Design method of hinge point of working connecting rod mechanism of loading machine, connecting rod mechanism and detection method

Abstract

The invention discloses a design method of a hinge point of a working connecting rod mechanism of a loading machine, the connecting rod mechanism and a detection method. The design method comprises the following steps: acquiring preset design parameters of the loading machine; and on the basis of the design parameters, according to the relation between the hinge points in the working connecting rod mechanism, through a preset hinge point design strategy, coordinates of the hinge points are calculated. The hinge point design efficiency can be greatly improved, the hinge point detection accuracy can be improved, and the reliability of the working connecting rod mechanism is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of loader equipment, and in particular relates to a design method for a hinge point of a working link mechanism of a loader, a link mechanism and a detection method. Background Art

[0002] Loaders are widely used in construction sites, mines, ports, and other fields. Specifically, they can be used for operations such as filling and excavating roadbed projects, collecting and loading asphalt mixtures and cement concrete materials, and can also be used for operations such as pushing soil, leveling the ground, and towing other machinery.

[0003] The loader completes various operations such as shoveling and unloading by controlling a series of actions of the working device. When designing the hinge point of the loader's working linkage mechanism, the following methods are mainly used:

[0004] (1) Based on the existing working link mechanism, adjust the hinge point of the working link mechanism according to the customer's unloading height requirements, and then optimize the hinge point of the working link mechanism with the help of motion simulation software to determine the hinge point position;

[0005] (2) For the development of new models, a rough model of the working linkage mechanism is given during the development and design, and then the model of the working linkage mechanism is optimized through simulation software to determine the hinge point position.

[0006] The above methods have problems such as low design efficiency, inaccurate hinge point detection, and poor reliability. Summary of the Invention

[0007] In response to the above problems, the present invention proposes a design method for the hinge points of a loader's working linkage mechanism, a linkage mechanism and a detection method. Based on the preset design parameters of the loader and according to the relationship between the hinge points in the working linkage mechanism, the coordinates of each hinge point are calculated through a preset hinge point design strategy, which greatly improves the efficiency of hinge point design, improves the accuracy of inspection and detection, and improves the reliability of the working linkage mechanism.

[0008] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0009] In a first aspect, the present invention provides a method for designing a hinge point of a loader working linkage mechanism, comprising:

[0010] Obtaining preset design parameters of the loader;

[0011] Based on the design parameters and in accordance with the relationship between the hinge points in the working linkage mechanism, the coordinates of the hinge points are calculated through a preset hinge point design strategy.

[0012] In combination with the first aspect, optionally, the design parameters include the overall length of the loader when the bucket is placed on the ground. , Horizontal distance from bucket blade to bucket lower hinge point , wheelbase between front and rear wheels , Distance from the center of the rear wheel to the tail of the loader ; and maximum bucket winch pin height , Bucket level height , unloading height , Bucket hinge pin height from ground , unloading distance , unloading angle , Tire static radius , Bucket rated load capacity , boom cylinder bore , boom cylinder rod diameter , hydraulic system pressure , Tipping bucket cylinder diameter and dump cylinder rod diameter ;

[0013] When the bucket is placed on the ground, the coordinates of the hinge point between the front frame and the boom end are , the coordinates of the hinge point between the boom cylinder and the front frame are , the coordinates of the hinge point between the boom and the boom cylinder are , the coordinates of the rocker arm and the tie rod hinge are , the coordinates of the hinge point between the boom and bucket are , the bucket vertex coordinates are , the coordinates of the hinge point between the drawbar and the bucket are , the coordinates of the hinge point between the boom and the rocker arm are The coordinates of the hinge point between the rocker arm and the bucket cylinder are The coordinates of the hinge point between the dump bucket cylinder and the front frame are ;

[0014] When the boom is in the highest lifting state, the coordinates of the hinge point between the boom and the boom cylinder are , the coordinates of the rocker arm and the tie rod hinge are , the coordinates of the hinge point between the boom and bucket are , the bucket vertex coordinates are , the coordinates of the hinge point between the drawbar and the bucket are , the coordinates of the hinge point between the boom and the rocker arm are The coordinates of the hinge point between the rocker arm and the bucket cylinder are The coordinates of the hinge point between the dump bucket cylinder and the front frame are .

