Optimization method and optimization system for hinge point arrangement of bulk material system dumping mechanism

Abstract

The present application discloses an optimization method and an optimization system for the hinge point arrangement of a bulk material system dumping mechanism, and relates to the field of engineering optimization design. It includes: determining the angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the cylinder to determine the equivalent torque; obtaining multiple hinge point arrangements of the cylinder on the dumping mechanism; performing hinge point optimization on multiple hinge point arrangements based on the equivalent torque and the constraints of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge point positions in each hinge point arrangement; comparing the minimum values ​​of the maximum applied force of the cylinder in multiple hinge point arrangements to determine the target hinge point arrangement and target hinge point position. In view of the defect that the existing dumping mechanism only considers a single hinge point arrangement, the present invention selects the hinge point group that achieves the minimum cylinder force from multiple hinge point arrangements as the target hinge point position, and provides support for subsequent hinge point arrangement and position optimization.

Description

Technical Field

[0001] The present application relates to the field of engineering optimization design, and in particular to an optimization method and an optimization system for the hinge point arrangement of a bulk material system dumping mechanism. Background Art

[0002] The dumping mechanism including the ear box is a temporary harvesting silo of agricultural plant (such as corn) harvesters, which is used to temporarily store the harvested ears. When the ear box is full, the cylinder is extended and retracted to drive the box body to flip, so that the harvested ears are quickly transferred to the truck hopper and transported to the designated granary. Among them, the position relationship of the hinge point of the ear box determines the force of each mechanism during the flipping process. Therefore, a reasonable hinge point arrangement can achieve the optimal matching of the cylinder force and the cylinder stroke, that is, under the premise of meeting the safety of the cylinder design, the maximum cylinder force during the flipping process can be minimized, and a small-sized cylinder can be used accordingly, thereby reducing the design cost.

[0003] The existing technology for variable amplitude motion usually takes minimizing the cylinder force as the optimization goal to achieve the optimization of the hinge position. However, the existing technology is only applicable to the variable amplitude motion of a rigid body (the center of gravity position can be considered relatively unchanged), and the corn ear pile belongs to a bulk material system. In other words, when the silo where the corn ear pile is located flips, the shape of the corn ear pile in the silo will also change accordingly. The change in the center of gravity of the discrete materials in the silo will cause the change in the cylinder force to be different from the conventional rigid body motion, so it cannot be accurately simulated.

[0004] It can be seen that the existing technology cannot take into account the change of the center of gravity of the discrete materials as the position changes, which leads to inaccurate theoretical calculation of the cylinder force. Especially during the unloading process of the fruit ears, the cylinder force decreases accordingly as the discrete materials in the bin decrease. Therefore, the calculation of the cylinder force is inconsistent with the actual situation, which affects the subsequent selection of cylinder specifications and optimization of hinge points.

[0005] In addition, the existing dumping mechanism usually only considers a single hinge point arrangement, such as a single-side single cylinder, while other hinge point arrangements are not considered. From the perspective of cylinder selection, it may not be possible to obtain the optimal hinge point position to minimize the cylinder force only from a single dumping mechanism hinge point arrangement. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a method and system for optimizing the hinge point arrangement of a bulk material system dumping mechanism, so as to further provide support for subsequent optimization of the hinge point arrangement method and the hinge point position.

[0007] In order to achieve the above-mentioned objectives, the first aspect of the present application provides a method for optimizing the hinge arrangement of a bulk material system dumping mechanism, the optimization method comprising: determining an angle-torque time-history curve between the flipping angle of the dumping mechanism and the applied torque of the cylinder, and determining the angle-torque time-history curve as an equivalent torque; obtaining multiple hinge arrangements of the cylinder on the dumping mechanism, wherein each hinge arrangement comprises at least two fixed hinges and at least one movable hinge; performing hinge optimization on the multiple hinge arrangements based on the equivalent torque and the constraint conditions of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge positions in each hinge arrangement; and comparing the minimum values ​​of the maximum applied force of the cylinder in the multiple hinge arrangements, determining the hinge arrangement with the smallest minimum value of the maximum applied force of the cylinder as the target hinge arrangement, and determining the hinge position with the smallest maximum applied force of the target hinge arrangement as the target hinge position.

[0008] In the embodiment of the present application, the multiple hinge point arrangements include a single cylinder and a combination of the cylinder and one or more of the following: a straight connecting rod, a double straight connecting rod, and a triangular connecting rod.

[0009] In an embodiment of the present application, when the number of the movable hinge points is one, the hinge point arrangement is the single cylinder; when the number of the movable hinge points is two, the hinge point arrangement includes: double straight connecting rods + cylinder, wherein one hinge point of the double straight connecting rods is the fixed hinge point; or when the number of the movable hinge points is three, the hinge point arrangement includes: triangular connecting rod + straight connecting rod + cylinder, wherein one hinge point of the straight connecting rod is the fixed hinge point or one hinge point of the triangular connecting rod is the fixed hinge point.

[0010] In an embodiment of the present application, the method of determining the angle-torque time-history curve between the flipping angle of the dumping mechanism and the applied torque of the cylinder includes: under any hinge arrangement, according to the initial position information of the cylinder on the dumping mechanism, obtaining the angle-time-history curve and the force-time-history curve of the cylinder during the flipping process of the dumping mechanism by means of multi-body dynamics-discrete element coupling modeling; and determining the angle-torque time-history curve between the flipping angle of the dumping mechanism and the applied torque of the cylinder according to the angle-time-history curve and the force-time-history curve.

[0011] In an embodiment of the present application, the angle time-history curve and the force time-history curve of the cylinder during the flipping process of the dumping mechanism are obtained by a multi-body dynamics-discrete element coupling modeling method according to the initial position information of the cylinder on the dumping mechanism, including: establishing a multi-body dynamics model based on the connection relationship between the dumping mechanism, the hinge point and the cylinder, wherein the connection relationship includes the rotational connection relationship between the dumping mechanism and the hinge point, and the sliding connection relationship between the cylinder and the hinge point; establishing a discrete element model based on discrete material parameters in the dumping mechanism, wherein the discrete material parameters include the mass of discrete materials, the shape of discrete material piles, the first contact parameters between discrete materials, and the second contact parameters between discrete materials and the wall of the box; determining the angle time-history curve of the cylinder during the flipping process of the dumping mechanism based on the pushing speed of the cylinder and the multi-body dynamics model, wherein the pushing speed is less than the set speed; and coupling the discrete element model with the multi-body dynamics model to determine the force time-history curve of the cylinder during the flipping process of the dumping mechanism.

