A rapid 3D parametric modeling method for cranes

Abstract

This invention discloses a rapid 3D parametric modeling method for cranes, belonging to the field of mechanical design and manufacturing technology. The method includes selecting a crane structure through a visual interface, inputting corresponding specifications and model data, displaying a preview graphic of the selected crane structure on the interactive interface, and automatically updating the preview graphic as the data changes, dynamically reflecting the actual structure of the product. Calculations are performed on the input data, and corresponding data is retrieved from the product database and displayed on the interface for designers to use. This generates 2D engineering drawings and a 3D model of the selected crane structure. Based on the selected crane type, the 3D model is assembled and grouped to generate an overall 3D model of the crane. After all data is input and confirmed, this data can be saved as a project file. This invention can perform calculations according to prescribed formulas and requirements to find the optimal solution and dynamically reflect the actual structure of the product.

Description

Technical Field

[0001] This invention belongs to the field of mechanical design and manufacturing technology, specifically, it relates to a method for rapid three-dimensional parametric modeling of cranes. Background Technology

[0002] Currently, with the rapid development of modern science and technology, the expansion of industrial production scale, and the improvement of automation, cranes, as large lifting equipment, undertake very heavy workloads in daily operations. Cranes are increasingly widely used and play an increasingly important role in modern production processes, leading to higher and higher requirements for them. The characteristics and development trends of modern cranes are specifically reflected in the following aspects: large-scale key products; modularization of series products; miniaturization and lightweighting of general-purpose products; automation of product performance; integrated product assembly; microcomputerization of product design; novel product structures; and flexible product manufacturing.

[0003] my country's crane manufacturing industry began in the 1950s, resulting in early crane steel structure design theories that were conservative, primarily characterized by high safety factors and heavy structural weight. This artificially led to excessively large overall size and weight of cranes. Modular, parametric design, and simulation analysis technologies have not yet been widely adopted in the crane industry.

[0004] Existing crane modeling systems involve a lot of repetitive work in the modeling process. Even a small change in structural parameters can lead to the reconstruction of the entire model, and it is uncertain whether the reconstructed model can be used. This wastes a lot of time and effort. At the same time, the modeling software is highly specialized and requires a high level of expertise from the user, making it difficult for the average user to master and become proficient in a short period of time. Summary of the Invention

[0005] The problem to be solved

[0006] To address the problem that even minor changes in existing structural parameters can lead to the reconstruction of the entire model, wasting a lot of time and effort, and that modeling software is highly specialized and requires a high level of expertise from users, making it difficult for general users to master and use it proficiently in a short period of time, this invention provides a method, system, and device for rapid three-dimensional parametric modeling of cranes.

[0007] Technical solution

[0008] To solve the above problems, the present invention adopts the following technical solution.

[0009] A rapid 3D parametric modeling method for cranes, comprising the following steps:

[0010] Step 1: Select the crane structure through the visual interface and enter the corresponding specifications and model data;

[0011] Step 2: Display a preview graphic of the selected crane structure on the interactive interface. The preview graphic updates automatically as the data changes, dynamically reflecting the actual structure of the product.

[0012] Step 3: Calculate the input data and retrieve the corresponding data from the product database to display on the interface for designers to use;

[0013] Step 4: Generate 2D engineering drawings and 3D models of the selected crane structure;

[0014] Step 5: Based on the selected crane type, assemble and group the 3D models to generate the overall 3D model of the crane;

[0015] Step 6: After all data has been entered and confirmed, save the data as a project file.

[0016] Preferably, the calculation of the input data is based on the crane structural design requirements. Under the premise of satisfying the maximum lifting range and maximum lifting weight of the goods, the calculation optimization is performed using one-dimensional search method, golden section method, Newton's iteration method and linear programming method. This ensures that the designed crane structure has a stable overall torque at the minimum and maximum stroke under the action of lifting load. In the state of lifting and traveling, the vertical displacement fluctuation of the goods is minimal and smooth throughout the entire stroke, and the designed structure has the lightest self-weight.

[0017] Preferably, the calculation process involves first marking the structure with points A, B, D, E, F, and G, and then obtaining the coordinates of each point as (Xa, Ya), (Xb, Yb), (Xd, Yd), (Xe, Ye), (Xf, Yf), and (Xg, Yg).

[0018] Furthermore, the calculation formulas for determining whether each parameter meets the requirements for maximum and minimum amplitude are as follows:

[0019] Lad=sqrt(x[5]*x[5]+x[6]*x[6])

[0020] Lde=sqrt(x[3]*x[3]+x[6]*x[6])

[0021] Xb=-x[0]

[0022] Yb=x[1]

[0023] B2 = atan(x[1] / x[0])

[0024] W1=acos(x[6] / Lde)+acos(x[6] / Lad)

[0025] Lbo=sqrt(x[0]*x[0]+x[1]*x[1])

[0026] Where x[0], x[1], x[3], x[5] and x[6] are the parameters of the four-link linkage, Lad is the distance from point A to point D, Lde is the distance from point D to point E, Lbo is the distance from point B to the origin 0, and B2 is the angle value of point B;

[0027] If bBar is true, proceed to the next calculation; otherwise, determine if each parameter meets the requirements for maximum and minimum amplitude.

[0028] Furthermore, the calculation formula for the next step is as follows:

[0029] B6 = atan(y[6] / y[5])

[0030] W2=acos(y[3] / y[1])+acos(y[3] / y[2])

[0031] Lfo=sqrt(y[6]*y[6]+y[5]*y[5])

[0032] Do each parameter meet the maximum amplitude requirement?

