A method for designing a three-dimensional model of a QT-based heading machine

Abstract

The application discloses a kind of based on QT's three-dimensional model design method of heading machine, comprising: the three-dimensional model of heading machine is split into each subcomponent;With body as reference, obtain the three-dimensional space relative coordinates of other all subcomponents and body;According to the rotation law of each subcomponent, find the rotation axis;According to the triangular structure formed by oil cylinder and its connecting component, the change of oil cylinder angle and stroke caused by connecting component angle change, data statistics is carried out, and the change curve of oil cylinder is fitted;The split subcomponent is loaded into QT software according to the aforementioned change rule, and the dynamic change of the three-dimensional model of heading machine is set according to the motion data of each module collected, and the parameter information of oil cylinder stroke is displayed in three-dimensional model, the application can effectively realize the display and dynamic change of the three-dimensional model of heading machine, and more directly, comprehensive display the state and parameter change of heading machine.

Description

Technical Field

[0001] This invention relates to the field of tunneling machine design, specifically a QT-based three-dimensional model design method for tunneling machines. Background Technology

[0002] With the rapid development of intelligent technologies in the coal mining industry, the interface display of equipment movement status and parameters plays a crucial role in achieving effective monitoring of equipment status. As one of the key pieces of equipment in coal mining, the tunneling machine undertakes the task of rapid tunneling of coal mine roadways, and its equipment status and visualization system ensures the reliable, efficient, and safe operation of the tunneling equipment.

[0003] Currently, traditional tunneling machine monitoring software generally uses configuration software to design the interface, displaying equipment status through two-dimensional images and numerical text. This results in poor cross-platform compatibility, inadequate equipment status display, and a lack of intuitiveness and convenience. Therefore, existing technologies need further improvement and refinement. QT offers advantages such as excellent cross-platform compatibility, simple interfaces, and high development efficiency. 3D tunneling machine models developed based on QT can adapt well to different equipment environments, comprehensively and efficiently displaying the various motion states and parameter indicators of the tunneling machine. Summary of the Invention

[0004] The purpose of this invention is to propose a QT-based three-dimensional model design method for tunneling machines, which can effectively realize the display and dynamic changes of the three-dimensional model of the tunneling machine, and more intuitively and comprehensively show the changes in the status and parameters of the tunneling machine.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] This invention discloses a QT-based three-dimensional model design method for tunneling machines, comprising:

[0007] The 3D model of the tunneling machine is broken down into its various sub-components;

[0008] Using the fuselage as a reference, obtain the three-dimensional spatial relative coordinates of all other sub-components to the fuselage;

[0009] Based on the rotation patterns of each sub-component, locate the axis of rotation;

[0010] Based on the triangular structure formed by the hydraulic cylinder and its connecting components, the change in the angle of the connecting components causes changes in the angle and stroke of the hydraulic cylinder. Data statistics are performed, and the change curve of the hydraulic cylinder is fitted.

[0011] The disassembled sub-components are loaded into the QT software according to the aforementioned change rules. Based on the motion data of each module collected, the dynamic changes of the tunneling machine's three-dimensional model are set up, and the parameter information of the cylinder stroke is displayed in the three-dimensional model.

[0012] Furthermore, the sub-components include the cutting head, rocker arm, rocker arm lifting cylinder, shovel, shovel lifting cylinder, star wheel, rear support, rear support cylinder, track, and machine body.

[0013] Furthermore, based on the rotation patterns of the cutting head, rocker arm, shovel, star wheel, and rear support, the rotation axis is found. The rocker arm, shovel, and rear support rotate along their connection points with the machine body, while the cutting head rotates around its own central axis. The cutting head and rocker arm move in sync, with the cutting head rotating around the rotation axis of the rocker arm by a corresponding angle.

[0014] The two star wheels rotate around their own center, and at the same time rotate by a corresponding angle along with the rotation axis of the shovel plate.

[0015] Furthermore, the rocker arm, the machine body, and the hydraulic cylinder used for rocker arm lifting form a triangular structure. When the rocker arm rotates a certain angle around the connection point with the machine body, it causes changes in the angle between the hydraulic cylinder and the rocker arm, and between the hydraulic cylinder and the machine body. At the same time, the hydraulic cylinder stroke also changes accordingly. Data analysis and statistics are used to fit the change curve.

[0016] Furthermore, the method for fitting the change curve is as follows:

[0017] When the rocker arm tilt angle is 0, obtain the dimensions and initial angle values ​​of the rocker arm, the machine body, and the hydraulic cylinder. The three vertices of the triangle are the connection points, and the three sides of the triangle are a, b, and c, where a is the rocker arm, b is the machine body, and c is the hydraulic cylinder.

