Vehicle-mounted phased array radar folding and self-locking integrated mechanism and control method

Abstract

The application discloses a vehicle-mounted phased array radar folding and self-locking integrated mechanism and a control method. The mechanism comprises a bearing rotating mechanism; a movable end of the bearing rotating mechanism is movably connected with a pitching and folding mechanism; the pitching and folding mechanism comprises a telescopic rod pair with a self-locking function; a radar array surface is arranged between the two telescopic rods; one end of the radar array surface is fixedly connected with a T-shaped structural member; a combined vibration isolator is arranged on a preset mounting surface; a pressure-bearing guide member is fixedly connected to the upper portion of the combined vibration isolator; the T-shaped structural member is used in cooperation with the pressure-bearing guide member and the combined vibration isolator; in the folding process, the radar array surface embeds the T-shaped structural member into the pressure-bearing guide member through the pitching and folding mechanism, and presses down the pressure-bearing guide member, so that the combined vibration isolator generates a pre-tightening force and deforms; the bearing locking is realized by embedding the T-shaped structural member into the pressure-bearing guide member; and the pitching locking is realized by the self-locking ability of the telescopic rod pair and the pre-tightening force. The application improves the reliability, maneuverability and anti-impact and vibration capability of the radar equipment.

Description

Technical Field

[0001] This invention relates to the field of phased array radar electronic equipment technology, and in particular to an integrated mechanism and control method for the tilting and self-locking of a vehicle-mounted phased array radar. Background Technology

[0002] Vehicle-mounted phased array radar is a highly mobile radar system. To meet the transport requirements of vehicle-mounted equipment and the technical requirement of 360° unobstructed omnidirectional rotation during operation, it is typically equipped with an elevation tilting mechanism and an azimuth rotation mechanism. During transport, the elevation tilting mechanism is in a retracted state, ensuring the phased array radar array is horizontal. During operation, the elevation tilting mechanism is in an extended state, ensuring the phased array radar array operates at a certain angle to the horizontal plane, and the transmitting antenna of the entire array is higher than other parts of the vehicle, achieving omnidirectional coverage.

[0003] In transport, phased array radars typically require azimuth and elevation locking to improve their resistance to shock and vibration, preventing irregular rotation caused by impacts and random vibrations during vehicle movement. In related technologies, azimuth locking usually involves an automatic lock on the upper part of the azimuth rotation mechanism and a locking hole at the lower zero position. The automatic lock motor is controlled to extend the locking tongue into or retract from the locking hole, achieving azimuth locking. Elevation locking typically involves a locking hole on the phased array radar face, with a support mechanism and automatic lock mounted on the radar base. When the radar face tilts to a horizontal angle, the automatic lock extends its locking tongue into the array face locking hole, achieving elevation locking.

[0004] However, the above-mentioned technical solutions for azimuth and pitch locking based on automatic locks have the following limitations: First: In order for the automatic lock bolt to be smoothly inserted into the lock hole, the fit precision between the lock hole gap and the bolt is generally low. If the lock hole gap is too large, the automatic lock cannot completely lock the phased array radar, resulting in obvious shaking and poor shock and vibration resistance. If the fit precision is increased, the lock hole gap will be too small, which will cause the automatic lock bolt to be unable to be smoothly inserted into the lock hole.

[0005] Second: The extension and retraction direction of the automatic lock tongue is perpendicular to the direction of force, which easily causes damage to the automatic lock, resulting in a high failure rate and poor reliability, thus affecting the overall reliability of the machine. When the automatic lock malfunctions, either the radar cannot deploy or cannot lock onto the transport vehicle, seriously affecting the overall performance of the radar.

