Die design method, device and equipment based on lifting balance, and storage medium

Abstract

The application discloses a mold design method and device based on lifting balance, equipment and a storage medium, and the method comprises the following steps: obtaining the gravity center point coordinates of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the lifting point coordinates, the length of the lifting rope and the lifting rope fold point coordinates; the hook point coordinates are calculated according to the lifting point coordinates, the length of the lifting rope and the lifting rope fold point coordinates; the initial vector between the hook point and the gravity center point is constructed; the swing angle and the translation angle are obtained according to the angle between the initial vector and the coordinate axis direction; the initial coordinate system is converted into the coordinate system after swinging according to the swing angle and the translation angle, and the swing after coordinates of the four corners of the mold bottom surface are obtained; the bottom surface inclination of the mold after swinging is calculated according to the initial coordinates and the swing after coordinates, and the mold structure is designed according to the bottom surface inclination. The method can calculate the inclination in various lifting conditions, and the mold structure is adjusted according to the bottom surface inclination to ensure the lifting balance of the mold.

Description

Technical Field

[0001] This invention relates to the field of mold design technology, and in particular to a mold design method, apparatus, equipment and storage medium based on lifting balance. Background Technology

[0002] Currently, automotive body panel stamping dies weigh between 10T and 30T. During die manufacturing, stamping production, and maintenance, overhead cranes are used to lift the dies, handling situations such as the upper die being inserted into the lower die and the entire die set being lifted into the press. Specifically, during the upper die insertion into the lower die, it is crucial to ensure the upper die is lifted in a balanced manner to guarantee the guide sleeve of the upper die can be vertically guided into the guide post of the lower die. Similarly, during the lifting of the entire die set, balance must be maintained to prevent safety hazards caused by significant swaying after lifting. Furthermore, if the die bottom surface is excessively tilted, the die's positioning in the production press will be inaccurate, affecting the stability of automated robotic arms during part feeding and retrieval. To ensure balanced die lifting, the swaying state during lifting needs to be calculated during the die structure design phase. This means calculating the tilt amount of the die during lifting in advance based on the die's structural data, thereby improving lifting safety and efficiency.

[0003] In existing technologies, mold structure design only considers the scenario where the hook point is directly above the intersection of the diagonals of the lifting point, and all four lifting ropes are under stress simultaneously. However, actual mold lifting conditions are more complex, with situations such as the lifting point being on the lower mold, the lifting ropes having a bend at the contact point with the upper mold, and the hook point not necessarily being directly above the intersection of the diagonals of the lifting point, and all four lifting ropes not necessarily being under stress simultaneously.

[0004] In summary, the existing technology only considers the case where four lifting ropes are under force simultaneously, and cannot calculate the tilt amount under various lifting conditions, which affects the lifting efficiency and safety of the mold. Summary of the Invention

[0005] This invention provides a mold design method, device, equipment, and storage medium based on lifting balance, which can calculate the tilt amount under various lifting conditions and adjust the mold structure according to the bottom tilt amount to ensure the lifting balance of the mold.

[0006] In a first aspect, to solve the above-mentioned technical problems, the present invention provides a mold design method based on lifting balance, comprising:

[0007] Obtain the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the bending point of the lifting rope;

[0008] The coordinates of the hook point are calculated based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point.

[0009] Based on the coordinates of the center of gravity and the coordinates of the hook point, an initial vector is constructed between the hook point and the center of gravity.

[0010] Based on the angle between the initial vector and the coordinate axis, the swing angle and translation angle of the mold lifting are obtained;

[0011] The initial coordinate system is transformed into the coordinate system after the mold swings based on the swing angle and the translation angle, so as to obtain the swing coordinates of the four corners of the bottom surface of the mold;

[0012] The inclination of the bottom surface of the mold after swinging is calculated based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the inclination of the bottom surface.

[0013] Preferably, the step of designing the mold structure based on the bottom surface inclination includes:

[0014] Determine whether the bottom surface inclination is less than a preset deviation reference value; if yes, the mold structure design is deemed acceptable; if no, adjust the mold structure until the bottom surface inclination is less than the deviation reference value.

[0015] Preferably, the step of calculating the hook point coordinates based on the lifting point coordinates, the rope length, and the rope inflection point coordinates includes:

[0016] Based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point, the end lengths of the four lifting ropes are obtained;

[0017] Three spheres with the same radius are established with the inflection points of any three suspension ropes as the center. The coordinates of the initial hook point are calculated based on the principle of the intersection of the three spheres. The spatial straight-line distance between the inflection point of another suspension rope and the initial hook point is also calculated.

[0018] Determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if yes, determine that all four suspension ropes are under force and determine the initial hook point coordinates as the hook point coordinates; if no, determine that only three of the four suspension ropes are under force and calculate the hook point coordinates based on the simulated force state.

[0019] Preferably, the step of calculating the hook point coordinates based on the simulated stress state includes:

[0020] The coordinates of the simulated hook point are calculated based on the principle of the rope inflection point and the intersection of the three balls of the three main load-bearing ropes.

[0021] A simulated force state is selected in sequence for the first verification and the second verification. The first verification condition is that the spatial distance between the inflection point of the auxiliary balancing rope and the simulated hook point is less than the length of the end of the auxiliary balancing rope. The second verification condition is that the intersection of the line connecting the simulated hook point and the center of gravity and the support plane formed by the inflection points of the three main force-bearing ropes is within the support plane.

[0022] When both the first and second verifications pass, the verification is deemed successful, and the coordinates of the simulated hook point are determined as the hook point coordinates.