[0018] Based on the transformation relationship of the triangle, given sides a and b and their included angle, calculate the remaining angles and the values ​​of the sides. List the rocker arm tilt angles as 0°, 10°, 20°, 30°, 40°, 50°, and 60°, and the included angle between sides a and b as C, C+10°, C+20°, C+30°, C+40°, C+50°, and C+60°. Angles A, B, and C correspond to sides a, b, and c of the triangle, respectively. Thus, calculate the 7 angle values ​​corresponding to angle A.

[0019] With the rocker arm tilt angle as X and angle A as Y, input the six sets of (X, Y) values ​​into curve fitting software to fit the equation of angle A change.

[0020] The cylinder block uses a fitted curve of angle A, the piston rod is on the same line as the cylinder block, the piston rod uses a fitted curve of angle A, and the rotation angle is (180°-A).

[0021] Based on the above steps, the variation curves of the shovel lifting cylinder and the rear support cylinder are fitted.

[0022] Furthermore, the disassembled cutting head, rocker arm, shovel, star wheel, rear support, and machine body are loaded into the QT software according to the aforementioned change rules. The cylinders of the rocker arm, shovel, and rear support are loaded with cylinder bodies and piston rods respectively according to the fitting equation of the calculated angle A.

[0023] Furthermore, interface functions for the parameters of each component are set in the QT software. When the system data receiving module receives the corresponding parameters, the dynamic changes of each component are realized through the interface functions, and the relevant parameter information of the hydraulic cylinder is displayed at the location of each component in the 3D model. The 3D model can be rotated in multiple directions and 360 degrees to view the status and parameters of the corresponding parts.

[0024] Furthermore, the hydraulic cylinder includes a cylinder body and a piston rod, with the piston rod connected to the rocker arm and the cylinder body connected to the machine body.

[0025] Furthermore, the fitted equation is Y = aa + bb*X + cc*X 2 .

[0026] The beneficial effects of this invention are:

[0027] This invention has excellent cross-platform compatibility, simple interface, and high development efficiency. The 3D model of the tunneling machine developed based on QT can adapt well to different equipment environments and comprehensively and efficiently display the various motion states and parameter indicators of the tunneling machine. Attached Figure Description

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 This is a flowchart of an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of a rocker arm cylinder according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the triangular shape of the shovel cylinder according to an embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the rear support cylinder triangle according to an embodiment of the present invention. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] As shown in the figure, this invention provides a QT-based three-dimensional model design method for tunneling machines, including the following steps:

[0035] Step 1: Decompose the 3D model of the tunneling machine into its various sub-components;

[0036] Step 2: Using the fuselage as a reference, obtain the three-dimensional spatial relative coordinates of all other sub-components to the fuselage;

[0037] Step 3: Locate the axis of rotation based on the rotation patterns of each sub-component;

[0038] Step 4: Based on the triangular structure formed by the hydraulic cylinder and its connecting parts, changes in the angle of the connecting parts will cause changes in the angle and stroke of the hydraulic cylinder. Therefore, data statistics are performed to fit the change curve of the hydraulic cylinder.

[0039] Step 5: Load the disassembled sub-components into the QT software according to the aforementioned change rules. Based on the motion data of each module collected, set up the dynamic changes of the tunneling machine's 3D model and display relevant parameter information such as cylinder stroke in the 3D model.

[0040] In step 1, the 3D model of the tunneling machine is broken down into various sub-components, including the cutting head, rocker arm, rocker arm lifting cylinder, shovel, shovel lifting cylinder, star wheel, rear support, rear support cylinder, tracks, and machine body.

[0041] In step 2, using the fuselage as a reference, the three-dimensional spatial relative coordinates of all other sub-components with respect to the fuselage are obtained, so as to facilitate the subsequent loading and splicing of the three-dimensional sub-components.

[0042] In step 3, based on the rotation patterns of the cutting head, rocker arm, shovel, star wheel, and rear support, the rotation axis is found. The rocker arm, shovel, and rear support rotate along their connection points with the machine body, while the cutting head rotates around its own central axis. Simultaneously, since the cutting head and rocker arm are mechanically linked, the cutting head will also rotate around the rocker arm's rotation axis by a corresponding angle. Similarly, the two star wheels rotate around their own center and simultaneously rotate around the shovel's rotation axis by a corresponding angle.