[0012] In an embodiment of the present application, hinge optimization is performed on multiple hinge arrangements based on the equivalent moment and the constraint conditions of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge positions in each hinge arrangement, including: changing the position of the fixed hinge and the mobile hinge to determine a first distance between the fixed hinges and a second distance between the fixed hinge and the mobile hinge; determining a time-history curve of the force arm of the cylinder on the dumping mechanism at the optimized hinge position based on the first distance and the second distance; and determining the minimum value of the maximum applied force of the cylinder at different hinge positions in each hinge arrangement based on the force arm time-history curve and the equivalent moment.

[0013] In the embodiment of the present application, the determining of the maximum applied force of the oil cylinder at the hinge position according to the arm time history curve and the equivalent torque includes: determining the maximum applied force of the oil cylinder at the hinge position according to the arm time history curve D CYL (t) and equivalent moment M(t), the following formula determines the maximum applied force F of the cylinder at the hinge position CYL_MAX :

[0014]

[0015] F CYL_MAX =MAX{F CYL (t)}.

[0016] In the embodiment of the present application, the constraint conditions include a stability coefficient and a minimum installation distance limit of the oil cylinder.

[0017] In the embodiment of the present application, hinge point optimization is performed on multiple hinge point arrangements by using at least one of the following algorithms: genetic algorithm, downhill method, and annealing method.

[0018] According to a second aspect of the present application, there is provided a method for optimizing the hinge arrangement of a bulk material system dumping mechanism, the method comprising: an equivalent moment determination device for determining the equivalent moment based on an angle-torque time-history curve between a tipping angle of the dumping mechanism and an applied moment of a cylinder; a hinge arrangement acquisition device for acquiring a plurality of hinge arrangements of the cylinder on the dumping mechanism, wherein each hinge arrangement comprises at least two fixed hinges and at least one movable hinge; a minimum applied force determination device for performing hinge optimization on the plurality of hinge arrangements based on the equivalent moment and the constraint conditions of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge positions in each hinge arrangement; and a target hinge determination device for comparing the minimum values ​​of the maximum applied force of the cylinder in the plurality of hinge arrangements, determining the hinge arrangement with the minimum minimum value of the maximum applied force of the cylinder as the target hinge arrangement, and determining the hinge position with the minimum maximum applied force of the target hinge arrangement as the target hinge position.

[0019] Through the above technical solution, the present invention addresses the defect that the existing dumping mechanism only considers a single hinge point arrangement form. The present technology further considers multiple hinge point arrangements, and finally selects the optimal hinge point group with the minimum cylinder force from the multiple hinge point arrangements as the target hinge point position. The present invention further provides support for the subsequent optimization of hinge point arrangement and hinge point position.

[0020] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of a process flow of a hinge point optimization method for a dumping mechanism according to an embodiment of the present application is schematically shown;

[0023] Figure 2 A schematic diagram of a flow chart of a method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to an embodiment of the present application is schematically shown;

[0024] Figure 3 A schematic diagram schematically shows a hinge point arrangement method according to an embodiment of the present application;

[0025] Figure 4a-4c A schematic diagram schematically shows a hinge point arrangement according to another embodiment of the present application;

[0026] Figure 5 A schematic diagram schematically shows a coupling model calculation process according to an embodiment of the present application;

[0027] Figure 6 A schematic diagram showing the change of the hinge point position during the box flipping process according to an embodiment of the present application is shown;

[0028] Figure 7 A schematic diagram showing the change of the hinge point position during the box flipping process according to another embodiment of the present application is shown;

[0029] Figure 8a-8b A schematic diagram schematically shows the change of the hinge point position during the flipping process of the box according to an embodiment of the present application;

[0030] Fig. 9 A schematic diagram schematically shows an optimization model analysis process according to an embodiment of the present application;

[0031] Fig.10 The structural diagram of a hinge point optimization system of a dumping mechanism according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0033] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0034] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0036] first, Figure 1 The flowchart of a hinge point optimization method for a dumping mechanism according to an embodiment of the present application is schematically shown, which can be used for the hinge point optimization process of the dumping mechanism based on the minimum cylinder force. In addition, it should be noted that this patent provides hinge point optimization based on the minimization of cylinder force during the dumping process of the box bulk material system, and only corn cob box is used as an example in this article. In addition, the hinge point optimization of the loading and unloading process involving discrete materials in other bulk materials such as minerals, crops, food and other fields can also be performed with reference to the method proposed in this patent.

[0037] Specifically, the hinge point optimization method 100 may include the following steps S110 - S140 .

[0038] Step S110, according to the initial hinge point information of the oil cylinder on the dumping mechanism, the angle time history curve and the force time history curve of the oil cylinder during the flipping process of the dumping mechanism are obtained by multi-body dynamics-discrete element coupling modeling. In the embodiment of the present application, step S110 may also include the following steps S111-S114.

[0039] Step S111, establishing a multi-body dynamics model based on the connection relationship between the dumping mechanism, the hinges and the cylinder, wherein the connection relationship includes the rotational connection relationship between the dumping mechanism and the hinges, and the sliding connection relationship between the cylinders and the hinges.

[0040] Step S112, establishing a discrete element model based on discrete material parameters in the dumping mechanism, wherein the discrete material parameters may include discrete material mass, discrete material pile shape, first contact parameters between discrete materials, and second contact parameters between discrete materials and the box wall.

[0041] Step S113, based on the pushing speed of the oil cylinder and the multi-body dynamics model, determine the angle time history curve of the oil cylinder during the flipping process of the dumping mechanism.

[0042] Step S114: coupling the discrete element model with the multi-body dynamics model to determine the force time history curve of the oil cylinder during the tipping process of the dumping mechanism.

[0043] Step S120: determining an angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder according to the angle-time-history curve and the force-time-history curve.