[0015] In combination with the first aspect, optionally, the calculating the coordinates of each hinge point based on the design parameters and according to the relationship between hinge points in the working linkage mechanism through a preset hinge point design strategy includes:

[0016] Calculate the hinge point coordinates based on the preset loader design parameters , , bucket vertex coordinates , , bucket vertex coordinates , ;

[0017] From the hinge point coordinates do 、 , get the intersection point and , and The intersection point is ,exist and According to trigonometric functions, we can solve:

[0018] ;

[0019] ;

[0020] ;

[0021] Obtain the hinge point coordinates , .

[0022] In combination with the first aspect, optionally, the calculating the coordinates of each hinge point based on the design parameters and according to the relationship between hinge points in the working linkage mechanism through a preset hinge point design strategy includes:

[0023] Hinge point coordinates and the hinge coordinates Both are located at the hinge point is the center of the circle, and the length On a circle with radius The hinge coordinates and the hinge coordinates The length of the line segment between the points and the line segment, according to the distance formula between the points and the line segment, the coordinates of the hinge point are obtained. To line segment Length ; Solve the following formula to obtain the coordinates of the hinge point , :

[0024] ;

[0025] ;

[0026] in:

[0027] ;

[0028] ;

[0029] .

[0030] In combination with the first aspect, optionally, the calculating the coordinates of each hinge point based on the design parameters and according to the relationship between hinge points in the working linkage mechanism through a preset hinge point design strategy further includes:

[0031] Based on hinge point coordinates , hinge point coordinates , hinge point coordinates , calculate the line segment 、 、 The length, in Applying the cosine theorem, we can get , the formula of the cosine theorem is:

[0032] ;

[0033] According to the moment balance of the boom cylinder torque and the bucket load torque about the hinge point between the front frame and the boom end, the moment balance formula is obtained: , It is the lever arm of bucket load relative to the hinge point between the front frame and the boom end. It is the moment arm of the boom cylinder relative to the hinge point between the front frame and the boom end;

[0034] When the boom cylinder is lifted to the highest position, the lever arm of the boom cylinder relative to the hinge point between the front frame and the boom end At the shortest point, the thrust provided by the boom cylinder can still meet the goal of boom lifting, and the hinge point coordinates are obtained. The horizontal axis , ;

[0035] According to the space requirements of the boom cylinder layout, the hinge point coordinates are obtained The vertical coordinate The first provisional value of

[0036] Connection hinge coordinates and the hinge coordinates Get the line segment , so that the boom cylinder can lift the boom when the bucket is placed on the ground, the hinge point coordinates With line segment The intersection point is the hinge coordinate , get the hinge coordinates The tentative coordinates of

[0037] With the goal of balancing the moment of the boom cylinder and the bucket load moment about the hinge point between the front frame and the boom end, first set the hinge point coordinates The tentative coordinates of the hinge point are used as the final coordinates. According to the tolerance requirements of the hinge point design, the hinge point coordinates are used as the final coordinates. The vertical coordinate With the first provisional value of as the center and the preset length as the tolerance, an arithmetic progression is constructed. According to the cosine theorem formula and the height formula, the hinge coordinates of the boom cylinder torque and the bucket load torque about the front frame and the boom end hinge in the state of torque equilibrium are obtained. The optimal ordinate of the cosine theorem is: ; The height formula is: , The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between

[0038] Similarly, according to the vertical coordinate The hinge coordinates are obtained by The best horizontal coordinate and the optimal ordinate ;

[0039] Based on hinge point coordinates and the hinge coordinates ,as well as , according to the hinge coordinates and the hinge coordinates On the circle with the hinge point coordinate A as the center, we can get , combined with Apply the cosine theorem formula to solve the hinge point coordinates , The hinge coordinates and the hinge coordinates The length of the line segment between

[0040] Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment The installation distance of the boom cylinder ;

[0041] Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment is the full extension length of the boom cylinder ;

[0042] Based on the installation distance of the boom cylinder and the full extension length of the boom cylinder , calculate the stroke of the boom cylinder , .

[0043] In combination with the first aspect, optionally, the calculating the coordinates of each hinge point based on the design parameters and according to the relationship between hinge points in the working linkage mechanism through a preset hinge point design strategy includes:

[0044] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Hinge point coordinates To determine the amount;

[0045] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the drawbar torque and the bucket load torque about the hinge point between the boom and the bucket. The moment balance formula is: ; Rated load capacity of bucket The moment arm relative to the hinge point between the boom and bucket, is the push or pull force of the rod, is the lever arm relative to the hinge point between the boom and bucket;

[0046] The cosine theorem formula is: , calculate ;

[0047] The formula for finding the height is: .