[0006] Third: Operating the automatic lock will also increase the time for setting up and retracting the vehicle, affecting the vehicle's mobility. Summary of the Invention

[0007] To address the shortcomings of the existing technology, this invention provides an integrated mechanism and control method for the knockdown and self-locking of a vehicle-mounted phased array radar, employing the following technical solution: Firstly, a mechanism for the collapse and self-locking of a vehicle-mounted phased array radar is provided, comprising: An orientation rotation mechanism fixedly connected to a preset mounting surface. The movable end of the azimuth rotation mechanism is movably connected to a pitching and tilting mechanism; the pitching and tilting mechanism includes a pair of telescopic rods with a self-locking function. The radar array is located in the space between the two telescopic poles; A T-shaped structural component is fixedly connected to one end of the radar array; The preset mounting surface is equipped with a combined vibration isolator; The upper part of the combined vibration isolator is fixedly connected to a pressure-bearing guide component; The T-shaped structural component is used in conjunction with the pressure-bearing guide and the combined vibration isolator: during the pitching and folding process, the radar array embeds the T-shaped structural component into the pressure-bearing guide and presses down on the pressure-bearing guide, causing the combined vibration isolator to generate preload and deform; azimuth locking is achieved by embedding the T-shaped structural component into the pressure-bearing guide; pitch locking is achieved by the self-locking capability of the telescopic rod pair and the preload.

[0008] Secondly, a method for controlling the collapse and self-locking of a vehicle-mounted phased array radar is provided, applied to the integrated mechanism for the collapse and self-locking of the vehicle-mounted phased array radar described in the first aspect, including a collapse step for the radar array surface from the working state to the transportation state: S1: Control the orientation rotation mechanism to return to the zero position; S2: Control the two telescopic rods to retract synchronously and monitor the driving parameters of the two telescopic rods in real time until the lower end of the T-shaped structural member is fully embedded in the open guide section of the pressure-bearing guide member. The azimuth rotation mechanism is de-energized and stops working, and the azimuth of the radar array is locked by relying on the pressure-bearing guide member. S3: Continue to control the synchronous retraction of the two telescopic rods and monitor their drive parameters in real time, while relaxing the requirements for the maximum value and consistency of the drive current; S4: When the radar array's tilting angle reaches the horizontal zero position and the driving parameters of the two telescopic rods do not exceed the limit value, it is determined that the radar array has completed the tilting process, and the pitch tilting mechanism is de-energized and stops working.

[0009] Beneficial effects: This application provides a rapid azimuth and elevation locking mechanism and control method that does not require automatic locking, further improving the reliability, mobility, and shock and vibration resistance of radar equipment.

[0010] This application integrates azimuth locking, pitch locking, and pitch tilting mechanisms into a single, highly efficient design, and controls the locking process and parameters. This enables rapid pitch and azimuth locking of the phased array radar without the need for automatic locking, and enhances the phased array radar's resistance to shock and vibration. Attached Figure Description

[0011] Figure 1 A side view of the erected state of an integrated mechanism for the collapse and self-locking of a vehicle-mounted phased array radar, provided in an embodiment of this application; Figure 2 A rear view of the erected state of an integrated mechanism for the collapse and self-locking of a vehicle-mounted phased array radar, provided in an embodiment of this application; Figure 3 A side view of the collapsed state of an integrated mechanism for collapsing and self-locking of a vehicle-mounted phased array radar, provided as an embodiment of this application; Figure 4 A front view of a pressure-bearing guide and a combined vibration isolator provided in an embodiment of this application; Figure 5 A side view of a pressure-bearing guide and a combined vibration isolator provided in an embodiment of this application; Figure 6 A front view of a T-shaped structural member provided in an embodiment of this application; Figure 7 A side view of a T-shaped structural member provided in an embodiment of this application.

[0012] Figure label: Equipment compartment 1, azimuth rotation mechanism 2, pitch tilting mechanism 3, pitch housing 301, right electric actuator 302, right motor and driver 303, left electric actuator 304, left motor and driver 305, bottom pivot of electric actuator 306, top pivot of electric actuator 307, radar array pitch pivot 308, radar array 4, T-shaped structural component 5, lower end 501, upper sides 502, mounting surface 503, pressure-bearing guide component 6, main pressure-bearing guide component 6a, secondary pressure-bearing guide component; 6b, main pressure-bearing pad segment; 6a1, main pressure monitoring segment; 6a2, main opening guide segment; 6a3, main clamping segment; 6a4, main bottom support segment; 6a5, secondary pressure-bearing pad segment; 6b1, secondary pressure monitoring segment; 6b2, secondary opening guide segment; 6b3, secondary clamping segment; 6b4, secondary bottom support segment; 7, combined vibration isolator; 701, wire rope vibration isolator; 702, upper mounting component; 703, lower mounting component; 8, servo control drive assembly. Detailed Implementation

[0013] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the technical solutions in the embodiments of this application are clearly described. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art are within the scope of protection of this application.

