A test debugging device simulating the movement of a hooklift

Abstract

The present application relates to a kind of test debugging devices simulating the motion of pull arm hook folding arm crane, belong to vehicle testing field.The present application includes base part (8) and upper installation motion simulation device, and upper installation motion simulation device includes: frame structure (1), transverse motion device (2), longitudinal motion device (3), front-back direction motion device (4), rotary motion device (5), sensing control device (6), debugging test system (7).The control mode of the device of the present application is simple, 4 degrees of freedom motion results are obtained by the rotation of motor, and the accuracy of target control mode and other information data are analyzed and verified by the data of camera and sensor.Compared with actual device, the present application saves the problem of large space requirement and difficult real vehicle debugging.

Description

Technical Field

[0001] This invention belongs to the field of vehicle testing, specifically relating to a testing and debugging device for simulating the movement of a boom hook folding arm crane. Background Technology

[0002] The existing devices are all physical devices, such as Figure 1 The diagram shows the structure of a novel folding boom lift device. The most significant feature of the boom lift device is the ability to freely load and unload cargo containers, container houses, and other superstructure components. The device enabling this free loading and unloading is the boom lift mechanism. The boom lift hook's working principle is similar to a linkage mechanism; the extension and retraction of hydraulic cylinders allows for the automatic loading and unloading of superstructure components. Because the boom lift device can complete container loading and unloading, achieving equipment mechanization and reducing loading and unloading time delays, it offers numerous advantages such as reduced labor intensity and increased labor productivity. Therefore, it is favored by companies in sanitation, construction, municipal, and mining sectors, and even appears in military projects.

[0003] The folding boom type telescopic arm device mainly consists of a telescopic arm assembly and telescopic arm cylinder, a linkage frame, a truck bed safety hook and safety hook cylinder, and a subframe. Its structural layout is as follows: Figure 2 As shown, the pull arm assembly consists of a folding cylinder, a right-angle arm, and a triangular arm, which are connected as a whole through pivot points Q, P, and K. The right-angle arm adopts a right-angle box-shaped structure, with one end connected to the piston rod end of the folding cylinder at pivot point K, and the other end connected to the triangular arm at pivot point Q, forming the rotation axis of the right-angle arm. The triangular arm is connected to the cylinder head end of the folding cylinder at pivot point P, and simultaneously connected to the front end of the linkage frame at pivot point C, with point C serving as the rotation axis of the pull arm assembly. The piston rod end of the pull arm cylinder is connected to pivot point 4 at the front end of the subframe, the piston rod end is connected to pivot point B of the triangular arm, and the rear end of the linkage frame is connected to pivot point D at the rear of the subframe, forming the rotation axis of the linkage frame. The linkage frame is equipped with a cargo box safety hook and a safety hook cylinder.

[0004] When loading and unloading containers using hydraulic or mechanical lifting, the movement of the containers during lifting, unloading, and lowering should be smooth. For example, when loading a container, the vehicle first drags the container to the ground and then places it on the chassis. The lowering process needs to be smooth, especially when the container is about to be leveled. Excessive impact on the vehicle should be avoided, otherwise it will cause permanent deformation of the chassis, cracking of welds, damage to hydraulic cylinders, and other problems, resulting in shortened vehicle life or even serious safety accidents.

[0005] Container detachable loading and unloading systems, also known as hooklift systems, are characterized by their ability to load, unload, or self-unload containers within a short timeframe. This significantly reduces downtime during container loading and unloading, greatly improving transportation efficiency and reducing the number of vehicles required to load the same type of container, thus lowering transportation costs. The main actuator of a hooklift system is the hooklift mechanism, also known as a hooklift self-loading device or hooklift hook. It is a specialized device that can be installed on a suitable vehicle chassis and uses the rotation, sliding, or swinging of the hook arm to achieve the functions of loading, unloading, lifting, and transporting containers.

[0006] Its characteristic is that the hook arm can move back and forth relative to the entire mechanism. The hook arm sliding boom mechanism has two motion trajectories, corresponding to two different working states: one is that the locking device is in the locked state, and the entire mechanism moves synchronously. In this state, the overall shape of the boom mechanism remains unchanged, only rotating around the subframe, i.e., the self-unloading motion, such as... Figure 2 As shown. Another method involves the hook arm first performing a parallel sliding motion, and then the tipping frame, under the action of a hydraulic cylinder, drives the garbage container to move, i.e., the container loading and unloading motion, as shown. Figure 3 As shown.