[0048] In combination with the first aspect, the coordinates of each hinge point are calculated based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, including:

[0049] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0050] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0051] The cosine theorem formula is: , calculate ;

[0052] The formula for finding the height is: .

[0053] In combination with the first aspect, optionally, the calculating the coordinates of each hinge point based on the design parameters and according to the relationship between hinge points in the working linkage mechanism through a preset hinge point design strategy includes:

[0054] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0055] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0056] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0057] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0058] The cosine theorem formula is: , calculate ;

[0059] The formula for finding the height is: .

[0060] In a second aspect, the present invention provides a working link mechanism, wherein the working link mechanism is based on the hinge coordinates obtained by the design method of the hinge point of the loader working link mechanism according to any one of the first aspects. , hinge point coordinates , articulated coordinates , hinge point coordinates , hinge point coordinates , bucket vertex coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , and the relationship between each hinge point is obtained.

[0061] In a third aspect, the present invention provides a hinge point detection method applicable to the working linkage mechanism in the second aspect, comprising:

[0062] Get the coordinate measurement value of the hinge point between the front frame and the boom end when the bucket in the working linkage is placed on the ground , Coordinate measurement values ​​of the hinge point between the boom cylinder and the front frame , Boom and boom cylinder hinge point coordinate measurement values , rocker arm and tie rod hinge coordinate measurement values , Boom and bucket hinge coordinate measurement values , bucket vertex coordinate measurement value , Drawbar and bucket hinge coordinate measurement values , Coordinate measurement values ​​of the boom and rocker arm hinge points , rocker arm and bucket cylinder hinge point coordinate measurement values , Coordinate measurement values ​​of the hinge point between the dump cylinder and the front frame ;

[0063] Get the coordinate measurement value of the hinge point between the boom and the boom cylinder when the boom is in the highest lifting state , Boom and bucket hinge coordinate measurement values and bucket vertex coordinate measurements , and the installation distance measurement value of the boom cylinder and stroke measurement ;

[0064] The measured values ​​are compared with the coordinates of the front frame and the boom end hinge point described in any one of the first aspects. , the coordinates of the hinge point between the boom cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , rocker arm and tie rod hinge coordinates , the coordinates of the hinge point between the boom and bucket , bucket vertex coordinates , coordinates of the hinge point between the drawbar and the bucket , the coordinates of the hinge point of the boom and rocker arm , rocker arm and bucket cylinder hinge coordinates , the coordinates of the hinge point between the dump bucket cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , boom and bucket hinge coordinates and bucket vertex coordinates , and the installation distance of the boom cylinder and itinerary By comparing, the hinge point error during the production of the working link mechanism is confirmed, and based on the hinge point error, it is determined whether the design tolerance requirements are met.

[0065] Compared with the prior art, the present invention has the following beneficial effects:

[0066] The present invention is based on preset design parameters of the loader and the relationship between the hinge points in the working linkage mechanism. Through a preset hinge point design strategy, the coordinates of each hinge point are calculated, which greatly improves the efficiency of hinge point design, improves the accuracy of inspection and detection, and improves the reliability of the working linkage mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0068] Figure 1 This is a schematic structural diagram of a loader working linkage mechanism when the bucket is placed on the ground according to an embodiment of the present invention;

[0069] Figure 2 This is a structural diagram of a working linkage mechanism of a loader when the boom is in the highest lifting state according to an embodiment of the present invention;

[0070] Figure 3 An embodiment of the present invention and Schematic diagram of;

[0071] Figure 4 A three-dimensional schematic diagram of a loader working linkage mechanism according to an embodiment of the present invention;

[0072] Figure 5 This is a flow chart of a method for designing a hinge point of a loader working linkage mechanism according to one embodiment of the present invention;

[0073] In the picture:

[0074] 1- Boom cylinder, 2- Front frame, 3- Boom, 4- Dump cylinder, 5- Rocker arm, 6- Tie rod, 7- Bucket, 8- Pin shaft, 9- Bearing. DETAILED DESCRIPTION

[0075] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0076] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0077] Example 1

[0078] The embodiment of the present invention provides a method for designing the hinge point of a loader working linkage mechanism. Figure 5 Shown, including:

[0079] (1) Obtaining the preset design parameters of the loader;

[0080] (2) Based on the design parameters and the relationship between the hinges in the working linkage mechanism, the coordinates of the hinges are calculated using a preset hinge design strategy.

