Method and device for determining traction force and start-stop speed of wing moving tool

Abstract

The invention provides a method and a device for determining traction force and start-stop speed of a wing moving tool, the structure form of the moving tool is a square-shaped frame which is symmetrical along the length direction and the width direction, and the moving tool comprises a wing root upright post, an upper beam, a wing tip upright post, a lower beam and a wheel set, the method comprises the following steps: determining the size of each component of the movable tool, the mass of each component, the gravity center position of the movable tool, the rotational inertia of the movable tool around a rotating shaft passing through the mass center and the number of wheel sets; acquiring a friction coefficient between the movable tool wheel set and the ground; and a traction force and start-stop speed constraint equation in the start-stop process of the moving tool without overturning is established, and the constraint range of the traction force and the start-stop speed in the start-stop process of the moving tool without overturning is determined. According to the invention, the wing tool can be ensured to run safely without overturning in the moving process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of aircraft assembly, and particularly relates to a method and device for determining the traction force and start-stop speed of a wing mobile tool. BACKGROUND

[0002] With the increasing demand for aircraft production, new mobile production lines have been widely used in the field of aircraft manufacturing and assembly. The mobile production line of the wing mainly moves back and forth between different assembly stations on the ground through the mobile wing tool, to complete the assembly and connection of each component of the wing. The wing tool is pulled by a traction vehicle and moves through the wheel set on both sides of the lower beam. The mobile tool is large in size and mass. At the moment of starting and stopping, the displacement of each part of the mobile tool structure is out of sync due to the inertial force, and even may overturn. Therefore, the traction force and start-stop speed of the mobile tool need to be limited to ensure the safe operation of the tool movement process.

[0003] Therefore, in order to solve the problem of tool overturning due to excessive traction force and start-stop speed of the mobile tool, an analysis equation of the traction force and start-stop speed of the mobile tool is established to ensure the safe operation of the tool, and a method for determining the traction force and start-stop speed of the wing mobile tool considering overturning is provided. SUMMARY

[0004] In order to solve the problem of tool overturning due to excessive traction force and start-stop speed of the mobile tool, the application provides a method for determining the traction force and start-stop speed of the wing mobile tool considering overturning. The technical solution is as follows: A method for determining the traction force and start-stop speed of a wing mobile tool is used for a mobile tool. The structure of the mobile tool is a H-shaped frame symmetrical along the length direction and the width direction. The components of the mobile tool include a wing root stand, an upper beam, a wing tip stand, a lower beam and a wheel set. The wing root stand, the upper beam, the wing tip stand and the lower beam are connected in pairs to form a H-shaped frame. The wheel set is installed on both sides of the lower beam and is evenly distributed along the length direction of the mobile tool. The center of the wheel set is flush with the bottom edge of the lower beam. The wheel set is in contact with the ground. The mobile tool moves on the ground through the wheel set. The moving direction is parallel to the ground and parallel to the length direction of the mobile tool. The traction force of the mobile tool is applied to the lower beam of the mobile tool. The traction force position is below the center of the length direction of the tool lower beam, and the distance from the ground is H1. The method comprises the following steps: Step 1, determining the size of each component of the mobile tool, the mass of each component, the center of gravity of the mobile tool, the rotational inertia of the mobile tool around the rotation axis through the center of mass and the number of wheel sets; Step 2, obtaining the friction coefficient of the wheel set of the mobile tool and the ground ; Step 3, establishing the traction force and start-stop speed constraint equation of the start and stop process of the mobile tool without overturning, and determining the constraint range of the traction force and start-stop speed of the start and stop process of the mobile tool without overturning.

[0005] Optionally, the step 1 comprises: Step 21, determining the size of each component of the mobile tool, including the length, width, height of each component of the wing root column, upper beam, wing tip column, lower beam, radius of the wheel set, and width of the wheel set, the length, width, height of the wing root column and the wing tip column are respectively , the length, width, height of the upper beam are respectively , the length, width, height of the lower beam are respectively , the radius of the wheel set is r, the width of the wheel set is , the number of wheel sets is 2n, n is a natural number greater than 0, and the mass of the wing root column, upper beam, wing tip column, lower beam, and single wheel set is respectively , , , , ; Step 22, determining the center of gravity of the mobile tool based on the center of gravity of each component of the wing root column, upper beam, wing tip column, lower beam, and wheel set. Step 23, taking the moment of inertia of the mobile tool rotating around the length direction axis through the center of mass as the moment of inertia of the mobile tool.