[0014] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0015] The steps described in this application and the flowcharts in the accompanying drawings are not necessarily strictly executed according to the step numbers; the execution order of the steps can be changed. Furthermore, certain steps can be omitted, multiple steps can be combined into one step, and / or one step can be broken down into multiple steps.

[0016] This specification provides an integrated mechanism and control method for the tilting and self-locking of a vehicle-mounted phased array radar, and also relates to a control method for the tilting and self-locking of a vehicle-mounted phased array radar. The following detailed description is provided in conjunction with the accompanying drawings and preferred embodiments.

[0017] Please see Figure 1-7 This application provides an integrated mechanism for the collapse and self-locking of a vehicle-mounted phased array radar, comprising: The azimuth rotation mechanism 2 is fixedly connected to the preset mounting surface. The movable end of the azimuth rotation mechanism 2 is movably connected to the pitch and tilt mechanism 3; the pitch and tilt mechanism 3 includes a pair of telescopic rods with a self-locking function. Radar array 4 is located in the space between the two telescopic poles; One end of the radar array 4 is fixedly connected to a T-shaped structural component 5; The preset mounting surface is equipped with a combined vibration isolator 7; The upper part of the combined vibration isolator 7 is fixedly connected to a pressure-bearing guide 6; The T-shaped structural member 5 works in conjunction with the pressure-bearing guide member 6 and the combined vibration isolator 7: the radar array 4 embeds the T-shaped structural member 5 into the pressure-bearing guide member 6 during the pitching and folding process via the pitching and folding mechanism 3, and presses down on the pressure-bearing guide member 6, causing the combined vibration isolator 7 to generate a pre-tightening force and deform; azimuth locking is achieved by embedding the T-shaped structural member 5 into the pressure-bearing guide member 6; pitch locking is achieved by the self-locking capability of the telescopic rod pair and the pre-tightening force together.

[0018] In this application, the pitch-down mechanism adopts a double telescopic rod design, with the two telescopic rods respectively arranged on both sides of the radar array. The maximum thrust and tension are the same during the radar array's erection and downing processes, facilitating the movement and maintenance of the radar array. The telescopic rods themselves have self-locking functions, such as electric push rods and T-shaped lead screws. However, there is a gap between the T-shaped lead screw and the cylinder body, resulting in poor resistance to impact and vibration. This application does not rely solely on these for pitch locking of the radar array. Instead, it uses T-shaped structural components, combined vibration isolators, and pressure-bearing guide components. During the downing process, the pitch-down mechanism uses electric push rods to embed the two sets of T-shaped structural components into the two sets of pressure-bearing guide components, and then presses down on the pressure-bearing guide components, causing the combined vibration isolators to generate preload and deform significantly. This improves the stress state of the radar array and the telescopic rods, achieving more reliable pitch locking.

[0019] Furthermore, the combined vibration isolator 7 includes an upper mounting component 702, a lower mounting component 703, and two wire rope vibration isolators 701; The upper mounting component 702 and the lower mounting component 703 are arranged opposite to each other, and the two wire rope vibration isolators 701 are fixedly connected between the upper mounting component 702 and the lower mounting component 703; The lower mounting member 703 has a protrusion, and the two wire rope vibration isolators 701 are disposed on both sides of the protrusion; the protrusion has a side wall inclined at 45°, and the upper mounting member 702 has a side portion inclined at 45°, so that the two wire rope vibration isolators 701 are fixed at a 45° angle.

[0020] The two wire rope vibration isolators 701 are arranged with their circular openings facing each other so as to limit the upper mounting plate 702 and the pressure-bearing guide 6 connected to the upper mounting plate 702.

[0021] The combined vibration isolator consists of two steel wire rope vibration isolators installed at a 45° angle and upper and lower mounting components. It has a stronger load-bearing capacity and a larger capacity. In the two sets of combined vibration isolators, the circular openings of the steel wire rope vibration isolators face each other. At this time, the upper mounting plate is not easy to tilt back and forth, thus avoiding the tilting of the pressure-bearing guide component.

