Design method of multi-connected four-bar mechanism and multi-connected four-bar mechanism

Abstract

The present application relates to a kind of design method of multi-connected four-bar mechanism and multi-connected four-bar mechanism, wherein the design method of multi-connected four-bar mechanism includes determining the optimization point related to multi-connected four-bar mechanism and establishing design variable matrix S according to optimization point, and setting target parameter, determining the optimal solution of target parameter, and calculating the optimal solution of design variable matrix S according to the optimal solution of target parameter.The multi-connected four-bar mechanism is designed by the above-mentioned design method of multi-connected four-bar mechanism.The present application selects the optimization point in multi-connected four-bar mechanism to carry out calculation, can greatly reduce the manpower and material resources consumed in the design process of multi-connected four-bar mechanism, improve the design efficiency of multi-connected four-bar mechanism, and by setting replacement target parameter, multi-connected four-bar mechanism can be designed according to different design targets, which has significant significance for reducing the design cost of multi-connected four-bar mechanism and improving the working performance of multi-connected four-bar mechanism.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a design method and a multi-link four-bar linkage. Background Technology

[0002] When a multi-bar linkage needs to flip a load to a certain position during operation, it needs to transfer the tilting load and torque to the load-operating device. During operation, on the one hand, the rapid return motion characteristic of the multi-bar linkage usually generates a large impact force, which can cause significant damage to both the multi-bar linkage and the load-operating device. On the other hand, an unreasonable arrangement of the hinge points of the multi-bar linkage usually results in poor stability of the load-operating device during operation.

[0003] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the overall background of this invention, and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] This invention provides a design method and a multi-link four-bar linkage, which can improve the structure of the multi-link four-bar linkage.

[0005] According to one aspect of the present invention, a design method for a multi-bar linkage is provided, comprising:

[0006] Identify the optimization points related to the multi-bar linkage and establish the design variable matrix S based on these optimization points;

[0007] Set the target parameters and determine the optimal solution for the target parameters; and

[0008] The optimal solution of the design variable matrix S is calculated based on the optimal solution of the objective parameters.

[0009] In some embodiments, the multi-bar linkage is configured to drive a load-bearing work unit to perform operations. The operation of identifying optimization points related to the multi-bar linkage and establishing a design variable matrix S based on these optimization points includes:

[0010] By retaining the pre-defined features of the multi-link four-bar linkage, a simplified model of the multi-link four-bar linkage is obtained.

[0011] The preset points of the load operation units and the hinge points with relative motion relationships in the simplified model when the simplified model is in a contracted state are taken as the points to be optimized; and

[0012] When the simplified model is in a contracted state, a design variable matrix S is established using the coordinates of the points to be optimized as variables:

[0013]

[0014] Where i represents the number of points to be optimized.

[0015] In some embodiments, the operation of setting target parameters and determining the optimal solution for the target parameters includes:

[0016] Assign initial values ​​to the design variable matrix S, and calculate the initial values ​​of the preset parameters based on the initial values ​​of the design variable matrix S;

[0017] The feasible region of the multi-bar linkage is determined by combining the initial values ​​of preset parameters;

[0018] Calculate feasible solutions for the objective parameters based on the feasible region; and

[0019] The feasible solutions for the objective parameters are analyzed, and the optimal solution for the objective parameters is determined.

[0020] In some embodiments, the design method of a multi-bar linkage further includes: if a feasible solution for the target parameter does not exist or the feasible solution for the target parameter is not within a preset range, then the feasible domain of the multi-bar linkage is modified.

[0021] In some embodiments, a multi-bar linkage is configured to connect a work vehicle and a load work unit. The multi-bar linkage is used to drive the load work unit to perform operations. In the horizontal direction, the load work unit includes a work port located away from the work vehicle. The work port is used to suck in and / or discharge the working medium. The center of mass of the work vehicle is point A, the overall center of mass of the multi-bar linkage and the load work unit is point B, the center of the front wheel of the work vehicle is point O, and the center of the outlet plane of the work port is point P. The operation of determining the feasible region of the multi-bar linkage based on the initial values ​​of preset parameters includes:

[0022] Determine the control coefficient α to limit the threshold of the design variable matrix S:

[0023] S min = (1-α)*S≤S≤S max = (1+α)*S

[0024] Among them, S min and S max These represent the lower and upper limits of the design variable matrix S, respectively;

[0025] Provide three hinge points U, V, and W belonging to the same four-bar linkage in the simplified model, such that the distance L between points U and V is given. UV The distance L between point U and point W UW The distance L between point V and point W VW Satisfies the triangle inequality:

[0026]

[0027] Where M is a constant greater than 1;

[0028] In the horizontal direction, when the load-bearing work unit extends to the maximum working distance, the mass M of the work vehicle... A The overall mass M of the multi-bar linkage and load-bearing unit B The horizontal distance L between points O and A OA1 The horizontal distance L between points O and B OB1 The following relationship exists between them:

[0029]

[0030] Where N0 is a constant greater than or equal to 1.5;

[0031] In the horizontal direction, when the load-bearing unit extends to the minimum working distance, the horizontal distance L between the outlet plane diameter D of the working port, point O, and point P is [value missing]. OP1 The following relationship exists between them:

[0032]

[0033] Where N1 is a constant greater than or equal to 2;

[0034] In the vertical direction, when the load-bearing work unit extends to the maximum working depth, the vertical distance L between points O and P becomes... OP2 The following relationship is satisfied between it and the preset value L0:

[0035]

[0036] Where N2 is a constant greater than or equal to 1, and the preset value L0 is the vertical distance between point O and point P as required by the design.

[0037] In the horizontal direction, when the load-bearing working unit extends to its maximum working distance, the complementary angle θ1 and the nominal horizontal angle θ1 between the outlet plane of the working port and the horizontal plane are... 01 The following relationship exists between them:

[0038]

[0039] Where N3 and N4 are both constants greater than or equal to 1, and the horizontal nominal angle θ 01 The value is the initial value of the complementary angle between the exit plane of the work port and the horizontal plane, calculated based on the initial value of the design variable matrix S.

[0040] In the vertical direction, when the load-bearing working unit extends to its maximum working depth, the complementary angle θ2 between the exit plane of the working port and the horizontal plane, and the vertical nominal angle θ 02 The following relationship exists between them:

[0041]

[0042] Where N5 and N6 are both constants greater than or equal to 1, and the vertical nominal angle θ 02 The value is the initial value of the complementary angle between the exit plane of the work port and the horizontal plane, calculated by using the initial value of the design variable matrix S.

[0043] In some embodiments, the design method for a multi-bar linkage further includes:

[0044] If a feasible solution for the objective parameter does not exist, the value of the control coefficient α is corrected.

[0045] If the feasible solution of the objective parameter is not within the preset range, the values ​​of constants M, N0, N1, N2, N3, N4, N5 and N6 are corrected.