[0023] Preferably, the step of sequentially selecting a simulated stress state for the second verification includes:

[0024] Planar equations are established using the inflection points of the three main load-bearing ropes, and linear equations are established using the coordinates of the simulated hook point and center of gravity.

[0025] Solve the equations of the plane and the line to obtain the intersection point T of the plane and the line;

[0026] Determine whether the intersection point T is within the spatial triangle established by the inflection points of the three main force-bearing ropes. If yes, the second verification is deemed to have passed; otherwise, the second verification is deemed to have failed.

[0027] Preferably, the step of converting the initial coordinate system to the coordinate system after the mold swings based on the swing angle and the translation angle includes:

[0028] The initial coordinate system is rotated and transformed according to the swing angle to obtain the rotated coordinate system;

[0029] The translation vector is obtained based on the swing angle and the translation angle, and the coordinate system after rotation is transformed by translation based on the translation vector to obtain the coordinate system after the mold swings.

[0030] Secondly, the present invention provides a mold design device based on lifting balance, comprising:

[0031] The coordinate acquisition module is used to acquire the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the bending point of the lifting rope.

[0032] The coordinate calculation module is used to calculate the coordinates of the hook point based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point.

[0033] The vector construction module is used to construct an initial vector between the hook point and the center of gravity based on the coordinates of the center of gravity and the coordinates of the hook point;

[0034] An angle calculation module is used to obtain the swing angle and translation angle of the mold lifting based on the angle between the initial vector and the coordinate axis.

[0035] The coordinate transformation module is used to transform the initial coordinate system into the coordinate system after the mold swings based on the swing angle and the translation angle, so as to obtain the swing coordinates of the four corners of the bottom surface of the mold.

[0036] The tilt calculation module is used to calculate the tilt of the bottom surface of the mold after swinging based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the tilt of the bottom surface.

[0037] Preferably, the coordinate calculation module includes:

[0038] The length calculation module is used to obtain the end lengths of the four lifting ropes based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the turning point of the lifting rope.

[0039] The distance calculation module is used to establish three spheres with the same radius with the inflection point of any three suspension ropes as the center, calculate the coordinates of the initial hook point based on the principle of the intersection of the three spheres, and calculate the spatial straight-line distance between the inflection point of another suspension rope and the initial hook point.

[0040] The length determination module is used to determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if so, it is determined that all four suspension ropes are under force, and the initial hook point coordinates are determined as the hook point coordinates; if not, it is determined that only three of the four suspension ropes are under force, and the hook point coordinates are calculated based on the simulated force state.

[0041] Thirdly, the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the mold design method based on lifting balance as described in any one of the above.

[0042] Fourthly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to execute the mold design method based on lifting balance described in any one of the above.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] This invention provides a mold design method based on lifting balance. It involves obtaining the coordinates of the mold's center of gravity, the initial coordinates of the four corners of its bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope's inflection point in an initial coordinate system. Based on these coordinates, the hook point coordinates are calculated. An initial vector between the hook point and the center of gravity is constructed using the coordinates of the center of gravity and the hook point. The swing angle and translation angle of the mold are obtained based on the angle between the initial vector and the coordinate axis. The initial coordinate system is then converted to a coordinate system after the mold swings, yielding the coordinates of the four corners of the mold's bottom surface after the swing. Finally, the inclination of the bottom surface after the swing is calculated based on the initial coordinates and the inclination, allowing for the design of the mold structure. This invention enables the calculation of inclination under various lifting conditions and the adjustment of the mold structure based on the bottom surface inclination to ensure the mold's lifting balance. Attached Figure Description

[0045] Figure 1 This is a schematic flowchart of the mold design method based on lifting balance provided in the first embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the mold in the initial coordinate system;

[0047] Figure 3 This is a diagram showing the situation when all four suspension ropes are under stress simultaneously.

[0048] Figure 4 This is a diagram showing the situation when three ropes are under stress simultaneously.

[0049] Figure 5 This is a schematic diagram showing the intersection point T inside the triangle;

[0050] Figure 6 This is a schematic diagram showing that the intersection point T is outside the triangle;

[0051] Figure 7 This is a schematic diagram of the initial vector in a preferred embodiment;

[0052] Figure 8 This is a diagram illustrating coordinate system transformation;

[0053] Figure 9 This is a schematic diagram of the translation vector in a preferred embodiment;

[0054] Figure 10 This is a schematic diagram of the initial coordinates of the four corners of the bottom surface of the mold in the initial coordinate system;

[0055] Figure 11 This is a schematic diagram of the coordinates of the four corners of the bottom surface of the mold after the swing in the coordinate system after the swing.

[0056] Figure 12 This is a schematic diagram of the mold design device based on lifting balance provided in the second embodiment of the present invention. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Reference Figure 1 The first embodiment of the present invention provides a mold design method based on lifting balance, including the following steps:

[0059] S11, obtain the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the bending point of the lifting rope;

[0060] S12, calculate the coordinates of the hook point based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point;

[0061] S13, construct an initial vector between the hook point and the center of gravity based on the coordinates of the center of gravity and the coordinates of the hook point;

[0062] S14, Based on the angle between the initial vector and the coordinate axis, obtain the swing angle and translation angle of the mold lifting;

[0063] S15, Based on the swing angle and the translation angle, the initial coordinate system is converted into the coordinate system after the mold swings, and the swing coordinates of the four corners of the bottom surface of the mold are obtained;

[0064] S16, calculate the bottom inclination of the mold after swinging based on the initial coordinates and the coordinates after swinging, and design the mold structure based on the bottom inclination.