[0022] Furthermore, the pressure-bearing guide 6 includes a main pressure-bearing guide 6a and a secondary pressure-bearing guide 6b; Both the main pressure-bearing guide 6a and the secondary pressure-bearing guide 6b are configured as irregular plate-shaped structures, which are arranged from top to bottom as a pressure-bearing pad segment, an open guide section, a compaction section and a bottom support section. The main pressure-bearing guide 6a and the secondary pressure-bearing guide 6b are symmetrically arranged. The two pressure-bearing pad segments form a first flared structure, and the two open guide segments form a second flared structure. This is used to eliminate the horizontal distance error between the T-shaped structure and the pressure-bearing guide caused by the angle error when the azimuth rotation mechanism returns to zero. The two pressing segments form a parallel gap to provide static friction force acting on the T-shaped structure. The width gradually decreases from the first flared structure to the gap; the maximum width between the two opening guide sections is less than the maximum width between the two bottom support sections; the gap width is greater than the width of one end of the T-shaped structural member 5 that is inserted into the pressure-bearing guide member 6. The top of the pressure-bearing pad segment is provided with elastic parts of different thicknesses so that the overall height of the main pressure-bearing guide 6a is greater than that of the secondary pressure-bearing guide 6b. The angle determined by the ratio of the height difference between the main pressure-bearing guide 6a and the secondary pressure-bearing guide 6b to the distance between the two elastic parts is: ; The angle determined by the ratio of the width of one end of the T-shaped structural member 5 inserted into the pressure-bearing guide member 6 to the difference between the distance between the two pressure-bearing clamping sections (the gap width) and the length of the clamping section is: ,and Less than .

[0023] Regarding the above angle: the elastic parts of the main and auxiliary pressure-bearing guide components have different thicknesses (there is a thickness difference). The horizontal center distance between these two elastic parts is When the T-shaped structural member is pressed down, the difference in height between the main and auxiliary pressure-bearing guide members forces the entire pressure-bearing guide member and the combined vibration isolator to tilt. This tilt angle is _____. The width of the lower end of the T-shaped structural member is set as follows: The spacing between the two pressure-bearing guide sections is set as There is a difference The vertical length of the compaction section is This difference allows for some horizontal sway in the T-shaped part; the angle formed by this difference and the length is... .

[0024] The principle is as follows: The azimuth of the phased array radar is locked by embedding a T-shaped structural component into a pressure-bearing guide. The pitch of the phased array radar is locked by controlling the self-locking capability of the telescopic rod and the pre-tightening force of the combined vibration isolator. This locking mechanism has strong resistance to impact and vibration, and when matched with a reasonable control method, it can replace the scheme of configuring automatic azimuth and pitch locks.

[0025] When the radar array collapses close to the horizontal plane, the T-shaped structural component first passes through the open guide section of the pressure-bearing guide. Its main function is to eliminate the horizontal distance error between the T-shaped structural component and the pressure-bearing guide caused by the angular error when the azimuth rotation mechanism returns to zero. When the T-shaped structural component has not contacted the pressure section, the azimuth rotation mechanism is in an energized state, and the horizontal distance error is eliminated by the displacement of the combined vibration isolator in this direction. The T-shaped structural component will slide downward along the open guide section. When the T-shaped structural component contacts the pressure section, the azimuth rotation mechanism is de-energized according to the pre-set value of the radar array's elevation angle. At this time, the internal force generated by the horizontal offset of the combined vibration isolator will push the azimuth rotation mechanism back to zero. At the same time, the combined vibration isolator will reduce the impact and vibration experienced by the radar array in the horizontal direction.

[0026] As the radar array continues to collapse, and the lower end of the T-shaped structural member completely passes through the clamping section of the pressure-bearing guide, the main pressure-bearing guide first comes into contact with the force, causing the pressure-bearing guide and the combined vibration isolator to tilt at a certain angle. When the tilt angle is approximately β, the lower end of the T-shaped structural member will simultaneously contact the clamping sections of both the main and secondary pressure-bearing guides, generating a bidirectional clamping force. However, this clamping force is insufficient to prevent the array from collapsing further. Subsequently, both sides of the upper end of the T-shaped structural member act simultaneously on the main and secondary pressure-bearing guides until the radar array collapses to its final horizontal state. At this point, the combined vibration isolator bears the combined force of the array's gravity and the electric push rod's tension. Simultaneously, because the maximum width of the open guide sections of the main and secondary pressure-bearing guides is smaller than the bottom support section, the clamping force at the lower end of the T-shaped structural member increases proportionally with the increase in the force on the pressure-bearing guide. The specific magnitude can be calculated using the force on the combined vibration isolator and the lever arm from the bottom support section of the pressure-bearing guide. The clamping force multiplied by the coefficient of friction is the static friction force acting on the T-shaped structural component.