[0046] In some embodiments, a multi-bar linkage is configured to connect a work vehicle and a load-operating unit. The multi-bar linkage drives the load-operating unit to perform operations. The multi-bar linkage is configured to be hydraulically driven to achieve its tilting mechanism. Target parameters include the maximum speed v of the load-operating unit during the tilting process. m The maximum gradient δ of the hydraulic cylinder force m The operations for analyzing feasible solutions to the objective parameters and determining the optimal solution for the objective parameters include:

[0047] The optimal value v in the feasible solution for determining the maximum movement rate of the load operation unit. mo The optimal value δ in the feasible solution of the maximum gradient of the hydraulic cylinder force. mo , making v mo The target value v of the maximum movement rate of the load operation unit mt The difference is within the first preset range, and δ mo The target value δ of the maximum gradient of the hydraulic cylinder force. mt The difference is within the second preset range.

[0048] In some embodiments, the operation of calculating the optimal solution of the design variable matrix S based on the optimal solution of the objective parameters includes:

[0049] The functional relationship between the target parameters and the design variable matrix S was obtained through numerical simulation; and

[0050] The optimal solution of the design variable matrix S is calculated based on the optimal solution of the objective parameters and the functional relationship.

[0051] According to another aspect of the present invention, a multi-bar linkage designed using the above-described multi-bar linkage design method is provided. The multi-bar linkage includes a fixed assembly, a first rocker arm, a first connecting rod, a second rocker arm, a second connecting rod, a third connecting rod, a third rocker arm, and a fourth connecting rod. The fixed assembly includes a first hinge hole, a second hinge hole, and a third hinge hole. The first rocker arm includes a fourth hinge hole and a fifth hinge hole. The first connecting rod includes a sixth hinge hole, a seventh hinge hole, and an eighth hinge hole. The second rocker arm includes a ninth hinge hole, a tenth hinge hole, an eleventh hinge hole, and a twelfth hinge hole. The second connecting rod includes a thirteenth hinge hole and a fourteenth hinge hole. The third connecting rod includes a fifteenth hinge hole and a sixteenth hinge hole. The third rocker arm includes a seventeenth hinge hole and an eighteenth hinge hole. The fourth connecting rod includes a nineteenth hinge hole and a twentieth hinge hole.

[0052] The fixed assembly is hinged to the first rocker arm through the second hinge hole and the fourth hinge hole; the first rocker arm is hinged to the first connecting rod through the fifth hinge hole and the sixth hinge hole; the first connecting rod is hinged to the second rocker arm through the seventh hinge hole and the tenth hinge hole; and the second rocker arm is hinged to the fixed assembly through the twelfth hinge hole and the first hinge hole, so that the fixed assembly, the first rocker arm, the first connecting rod and the second rocker arm form a first group of four links.

[0053] The second rocker arm and the second connecting rod are hinged through the ninth and thirteenth hinge holes, the second connecting rod and the third connecting rod are hinged through the fourteenth and fifteenth hinge holes, and the third connecting rod and the first connecting rod are hinged through the sixteenth and eighth hinge holes, so that the second rocker arm, the second connecting rod, the third connecting rod and the first connecting rod form a second group of four-bar linkages.

[0054] The fixed assembly is hinged to the third rocker arm through the third hinge hole and the seventeenth hinge hole, the third rocker arm is hinged to the fourth link through the eighteenth hinge hole and the nineteenth hinge hole, and the fourth link is hinged to the second rocker arm through the twentieth hinge hole and the eleventh hinge hole, so that the fixed assembly, the third rocker arm, the fourth link and the second rocker arm form a third group of four links.

[0055] In some embodiments, the distance between the fifteenth and sixteenth hinge holes is L1, the distance between the thirteenth and fourteenth hinge holes is L2, the distance between the fourth and fifth hinge holes is L3, the distance between the seventeenth and eighteenth hinge holes is L4, and the distance between the nineteenth and twentieth hinge holes is L5, wherein 2≤L2 / L1≤3, 1≤L3 / L1≤2, 2≤L4 / L1≤3, and 1.5≤L5 / L1≤2.5.

[0056] In some embodiments, the first link includes a first bend, and the second rocker includes a second bend, both the first bend and the second bend being located at the hinge point of the first link and the second rocker.

[0057] In some embodiments, a first bending angle β1 is formed at the first bend and a second bending angle β2 is formed at the second bend, wherein 120°≤β1≤180° and 150°≤β2≤180°.

[0058] Based on the above technical solution, this invention provides a design method for multi-link four-bar linkages. By determining the optimization points related to the multi-link four-bar linkage, establishing a design variable matrix S based on the optimization points, and then setting target parameters and calculating the optimal solution of the design variable matrix S based on the optimal solution of the target parameters, parametric design of the multi-link four-bar linkage is achieved. Compared with using the entire multi-link four-bar linkage as the calculation object, calculating through the optimization points can greatly reduce the consumption of manpower and material resources, thereby improving the design efficiency of the multi-link four-bar linkage. Furthermore, by changing different target parameters, the multi-link four-bar linkage can be designed according to different design objectives, which is purposeful, highly operable, and facilitates further modification and optimization of the multi-link four-bar linkage. This has significant implications for reducing the design cost and improving the working performance of the multi-link four-bar linkage. Attached Figure Description

[0059] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0060] Figure 1 A schematic diagram is shown in one embodiment of the design method of the multi-bar linkage of the present invention, illustrating the maximum working distance of the load working unit in the horizontal direction;

[0061] Figure 2 A schematic diagram is shown in one embodiment of the design method of the multi-bar linkage of the present invention, illustrating the minimum working distance of the load working unit extending in the horizontal direction;

[0062] Figure 3 A schematic diagram is shown in one embodiment of the design method of the multi-bar linkage of the present invention, illustrating the load working unit extending to the maximum working depth in the vertical direction;

[0063] Figure 4 A schematic diagram of one embodiment of the multi-bar linkage of the present invention is shown;

[0064] Figure 5 This shows a schematic diagram of the structure of the first link in one embodiment of the multi-bar linkage of the present invention;

[0065] Figure 6 A schematic diagram of the structure of the second rocker arm in one embodiment of the multi-bar linkage of the present invention is shown;

[0066] Figure 7 This document illustrates a flowchart of the design process for a multi-bar linkage mechanism according to one embodiment of the design method for the multi-bar linkage mechanism of the present invention.

[0067] Figure 8 The diagram shows a schematic of the structure of a multi-link four-bar linkage that forms the basis of the design method of the present invention in one embodiment.

[0068] In the picture:

[0069] 1. Work vehicle; 2. Fixed assembly; 3. First rocker arm; 4. First connecting rod; 5. Second rocker arm; 6. Second connecting rod; 7. Third connecting rod; 8. Third rocker arm; 9. Fourth connecting rod. Detailed Implementation

[0070] The technical solutions in 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 a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0071] In the description of this invention, it should be understood that the terms "center," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0072] This invention provides a design method for a multi-bar linkage, comprising:

[0073] Identify the optimization points related to the multi-bar linkage and establish the design variable matrix S based on these optimization points;

[0074] Set the target parameters and determine the optimal solution for the target parameters; and

[0075] The optimal solution of the design variable matrix S is calculated based on the optimal solution of the objective parameters.