[0007] Compared to the relatively simple circular motion in self-unloading operations, the movement trajectory of a hook-lift sliding boom device during container loading and unloading is more complex, generally falling into two working states: the container's rear rollers touching the ground, and the container contacting the subframe rollers. The force conditions are also more complex, categorized into loading and unloading states based on the force experienced by the hook-lift sliding boom mechanism. During operation, the boom mechanism is primarily subjected to two forces: the force exerted by the lifting cylinder on the tipping frame and the force exerted by the container on the hook arm. Compared to a fixed hook-lift boom mechanism, the hook arm section of the hook-lift sliding boom mechanism consists of two parts. The hook arm connecting the container can slide relative to the lifting arm, and its lever arm is variable. Therefore, with the same hydraulic system, it can handle a larger load capacity, which is the biggest advantage of the sliding boom mechanism over the fixed hook-lift boom mechanism.

[0008] Through a series of movements, containers can be loaded onto vehicles.

[0009] like Figure 1 As shown, the device occupies too much space and is too large to be suitable for debugging purposes. Furthermore, if it is scaled down proportionally, the accuracy will not meet the debugging requirements.

[0010] The movement of the arm is driven by a hydraulic cylinder. In the test, this kind of power is difficult to design, and the purpose of the test does not include the testing of the hydraulic cylinder. Due to the needs of the actual device, the movement of the arm needs to cover a large space, and in most movement spaces, not much precise control is required. While simulating the actual situation can be very accurate, it is not suitable because of the high complexity of the technology and the large space required.

[0011] The purpose of this invention is to provide a test and debugging device for simulating the movement of a jib hook jib crane. This device can maintain the consistency of the dimensions of the moving parts while reducing unnecessary space occupation, so as to achieve the purpose of testing and debugging the upper equipment in a space with as little space as possible. It has the characteristics of simple structure, simple motion control, and reliable debugging. Summary of the Invention

[0012] (a) Technical problems to be solved

[0013] The technical problem to be solved by the present invention is how to provide a test and debugging device for simulating the movement of a hook-and-fold boom crane, so as to solve the problems of excessive space occupation and difficulty in debugging and control of hook-and-fold boom crane self-unloading devices.

[0014] (II) Technical Solution

[0015] In order to solve the above technical problems, the present invention proposes a test and debugging device for simulating the movement of a hook-and-folding boom crane. The test and debugging device includes: a base part (8) and an upper motion simulation device for simulating the movement of the hook-and-folding boom crane.

[0016] The upper-mounted motion simulation device includes: a frame structure (1), a lateral motion device (2), a longitudinal motion device (3), a forward and backward motion device (4), a rotational motion device (5), a sensing and control device (6), and a debugging and testing system (7);

[0017] The frame structure (1) serves as a frame, providing support and fixation for the motion device; the transverse motion device (2), longitudinal motion device (3), forward and backward motion device (4), and rotational motion device (6) use motors as the motion power source, providing three degrees of freedom of movement and one degree of freedom of rotation, providing a controllable motion form for testing; the sensor control device (6) serves as the control part, providing reliability for the test component and preventing the equipment from moving out of range; the debugging test system (7) serves as the final debugging test equipment, providing graphical basis for control, and using the control results of the image as the basis for code testing.

[0018] The lateral motion device (2) is fixed to the top of the frame structure (1) to provide lateral motion for the longitudinal motion device (3);

[0019] The longitudinal motion device (3) is fixed on the transverse slider (22) of the transverse motion device (2) to provide longitudinal motion for the forward and backward motion device (4);

[0020] The forward and backward motion device (4) is fixed on the longitudinal slider (32) of the longitudinal motion device (3) to provide forward and backward motion for the rotary motion device (5);

[0021] The rotary motion device (5) is fixed on the front and rear sliders (42) of the front and rear motion device (4) to provide rotational motion for the debugging and testing equipment (7), that is, the debugging and testing equipment (7) has four degrees of freedom: horizontal, vertical, front and rear, and rotational.