[0081] In a specific implementation of the embodiment of the present invention, Figure 1 and Figure 2 As shown, the design parameters include the overall length of the loader when the bucket is placed on the ground. , Horizontal distance from bucket blade to bucket lower hinge point , wheelbase between front and rear wheels , Distance from the center of the rear wheel to the tail of the loader ; and maximum bucket winch pin height , Bucket level height , unloading height , Bucket hinge pin height from ground , unloading distance , unloading angle , Tire static radius , Bucket rated load capacity , boom cylinder bore , boom cylinder rod diameter , hydraulic system pressure , Tipping bucket cylinder diameter and dump cylinder rod diameter In the specific implementation process, the hydraulic system is connected to the boom cylinder and the bucket cylinder respectively.

[0082] In the above scheme, the design parameters are specifically described to facilitate implementation by those skilled in the art. In the specific implementation process, all the design parameters are known parameters.

[0083] In a specific implementation of the embodiment of the present invention, when the bucket 7 is placed on the ground, the coordinates of the hinge point between the front frame 2 and the end of the boom 3 are , the coordinates of the hinge point between boom cylinder 1 and front frame 2 are , the coordinates of the hinge point between boom 3 and boom cylinder 1 are , the coordinates of the hinge point between rocker arm 5 and tie rod 6 are , the coordinates of the hinge point between boom 3 and bucket 7 are , the coordinates of the bucket 7 vertex are , the coordinates of the hinge point between the tie rod 6 and the bucket 7 are , the coordinates of the hinge points of boom 3 and rocker arm 5 are The coordinates of the hinge point between the rocker arm 5 and the bucket cylinder 4 are The coordinates of the hinge point between the dump cylinder 4 and the front frame 2 are ;

[0084] When the boom 3 is in the highest lifting state (i.e. the bucket 7 is in the highest position), the hinge point between the boom 3 and the boom cylinder 1 is The hinge point between rocker arm 5 and tie rod 6 is , the hinge point between boom 3 and bucket 7 is , the bucket vertex is The hinge point between the pull rod 6 and the bucket 7 is , the hinge point between boom 3 and rocker arm 5 is The hinge point between rocker arm 5 and bucket cylinder 4 is The hinge point between the dump cylinder 4 and the front frame 2 is .

[0085] In the above scheme, the coordinates of each hinge point are defined when the bucket 7 is placed on the ground and when the boom 3 is in the highest lifting state. In the actual process, only the hinge point coordinates need to be calculated. , hinge point coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , bucket vertex coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , and the hinge coordinates , hinge point coordinates and the hinge coordinates , thereby greatly reducing the amount of calculation and improving the efficiency of designing hinges.

[0086] In a specific implementation of the embodiment of the present invention, the coordinates of each hinge point are calculated based on the design parameters and according to the relationship between the hinge points in the working linkage mechanism through a preset hinge point design strategy, including:

[0087] Calculate the hinge point coordinates based on the preset loader design parameters , , bucket vertex coordinates , , bucket vertex coordinates , ;

[0088] From the hinge point coordinates do 、 , get the intersection point and , and The intersection point is ,like Figure 3 As shown in the figure For high bucket angle, is the ground bucket angle, and According to trigonometric functions, we can solve:

[0089] ;

[0090] ;

[0091] ;

[0092] Obtain the hinge point coordinates , .

[0093] In the above scheme, the hinge coordinates are given , hinge point coordinates The specific design method can realize the hinge coordinates , hinge point coordinates The coordinates can be accurately calculated and are easy to implement by those skilled in the art.

[0094] In a specific implementation of the embodiment of the present invention, the coordinates of each hinge point are calculated based on the design parameters and according to the relationship between the hinge points in the working linkage mechanism through a preset hinge point design strategy, including:

[0095] Hinge point coordinates and the hinge coordinates Both are located at the hinge point is the center of the circle, and the length On a circle with radius The hinge coordinates and the hinge coordinates The length of the line segment between the points and the line segment, according to the distance formula between the points and the line segment, the coordinates of the hinge point are obtained. To line segment Length ; Solve the following formula to obtain the coordinates of the hinge point , :

[0096] ;

[0097] ;

[0098] in:

[0099] ;

[0100] ;

[0101] .

[0102] In the above scheme, the hinge coordinates are given The specific design method can realize the hinge coordinates The accurate calculation is convenient for those skilled in the art to implement.