[0076] Multi-bar linkages are typically complex in structure, making the calculation of their geometric and mechanical parameters particularly challenging. This invention selects representative points (i.e., points to be optimized) within the multi-bar linkage for calculation, significantly reducing the manpower and resources required in the design process and improving design efficiency. Furthermore, by setting different target parameters, the multi-bar linkage can be designed according to various design objectives, resulting in clear objectives, strong operability, and a wide applicability across various fields, including the design, modification, and optimization of multi-bar linkages.

[0077] In some embodiments, the multi-bar linkage is configured to drive a load-bearing work unit to perform operations. The operation of identifying optimization points related to the multi-bar linkage and establishing a design variable matrix S based on these optimization points includes:

[0078] By retaining the pre-defined features of the multi-link four-bar linkage, a simplified model of the multi-link four-bar linkage is obtained.

[0079] The preset points of the load operation units and the hinge points with relative motion relationships in the simplified model when the simplified model is in a contracted state are taken as the points to be optimized; and

[0080] When the simplified model is in a contracted state, a design variable matrix S is established using the coordinates of the points to be optimized as variables:

[0081]

[0082] Where i represents the number of points to be optimized.

[0083] In the above embodiments, a multi-bar linkage model is selected as the design basis. For example, a multi-bar linkage model in modeling software can be used, or a model of a multi-bar linkage in actual use can be used. According to the actual design needs, preset features of the multi-bar linkage are selected, that is, features closely related to the design parameters of the multi-bar linkage are selected, such as the position of the center of mass of the main link, the mass of the main link, the connection relationship between the main links, and the connection point position of adjacent links. After retaining these main features, these preset features are grouped according to the relative motion relationship to obtain a simplified model of the multi-bar linkage. Subsequent calculations can be performed only based on this simplified model, which can effectively save computing resources.

[0084] In the above embodiments, the preset point of the load operation unit can also be selected according to actual needs, such as... Figure 1As shown, in the horizontal direction, the load operation unit includes an operation port located away from the operation vehicle 1. The operation port is used to suck in and / or discharge the working medium. The center of the outlet plane of the operation port is point P. For example, point P can be selected as a preset point, or the lowest or highest point in the vertical direction on the outlet plane of the port can be selected as a preset point, and this preset point is used as the point to be optimized, as long as the orientation of the port can be identified by this point. In addition, since each link of the multi-bar linkage has a relative motion relationship with each hinge point, it is also necessary to select the hinge points with relative motion relationships in the simplified model when the simplified model is in the contracted state as the points to be optimized. Then, the design variable matrix S is established with the coordinates of the above-mentioned points to be optimized as variables, and the design variable matrix S is calculated by numerical simulation method. In the process of numerical simulation, the position changes of these points to be optimized can reflect the motion of the load operation unit and the entire multi-bar linkage during the process of the simplified model from the contracted state to the fully extended state. The relative positional relationship between the hinge points can also reflect the geometric dimensional parameters of each link in the multi-bar linkage, thus providing a reference for the design of the multi-bar linkage.

[0085] Numerical simulation methods include genetic algorithms, adaptive algorithms, and global response search methods.

[0086] In the above embodiments, the number of points to be optimized can be determined based on the actual structure of the multi-bar linkage and factors such as computing power and computing accuracy. The total number of points to be optimized in the above design variable matrix S is i+1.

[0087] In some embodiments, the operation of setting target parameters and determining the optimal solution for the target parameters includes:

[0088] Assign initial values ​​to the design variable matrix S, and calculate the initial values ​​of the preset parameters based on the initial values ​​of the design variable matrix S;

[0089] The feasible region of the multi-bar linkage is determined by combining the initial values ​​of preset parameters;

[0090] Calculate feasible solutions for the objective parameters based on the feasible region; and

[0091] The feasible solutions for the objective parameters are analyzed, and the optimal solution for the objective parameters is determined.

[0092] In the above embodiments, by assigning initial values ​​to the design variable matrix S, that is, determining an initial state for the simplified model of the multi-link four-bar linkage and the load-operating unit, the numerical simulation starts from the positions of each link and the load-operating unit in the simplified model of the multi-link four-bar linkage in the initial state. This allows the calculation to derive the relevant preset parameters corresponding to this initial state. These preset parameters can be the relative positional relationships between the links when the multi-link four-bar linkage is in a specific working position, or parameters related to the position of the load-operating unit, etc. Combining these preset parameters with some design specifications (including geometric relationships, dynamic relationships, etc.), the feasible region of the multi-link four-bar linkage can be determined, that is, by limiting relevant conditions, the multi-link four-bar linkage can meet the corresponding working requirements.

[0093] In the above embodiments, the more important parameters of the multi-bar linkage can be set as target parameters, such as the force conditions of key components and the speed of movement. The target parameters usually reflect the design goals of the multi-bar linkage, and the magnitude of the target parameters can reflect whether the design goals of the multi-bar linkage have been achieved.

[0094] In the above embodiments, within a preset range, multiple feasible solutions for the target parameters are usually obtained. By analyzing these feasible solutions, the optimal solution that meets the design requirements is selected, that is, the relevant parameters corresponding to the optimal feasible solution are closest to the design target values ​​of the multi-bar linkage.

[0095] In some embodiments, the design method of a multi-bar linkage further includes: if a feasible solution for the target parameter does not exist or the feasible solution for the target parameter is not within a preset range, then the feasible domain of the multi-bar linkage is modified.

[0096] If a feasible solution does not exist, meaning that the calculation results cannot be obtained through numerical simulation, or if the feasible solution is not within the preset range, meaning that the feasible solution of the target parameters deviates too much from the design target value of the multi-bar linkage, then it is necessary to correct the relevant parameters of the control feasible region until the final feasible solution meets the design requirements of the multi-bar linkage.

[0097] like Figures 1-3 As shown, in some embodiments, a multi-bar linkage is configured to connect the work vehicle 1 and the load work unit. The multi-bar linkage is used to drive the load work unit to perform operations. In the horizontal direction, the load work unit includes a work port located away from the work vehicle 1. The work port is used to suck in and / or discharge the working medium. The center of mass of the work vehicle 1 is point A, the overall center of mass of the multi-bar linkage and the load work unit is point B, the center of the front wheel of the work vehicle 1 is point O, and the center of the outlet plane of the work port is point P. The operation of determining the feasible region of the multi-bar linkage based on the initial values ​​of preset parameters includes:

[0098] 1. Determine the control coefficient α to limit the threshold of the design variable matrix S:

[0099] S min = (1-α)*S≤S≤S max = (1+α)*S

[0100] Among them, S min and S max These represent the lower and upper limits of the design variable matrix S, respectively.

[0101] Specifically, The horizontal and vertical coordinates of the points to be optimized in the contracted state of the simplified model of the multi-bar linkage are used as design variables, where T represents the transpose of the matrix and the control coefficient α can be adjusted according to actual needs.

[0102] 2. Provide three hinge points U, V, and W belonging to the same four-bar linkage in the simplified model, such that the distance L between point U and point V is... UV The distance L between point U and point W UW The distance L between point V and point W VW Satisfies the triangle inequality:

[0103]

[0104] Where M is a constant greater than 1.