[0022] The sensor control device (6) is installed on the frame structure (1) to detect signals as key signals to ensure the normal operation of the equipment and to form protective control logic.

[0023] Furthermore, the base part (8) includes: a support platform (81), casters (80), movable wheels (82) and a reinforcing rib structure. The bottom of the support platform (81) is provided with casters (80) and movable wheels (82), with casters (80) located at the front and movable wheels (82) located at the rear. A reinforcing rib is provided below the support platform (81).

[0024] Furthermore, the frame structure (1) comprises three parts: the outer frame layer (12), the outer frame high rod (11), and the outer frame layer (13); the outer frame layer (12) serves as the basic support for connecting the base part (8) and the upper motion simulation device, and is bolted to the bottom of the outer frame high rod (11) through reinforcing ribs for easy adjustment and fixation, and the top of the outer frame high rod (11) is bolted to the outer frame layer (13) through reinforcing ribs.

[0025] Furthermore, the lateral motion device (2), as the outermost moving motion, includes: a lateral lead screw (23), a lateral guide rail (25), a lateral sprocket assembly (24), a lateral coupling (20), a lateral drive motor (21), and a lateral slider (22); the output shaft of the lateral drive motor (21) is connected to the lateral sprocket assembly (24), the lower part of the lateral sprocket assembly (24) is connected to the lateral coupling (20), the output end of the lateral coupling (20) is connected to the lateral lead screw (23), and a lateral slider (22) is provided on the lateral lead screw (23); a lateral guide rail (25) is provided on the second layer (13) of the outer frame, and the slider on the lateral guide rail (25) is connected to the lateral slider (22) on the lateral lead screw (23), so that the lateral slider (22) can only move along the direction of the lateral guide rail (25).

[0026] Furthermore, the power is provided by the transverse drive motor (21), which transmits the power to the transverse lead screw (23) via the transverse sprocket assembly (24) and the transverse coupling (20). The transverse lead screw (23) converts the rotational motion into linear motion, which drives the transverse slider (22) to move laterally under the constraint of the transverse guide rail (25), with a maximum movement distance of 1550mm.

[0027] Furthermore, the longitudinal motion device (3), as the second layer of movement, includes: a longitudinal motion frame, a longitudinal lead screw (33), a longitudinal guide rail (35), a longitudinal sprocket assembly (34), a longitudinal coupling (30), a longitudinal drive motor (31), and a longitudinal slider (32); the longitudinal motion frame is suspended below the transverse slider (22) of the transverse motion device (2), the output shaft of the longitudinal drive motor (31) is connected to the transverse longitudinal sprocket assembly (34), the longitudinal coupling (30) is connected above the longitudinal sprocket assembly (34), the output end of the longitudinal coupling (30) is connected to the longitudinal lead screw (33), and the longitudinal slider (32) is provided on the longitudinal lead screw (33); the longitudinal guide rail (35) is provided on the longitudinal motion frame, and the slider on the longitudinal guide rail (35) is connected to the longitudinal slider (32) on the longitudinal lead screw (33), so that the longitudinal slider (32) can only move along the direction of the longitudinal guide rail (35).

[0028] Furthermore, the power is provided by the longitudinal drive motor (31), which is transmitted to the longitudinal lead screw (33) via the longitudinal sprocket assembly (34) and the longitudinal coupling (30). The longitudinal lead screw (33) converts the rotational motion into linear motion, which drives the longitudinal slider (32) to move laterally under the constraint of the longitudinal guide rail (35), with a maximum movement distance of 1050mm.

[0029] Furthermore, the front-back motion device (4), as the innermost moving motion, includes: a support plate, front and rear lead screws (43), front and rear guide rails (45), front and rear couplings (40), front and rear drive motors (41), and front and rear sliders (42); the support plate is set on the longitudinal slider (32) of the longitudinal motion device (3), and the front and rear lead screws (43), front and rear guide rails (45), front and rear couplings (40), front and rear drive motors (41), and front and rear sliders (42) are set on the support plate; the output shaft of the front and rear drive motor (41) is connected to the front and rear couplings (40), the output end of the front and rear couplings (40) is connected to the front and rear lead screws (43), the front and rear lead screws (43) are provided with front and rear sliders (42), and the front and rear guide rails (45) are also provided with sliders. The sliders on the front and rear guide rails (45) are connected to the front and rear sliders (42) on the front and rear lead screws (43), so that the front and rear sliders (42) can only move along the direction of the front and rear guide rails (45).

