Hinge connecting rod set design method, electronic equipment and storage medium
By fitting the ideal trajectory curve of the hinge linkage and optimizing it using a genetic algorithm, the problem of hinge linkage design under finite constraints is solved, realizing the automated design of complex hinge linkages, which is suitable for embedded home appliances.
Patent Information
- Application Number
- CN202410563279.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-07
- Publication Date
- 2025-11-07
AI Technical Summary
Under relatively few constraints, it is difficult to directly design hinge linkage assemblies, especially for embedded home appliances where the hinge linkage assembly design cannot meet the embedded requirements of different home furnishings.
By determining the input conditions of the motion output end of the hinge linkage, fitting an ideal trajectory curve, generating trajectory equations using a neural network model, and optimizing the linkage configuration and parameters using a genetic algorithm, the model is then imported into 3D design software for automatic modeling.
It enables the forward design of complex hinge linkage assemblies under relatively few constraints, improving the automation and adaptability of the design and meeting the embedded needs of different home appliances.
Smart Images
Figure CN120911007A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application belongs to the field of hinge design, and particularly relates to a hinge linkage design method, an electronic device and a storage medium. BACKGROUND
[0002] Hinge linkages are widely used in the fields of mechanical manufacturing, vehicles, aviation, etc.
[0003] Taking the field of household appliances as an example, at the present stage, household appliances are more presented as independent products, but as human beings' requirements for the home environment are continuously improved, more and more household appliances are required to be integrated with home decoration, and therefore more and more embedded household appliances appear. The key technology of embedded household appliances is hinge, and different household appliances have different requirements for embedded home decoration, and therefore it is difficult to directly design hinge linkages under relatively few constraints. SUMMARY
[0004] The present application provides a hinge linkage design method, an electronic device and a storage medium, to solve the technical problem that it is difficult to directly design hinge linkages under relatively few constraints.
[0005] To solve the above technical problem, one technical solution adopted by the present application is: a hinge linkage design method, comprising: determining an input condition of a carrier installed with a motion output end of a hinge linkage; fitting an ideal trajectory curve according to the input condition; and matching a linkage configuration and corresponding linkage parameters by using the ideal trajectory curve.
[0006] According to an embodiment of the present application, the determination of the input condition of the carrier installed with the motion output end of the hinge linkage comprises: establishing a basic coordinate system based on the hinge linkage to be designed, the origin of the basic coordinate system coincides with the origin of the hinge linkage; taking the design requirement of the carrier installed with the motion output end of the hinge linkage as the input condition, determining the region of the input condition mapped in the basic coordinate system, and establishing an input point domain satisfying the input condition.
[0007] According to an embodiment of the present application, the fitting of the ideal trajectory curve according to the input condition comprises: generating a data set according to the input point domain; importing the data set into a first network model to obtain an ideal trajectory curve and a trajectory equation satisfying the input condition output by the first network model.
[0008] According to an embodiment of the present application, the trajectory equation is a Bezier curve equation, and the difference between the number of linkages of the hinge linkage and the highest order of the pre-fitted Bezier curve equation is one.
[0009] According to an embodiment of the present application, the first network model can adopt a neural network model, and the first network model is trained by preset optimization constraints related to a carrier installed at a motion output end of the hinge linkage set.
[0010] According to an embodiment of the present application, the matching of the ideal trajectory curve to the linkage set configuration and the corresponding linkage parameters comprises: determining the constraint conditions of the hinge linkage set by using the ideal trajectory curve, and generating a plurality of trajectory points; constructing a genetic algorithm based on the hinge linkage set to be designed; inputting the trajectory points into the genetic algorithm for trajectory fitting, and calculating the fitness; selecting variation through the genetic algorithm, comparing the fitness of the hinge linkage sets of different configurations, and outputting the optimal linkage set configuration and the corresponding linkage parameters.