[0043] The calculation method is illustrated using a rocker arm cylinder as an example. The rocker arm, the machine body, and the rocker arm lifting cylinder form a triangular structure. When the rocker arm rotates around its connection point with the machine body by a certain angle, it causes changes in the angles between the cylinder and the rocker arm, and between the cylinder and the machine body. Simultaneously, the cylinder stroke (i.e., the length of one side of the triangle) also changes accordingly. Since the change pattern is not linear and cannot be intuitively identified, data analysis and statistics are used to fit a change curve. The fitting method is as follows.

[0044] (1) When the rocker arm tilt angle is 0, obtain the dimensions and initial angle values ​​of the rocker arm, machine body, and hydraulic cylinder, as follows: Figure 2As shown, the three vertices of the triangle are the connecting points:

[0045] a——rocker arm

[0046] b—Fuselage

[0047] c - Hydraulic cylinder

[0048] The lengths of a and b remain constant, as does the position of b. a rotates around point P3, causing changes in angles A and B, and side c. To better demonstrate the three-dimensional dynamic change effect, the hydraulic cylinder is simplified into two parts: the cylinder body and the piston rod. Side c is composed of these two parts. The piston rod is connected to the rocker arm (point P2), and the cylinder body is connected to the machine body (point P1).

[0049] (2) Based on the transformation relationship of triangles, given sides a and b and their included angle, the remaining angles and the values ​​of the sides can be calculated. Therefore, the rocker arm tilt angles are listed as 0°, 10°, 20°, 30°, 40°, 50°, and 60°. Given that the initial value of C is 52.9°, the included angle between sides a and b should be C plus the rocker arm tilt angle. Thus, the seven angle values ​​corresponding to angle A can be calculated, as shown in the table below:

[0050] rocker arm tilt angle 0° 10° 20° 30° 40° 50° 60° Angle C 52.9° 62.9° 72.9° 82.9° 92.9° 102.9° 112.9° Angle A 109.6° 98.67° 88.45° 78.81° 69.65° 60.87° 52.4°

[0051] (3) With the rocker arm tilt angle as X and the included angle A as Y, input the six sets of (X, Y) values ​​into the curve fitting software, and fit the following equation for the change of the included angle A:

[0052] Fitting equation: Y = aa + bb*X + cc*X 2

[0053] parameter:

[0054] aa = 109.496428571428

[0055] bb = -1.09614285714285

[0056] cc = 0.00243571428571412

[0057] (4) Since point P1 is constant, the cylinder body can be fitted with the curve of angle A. Point P2 will change with the rotation of the rocker arm. The piston rod cannot be accurately positioned according to angle B. Since the piston rod and the cylinder body are on the same line, the fitted curve of angle A can also be used. Rotate the angle (180°-A).

[0058] (5) Based on the above steps, the variation curves of the shovel lifting cylinder and the rear support cylinder can also be fitted, as follows:

[0059] Angle between the shovel cylinder body and the machine body:

[0060] Fitting equation: Y = aa + bb*X + cc*X 2

[0061] parameter:

[0062] aa = 61.9764019621134

[0063] bb = -0.636552462157106

[0064] cc = 0.000784161123549925

[0065] Angle between the rear support cylinder body and the machine body:

[0066] Fitting equation: Y = aa + bb*X + cc*X 2

[0067] parameter:

[0068] aa = 113.698214285714

[0069] bb = -1.23080714285712

[0070] cc = 0.0055499999999992

[0071] The disassembled cutting head, rocker arm, shovel, star wheel, rear support, and machine body are loaded into the QT software based on their relative three-dimensional coordinates and angle change rules obtained in step 2. The cylinders of the rocker arm, shovel, and rear support need to have their cylinder bodies and piston rods loaded separately according to the fitted equations of the calculated angle A.

[0072] (1) Cylinder loading method:

[0073] First, calculate the value of angle A based on the actual value of the rocker arm tilt angle obtained from the data collection;

[0074] Set the initial state of the cylinder block 3D module, with its connection point with P1 at the origin and the angle parallel to side b.

[0075] Load the cylinder block module and translate the cylinder block from the origin to point P1;

[0076] Rotate the cylinder block module counterclockwise by angle A.

[0077] (2) Piston rod loading method:

[0078] The initial state of the 3D module is the same as that of the cylinder block;

[0079] Calculate the three-dimensional coordinates of point P2 based on the rocker arm tilt angle;

[0080] Add a piston rod module to translate the cylinder block from the origin to point P2;

[0081] Rotate the piston rod clockwise by an angle (180°-A).