[0065] Furthermore, the step of designing the mold structure based on the bottom surface inclination includes: determining whether the bottom surface inclination is less than a preset deviation reference value; if yes, then determining that the mold structure design is approved; if no, then adjusting the mold structure until the bottom surface inclination is less than the deviation reference value.

[0066] It should be noted that this invention applies to the mold structure design stage. During the mold design stage, when simulating lifting balance, a deviation benchmark value of 25mm can be set for the lifting balance verification. If the bottom inclination is less than or equal to 25mm, the mold structure design needs to be adjusted. Common methods include adjusting the position of the lifting lugs, adjusting the position of the lifting rope bend, and adding counterweights to ensure the mold's lifting balance. If the bottom inclination is less than 25mm, the mold structure design is considered approved. After ensuring the mold design is approved through the above methods, the mold design can be put into mold manufacturing, thereby improving the safety and efficiency of mold lifting.

[0067] In step S11, refer to Figure 2 An initial coordinate system is established with the length of the press table as the X-axis, the width of the table as the Y-axis, and the direction perpendicular to the ground upwards as the Z-axis. The origin of the absolute coordinate system O-XYZ of the mold 3D model is generally not at the geometric center of the mold. Four lifting lugs are installed around the mold's perimeter to increase lifting balance.

[0068] The coordinates of the center of gravity are (XG,YG,ZG), which can be quickly read using 3D software, such as the measurement volume function of NX software; the coordinates of the lifting points of the mold are the center points of the four lifting lug holes of the mold, which can be directly read from the 3D data of the mold structure design, and are respectively recorded as (XA0,YA0,ZA0), (XB0,YB0,ZB0), (XC0,YC0,ZC0), and (XD0,YD0,ZD0).

[0069] In practice, mold manufacturing workshops and stamping production workshops typically use four lifting ropes of equal length, typically 4m or 4.5m. The length can be calculated based on the actual length used in the workshop, and the rope length is denoted as L. When the mold structure has protruding parts obstructing the rope, and the rope's direction needs to be changed, the rope's inflection point coordinates can be directly read from the 3D data of the mold structure design. Generally, mold structure designs have two or fewer inflection points. The inflection point coordinates of the four lifting ropes (A, B, C, and D) from the nearest lifting point to the nearest hook point are denoted as A1(X...). A1 ,Y A1 Z A1 ), A2(X A2 ,Y A2 Z A2 ), B1(X B1 ,Y B1 Z B1 B2(X) B2 ,Y B2 Z B2 C1(X) C1 ,Y C1 Z C1 C2(X)C2 ,Y C2 Z C2 ), D1(X D1 ,Y D1 Z D1 ), D2(X D2 ,Y D2 Z D2 The number of inflection points for each rope may vary and can be adjusted based on the actual design of the mold structure. In this embodiment, points A2, B2, C2, and D2 are taken as the final inflection points of the four ropes, which are the coordinates of the rope inflection points (i.e., the inflection points of the nearest hook).

[0070] In step S12, calculating the hook point coordinates based on the lifting point coordinates, the rope length, and the rope inflection point coordinates includes:

[0071] Based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point, the end lengths of the four lifting ropes are obtained;

[0072] Three spheres with the same radius are established with the inflection points of any three suspension ropes as the center. The coordinates of the initial hook point are calculated based on the principle of the intersection of the three spheres. The spatial straight-line distance between the inflection point of another suspension rope and the initial hook point is also calculated.

[0073] Determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if yes, determine that all four suspension ropes are under force and determine the initial hook point coordinates as the hook point coordinates; if no, determine that only three of the four suspension ropes are under force and calculate the hook point coordinates based on the simulated force state.

[0074] Reference Figure 2 Based on the length of the lifting ropes, the coordinates of the lifting point, and the coordinates of the rope inflection point, calculate the lengths of the ends of the four lifting ropes. Using the spatial distance formula, the dimensions of the two sections of rope A can be calculated: the distance L from point A0 to point A1. A01 The distance L from point A1 to point A2 A12 Since the coordinates of the mold's lifting point and the rope's turning point are fixed points, it's equivalent to the rope already using a portion of its fixed length. Therefore, the end length of rope A is calculated as R. A =LL A01 -L A02 Similarly, R can be calculated. B R C R D The number of bends in each rope may vary, and the fixed length used for each rope is calculated based on the number of bends.

[0075] It should be noted that after the mold is lifted, swung, and stabilized, according to the principle of static equilibrium, the hook point must satisfy the following two conditions: the line connecting the hook point and the mold's center of gravity is perpendicular to the ground; and the intersection of the line connecting the hook point and the mold's center of gravity with the supporting plane formed by the end of the lifting rope must be within the supporting plane (otherwise, the mold will rotate). Since there may be four or three lifting ropes, both cases must be verified before calculating the hook point coordinates. For ease of understanding, this invention uses lifting ropes A, B, and C as an example.