[0011] According to an embodiment of the present application, the construction of the genetic algorithm based on the trajectory of the hinge linkage set to be designed comprises: constructing a variable matrix based on the hinge linkage set to be designed, and selecting constraint conditions and objective functions, wherein the variable matrix comprises variable parameters including the length of each rod of the linkage set, the motion start angle and end angle, and the installation position.
[0012] According to an embodiment of the present application, the method further comprises: inputting the linkage set configuration and the linkage parameters into three-dimensional design software to generate an assembly.
[0013] To solve the above technical problems, another technical solution adopted by the present application is: an electronic device comprising a memory and a processor coupled to each other, wherein the processor is configured to execute program instructions stored in the memory to implement any of the above hinge linkage set design methods.
[0014] To solve the above technical problems, another technical solution adopted by the present application is: a computer readable storage medium having program data stored thereon, wherein the program data is executed by a processor to implement any of the above hinge linkage set design methods.
[0015] The present application has the following beneficial effects: under relatively few constraint conditions, the current linkage set design method is difficult to directly design a complex hinge structure, the hinge linkage set design method of the present application matches the optimal linkage set configuration and the corresponding linkage parameters by fitting the ideal trajectory curve using a given few fixed points of the installed carrier, and directly designs the complex hinge linkage set under relatively few constraint conditions.
[0016] In addition, the neural network model is used to automatically generate an ideal trajectory curve according to the requirements of a small number of points in the hinge trajectory; in addition, the genetic algorithm-based intelligent algorithm is used to simultaneously optimize the linkage configuration and corresponding linkage parameters of the hinge linkage group, so that the optimal size of each linkage can be directly output, and the three-dimensional modeling software can be imported to automatically model and output the final design, which has high automation and can complete the design of unknown configurations and composite modes with only a small number of parameters. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.
[0018] Figure 1 is a flowchart of an embodiment of a hinge linkage group design method of the present application;
[0019] Figure 2 is a schematic diagram of the input conditions of the carrier installed at the motion output end of the hinge linkage group in an embodiment of the hinge linkage group design method of the present application;
[0020] Figure 3 is a sub-flowchart of an embodiment of the hinge linkage group design method of the present application;
[0021] Figure 4 is another sub-flowchart of an embodiment of the hinge linkage group design method of the present application;
[0022] Figure 5 is another sub-flowchart of an embodiment of the hinge linkage group design method of the present application;
[0023] Figure 6 is a topological graph when the hinge linkage group in an embodiment of the hinge linkage group design method of the present application is a six-linkage group composed of double four-linkage series connection;
[0024] Figure 7 is a frame diagram of an embodiment of the electronic device of the present application;
[0025] Figure 8 is a frame diagram of an embodiment of the computer readable storage medium of the present application. DETAILED DESCRIPTION
[0026] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, the specific embodiments of the present application are described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.
[0027] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0028] Taking the field of household appliances as an example, at the present stage, household appliances are more presented as independent products, but as the requirements of human beings for the home environment continue to improve, more and more household appliances require to be integrated with home decoration, and therefore more and more embedded household appliances appear. The key technology of embedded household appliances is hinge, and different household appliances have different requirements for the embeddedness of home decoration, so it is difficult to directly design the hinge with complex structure under relatively few constraints. The current linkage group design method can usually only optimize the determined linkage group in the determined direction under the condition of determining the linkage group configuration.
[0029] Please refer to Figure 1 , Figure 1 is a flowchart of an embodiment of a hinge linkage group design method of the present application.
[0030] An embodiment of the present application provides a hinge linkage group design method, which specifically comprises the following steps:
[0031] S11: determining the input condition of the carrier installed with the movement output end of the hinge linkage group.
[0032] The input condition can be the trajectory design requirement of the carrier installed with the movement output end of the hinge linkage group. Specifically, it can be the design requirement of the fixed point of the key area of the installed carrier, and the fixed point can be one or more.
