Construction device big arm joint design method

Abstract

The invention provides a construction device big arm node design method. The construction device big arm node design method comprises the following steps that S1, coordinate systems are established at all joints of a construction device big arm through an MDH model; s2, the working condition of the tail end of the large arm of the construction device is set, D-H parameter variables between any two joints are solved through inverse kinematics, and therefore the length d of each oil cylinder and the joint angle theta of each joint are obtained; s3, calculating the stress process of the oil cylinder according to the torque of the oil cylinder in combination with the length d of the oil cylinder or the joint angle theta of the joint so as to judge whether the torque or the hinge point of the oil cylinder meets the working condition requirement of the tail end of the large arm of the construction device; s4, if the currently set oil cylinder model or structure meets the working condition requirement of the tail end of the large arm of the construction device, the current design is reserved; if the currently set torque or structure of the oil cylinder does not meet the working condition requirement of the tail end of the large arm of the construction device, the model of the oil cylinder is replaced or the position of the hinge point is corrected to improve the rationality of large arm mechanical design.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical design of construction equipment, and in particular to a method for designing a node of a large arm of a construction equipment. Background Art

[0002] The existing construction vehicle arm design method usually requires the establishment of a simulation workspace, and then the three-dimensional model of the arm's design and construction parameters is integrated into the simulation workspace to simulate the construction status to confirm whether the current arm parameters meet the construction requirements.

[0003] This method can only detect the movement state of the upper arm, and cannot provide feedback on whether the cylinder meets the structural design and movement force requirements. Moreover, the current force verification method must be calculated through software and can only provide state quantities, which is not easy to guide the design and requires a large amount of work. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a construction device boom node design method, aiming to improve the rationality of the boom mechanical design.

[0005] The present invention provides a construction device boom node design method, comprising the following steps: S1, establish the coordinate system at each joint of the construction device arm through the MDH model; S2, set the working condition of the end of the construction device's boom, and solve the DH parameter variable between any two joints through inverse kinematics to obtain the length d of each cylinder and the joint angle θ of each joint; S3, calculating the force process of the cylinder according to the torque of the cylinder combined with the length d of the cylinder or the joint angle θ of the joint, so as to determine whether the torque or hinge point of the cylinder meets the working condition requirements of the end of the boom of the construction device; S4: If the currently set cylinder model or structure meets the working condition requirements of the end of the boom of the construction device, retain the current design; if the currently set cylinder torque or structure does not meet the working condition requirements of the end of the boom of the construction device, change the cylinder model or correct the hinge point position.

[0006] In one embodiment, in step S3, the torque of the cylinder is combined with the length of the cylinder to calculate the force process of the cylinder. Specifically, the torque of the cylinder takes the rated load of the current cylinder model as a constant value, and the force of the cylinder is equal to the ratio of the torque of the cylinder to the length of the cylinder. In this way, the maximum tolerable force F0 of the cylinder in the process of completing the set working condition at the end of the boom of the construction device is obtained, F0=M 额 / d.

[0007] In one embodiment, in step S3, verifying whether the torque of the oil cylinder meets the working condition requirements of the end of the boom of the construction device includes: measuring the actual force F1 of the oil cylinder at the current length, and comparing the magnitudes of F1 and F0; If F1>F0, it is determined that the current cylinder torque cannot meet the working condition requirements; If F1<F0, it is determined that the current cylinder torque can meet the working condition requirements.

[0008] In one embodiment, in step S3, the torque M of the cylinder 10 is combined with the joint angle θ of the joint to calculate the force process of the cylinder 10 as follows: it is known that in the process of completing the set working conditions at the end of the boom of the construction device, the joint angle θ changes with the length d of the cylinder 10, and the axial force of the cylinder 10 under different joint angles θ is measured, and the relationship between the joint angle θ and the axial force of the cylinder 10 is sorted out.

[0009] In one embodiment, the step also includes S5, testing whether the cylinder after the model change interferes with other structures of the construction device's boom when completing the set working conditions at the end of the construction device's boom; if the hinge point of the cylinder is adjusted, the stress condition of the cylinder after the hinge point of the cylinder is adjusted as the joint angle θ changes is tested.