[0103] In a specific implementation of the embodiment of the present invention, the calculation of the coordinates of each hinge point based on the design parameters and the relationship between the hinge points in the working linkage mechanism by a preset hinge point design strategy further includes:

[0104] Based on hinge point coordinates , hinge point coordinates , hinge point coordinates , calculate the line segment 、 、 The length, in Applying the cosine theorem, we can get , the formula of the cosine theorem is:

[0105] ;

[0106] According to the moment balance of the boom cylinder torque and the bucket load torque about the hinge point between the front frame and the boom end, the moment balance formula is obtained: , It is the lever arm of bucket load relative to the hinge point between the front frame and the boom end. It is the moment arm of the boom cylinder relative to the hinge point between the front frame and the boom end;

[0107] When the boom cylinder is lifted to the highest position, the lever arm of the boom cylinder relative to the hinge point between the front frame and the boom end At the shortest point, the thrust provided by the boom cylinder can still meet the goal of boom lifting, and the hinge point coordinates are obtained. The horizontal axis , ;

[0108] According to the space requirements of the boom cylinder layout, the hinge point coordinates are obtained The vertical coordinate The first provisional value of

[0109] Connection hinge coordinates and the hinge coordinates Get the line segment , so that the boom cylinder can lift the boom when the bucket is placed on the ground, the hinge point coordinates With line segment The intersection point is the hinge coordinate , get the hinge coordinates The tentative coordinates of

[0110] With the goal of balancing the moment of the boom cylinder and the bucket load moment about the hinge point between the front frame and the boom end, first set the hinge point coordinates The tentative coordinates of the hinge point are used as the final coordinates. According to the tolerance requirements of the hinge point design, the hinge point coordinates are used as the final coordinates. The vertical coordinate With the first provisional value of as the center and the preset length as the tolerance, an arithmetic progression is constructed. According to the cosine theorem formula and the height formula, the hinge coordinates of the boom cylinder torque and the bucket load torque about the front frame and the boom end hinge in the state of torque equilibrium are obtained. The optimal ordinate of the cosine theorem is: ; The height formula is: , The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between

[0111] Similarly, according to the vertical coordinate The hinge coordinates are obtained by The best horizontal coordinate and the optimal ordinate ;

[0112] Based on hinge point coordinates and the hinge coordinates ,as well as , according to the hinge coordinates and the hinge coordinates On the circle with the hinge point coordinate A as the center, we can get , combined with Apply the cosine theorem formula to solve the hinge point coordinates , The hinge coordinates and the hinge coordinates The length of the line segment between

[0113] Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment The installation distance of the boom cylinder ;

[0114] Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment is the full extension length of the boom cylinder ;

[0115] Based on the installation distance of the boom cylinder and the full extension length of the boom cylinder , calculate the stroke of the boom cylinder , .

[0116] In the above scheme, the hinge coordinates are given , hinge point coordinates and the hinge coordinates , and the installation distance of the boom cylinder and the stroke of the boom cylinder The specific design method can realize the hinge coordinates , hinge point coordinates , hinge point coordinates and the hinge coordinates , and the installation distance of the boom cylinder and the stroke of the boom cylinder The accurate calculation is convenient for those skilled in the art to implement.

[0117] In a specific implementation of the embodiment of the present invention, the calculation of the coordinates of each hinge point based on the design parameters and the relationship between the hinge points in the working linkage mechanism by a preset hinge point design strategy further includes:

[0118] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Hinge point coordinates To determine the amount;

[0119] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the drawbar torque and the bucket load torque about the hinge point between the boom and the bucket. The moment balance formula is: ; Rated load capacity of bucket The moment arm relative to the hinge point between the boom and bucket, is the push or pull force of the rod, is the lever arm relative to the hinge point between the boom and bucket;

[0120] The cosine theorem formula is: , calculate ;

[0121] The formula for finding the height is: .

[0122] In the above scheme, the hinge coordinates are given The specific design method can realize the hinge coordinates The accurate calculation is convenient for those skilled in the art to implement.

[0123] In a specific implementation of the embodiment of the present invention, the calculation of the coordinates of each hinge point based on the design parameters and the relationship between the hinge points in the working linkage mechanism by a preset hinge point design strategy further includes:

[0124] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0125] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0126] The cosine theorem formula is: , calculate ;

[0127] The formula for finding the height is: .