[0044] Step S130, based on the angle torque time history curve and the constraint conditions of the oil cylinder, the hinge position of the oil cylinder on the dumping mechanism is optimized and changed to determine the maximum applied force of the oil cylinder at different hinge positions. In addition, the constraint conditions of the present application may include a stability coefficient and a minimum installation distance limit for the oil cylinder. Specifically, step S130 may also include the following steps S131-S133:

[0045] Step S131, changing the positions of the second fixed hinge point and the movable hinge point to determine a first distance between the first fixed hinge point and the second fixed hinge point, and a second distance between the first fixed hinge point and the movable hinge point.

[0046] Step S132, determining a time history curve of the force arm of the oil cylinder on the dumping mechanism when the hinge position is changed optimally according to the first distance and the second distance.

[0047] Step S133, determining the maximum applied force of the oil cylinder at the hinge position according to the lever arm time history curve and the angle torque time history curve.

[0048] Step S140, the hinge position with the smallest maximum applied force is determined as the target hinge position. The optimization model can be optimized under defined constraints by using genetic algorithms, downhill methods, annealing methods and other related optimization algorithms to obtain multiple sets of hinge positions.

[0049] In summary, existing technologies usually use multi-body dynamics combined with parameter optimization to minimize the cylinder force to achieve the optimization of the hinge position. However, this method cannot take into account the change in the center of gravity of the discrete materials as the position changes. In particular, during the dumping process, the amount of discrete materials in the bin decreases, and the cylinder force decreases accordingly in the post-dumping stage. As a result, the calculation of the cylinder force is inconsistent with the actual situation, which affects the subsequent selection of cylinder specifications and optimization of the hinge group.

[0050] The coupling model of "multi-body dynamics + discrete element" adopted in this technology realizes the extraction of the pushing cylinder force of the box filled with discrete materials during the tipping operation, and can truly reflect the changes in the cylinder force of the tipping mechanism during the tipping process. Combined with the geometric tipping curve and bending moment dynamic curve of the tipping mechanism, an equivalent optimization mathematical model for the tipping mechanism is proposed, which provides feasibility for the subsequent optimization of the hinge group to minimize the cylinder force.

[0051] At the same time, in the process of establishing the optimization model, in order to improve the overall calculation efficiency, this paper equates the single optimization model of "multi-body dynamics + discrete element" (cylinder as drive, discrete system as load source) to the form of total bending moment (it only needs to ensure that the angular velocity of the box rotation in the two models is consistent, that is, the two are completely equivalent in the physical model), thereby obtaining the total bending moment value applied by the dumping mechanism and the discrete materials therein. Therefore, the coupling calculation process that originally took dozens of hours can be shortened to a few minutes, which provides computational feasibility for the optimization of hinge points in the bulk material box system.

[0052] Second, Figure 2 The flowchart of a method 200 for optimizing the hinge point arrangement of a bulk material system dumping mechanism according to an embodiment of the present application is schematically shown. It should be noted that this patent provides hinge point optimization based on minimization of cylinder force during the dumping process of a box bulk material system, and only corn cob boxes are used as an example in this article. In addition, the hinge point optimization of the loading and unloading process involving discrete materials in other bulk materials such as minerals, crops, and food can also be performed with reference to the method proposed in this patent.

[0053] Specifically, the optimization method 200 may include the following steps S210 - S240 .

[0054] Step S210, determining an angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder, and determining the angle-torque time-history curve as an equivalent torque.

[0055] Specifically, step S210 may also include the following steps S211 - S213 .

[0056] Step S211, under any hinge arrangement, according to the initial position information of the oil cylinder on the dumping mechanism, the angle time history curve and force time history curve of the oil cylinder during the tipping process of the dumping mechanism are obtained by multi-body dynamics-discrete element coupling modeling.

[0057] That is to say, for each hinge point arrangement, a "multi-body dynamics + discrete element" coupling analysis model can be established based on the initial hinge point information of the existing dumping mechanism and the discrete material parameters in the box, such as Figure 5 In the embodiment of the present application, since the hinge arrangement only affects the input of the initial hinge information and the calculation mathematical expression of the cylinder force, this case takes the relatively simple "single cylinder" and the relatively complex "triangular connecting rod + straight connecting rod + cylinder" as examples, respectively as shown in FIG. Figure 3 and Figure 4b As shown, the arrangement of other hinge points is similar.

[0058] Step S212: determining an angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder according to the angle-time-history curve and the force-time-history curve.

[0059] Step S213: determine the angle torque time history curve as the equivalent torque.

[0060] Wherein, step S211 may further include the following steps S2111-S2114:

[0061] Step S2111, establishing a multi-body dynamics model based on the connection relationship between the dumping mechanism, the hinge point and the cylinder.

[0062] The connection relationship may include the rotational connection relationship between the tipping mechanism and the hinges, and the sliding connection relationship between the cylinder and the hinges. Specifically, in the multi-body dynamics model, the connection pairs between the components must be established first. For example, the connection between the hinges can be set as a rotational connection pair, that is, the two bodies can rotate freely around an axis, which is called an articulated relationship, and the hinge point is called a hinge; the connection between the cylinder and the hinge point is set as a sliding connection pair, that is, the rod of the cylinder can slide in the cylinder barrel of the cylinder.

[0063] Specifically, Figure 6 and Figure 7 The hinge information of the dumping mechanism of different embodiments is given in FIG. Figure 6 The single-side oil cylinder layout is adopted. A, B, and C are the initial hinge points of the dumping mechanism. Hinge points A and B are fixed hinge points, and their positions do not change with the rotation of the dumping mechanism. Hinge point C is a mobile hinge point, and C' is the new hinge point position after C moves during the pushing process. Define A as the coordinate origin (0,0), and the coordinates of the two sets of hinge points B and C are set to (X 1 ,Y 1 ) and (X 2 ,Y 2 ), La is the first distance between AB, Lb is the second distance between AC, both are constants:

[0064]

[0065] The distance between BC is the cylinder length Lc, Lc0 is the cylinder length in the initial state, and Lc(t) is the cylinder length during the driving process. In the initial hinge information, the angle ∠CAB between AC and AB is a fixed value k, while the angle ∠C'AB between AC and AB during the cylinder pushing process is k+θ, where θ is the angle of rotation of the silo.