[0033] The hinge linkage group design method in the present application can be used for the design of hinge linkage groups in various fields such as mechanical manufacturing, vehicles, aviation, etc. The hinge linkage group designed by the design method in the present application can be used in various devices such as embedded household appliances, robot dexterous hands, load handling devices, etc.
[0034] Taking a cabinet-embedded appliance as an example, the door body has some requirements for the door body trajectory during the process of opening and closing relative to the cabinet, at this time the door body trajectory design requirement can be taken as the trajectory design requirement of the hinge linkage group, and then the door body trajectory design requirement can be taken as the input condition.
[0035] In some embodiments, the position design requirement of the key fixed point on the door body can be taken as the input condition, and the design requirement can be to ensure the movement gap, not to interfere with the surrounding objects during the opening of the door body, not to interfere with the internal space of the cabinet when the door body is opened to a predetermined angle, and the like.
[0036] Please refer to Figure 2 , Figure 2 is a schematic diagram of the input condition of the carrier installed on the motion output end of the hinge linkage group in an embodiment of the hinge linkage group design method of the present application. In a specific implementation, the door body 3 is pivotally connected to the cabinet 2 through the hinge linkage group, and one side of the cabinet 2 is provided with a cabinet 1, at this time the input condition can specifically include: the inside point of the door body 3 has a position requirement when the door is opened to a predetermined angle, for example, the distance X1 between the inside point of the door body 3 and the inner wall of the hinge side of the cabinet during the process of opening the door body 3 to 90° is more than 2mm; the outside point of the door body 3 has a position requirement when it is opened to a predetermined maximum opening angle, for example, the distance X2 between the outside point of the door body 3 and the cabinet 1 when it is opened to the maximum opening angle is more than 4mm; the input condition can also be that the distance between the outer edge of the door body 3 and the outer wall of the cabinet during the process of closing the door body 3 to the predetermined maximum opening angle needs to be less than a predetermined distance. The input condition can also be set according to the actual application scene. The above is an example of several design requirements. One or more of the input conditions can be determined when the input condition is determined.
[0037] The input conditions of different fixed points can be converted into the input conditions of the same fixed point, or the input conditions of different fixed points can exist independently, which are used to fit the ideal trajectory curve subsequently.
[0038] S12: fitting an ideal trajectory curve according to the input condition.
[0039] The movement trajectory of the fixed point of the installed carrier is a curve with continuous curvature through the movement of the motion output end of the hinge linkage group driving the installed carrier, and there is no phenomenon of using a segmented function to express, so the ideal trajectory curve of the carrier can be fitted according to the input condition.
[0040] It should be noted that the ideal trajectory curve is an ideal trajectory curve of a fixed point of the installed carrier. The input conditions of different fixed points can be converted into the input conditions of the same fixed point, and then an ideal trajectory curve is fitted; or the input conditions of different fixed points can be independently fitted to an ideal trajectory curve, and multiple ideal trajectory curves can be used to match the optimal linkage configuration and corresponding linkage parameters in the subsequent steps.
[0041] The starting point of the required constructed planar curve is the origin of the basic coordinate system, and a suitable point in the input point domain can be selected to fit an ideal trajectory curve that meets the input conditions and meets the basic linkage group requirements.
[0042] S13: Match the linkage configuration and corresponding linkage parameters using the ideal trajectory curve.
[0043] The hinge linkage group can achieve a given motion law or motion trajectory to complete the predetermined motion requirement. The ideal trajectory curve of the carrier can be fitted according to the input conditions through the above steps, that is, the ideal motion trajectory of the hinge linkage group to be designed. The ideal trajectory curve meets the design requirements and has good performance under various optimization constraints, and the excellent linkage configuration and corresponding linkage parameter design can be matched through the ideal trajectory curve.
[0044] In some embodiments, the hinge linkage group design method of the present application further comprises:
[0045] S14: Input the linkage configuration and linkage parameters into the three-dimensional design software to generate an assembly.