[0128] In a specific implementation of the embodiment of the present invention, the calculation of the coordinates of each hinge point based on the design parameters and the relationship between the hinge points in the working linkage mechanism by a preset hinge point design strategy further includes:

[0129] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0130] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0131] Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ;

[0132] Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm;

[0133] The cosine theorem formula is: , calculate ;

[0134] The formula for finding the height is: .

[0135] In the above scheme, the hinge coordinates are given and the hinge coordinates The specific design method can realize the hinge coordinates and the hinge coordinates The accurate calculation is convenient for those skilled in the art to implement.

[0136] Based on the design of the coordinates of each hinge point in the embodiment of the present invention and the relationship between each hinge point, a model of the working linkage mechanism can be obtained. In the working linkage mechanism, the boom 3 and the front frame 2, the boom 3 and the rocker arm 5, the rocker arm 5 and the pull rod 6, and the pull rod 6 and the bucket 7 are all hinged through bearings 9 and pins 8. The specific form of the working linkage mechanism is as follows: Figure 1 and Figure 4 shown.

[0137] Example 2

[0138] An embodiment of the present invention provides a working linkage mechanism, wherein the working linkage mechanism is based on the hinge coordinates obtained by the design method of the hinge point of the loader working linkage mechanism described in any one of the embodiments 1. , hinge point coordinates , articulated coordinates , hinge point coordinates , hinge point coordinates , bucket vertex coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , and the relationship between each hinge point is obtained.

[0139] In the above scheme, a specific design method of the working connecting rod mechanism is given, which greatly improves the design efficiency of the working connecting rod mechanism.

[0140] Example 3

[0141] The embodiment of the present invention provides a hinge point detection method applicable to the working link mechanism in embodiment 2, comprising:

[0142] Get the coordinate measurement value of the hinge point between the front frame and the boom end when the bucket in the working linkage is placed on the ground , Coordinate measurement values ​​of the hinge point between the boom cylinder and the front frame , Boom and boom cylinder hinge point coordinate measurement values , rocker arm and tie rod hinge coordinate measurement values , Boom and bucket hinge coordinate measurement values , bucket vertex coordinate measurement value , Drawbar and bucket hinge coordinate measurement values , Coordinate measurement values ​​of the boom and rocker arm hinge points , rocker arm and bucket cylinder hinge point coordinate measurement values , Coordinate measurement values ​​of the hinge point between the dump cylinder and the front frame ;

[0143] Get the coordinate measurement value of the hinge point between the boom and the boom cylinder when the boom is in the highest lifting state , Boom and bucket hinge coordinate measurement values and bucket vertex coordinate measurements , and the installation distance measurement value of the boom cylinder and stroke measurement ;

[0144] The measured values ​​are compared with the coordinates of the front frame and the boom end hinge point in any one of the embodiments 1. , the coordinates of the hinge point between the boom cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , rocker arm and tie rod hinge coordinates , the coordinates of the hinge point between the boom and bucket , bucket vertex coordinates , coordinates of the hinge point between the drawbar and the bucket , the coordinates of the hinge point of the boom and rocker arm , rocker arm and bucket cylinder hinge coordinates , the coordinates of the hinge point between the dump bucket cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , boom and bucket hinge coordinates and bucket vertex coordinates , and the installation distance of the boom cylinder and itinerary By comparing, the hinge point error during the production of the working link mechanism is confirmed, and based on the hinge point error, it is determined whether the design tolerance requirements are met.

[0145] In the above solution, the accuracy of hinge point detection can be greatly improved, and the detection process is simple and easy to implement, thereby improving the reliability of the working connecting rod mechanism.

[0146] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0150] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

[0151] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A design method for the hinge point of a loader working linkage mechanism, characterized in that: include: Obtaining preset design parameters of the loader; Based on the design parameters and in accordance with the relationship between the hinge points in the working linkage mechanism, the coordinates of the hinge points are calculated through a preset hinge point design strategy.