[0105] Specifically, the links of the four-bar linkage are hinged to each other through hinge points. Hinges U, V, and W represent any three hinge points belonging to the same four-bar linkage in the simplified model. This arrangement ensures that the connection relationship between the links belonging to the same four-bar linkage in the simplified model meets the basic geometric requirements of the four-bar linkage mechanism.

[0106] 3. For example Figure 1 As shown, in the horizontal direction, when the load-bearing work unit extends to the maximum working distance, the mass M of the work vehicle 1 is... A The overall mass M of the multi-bar linkage and load-bearing unit B The horizontal distance L between points O and A OA1 The horizontal distance L between points O and B OB1 The following relationship exists between them:

[0107]

[0108] Where N0 is a constant greater than or equal to 1.5.

[0109] In the horizontal direction, when the load working unit extends to its maximum working distance, which is when the working port of the load working unit is furthest from the working vehicle 1 in the horizontal direction, the moment is taken with point O as the fulcrum. Through the settings in the above formula, it can be ensured that the working vehicle 1 will not be affected by the overall mass M of the multi-bar linkage and the load working unit during operation. B To prevent tipping over due to excessive weight or excessive extension of the load-bearing unit, this measure ensures the stability and safety of the operation process.

[0110] 4. For example Figure 2 As shown, in the horizontal direction, when the load working unit extends to the minimum working distance, the horizontal distance L between the outlet plane diameter D of the working port, point O, and point P is [value missing]. OP1 The following relationship exists between them:

[0111]

[0112] Where N1 is a constant greater than or equal to 2, and the size of the outlet plane diameter D of the working port and the position of the center point P of the outlet plane can be referenced. Figure 1 .

[0113] 5. For example Figure 3 As shown, in the vertical direction, when the load-bearing work unit extends to the maximum working depth, the vertical distance L between points O and P is [value missing]. OP2 The following relationship is satisfied between it and the preset value L0:

[0114]

[0115] Where N2 is a constant greater than or equal to 1, and the preset value L0 is the vertical distance between points O and P as required by the design; when the load working unit extends to the maximum working depth, the working port reaches the lowest working position in the vertical direction, and the vertical distance L between points O and P is used to determine the vertical distance between points O and P. OP2 Adjusting the size allows for adjustment of the working range of the load-bearing unit.

[0116] 6. For example Figure 1 As shown, in the horizontal direction, when the load working unit extends to the maximum working distance, the complementary angle θ1 between the outlet plane of the working port and the horizontal plane, and the nominal horizontal angle θ 01 The following relationship exists between them:

[0117]

[0118] Where N3 and N4 are both constants greater than or equal to 1, and the horizontal nominal angle θ 01 The value is the initial value of the complementary angle between the exit plane of the working port and the horizontal plane, calculated based on the initial value of the design variable matrix S; that is, the nominal horizontal angle θ.01 It is one of the preset parameters mentioned above, θ 01 The size is calculated using numerical simulation methods based on the initial values ​​of the design variable matrix S.

[0119] 7. For example Figure 3 As shown, in the vertical direction, when the load working unit extends to the maximum working depth, the complementary angle θ2 between the exit plane of the working port and the horizontal plane, and the vertical nominal angle θ 02 The following relationship exists between them:

[0120]

[0121] Where N5 and N6 are both constants greater than or equal to 1, and the vertical nominal angle θ 02 The value is the initial value of the complementary angle between the exit plane of the work port and the horizontal plane, calculated using the initial values ​​of the design variable matrix S; that is, the vertical nominal angle θ. 02 It is one of the preset parameters mentioned above, θ 02 The size is calculated using numerical simulation methods based on the initial values ​​of the design variable matrix S.

[0122] In some embodiments, the design method of a multi-bar linkage further includes: if a feasible solution for the target parameter does not exist, then the value of the control coefficient α is corrected; if a feasible solution for the target parameter is not within a preset range, then the values ​​of constants M, N0, N1, N2, N3, N4, N5 and N6 are corrected.

[0123] If a feasible solution for the target parameter does not exist, meaning there is no feasible solution within the threshold range of the currently limited design variable matrix S, then the value of the control coefficient α needs to be corrected. If a feasible solution for the target parameter is not within the preset range, meaning the value of the target parameter is still far from the design target, then by adjusting the values ​​of the aforementioned related constants, the value of the target parameter can be gradually adjusted so that the target parameter gradually approaches the value required by the design target.

[0124] Correcting the control coefficient α and the values ​​of constants M, N0, N1, N2, N3, N4, N5, and N6 is a key step in the design method of the multi-bar linkage of this invention. By repeatedly correcting these parameters, the target parameter values ​​can be continuously optimized and improved. This step can not only be used to continuously approach the design target during the design process of the multi-bar linkage, but also to further optimize and improve the relevant parameters of the mechanism according to different usage requirements and working conditions in the subsequent use of the multi-bar linkage.

[0125] In some embodiments, a multi-bar linkage is configured to connect the work vehicle 1 and the load work unit. The multi-bar linkage is used to drive the load work unit to perform operations. The multi-bar linkage is configured to be hydraulically driven to achieve its tilting mechanism. Target parameters include the maximum speed v of the load work unit during the tilting process. m The maximum gradient δ of the hydraulic cylinder force m The operation of analyzing feasible solutions for the objective parameters and determining the optimal solution for the objective parameters includes: determining the optimal value v among the feasible solutions for the maximum movement rate of the load operation unit. mo The optimal value δ in the feasible solution of the maximum gradient of the hydraulic cylinder force. mo , making v mo The target value v of the maximum movement rate of the load operation unit mt The difference is within the first preset range, and δ mo The target value δ of the maximum gradient of the hydraulic cylinder force. mt The difference is within the second preset range.

[0126] Due to the maximum movement speed v of the load operation unit m Closely related to the operational safety and stability of the actuator, this rate is used as one of the target design parameters to ensure the operational safety and stability of the actuator. The maximum gradient δ of the hydraulic cylinder force... m The stability of the multi-bar linkage mechanism during its rotation has a significant impact on the reliability of the hydraulic cylinder itself and the stability of the rotation process. Therefore, it is one of the target parameters that cannot be ignored in the design. This is achieved by maximizing the maximum speed v of the load-bearing working unit during the rotation process of the multi-bar linkage mechanism. m The maximum gradient δ of the hydraulic cylinder force m All parameters are within a preset reasonable range, ensuring the stability and safety of each component during the operation of the multi-bar linkage driving the load-operating unit. Within this reasonable range, the optimal value v among the feasible solutions for the maximum movement speed of the load-operating unit is further identified. mo The optimal value δ in the feasible solution of the maximum gradient of the hydraulic cylinder force. mo , making v mo Get as close as possible to the target value v mt , at the same time δ mo Also, try to get as close as possible to the target value δ mt This yields the optimal design scheme under the current computational conditions.