[0046] The data file of the optimal linkage configuration and corresponding linkage parameters generated in step S13 can be directly imported into the three-dimensional design software to complete the entity design output and obtain the assembly. After the entity design output, various design optimization structures can be continuously added according to the actual use process limit, check valve and other requirements, and the output result is completed after the design.
[0047] Under relatively few constraints, the current linkage design method is difficult to directly design complex hinge structures. The hinge linkage group design method of the present application fits an ideal trajectory curve according to a given few fixed points of the installed carrier, matches the optimal linkage configuration and corresponding linkage parameters according to the ideal trajectory curve, and directly designs the complex hinge linkage group under relatively few constraints.
[0048] Please continue to refer to Figure 3 , Figure 3 is a sub-process flow diagram of an embodiment of a hinge linkage group design method of the present application.
[0049] In some embodiments, the step S11 determines the input condition of the carrier installed with the motion output end of the hinge linkage set comprises:
[0050] S111: establishing a base coordinate system based on the hinge linkage set to be designed, and the origin of the base coordinate system coincides with the origin of the hinge linkage set.
[0051] The base coordinate system is established based on the hinge linkage set to be designed, and the origin of the base coordinate system coincides with the origin of the hinge linkage set. By coinciding the origin of the base coordinate system with the origin of the hinge linkage set, the conversion between coordinates can be reduced, and the operation efficiency can be improved.
[0052] S112: taking the design requirement of the carrier installed with the motion output end of the hinge linkage set as the input condition, determining the region of the input condition mapped in the base coordinate system, and establishing an input point domain satisfying the input condition.
[0053] Taking the design requirement of the carrier installed with the motion output end of the hinge linkage set as the input condition, determining the region of the input condition mapped in the base coordinate system, i.e. determining the coordinate region in the base coordinate system through which the fixed point of the carrier installed with the motion output end of the hinge linkage set can pass, thereby establishing an input point domain satisfying the input condition.
[0054] By establishing the input point domain, it is beneficial to determine that the design position required by the hinge linkage set is in the corresponding region in the base coordinate system.
[0055] Please refer to Figure 4 , Figure 4 is another sub-process schematic diagram of an embodiment of the hinge linkage set design method of the present application.
[0056] In some embodiments, fitting the ideal trajectory curve according to the input condition comprises:
[0057] S121: generating a data set according to the input point domain.
[0058] The data set can be generated according to the input point domain, and the data set includes data information of a plurality of data points located in the input point domain. The data information can specifically include the coordinates of the data points in the base coordinate system, and the angle between the line connecting the origin and the data point and the horizontal coordinate axis of the base coordinate system.
[0059] S122: importing the data set into the first network model to obtain the ideal trajectory curve and the trajectory equation output by the first network model and satisfying the input condition.
[0060] Since the ideal trajectory curve is a curve with continuous curvature, there is no phenomenon of using a piecewise function to express it, so a data set needs to be constructed to predict the ideal trajectory curve. The starting point of the ideal trajectory curve is a determined point, and in order to form a curve with continuous curvature, the data set also includes at least two points.
[0061] In some embodiments, the ideal trajectory curve can be determined by a Bezier curve equation. The Bezier curve equation can determine the optimal spline curve through fewer points in space, and can achieve the demand optimization fitting of the ideal trajectory curve for a few fixed points.
[0062] The Bezier curve equation is as follows:
[0063]
[0064] where P i is the i-th control point, n represents the order of the Bezier curve, and the parameter t is used to determine the resolution of the Bezier curve, which can be determined according to the application scenario and performance requirements. The ideal trajectory curve can be constructed by determining the value of Pi.
[0065] where the difference between the number of links of the hinge link set and the pre-fitting highest order of the Bezier curve equation is one. Specifically, if the link set to be determined in the present application is a six-bar mechanism connected in series by a double four-bar mechanism, the pre-fitting highest order n is five, and a five-order Bezier fitting curve can be used; similarly, if the link set to be determined in the present application is a four-bar mechanism, the pre-fitting highest order n is three, and a three-order Bezier fitting curve can be used; similarly, if the link set to be determined in the present application is a seven-bar mechanism, the pre-fitting highest order n is six, and a six-order Bezier fitting curve can be used. The highest order of the Bezier fitting curve required can be obtained by pre-setting the first network model, or can be automatically optimized and identified by the first network model, which is not limited here.