[0033] Xf = Lfo * cos(lMinA + B6)

[0034] Yf = Lfo * sin(lMinA + B6)

[0035] MaxLbf=sqrt((Xf-Xb)*(Xf-Xb)+(Yf-Yb)*(Yf-Yb))

[0036] If fabs(y[0]+y[2]) is less than MaxLbf, then the difference between the counterweight parameters x1 and x3 is too large and the parameters do not meet the maximum amplitude.

[0037] Do each parameter meet the minimum amplitude requirement?

[0038] Xf = Lfo * cos(lMaxA + B6)

[0039] Yf = Lfo * sin(lMaxA + B6)

[0040] MinLbf=sqrt((Xf-Xb)*(Xf-Xb)+(Yf-Yb)*(Yf-Yb))

[0041] If fabs(y[0]-y[2]) is greater than MinLbf, then it is determined that the difference between the counterweight parameters x1 and x3 is too large and the parameters do not meet the minimum amplitude.

[0042] Furthermore, the maximum values ​​of horizontal displacement, cargo moment, self-weight cargo moment, and combined moment are obtained through iterative calculation. Let the number of iterations be i, with an initial value of 0. Each iteration increments i by 1, and i is less than or equal to step.

[0043] The formulas for calculating the coordinates of each point at each angle are as follows:

[0044] lRange=m_minr+i*dStep

[0045] lRange is the amplitude parameter. If lRange is greater than m_maxr, then lRange is set to equal m_maxr.

[0046] If Newton(x,lRange,(lMaxA+lMinA) / 2)==0, then the parameters are incorrect.

[0047] Furthermore, the angle of point D is calculated as follows:

[0048] Xd=x[2]*cos(A)

[0049] Yd=x[2]*sin(A)

[0050] Where A = Angle.

[0051] Furthermore, the angle of point E is calculated as follows:

[0052] B1 = PI - A - B2

[0053] B3 = atan((Yd-Yb) / (Xd-Xb))

[0054] Lbd=sqrt(Lbo*Lbo+x[2]*x[2]-2*x[2]*Lbo*cos(B1))

[0055] B4=(Lbd*Lbd+x[4]*x[4]-Lde*Lde) / (2*Lbd*x[4])

[0056] Where Lbd is the distance from point B to point D, and x[2] is the parameter of the four-link linkage;

[0057] If fabs(B4) is less than or equal to 1, proceed to the next calculation; if fabs(B4) is greater than 1, then the angle B4 is determined to be calculated incorrectly.

[0058] Furthermore, the next step calculation is as follows:

[0059] B4 = acos(B4)

[0060] Xe=Xb+x[4]*cos(B3+B4)

[0061] Ye = Yb + x[4] * sin(B3 + B4)

[0062] Furthermore, in the angle calculation of point A, if fabs(Xd - Xe) < E1, then B5 = PI / 2; otherwise, B5 = atan((Ye - Yd) / (Xd - Xe)). If Xe > Xd, then B5 += PI.

[0063] Q = B5 + W1 - PI

[0064] Xa = Xd + Lad * cos(Q)

[0065] Ya = Yd - Lad * sin(Q)

[0066] When point A is at the maximum amplitude, the displacement calculation formula is as follows:

[0067] If i is 0, then Y = Ya.

[0068] YDiff = Ya - Y

[0069] Where YDiff is the difference in the y coordinate of point A between a certain amplitude and the maximum amplitude.

[0070] If YDiff > MaxD,

[0071] MaxD = YDiff

[0072] lMaxDiffPos = lRange - m_minr

[0073] Where lMaxDiffPos is the maximum horizontal displacement.

[0074] If YDiff < MinD,

[0075] MinD = YDiff

[0076] lMinDiffPos = lRange - m_minr.

[0077] A three-dimensional parametric rapid modeling method for a crane, which selects the crane structure through a visual interface, inputs the corresponding specifications and model data, displays the preview graphics of the selected crane structure on the interactive interface, and the preview graphics are automatically updated with the change of data, dynamically reflecting the real structure of the product. It calculates the input data, retrieves the corresponding data from the product database and displays it on the interface for designers to use, generates the two-dimensional engineering drawings and three-dimensional models of the selected crane structure, groups and assembles the three-dimensional models according to the selected crane type, generates the overall three-dimensional model of the crane, and when all the data is input and confirmed, these data can be saved in the form of a project file.

[0078] Beneficial effects

[0079] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0080] (1) The software system of the present invention should provide a professional visual interactive interface for selecting and inputting a series of raw data such as specifications and models. Then the system performs calculations according to the prescribed formulas and requirements, finds the optimal solution, and imports the corresponding data from the enterprise's product database and displays it on the interface for designers to use.

[0081] (2) In the data interaction, the system adopts interaction methods such as data selection and fuzzy query to improve the efficiency and accuracy of data interaction. For example, for the case of selecting one data from multiple data, a drop-down list box is used, and for data that needs to be dynamically input, an edit box containing default values ​​is used.

[0082] (3) When each piece of data is input, if the data corresponds to the size in the graphic, the system automatically displays the relevant image so that the user can input the data correctly; the preview graphic in the interactive interface can be automatically updated as the data changes, dynamically reflecting the real structure of the product. Attached Figure Description

[0083] To more clearly illustrate the technical solutions in the embodiments or examples of this application, the accompanying drawings used in the embodiments or examples will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other drawings can be obtained according to these drawings without creative effort.

[0084] Figure 1 This is a schematic diagram of the steps of the present invention;

[0085] Figure 2 This is a schematic diagram of the interface of the gantry crane of the present invention;

[0086] Figure 3 This is a schematic diagram of the rack frame interface of the present invention;

[0087] Figure 4 This is a schematic diagram of the turntable interface of the present invention;

[0088] Figure 5 This is a schematic diagram of the interfaces of the remaining plates and the left and right side plates of the turntable flange of the present invention.