[0030] Furthermore, the power is provided by the front and rear drive motors (41) and transmitted to the front and rear lead screws (43) via the front and rear couplings (40). The front and rear lead screws (43) convert the rotational motion into linear motion, driving the front and rear sliders (42) to move back and forth under the constraint of the front and rear guide rails (45), with a maximum movement distance of 1050mm.

[0031] Furthermore, the rotary motion device (5) is a rotary motion device, including: a support base, a rotary drive motor (51), a rotary coupling (50), a rotary motion rod (52), and a ejector pin (53); the support base is set on the front and rear sliders (42) of the front and rear direction motion device (4), and the rotary drive motor (51) and the rotary coupling (50) are set on the support base; the output end of the rotary drive motor (51) is connected to the rotary coupling (50), the rotary coupling (50) is connected to the rotary motion rod (52), and the end of the rotary motion rod (52) is provided with an ejector pin (53); the power is provided by the rotary drive motor (51) and transmitted to the rotary motion rod (52) via the rotary coupling (50), and the rotary motion rod (52) simulates the rotary motion of the boom hook and the folding boom crane, with a maximum motion angle of 90°.

[0032] (III) Beneficial Effects

[0033] This invention proposes a testing and debugging device for simulating the motion of a hook-and-fold boom crane. This invention adopts a novel approach that solves the problems of excessive space occupation and difficult debugging and control in hook-and-fold boom crane self-unloading devices. It transforms the device into a simpler structure with simpler control logic, facilitating control and debugging through a motor-screw mechanism. This maintains consistency in motion degrees of freedom and testing consistency, while simplifying the control method and logic. Different motions can utilize the same control logic, facilitating debugging and testing of the control program. The invention employs a nested connection structure to superimpose different motion forms, achieving a multi-degree-of-freedom, multi-motion superposition effect.

[0034] The advantages of this invention are that the control method of the device is simple. By rotating the motor, the motion results of four degrees of freedom are obtained. The accuracy of the target control method is analyzed and verified using data from the camera and sensors. Compared with the actual device, this invention saves the problems of large space requirements and high difficulty in actual vehicle debugging. Attached Figure Description

[0035] Figure 1 The structure of a folding arm boom device in the prior art;

[0036] Figure 2 This is a schematic diagram of the self-unloading operation.

[0037] Figure 3 This is a schematic diagram of the self-packing operation.

[0038] Figure 4 This is a schematic diagram of the test and debugging device for simulating the motion of a folding boom crane according to the present invention;

[0039] Figure 5 This is a schematic diagram of the base section;

[0040] Figure 6 This is a schematic diagram of the motion simulation device mounted on the upper part of the device;

[0041] Figure 7 This is a schematic diagram of the framework structure;

[0042] Figure 8 This is a schematic diagram of a lateral movement device;

[0043] Figure 9 This is a schematic diagram of a longitudinal motion device;

[0044] Figure 10 This is a schematic diagram of a forward and backward motion device;

[0045] Figure 11 This is a schematic diagram of a rotary motion device. Detailed Implementation

[0046] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0047] This invention comprises two parts: the first part is a base (8), which provides support and mobility; the second part is an upper motion simulation device that simulates the movement of a boom hook and a folding boom crane. The structure is as follows... Figure 4 As shown.

[0048] The dimensions (length, width, height) of the test and debugging device for simulating the folding arm hook are: 2030mm*1510mm*2100mm.

[0049] The base section (8) includes a support platform (81), casters (80), wheels (82), reinforcing ribs, and other structures, providing good stability and sufficient support. The structure is as follows: Figure 5 As shown. The bottom of the support platform ((81) is provided with casters (80) and casters (82), with casters (80) located at the front and casters (82) located at the rear. The support platform ((81) is provided with reinforcing ribs.

[0050] Parameters of casters (80) and casters (82):

[0051] Table 1 Parameters of Support Wheels and Casters

[0052] Wheel diameter 75 mm Wheel width 32 mm Single load 120 kg

[0053] The dimensions (length, width, height) of the base part (8) are: 2030mm*1510mm*530mm.