[0066] In some embodiments, the first network model can use a neural network model, including a radial convolutional neural network CNN or a recurrent convolutional neural network RNN, etc. The first network model is obtained by pre-training. The first network model is trained using a training coordinate set and a pre-set optimization constraint condition corresponding to the training coordinate set. The pre-set optimization constraint condition includes one or more of the minimum opening trajectory distance of the installed carrier, the maximum rotatable angle of the installed carrier, the distance between the fixed point of the installed carrier and the external reference point, and other conditions.
[0067] The first network model outputs the estimated trajectory of each iteration round during the training process, and adjusts the model weight and fitting coefficient value to update the training loss during the iteration process. The training loss of the first network model is obtained based on the difference between the estimated trajectories of adjacent rounds. The training of the first network model can be completed by satisfying the limit condition through the training loss. The limit condition can be that the difference between the estimated trajectories of adjacent rounds is less than a pre-set value. The trained first network model can stably and efficiently generate an ideal trajectory curve according to the data set.
[0068] Please refer toFigure 5 , Figure 5 is another sub-process diagram of an embodiment of the hinge linkage design method of the present application.
[0069] In some embodiments, matching the linkage configuration and corresponding linkage parameters with the ideal trajectory curve comprises:
[0070] S131: determining the variable constraint boundary values of the hinge linkage using the ideal trajectory curve, and generating a plurality of trajectory points based on the ideal trajectory curve.
[0071] The ideal trajectory curve can be used to solve the specific coordinate values of some specific position optimization points, and then the constraint boundary values of some variables of the hinge linkage to be optimized can be generated, for example, the variable can be the linkage length range, i.e. the upper and lower boundary values of the linkage length.
[0072] The plurality of trajectory points are generated using the ideal trajectory curve, and the trajectory points can be uniformly distributed on the ideal trajectory curve, thereby facilitating stable and efficient matching of the optimal linkage configuration and corresponding linkage parameters.
[0073] S132: constructing a genetic algorithm based on the hinge linkage to be designed.
[0074] Using the genetic algorithm constructed based on the trajectory of the hinge linkage for parameter design is beneficial to obtain a global optimal solution and avoid local convergence.
[0075] The genetic algorithm is constructed based on the hinge linkage to be designed, specifically comprising:
[0076] A variable matrix is constructed based on the hinge linkage to be designed, and a constraint condition and an objective function are selected.
[0077] The variables included in the variable matrix include: the lengths of the rods of the linkage, the starting and ending angles of movement, and the installation positions.
[0078] In a specific embodiment, the hinge linkage is a six-linkage composed of two four-linkages in series, and its degree of freedom is 1. Since its degree of freedom is 1 and cannot be combined with the rack, the six-linkage mechanism composed of two four-linkages in series is topological, and its possible combination mode topological graph is shown in Figure 6 According to Figure 6 It is known that C(E) and D(F) can be expressed by the same form of parameter equation, so the variable matrix L0 is constructed. The definition matrix includes variables such as the lengths of the rods of the six-linkage, the starting and ending angles of movement, and the installation positions.
[0079] The constraints include, but are not limited to, the following aspects: feasible region of each connecting rod, existence condition of single four-bar mechanism, existence condition of four-bar mechanism, starting and ending instantaneous geometric condition, entity geometric condition in existing space, dynamic existence condition (such as pressure angle, quick-return characteristic, etc.), and other existence conditions. It should be noted that, due to the evaluation index of the global optimization algorithm and the feasible region, some constraint conditions may not be met. Important conditions can be placed in the front position.