[0066] In addition, if Figure 7 As shown in the figure, J1~J6 are the hinge points of the dumping mechanism, and their coordinates are J1(X 1 ,Y 1 )、J2(X 2 ,Y 2 )、J3(X 3 ,Y3 )、J4(X 4 ,Y 4 )、J5(0,0)、J6(X 6 ,Y 6 ). Among them, J1, J4, and J5 are fixed hinges, that is, the coordinate positions do not change with the rotation of the box. Among them, the distance between the hinges D 1 ~D 6 As shown in the figure, D 1 , D 4 is the first distance between the fixed hinge points; D 2 , D 3 , D 5 is the second distance between the fixed hinge point and the movable hinge point; D 6 For a straight connecting rod, D 1 ~D 6 The specific calculation formula is as follows:

[0067]

[0068] In addition, ∠J5J4J1 and ∠J3J4J2 are both fixed values, and the calculation formula is as follows:

[0069]

[0070] In addition, ∠k is defined as ∠J6J5J4 in the initial state, so it is also a constant, and the calculation formula is as follows:

[0071]

[0072] In summary, based on the initial position information of each hinge arrangement of the cylinder on the dumping mechanism, the first distance between the fixed hinges, the second distance between the fixed hinge and the movable hinge, and some set angle values ​​can be obtained, which can be used as a basis for subsequent calculations.

[0073] Step S2112, establishing a discrete element model based on discrete material parameters in the dumping mechanism, wherein the discrete material parameters may include the mass of the discrete material, the shape of the discrete material pile, the first contact parameter between the discrete materials, and the second contact parameter between the discrete material and the wall of the box.

[0074] Among them, discrete material parameters are, for example, ear parameters. In the actual modeling process of the ear, the load of the ear involves the contact calculation between particles and between particles and the wall. Therefore, if the model is completely based on the actual situation and the contact model between the ears is directly used as the objective function, the modeling process is more complicated and the simulation calculation efficiency is slower, which will lead to low overall optimization efficiency. In this regard, the applicant considers that the load source, except for the deadweight of the box itself, the application of the remaining loads only comes from the discrete system of the ear.

[0075] Therefore, this paper proposes the need to establish a discrete model of corn ears (including particle size, shape, size distribution, etc.) based on the ear parameters in the ear box, that is, at each tilt angle, the contact parameters between corn ears and the box wall (static and dynamic friction coefficients, rebound coefficient, etc.) and other boundary conditions are used to determine the shape and total mass of the ear pile. Then, the ear pile at this tilt angle is regarded as a whole, and the compressive stress on the ear box is calculated by the total mass of the remaining ears. In this way, only the input parameters such as the shape and total mass of the ear pile are needed, combined with the boundary conditions such as the contact parameters between corn ears and the box wall (static and dynamic friction coefficients, rebound coefficient, etc.).

[0076] At the same time, in order to ensure the coupling relationship with the multi-body dynamics model, the total simulation time of the discrete model should be consistent with that of the corresponding multi-body dynamics.

[0077] Step S2113, based on the pushing speed of the oil cylinder and the multi-body dynamics model, determine the angle time history curve of the oil cylinder during the flipping process of the dumping mechanism.

[0078] Among them, the pushing speed of this application should be less than the set speed. This is because the load borne by the oil cylinder is provided by the weight of the silo itself and the particles of discrete materials in the silo. In order to avoid the phenomenon that the oil cylinder pushes too fast, resulting in the rapid fall of particles and causing an instantaneous surge in the force of the oil cylinder, a safer and more reasonable pushing speed is set in the model. For example, in the model calculation, the oil cylinder is used as the drive, and the total pushing stroke is pushed linearly within the total simulation time. The total simulation time is more than 1.2 times the actual pushing time, preferably more than 1.5 times, so as to ensure that each tilt angle is approximately static.

[0079] Then, during the pushing process, the cylinder stroke and the box flip angle have a one-to-one correspondence, which can be represented by a mathematical expression. First, based on the cylinder length Lc1 in the initial state and the cylinder pushing speed v (mm / s), the following formula can be used to determine the cylinder length change curve Lc(t) with the pushing time t:

[0080] Lc(t)=Lc1+v*t

[0081] Furthermore, for the hinge point arrangement of the single-sided oil cylinder, θ(t) can be defined as the set angle between AC and AB, and k0 is the initial angle of the set angle. Then the angle time history curve θ(t) with the pushing time t can be determined by the following formula:

[0082]

[0083] Wherein, Lc1 is the length of the cylinder in the initial state, Lc(t) is the length of the cylinder during the driving process; La0 is the initial distance of the line segment AB formed by the first fixed hinge point A and the second fixed hinge point B, Lb0 is the initial distance of the line segment AC formed by the first fixed hinge point A and the movable hinge point C; the set angle is the angle formed by taking the first fixed hinge point A as the vertex and the line segments AC and AB as the sides, and k0 is the initial angle of the set angle.

[0084] As for the hinge point arrangement of "triangular connecting rod + straight connecting rod + oil cylinder", Figure 8a-8b The hinge position in the flipping process under this step form is given, and the calculation of each scalar in the figure is:

[0085]

[0086] ∠n(t)=∠J5J4J1-∠q(t)-∠p(t)-∠d

[0087]

[0088]

[0089] Step S2114: coupling the discrete element model with the multi-body dynamics model to determine the force time history curve of the oil cylinder during the tipping process of the dumping mechanism.

[0090] In the embodiment of the present application, the box flipping motion of multi-body dynamics can be used as the boundary condition of particle motion through the coupling calculation of multi-body dynamics and discrete elements. At the same time, the load on the box wall is applied through the discrete system to calculate the required cylinder driving force. The two are transmitted synchronously in real time to realize real-time simulation calculation of the cylinder force of discrete materials during the dumping process.

[0091] Specifically, the technical route for solving the cylinder force time history curve of this application can be found in Fig. 9 , the discrete element model can be coupled with the multi-body dynamics model through the pushing time t. That is, firstly, the angle time history curve θ(t) is obtained through the multi-body dynamics model, and then the shape and total mass of the ear pile at the angle θ(t) are obtained through the discrete element model, and then the compressive stress on the dumping mechanism is calculated. Through the above processing steps, the cylinder force time history curve F(t) of the single-side cylinder during the uniform pushing process can be extracted.