[0054] The upper-mounted motion simulation device includes: a frame structure (1), a lateral motion device (2), a longitudinal motion device (3), a forward and backward motion device (4), a rotational motion device (5), a sensing and control device (6), and a debugging and testing system (7). The structure is as follows: Figure 6 As shown.

[0055] The frame structure (1) serves as a frame, providing support and fixation for the motion device; the transverse motion device (2), longitudinal motion device (3), forward and backward motion device (4), and rotational motion device (6) use motors as the motion power source, providing three degrees of freedom of movement and one degree of freedom of rotation, providing a controllable motion form for testing; the sensor control device (6) serves as the control part, providing reliability for the test component and preventing the equipment from moving out of range; the debugging test system (7) serves as the final debugging test equipment, providing graphical basis for control, and using the control results of the image as the basis for code testing.

[0056] The lateral motion device (2) is fixed to the top of the frame structure (1) to provide lateral motion for the longitudinal motion device (3);

[0057] The longitudinal motion device (3) is fixed on the transverse slider (22) of the transverse motion device (2) to provide longitudinal motion for the forward and backward motion device (4);

[0058] The forward and backward motion device (4) is fixed on the longitudinal slider (32) of the longitudinal motion device (3) to provide forward and backward motion for the rotary motion device (5);

[0059] The rotary motion device (5) is fixed on the front and rear sliders (42) of the front and rear motion device (4) to provide rotational motion for the debugging and testing equipment (7). That is, the debugging and testing equipment (7) has four degrees of freedom: horizontal, vertical, front and rear, and rotational. The sensor control device (6) detects signals as key signals to ensure the normal operation of the equipment and forms a protective control logic.

[0060] The frame structure (1) consists of three parts: a first-layer outer frame (12), which serves as the basic support connecting the base part (8) and the upper motion simulation device. It is bolted to the bottom of the outer high rod (11) through reinforcing ribs for easy adjustment and fixation. The top of the outer high rod (11) is bolted to the second-layer outer frame (13) through reinforcing ribs to form a hollow rectangular frame structure (outer dimensions: length, width, and height: 1800×1300×1500mm). The structure is as follows. Figure 7 As shown.

[0061] The lateral motion device (2), as the outermost moving mechanism, includes: a lateral lead screw (23), a lateral guide rail (25), a lateral sprocket assembly (24), a lateral coupling (20), a lateral drive motor (21), and a lateral slider (22). The structure is as follows: Figure 8 As shown.

[0062] The output shaft of the transverse drive motor (21) is connected to the transverse sprocket assembly (24), and the transverse coupling (20) is connected to the bottom of the transverse sprocket assembly (24). The output end of the transverse coupling (20) is connected to the transverse lead screw (23), and a transverse slider (22) is provided on the transverse lead screw (23). A transverse guide rail (25) is provided on the second layer (13) of the outer frame. The slider on the transverse guide rail (25) is connected to the transverse slider (22) on the transverse lead screw (23), so that the transverse slider (22) can only move along the direction of the transverse guide rail (25).

[0063] Power is provided by a transverse drive motor (21), which transmits the power to the transverse lead screw (23) via the transverse sprocket assembly (24) and the transverse coupling (20). The transverse lead screw (23) converts the rotational motion into linear motion, which drives the transverse slider (22) to move laterally under the constraint of the transverse guide rail (25). The maximum movement distance reaches 1550mm.

[0064] The longitudinal motion device (3), as the second layer of movement, includes: a longitudinal motion frame, a longitudinal lead screw (33), a longitudinal guide rail (35), a longitudinal sprocket assembly (34), a longitudinal coupling (30), a longitudinal drive motor (31), and a longitudinal slider (32). The structure is as follows: Figure 9 As shown. The longitudinal motion frame is suspended below the transverse slider (22) of the transverse motion device (2).

[0065] The output shaft of the longitudinal drive motor (31) is connected to the transverse longitudinal sprocket assembly (34). The longitudinal sprocket assembly (34) is connected to the upper part of the longitudinal coupling (30). The output end of the longitudinal coupling (30) is connected to the longitudinal lead screw (33). A longitudinal slider (32) is provided on the longitudinal lead screw (33). A longitudinal guide rail (35) is provided on the longitudinal motion frame. The slider on the longitudinal guide rail (35) is connected to the longitudinal slider (32) on the longitudinal lead screw (33), so that the longitudinal slider (32) can only move along the direction of the longitudinal guide rail (35).