[0027] When transported by vehicle, the telescopic boom has a pre-tensioned force, making it less prone to swaying and thus extending its service life. Simultaneously, the telescopic boom has a self-locking capability, preventing it from extending or shortening due to force on the radar array, thereby ensuring the stability of the radar array's tilt angle.

[0028] In vehicle-mounted transport mode, the radar array is primarily subjected to impact forces and random vibrations. The impact force is a transient pulse. During the test, the bottom of the test bench receives the pulse, and the inertial force on the radar array is downward. At this time, the radar array tilts downward, and the combined vibration isolator acts as a buffer. Simultaneously, the preload of the telescopic rod is eliminated as the array tilts downward, and the preload of the combined vibration isolator further reduces the impact force. When the radar array tilts to a certain angle, the telescopic rod begins to provide support, i.e., it generates thrust on the radar array, improving the stress state of the array.

[0029] Random vibration can be equivalent to an acceleration history in the time domain. The acceleration generated by the force on the radar array is mainly vertically upward and downward, with the maximum acceleration being much smaller than the impact acceleration, not exceeding 10g. When the force on the radar array is vertically downward, the principle is the same as that of impact force, but the vibration force is significantly improved. When the force on the radar array is vertically upward, the radar array tilts upward, and the radar array's own gravity can partially offset this. The increased tension of the telescopic rod also partially offsets this, and since the force on the telescopic rod is consistent, it will not vibrate due to gaps. Although the supporting force of the pressure-bearing guide component on the radar array is slightly reduced due to the displacement of the combined vibration isolator, the change in the direction of its static friction will also partially offset the upward force on the radar array. The force exerted by the radar array's elevation axis on the radar array is upward. When the radar array as a whole is subjected to an upward force, the upward force exerted by the radar array's elevation axis on the radar array will decrease, or even reverse. In summary, when the force on the radar array is vertically upward, the stress state at each support position of the array is good and will be significantly less than the total inertial force of the array.

[0030] This application provides a method for controlling the collapse and self-locking of a vehicle-mounted phased array radar, applied to the aforementioned integrated mechanism for the collapse and self-locking of a vehicle-mounted phased array radar, including a collapse step of the radar array from the working state to the transportation state: S1: Control the orientation rotation mechanism to return to the zero position; S2: Control the two telescopic rods to retract synchronously and monitor the driving parameters of the two telescopic rods in real time until the lower end of the T-shaped structural member is fully embedded in the open guide section of the pressure-bearing guide member. The azimuth rotation mechanism is de-energized and stops working, and the azimuth of the radar array is locked by relying on the pressure-bearing guide member. S3: Continue to control the synchronous retraction of the two telescopic rods and monitor their drive parameters in real time, while relaxing the requirements for the maximum value and consistency of the drive current; S4: When the radar array's tilting angle reaches the horizontal zero position and the driving parameters of the two telescopic rods do not exceed the limit value, it is determined that the radar array has completed the tilting process, and the pitch tilting mechanism is de-energized and stops working.

[0031] For example, a vehicle-mounted phased array radar tilting and self-locking integrated mechanism is provided, including an equipment compartment (1), an azimuth rotation mechanism (2), an elevation tilting mechanism (3), a radar array (4), a T-shaped structural component (5), a pressure-bearing guide component (6), a combined vibration isolator (7), and a servo control drive assembly (8). The azimuth rotation mechanism (2) is fixed on the equipment compartment (1), and the radar array (4) is installed above the elevation tilting mechanism (3) and fixed below the azimuth rotation mechanism (2).

[0032] In some possible implementations, the pitch-down mechanism (3) further includes: pitch housing (301), right electric push rod (302), right motor and driver (303), left electric push rod (304), left motor and driver (305), bottom pivot of electric push rod (306), top pivot of electric push rod (307), and radar array pitch pivot (308).