[0076] Reference Figure 3 First, check whether all four lifting ropes are under simultaneous tension. When all four ropes are under tension, since they are all taut, the distance from the last bend of each rope to the hook point should be the same as the length of its end. Taking rope ABC as an example, the verification based on this condition is as follows:

[0077] Establish a sphere with radius Ra, using the inflection point of the nearest hook of rope A as the origin; establish a sphere with radius Rb, using the inflection point of the nearest hook of rope B as the origin; establish a sphere with radius Rc, using the inflection point of the nearest hook of rope C as the origin. Assign the coordinates of A2(X1,Y1,Z1), B2(X2,Y2,Z2), and C2(X3,Y3,Z3) to the equations. Then, use the principle of the intersection of three spheres to calculate the initial hook point coordinates J(X,Y,Z). The equation for the hook point coordinates J and the solution process are as follows:

[0078] First, according to the formula for the distance from the three balls to the center:

[0079] (x-x1) 2 +(y-y1) 2 +(z-z1) 2 =r1 2 (1)(x-x2) 2 +(y-y2) 2 +(z-z2) 2 =r2 2 (2)(x-x3) 2 +(y-y3) 2 +(z-z3) 2 =r3 2 (3)

[0080] Let Ai=ri 2 -xi 2 -yi 2 -zi 2 ,have to:

[0081] A1=r1 2 -x1 2 -y1 2 -z1 2 A2 = r22 -x2 2 -y2 2 -z2 2 A3 = r3 2 -x3 2 -y3 2 -z3 2 ;

[0082] From equation (1) minus equation (2), we get:

[0083] (x2-x1)*x+(y2-y1)*y+(z2-z1)*z=-(A2-A1) / 2; (4)

[0084] From equation (1) to equation (3):

[0085] (x3-x1)*x+(y3-y1)*y+(z3-z1)*z=-(A3-A1) / 2; (5)

[0086] Let: Xij=xi-xj; Yij=yi-yj; Zij=zi-zj; [i=1,2,3]

[0087] Ai1 = -(Ai - A1) / 2; [i = 2, 3]

[0088] Then equations (4) and (5) can be simplified to:

[0089] X21*x+Y21*y+Z21*z=A21 (6)

[0090] X31*x+Y31*y+Z31*z=A31 (7)

[0091] Let: D = X21*Y31 - Y21*X31;

[0092] From equation (6) * Y31 - equation (7) * Y21, we get:

[0093] x=[(A21*Y31-A31*Y21)+(Y21*Z31-Y31*Z21)*z] / D; (8)

[0094] (6) Equation * X31 - (7) Equation * X21, we get:

[0095] y=[(A31*X21-A21*X31)+(X31*Z21-X21*Z31)*z] / D; (9)

[0096] Let: B0 = (A21*Y31 - A31*Y21) / D; B1 = (Y21*Z31 - Y31*Z21) / D;

[0097] C0=(A31*X21-A21*X31) / D; C1=(X31*Z21-X21*Z31) / D;

[0098] Then (8) and (9) can be simplified to:

[0099] x = B0 + B1 * z; (10)

[0100] y = C0 + C1 * z; (11)

[0101] Let: E = B1² + C1² + 1; F = B1*(B0 - x1) + C1*(C0 - y1) - z1;

[0102] G=(B0-x1)2+(C0-y1)2+z12-r12;

[0103] Substituting (10) & (11) into (1) gives: E*z2 + 2*F*z + G = 0;

[0104] z=[-F+(F^2-E*G)^(1 / 2)] / E or z=[-F-(F^2-E*G)^(1 / 2)] / E;

[0105] Considering that the solution for the intersection of the three spheres may be above or below the end of the rope's bend, and considering that the hook is above the bend, Z takes the larger value, that is: z=[-F+(F^2-E*G)^(1 / 2)] / E (12)

[0106] Substituting (12) into (10) and (11), we get:

[0107] x = B0 + B1 * z;

[0108] y = C0 + C1 * z;

[0109] z = [-F + (F^2 - E*G)^(1 / 2)] / E

[0110] The initial hook point coordinate obtained by substituting formula (12) into formulas (10) and (11) is J(X). J Y J Z J Then, using the spatial two-point distance formula, the spatial straight-line distance Ld from point J to point D2 is calculated, and it is verified whether Ld is the same as the end length RD of the suspension rope D. If Ld = RD, then all four suspension ropes are under force, and the initial hook point coordinates are the hook point coordinates; if Ld ≠ RD, then only three of the four suspension ropes are under force (the main force suspension rope), and the other is an auxiliary balancing suspension rope in a slack state. Then, it is necessary to determine which three suspension ropes are under force and solve for the hook point coordinates.

[0111] Let the four suspension ropes be numbered ABCD. The simulated force state includes the following four cases: the main force suspension rope is ABC and the auxiliary balancing suspension rope is D; the main force suspension rope is ABD and the auxiliary balancing suspension rope is C; the main force suspension rope is ACD and the auxiliary balancing suspension rope is B; and the main force suspension rope is BCD and the auxiliary balancing suspension rope is A.

[0112] In one implementation, the step of calculating the hook point coordinates based on the simulated stress state includes:

[0113] The coordinates of the simulated hook point are calculated based on the principle of the rope inflection point and the intersection of the three balls of the three main load-bearing ropes.

[0114] A simulated force state is selected in sequence for the first verification and the second verification. The first verification condition is that the spatial distance between the inflection point of the auxiliary balancing rope and the simulated hook point is less than the length of the end of the auxiliary balancing rope. The second verification condition is that the intersection of the line connecting the simulated hook point and the center of gravity and the support plane formed by the inflection points of the three main force-bearing ropes is within the support plane.

[0115] When both the first and second verifications pass, the verification is deemed successful, and the coordinates of the simulated hook point are determined as the hook point coordinates.

[0116] In one implementation, the step of sequentially selecting a simulated stress state for the second verification includes:

[0117] Planar equations are established using the inflection points of the three main load-bearing ropes, and linear equations are established using the coordinates of the simulated hook point and center of gravity.