[0066] The power is provided by the longitudinal drive motor (31), which is transmitted to the longitudinal lead screw (33) via the longitudinal sprocket assembly (34) and the longitudinal coupling (30). The longitudinal lead screw (33) converts the rotational motion into linear motion, which drives the longitudinal slider (32) to move laterally under the constraint of the longitudinal guide rail (35), with a maximum movement distance of 1050mm.

[0067] The forward and backward motion device (4), as the innermost moving mechanism, includes: a support plate, front and rear lead screws (43), front and rear guide rails (45), front and rear couplings (40), front and rear drive motors (41), and front and rear sliders (42). The structure is as follows: Figure 10 As shown.

[0068] The support plate is set on the longitudinal slider (32) of the longitudinal motion device (3). The front and rear lead screws (43), the front and rear guide rails (45), the front and rear couplings (40), the front and rear drive motors (41) and the front and rear sliders (42) are set on the support plate. The output shaft of the front and rear drive motors (41) is connected to the front and rear couplings (40). The output end of the front and rear couplings (40) is connected to the front and rear lead screws (43). The front and rear lead screws (43) are equipped with front and rear sliders (42). The front and rear guide rails (45) are also equipped with sliders. The sliders on the front and rear guide rails (45) are connected to the front and rear sliders (42) on the front and rear lead screws (43), so that the front and rear sliders (42) can only move along the direction of the front and rear guide rails (45).

[0069] The power is provided by the front and rear drive motors (41) and transmitted to the front and rear lead screws (43) via the front and rear couplings (40). The front and rear lead screws (43) convert the rotational motion into linear motion, driving the front and rear sliders (42) to move back and forth under the constraint of the front and rear guide rails (45), with a maximum movement distance of 1050mm.

[0070] The rotary motion device (5) comprises: a support base, a rotary drive motor (51), a rotary coupling (50), a rotary motion rod (52), and a ejector pin (53). The structure is as follows: Figure 11 As shown.

[0071] The support base is set on the front and rear sliders (42) of the front and rear direction motion device (4), and the rotary drive motor (51) and the rotary coupling (50) are set on the support base; the output end of the rotary drive motor (51) is connected to the rotary coupling (50), the rotary coupling (50) is connected to the rotary motion rod (52), and the end of the rotary motion rod (52) is provided with a pin (53).

[0072] Power is provided by a rotary drive motor (51) and transmitted to a rotary motion rod (52) via a rotary coupling (50). The rotary motion rod (52) simulates the rotational motion of a boom hook and a folding boom crane, with a maximum motion angle of 90°.

[0073] The sensing and control device (6) is installed on the second layer (13) of the outer frame;

[0074] The debugging and testing system (7) is set on the longitudinal motion frame.

[0075] The key to this invention lies in:

[0076] 1. The motion is transmitted step by step. For example, the lateral motion device is fixed to the frame structure to provide lateral motion for the longitudinal motion device; the longitudinal motion device is fixed to the slider of the lateral motion device to provide longitudinal motion for the front-back motion device; the front-back motion device is fixed to the slider of the longitudinal motion device to provide front-back motion for the rotational motion device; and the rotational motion device is fixed to the slider of the front-back motion device to provide rotational motion for the debugging and testing equipment. That is, the debugging and testing equipment has four degrees of freedom: lateral, longitudinal, front-back, and rotational.

[0077] 2. The transverse, longitudinal, and forward / backward motion devices are all composed of a lead screw, guide rail, sprocket assembly, connecting coupling, drive motor, and motion slider;

[0078] 3. Proximity switch sensors are used to detect signals, serving as key signals to ensure the normal operation of the equipment and to form protective control logic;

[0079] 4. Use the images captured by the camera as the basis for control, and use the control results of the images as the basis for code testing.