[0033] In some possible implementations, the T-shaped structural member (5) further includes: a lower end (501), two upper sides (502), and a mounting surface (503).

[0034] In some possible implementations, the pressure-bearing guide (6) further includes a main pressure-bearing guide (6a) and a secondary pressure-bearing guide (6b); the main pressure-bearing guide (6a) includes a main pressure-bearing pad segment (6a1), a main pressure monitoring segment (6a2), a main opening guide segment (6a3), and a main clamping segment (6a4); the secondary pressure-bearing guide (6b) includes a secondary pressure-bearing pad segment (6b1), a secondary pressure monitoring segment (6b2), a secondary opening guide segment (6b3), a secondary clamping segment (6b4), and a secondary bottom support segment (6b5).

[0035] In some possible implementations, the pitch-down mechanism employs a dual-electric actuator (302 and 304) positioned on either side of the radar array for easy maintenance of the radar array's back. The actuators (302 and 304) are T-type lead screws with a self-locking function. The erection and folding processes of the actuators (302 and 304) are controlled by motors and drivers (303 and 305), with the maximum thrust and pull being the same. The bottom pivot (306) of the actuator is located on the lower left and right sides of the pitch-down mechanism (3). The top pivot (307) of the actuator is located slightly above the back of the radar array (4). The radar array's pitch pivot (308) is located at the bottom of the radar array (4) and on one side of the upper part of the pitch-down mechanism (3).

[0036] In some possible implementations, two sets of T-shaped structural members (5) are symmetrically arranged on the upper back of the radar array (4). Two sets of combined vibration isolators (7) are arranged at the front of the equipment compartment (1), and a set of pressure-bearing guide members (6) are installed and fixed on the upper part of the vibration isolators. The two sets of T-shaped structural members (7) and the pressure-bearing guide members (6) correspond one-to-one.

[0037] In some possible implementations, the pitching and collapsing mechanism (3) uses electric push rods (302 and 304) to embed the two sets of T-shaped structural members (5) into the two sets of pressure-bearing guide members (6) respectively during the collapsing process. Then, it presses down on the pressure-bearing guide members (6), causing the combined vibration isolator (7) to generate a preload and deform significantly, thereby improving the stress state of the radar array (4) and the electric push rods (302 and 304). The structural rigidity of the area near the mounting surface (503) of the radar array (4) and the T-shaped structural members (5) and the area where the combined vibration isolator (7) is installed in the equipment compartment (1) should be strengthened. The overall rigidity of the radar array (4) should meet the forces of the electric push rods (302 and 304) and the combined vibration isolator (7). This avoids the problems of excessive structural deformation and insufficient strength during the self-locking process.

[0038] In some possible implementations, the pressure-bearing guide (6) is divided into a main pressure-bearing guide (6a) and a secondary pressure-bearing guide (6b). The main pressure-bearing guide (6a) and the secondary pressure-bearing guide (6b) have the same main structure and are made of the same material, both using spring steel. The elastic part installed at the top is configured as a rubber gasket, and the thickness of the rubber gasket is different. The main pressure-bearing guide (6a) and the secondary pressure-bearing guide (6b) differ only in the pressure-bearing pad segments (6a1 and 6b1).

[0039] In some possible implementations, the deformation of the combined vibration isolator (7) can be pre-set and is related to the rigidity of the vibration isolator (701) and the tension of the electric push rods (302 and 304). The magnitude of the deformation can be used to calculate the angle at which the radar array (4) still needs to be flipped after the lower end (501) of the T-shaped structural member (5) has completely passed through the pressing section (6a3 and 6b3) of the pressure-bearing guide member (6). The pressure-bearing guide member (6) and the combined vibration isolator (7) are designed accordingly.

[0040] In some possible implementations, the rated values ​​of the individual thrust and pull of the electric push rods (302 and 304) are more than 1.5 times the thrust required to overcome the gravity of the radar array (4) under ideal conditions, and more than 3 times for the two electric push rods (302 and 304). Under the transport compression state, the total pressure borne by the combined vibration isolator (7) is about 2 times the gravity of the radar array (4).