[0127] In some embodiments, the operation of calculating the optimal solution of the design variable matrix S based on the optimal solution of the target parameters includes: obtaining the functional relationship between the target parameters and the design variable matrix S through numerical simulation methods; and calculating the optimal solution of the design variable matrix S based on the optimal solution of the target parameters and the functional relationship.

[0128] Numerical simulation methods include genetic algorithms, adaptive response surface methodology, and global response search methods. After obtaining the optimal solution for the target parameters, the optimal solution for the design variable matrix S is calculated based on the functional relationship, thus obtaining the specific coordinate values ​​of the corresponding points to be optimized. These coordinate values ​​can then be used to further obtain the relevant design parameters of the multi-bar linkage, including link lengths, link angles, connection relationships between links, and the positional relationship between the multi-bar linkage and the load-bearing unit.

[0129] Based on the above-described design method for multi-bar linkages, this invention also proposes a multi-bar linkage that is designed using the above-described design method for multi-bar linkages.

[0130] like Figure 4As shown, in some embodiments, the multi-bar linkage includes a fixed assembly 2, a first rocker arm 3, a first connecting rod 4, a second rocker arm 5, a second connecting rod 6, a third connecting rod 7, a third rocker arm 8, and a fourth connecting rod 9. The fixed assembly 2 includes a first hinge hole, a second hinge hole, and a third hinge hole; the first rocker arm 3 includes a fourth hinge hole and a fifth hinge hole; the first connecting rod 4 includes a sixth hinge hole, a seventh hinge hole, and an eighth hinge hole; and the second rocker arm 5 includes a ninth hinge hole, a tenth hinge hole, and an eleventh hinge hole. The first rocker arm 3 is hinged to the first rocker arm 3 via the second and fourth hinge holes, the first rocker arm 3 is hinged to the first link 4 via the fifth and sixth hinge holes, and the first link 4 is hinged to the second rocker arm 3 via the 12th and 13th hinge holes, the second link 6 includes the 13th and 14th hinge holes, the third link 7 includes the 15th and 16th hinge holes, the third rocker arm 8 includes the 17th and 18th hinge holes, and the fourth link 9 includes the 19th and 20th hinge holes; the fixed assembly 2 is hinged to the first rocker arm 3 via the second and fourth hinge holes, the first rocker arm 3 is hinged to the first link 4 via the fifth and 6th hinge holes, and the first link 4 is hinged to the second rocker arm 3 via the 12th hinge hole, the second link 3 includes the 13th and 14th hinge holes, the third link 7 includes the 15th and 16th hinge holes, the third rocker arm 8 includes the 17th and 18th hinge holes, and the fourth link 9 includes the 19th and 20th hinge holes; the fixed assembly 2 is hinged to the first rocker arm 3 via the second and fourth hinge holes, the first rocker arm 3 is hinged to the first link 4 via the fifth and 16th hinge holes, and the first link 4 is hinged to the second rocker arm 3 via the 12th hinge hole, the third link 3 includes the 15th and 16th hinge holes, the third rocker arm 8 includes the 17th and 18th hinge holes, and the fourth link 9 includes the 19th and 20th hinge holes; the fixed assembly 2 is hinged to the first rocker arm 3 via the second hinge hole and the fourth hinge hole, the first rocker arm 3 is hinged to the first link 4 via the fifth and 16th hinge holes, and the first link 5 is hinged through the seventh and tenth hinge holes; the second rocker arm 5 is hinged to the fixed assembly 2 through the twelfth and first hinge holes, so that the fixed assembly 2, the first rocker arm 3, the first connecting rod 4, and the second rocker arm 5 form the first group of four-bar linkages; the second rocker arm 5 is hinged to the second connecting rod 6 through the ninth and thirteenth hinge holes; the second connecting rod 6 is hinged to the third connecting rod 7 through the fourteenth and fifteenth hinge holes; the third connecting rod 7 is hinged to the first connecting rod 4 through the sixteenth and eighth hinge holes. The connecting holes are hinged so that the second rocker arm 5, the second connecting rod 6, the third connecting rod 7, and the first connecting rod 4 form a second group of four-bar linkages; the fixed assembly 2 is hinged to the third rocker arm 8 through the third hinge hole and the seventeenth hinge hole, the third rocker arm 8 is hinged to the fourth connecting rod 9 through the eighteenth hinge hole and the nineteenth hinge hole, and the fourth connecting rod 9 is hinged to the second rocker arm 5 through the twentieth hinge hole and the eleventh hinge hole, so that the fixed assembly 2, the third rocker arm 8, the fourth connecting rod 9, and the second rocker arm 5 form a third group of four-bar linkages.

[0131] In some embodiments, the distance between the fifteenth and sixteenth hinge holes is L1, the distance between the thirteenth and fourteenth hinge holes is L2, the distance between the fourth and fifth hinge holes is L3, the distance between the seventeenth and eighteenth hinge holes is L4, and the distance between the nineteenth and twentieth hinge holes is L5, wherein 2≤L2 / L1≤3, 1≤L3 / L1≤2, 2≤L4 / L1≤3, and 1.5≤L5 / L1≤2.5.

[0132] The range of values ​​for these parameters is derived from the design method of the multi-bar linkage described above. Within these ranges, the multi-bar linkage can achieve better performance.

[0133] like Figure 5 and Figure 6As shown, in some embodiments, the first link 4 includes a first bend, and the second rocker arm 5 includes a second bend, both of which are located at the hinge point of the first link 4 and the second rocker arm 5.

[0134] refer to Figure 4 As shown, the first bend and the second bend are both located at the hinge point of the first connecting rod 4 and the second rocker arm 5, where the first connecting rod 4 and the second rocker arm 5 are hinged through the seventh hinge hole and the tenth hinge hole.

[0135] like Figure 5 and Figure 6 As shown, in some embodiments, a first bend angle β1 is formed at the first bend and a second bend angle β2 is formed at the second bend, wherein 120°≤β1≤180° and 150°≤β2≤180°.

[0136] The ranges of the first bending angle β1 and the second bending angle β2 are both derived from the design method of the multi-bar linkage described above. Within these two ranges, the multi-bar linkage can achieve better performance.

[0137] The following describes the working process of an embodiment of the design method for the multi-bar linkage of the present invention, such as... Figures 1-3 As shown, in this embodiment, a multi-bar linkage is configured to connect the work vehicle 1 and the load work unit. The multi-bar linkage is used to drive the load work unit to perform operations. In the horizontal direction, the load work unit includes a work port located away from the work vehicle 1. The work port is used to suck in and / or discharge the working medium. The center of mass of the work vehicle 1 is point A, the center of mass of the multi-bar linkage and the load work unit is point B, the center of the front wheel of the work vehicle 1 is point O, and the center of the outlet plane of the work port is point P. The specific process of designing the multi-bar linkage using the design method of the present invention is as follows: Figure 7 As shown.

[0138] 1. Retaining the pre-defined features of the multi-link four-bar linkage, a simplified model of the multi-link four-bar linkage is obtained.