[0010] In one embodiment, in step S5, testing whether the cylinder after the model change interferes with other structures of the construction device boom during the process of completing the set working conditions at the end of the construction device boom includes: obtaining the radius R1 of the cylinder, calculating the radial distance H required for the cylinder to rotate during the movement of the boom, and comparing the sizes of R1 and H: If R1>H, it is determined that the radius of the cylinder is too large, resulting in interference with other structures of the construction device boom during rotation; If R1<H, it is determined that the radius of the cylinder is reasonably selected, which can avoid interference with other structures of the construction device boom during rotation.

[0011] In one embodiment, in step S5, the method for determining the radial distance H required for the cylinder to rotate during the movement of the upper arm is: obtain the hinge point position at any joint angle θ, which is used to determine the rotation space of the cylinder, and the value of H is the distance between the cylinder fixed to one end of the fixed frame and the fixed frame when the hinge point is at any position.

[0012] In one embodiment, in step S5, the force applied to the cylinder after the hinge point of the cylinder is adjusted as the joint angle θ changes includes: Calculate the rated axial force F0 of the cylinder and the component F0 parallel to the boom 0X ; Get the actual force F2 at the hinge point and calculate the component F of F2 parallel to the boom direction 2X ; Contrast F 0X and F 2X size; If F X >F 2X , then the rated axial force F0 of the cylinder can meet the requirement of pulling the working device back; If F X <F 2X , then the rated axial force F2 of the cylinder is not enough to pull the working device back.

[0013] In one embodiment, step S5 further includes determining the hinge adjustment direction of the oil cylinder, specifically including: A coordinate system is established at the hinge point of the cylinder to form a relationship curve a between the joint angle θ and the axial force F0 of the cylinder before adjustment 3原始 ; The distance of the hinge point adjusted along the coordinate axis is preset to be d, and a relationship curve a3 between the joint angle θ and the cylinder axial force F1 after the hinge point is adjusted is formed. According to different directions of the coordinate axis, multiple force curves of the adjusted cylinder are formed; Combine multiple curves a3 and a 3原始 By comparison, select the curve that makes the cylinder bear the most reasonable force, so as to determine the adjustment direction of the hinge point.

[0014] In one embodiment, in step S2, solving the DH parameter variables between any two joints through inverse kinematics includes: determining the transformation between any two coordinate systems, obtaining the total transformation matrix of the boom, and obtaining the length of each cylinder and the joint angle θ of each joint through the matrix parameter table given by MDH and the end position of the working device.

[0015] The construction device boom node design method provided by the present invention establishes a coordinate system at each joint of the construction device boom through the MDH model, and simulates the movement of the end joint of the construction device boom when the end is in the working condition. The DH parameter variable between any two joints is solved by inverse kinematics, so as to obtain the length of each cylinder and the joint angle θ of each joint, so as to calculate the force of the cylinder in any kinematic pair. The factors affecting the force of the cylinder include the rated torque of the cylinder and the position of the hinge point of the cylinder. By calculating the rated force of the cylinder and then comparing the actual force of the cylinder, a suitable cylinder model can be designed or the hinge point of the cylinder can be adjusted appropriately. Compared with the prior art through computer simulation, the construction device boom node design method provided by the present invention can quickly analyze the most reasonable force from the selection and structural setting of the cylinder, making the setting of the boom node more direct and time-saving.

[0016] Compared with the prior art, the beneficial effects of the present invention include: 1. The present invention can quickly and automatically calculate the motion parameters of the boom and the cylinder node force at each moment; 2. It can provide efficient guidance for node design, simplify the design process and shorten the design time; 3. The closed-loop verification solution can provide real-time feedback on the force applied to the cylinder, quickly identify problems and propose solutions; 4. This method can provide real-time boundary conditions for static simulation to facilitate the verification and correction of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a flow chart of a method for designing a node of a large arm of a construction device in an embodiment of the present invention.

[0019] Figure 2 for Figure 1 A schematic structural diagram of a construction device assembly used as an example.

[0020] Figure 3 for Figure 2 Schematic diagram of the structure of the main arm of the construction device.

[0021] Figure 4 for Figure 3 Schematic diagram of MDH parametric modeling of the middle construction device boom.