[0118] Solve the equations of the plane and the line to obtain the intersection point T of the plane and the line;

[0119] Determine whether the intersection point T is within the spatial triangle established by the inflection points of the three main force-bearing ropes. If yes, the second verification is deemed to have passed; otherwise, the second verification is deemed to have failed.

[0120] To facilitate understanding of the present invention, the following description uses the case where the main load-bearing rope is ABC and the auxiliary balancing rope is D as an example, as shown in the diagram. Figure 4 As shown.

[0121] Reference Figure 4 The verification includes the following two conditions, which must be met simultaneously: the auxiliary lifting rope D is in a slack state, that is, the spatial distance Ld between the end bend of the lifting rope D and the hook point J is less than the end length R of the lifting rope D. D The intersection of the line connecting the hook point and the center of gravity of the mold and the support plane formed by the last bends of the three stressed ropes must be within the support plane (otherwise the mold will rotate).

[0122] During the first verification, the coordinates J of the simulated hook point were obtained by solving a quadratic equation in three variables using the intersection of the three spheres. Then, the spatial distance Ld between the final inflection point of the suspension rope D and the simulated hook point was compared to see if it was less than the end length R of the suspension rope D. D When Ld is satisfied <R D The first verification passed.

[0123] The second verification includes the following steps:

[0124] Step S21: Establish the spatial plane equation using the three final inflection points A2(X1,Y1,Z1), B2(X2,Y2,Z2), and C2(X3,Y3,Z3) of the suspension ropes A, B, and C, as follows:

[0125] Constructing vectors:

[0126] Let the normal vector of the plane be... (A, B, C) and Perpendicular, according to the cross product theorem: Solving for:

[0127] A=(y3-y1)*(z3-z1)-(z2-z1)*(y3-y1);

[0128] B = (x3-x1)*(z2-z1)-(x2-x1)*(z3-z1);

[0129] C=(x2-x1)*(y3-y1)-(x3-x1)*(y2-y1);

[0130] Let the equation of the plane be: Ax + By + Cz + D = 0 (1)

[0131] Substituting the values ​​of point (x1, y1, z1) into the equation Ax + By + Cz + D = 0, we can find:

[0132] D=-(A*x1+B*y1+C*z1) (2)

[0133] At this point, the solution to the spatial plane equation parameters is complete.

[0134] Step S22: Establish the equation of a straight line in space using the hook point J and the center of gravity G, as follows:

[0135] The calculated coordinates J of the simulated hook point are assigned to (X1, Y1, Z1) in the following equation; the coordinates of the centroid are assigned to (X2, Y2, Z2) in the following equation. The spatial straight line equation is expressed as follows:

[0136]

[0137] Rewrite the equation of the straight line in parametric form: Let (xa) / m = (xb) / n = (zc) / p = t, then

[0138] x=mt+a; y=nt+b; z=pt+c (4)

[0139] Step S23, solve for the intersection point T of the plane and the line. First, by combining (1) and (4), we can find:

[0140] t=-(Aa+Bb+Cc+D) / (Am+Bn+Cp) (5)

[0141] Substituting (5) into (4), we can find the coordinates (X, Y, Z) of the intersection point T of the plane and the line.

[0142] Step S24: Determine whether point T is inside the spatial triangle established by points A2, B2, and C2. The method is as follows:

[0143] Using the spatial distance formula, the lengths of the six sides are calculated: side A2B2, side A2C2, side C2B2, side A2T, side TB2, and side TC2.

[0144] According to Heron's formula for the area of ​​a triangle: Find the areas of the four triangles formed by point T with points A2, B2, and C2, and denote them as S. A2B2C2 S T B2C2 S A2 T C2 S A2B2 T Where a, b, and c are the side lengths of the three sides of the triangle, and p = (a + b + c) / 2;

[0145] If S A2B2C2 =S T B2C2 +S A2 T C2 +S A2B2 T If the intersection point T lies within the triangle formed by points A2, B2, and C2, then the second verification is considered successful. Figure 5 As shown;

[0146] If S A2B2C2 T B2C2 +S A2 T C2 +S A2B2 T If the intersection point T is outside the triangle formed by points A2, B2, and C2, then the second verification is deemed unsuccessful. Figure 6 As shown.

[0147] ​It should be noted that the simulated force conditions include the following: the main force-bearing rope is ABC and the auxiliary balancing rope is D; the main force-bearing rope is ABD and the auxiliary balancing rope is C; the main force-bearing rope is ACD and the auxiliary balancing rope is B; and the main force-bearing rope is BCD and the auxiliary balancing rope is A. One simulated force condition is selected sequentially for the first and second verifications. If the main force-bearing rope is ABC and the auxiliary balancing rope is D, both the first and second verifications pass, and the possibility of other force conditions is no longer considered. If the first force condition verification fails, the next force condition is verified using the same method until it passes.

[0148] In step S13, an initial vector between the hook point and the center of gravity is constructed based on the coordinates of the center of gravity and the hook point. The hook point coordinates are denoted as J(X). J Y J Z J The center of gravity is denoted as G(X). G Y G Z G The initial vector is denoted as . (a, b, c), the calculation formula is as follows:

[0149]

[0150]

[0151]

[0152] In step S14, the swing angle and translation angle of the mold lifting are obtained based on the angle between the initial vector and the coordinate axis.

[0153] Reference Figure 7 After the mold is lifted, under the action of gravity, the mold and the lifting rope will swing around the hook point J. The swing will continue until the line connecting the hook point J and the center of gravity G is perpendicular to the ground. The swing angle is denoted as β, where β is the initial vector. The angle with the -Z direction. The translation angle represents the initial vector. The angle between the XOY plane and the +Y direction is denoted as α.