[0139] like Figure 8 As shown, the already modeled multi-bar linkage model is used as the design basis for the multi-bar linkage in this embodiment. The multi-bar linkage model is simplified by retaining only preset features, including the mass of the main links, the position of the center of mass of the main links, and the connection relationship between the main links. The position of the center of mass of the main links is consistent with the position of the center of mass of the corresponding links in the multi-bar linkage before simplification. These retained preset features are grouped according to their relative motion relationships to obtain the simplified model of the multi-bar linkage.

[0140] 2. Determine the points to be optimized, and establish a design variable matrix S with the coordinates of the points to be optimized as variables.

[0141] When the simplified model of the multi-bar linkage is in the contracted state, select the coordinates (x, y) of the lowest point in the vertical direction on the exit plane of the working port of the load working unit. q y q The coordinates of the hinge points (a, b, c, d, e, g, h, i, j, k) with relative motion relationships in the simplified model are used as optimization variables to establish the design variable matrix S:

[0142]

[0143] Where T represents the transpose of the matrix;

[0144] Furthermore, a control coefficient α is determined to limit the threshold of the design variable matrix S, such that the lower limit S of the design variable matrix S and S' is S''. min The upper limit of S max Satisfy the following formula:

[0145] S min = (1-α)*S≤S≤S max = (1+α)*S

[0146] The control coefficient α is set to 10%.

[0147] 3. Set the target parameters and obtain the functional relationship between the target parameters and the design variable matrix S.

[0148] In this embodiment, the maximum movement speed v of the load-bearing unit during the flipping process of the multi-bar linkage is selected. m The maximum gradient δ of the hydraulic cylinder force m The target parameter is to reduce its final value relative to the initial value of the original model of the multi-bar linkage by decreasing the maximum speed v of the load-bearing working unit. m The maximum gradient δ of the hydraulic cylinder force m This reduces the damage caused by the quick-return characteristics of the mechanism to the multi-bar linkage, improves the smoothness of the multi-bar linkage's motion, and enables the multi-bar linkage to achieve superior working performance.

[0149] In this embodiment, a simplified model of the multi-bar linkage is obtained through numerical simulation based on a genetic algorithm. This model shows the motion rate curve of the load-bearing working unit and the gradient curve of the hydraulic cylinder force change throughout the entire process from the retracted state to the fully extended state. The functional relationship between the target parameters and the design variable matrix S is then determined.

[0150] v m =F1(x, y)

[0151] δ m=F2(x, y)

[0152] Where v represents the movement rate of the load working unit throughout the entire process from the contracted state to the fully extended state, and δ represents the gradient of the hydraulic cylinder force change throughout the entire process from the contracted state to the fully extended state.

[0153] 4. Determine the feasible region of the multi-bar linkage by combining the initial values ​​of the preset parameters.

[0154] In this embodiment, initial values ​​are assigned to the design variable matrix S, i.e., coordinates of each optimization point are assigned. The lowest point in the vertical direction on the exit plane of the working port of the load working unit and the starting position of the hinge points with relative motion relationships in the simplified model are determined. Numerical simulation calculations are performed from this position to obtain the corresponding preset parameters, including: in the horizontal direction, the complementary angle between the exit plane of the working port and the horizontal plane when the load working unit extends to the maximum working distance, i.e., the nominal horizontal angle θ. 01 In the vertical direction, the complementary angle between the exit plane of the working port and the horizontal plane when the load working unit extends to its maximum working depth is the nominal vertical angle θ. 02 ; and other parameters that indicate the relative positional relationship between the links and the position of the load-bearing working unit when other multi-bar linkages are in a certain working position.

[0155] After determining the values ​​of the aforementioned preset parameters, the feasible domain of the multi-bar linkage is limited by considering factors such as design specifications, operational safety, and stability.

[0156] a) such as Figure 1 As shown, in the horizontal direction, when the load-bearing work unit extends to the maximum working distance, a moment is taken with point O as the fulcrum, so that the mass M of the work vehicle 1 is... A The overall mass M of the multi-bar linkage and load-bearing unit B The horizontal distance L between points O and A OA1 The horizontal distance L between points O and B OB1 The following relationship exists between them:

[0157]

[0158] The constant N0 is set to 1.5.

[0159] b) such as Figure 2 As shown, in the horizontal direction, when the load working unit extends to the minimum working distance, the horizontal distance L between the outlet plane diameter D of the working port, point O, and point P is [value missing]. OP1 The following relationship exists between them:

[0160]

[0161] The constant N1 is set to 2.

[0162] c) such as Figure 3 As shown, in the vertical direction, when the load-bearing work unit extends to the maximum working depth, the vertical distance L between points O and P is [value missing]. OP2 The following relationship is satisfied between it and the preset value L0:

[0163]

[0164] The constant N2 is set to 1.

[0165] d) such as Figure 1 As shown, in the horizontal direction, when the load working unit extends to the maximum working distance, the complementary angle θ1 between the outlet plane of the working port and the horizontal plane, and the nominal horizontal angle θ 01 The following relationship exists between them:

[0166]

[0167] Among them, constants N3 = 1 and N4 = 1.5 are set.

[0168] e) such as Figure 3 As shown, in the vertical direction, when the load working unit extends to the maximum working depth, the complementary angle θ2 between the exit plane of the working port and the horizontal plane, and the vertical nominal angle θ 02 The following relationship exists between them:

[0169]

[0170] Among them, constants N5 = 1 and N6 = 1.5 are set.

[0171] f) such as Figure 8 As shown, hinge point f is the hinge point at the fixed end of the hydraulic cylinder, and it does not belong to any four-bar linkage. The distances between the three hinge points belonging to the same four-bar linkage in the simplified model must satisfy the triangle inequality:

[0172]

[0173]

[0174]

[0175]

[0176]

[0177]

[0178]

[0179]

[0180]

[0181]

[0182]

[0183]

[0184] Among them, M i Let i be a constant greater than 1. In this embodiment, i = 1, 2, ..., 12.

[0185] 5. Calculate feasible solutions for the objective parameters based on the feasible region.

[0186] Using numerical simulation methods and considering the feasible region set above, the target parameter (maximum movement speed v of the load operation unit) is output. m The maximum gradient δ of the hydraulic cylinder force m The feasible solution matrix of ) is:

[0187] V = [v1, v2, v3, ..., v n ]

[0188]

[0189] Where 1, 2, 3, ..., n represent the number of feasible solutions to the objective parameter.

[0190] 6. Analyze the feasible solutions for the target parameters.

[0191] First, determine whether a feasible solution exists. If no feasible solution exists for the objective parameter, then modify the control coefficient α in the above feasible region and change the threshold range of the variable matrix S.

[0192] If a feasible solution for the target parameter exists, then it is further determined whether the feasible solution is ideal. If the feasible solution is not ideal, that is, the deviation between the feasible solution of at least one target parameter and the design target value is large, then the constants N0 to N6 in the above feasible region and M are... i Adjust one or more values ​​in it.

[0193] 7. Determine the optimal solution for the target parameters, and determine the design parameters of the multi-bar linkage based on the optimal solution for the target parameters.