[0089] Figure 6 This is a schematic diagram of the boom interface of the present invention;

[0090] Figure 7This is a schematic diagram of the interface between the web, wing plate, diaphragm and stiffening plate of the boom of the present invention;

[0091] Figure 8 This is a schematic diagram of the intermediate hinge point connecting frame, angle steel, and lifting lug interface of the boom of the present invention;

[0092] Figure 9 This is a schematic diagram of the large pull rod interface of the present invention;

[0093] Figure 10 This is a schematic diagram of the large tie rod platform assembly and lifting lug interface of the present invention;

[0094] Figure 11 This is a schematic diagram of the elephant trunk bridge interface of the present invention;

[0095] Figure 12 This is a schematic diagram of the interface of the elephant trunk bridge head and tail hinge point assembly of the present invention.

[0096] Figure 13 This is a schematic diagram of the interface of the belly, wings, diaphragm, stiffeners and tie rod assembly of the elephant trunk bridge of the present invention.

[0097] Figure 14 This is a schematic diagram of the elephant trunk bridge platform and the hanging lug interface of the present invention;

[0098] Figure 15 This is a schematic diagram of the balance beam interface of the present invention;

[0099] Figure 16 This is a schematic diagram of the interface of the balance beam connecting beam, diaphragm, lifting lug, angle steel, and counterweight box cover of the present invention;

[0100] Figure 17 This is a schematic diagram of the small pull rod interface of the present invention;

[0101] Figure 18 This is a schematic diagram of the rotating column interface of the present invention;

[0102] Figure 19 This is a schematic diagram of the rotary column platform interface of the present invention;

[0103] Figure 20 This is a schematic diagram of the rotating column bracket connecting seat and the upper housing interface of the present invention;

[0104] Figure 21 This is a schematic diagram of the rotating column, conduit, lifting lug, angle steel, and other interfaces of the present invention. Detailed Implementation

[0105] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. Generally, the components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0106] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0107] Example 1

[0108] like Figure 1 As shown, a rapid 3D parametric modeling method for cranes is presented, and its main process is as follows:

[0109] The crane structure is selected through a visual interface. The corresponding specifications and model data are entered, and a preview graphic of the selected crane structure is displayed on the interactive interface. The preview graphic updates automatically as the data changes, dynamically reflecting the actual structure of the product. The input data is calculated, and the corresponding data is retrieved from the product database and displayed on the interface for designers to use. Two-dimensional engineering drawings and three-dimensional models of the selected crane structure are generated. According to the selected crane type, the three-dimensional model is assembled and grouped to generate the overall three-dimensional model of the crane. After all data is entered and confirmed, the data can be saved as a project file.

[0110] The calculation of the input data is based on the crane structure design requirements. Under the premise of meeting the maximum lifting range and maximum lifting weight of the goods, the calculation optimization is performed using one-dimensional search method, golden section method, Newton's iteration method and linear programming method. This makes the designed crane structure have a stable overall torque at the minimum and maximum stroke under the action of lifting load. In the state of lifting and traveling, the vertical displacement fluctuation of the goods is minimal and smooth throughout the entire stroke, and the designed structure has the lightest self-weight.

[0111] The calculation process involves first marking the structure with points A, B, D, E, F, and G, and then obtaining the coordinates of each point as (Xa, Ya), (Xb, Yb), (Xd, Yd), (Xe, Ye), (Xf, Yf), and (Xg, Yg).

[0112] The formulas for determining whether each parameter meets the requirements for maximum and minimum amplitude are as follows:

[0113] Lad=sqrt(x[5]*x[5]+x[6]*x[6])

[0114] Lde=sqrt(x[3]*x[3]+x[6]*x[6])

[0115] Xb=-x[0]

[0116] Yb=x[1]

[0117] B2 = atan(x[1] / x[0])

[0118] W1=acos(x[6] / Lde)+acos(x[6] / Lad)

[0119] Lbo=sqrt(x[0]*x[0]+x[1]*x[1])

[0120] Where x[0], x[1], x[3], x[5] and x[6] are the parameters of the four-link linkage, Lad is the distance from point A to point D, Lde is the distance from point D to point E, Lbo is the distance from point B to the origin 0, and B2 is the angle value of point B;

[0121] If bBar is true, proceed to the next calculation; otherwise, determine if each parameter meets the requirements for maximum and minimum amplitude.

[0122] The calculation formula for the next step is as follows:

[0123] B6 = atan(y[6] / y[5])

[0124] W2=acos(y[3] / y[1])+acos(y[3] / y[2])

[0125] Lfo=sqrt(y[6]*y[6]+y[5]*y[5])

[0126] Do each parameter meet the maximum amplitude requirement?

[0127] Xf = Lfo * cos(lMinA + B6)

[0128] Yf = Lfo * sin(lMinA + B6)

[0129] MaxLbf=sqrt((Xf-Xb)*(Xf-Xb)+(Yf-Yb)*(Yf-Yb))

[0130] If fabs(y[0]+y[2]) is less than MaxLbf, then the difference between the counterweight parameters x1 and x3 is too large and the parameters do not meet the maximum amplitude.

[0131] Do each parameter meet the minimum amplitude requirement?

[0132] Xf = Lfo * cos(lMaxA + B6)

[0133] Yf = Lfo * sin(lMaxA + B6)

[0134] MinLbf=sqrt((Xf-Xb)*(Xf-Xb)+(Yf-Yb)*(Yf-Yb))

[0135] If fabs(y[0]-y[2]) is greater than MinLbf, then it is determined that the difference between the counterweight parameters x1 and x3 is too large and the parameters do not meet the minimum amplitude.