[0022] Figure 5 for Figure 2 A structural schematic diagram showing the comparison of the front and rear rotation of the flip head of one of the kinematic pairs of the middle construction device's boom when the cylinder model is appropriate.

[0023] Figure 6 for Figure 5 A is a partial enlarged view of the figure.

[0024] Figure 7 for Figure 2 Schematic diagram of the structure of one of the kinematic pairs of the boom of the construction device before and after the flip head rotates when the cylinder is too large.

[0025] Figure 8 for Figure 7 A partial enlarged view of B.

[0026] Fig. 9 for Figure 2 The variation curve a of the joint angle θ of the middle cylinder at the original hinge point and the length d of the cylinder 10 3原始 Schematic diagram.

[0027] Fig.10 for Figure 2 Schematic diagram of curve a3 showing the change of the joint angle θ of the middle cylinder at the new hinge point and the length d of the cylinder 10.

[0028] Fig.11 for Figure 2 The variation curve a of the joint angle θ of the middle cylinder at the new and old hinge points and the length d of the cylinder 10 3原始 Schematic diagram for comparison with a3.

[0029] Fig.12 Schematic diagram of the adjustment direction of the hinge point 20.

[0030] Reference numerals: oil cylinder 10 , hinge point 20 , boom 30 , tilting head 40 . DETAILED DESCRIPTION

[0031] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the description of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] The directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0034] The terms "first", "second", "third", etc. are merely used to distinguish elements of similar nature, and do not indicate or imply relative importance or a particular order.

[0035] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0036] Please refer to Figure 1-Figure 12 The embodiment of the present invention provides a construction device boom node design method, comprising the following steps: S1, establish the coordinate system at each joint of the construction device arm through the MDH model; S2, setting the working condition of the end of the boom of the construction device, and solving the DH parameter variable between any two joints by inverse kinematics, thereby obtaining the length d of each cylinder 10 and the joint angle θ of each joint; S3, calculating the force process of the cylinder 10 according to the torque of the cylinder 10 combined with the length d of the cylinder 10 or the joint angle θ of the joint, so as to determine whether the torque of the cylinder 10 or the hinge point 20 meets the working condition requirements of the end of the boom of the construction device; S4, if the currently set oil cylinder 10 model or structure meets the working condition requirements of the end of the boom of the construction device, retain the current design; if the currently set oil cylinder 10 torque or structure does not meet the working condition requirements of the end of the boom of the construction device, replace the oil cylinder 10 model or correct the hinge point 20 position.

[0037] Specifically, this embodiment uses a five-degree-of-freedom down-the-hole drill as an example to supplement the design method of the construction device boom node. The drill rig boom is an important structure for adjusting the posture of the position of the drill rig working device. It is composed of four structures: a drill boom seat, a boom 30, a flip head 40, and a compensation bracket. The relative posture of the four structures is adjusted by the extension and retraction of five cylinders. The swing cylinder controls the boom and the working device to swing in the horizontal direction, the lifting cylinder controls the boom and the working device to rotate up and down, the pitch cylinder and the deflection cylinder control the propulsion beam to rotate around joints 3 and 4, and the compensation cylinder pushes the propulsion beam to translate up and down. The following force-bearing structure takes the pitch cylinder 10, the boom 30, the flip head 40, and the hinge 20 between the cylinder 10 and the flip head 40 as examples, please refer to Figure 2-Figure 4 The oil cylinder 10, the arm 30 and the flip head 40 are connected in sequence to form a triangle with stable force.

[0038] In step S1, a DH model is constructed for each joint of the construction device arm, and MSH is adjusted according to the torsion angle α. i-1 , joint offset a i-1 , joint angle θ i-1 、Cylinder 10 length d i-1 The order is determined by:

[0039]

[0040] in, is the transformation matrix of two adjacent coordinate systems. In this embodiment, a five-degree-of-freedom arm is taken as an example, and i is an integer between 0 and 5. The end posture of the arm can be regarded as changing from the first joint to the fifth joint in sequence, and the matrices of the first to fifth joints are obtained by multiplying the change matrices of each joint.

[0041] In this embodiment, in step S2, solving the DH parameter variables between any two joints through inverse kinematics includes: determining the transformation between any two coordinate systems, obtaining the total transformation matrix of the upper arm, and obtaining the length d of each cylinder 10 and the joint angle θ of each joint through the matrix parameter table given by MDH and the end position of the working device.