[0154] In step S15, converting the initial coordinate system to the coordinate system after the mold swings based on the swing angle and the translation angle includes:

[0155] The initial coordinate system is rotated and transformed according to the swing angle to obtain the rotated coordinate system;

[0156] The translation vector is obtained based on the swing angle and the translation angle, and the coordinate system after rotation is transformed by translation based on the translation vector to obtain the coordinate system after the mold swings.

[0157] Reference Figure 7 , Figure 8 The coordinate transformation process of any point on the mold during its swing can be represented as: the transformation from coordinate system O-XYZ to coordinate system O'-X'Y'Z. The motion of transforming coordinate system O-XYZ to coordinate system O'-X'Y'Z can be decomposed into rotation and translation. The rotation transformation represents the transformation of coordinate system O-XYZ around the origin by a swing angle β, resulting in coordinate system O'-X'Y'Z'. The translation transformation represents the translation of coordinate system O'-X'Y'Z' by a translation vector. Then, it is transformed into the coordinate system O”-X”Y”Z”.

[0158] Specifically, the mathematical relationship of coordinate transformation in rotation transformation (i.e., the correspondence between any point (X', Y', Z') in coordinate system O'-X'Y'Z' and the original coordinate system O-XYZ) is solved as follows:

[0159] First, based on the initial vector From (a, b, c), the swing angle β, and the translation angle α, we can calculate:

[0160]

[0161]

[0162]

[0163]

[0164] Then, rotating the origin of the coordinate system O-XYZ by an angle β can be equivalent to: first rotating α around the Z-axis (right-hand rule), then rotating -β around the X-axis (right-hand rule), and finally rotating -α around the Z-axis (right-hand rule). According to the principles of computer graphics, the coordinate transformation matrix relationship is as follows:

[0165]

[0166] According to the associative property of matrix multiplication, we can obtain:

[0167]

[0168] Right now:

[0169] X'=(Cosα*Cosα+Sinα*cosβ*Sinα)*X+(-sinα*cosα+Cosα*cosβ*sinα)*Y+Sinβ*Sinα*Z

[0170] Y'=(-Sinα*cosα+Sinα*cosβ*cosα)*X+(Sinα*sinα+Cosα*cosβ*cosα)*Y+Sinβ*cosα*Z

[0171] Z'=-Sinα*sinβ*X+Cosα*-sinβ*Y+cosβ*Z

[0172] Reference Figure 9 The coordinate system O'-X'Y'Z' is translated by a translation vector. Then, it is transformed into a coordinate system O”-X”Y”Z”. Because the coordinates of the mold and the lifting rope are rotated and translated as a whole, the coordinates of the hook point J do not change, that is, point J is transformed into J' after rotation, and the amount of translation is Right now like Figure 8 As shown. Substituting the coordinates of the hook point obtained in step S12 into the X', Y', Z' coordinate formula, we can obtain the J' coordinate (X... J’ ,Y J’ Z J’ The details are as follows:

[0173] X J’ =(Cosα*Cosα+Sinα*cosβ*Sinα)*X J +(-sinα*cosα+Cosα*cosβ*sinα)*Y J +Sinβ*Sinα*Z J

[0174] Y J’ =(-Sinα*cosα+Sinα*cosβ*cosα)*X J +(Sinα*sinα+Cosα*cosβ*cosα)*Y J +Sinβ*cosα*Z J

[0175] Z J’ =-Sinα*sinβ*X J +Cosα*-sinβ*YJ+cosβ*Z J

[0176] Finally, the J coordinate (X) J’ ,Y J’ Z J’ ) minus J'(X J’ ,Y J’ Z J’ The coordinates are used to determine the translation vector. The coordinate system after rotation is transformed by the translation vector to obtain the coordinate system after the mold swings.

[0177] In step S16, the bottom surface inclination of the mold after swinging is calculated based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the bottom surface inclination.

[0178] Reference Figure 10 Before coordinate transformation, the coordinates of the four corners of the mold bottom surface are read from the 3D data of the mold structure design. A底 ,Y A底 Z A底 ), (X B底 ,Y B底 Z B底 ), (X C底 ,Y C底 Z C底 ), (X D底 ,Y D底 Z D底 Because the bottom surface of the mold is designed to be flat, Z A底 =Z B底 =Z C底 =Z D底 .

[0179] Reference Figure 11 Following step S15, obtain the coordinate system after the mold has oscillated, and calculate the coordinates of the four corners of the bottom surface of the mold after oscillation, denoted as (X'). A底 ,Y' A底 ,Z' A底 ), (X' B底 ,Y' B底 ,Z' B底 ), (X' C底 ,Y' C底 ,Z' C底 ), (X' D底 ,Y' D底 ,Z' D底 ).

[0180] Then, by comparing Z' A底 Z' B底 Z' C底 Z' D底 By finding the maximum and minimum values ​​among the four numbers and calculating the difference between them, the tilt of the bottom surface after the mold swings can be determined.

[0181] In this invention, the coordinates of the center of gravity, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the inflection point of the lifting rope are obtained in the initial coordinate system. The coordinates of the hook point are calculated based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the inflection point of the lifting rope. An initial vector between the hook point and the center of gravity is constructed based on the coordinates of the center of gravity and the hook point. The swing angle and translation angle of the mold lifting are obtained based on the angle between the initial vector and the coordinate axis. The initial coordinate system is converted into a coordinate system after the mold swings, based on the swing angle and the translation angle, to obtain the coordinates of the four corners of the bottom surface of the mold after the swing. The inclination of the bottom surface after the mold swings is calculated based on the initial coordinates and the coordinates after the swing, so that the mold structure can be designed based on the inclination of the bottom surface.