2. The method for designing a hinge point of a loader working linkage mechanism according to claim 1, characterized in that: The design parameters include the overall length of the loader when the bucket is placed on the ground. , Horizontal distance from bucket blade to bucket lower hinge point , wheelbase between front and rear wheels , Distance from the center of the rear wheel to the tail of the loader ; and the maximum height of the bucket winch pin , Bucket level height , unloading height , Bucket hinge pin height from ground , unloading distance , unloading angle , Tire static radius , Bucket rated load capacity , boom cylinder bore , boom cylinder rod diameter , hydraulic system pressure , Tipping bucket cylinder diameter and dump cylinder rod diameter ; When the bucket is placed on the ground, the coordinates of the hinge point between the front frame and the boom end are , the coordinates of the hinge point between the boom cylinder and the front frame are , the coordinates of the hinge point between the boom and the boom cylinder are , the coordinates of the rocker arm and the tie rod hinge are , the coordinates of the hinge point between the boom and bucket are , the bucket vertex coordinates are , the coordinates of the hinge point between the drawbar and the bucket are , the coordinates of the hinge point between the boom and the rocker arm are The coordinates of the hinge point between the rocker arm and the bucket cylinder are The coordinates of the hinge point between the dump bucket cylinder and the front frame are ; When the boom is in the highest lifting state, the coordinates of the hinge point between the boom and the boom cylinder are , the coordinates of the rocker arm and the tie rod hinge are , the coordinates of the hinge point between the boom and bucket are , the bucket vertex coordinates are , the coordinates of the hinge point between the drawbar and the bucket are , the coordinates of the hinge point between the boom and the rocker arm are The coordinates of the hinge point between the rocker arm and the bucket cylinder are The coordinates of the hinge point between the dump bucket cylinder and the front frame are .

3. The method for designing a hinge point of a loader working linkage mechanism according to claim 2, characterized in that: Based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, the coordinates of each hinge point are calculated, including: Calculate the hinge point coordinates based on the preset loader design parameters , , bucket vertex coordinates , , bucket vertex coordinates , ; From the hinge point coordinates do 、 , get the intersection point and , and The intersection point is ,exist and According to trigonometric functions, we can solve: ； ； ； Obtain the hinge point coordinates , .

4. The method for designing a hinge point of a loader working linkage mechanism according to claim 3, characterized in that: Based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, the coordinates of each hinge point are calculated, including: Hinge point coordinates and the hinge coordinates Both are located at the hinge point is the center of the circle, and the length On a circle with radius The hinge coordinates and the hinge coordinates The length of the line segment between the points and the line segment, according to the distance formula between the points and the line segment, the coordinates of the hinge point are obtained. To line segment Length ; Solve the following formula to obtain the coordinates of the hinge point , : ； ； in: ； ； 。 5. The method for designing a hinge point of a loader working linkage mechanism according to claim 4, characterized in that: The calculation of the coordinates of each hinge point based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism and by a preset hinge point design strategy also includes: Based on hinge point coordinates , hinge point coordinates , hinge point coordinates , calculate the line segment 、 、 The length, in Applying the cosine theorem, we can get , the formula of the cosine theorem is: ； According to the moment balance of the boom cylinder torque and the bucket load torque about the hinge point between the front frame and the boom end, the moment balance formula is obtained: , It is the lever arm of bucket load relative to the hinge point between the front frame and the boom end. It is the moment arm of the boom cylinder relative to the hinge point between the front frame and the boom end; When the boom cylinder is lifted to the highest position, the lever arm of the boom cylinder relative to the hinge point between the front frame and the boom end At the shortest point, the thrust provided by the boom cylinder can still meet the goal of boom lifting, and the hinge point coordinates are obtained. The horizontal axis , ; According to the space requirements of the boom cylinder layout, the hinge point coordinates are obtained The vertical coordinate The first provisional value of Connection hinge coordinates and the hinge coordinates Get the line segment , so that the boom cylinder can lift the boom when the bucket is placed on the ground, the hinge point coordinates With line segment The intersection point is the hinge coordinate , get the hinge coordinates The tentative coordinates of With the goal of balancing the moment of the boom cylinder and the bucket load moment about the hinge point between the front frame and the boom end, first set the hinge point coordinates The tentative coordinates of the hinge point are used as the final coordinates. According to the tolerance requirements of the hinge point design, the hinge point coordinates are used as the final coordinates. The vertical coordinate With the first provisional value of as the center and the preset length as the tolerance, an arithmetic progression is constructed. According to the cosine theorem formula and the height formula, the hinge coordinates of the boom cylinder torque and the bucket load torque about the front frame and the boom end hinge in the state of torque equilibrium are obtained. The optimal ordinate of the cosine theorem is: ; The height formula is: , The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between The hinge coordinates and the hinge coordinates The length of the line segment between Similarly, according to the vertical coordinate The hinge coordinates are obtained by The best horizontal coordinate and the optimal ordinate ; Based on hinge point coordinates and the hinge coordinates ,as well as , according to the hinge coordinates and the hinge coordinates On the circle with the hinge point coordinate A as the center, we can get , combined with Apply the cosine theorem formula to solve the hinge point coordinates , The hinge coordinates and the hinge coordinates The length of the line segment between Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment The installation distance of the boom cylinder ; Based on hinge point coordinates and the hinge coordinates , calculate the line segment , line segment is the full extension length of the boom cylinder ; Based on the installation distance of the boom cylinder and the full extension length of the boom cylinder , calculate the stroke of the boom cylinder , .