[0042] Specifically, according to the preset working condition to be completed by the end of the boom, that is, the rotation angle to be completed by the end of the fifth joint and the corresponding length d of the oil cylinder 10, the inverse kinematics analysis is performed on each joint of the boom, and the parameter variables between each kinematic pair are calculated from the final position of the fifth joint, that is, the rotation angle θ of each hinge 20, and then the extension amount Δd of the oil cylinder 10 is calculated from the rotation angle θ to obtain the current length d of the oil cylinder 10. Steps S1 and S2 can be calculated by the method disclosed in the prior art or directly measured by an instrument.

[0043] In step S3, the force process of the cylinder 10 is calculated according to the torque of the cylinder 10 combined with the length d of the cylinder 10 or the joint angle θ of the joint, in order to selectively select the torque of the cylinder 10 as the calculation basis to determine whether the torque of the cylinder 10 meets the working condition requirements of the end of the boom of the construction device, or select the joint angle θ of the joint as the calculation basis to determine whether the hinge 20 meets the working condition requirements of the end of the boom of the construction device. In this embodiment, it is preferred to first determine whether the torque of the cylinder 10 meets the working condition requirements of the end of the boom of the construction device, and if the model of the cylinder 10 still cannot meet the working condition requirements after adjustment in step S4, the mechanical calculation and design of the hinge 20 are then performed.

[0044] In this embodiment, in step S3, the torque of the cylinder 10 is combined with the length of the cylinder 10 to calculate the force process of the cylinder 10 as follows: the torque of the cylinder 10 takes the rated load of the current model of the cylinder 10 as a constant value, and the force of the cylinder 10 is equal to the ratio of the torque of the cylinder 10 to the length of the cylinder 10, so as to obtain the force F0 of the cylinder 10 in the process of completing the set working condition at the end of the boom of the construction device, F0=M 额 / d, d is the length of the oil cylinder 10 under the current working condition. The maximum force of the oil cylinder 10 is M 额 / d Max , d Max It is the length of the oil cylinder 10 at its ultimate extension.

[0045] Specifically, the rated load of the oil cylinder 10 is expressed by its rated moment M 额As a benchmark, the oil cylinder 10 can withstand its own rated moment M 额 The following force, during the extension and retraction of the cylinder 10, the rated moment M 额 If the maximum force F0 of the cylinder 10 under the preset elongation Δd is M 额 The ratio to d, as the cylinder d changes, the bearing capacity of F0 becomes smaller.

[0046] In this embodiment, in step S3, verifying whether the torque M of the oil cylinder 10 meets the working condition requirements of the end of the boom of the construction device includes: measuring the actual force F1 of the oil cylinder 10 at the current length, and comparing the magnitudes of F1 and F0; If F1>F0, it is determined that the current torque of cylinder 10 cannot meet the working condition requirements; If F1<F0, it is determined that the current torque of the oil cylinder 10 can meet the working condition requirements.

[0047] Specifically, the actual force F1 of the cylinder 10 at the current length can be directly measured by an external system. Generally speaking, the actual force F1 of the cylinder 10 should be less than or equal to its own rated force F0, otherwise the cylinder 10 cannot withstand excessive force and cause structural damage. Therefore, this embodiment uses the actual force F1 and rated force F0 of the cylinder 10 as conditions for verifying whether the torque M of the cylinder 10 meets the working conditions of the end of the boom of the construction device.

[0048] In this embodiment, the step also includes S5, testing whether the cylinder 10 after the model change interferes with other structures of the construction device's boom when completing the set working conditions at the end of the construction device's boom; if the hinge point 20 of the cylinder 10 is adjusted, then the hinge point 20 of the cylinder 10 is tested after adjustment and the force condition of the cylinder 10 changes with the joint angle θ.