[0041] In some possible implementations, the control flow for the phased array radar array (4) to be erected from the transport state to the working state is as follows: Step 1: The servo system is powered on, and the servo control drive assembly (8) synchronously controls the motors and drivers (303 and 305) of the two push rods to ensure that the two electric push rods (302 and 304) extend synchronously. At the same time, the servo control drive assembly (8) controls the azimuth rotation mechanism (2) to ensure that the azimuth zero position remains stable.

[0042] During the initial erection phase, the electric push rods (302 and 304) gradually change from tension to thrust. In the intermediate phase, the radar array (4) is smoothly pushed to rotate to the specified angle. In the final phase, the electric push rods (302 and 304) are judged to be in position based on the real-time monitoring of the rotation angle of the radar array elevation axis (308), and then the radar array is stably erected to the working angle.

[0043] The second step is to monitor the encoder readings and drive current of their respective motors and drivers (303 and 305) in real time during the entire extension process of the two electric actuators (302 and 304). This ensures that the extension of the two electric actuators (302 and 304) meets the synchronization requirements and prevents abnormal situations caused by overload or excessive difference in thrust between the two electric actuators (302 and 304).

[0044] Step 3: After the radar array (4) reaches the desired elevation angle, the azimuth rotation mechanism (2) rotates according to the system command.

[0045] In some possible implementations, the control flow for the collapse process of the phased array radar array (4) from the working state to the transport state is as follows: Step 1: Servo control drive combination (8) controls the orientation rotation mechanism (2) to return to zero and remain stable.

[0046] Step 2: The servo control drive combination (8) synchronously controls the motors and drivers (303 and 305) of the two electric push rods (302 and 304) to ensure that the electric push rods (302 and 304) retract synchronously, and monitors the encoder readings and drive currents of the motors and drivers (303 and 305) of the two electric push rods (302 and 304) until a given angle is reached, which is when the lower end (501) of the T-shaped structural member (5) is fully embedded in the open guide section (6a2 and 6b2) of the pressure-bearing guide member (6).

[0047] Step 3: The azimuth rotation mechanism (2) stops working when the power is cut off, and the azimuth of the radar array (4) is locked by two sets of pressure-bearing guide components (6).

[0048] Step 4: The servo control drive combination (8) continues to synchronously control the motors and drivers (303 and 305) of the two electric push rods (302 and 304), and ensures that the electric push rods (302 and 304) retract synchronously. At this time, continue to monitor the encoder readings and drive currents of the motors and drivers (303 and 305) of the two electric push rods (302 and 304), but relax the requirements for the maximum value and consistency of the drive current.

[0049] Step 5: When the tilt angle of the radar array (4) reaches the horizontal zero position and the driving current of the two motors and drivers (303 and 305) does not exceed the limit value, it is considered that the phased array radar array (4) has completed the tilting process, and the pitch tilting mechanism (3) is de-energized and stops working.

[0050] Based on the above technical solution, this application achieves rapid elevation and azimuth locking of the phased array radar without the need for automatic locking by integrating the azimuth locking, elevation locking, and tilting mechanism into a single, highly efficient design, and by controlling the locking process and parameters. Azimuth locking of the phased array radar is achieved by embedding a pressure-bearing guide component into a T-shaped structural member. Pitch locking of the phased array radar is achieved by controlling the self-locking capability of the electric push rod and the preload of the combined vibration isolator. This locking method has strong resistance to impact and vibration and can replace the solution of installing automatic azimuth and elevation locks. Through the integrated design of the tilting and self-locking mechanism and the reasonable control method, not only can the impact of automatic locks on system reliability be eliminated, but the impact of automatic lock switching on radar setup and dismantling time can also be eliminated.

[0051] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0052] It is understood that the embodiments of this application have been described above in conjunction with the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. As those skilled in the art will know, various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, those skilled in the art, under the guidance or instruction of this application, can modify these features and embodiments to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this invention.