6. The method for designing a hinge point of a loader working linkage mechanism according to claim 5, characterized in that: Based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, the coordinates of each hinge point are calculated, including: Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Hinge point coordinates To determine the amount; Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the drawbar torque and the bucket load torque about the hinge point between the boom and the bucket. The moment balance formula is: ; Rated load capacity of bucket The moment arm relative to the hinge point between the boom and bucket, is the push or pull force of the rod, is the lever arm relative to the hinge point between the boom and bucket; The cosine theorem formula is: , calculate ; The formula for finding the height is: .

7. The method for designing a hinge point of a loader working linkage mechanism according to claim 5, characterized in that: Based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, the coordinates of each hinge point are calculated, including: Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm; The cosine theorem formula is: , calculate ; The formula for finding the height is: .

8. The method for designing a hinge point of a loader working linkage mechanism according to claim 5, characterized in that: Based on the design parameters, according to the relationship between the hinge points in the working linkage mechanism, and through a preset hinge point design strategy, the coordinates of each hinge point are calculated, including: Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm; Similarly, according to the hinge point coordinates method, in Get the hinge point coordinates ; Finding the coordinates of the hinge point In the process, the goal is to balance the moment of the bucket cylinder and the pull rod torque about the hinge point of the boom and rocker arm. The moment balance formula is: ,in, is the push or pull force of the rod, is the moment arm of the pull rod relative to the hinge point of the boom and rocker arm; It is the moment arm of the bucket cylinder relative to the hinge point of the boom and rocker arm; The cosine theorem formula is: , calculate ; The formula for finding the height is: .

9. A working connecting rod mechanism, characterized in that: The hinge coordinates of the working link mechanism are obtained based on the hinge point design method of the loader working link mechanism according to any one of claims 1 to 8. , hinge point coordinates , articulated coordinates , hinge point coordinates , hinge point coordinates , bucket vertex coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , hinge point coordinates , and the relationship between each hinge point is obtained.

10. A hinge point detection method applicable to the working link mechanism of claim 9, characterized in that: include: Get the coordinate measurement value of the hinge point between the front frame and the boom end when the bucket in the working linkage is placed on the ground , Coordinate measurement values ​​of the hinge point between the boom cylinder and the front frame , Boom and boom cylinder hinge point coordinate measurement values , rocker arm and tie rod hinge coordinate measurement values , Boom and bucket hinge coordinate measurement values , bucket vertex coordinate measurement value , Drawbar and bucket hinge coordinate measurement values , Coordinate measurement values ​​of the boom and rocker arm hinge points , rocker arm and bucket cylinder hinge point coordinate measurement values , Coordinate measurement values ​​of the hinge point between the dump cylinder and the front frame ; Get the coordinate measurement value of the hinge point between the boom and the boom cylinder when the boom is in the highest lifting state , Boom and bucket hinge coordinate measurement values and bucket vertex coordinate measurements , and the installation distance measurement value of the boom cylinder and stroke measurement ; The measured values ​​are compared with the coordinates of the hinge point between the front frame and the boom end according to any one of claims 1 to 8. , the coordinates of the hinge point between the boom cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , rocker arm and tie rod hinge coordinates , the coordinates of the hinge point between the boom and bucket , bucket vertex coordinates , coordinates of the hinge point between the drawbar and the bucket , the coordinates of the hinge point of the boom and rocker arm , rocker arm and bucket cylinder hinge coordinates , the coordinates of the hinge point between the dump bucket cylinder and the front frame , the coordinates of the hinge point between the boom and boom cylinder , boom and bucket hinge coordinates and bucket vertex coordinates , and the installation distance of the boom cylinder and itinerary By comparing, the hinge point error during the production of the working link mechanism is confirmed, and based on the hinge point error, it is determined whether the design tolerance requirements are met.

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