[0049] Specifically, the selection principle of the new oil cylinder 10 is to obtain a reference oil cylinder model based on the previous design product or competitive product, so as to calculate the critical value of the tension and pressure of the oil cylinder 10, and compare the critical value with the force scheme of the old oil cylinder 10 to know whether the new oil cylinder model and the boom structure match. After replacing the new oil cylinder 10 model, the rated torque M of the new oil cylinder 10 should be checked. 额 The new oil cylinder 10 is usually selected with a larger rated torque M 额 , but the disadvantage is that the rated torque M 额 The larger the diameter, the larger the radius R1 of the cylinder 10. This can easily cause interference when the cylinder 10 is connected or linked to other structures of the construction device boom, so that the cylinder 10 cannot drive the working device at the end of the boom to the preset position. The purpose of verifying the construction matching degree of the new cylinder 10 is to quickly select the optimal cylinder 10 model.

[0050] In step S5 of this embodiment, the test of whether the cylinder 10 after the replacement model interferes with other structures of the construction device boom during the process of completing the set working conditions at the end of the construction device boom includes: obtaining the radius R1 of the cylinder 10, measuring the radial distance H required for the cylinder 10 to rotate during the movement of the boom, please continue to refer to Figure 5-Figure 8 The method for determining the radial distance H required for the cylinder 10 to rotate during the boom movement is as follows: the position of the hinge point 20 at any joint angle is obtained to determine the rotation space of the cylinder 10, and H is taken as the distance between the end of the cylinder 10 fixed to the flip head 40 and the flip head 40 when the hinge point 20 is at any position. The dotted line part of the cylinder 10 in the figure shows the initial position of the cylinder 10 before working, and the solid line part of the cylinder 10 shows the position and length reached by the cylinder 10 after completing the preset working condition.

[0051] Compare the sizes of R1 and H: like Figure 7-Figure 8 As shown, R1>H, when the cylinder 10 needs to complete the preset working condition, it needs to extend its radial structure beyond the boom 30, which causes interference with other structures of the construction device boom during rotation, and it is determined that the radius of the cylinder 10 is too large; like Figure 5-Figure 6 As shown, R1<H, when the cylinder 10 needs to complete the preset working condition, it does not need to contact with other structures of the boom such as the arm support 30, that is, it can avoid interfering with other structures of the boom of the construction device during rotation, and it is determined that the radius of the cylinder 10 is reasonably selected.

[0052] In this embodiment, in step S5, after the hinge point 20 of the test cylinder 10 is adjusted, the force applied to the cylinder 10 as the joint angle θ changes includes: Calculate the rated axial force F0 of the cylinder 10 and the component F0 in the direction parallel to the boom 30 0X ; Obtain the actual force F2 at the hinge 20 and calculate the component F of F2 in the direction parallel to the arm 30 2X ; Contrast F 0X and F 2X size; If F X >F 2X , then the rated axial force F0 of the cylinder 10 can meet the requirement of pulling the working device back; If F X <F 2X , then the rated axial force F2 of the cylinder 10 is not enough to pull the working device back.

[0053] Specifically, when the drilling rig boom adjusts the drilling rig working device, the pitch cylinder 10 pulls the working device back mainly by the force component in the horizontal direction. In the drilling rig boom structure shown in this embodiment, a coordinate system is established at the hinge point 20, and the length direction of the boom 30 can be regarded as parallel to the X-axis direction. The force at the hinge point 20 is obtained, and the component of the rated axial force of the pitch cylinder 10 in the X-axis direction can be used as a basis for judging whether the working device can be pulled back.

[0054] In this embodiment, in step S3, the torque M of the cylinder 10 is combined with the joint angle θ of the joint to calculate the force process of the cylinder 10 as follows: it is known that in the process of completing the set working conditions at the end of the boom of the construction device, the joint angle θ changes with the length d of the cylinder 10, and the axial force of the cylinder 10 under different joint angles θ is measured, and the relationship between the joint angle θ and the axial force of the cylinder 10 is sorted out.

[0055] Specifically, since the working device needs to be driven by the rotation of the flip head 40 to reach the position required by the working condition, as the flip head 40 flips, the length d of the oil cylinder 10 also changes with the change of the joint angle θ. Based on this principle, the relationship between the length d of the oil cylinder 10 and the joint angle θ generated by the rotation of the flip head 40 can be analyzed to determine whether the maximum axial force of the oil cylinder 10 and the change range of its length d can maintain the flip head 40 to drive the working device to meet the preset working condition. When the joint angle θ reaches the maximum value required for the working condition, it is necessary to pay attention to whether the oil cylinder 10 can pull the working device back.