[0092] from Figure 6 It can be seen that the lever arm of the oil cylinder on the dumping mechanism is the distance from A to BC'. Therefore, based on the angle time history curve θ(t), the lever arm time history curve l(t) of the lever arm of the oil cylinder on the dumping mechanism at the initial hinge position changing with time t can be characterized as:

[0093]

[0094] Therefore, the torque M(t) of the oil cylinder on the dumping mechanism can also be expressed as a curve that changes with time t. Based on the angle time history curve θ(t) and the force time history curve F(t), the angle torque time history curve M(t) can be determined by the following formula:

[0095] M(t)=F(t)*l(t)

[0096] Among them, l(t) is the time history curve of the force arm of the cylinder on the dumping mechanism at the initial hinge position.

[0097] Step S220, obtaining multiple hinge point arrangements of the oil cylinder on the dumping mechanism. Each hinge point arrangement includes at least two fixed hinge points and at least one mobile hinge point. Generally speaking, one end of the oil cylinder is a first fixed hinge point and the other end is a mobile hinge point, so the distance between the first fixed hinge point and the mobile hinge point changes with the push of the oil cylinder. At the same time, the mobile hinge point is also set on the dumping mechanism, and the second fixed hinge point is the axis around which the dumping mechanism rotates, so the distance between the second fixed hinge point and the mobile hinge point is constant. In addition, the distance between the fixed hinge points is also constant.

[0098] In the embodiment of the present application, the multiple hinge point arrangements may include a single cylinder and a combination of a cylinder and one or more of the following: a straight connecting rod, a double straight connecting rod, a triangular connecting rod, and the like.

[0099] Among them, when the number of movable hinges is one, the hinge arrangement is a single cylinder, such as Figure 3 As shown, one end of the single cylinder is a fixed hinge point B, and the other end is a movable hinge point C, and the distance between BC changes with the push of the cylinder. Another fixed hinge point A is the axis around which the dumping mechanism rotates, and the movable hinge point C is also set on the dumping mechanism, so the distance between AC is constant. In addition, the distance between the fixed hinge points AB is also constant. When studying the present invention, the applicant found that although the single-side single cylinder is currently a more common hinge point arrangement, it is not necessarily the optimal arrangement.

[0100] In this regard, in the embodiments of the present application, this article also proposes several other hinge arrangements, such as Figure 4a-4c For example, when there are two movable hinges, the hinge arrangement may include: double straight connecting rods + oil cylinder. Figure 4aThe hinge point arrangement of the double straight link + oil cylinder is given in the figure, including the fixed hinge point B and the first movable hinge point C at both ends of the oil cylinder, the fixed hinge point A as the rotating axis of the dumping mechanism, and the second movable hinge point E is set on the dumping mechanism, so the distance between AE is unchanged. In addition, the central hinge point of the double straight link is the first movable hinge point C, one end is the fixed hinge point D, and the other end is the second movable hinge point E. In this case, four hinge points need to be optimized, including two fixed hinge points BD and two movable hinge points CE.

[0101] In addition, when the number of movable hinges is three, the hinge arrangement may include: triangular connecting rod + straight connecting rod + oil cylinder. Figure 4b The hinge point arrangement of triangular link + straight link + oil cylinder is given, including fixed hinge points B and the first movable hinge point C at both ends of the oil cylinder, as the fixed hinge point A of the rotating axis of the dumping mechanism, and the second movable hinge point E is set on the dumping mechanism, so the distance between AE is unchanged. In addition, the two hinge points EF of the straight link are both movable hinge points, one hinge point of the triangular link is a fixed hinge point D, and the other two hinge points CF are both movable hinge points. Figure 4c The hinge point arrangement of the straight link + triangular link + oil cylinder is given in the figure, including the fixed hinge points B and the first movable hinge point C at both ends of the oil cylinder, as the fixed hinge point A of the rotating axis of the dumping mechanism, and the second movable hinge point E is set on the dumping mechanism, so the distance between AE is unchanged. In addition, the three hinge points CEF of the triangular link are all movable hinge points, one hinge point of the straight link is a fixed hinge point D, and the other hinge point F is a movable hinge point. Both of the above cases require the optimization of five hinge points, including two fixed hinge points BD and three movable hinge points CEF.

[0102] Then, the hinge point optimization can be performed respectively according to the subsequent optimization steps of the present invention, and the corresponding minimum cylinder force and hinge point information that meet the constraint conditions under each arrangement form can be obtained respectively.

[0103] Step S230, performing hinge optimization on multiple hinge arrangements based on the equivalent moment and the constraint conditions of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge positions in each hinge arrangement.

[0104] In this step, in order to achieve the optimal change of the hinge position, this embodiment proposes a method of replacing the load transfer method of the discrete system with an equivalent bending moment to calculate the stress curve in different hinge positions. The physical significance of this method is that the total bending moment applied by the discrete particles to the wall is only related to the shape of the particles in the box, and the shape of the ear pile of particles in the box is only related to the flip angle of the box. Therefore, in the established optimization model, it is only necessary to ensure that the time rate of change of the flip angle θ(t) of the box in the optimization model is consistent (that is, the angular velocity is consistent, which can be achieved by reducing the pushing speed so that both are similar to the static model), and the same bending moment dynamic curve M(t) can be applied to optimize the hinge under equivalent load.

[0105] Specifically, step S230 may further include the following steps S231-S233:

[0106] Step S231, changing the positions of the fixed hinge points and the movable hinge points to determine a first distance between the fixed hinge points and a second distance between the fixed hinge points and the movable hinge points.

[0107] For example, the hinge position of the oil cylinder on the dumping mechanism can be optimized and changed by at least one of the following algorithms: genetic algorithm, downhill method, annealing method, etc. Then, at least one first distance between the fixed hinge points and at least one second distance between the fixed hinge point and the mobile hinge point can be obtained as a reference for subsequent calculations.

[0108] Step S232, determining a time history curve of the force arm of the oil cylinder on the dumping mechanism at the optimized hinge position according to the first distance and the second distance.