[0080] In order to determine the optimal solution of the rod length under the condition of the trajectory, a target function of the minimum deviation of the trajectory is established, and the target function can be represented by the variable matrix.
[0081] S133: input the trajectory point into the genetic algorithm for trajectory fitting calculation fitness, and output the optimal connecting rod group configuration and corresponding connecting rod parameters by comparing the fitness of different configurations of the hinged connecting rod group through genetic algorithm mutation selection.
[0082] Based on the variable constraint boundary value determined in step S131 and the constraint condition in step S132, the trajectory point is input into the genetic algorithm for trajectory fitting calculation fitness, and the optimal connecting rod group configuration and corresponding connecting rod parameters are output by comparing the fitness of different configurations of the hinged connecting rod group and the ideal trajectory curve through genetic algorithm mutation selection.
[0083] Among them, the mutation selection is mainly aimed at the adaptability of the configuration, such as changing the matching order of the connecting rod group (i.e. population mutation) so that different configurations of the four-bar rod are matched, and the fitness of different configurations is compared, so that the most suitable connecting rod group configuration and corresponding connecting rod parameters under the current trajectory are output.
[0084] In the present application, the genetic algorithm is used to select, cross, and mutate genetic operations, and the new generation population obtained replaces the last generation population, so that the fitness value is continuously improved. When the fitness of the individual reaches a given threshold, or the fitness of the individual and the population fitness no longer rises, the iterative process of the algorithm converges, and the global optimal solution can be obtained.
[0085] Under relatively few constraint conditions, the current connecting rod group design method is difficult to directly design the complex hinge. The hinge connecting rod group design method of the present application fits the ideal trajectory curve by using a given few fixed point requirements of the installed carrier, matches the optimal connecting rod group configuration and corresponding connecting rod parameters according to the ideal trajectory curve, and directly designs the complex hinge connecting rod group under relatively few constraint conditions.
[0086] Further, the neural network model in the application can automatically generate an ideal trajectory curve according to the requirements of a small number of points in the hinge trajectory; in addition, the application also uses an intelligent algorithm based on a genetic algorithm to simultaneously optimize the linkage configuration of the hinge linkage group and the corresponding linkage parameters, so that the optimal size of each linkage can be directly output, and the three-dimensional modeling software can be imported to automatically model and output the final design; the degree of automation is high, and in the field of household appliances, the embedded hinge of different household appliances has strong versatility, and the design of unknown configurations and composite modes can be completed with only a small number of parameters.
[0087] Please refer to Figure 7 , Figure 7 is a schematic diagram of the framework of an embodiment of the electronic device.
[0088] Another embodiment of the application provides an electronic device 200, comprising a memory 201 and a processor 202 coupled with each other, and the processor 202 is configured to execute program instructions stored in the memory 201 to implement the design method of the hinge linkage group in any of the above embodiments. In a specific implementation scenario, the electronic device 200 can include but is not limited to a microcomputer, a server, and in addition, the electronic device 200 can also include a notebook computer, a tablet computer and other mobile devices, which are not limited here.
[0089] Specifically, the processor 202 is configured to control itself and the memory 201 to implement the steps of any of the above video analysis method embodiments, or implement the steps in any of the above hinge linkage group design method embodiments. The processor 202 can also be referred to as a CPU (Central Processing Unit, Central Processing Unit). The processor 202 can be an integrated circuit chip with signal processing capability. The processor 202 can also be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. The general processor can be a microprocessor or the processor can also be any conventional processor. In addition, the processor 202 can be implemented by an integrated circuit chip together.
[0090] Through the above scheme, the hinge linkage group with complex structure can be directly designed in relatively few constraint conditions.
[0091] Please refer to Figure 8 , Figure 8is a schematic diagram of a framework of an embodiment of the computer-readable storage medium of the present application.
[0092] A further embodiment of the present application provides a computer-readable storage medium 30, which stores program data, and the program data is executed by a processor to implement the hinge linkage set design method of any of the above embodiments.