[0056] In this embodiment, step S5 further includes determining the adjustment direction of the hinge point 20 of the oil cylinder 10, which specifically includes: A coordinate system is established at the hinge point 20 of the oil cylinder 10 to form a relationship curve a between the joint angle θ and the axial force F0 of the oil cylinder 10 before adjustment. 3原始 ; The preset distance of the hinge point 20 adjusted along the coordinate axis is d, and a relationship curve a3 between the joint angle after the hinge point 20 is adjusted and the axial force F1 of the cylinder 10 is formed. According to different directions of the coordinate axis, the force curves of the adjusted cylinder 10 are formed in multiple lines; Combine multiple curves a3 and a 3原始 By comparison, the curve that makes the cylinder 10 most reasonably stressed is selected, thereby determining the adjustment direction of the hinge point 20.

[0057] Please refer to Figure 9-12 First, analyze the change curve of the joint angle θ of the cylinder 10 at the original hinge point 20-the length d of the cylinder 10, as shown in Figure 8 As shown; then analyze the change curve of the joint angle θ-cylinder length d 10 after the hinge point 20 is moved upward, downward, left or right, as Fig. 9The figure shows the variation curve of the joint angle θ after the hinge point 20 is moved upward and the length d of the cylinder 10. Fig.12 is a schematic diagram of the adjustment direction of the hinge point 20; finally, the change curves of the joint angle θ-the length d of the cylinder 10 at the new and old hinge point 20 positions before and after the adjustment are compared, such as Fig.11 As shown, the optimal adjustment direction of the hinge point 20 can be clearly seen.

[0058] The construction device boom node design method provided in this embodiment establishes a coordinate system at each joint of the construction device boom through the MDH model, and simulates the movement of the end joint of the construction device boom when the end is in the working condition. The DH parameter variable between any two joints is solved by inverse kinematics, so as to obtain the length of each cylinder 10 and the joint angle θ of each joint, so as to calculate the force of the cylinder 10 in any kinematic pair. The factors affecting the force of the cylinder 10 include the rated torque of the cylinder 10 and the position of the hinge 20 of the cylinder 10. By calculating the rated force of the cylinder 10 and comparing it with the actual force of the cylinder 10, a suitable cylinder 10 model can be designed or the hinge 20 of the cylinder 10 can be adjusted appropriately. Compared with the prior art of full computer simulation, the construction device boom node design method provided in this embodiment can quickly analyze the most reasonable force from the selection and structural setting of the cylinder 10, making the setting of the boom node more direct and time-saving.

[0059] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A construction device boom node design method, characterized in that: The following steps are involved: S1, establish the coordinate system at each joint of the construction device arm through the MDH model; S2, setting the working condition of the end of the boom of the construction device, and solving the DH parameter variable between any two joints by inverse kinematics, thereby obtaining the length d of each cylinder (10) and the joint angle θ of each joint; S3, calculating the force process of the cylinder (10) according to the torque of the cylinder (10) combined with the length d of the cylinder (10) or the joint angle θ of the joint, thereby determining whether the torque of the cylinder (10) or the hinge point (20) meets the working condition requirements of the end of the boom of the construction device; S4, if the currently set oil cylinder (10) model or structure meets the working condition requirements of the end of the boom of the construction device, retain the current design; if the currently set oil cylinder (10) torque or structure does not meet the working condition requirements of the end of the boom of the construction device, replace the oil cylinder (10) model or correct the hinge point (20) position.

2. The construction device boom node design method according to claim 1, characterized in that: In step S3, the torque of the oil cylinder (10) is combined with the length of the oil cylinder (10) to calculate the force process of the oil cylinder (10). Specifically, the torque of the oil cylinder (10) takes the rated load of the current model of the oil cylinder (10) as a constant value, and the force of the oil cylinder (10) is equal to the ratio of the torque of the oil cylinder (10) to the length of the oil cylinder (10). In this way, the force F0 of the oil cylinder (10) in the process of completing the set working condition at the end of the boom of the construction device is obtained, F0=M 额 / d.