[0109] Among them, Figure 6 As shown, the force arm corresponding to the cylinder force is the distance from A to BC'. Therefore, the force arm time history curve D of the cylinder to the dumping mechanism at the optimized hinge position can be determined according to the first distance La and the second distance Lb. CYL (t):

[0110]

[0111] The position information of the first fixed hinge point is the origin (0,0), and the change position information of the second fixed hinge point is (X 1 ,Y 1 ), the change position information of the moving hinge is (X 2 ,Y 2 ), k is the initial angle of the set angle at the initial hinge point position, and θ(t) is the angle time history curve of the set angle at the initial hinge point position.

[0112] from Figure 8b It can be seen that the force arm of the straight connecting rod force on the J5 hinge point is:

[0113] D5*sin(∠s(t)+∠w(t))

[0114] According to the moment balance of the J5 hinge, the straight link force F can be obtained: ROD (t) is:

[0115]

[0116] The force arm of the cylinder force on the J4 hinge point is:

[0117] D1*sin(∠m(t))

[0118] The force arm of the straight connecting rod force on the J4 hinge point is:

[0119] D3*sin(∠r(t))

[0120] According to the moment balance of the J4 hinge point, the time history curve D of the force arm of the cylinder on the dumping mechanism under the optimized hinge point position can be determined by the following formula: CYL (t):

[0121]

[0122] Step S233, determining the minimum value of the maximum applied force of the oil cylinder at different hinge positions in each hinge arrangement according to the lever arm time history curve and the equivalent torque.

[0123] Through the above steps, according to the force arm time history curve D CYL (t) and the angle-torque time history curve M(t), the following formula is used to determine the required cylinder force curve F at different hinge positions CYL (t):

[0124]

[0125] Then, the cylinder force curve F can be defined CYL The maximum value in (t) is F CYL_MAX Therefore, for each set of hinge information, the maximum cylinder force F under this set of hinge information can be obtained. CYL_MAX :

[0126] F CYL_MAX =MAX{F CYL (t)}.

[0127] In addition, the constraints of the present application may include stability coefficients and minimum installation distance restrictions for the cylinders.

[0128] First, as a pressure-bearing component, the cylinder is prone to instability. The following formula can be used to determine its critical instability load F CR (t):

[0129]

[0130] Wherein: E is the elastic model modulus, which is only related to the material properties and can be regarded as a constant; I is the moment of inertia, which is only related to the rod diameter. In the optimization calculation process of the present invention, the cylinder rod diameter is also regarded as a constant.

[0131] Substituting the above Lc(t) into this formula, we get:

[0132]

[0133] Furthermore, the instability coefficient curve K can be defined CR (t):

[0134]

[0135] Generally speaking, in order to make the stability coefficient meet the safety requirements, the maximum value in the instability coefficient curve can be defined as K CR_MAX Therefore, for each set of hinge information, the minimum instability coefficient K under this set of hinge information can be obtained. CR_MAX :

[0136] K CR_MAX =MAX{K CR (t)}

[0137] Among them, K can be defined CR_safe is the allowable safety instability factor, if K CR_MAX >K CR_safe , it means that the cylinder will become unstable; if K CR_MAX <K CR_safe , it means that the oil cylinder is more stable and not easy to become unstable. Therefore, in the optimization process, the following formula can be used as one of the constraints:

[0138] K CR_MAX <K CR_safe .

[0139] Secondly, there is a minimum installation distance limit in the cylinder design:

[0140] The shortest distance between the cylinder hinge points>cylinder stroke+cylinder dead stroke.

[0141] That is, cylinder stroke = maximum cylinder distance MAX{Lc(t)} minus minimum cylinder distance MIN{Lc(t)}.

[0142] Among them, the cylinder dead distance Lc_death is usually a fixed value. Therefore, the requirements for the minimum installation distance limit of the cylinder should meet the following requirements:

[0143] MIN{Lc(t)}>MAX{Lc(t)}-MIN{Lc(t)}+Lc_death

[0144] Therefore, the following formula can be used as another constraint:

[0145] MIN{Lc(t)}>0.5*[MAX{Lc(t)}+Lc_death].

[0146] Then, the optimization model can be optimized under the defined constraints by using related optimization algorithms such as genetic algorithm, downhill method, annealing method, etc. to obtain multiple sets of hinge positions. After multiple rounds of iterative optimization calculations, if the residual of the minimum value of the objective function reaches stability, it can be considered that the minimum value of the objective function has been found, that is, the hinge position information corresponding to the minimum cylinder force that meets the critical instability coefficient of the cylinder has been found.

[0147] Step S240, compare the minimum values ​​of the maximum applied force of the cylinder in multiple hinge point arrangements, determine the hinge point arrangement with the smallest minimum value of the maximum applied force of the cylinder as the target hinge point arrangement, and determine the hinge point position with the smallest maximum applied force in the target hinge point arrangement as the target hinge point position.

[0148] Through the hinge point optimization of the above-mentioned different hinge point arrangements, the optimal hinge point and its corresponding minimum cylinder force under each hinge point arrangement can be obtained. All arrangements are comprehensively considered, and the hinge point arrangement information with the minimum cylinder force is selected as the final target hinge point arrangement and the target hinge point position under the target hinge point arrangement.

[0149] In summary, the existing dumping mechanism only considers a single hinge arrangement, and the present technology also considers multiple hinge arrangements such as double straight links + oil cylinder, triangular links + straight links + oil cylinder, straight links + triangular links + oil cylinder (although the arrangements are different, the same flipping action can be achieved), and finally the optimal hinge group with the minimum cylinder force is selected from the above multiple hinge arrangements. It can be seen that the final cylinder selection of the present invention is to select the optimal hinge group that achieves the minimum cylinder force and satisfies the safety factor of cylinder stability from all arrangements, thereby further providing support for the subsequent optimization of hinge arrangement and hinge position.

[0150] In addition, the coupling model of "multi-body dynamics + discrete element" adopted in this technology realizes the extraction of the pushing cylinder force of the box filled with discrete materials during the tipping operation, and can truly reflect the changes in the cylinder force of the tipping mechanism during the tipping process. Combined with the geometric tipping curve and bending moment dynamic curve of the tipping mechanism, an equivalent optimization mathematical model of the tipping mechanism is proposed, which provides feasibility for the subsequent optimization of the hinge group to minimize the cylinder force.