[0182] This invention can calculate the tilt amount under various lifting conditions and adjust the mold structure according to the bottom tilt amount to ensure the lifting balance of the mold. Furthermore, this invention has the following advantages:

[0183] 1. This invention considers the influence of the inflection point on the mold on the direction of the lifting rope and provides a verification method for "judging the main load-bearing structure of the four lifting ropes";

[0184] 2. This invention provides a calculation method for the three-dimensional coordinate conversion of mold swing, which can directly calculate the new coordinates of any point on the mold after swing;

[0185] 3. In specific applications, the present invention can be used to embed the algorithm into UG software for secondary development, which can intuitively see the 3D image of the mold after swinging in UG software and reduce manual calculation.

[0186] Reference Figure 12 The second embodiment of the present invention provides a mold design device based on lifting balance, comprising:

[0187] The coordinate acquisition module is used to acquire the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the bending point of the lifting rope.

[0188] The coordinate calculation module is used to calculate the coordinates of the hook point based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point.

[0189] The vector construction module is used to construct an initial vector between the hook point and the center of gravity based on the coordinates of the center of gravity and the coordinates of the hook point;

[0190] An angle calculation module is used to obtain the swing angle and translation angle of the mold lifting based on the angle between the initial vector and the coordinate axis.

[0191] The coordinate transformation module is used to transform the initial coordinate system into the coordinate system after the mold swings based on the swing angle and the translation angle, so as to obtain the swing coordinates of the four corners of the bottom surface of the mold.

[0192] The tilt calculation module is used to calculate the tilt of the bottom surface of the mold after swinging based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the tilt of the bottom surface.

[0193] Preferably, the device further includes:

[0194] The tilt amount judgment module is used to determine whether the tilt amount of the bottom surface is less than a preset deviation reference value; if yes, the structural design of the mold is deemed to be approved; if no, the structure of the mold is adjusted until the tilt amount of the bottom surface is less than the deviation reference value.

[0195] Preferably, the coordinate calculation module includes:

[0196] The length calculation module is used to obtain the end lengths of the four lifting ropes based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the turning point of the lifting rope.

[0197] The distance calculation module is used to establish three spheres with the same radius with the inflection point of any three suspension ropes as the center, calculate the coordinates of the initial hook point based on the principle of the intersection of the three spheres, and calculate the spatial straight-line distance between the inflection point of another suspension rope and the initial hook point.

[0198] The length determination module is used to determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if so, it is determined that all four suspension ropes are under force, and the initial hook point coordinates are determined as the hook point coordinates; if not, it is determined that only three of the four suspension ropes are under force, and the hook point coordinates are calculated based on the simulated force state.

[0199] Preferably, the coordinate calculation module includes:

[0200] The simulated hook point calculation module is used to calculate the coordinates of the simulated hook point based on the principle of the rope inflection point and the intersection of three balls of the three main load-bearing ropes.

[0201] The verification module is used to sequentially select a simulated force state for the first verification and the second verification. The first verification condition is that the spatial distance between the inflection point of the auxiliary balancing rope and the simulated hook point is less than the end length of the auxiliary balancing rope. The second verification condition is that the intersection of the line connecting the simulated hook point and the center of gravity and the support plane formed by the inflection points of the three main force-bearing ropes is within the support plane.

[0202] The hook point coordinate determination module is used to determine that the verification is passed when both the first verification and the second verification are passed, and to determine the coordinates of the simulated hook point as the hook point coordinates.

[0203] Preferably, the verification module includes:

[0204] The equation-building module is used to establish planar equations based on the inflection points of the three main load-bearing ropes, and to establish linear equations based on the coordinates of the simulated hook point and the center of gravity.

[0205] The intersection point calculation module is used to solve the plane equation and the line equation to obtain the intersection point T of the plane and the line;

[0206] The intersection point judgment module is used to determine whether the intersection point T is within the spatial triangle established by the inflection points of the three main force-bearing ropes. If it is, the second verification is deemed to have passed; otherwise, the second verification is deemed to have failed.

[0207] Preferably, the coordinate transformation module includes:

[0208] The rotation transformation module is used to rotate and transform the initial coordinate system according to the swing angle to obtain the rotated coordinate system.

[0209] The translation transformation module is used to obtain a translation vector based on the swing angle and the translation angle, and to perform a translation transformation on the rotated coordinate system based on the translation vector to obtain the coordinate system after the mold swings.

[0210] It should be noted that the mold design device based on lifting balance provided in this embodiment of the invention is used to execute all the process steps of the mold design method based on lifting balance in the above embodiment. The working principle and beneficial effect of the two are one-to-one, so they will not be described again.

[0211] This invention also provides a terminal device. The terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a mold design program based on lifting balance. When the processor executes the computer program, it implements the steps in the various embodiments of the mold design method based on lifting balance described above, for example... Figure 1 The step S11 shown. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, such as the coordinate transformation module.