[0080] Effects of the invention:

[0081] This invention adopts a novel approach to solve the problems of excessive space occupation and difficult debugging and control of hook-and-fold arm self-unloading devices. It transforms the device into a simple motor-screw method with simple structure, simple control logic, and convenient control and debugging. This method retains the consistency of motion degrees of freedom and the consistency of debugging and testing, while simplifying the control method and control logic. This allows different movements to use the same control logic, facilitating debugging and testing of the control program. The invention uses a nested structure connection method to superimpose different motion forms to achieve the effect of multiple degrees of freedom and multiple motion superposition.

[0082] The advantages of this invention are that the control method of the device is simple. By rotating the motor, the motion results of four degrees of freedom are obtained. The accuracy of the target control method is analyzed and verified using data from the camera and sensors. Compared with the actual device, this invention saves the problems of large space requirements and high difficulty in actual vehicle debugging.

[0083] This invention is applicable to debugging and testing control logic, control programs, key position capture of cameras, and sending signals from host computers.

[0084] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A testing and debugging device for simulating the motion of a boom hook jib crane, characterized in that, The test and debugging device includes: a base part (8) and an upper motion simulation device for simulating the motion of the boom hook and the folding boom crane; The upper motion simulation device includes: a frame structure (1), a lateral motion device (2), a longitudinal motion device (3), a forward and backward motion device (4), a rotational motion device (5), a sensing and control device (6), and a debugging and testing system (7). The frame structure (1) serves as a frame, providing support and fixation for the motion device; the transverse motion device (2), longitudinal motion device (3), forward and backward motion device (4), and rotational motion device (5) use motors as the motion power source, providing three degrees of freedom of movement and one degree of freedom of rotation, providing a controllable motion form for testing; the sensor control device (6) serves as the control part, providing reliability for the test components and preventing the equipment from moving out of range; the debugging test system (7) serves as the final debugging test equipment, providing graphical basis for control, and using the control results of the image as the basis for code testing; The lateral motion device (2) is fixed to the top of the frame structure (1) to provide lateral motion for the longitudinal motion device (3); The longitudinal motion device (3) is fixed on the transverse slider (22) of the transverse motion device (2) to provide longitudinal motion for the forward and backward motion device (4); The forward and backward motion device (4) is fixed on the longitudinal slider (32) of the longitudinal motion device (3) to provide forward and backward motion for the rotary motion device (5); The rotational motion device (5) is fixed on the front and rear sliders (42) of the front and rear direction motion device (4) to provide rotational motion for the debugging and testing system (7), that is, the debugging and testing system (7) has four degrees of freedom: horizontal, vertical, front and rear direction and rotational direction. The sensing and control device (6) is installed on the frame structure (1) to detect signals, which serve as key signals to ensure the normal operation of the equipment and to form protective control logic; in, The base part (8) includes: a support platform (81), casters (80), casters (82) and a reinforcing rib structure. The bottom of the support platform (81) is provided with casters (80) and casters (82). The casters (80) are located at the front and the casters (82) are located at the rear. The bottom of the support platform (81) is provided with reinforcing ribs. The frame structure (1) consists of three parts: the first layer of the outer frame (12), the outer high rod (11), and the second layer of the outer frame (13); the first layer of the outer frame (12) serves as the basic support for connecting the base part (8) and the upper motion simulation device. It is connected to the bottom of the outer high rod (11) by bolts through reinforcing ribs, which facilitates adjustment and fixation. The top of the outer high rod (11) is connected to the second layer of the outer frame (13) by bolts through reinforcing ribs. The lateral motion device (2), as the outermost moving motion, includes: a lateral lead screw (23), a lateral guide rail (25), a lateral sprocket assembly (24), a lateral coupling (20), a lateral drive motor (21), and a lateral slider (22); the output shaft of the lateral drive motor (21) is connected to the lateral sprocket assembly (24), the lower part of the lateral sprocket assembly (24) is connected to the lateral coupling (20), the output end of the lateral coupling (20) is connected to the lateral lead screw (23), and a lateral slider (22) is provided on the lateral lead screw (23); a lateral guide rail (25) is provided on the second layer (13) of the outer frame, and the slider on the lateral guide rail (25) is connected to the lateral slider (22) on the lateral lead screw (23), so that the lateral slider (22) can only move along the direction of the lateral guide rail (25).

