and the hydraulic system is in the unloading state; when the electric proportional reversing valve 200 is in the first working position, the hydraulic power source P1 is communicated with the rodless cavity A2 of the self-locking oil cylinder 100 through the balance valve 400, the rod cavity B2 of the self-locking oil cylinder 100 is communicated with an oil tank, and the lifting action of the antenna array surface 1 is executed when the oil cylinder is unlocked; when the electric proportional reversing valve 200 is in the second working position, the hydraulic power source P1 is communicated with the rod cavity B2 of the self-locking oil cylinder 100, the rod-free cavity A2 of the self-locking oil cylinder 100 is communicated with the oil tank through the balance valve 400, and the antenna array plane 1 is lowered when the oil cylinder is unlocked. The electric proportional reversing valve 200 can realize stepless speed regulation of flow when being in the first working position and the second working position.
As shown in fig. 2, the present utility model further provides a method for unlocking an impact hydraulic system of a radar lifting mechanism, the method comprising: the antenna array surface 1 is lifted, lowered and supported and locked by the two self-locking oil cylinders 100, the encoder 600 and the pitching main shaft of the radar antenna array surface 1 are coaxially arranged, lifting angle values are collected in real time, and the lifting angle values are fed back to the servo controller in real time. After the radar array 1 is assembled, the self-locking cylinder 100 performs full-stroke lifting. According to the force balance principle, the core of solving the unlocking impact is how to guarantee that when unlocking, hydraulic oil in a rodless cavity of an oil cylinder needs to have pressure, the provided supporting force can be just balanced with the gravity load of an antenna array surface 1, the weight loss impact of the antenna array surface 1 can occur when the pressure is small, and the sudden extension of an oil cylinder piston rod can occur when the pressure is large, so that the impact is generated. Moreover, when the lifting angles of the antenna array surface 1 are different, the required cylinder supporting forces are also different. The pressure value of the cylinder rodless cavity A2 of any lifting angle of the array surface 1 is obtained in advance through the pressure sensor 500, and the thrust of the cylinder is balanced with the gravity load of the array surface 1 at the moment, forms an angle-pressure curve with the angle of the array surface 1, as shown in fig. 3, and is stored in a servo controller.
As shown in fig. 4, before the self-locking oil cylinder 100 acts, according to the current antenna array plane 1 angle value fed back by the encoder 600, after judging that the angle is within the lifting angle range, a preset oil supplementing pressure value required for balancing the gravity load of the antenna array plane 1 corresponding to the angle is obtained by calling an angle-pressure curve;
then, the servo controller controls the electric proportional reversing valve 200 to be in a first working position, the rodless cavity A2 of the self-locking oil cylinder 100 is replenished with small flow, when the pressure of the rodless cavity A2 collected by the pressure sensor 500 reaches a preset oil replenishing pressure value, the electric proportional reversing valve 200 is deenergized to return to a zero position, and the pressure in the rodless cavity A2 is maintained by the balance valve 400;
the servo controller controls the unlocking electromagnetic ball valve 300 to be electrified, the self-locking oil cylinder 100 is in an unlocking state, at the moment, the pressure in the rodless cavity A2 is just balanced with the gravity load of the array surface 1, unlocking impact cannot occur, and finally, the servo controller controls the electric proportional reversing valve 100 to be in a first working position or a second working position, the self-locking oil cylinder 100 executes lifting or descending actions, and the unlocking electromagnetic ball valve 300 is always in an electrified state in the action process.
Through the technical scheme, the servo controller controls the electric proportional reversing valve 200 to act so as to supplement oil to the rodless cavity A2 of the self-locking oil cylinder 100, when the pressure of the rodless cavity A2 collected by the pressure sensor 500 reaches a preset oil supplementing pressure value, the electric proportional reversing valve 200 is in a zero position, the pressure in the rodless cavity A2 is maintained by the balance valve 400, when the pressure is unlocked, the servo controller controls the unlocking electromagnetic ball valve 300 to be powered on, the self-locking oil cylinder 100 is in an unlocking state, the pressure in the rodless cavity A2 is just balanced with the gravity load of the array surface 1, unlocking impact cannot occur, the unlocking impact phenomenon of the radar array surface 1 caused by sudden unloading of the self-locking force of the oil cylinder is effectively solved, the preset oil supplementing pressure value is related to the array surface angle value, and the preset oil supplementing pressure value required by the current array surface angle position is called by the servo controller through the value of the encoder (600).
The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (10)
1. The anti-unlocking impact hydraulic system of the radar lifting mechanism is characterized by comprising a hydraulic power source P1, a hydraulic power source P2, two parallel self-locking oil cylinders (100), an electric proportional reversing valve (200), an unlocking electromagnetic ball valve (300), a balance valve (400), a pressure sensor (500) and an encoder (600), wherein an antenna array surface (1) lifts, descends and supports and locks through the two parallel self-locking oil cylinders (100), a rodless cavity A2 of the two self-locking oil cylinders (100) is communicated with a cavity opening A of the electric proportional reversing valve (200) through the balance valve (400), a rod cavity B2 of the two self-locking oil cylinders (100) is communicated with a cavity opening B of the electric proportional reversing valve (200), an unlocking cavity L2 of the two self-locking oil cylinders (100) is communicated with the unlocking electromagnetic ball valve (300), an oil return opening T of the electric proportional reversing valve (200) and an oil return opening T2 of the unlocking electromagnetic ball valve (300) are communicated with an oil tank, and the hydraulic power source P1 is communicated with the electromagnetic ball valve (300) of the electric proportional reversing valve (200); the pressure sensor (500) is arranged on a connecting pipeline between the rodless cavity A2 and the balance valve (400), the encoder (600) and the pitching main shaft of the antenna array surface (1) are coaxially arranged, and the pressure sensor (500) and the encoder (600) are connected with the servo controller; the servo controller controls the electric proportional reversing valve (200) to act to supplement oil to the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 acquired by the pressure sensor (500) reaches a preset oil supplementing pressure value, the electric proportional reversing valve (200) is deenergized to return to a zero position, and the pressure in the rodless cavity A2 is maintained by the balance valve (400); the preset oil supplementing pressure value is associated with the array angle value, and the servo controller calls the preset oil supplementing pressure value required by the current array angle position through the numerical value of the encoder (600).