[0194] After obtaining a feasible solution for the relatively ideal objective parameters, the optimal value v of the maximum movement rate of the load operation unit is determined from the feasible solution matrix of the objective parameters. moThe optimal value δ in the feasible solution of the maximum gradient of the hydraulic cylinder force. mo That is, v mo and δ mo The values ​​are significantly lower than the initial values ​​obtained from the original model of the multi-bar linkage, and v mo With target value v mt The difference is within a small range, while δ mo With the target value δ mt The difference is within a small range. Further, by using the functional relationship between the target parameters and the design variable matrix S, the relationship with v can be obtained. mo and δ mo The coordinates of the points to be optimized in the corresponding design variable matrix S can be used to obtain the design parameters of the multi-bar linkage.

[0195] The final multi-bar linkage is as follows: Figure 4 As shown, in this embodiment, the multi-bar linkage includes a fixed assembly 2, a first rocker arm 3, a first connecting rod 4, a second rocker arm 5, a second connecting rod 6, a third connecting rod 7, a third rocker arm 8, and a fourth connecting rod 9. The fixed assembly 2, the first rocker arm 3, the first connecting rod 4, and the second rocker arm 5 form a first group of four-bar linkages; the second rocker arm 5, the second connecting rod 6, the third connecting rod 7, and the first connecting rod 4 form a second group of four-bar linkages; and the fixed assembly 2, the third rocker arm 8, the fourth connecting rod 9, and the second rocker arm 5 form a third group of four-bar linkages.

[0196] like Figure 4 As shown in the diagram, F1 is the hinge point between the fixed assembly 2 and the second rocker arm 5; F2 is the hinge point between the fixed assembly 2 and the first rocker arm 3; F3 is the hinge point between the fixed assembly 2 and the third rocker arm 8; F4 is the hinge point between the first rocker arm 3 and the first connecting rod 4; F5 is the hinge point between the first connecting rod 4 and the second rocker arm 5; F6 is the hinge point between the first connecting rod 4 and the third connecting rod 7; F7 is the hinge point between the second rocker arm 5 and the second connecting rod 6; F8 is the hinge point between the second rocker arm 5 and the fourth connecting rod 9; F9 is the hinge point between the third rocker arm 8 and the fourth connecting rod 9. 10 This is the hinge point between the second link 6 and the third link 7.

[0197] The multi-bar linkage also includes a hinge point F for mounting the hydraulic cylinder. 11 The hydraulic cylinder is used to drive the movement of a multi-bar linkage. The fixed end of the hydraulic cylinder is connected to the hinge point F. 11 Connected to the fixed assembly 2, the output end of the hydraulic cylinder is hinged to the hinge point F9 to drive the movement of the third rocker arm 8, thereby driving the second and third sets of four-bar linkages to move along a predetermined trajectory, ultimately realizing the movement of the load operation unit according to the design requirements.

[0198] Through the description of several embodiments of the design method of the multi-link four-bar linkage of the present invention, it can be seen that the design method of the multi-link four-bar linkage of the present invention has at least the following advantages:

[0199] 1. By selecting some representative points (i.e. points to be optimized) in the load operation unit and multi-bar linkage for calculation, that is, simplifying the multi-bar linkage before calculation, the manpower and material resources consumed in the design process of the multi-bar linkage can be greatly reduced, and the design efficiency of the multi-bar linkage can be improved.

[0200] 2. By changing different target parameters, multi-bar linkages can be designed according to different design objectives. This makes the design purpose clear and highly operable, which is conducive to improving the overall performance of multi-bar linkages and expanding their application range.

[0201] 3. Relevant parameters are set to restrict the feasible domain of the control multi-bar linkage. By modifying the values ​​of these parameters, the target parameter values ​​can be continuously optimized and improved. This facilitates further design, optimization and improvement of the multi-bar linkage according to different usage requirements and working conditions in subsequent use, and can effectively shorten the design cycle of the multi-bar linkage.

[0202] Based on the above-described design method for multi-bar linkages, this invention also proposes a multi-bar linkage designed using the aforementioned method. In the design process, the maximum movement speed of the load-operating unit and the maximum gradient of the cylinder force are selected as target parameters. The design objective is to reduce the final values ​​of these target parameters relative to the initial values ​​of the original model of the multi-bar linkage. The resulting multi-bar linkage has a reasonable arrangement of hinge points, resulting in high torsional and bending stiffness. It also effectively reduces the maximum speed of the load-operating device during movement, improving the operational safety and stability of the load-operating device.

[0203] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can still be made to some technical features without departing from the principle of the present invention, and such modifications and equivalent substitutions should all be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A design method for a multi-bar linkage, characterized in that, include: Identify the optimization points related to the multi-bar linkage and establish a design variable matrix based on these optimization points. ; Set target parameters and determine the optimal solution for the target parameters; and The design variable matrix is ​​calculated based on the optimal solution of the target parameters. The optimal solution; The multi-bar linkage is configured to drive the load operation unit to perform operations. Optimization points related to the multi-bar linkage are identified, and a design variable matrix is ​​established based on these optimization points. The operations include: By retaining the pre-defined features of the multi-bar linkage, a simplified model of the multi-bar linkage is obtained. The preset point of the load operation unit and the hinge point with relative motion in the simplified model when the simplified model is in a contracted state are taken as the points to be optimized; and When the simplified model is in a contracted state, a design variable matrix is ​​established using the coordinates of the point to be optimized as variables. : in, This indicates the number of points to be optimized; The operations of setting target parameters and determining the optimal solution for the target parameters include: Give the design variable matrix Assign initial values, and according to the design variable matrix. The initial values ​​of the preset parameters are calculated from the initial values. The feasible region of the multi-bar linkage is determined by combining the initial values ​​of the preset parameters; Calculate feasible solutions for the objective parameters based on the feasible region; and The feasible solutions for the target parameters are analyzed, and the optimal solution for the target parameters is determined. The multi-bar linkage is configured to connect the work vehicle (1) and the load work unit. The multi-bar linkage is used to drive the load work unit to perform operations. The multi-bar linkage is configured to be driven by a hydraulic cylinder to achieve the rotation of the multi-bar linkage. The target parameters include the maximum speed of movement of the load work unit during the rotation of the multi-bar linkage. and the maximum gradient of the cylinder force of the cylinder. ; In this process, by assigning initial values ​​to the design variable matrix S, the simplified model of the multi-bar linkage and the load operation unit are given an initial state. During numerical simulation, the calculation starts from the position of each link in the simplified model of the multi-bar linkage and the load operation unit in the initial state, and the preset parameters corresponding to the initial state can be obtained.

2. The design method of the multi-bar linkage according to claim 1, characterized in that, Also includes: If a feasible solution for the target parameter does not exist or is not within a preset range, the feasible domain of the multi-bar linkage is modified.