3. The construction device boom node design method according to claim 2, characterized in that: In step S3, verifying whether the torque of the oil cylinder (10) meets the working condition requirements of the end of the boom of the construction device includes: measuring the actual force F1 of the oil cylinder (10) at the current length, and comparing the magnitudes of F1 and F0; If F1>F0, it is determined that the current torque of the oil cylinder (10) cannot meet the working condition requirements; If F1<F0, it is determined that the current torque of the oil cylinder (10) can meet the working condition requirements.

4. The construction device boom node design method according to claim 2, characterized in that: In step S3, the torque of the cylinder (10) is combined with the joint angle θ of the joint to calculate the force process of the cylinder (10). Specifically, it is known that in the process of completing the set working condition at the end of the boom of the construction device, the joint angle θ changes with the length d of the cylinder (10). The axial force of the cylinder (10) under different joint angles θ is measured, and the relationship between the joint angle θ and the axial force of the cylinder (10) is sorted out.

5. The construction device boom node design method according to claim 1, characterized in that: The steps also include S5, testing whether the oil cylinder (10) after the model change interferes with other structures of the construction device's boom during the process of completing the set working conditions at the end of the construction device's boom; if the hinge point (20) of the oil cylinder (10) is adjusted, then testing the force condition of the oil cylinder (10) as the joint angle θ changes after the hinge point (20) of the oil cylinder (10) is adjusted.

6. The construction device boom node design method according to claim 5, characterized in that: In step S5, testing whether the oil cylinder (10) after the model change interferes with other structures of the boom of the construction device during the process of completing the set working conditions at the end of the boom of the construction device includes: obtaining the radius R1 of the oil cylinder (10), calculating the radial distance H required for the oil cylinder (10) to rotate during the movement of the boom, and comparing the sizes of R1 and H: If R1>H, it is determined that the radius of the oil cylinder (10) is too large, resulting in interference with other structures of the construction device boom during rotation; If R1<H, it is determined that the radius of the oil cylinder (10) is reasonably selected, and can avoid interference with other structures of the construction device boom during rotation.

7. The construction device boom node design method according to claim 6, characterized in that: In step S5, the radial distance H required for the oil cylinder (10) to rotate during the movement of the upper arm is determined by obtaining the position of the hinge point (20) at any joint angle θ to determine the rotation space of the oil cylinder (10), wherein H is taken as the distance between one end of the oil cylinder (10) fixed to the flip head (40) and the flip head (40) when the hinge point (20) is at any position.

8. The method for designing a construction device boom node according to claim 5, characterized in that: In step S5, after the hinge point (20) of the test cylinder (10) is adjusted, the force applied to the cylinder (10) as the joint angle θ changes includes: Calculate the rated axial force F0 of the cylinder (10) and the component F of F0 in the direction parallel to the boom (30) 0X ; Obtain the actual force F2 at the hinge (20) and calculate the component F of F2 in the direction parallel to the arm (30) 2X ; Contrast F 0X and F 2X size; If F X >F 2X , then the rated axial force F0 of the oil cylinder (10) can meet the requirement of pulling the working device back; If F X <F 2X , the rated axial force F2 of the oil cylinder (10) is not sufficient to pull the working device back.

9. The construction device boom node design method according to claim 5, characterized in that: Step S5 also includes determining the adjustment direction of the hinge point (20) of the oil cylinder (10), which specifically includes: A coordinate system is established at the hinge point (20) of the oil cylinder (10), forming a relationship curve a between the joint angle θ and the axial force F0 of the oil cylinder (10) before adjustment. 3原始 ; The hinge point (20) is preset to be adjusted by a distance d along the coordinate axis, and a relationship curve a3 between the joint angle θ after the hinge point (20) is adjusted and the axial force F1 of the oil cylinder (10) is formed. According to different directions of the coordinate axis, a plurality of force curves of the oil cylinder (10) after the adjustment are formed; Combine multiple curves a3 and a 3原始 By comparison, the curve that makes the force on the oil cylinder (10) most reasonable is selected, thereby determining the adjustment direction of the hinge point (20).

10. The construction device boom node design method according to claim 1, characterized in that: In step S2, solving the DH parameter variables between any two joints by inverse kinematics includes: determining the transformation between any two coordinate systems, obtaining the total transformation matrix of the boom, and obtaining the length d of each cylinder (10) and the joint angle θ of each joint through the matrix parameter table given by MDH and the end position of the working device.

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