Claims

1. A vehicle-mounted phased array radar tilting and self-locking integrated mechanism, characterized in that, include: An orientation rotation mechanism fixedly connected to a preset mounting surface. The movable end of the azimuth rotation mechanism is movably connected to a pitching and tilting mechanism; the pitching and tilting mechanism includes a pair of telescopic rods with a self-locking function. The radar array is located in the space between the two telescopic poles; A T-shaped structural component is fixedly connected to one end of the radar array; The preset mounting surface is equipped with a combined vibration isolator; The upper part of the combined vibration isolator is fixedly connected to a pressure-bearing guide component; The T-shaped structural component is used in conjunction with the pressure-bearing guide and the combined vibration isolator: during the pitching and folding process, the radar array embeds the T-shaped structural component into the pressure-bearing guide and presses down on the pressure-bearing guide, causing the combined vibration isolator to generate preload and deform; azimuth locking is achieved by embedding the T-shaped structural component into the pressure-bearing guide; pitch locking is achieved by the self-locking capability of the telescopic rod pair and the preload.

2. The integrated mechanism for the tilting and self-locking of a vehicle-mounted phased array radar according to claim 1, characterized in that, The combined vibration isolator includes an upper mounting component, a lower mounting component, and two wire rope vibration isolators; The upper mounting component and the lower mounting component are arranged opposite to each other, and the two wire rope vibration isolators are fixedly connected between the upper mounting component and the lower mounting component; The lower mounting component has a protrusion, and the two wire rope vibration isolators are disposed on both sides of the protrusion; the protrusion has a side wall inclined at °, and the upper mounting component has a side portion inclined at °, so that the two wire rope vibration isolators are fixed at an angle of °.

3. The integrated mechanism for the tilting and self-locking of a vehicle-mounted phased array radar according to claim 2, characterized in that, The two wire rope vibration isolators are arranged with their circular openings facing each other to limit the position of the upper mounting plate and the pressure-bearing guide connected to the upper mounting plate.

4. The integrated mechanism for the collapse and self-locking of vehicle-mounted phased array radar according to claim 1, characterized in that, The pressure-bearing guide component includes a main pressure-bearing guide component and a secondary pressure-bearing guide component; Both the main pressure-bearing guide and the secondary pressure-bearing guide are configured as irregular plate-shaped structures, which, from top to bottom, consist of a pressure-bearing pad segment, an open guide segment, a compaction segment, and a bottom support segment. The main pressure-bearing guide and the secondary pressure-bearing guide are symmetrically arranged. The two pressure-bearing pad segments form a first flared structure, and the two open guide segments form a second flared structure. This is used to eliminate the horizontal distance error between the structural component and the pressure-bearing guide caused by the angle error when the azimuth rotation mechanism returns to zero. The two pressing segments form a parallel gap to provide static friction force acting on the structural component. The width gradually decreases from the first flared structure to the gap; the maximum width between the two open guide sections is less than the maximum width between the two bottom support sections; the gap width is greater than the width of one end of the T-shaped structural member inserted into the pressure-bearing guide.

5. The integrated mechanism for the tilting and self-locking of a vehicle-mounted phased array radar according to claim 4, characterized in that, The top of the pressure-bearing pad segment is provided with elastic parts of different thicknesses so that the overall height of the main pressure-bearing guide is greater than that of the secondary pressure-bearing guide. The angle determined by the ratio of the height difference between the main pressure-bearing guide and the secondary pressure-bearing guide to the distance between the two elastic parts is: ; The angle determined by the ratio of the width of one end of the T-shaped structural member inserted into the pressure-bearing guide 6 to the difference between the distance between the two pressure-bearing and pressing sections and the length of the pressing section is: ,and Less than .

6. A method for controlling the collapse and self-locking of a vehicle-mounted phased array radar, characterized in that, The integrated mechanism for collapsing and self-locking of a vehicle-mounted phased array radar as described in any one of claims 1-5 includes a collapsing step where the radar array changes from an operational state to a transport state: S1: Control the orientation rotation mechanism to return to the zero position; S2: Control the two telescopic rods to retract synchronously and monitor the driving parameters of the two telescopic rods in real time until the lower end of the T-shaped structural member is fully embedded in the open guide section of the pressure-bearing guide member. The azimuth rotation mechanism is de-energized and stops working, and the azimuth of the radar array is locked by relying on the pressure-bearing guide member. S3: Continue to control the synchronous retraction of the two telescopic rods and monitor their drive parameters in real time, while relaxing the requirements for the maximum value and consistency of the drive current; S4: When the radar array's tilting angle reaches the horizontal zero position and the driving parameters of the two telescopic rods do not exceed the limit value, it is determined that the radar array has completed the tilting process, and the pitch tilting mechanism is de-energized and stops working.

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