3. The design method of the multi-bar linkage according to claim 1, characterized in that, The multi-bar linkage is configured to connect the work vehicle (1) and the load working unit. The multi-bar linkage is used to drive the load working unit to perform operations. In the horizontal direction, the load working unit includes a working port located away from the work vehicle (1). The working port is used to draw in and / or discharge the working medium. The center of gravity of the work vehicle (1) is... Point, the overall center of mass of the multi-bar linkage and the load-bearing unit is Point, the center of the front wheel of the work vehicle (1) is Point, the center of the exit plane of the working port is The operation of determining the feasible region of the multi-bar linkage by combining the initial values ​​of the preset parameters includes: Determine control coefficients For the design variable matrix Limit the threshold: in, and The design variable matrices are respectively represented by The lower and upper limits; Provide three hinge points belonging to the same four-bar linkage in the simplified model. point, Dot and Point, so that the Points and the above Distance between points The above Points and the above Distance between points The above Points and the above Distance between points Satisfies the triangle inequality: in, It is a constant greater than 1; In the horizontal direction, when the load-bearing unit extends to its maximum working distance, the mass of the work vehicle (1) is... The overall mass of the multi-bar linkage and the load-bearing unit The above Points and the above Horizontal distance between points The above Points and the above Horizontal distance between points The following relationship exists between them: in, A constant greater than or equal to 1.5; In the horizontal direction, when the load-bearing unit extends to its minimum working distance, the diameter of the outlet plane of the working port is [missing information]. The above Points and the above Horizontal distance between points The following relationship exists between them: in, A constant greater than or equal to 2; In the vertical direction, when the load-bearing unit extends to its maximum working depth, the... Points and the above Vertical distance between points Compared with preset value The following relationship exists between them: in, A constant greater than or equal to 1, preset value For the design requirements Points and the above Vertical distance between points; In the horizontal direction, when the load-bearing unit extends to its maximum working distance, the complementary angle between the exit plane of the working port and the horizontal plane. Horizontal nominal angle The following relationship exists between them: in, and All are constants greater than or equal to 1, the horizontal nominal angle The value is based on the design variable matrix. The initial value of the complementary angle between the exit plane of the working port and the horizontal plane is calculated from the initial value; In the vertical direction, when the load-bearing unit extends to its maximum working depth, the complementary angle between the exit plane of the working port and the horizontal plane is... Vertical nominal angle The following relationship exists between them: in, and All are constants greater than or equal to 1, and the vertical nominal angle is... The value is obtained through the design variable matrix. The initial value of the complementary angle between the exit plane of the working port and the horizontal plane is calculated from the initial value.

4. The design method of the multi-link four-bar linkage according to claim 3, characterized in that, Also includes: If a feasible solution for the target parameter does not exist, then the control coefficients... The value is corrected; If the feasible solution for the target parameter is not within the preset range, then for the constant... , , , , , , and The value is corrected.

5. The design method of the multi-bar linkage according to claim 1, characterized in that, The operations of analyzing feasible solutions to the target parameters and determining the optimal solution to the target parameters include: The optimal value among the feasible solutions for determining the maximum movement rate of the load operation unit. The optimal value among the feasible solutions for the maximum gradient of the cylinder force of the cylinder. , making The target value of the maximum movement rate of the load operation unit The difference is within the first preset range, and The target value of the maximum gradient of the cylinder force of the hydraulic cylinder. The difference is within the second preset range.

6. The design method of the multi-link four-bar linkage according to claim 1, characterized in that, The design variable matrix is ​​calculated based on the optimal solution of the target parameters. The operations for finding the optimal solution include: The target parameters and the design variable matrix are obtained through numerical simulation. The functional relationship between them; and The design variable matrix is ​​calculated based on the optimal solution of the target parameters and the functional relationship. The optimal solution.

7. A multi-bar linkage, characterized in that, The multi-bar linkage is designed using the design method for multi-bar linkages as described in any one of claims 1 to 6.

8. The multi-bar linkage according to claim 7, characterized in that, The assembly includes a fixed assembly (2), a first rocker arm (3), a first connecting rod (4), a second rocker arm (5), a second connecting rod (6), a third connecting rod (7), a third rocker arm (8), and a fourth connecting rod (9). The fixed assembly (2) includes a first hinge hole, a second hinge hole, and a third hinge hole. The first rocker arm (3) includes a fourth hinge hole and a fifth hinge hole. The first connecting rod (4) includes a sixth hinge hole, a seventh hinge hole, and an eighth hinge hole. The second rocker arm (5) includes a ninth hinge hole, a tenth hinge hole, an eleventh hinge hole, and a twelfth hinge hole. The second connecting rod (6) includes a thirteenth hinge hole and a fourteenth hinge hole. The third connecting rod (7) includes a fifteenth hinge hole and a sixteenth hinge hole. The third rocker arm (8) includes a seventeenth hinge hole and an eighteenth hinge hole. The fourth connecting rod (9) includes a nineteenth hinge hole and a twentieth hinge hole. The fixed assembly (2) is hinged to the first rocker arm (3) through the second hinge hole and the fourth hinge hole, the first rocker arm (3) is hinged to the first connecting rod (4) through the fifth hinge hole and the sixth hinge hole, the first connecting rod (4) is hinged to the second rocker arm (5) through the seventh hinge hole and the tenth hinge hole, and the second rocker arm (5) is hinged to the fixed assembly (2) through the twelfth hinge hole and the first hinge hole, so that the fixed assembly (2), the first rocker arm (3), the first connecting rod (4) and the second rocker arm (5) form a first group of four-bar linkages; The second rocker (5) is hinged to the second connecting rod (6) through the ninth hinge hole and the thirteenth hinge hole, the second connecting rod (6) is hinged to the third connecting rod (7) through the fourteenth hinge hole and the fifteenth hinge hole, and the third connecting rod (7) is hinged to the first connecting rod (4) through the sixteenth hinge hole and the eighth hinge hole, so that the second rocker (5), the second connecting rod (6), the third connecting rod (7) and the first connecting rod (4) form a second group of four-bar linkages; The fixed assembly (2) is hinged to the third rocker arm (8) through the third hinge hole and the seventeenth hinge hole. The third rocker arm (8) is hinged to the fourth link (9) through the eighteenth hinge hole and the nineteenth hinge hole. The fourth link (9) is hinged to the second rocker arm (5) through the twentieth hinge hole and the eleventh hinge hole, so that the fixed assembly (2), the third rocker arm (8), the fourth link (9) and the second rocker arm (5) form a third set of four links.

9. The multi-bar linkage according to claim 8, characterized in that, The distance between the fifteenth and sixteenth hinge holes is L1, the distance between the thirteenth and fourteenth hinge holes is L2, the distance between the fourth and fifth hinge holes is L3, the distance between the seventeenth and eighteenth hinge holes is L4, and the distance between the nineteenth and twentieth hinge holes is L5, wherein 2≤L2 / L1≤3, 1≤L3 / L1≤2, 2≤L4 / L1≤3, and 1.5≤L5 / L1≤2.

5.

10. The multi-bar linkage according to claim 8, characterized in that, The first link (4) includes a first bend, and the second rocker (5) includes a second bend. Both the first bend and the second bend are located at the hinge point of the first link (4) and the second rocker (5).

11. The multi-bar linkage according to claim 10, characterized in that, The first bend forms the first bending angle. The second bend forms a second bend angle. , where 120°≤ ≤180°, 150°≤ ≤180°.

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