[0136] The maximum values ​​of horizontal displacement, cargo moment, self-weight cargo moment, and combined moment are obtained through iterative calculation. Let the number of iterations be i, with an initial value of 0. i is incremented by 1 for each iteration, and i is less than or equal to step.

[0137] The formulas for calculating the coordinates of each point at each angle are as follows:

[0138] lRange=m_minr+i*dStep

[0139] lRange is the amplitude parameter. If lRange is greater than m_maxr, then lRange is set to equal m_maxr.

[0140] If Newton(x,lRange,(lMaxA+lMinA) / 2)==0, then the parameters are incorrect.

[0141] The angle at point D is calculated as follows:

[0142] Xd=x[2]*cos(A)

[0143] Yd=x[2]*sin(A)

[0144] Where A = Angle.

[0145] The angle at point E is calculated as follows:

[0146] B1 = PI - A - B2

[0147] B3 = atan((Yd-Yb) / (Xd-Xb))

[0148] Lbd=sqrt(Lbo*Lbo+x[2]*x[2]-2*x[2]*Lbo*cos(B1))

[0149] B4=(Lbd*Lbd+x[4]*x[4]-Lde*Lde) / (2*Lbd*x[4])

[0150] Among them, Lbd is the distance from point B to point D, and x[2] is the four-link parameter;

[0151] If fabs(B4) is less than or equal to 1, then proceed to the next calculation. If fabs(B4) is greater than 1, it is determined that the angle B4 calculation is incorrect;

[0152] The next calculation is as follows:

[0153] B4 = acos(B4)

[0154] Xe = Xb + x[4] * cos(B3 + B4)

[0155] Ye = Yb + x[4] * sin(B3 + B4)

[0156] In the angle calculation of point A, if fabs(Xd - Xe) < E1, then B5 = PI / 2, otherwise B5 = atan((Ye - Yd) / (Xd - Xe)). If Xe > Xd, then B5 += PI,

[0157] Q = B5 + W1 - PI

[0158] Xa = Xd + Lad * cos(Q)

[0159] Ya = Yd - Lad * sin(Q)

[0160] When point A is at the maximum amplitude, the displacement calculation formula is as follows:

[0161] If i is 0, then Y = Ya,

[0162] YDiff = Ya - Y

[0163] Among them, YDiff is the difference in the y coordinate of point A between a certain amplitude and the maximum amplitude;

[0164] If YDiff > MaxD,

[0165] MaxD = YDiff

[0166] lMaxDiffPos = lRange - m_minr

[0167] Among them, lMaxDiffPos is the maximum horizontal displacement;

[0168] If YDiff < MinD,

[0169] MinD = YDiff

[0170] lMinDiffPos = lRange - m_minr.

[0171] As described above, in this example, the crane structure is selected through a visual interface. The corresponding specifications and model data are entered, and a preview graphic of the selected crane structure is displayed on the interactive interface. The preview graphic automatically updates as the data changes, dynamically reflecting the actual structure of the product. The input data is calculated, and the corresponding data is retrieved from the product database and displayed on the interface for designers to use. Two-dimensional engineering drawings and three-dimensional models of the selected crane structure are generated. According to the selected crane type, the three-dimensional model is assembled and grouped to generate the overall three-dimensional model of the crane. After all data is entered and confirmed, this data can be saved in the form of a project file.

[0172] Example 2

[0173] Based on the design requirements of the single-arm or four-bar gantry crane structure input through the interactive interface, and under the premise of meeting the maximum lifting range and maximum lifting weight of the cargo, optimization design methods such as one-dimensional search, golden section method, Newton's iteration method, and linear programming are used to ensure that the designed single-arm mechanism or four-bar structure has a stable overall torque at the minimum and maximum stroke under the action of lifting load. In the lifting and traveling state, the vertical displacement fluctuation of the cargo is minimal and smooth throughout the entire stroke, and the designed structure has the lightest self-weight.

[0174] First, set the various parameter variables: x[1], x[2], ... x[8] are the parameters of the four-bar linkage, y[1], y[2] ... y[7] are the parameters of the counterweight, and lRange is the amplitude value.

[0175] (Xa, Ya), (Xb, Yb), (Xd, Yd), (Xe, Ye), (Xf, Yf), and (Xg, Yg) are the coordinates of points A, B, D, E, F, and G.

[0176] Lbo is the distance from point B to point O, Lbd is the distance from point B to point D, Lfo is the distance from point F to point O, and Lbf is the distance from point B to point F.

[0177] A,B1,B2,B3,B4,B5,B6,B7,B8,B9,B10,B11,B12,W1,W2,Q,Q1 are the angle values ​​of A,B1,B2,B3,B4,B5,W,Q.

[0178] XBJ,YBJ,XXB,YXB,XPL,YPL,XDL,YDL,XXL,YXL are the absolute coordinates of the centroid.

[0179] LGF is the lever arm of the small tie rod about point B, Fgp is the tension of the small tie rod caused by the self-weight of the balance beam, Fx5 is the tension of the small tie rod caused by the counterweight, Fxl is the axial force of the small tie rod caused by the self-weight of the small tie rod, LOGF is the lever arm of the small tie rod about point O, Mgl is the torque of the small tie rod about point O, Fgx is the axial force of the large tie rod caused by the self-weight of the elephant trunk beam, Mgx is the torque of the large tie rod caused by the self-weight of the elephant trunk beam about point O, Mbj is the torque generated by the self-weight of the boom about point O, and MZ is the unbalanced torque generated by the self-weight of the boom system.