[0151] At the same time, in the process of establishing the optimization model, in order to improve the overall calculation efficiency, this paper equates the single optimization model of "multi-body dynamics + discrete element" (cylinder as drive, discrete system as load source) to the form of total bending moment (it only needs to ensure that the angular velocity of the box rotation in the two models is consistent, that is, the two are completely equivalent in the physical model), thereby obtaining the total bending moment value applied by the dumping mechanism and the discrete materials therein. Therefore, the coupling calculation process that originally took dozens of hours can be shortened to a few minutes, which provides computational feasibility for the optimization of hinge points in the bulk material box system.

[0152] on the other hand, Fig.10 A schematic diagram of a hinge point optimization system of a dumping mechanism according to an embodiment of the present application is schematically shown. In the embodiment of the present application, the optimization system 300 may include:

[0153] An equivalent torque determination device 310 is used to determine the equivalent torque based on an angle-torque time history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder;

[0154] The hinge point arrangement acquisition device 320 is used to acquire multiple hinge point arrangements of the oil cylinder on the dumping mechanism, wherein each hinge point arrangement includes at least two fixed hinge points and at least one movable hinge point;

[0155] A minimum applied force determination device 330 is used to optimize the hinge points of multiple hinge point arrangements based on the equivalent moment and the constraint conditions of the cylinder to determine the minimum value of the maximum applied force of the cylinder at different hinge point positions in each hinge point arrangement; and

[0156] The target hinge point determination device 340 is used to compare the minimum values ​​of the maximum applied force of the cylinder in multiple hinge point arrangements, determine the hinge point arrangement with the smallest minimum value of the maximum applied force of the cylinder as the target hinge point arrangement, and determine the hinge point position with the smallest maximum applied force in the target hinge point arrangement as the target hinge point position.

[0157] In the embodiment of the present application, the multiple hinge point arrangements include a single cylinder and a combination of a cylinder and one or more of the following: a straight connecting rod, a double straight connecting rod, and a triangular connecting rod.

[0158] In an embodiment of the present application, when the number of movable hinges is one, the hinge arrangement is a single cylinder; when the number of movable hinges is two, the hinge arrangement includes: double straight connecting rods + cylinder, wherein one hinge of the double straight connecting rod is the fixed hinge; or when the number of movable hinges is three, the hinge arrangement includes: triangular connecting rod + straight connecting rod + cylinder, wherein one hinge of the straight connecting rod is a fixed hinge or one hinge of the triangular connecting rod is a fixed hinge.

[0159] In the embodiment of the present application, the equivalent torque determination device 310 is specifically used to perform: under any hinge arrangement, according to the initial position information of the cylinder on the dumping mechanism, the angle time history curve and force time history curve of the cylinder during the flipping process of the dumping mechanism are obtained by the coupling modeling method of multi-body dynamics-discrete element; according to the angle time history curve and the force time history curve, the angle-torque time history curve between the flipping angle of the dumping mechanism and the applied torque of the cylinder is determined.

[0160] In an embodiment of the present application, according to the initial position information of the cylinder on the dumping mechanism, the angle time history curve and force time history curve of the cylinder during the flipping process of the dumping mechanism are obtained by a multi-body dynamics-discrete element coupling modeling method, including: establishing a multi-body dynamics model based on the connection relationship between the dumping mechanism, the hinge and the cylinder, wherein the connection relationship includes the rotational connection relationship between the dumping mechanism and the hinge, and the sliding connection relationship between the cylinder between the hinges; establishing a discrete element model based on the discrete material parameters in the dumping mechanism, wherein the discrete material parameters include the mass of the discrete material, the shape of the discrete material pile, the first contact parameter between the discrete materials, and the second contact parameter between the discrete material and the wall of the box; determining the angle time history curve of the cylinder during the flipping process of the dumping mechanism based on the pushing speed of the cylinder and the multi-body dynamics model, wherein the pushing speed is less than the set speed; and coupling the discrete element model with the multi-body dynamics model to determine the force time history curve of the cylinder during the flipping process of the dumping mechanism.

[0161] In an embodiment of the present application, the minimum applied force determination device 330 is specifically used to perform: changing the position of the fixed hinge point and the movable hinge point to determine the first distance between the fixed hinge points and the second distance between the fixed hinge point and the movable hinge point; determining the lever arm time-history curve of the cylinder on the dumping mechanism at the optimized hinge point position based on the first distance and the second distance; and determining the minimum value of the maximum applied force of the cylinder at different hinge point positions in each hinge point arrangement method based on the lever arm time-history curve and the equivalent torque.

[0162] In the embodiment of the present application, according to the arm time history curve and the equivalent torque, the maximum applied force of the cylinder at the hinge position is determined, including: according to the arm time history curve D CYL (t) and equivalent moment M(t), the following formula is used to determine the maximum applied force F of the cylinder at the hinge position. CYL_MAX :

[0163]

[0164] F CYL_MAX =MAX{F CYL (t)}.

[0165] In the embodiment of the present application, the constraint conditions include the stability coefficient and the minimum installation distance limit of the oil cylinder. In the embodiment of the present application, the hinge point optimization is performed on the multiple hinge point arrangements by at least one of the following algorithms: genetic algorithm, downhill method, annealing method.

[0166] In summary, the existing dumping mechanism only considers a single hinge arrangement, and the present technology also considers multiple hinge arrangements such as double straight links + oil cylinder, triangular links + straight links + oil cylinder, straight links + triangular links + oil cylinder (although the arrangements are different, the same tipping mechanism flipping action can be achieved), and finally the optimal hinge group with the minimum cylinder force is selected from the above multiple hinge arrangements. It can be seen that the final cylinder selection of the present invention is to select the optimal hinge group that achieves the minimum cylinder force and satisfies the safety factor of cylinder stability from all arrangements, thereby further providing support for the subsequent optimization of hinge arrangement and hinge position.

[0167] In addition, the coupling model of "multi-body dynamics + discrete element" adopted in this technology realizes the extraction of the pushing cylinder force of the box filled with discrete materials during the tipping operation, and can truly reflect the changes in the cylinder force of the tipping mechanism during the tipping process. Combined with the geometric tipping curve and bending moment dynamic curve of the tipping mechanism, an equivalent optimization mathematical model of the tipping mechanism is proposed, which provides feasibility for the subsequent optimization of the hinge group to minimize the cylinder force.