2. The test and debugging device for simulating the motion of a boom hook jib crane as described in claim 1, characterized in that, The power is provided by the transverse drive motor (21), which is transmitted to the transverse lead screw (23) via the transverse sprocket assembly (24) and the transverse coupling (20). The transverse lead screw (23) converts the rotational motion into linear motion, which drives the transverse slider (22) to move laterally under the constraint of the transverse guide rail (25). The maximum movement distance reaches 1550mm.

3. The test and debugging device for simulating the motion of a boom hook jib crane as described in claim 1, characterized in that, The longitudinal motion device (3) serves as the second layer of movement and includes: a longitudinal motion frame, a longitudinal lead screw (33), a longitudinal guide rail (35), a longitudinal sprocket assembly (34), a longitudinal coupling (30), a longitudinal drive motor (31), and a longitudinal slider (32). The longitudinal motion frame is suspended below the transverse slider (22) of the transverse motion device (2). The output shaft of the longitudinal drive motor (31) is connected to the longitudinal sprocket assembly (34). The longitudinal coupling (30) is connected above the longitudinal sprocket assembly (34). The output end of the longitudinal coupling (30) is connected to the longitudinal lead screw (33). A longitudinal slider (32) is provided on the longitudinal lead screw (33). A longitudinal guide rail (35) is provided on the longitudinal motion frame. The slider on the longitudinal guide rail (35) is connected to the longitudinal slider (32) on the longitudinal lead screw (33), so that the longitudinal slider (32) can only move along the direction of the longitudinal guide rail (35).

4. The test and debugging device for simulating the motion of a boom hook jib crane as described in claim 3, characterized in that, The power is provided by the longitudinal drive motor (31), which is transmitted to the longitudinal lead screw (33) via the longitudinal sprocket assembly (34) and the longitudinal coupling (30). The longitudinal lead screw (33) converts the rotational motion into linear motion, which drives the longitudinal slider (32) to move longitudinally under the constraint of the longitudinal guide rail (35), with a maximum movement distance of 1050mm.

5. The test and debugging device for simulating the motion of a boom hook jib crane as described in claim 3, characterized in that, The front-back motion device (4), as the innermost moving motion, includes: a support plate, front and rear lead screws (43), front and rear guide rails (45), front and rear couplings (40), front and rear drive motors (41), and front and rear sliders (42). The support plate is set on the longitudinal slider (32) of the longitudinal motion device (3). The front and rear lead screws (43), front and rear guide rails (45), front and rear couplings (40), front and rear drive motors (41), and front and rear sliders (42) are set on the support plate. The output shaft of the front and rear drive motor (41) is connected to the front and rear couplings (40). The output end of the front and rear couplings (40) is connected to the front and rear lead screws (43). The front and rear lead screws (43) are equipped with front and rear sliders (42). The front and rear guide rails (45) are also equipped with sliders. The sliders on the front and rear guide rails (45) are connected to the front and rear sliders (42) on the front and rear lead screws (43), so that the front and rear sliders (42) can only move along the direction of the front and rear guide rails (45).

6. The test and debugging device for simulating the motion of a boom hook folding arm crane as described in claim 5, characterized in that, The power is provided by the front and rear drive motors (41) and transmitted to the front and rear lead screws (43) via the front and rear couplings (40). The front and rear lead screws (43) convert the rotational motion into linear motion, driving the front and rear sliders (42) to move back and forth under the constraint of the front and rear guide rails (45), with a maximum movement distance of 1050mm.

7. The test and debugging device for simulating the motion of a boom hook jib crane as described in claim 5, characterized in that, The rotary motion device (5) is a rotary motion device, including: a support base, a rotary drive motor (51), a rotary coupling (50), a rotary motion rod (52), and a pin (53); the support base is set on the front and rear sliders (42) of the front and rear direction motion device (4), and the rotary drive motor (51) and the rotary coupling (50) are set on the support base; the output end of the rotary drive motor (51) is connected to the rotary coupling (50), the rotary coupling (50) is connected to the rotary motion rod (52), and the end of the rotary motion rod (52) is provided with a pin (53); the power is provided by the rotary drive motor (51) and transmitted to the rotary motion rod (52) through the rotary coupling (50). The rotary motion rod (52) simulates the rotary motion of the boom hook and the folding boom crane, and the maximum motion angle reaches 90°.

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