[0180] Y is the y-coordinate of point A at the maximum amplitude; YDiff is the difference between a certain amplitude and the maximum amplitude at the y-coordinate of point A; MaxD is the maximum horizontal displacement; and MinD is the minimum horizontal displacement.

[0181] RSS is the lever arm of the main tie rod about point D, SSZ is the resultant force of the wire rope on the main tie rod, SDL is the tension force generated by the cargo on the main tie rod, and RBEO is the lever arm of the main tie rod about point O.

[0182] MZq, MQq, and Mq are the root mean square values ​​of the cargo, boom system self-weight, and combined unbalanced moment at each equally divided point; MQ, MZ, and M are the unbalanced moment of the cargo and self-weight, and the combined unbalanced moment. Max, MaxM, MaxMQ, and MaxMZ are the maximum and minimum values ​​of the cargo, self-weight, and combined moment.

[0183] lMaxMPos, lMaxMQPos, and lMaxMZPos represent the locations of the maximum and minimum values ​​of the cargo, the boom system's self-weight, and the combined unbalanced moment. Determine if each parameter meets the maximum and minimum amplitude requirements:

[0184] Lad=sqrt(x[5]*x[5]+x[6]*x[6])

[0185] Lde=sqrt(x[3]*x[3]+x[6]*x[6])

[0186] Point B:

[0187] Xb=-x[0]

[0188] Yb=x[1]

[0189] B2 = atan(x[1] / x[0])

[0190] W1=acos(x[6] / Lde)+acos(x[6] / Lad)

[0191] Lbo=sqrt(x[0]*x[0]+x[1]*x[1])

[0192] If bBar is true:

[0193] B6 = atan(y[6] / y[5])

[0194] W2 = acos(y[3] / y[1]) + acos(y[3] / y[2])

[0195] Lfo = sqrt(y[6]*y[6] + y[5]*y[5])

[0196] Xf = Lfo*cos(lMinA + B6)

[0197] Yf = Lfo*sin(lMinA + B6)

[0198] MaxLbf = sqrt((Xf - Xb)*(Xf - Xb) + (Yf - Yb)*(Yf - Yb))

[0199] If fabs(y[0] + y[2]) < MaxLbf, it means the difference between the parameters x1 and x3 of the counterweight part is too large

[0200] Xf = Lfo*cos(lMaxA + B6)

[0201] Yf = Lfo*sin(lMaxA + B6)

[0202] MinLbf = sqrt((Xf - Xb)*(Xf - Xb) + (Yf - Yb)*(Yf - Yb));

[0203] If fabs(y[0] - y[2]) > MinLbf, it means the difference between the parameters x1 and x3 of the counterweight part is too large. Calculate the maximum values of the horizontal displacement, cargo moment, self-weight cargo moment, and comprehensive moment in a loop:

[0204] lRange = m_minr + i*dStep

[0205] If lRange > m_maxr, then lRange = m_maxr,

[0206] If Newton(x, lRange, (lMaxA + lMinA) / 2) == 0, it means a calculation error

[0207] A = Angle

[0208] Xd = x[2]*cos(A)

[0209] Yd = x[2]*sin(A)

[0210] B1 = PI - A - B2

[0211] B3 = atan((Yd - Yb) / (Xd - Xb))

[0212] Lbd = sqrt(Lbo * Lbo + x[2] * x[2] - 2 * x[2] * Lbo * cos(B1))

[0213] B4 = (Lbd * Lbd + x[4] * x[4] - Lde * Lde) / (2 * Lbd * x[4]) If fabs(B4) > 1, it means there is an error in calculating the angle B4.

[0214] B4 = acos(B4)

[0215] Xe = Xb + x[4] * cos(B3 + B4)

[0216] Ye = Yb + x[4] * sin(B3 + B4)

[0217] If fabs(Xd - Xe) < E1, then B5 = PI / 2, otherwise B5 = atan((Ye - Yd) / (Xd - Xe)) If Xe > Xd, then B5 += PI.

[0218] Q = B5 + W1 - PI

[0219] Xa = Xd + Lad * cos(Q)

[0220] Ya = Yd - Lad * sin(Q)

[0221] If i == 0, then Y = Ya

[0222] YDiff = Ya - Y

[0223] If YDiff > MaxD:

[0224] MaxD = YDiff

[0225] lMaxDiffPos = lRange - m_minr

[0226] If YDiff < MinD

[0227] MinD = YDiff

[0228] lMinDiffPos = lRange - m_minr

[0229] Calculate the unbalanced moment generated by the goods:

[0230] The lever arm of the large tie rod on point D: RSS = Lbd * sin(B4);

[0231] The resultant force of the steel wire ropes on the large tie rod: SSZ = m_G / m_m;

[0232] The tension force generated by the cargo on the large tie rod: SDL=(m_G*(Xa-Xd+m_Rh)-SSZ*(RSS+m_Rh)) / RSS; The lever arm of the large tie rod about point O: RBEO=Lbo*sin(B2+B3+B4);

[0233] Unbalanced torque generated by cargo: MQ=m_G*(Xa+m_Rh)-SSZ*(RBEO+m_Rh)-SDL*RBEO; Maximum cargo torque: if fabs(MQ)>fabs(MaxMQ)

[0234] MaxMQ = MQ

[0235] lMaxMQPos = lRange - m_minr;

[0236] Root mean square value of cargo torque:

[0237] MQq+=MQ*MQ

[0238] Counterweight:

[0239] If bBar is true:

[0240] Xf = Lfo * cos(A + B6)

[0241] Yf = Lfo * sin(A + B6)

[0242] Lbf=sqrt((Xf-Xb)*(Xf-Xb)+(Yf-Yb)*(Yf-Yb))

[0243] B7=acos((Lbf*Lbf+Lbo*Lbo-Lfo*Lfo) / (2*Lbf*Lbo))

[0244] B8=(y[2]*y[2]+Lbf*Lbf-y[0]*y[0]) / (2*y[2]*Lbf)

[0245] If fabs(B8) > 1, it means that the calculation of angle B8 is incorrect.