[0082] In the QT software, interface functions for the parameters of each component are set. When the system data receiving module receives the corresponding parameters, the dynamic changes of each component can be realized through the interface functions. The relevant parameter information such as the cylinder stroke is displayed at the location of each component in the 3D model. The 3D model can be rotated in multiple directions and 360 degrees to view the status and parameters of the corresponding parts.

[0083] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A method for designing a 3D model of a tunneling machine based on QT, characterized in that, include: The 3D model of the tunneling machine is broken down into its various sub-components; Using the fuselage as a reference, obtain the three-dimensional spatial relative coordinates of all other sub-components to the fuselage; Based on the rotation patterns of each sub-component, locate the axis of rotation; Based on the triangular structure formed by the hydraulic cylinder and its connecting components, the change in the angle of the connecting components causes changes in the angle and stroke of the hydraulic cylinder. Data statistics are performed, and the change curve of the hydraulic cylinder is fitted. The disassembled sub-components are loaded into the QT software according to the change rules. Based on the motion data of each module collected, the dynamic changes of the tunneling machine's three-dimensional model are set up, and the parameter information of the cylinder stroke is displayed in the three-dimensional model. Sub-components include cutting head, rocker arm, rocker arm lifting cylinder, shovel, shovel lifting cylinder, star wheel, rear support, rear support cylinder, track and body; Based on the rotation patterns of the cutting head, rocker arm, shovel, star wheel, and rear support, the rotation axis is found. The rocker arm, shovel, and rear support rotate along their connection points with the machine body, while the cutting head rotates around its own central axis. The cutting head and rocker arm move in sync, with the cutting head rotating by a corresponding angle around the rotation axis of the rocker arm. The two star wheels rotate around their own center, and at the same time rotate by a corresponding angle with the rotation axis of the shovel plate; The rocker arm, the machine body, and the hydraulic cylinder used for lifting the rocker arm form a triangular structure. When the rocker arm rotates around the connection point with the machine body by a certain angle, it causes a change in the angle between the hydraulic cylinder and the rocker arm, and between the hydraulic cylinder and the machine body. At the same time, the stroke of the hydraulic cylinder also changes accordingly. Data analysis and statistics are used to fit the change curve. The method for fitting the change curve is as follows: When the rocker arm tilt angle is 0, obtain the dimensions and initial angle values ​​of the rocker arm, the machine body, and the hydraulic cylinder. The three vertices of the triangle are the connection points, and the three sides of the triangle are a, b, and c, where a is the rocker arm, b is the machine body, and c is the hydraulic cylinder. Based on the transformation relationship of the triangle, given sides a and b and their included angle, calculate the remaining angles and the values ​​of the sides. List the rocker arm tilt angles as 0°, 10°, 20°, 30°, 40°, 50°, and 60°, and the included angle between sides a and b as C, C+10°, C+20°, C+30°, C+40°, C+50°, and C+60°. Angles A, B, and C correspond to sides a, b, and c of the triangle, respectively. Thus, calculate the 7 angle values ​​corresponding to angle A. With the rocker arm tilt angle as X and angle A as Y, input the six sets of (X, Y) values ​​into curve fitting software to fit the equation of angle A change. The cylinder block uses a fitted curve of angle A, the piston rod is on the same line as the cylinder block, the piston rod uses a fitted curve of angle A, and the rotation angle is (180°-A). Based on the above steps, the variation curves of the shovel lifting cylinder and the rear support cylinder are fitted.

2. The method for designing a three-dimensional model of a tunneling machine based on QT according to claim 1, characterized in that, The disassembled cutting head, rocker arm, shovel, star wheel, rear support, and machine body are loaded into the QT software according to the aforementioned change rules. The cylinders of the rocker arm, shovel, and rear support are loaded with cylinder bodies and piston rods respectively according to the fitting equation of the calculated angle A.

3. The method for designing a three-dimensional model of a tunneling machine based on QT according to claim 2, characterized in that, In the QT software, interface functions for the parameters of each component are set. When the system data receiving module receives the corresponding parameters, the dynamic changes of each component are realized through the interface functions, and the relevant parameter information of the hydraulic cylinder is displayed at the location of each component in the 3D model. The 3D model can be rotated in multiple directions and 360 degrees to view the status and parameters of the corresponding parts.

4. The method for designing a three-dimensional model of a tunneling machine based on QT according to claim 1, characterized in that, The hydraulic cylinder includes a cylinder body and a piston rod. The piston rod is connected to the rocker arm, and the cylinder body is connected to the machine body.

5. The method for designing a three-dimensional model of a tunneling machine based on QT according to claim 1, characterized in that, The fitted equation is Y = aa + bb*X + cc*X 2 .

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