[0212] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0213] The terminal device may be a desktop computer, laptop, handheld computer, or smart tablet, etc. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above components are merely examples of terminal devices and do not constitute a limitation on the terminal device. It may include more or fewer components than described above, or a combination of certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0214] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0215] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0216] Wherein, if the modules / units integrated in the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. Wherein, the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0217] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0218] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A mold design method based on lifting balance, characterized in that, include: Obtain the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the lifting rope inflection point; wherein, the lifting rope inflection point refers to the turning point between the lifting point and the hook, where the direction of the lifting rope changes due to the obstruction of the mold's own structure. The coordinates of the hook point are calculated based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point. Based on the coordinates of the center of gravity and the coordinates of the hook point, an initial vector is constructed between the hook point and the center of gravity. Based on the angle between the initial vector and the coordinate axis, the swing angle and translation angle of the mold lifting are obtained; The initial coordinate system is transformed into the coordinate system after the mold swings based on the swing angle and the translation angle, so as to obtain the swing coordinates of the four corners of the bottom surface of the mold; The inclination of the bottom surface of the mold after swinging is calculated based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the inclination of the bottom surface; The step of calculating the hook point coordinates based on the lifting point coordinates, the lifting rope length, and the lifting rope inflection point coordinates includes: Based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point, the end lengths of the four lifting ropes are obtained; Three spheres with the same radius are established with the inflection points of any three suspension ropes as the center. The coordinates of the initial hook point are calculated based on the principle of the intersection of the three spheres. The spatial straight-line distance between the inflection point of another suspension rope and the initial hook point is also calculated. Determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if yes, determine that all four suspension ropes are under force and determine the initial hook point coordinates as the hook point coordinates; if no, determine that only three of the four suspension ropes are under force and calculate the hook point coordinates based on the simulated force state.

2. The mold design method based on lifting balance according to claim 1, characterized in that, The design of the mold structure based on the bottom surface inclination includes: Determine whether the bottom surface inclination is less than a preset deviation reference value; if yes, the mold structure design is deemed acceptable; if no, adjust the mold structure until the bottom surface inclination is less than the deviation reference value.

3. The mold design method based on lifting balance according to claim 2, characterized in that, The calculation of the hook point coordinates based on the simulated stress state includes: The coordinates of the simulated hook point are calculated based on the principle of the rope inflection point and the intersection of the three balls of the three main load-bearing ropes. A simulated force state is selected in sequence for the first verification and the second verification. The first verification condition is that the spatial distance between the inflection point of the auxiliary balancing rope and the simulated hook point is less than the length of the end of the auxiliary balancing rope. The second verification condition is that the intersection of the line connecting the simulated hook point and the center of gravity and the support plane formed by the inflection points of the three main force-bearing ropes is within the support plane. When both the first and second verifications pass, the verification is deemed successful, and the coordinates of the simulated hook point are determined as the hook point coordinates.

4. The mold design method based on lifting balance according to claim 3, characterized in that, The step of sequentially selecting a simulated stress state for the second verification includes: Planar equations are established using the inflection points of the three main load-bearing ropes, and linear equations are established using the coordinates of the simulated hook point and center of gravity. Solve the equations of the plane and the line to obtain the intersection point T of the plane and the line; Determine whether the intersection point T is within the spatial triangle established by the inflection points of the three main force-bearing ropes. If yes, the second verification is deemed to have passed; otherwise, the second verification is deemed to have failed.

5. The mold design method based on lifting balance according to claim 1, characterized in that, The step of converting the initial coordinate system to the coordinate system after the mold swings based on the swing angle and the translation angle includes: The initial coordinate system is rotated and transformed according to the swing angle to obtain the rotated coordinate system; The translation vector is obtained based on the swing angle and the translation angle, and the coordinate system after rotation is transformed by translation based on the translation vector to obtain the coordinate system after the mold swings.

6. A mold design device based on lifting balance, characterized in that, include: The coordinate acquisition module is used to acquire the coordinates of the center of gravity of the mold in the initial coordinate system, the initial coordinates of the four corners of the bottom surface, the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the lifting rope inflection point; wherein, the lifting rope inflection point refers to the turning point between the lifting point and the hook, where the direction of the lifting rope is changed due to the obstruction of the mold's own structure. The coordinate calculation module is used to calculate the coordinates of the hook point based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the rope inflection point. The vector construction module is used to construct an initial vector between the hook point and the center of gravity based on the coordinates of the center of gravity and the coordinates of the hook point; An angle calculation module is used to obtain the swing angle and translation angle of the mold lifting based on the angle between the initial vector and the coordinate axis. The coordinate transformation module is used to transform the initial coordinate system into the coordinate system after the mold swings based on the swing angle and the translation angle, so as to obtain the swing coordinates of the four corners of the bottom surface of the mold. The tilt calculation module is used to calculate the tilt of the bottom surface of the mold after swinging based on the initial coordinates and the coordinates after swinging, so as to design the mold structure based on the tilt of the bottom surface; The coordinate calculation module includes: The length calculation module is used to obtain the end lengths of the four lifting ropes based on the coordinates of the lifting point, the length of the lifting rope, and the coordinates of the turning point of the lifting rope. The distance calculation module is used to establish three spheres with the same radius with the inflection point of any three suspension ropes as the center, calculate the coordinates of the initial hook point based on the principle of the intersection of the three spheres, and calculate the spatial straight-line distance between the inflection point of another suspension rope and the initial hook point. The length determination module is used to determine whether the straight-line distance in space is equal to the length of the end of the other suspension rope; if so, it is determined that all four suspension ropes are under force, and the initial hook point coordinates are determined as the hook point coordinates; if not, it is determined that only three of the four suspension ropes are under force, and the hook point coordinates are calculated based on the simulated force state.

7. A terminal device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the lifting balance-based mold design method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the mold design method based on lifting balance as described in any one of claims 1 to 5.

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