[0246] B8 = acos(B8)

[0247] B9 = B8 + B7 - B2

[0248] Xg=Xb+y[2]*cos(B9)

[0249] Yg=Yb+y[2]*sin(B9)

[0250] B10 = PI - B9 - W2;

[0251] Xh=Xb-y[1]*cos(B10)

[0252] Yh=Yb+y[1]*sin(B10)

[0253] Calculate the centroid coordinates:

[0254] boom:

[0255] XBJ=m_xbjp*cos(A)-m_ybjp*sin(A)

[0256] YBJ=m_xbjp*sin(A)+m_ybjp*cos(A) (Elephant Trunk Bridge)

[0257] Q1 = atan((Ye-Ya) / (Xa-Xe))

[0258] XXB=Xe+m_xxbp*cos(Q1)+m_yxbp*sin(Q1)

[0259] YXB=Ye-m_xxbp*sin(Q1)+m_yxbp*cos(Q1) Equilibrium beam:

[0260] B11=atan((Yg-Yh) / (Xg-Xh))

[0261] XPL=Xg+m_xplp*cos(B11)-m_yplp*sin(B11)

[0262] YPL=Yg+m_xplp*sin(B11)+m_yplp*cos(B11) Large tie rod:

[0263] XDL=(Xe+Xb) / 2

[0264] YDL=(Ye+Yb) / 2

[0265] Small pull rod:

[0266] XXL=(Xf+Xg) / 2

[0267] YXL=(Yf+Yg) / 2

[0268] Calculate the unbalanced moment generated by the self-weight of the boom system:

[0269] The lever arm of the small tie rod about point B:

[0270] Lbf=sqrt((Xb-Xf)*(Xb-Xf)+(Yb-Yf)*(Yb-Yf))

[0271] B12 = atan((Yg-Yf) / (Xf-Xg))

[0272] LGF=Lbf*sin(B12+B7-B2)

[0273] The tension in the small tie rod caused by the weight of the balance beam:

[0274] Fgp = m_gpl * (Xb - XPL) / LGF

[0275] The tension in the small tie rod generated by the live counterweight:

[0276] Fx5=y[4]*y[1]*cos(B10) / LGF

[0277] The axial force of the small tie rod generated by its own weight:

[0278] Fxl=-m_gxl / 2*(Xg-Xb) / LGF

[0279] The lever arm of the small tie rod about point O:

[0280] LOGF = Lfo * sin(A + B6 + B12)

[0281] The torque of the small tie rod about point O:

[0282] Mgl=(Fgp+Fx5+Fxl)*LOGF-m_gxl / 2*Xf (Elephant Trunk Bridge, Axial Force of the Large Tie Rod Due to its Self-Weight)

[0283] Fgx=(m_gxb*(XXB-Xd)-m_gdl / 2*(Xd-Xe)) / RSS The torque of the large tie rod about point O is represented by its own weight.

[0284] Mgx = m_gxb*XXB + m_gdl / 2*Xe - Fgx*RBEO. The torque generated by the self-weight of the boom about point O:

[0285] Mbj = m_gbj * XBJ

[0286] Unbalanced moment generated by the self-weight of the boom system:

[0287] MZ = Mbj + Mgx - Mgl

[0288] Maximum self-weight torque:

[0289] If fabs(MZ) > fabs(MaxMZ):

[0290] MaxMZ = MZ

[0291] lMaxMZPos=lRange-m_minr

[0292] Calculate the combined torque:

[0293] Overall torque:

[0294] M = MQ + MZ

[0295] Maximum combined torque:

[0296] If fabs(M) > fabs(MaxM)

[0297] MaxM = M

[0298] lMaxMPos = lRange - m_minr

[0299] The self-weight and root mean square value of the combined moment of the boom system:

[0300] MZq+=MZ*MZ

[0301] Mq+=M*M

[0302] The maximum value among the absolute values ​​of cargo, tare weight, and combined torque:

[0303] If fabs(MaxMZ) > Max, then Max = fabs(MaxMZ).

[0304] If fabs(MaxMQ) > Max, then Max = fabs(MaxMQ)

[0305] If fabs(MaxM) > Max, then Max = fabs(MaxM)

[0306] Root mean square values ​​of the unbalanced moment of the goods at each equally divided point:

[0307] MQq = sqrt(MQq / (step+1))

[0308] MZq = sqrt(MZq / (step+1))

[0309] Mq = sqrt(Mq / (step+1))

[0310] Example 3

[0311] Parametric 3D models, engineering drawings, material cutting diagrams (for centralized material cutting), and stress calculations for the boom, trunk beam, large tie rod, turntable, rotating column, balance beam, small tie rod, and rack frame structures of gantry crane products;

[0312] The parametric 3D model of eight structures of the quay crane product, including the front girder, rear girder, marine gantry frame, landside gantry frame, connecting beam, lower crossbeam, trapezoidal frame, and trolley frame, can be converted into engineering drawings and material cutting drawings (for centralized material cutting), and stress calculations can be performed under load.

[0313] The electrical design system automatically generates 3D electrical schematics, cabinet lists, and process layout diagrams, as well as drawings and BOM lists. It also reserves relevant technical interfaces for automatically generating electrical control cabinet component layouts and wiring functions.