2. The hydraulic system for preventing unlocking impact of a radar lifting mechanism according to claim 1, wherein the hydraulic power source P1 provides pressure oil for a rodless cavity A2 or a rod cavity B2 of the self-locking oil cylinder (100).
3. The anti-unlocking impact hydraulic system of the radar lifting mechanism according to claim 1, wherein the hydraulic power source P2 provides high-pressure oil with constant pressure for an unlocking cavity L2 of the self-locking oil cylinder (100).
4. The hydraulic system for preventing unlocking impact of a radar lifting mechanism according to claim 1, wherein the maximum pushing force or the maximum pulling force provided by the hydraulic power source P1 to the self-locking oil cylinder (100) is smaller than the locking force of the self-locking oil cylinder (100), namely, when the self-locking oil cylinder (100) is in a locking state, the piston rod of the self-locking oil cylinder (100) cannot act.
5. The hydraulic system for preventing unlocking impact of a radar lifting mechanism according to claim 1, wherein the self-locking oil cylinder (100) is an expanding self-locking oil cylinder or a spring wedge locking type self-locking oil cylinder.
6. The anti-unlocking impact hydraulic system of the radar lifting mechanism according to claim 1, wherein when the unlocking electromagnetic ball valve (300) is in power failure, the unlocking electromagnetic ball valve works in a right position, an unlocking cavity L2 of the self-locking oil cylinder (100) is communicated with an oil tank, and the self-locking oil cylinder (100) is in a locking state; when the unlocking electromagnetic ball valve (300) is powered on, the unlocking electromagnetic ball valve works in the left position, an unlocking cavity L2 of the self-locking oil cylinder (100) is communicated with the hydraulic power source P2, and the self-locking oil cylinder (100) is in an unlocking state.
7. The anti-unlocking impact hydraulic system of the radar lifting mechanism according to claim 1, wherein the electric proportional reversing valve (200) is a three-position four-way valve, and in the zero position, a hydraulic power source P1 is communicated with an oil tank, and the hydraulic system is in an unloading state; when the electric proportional reversing valve (200) is in a first working position, the hydraulic power source P1 is communicated with the rodless cavity A2 of the self-locking oil cylinder (100) through the balance valve (400), the rod cavity B2 of the self-locking oil cylinder (100) is communicated with the oil tank, and the lifting action of the antenna array surface (1) is executed when the oil cylinder is unlocked; when the electric proportional reversing valve (200) is in the second working position, the hydraulic power source P1 is communicated with the rod cavity B2 of the self-locking oil cylinder (100), the rod-free cavity A2 of the self-locking oil cylinder (100) is communicated with the oil tank through the balance valve 400, and the antenna array surface (1) is lowered when the oil cylinder is unlocked.
8. The anti-unlocking impact hydraulic system of the radar lifting mechanism according to claim 7, wherein the electric proportional reversing valve (200) can realize stepless speed regulation of flow when being in a first working position and a second working position.
9. The hydraulic system for preventing unlocking impact of a radar lifting mechanism according to claim 1, wherein the encoder (600) acquires the lifting angle value of the antenna array surface (1) in real time and feeds the lifting angle value back to the servo controller in real time.
10. A method of unlocking an impact hydraulic system of a radar lift mechanism according to claims 1-9, wherein said method comprises:
the self-locking oil cylinder (100) obtains a pressure value of a rodless cavity A2 of any lifting angle of the antenna array surface (1) in advance through the pressure sensor (500), and at the moment, the thrust of the self-locking oil cylinder (100) and the gravity load of the antenna array surface (1) are balanced, and an angle-pressure curve is formed between the thrust and the angle of the antenna array surface (1);
before the self-locking oil cylinder (100) acts, according to the current antenna array surface (1) angle value fed back by the encoder (600), after judging that the angle is within the lifting angle range, a preset oil supplementing pressure value required by balancing the gravity load of the antenna array surface (1) corresponding to the angle is obtained by calling an angle-pressure curve;
the servo controller controls the electric proportional reversing valve (200) to be in a first working position and supplements oil for the rodless cavity A2 of the self-locking oil cylinder (100), when the pressure of the rodless cavity A2 acquired by the pressure sensor (500) reaches a preset oil supplementing pressure value, the electric proportional reversing valve (200) is deenergized to return to a zero position, and at the moment, the pressure in the rodless cavity A2 is maintained by the balance valve (400);
the servo controller controls the unlocking electromagnetic ball valve (300) to be electrified, the self-locking oil cylinder (100) is in an unlocking state, at the moment, the pressure in the rodless cavity A2 is just balanced with the gravity load of the antenna array surface (1), unlocking impact cannot occur, and finally, the servo controller controls the electric proportional reversing valve (200) to be in a first working position or a second working position, the self-locking oil cylinder (100) performs lifting or descending actions, and the unlocking electromagnetic ball valve (300) is always in an electrified state in the action process.
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