[0168] At the same time, in the process of establishing the optimization model, in order to improve the overall calculation efficiency, this paper equates the single optimization model of "multi-body dynamics + discrete element" (cylinder as drive, discrete system as load source) to the form of total bending moment (it only needs to ensure that the angular velocity of the box rotation in the two models is consistent, that is, the two are completely equivalent in the physical model), thereby obtaining the total bending moment value applied by the dumping mechanism and the discrete materials therein. Therefore, the coupling calculation process that originally took dozens of hours can be shortened to a few minutes, which provides computational feasibility for the optimization of hinge points in the bulk material box system.

[0169] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0170] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for optimizing the hinge point arrangement of a bulk material system dumping mechanism, characterized in that: The optimization method comprises: Determine an angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder, and determine the angle-torque time-history curve as an equivalent torque; Acquire multiple hinge point arrangements of the oil cylinder on the dumping mechanism, wherein each hinge point arrangement includes at least two fixed hinge points and at least one movable hinge point; Performing hinge point optimization on the multiple hinge point arrangements based on the equivalent moment and the constraint conditions of the oil cylinder to determine the minimum value of the maximum applied force of the oil cylinder at different hinge point positions in each hinge point arrangement; and The minimum values ​​of the maximum applied force of the cylinder in the multiple hinge point arrangements are compared, the hinge point arrangement with the smallest minimum value of the maximum applied force of the cylinder is determined as the target hinge point arrangement, and the hinge point position with the smallest maximum applied force in the target hinge point arrangement is determined as the target hinge point position.

2. The optimization method for hinge point arrangement of a bulk material system dumping mechanism according to claim 1, characterized in that: The multiple hinge point arrangements include a single cylinder and a combination of the cylinder and one or more of the following: a straight link, a double straight link, and a triangular link.

3. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 2, characterized in that: When the number of the movable hinge point is one, the hinge point arrangement is the single cylinder; In the case where the number of the movable hinges is two, the hinge arrangement includes: double straight connecting rods + oil cylinder, wherein one hinge of the double straight connecting rods is the fixed hinge; or When the number of the movable hinges is three, the hinge arrangement includes: triangular connecting rod+straight connecting rod+oil cylinder, wherein one hinge of the straight connecting rod is the fixed hinge or one hinge of the triangular connecting rod is the fixed hinge.

4. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 1, characterized in that: The method of determining the angle-torque time history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder comprises: Under any hinge arrangement, according to the initial position information of the oil cylinder on the dumping mechanism, the angle time history curve and the force time history curve of the oil cylinder during the flipping process of the dumping mechanism are obtained by multi-body dynamics-discrete element coupling modeling; and According to the angle time-history curve and the force time-history curve, an angle-torque time-history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder is determined.

5. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 4, characterized in that: The method of obtaining the angle time history curve and the force time history curve of the cylinder during the flipping process of the dumping mechanism by means of multi-body dynamics-discrete element coupling modeling according to the initial position information of the cylinder on the dumping mechanism includes: A multi-body dynamics model is established based on the connection relationship between the dumping mechanism, the hinge point and the oil cylinder, wherein the connection relationship includes a rotation connection relationship between the dumping mechanism and the hinge point, and a sliding connection relationship between the oil cylinder and the hinge point; A discrete element model is established based on discrete material parameters in the dumping mechanism, wherein the discrete material parameters include the mass of the discrete material, the shape of the discrete material pile, the first contact parameter between the discrete materials, and the second contact parameter between the discrete material and the wall of the box; Determining an angle time history curve of the oil cylinder during the tipping process of the dumping mechanism based on the pushing speed of the oil cylinder and the multi-body dynamics model, wherein the pushing speed is less than a set speed; and The discrete element model is coupled with the multi-body dynamics model to determine a force time history curve of the cylinder during the tipping process of the dumping mechanism.

6. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 1, characterized in that: The performing hinge point optimization on the multiple hinge point arrangements based on the equivalent moment and the constraint condition of the oil cylinder to determine the minimum value of the maximum applied force of the oil cylinder at different hinge point positions in each hinge point arrangement includes: Changing the positions of the fixed hinge points and the movable hinge points to determine a first distance between the fixed hinge points and a second distance between the fixed hinge points and the movable hinge points; Determine, according to the first distance and the second distance, a time history curve of the force arm of the oil cylinder on the dumping mechanism at an optimized hinge point position; and According to the arm time history curve and the equivalent moment, the minimum value of the maximum applied force of the oil cylinder at different hinge point positions of each hinge point arrangement is determined.

7. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 6, characterized in that: Determining the maximum applied force of the oil cylinder at the hinge position according to the lever arm time history curve and the equivalent torque includes: According to the force arm time curve D CYL (t) and equivalent moment M(t), the following formula determines the maximum applied force F of the cylinder at the hinge position CYL_MAX : F CYL_MAX =MAX{F CYL (t)}。 8. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 1, characterized in that: The constraint conditions include the stability coefficient and the minimum installation distance limit of the cylinder.

9. The method for optimizing hinge point arrangement of a bulk material system dumping mechanism according to claim 1, characterized in that: The hinge point arrangements are optimized by using at least one of the following algorithms: genetic algorithm, downhill algorithm, and annealing method.

10. An optimization system for hinge point arrangement of a bulk material system dumping mechanism, characterized in that: The optimization system of the hinge point arrangement includes: An equivalent torque determination device is used to determine the equivalent torque based on an angle-torque time history curve between the tipping angle of the dumping mechanism and the applied torque of the oil cylinder; A hinge point arrangement acquisition device, used to acquire a plurality of hinge point arrangements of the oil cylinder on the dumping mechanism, wherein each hinge point arrangement includes at least two fixed hinge points and at least one movable hinge point; A minimum applied force determination device, used for performing hinge point optimization on the plurality of hinge point arrangements based on the equivalent moment and the constraint conditions of the oil cylinder, so as to determine the minimum value of the maximum applied force of the oil cylinder at different hinge point positions in each hinge point arrangement; and The target hinge point determination device is used to compare the minimum values ​​of the maximum applied force of the cylinder in the multiple hinge point arrangements, determine the hinge point arrangement with the smallest minimum value of the maximum applied force of the cylinder as the target hinge point arrangement, and determine the hinge point position with the smallest maximum applied force in the target hinge point arrangement as the target hinge point position.

Images