[0314] After the system user inputs the parameter data into the 3D software interface on their computer, they can click the save button to save the data on the interface and calculate the corresponding geometric or logical relationships. Then, clicking the generate model button will generate a 3D model and engineering drawings with the corresponding names.

[0315] like Figure 2 As shown, the gantry crane interface comprises eight parts: luffing mechanism (rack and pinion frame), slewing assembly (turntable), boom system (boom, main tie rod, trunk beam), balancing system (balance beam, secondary tie rod), and upper slewing column assembly (slewing column). Clicking "New Project" starts a new project, allowing you to input parameters and information. Clicking "Open Project" opens a past project for modification of parameters and information. Clicking "Save Project" saves the input parameters. Clicking "Generate Model" generates the corresponding assembly and engineering drawings after inputting parameters and information on a specific interface.

[0316] like Figure 3 As shown, enter the information, parameters, or drop-down selections in the rack and pinion interface. Different parameters will display different images. Click the "Main View Slideshow" button to display the main view image, and click the "Top View Slideshow" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. Click the "Generate Model" button to generate a new rack and pinion assembly and engineering drawings based on the interface parameters.

[0317] like Figure 4 As shown, enter the information, parameters, or drop-down selections in the turntable interface. Different parameters will display different images. Click the "Main View" button to display the main view image, and click the "Top View" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Remaining Plates of the Turntable Flange and Plates on the Left and Right Sides" button will be displayed. Click this button.

[0318] like Figure 5 As shown, after clicking the "Remaining Plates and Left / Right Plates of Turntable Flange" button on the interface of the remaining plates and left / right side plates of the turntable flange, enter the information, parameters, or drop-down selections as shown in the figure. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. Click the "Generate Model" button to generate a new turntable assembly and engineering drawings based on the interface parameters.

[0319] like Figure 6 As shown, enter the information, parameters, or drop-down selections in the boom interface. Different parameters will display different images. Click the "Main View Slideshow" button to display the main view image, and click the "Top View Slideshow" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Web, Flange, Diaphragm, and Stiffener" buttons will be displayed. Click this button.

[0320] like Figure 7 As shown, after clicking the "Web, Flange, Diaphragm, and Stiffener" button on the boom's web, wing, diaphragm, and stiffener interface, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. After clicking the "Save" button, the "Intermediate Hinge Point Connection Frame, Angle Steel, and Lifting Lug" button will be displayed. Click this button.

[0321] like Figure 8 As shown, after clicking the "Intermediate Hinge Point Connector, Angle Steel, and Lifting Lug" button on the interface for the boom's intermediate hinge point connector, angle steel, and lifting lugs, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. Click the "Generate Model" button to generate a new boom assembly and engineering drawings based on the interface parameters.

[0322] like Figure 9 As shown, enter the information, parameters, or drop-down selections in the large tie rod interface. Different parameters will display different images. Click the "Overall Slideshow" button to display the overall image, and click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Platform Group and Lifting Lug" button will be displayed; click this button.

[0323] like Figure 10 As shown, after clicking the "Platform Assembly and Lifting Lug" button on the interface for the large tie rod platform assembly and lifting lugs, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then appear indicating that the data has been saved. Click the "Generate Model" button to generate a new large tie rod assembly and engineering drawings based on the interface parameters.

[0324] like Figure 11As shown, enter the information, parameters, or drop-down selections in the "Elephant Trunk Bridge" interface. Different parameters will display different images. Click the "Overall Slideshow" button to display the overall image, and click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Head and Tail Hinge Point Components" button will appear; click this button.

[0325] like Figure 12 As shown, after clicking the "Head and Tail Hinge Point Components" button on the interface of the elephant trunk bridge head and tail hinge point component, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. After clicking the "Save" button, the "Body, Wings, Diaphragms, Ribs, and Tie Rod Components" button will be displayed. Click this button.

[0326] like Figure 13 As shown, in the interface for the elephant trunk bridge's belly, wings, diaphragms, stiffeners, and tie rod components, after clicking the "Bellis, Wings, Diaphragms, Stiffeners, and Tie Rod Components" button, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. After clicking the "Save" button, the "Platform and Lifting Lugs" button will be displayed; click this button.

[0327] like Figure 14 As shown, after clicking the "Platform and Lugs" button on the Elephant Trunk Platform and Lugs interface, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then appear indicating that the data has been saved. Click the "Generate Model" button to generate a new Elephant Trunk Platform assembly and engineering drawings based on the interface parameters.

[0328] like Figure 15 As shown, enter the information, parameters, or drop-down selections in the balance beam interface. Different parameters will display different images. Click the "Main View Slideshow" button to display the main view image, and click the "Top View Slideshow" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Connecting Beam, Diaphragm, Lifting Lug, Angle Steel, Counterweight Box Cover" buttons will be displayed. Click this button.

[0329] like Figure 16As shown, after clicking the "Connecting Beam, Diaphragm, Lifting Lug, Angle Steel, Counterweight Box Cover" button on the interface for the balance beam connecting beam, diaphragm, lifting lug, angle steel, and counterweight box cover, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. Click the "Generate Model" button to generate a new balance beam assembly and engineering drawings based on the interface parameters.

[0330] like Figure 17 As shown, enter the information, parameters, or drop-down selections in the small tie rod interface. Different parameters will display different images. Click the "Main View Slideshow" button to display the main view image, and click the "Top View Slideshow" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. Click the "Generate Model" button to generate a new small tie rod assembly and engineering drawings based on the interface parameters.