[0093] In several embodiments provided by the present application, it should be understood that the disclosed method and device can be implemented by other manners. For example, the above-described device implementation is only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a unit or component can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.
[0094] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.
[0095] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of a software functional unit.
[0096] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium 30. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium 30 and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of the embodiments of the present application. The aforementioned storage medium 30 includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.
[0097] The terms "first", "second", "third", etc. in the present application are only used for descriptive purpose and cannot be understood as indicating the number of the technical features indicated. Thus, the features defined with "first", "second", "third" can include at least one of the features explicitly or implicitly. All directional indications, such as upper, lower, left, right, front, back, etc. in the present application are only used for explaining the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover the non-exclusive inclusion. For example, the process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.
[0098] It should be noted that the terms "horizontal", "vertical", etc. do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined; the terms "parallel", "perpendicular", etc. also do not mean that the fittings must be absolutely parallel or perpendicular, but can form a certain angular deviation. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. In addition, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, only for the convenience of describing the embodiments of the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0099] The above description is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A method of designing a hinge linkage, characterized by, The method comprises: determining input conditions of a carrier installed at a motion output end of a hinge linkage; fitting an ideal trajectory curve according to the input conditions; matching a linkage configuration and corresponding linkage parameters by using the ideal trajectory curve.
2. The method of designing a hinge linkage according to claim 1, wherein, The determining of the input conditions of the carrier installed at the motion output end of the hinge linkage comprises: establishing a basic coordinate system based on the hinge linkage to be designed, the origin of the basic coordinate system coincides with the origin of the hinge linkage; determining a region in which the input conditions are mapped in the basic coordinate system according to design requirements of the carrier installed at the motion output end of the hinge linkage, and establishing an input point domain satisfying the input conditions.
3. The method of designing a hinge linkage according to claim 2, wherein, The fitting of the ideal trajectory curve according to the input conditions comprises: generating a data set according to the input point domain; inputting the data set into a first network model to obtain an ideal trajectory curve and a trajectory equation satisfying the input conditions output by the first network model.
4. The method of designing a hinge linkage according to claim 3, wherein, The trajectory equation is a Bezier curve equation, and the difference between the number of linkages of the hinge linkage and the highest order of the pre-fitted Bezier curve equation is one.
5. The method of designing a hinge linkage according to claim 3, wherein, The first network model can adopt a neural network model, and the first network model is obtained by training through preset optimization constraints related to the carrier installed at the motion output end of the hinge linkage.
6. The method of designing a hinge linkage of claim 1, wherein, The matching of the linkage configuration and the corresponding linkage parameters by using the ideal trajectory curve comprises: determining variable constraint boundary values of the hinge linkage by using the ideal trajectory curve, and generating a plurality of trajectory points based on the ideal trajectory curve; constructing a genetic algorithm based on the hinge linkage to be designed; inputting the trajectory points into the genetic algorithm for trajectory fitting calculation of fitness, selecting variation through the genetic algorithm, comparing the fitness of hinge linkages of different configurations, and outputting an optimal linkage configuration and corresponding linkage parameters.
7. The method of designing a hinge linkage according to claim 6, wherein, The construction of the genetic algorithm based on the trajectory of the hinge linkage to be designed comprises: constructing a variable matrix based on the hinge linkage to be designed, and selecting constraint conditions and objective functions, the variable matrix comprising variable parameters including the length of each rod of the linkage, the motion start angle and end angle, and the installation position.
8. The method of designing a hinge linkage according to any one of claims 1-7, wherein, The method further comprises: inputting the linkage configuration and the linkage parameters into a three-dimensional design software to generate an assembly.
9. An electronic device, comprising: The device comprises a memory and a processor coupled to each other, the processor is configured to execute program instructions stored in the memory to implement the hinge linkage design method in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that, The storage medium stores program data, and the program data can be executed to implement the hinge linkage design method in any one of claims 1 to 8.