[0331] like Figure 18 As shown, enter the information, parameters, or drop-down selections in the column rotation interface. Different parameters will display different images. Click the "Main View Slideshow" button to display the main view image, and click the "Top View Slideshow" button to display the top view image. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. After clicking the "Save" button, the "Column Rotation Platform" button will be displayed; click this button.

[0332] like Figure 19 As shown, after clicking the "Rotation Platform" button on the rotation platform interface, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then appear indicating that the data has been saved. After clicking the "Save" button, the "Bracket Connector and Rotation Column Upper Housing" button will be displayed. Click this button.

[0333] like Figure 20 As shown, after clicking the "Bracket Connector and Upper Column Housing" button on the swivel column bracket connecting seat and upper housing interface, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. After clicking the "Save" button, the "Conduit, Lifting Lug, Angle Steel, and Others" button will be displayed. Click this button.

[0334] like Figure 21As shown, after clicking the "Conduit, Lifting Lug, Angle Steel and Others" button in the Column_Conduit, Lifting Lug, Angle Steel and Others interface, enter the information, parameters, or drop-down selections as shown in the image. Different parameters will display different images. Click the "Save" button to save the data on the interface and calculate the corresponding geometric or logical relationships. A message will then indicate that the data has been saved. Click the "Generate Model" button to generate a new Column assembly and engineering drawings based on the interface parameters.

[0335] The embodiments described above are merely preferred embodiments of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications, improvements, and substitutions without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A rapid three-dimensional parametric modeling method for cranes, characterized in that, Adopt the following steps: Step 1: Select the crane structure through the visual interface and input the corresponding specification and model data; Step 2: Display the preview graph of the selected crane structure on the interaction interface. The preview graph is automatically updated as the data changes, dynamically reflecting the real structure of the product; Step 3: Calculate the input data, retrieve the corresponding data from the product database and display it on the interface for designers to use. The calculation of the input data is based on the design requirements of the crane structure. On the premise of meeting the maximum lifting stroke range and maximum lifting weight of the goods, use the one-dimensional search method, the golden section method, the Newton iteration method and the linear programming method for calculation and optimization, so that the designed crane structure has stable overall torque at the minimum and maximum strokes under the action of the lifting load. In the state of lifting and walking, the vertical displacement fluctuation of the goods is the smallest and smoothest throughout the stroke, and the designed structure has the lightest self-weight; The calculation process is to punctuate the structure first. The punctuation points are: A, B, D, E, F and G, and the coordinates of each point are obtained, which are: (Xa, Ya), (Xb, Yb), (Xd, Yd), (Xe, Ye), (Xf, Yf) and (Xg, Yg); The calculation formula for judging whether each parameter meets the requirements of the maximum amplitude and minimum amplitude is as follows: ； ； ； ； ； ； ； in, , , , and For the parameters of the four-bar linkage, Let A be the distance from point A to point D. Let D be the distance from point D to point E. Let B be the distance from point B to the origin 0. The angle value at point B; If bBar is true, perform the next calculation. If not, judge whether each parameter meets the requirements of the maximum amplitude and minimum amplitude; Step 4: Generate the 2D engineering drawing and 3D model of the selected crane structure; Step 5: According to the selected crane type, group and assemble the 3D model to generate the overall 3D model of the crane; Step 6: When all the data is input and confirmed, these data can be saved in the form of a project file.

2. The method for rapid three-dimensional parametric modeling of a crane according to claim 1, characterized in that: The calculation formula for the next calculation is as follows: ； ； ； Whether each parameter meets the maximum amplitude: ； ； ； If fabs(y[0]+y[2]) is less than If the difference between the counterweight parameters x1 and x3 is too large, the parameters do not meet the maximum amplitude requirement. Whether each parameter meets the minimum amplitude: ； ； ； If fabs(y[0]-y[2]) is greater than If the difference between the counterweight parameters x1 and x3 is too large, the parameters do not meet the minimum amplitude requirement.

3. The method for rapid three-dimensional parametric modeling of a crane according to claim 2, characterized in that: The maximum values of the horizontal displacement, the goods torque, the self-weight goods torque and the comprehensive torque are obtained through loop calculation. Let the loop count be i, the initial value of i is 0, i is incremented by 1 for each loop calculation, and i is less than or equal to step; The calculation formula for the coordinate values of each point at each angle is as follows: ； For amplitude parameters, if Greater than Then let equal ; when If so, the parameter is incorrect.

4. The method for rapid three-dimensional parametric modeling of a crane according to claim 3, characterized in that: The angle calculation of point D is: ； ； Where, A’ = Angle.

5. The method for rapid three-dimensional parametric modeling of a crane according to claim 1, characterized in that: The angle calculation of point E is: ； ； ； ； in, Let B be the distance from point B to point D. For the parameters of the four-bar linkage; If fabs(B’4) is less than or equal to 1, perform the next calculation. If fabs(B’4) is greater than 1, judge that the angle B’4 calculation is incorrect.

6. The method for rapid three-dimensional parametric modeling of a crane according to claim 5, characterized in that: The next calculation is: ； ； 。 7. The method for rapid three-dimensional parametric modeling of a crane according to claim 6, characterized in that: In the angle calculation of point A, if fabs(Xd - Xe) < E’1, then B’5 = PI / 2, otherwise B’5 = atan((Ye - Yd) / (Xd - Xe)). If Xe > Xd, then B’5 += PI; ； ； ； When point A is at the maximum amplitude, the displacement calculation formula is as follows: If i is 0, then Y’ = Ya; ； in, This represents the difference between a certain amplitude and the maximum amplitude at point A (y-coordinate). If YDiff > MaxD; ； ； If YDiff < MinD; ； ； in This represents the maximum horizontal displacement.

Images