[0006] Optionally, the step 22 comprises: Step 31, determining the center of gravity of each component of the wing root column, upper beam, wing tip column, lower beam, and wheel set as the corresponding geometric center of each component, and determining the center of gravity of the wing root column and the wing tip column as , the center of gravity of the upper beam is , the center of gravity of the lower beam is , and the center of gravity of a single wheel set is ; Step 32, determining the center of gravity of the mobile tool: taking the midpoint of the outer edge of the lower beam width direction corresponding to the wing root column side as the coordinate origin, taking the lower beam length direction as the x axis, taking the wing root column to the wing tip column direction as the positive direction of the x axis, taking the wing root column height direction as the y axis, taking the lower beam to the upper beam direction as the positive direction of the y axis, and taking the right-hand rule to determine the lower beam width direction as the z axis, and the positive direction of the z axis is outward in the lower beam width direction, and the center of gravity of the mobile tool is determined as:

[0007] wherein, is the x direction coordinate of the tool center of gravity, y-coordinate of the gravity center of the tooling, z-coordinate of the gravity center of the tooling.

[0008] Optionally, the step 3 comprises: Step 41, determining the working condition of the mobile tooling in which overturning is caused by the starting and stopping processes of the mobile tooling as: all wheels on one side of the mobile tooling are off the ground, the gravity center of the mobile tooling is rotated from the initial position and to the plane on which the length direction edge of the lower beam of the mobile tooling is located at the initial time, and the angle of the rotation of the gravity center of the mobile tooling is denoted as , Step 42, establishing the motion equation of the starting and stopping processes of the mobile tooling in which overturning is caused; Step 43, determining the constraint condition of the starting and stopping processes of the mobile tooling; Step 44, based on the motion equation and the constraint condition, establishing the traction force and starting and stopping speed constraint equation of the starting and stopping processes of the mobile tooling, and determining the constraint range of the traction force and starting and stopping speed of the mobile tooling.

[0009] Optionally, the step 42 comprises: Step 51, during the starting and stopping processes of the mobile tooling, the motion equation of the mobile tooling is:

[0010] wherein is the sum of the masses of all components of the mobile tooling, , is the gravitational acceleration , is the vertical distance from the gravity center of the mobile tooling to the rotation shaft formed by the wheel group on the side of the mobile tooling which is not off the ground and the ground, , is the angle between the gravity center of the mobile tooling and the plane on which the length direction edge of the lower beam of the mobile tooling is located at the initial time during the rotation process, is the moment of inertia of the rotation shaft formed by the wheel group on the side of the mobile tooling which is not off the ground and the ground, .

[0011] Optionally, the constraint condition of the starting of the mobile tooling determined in the step 43 comprises: Step 61, at the starting of the mobile tooling, the rotation speed of the tooling at the initial time is , the angle is 0, wherein , wherein is the starting traction force of the mobile tooling, is the time during which the traction force is applied from 0 to , ​The initial speed of the tooling generated by the quick applied traction force is obtained from the step 51 motion equation, and the rotational angular velocity of the tooling during the starting process is:

[0012] Step 62, determine the rotational angular velocity of the tooling The actual angle of rotation of the tooling

[0013] That is

[0014] Step 63, establish the constraint condition that the starting of the moving tooling does not occur overturning: when the rotational angular velocity of the tooling tends to 0, the angle of rotation of the tooling is less than or equal to That is , .

[0015] Optionally, the traction force and start-stop speed constraint equation of the starting process of the moving tooling established in step 44 includes: Step 71, when the moving tooling starts, the traction force and start-stop speed constraint equation of the starting process of the moving tooling is the starting process tooling speed and the starting process traction force, Wherein, the starting process tooling speed is:

[0016] The starting process tooling speed constraint range determined by step 63 is

[0017] Based on the starting process tooling speed, the starting process traction acceleration is determined as:

[0018] Based on the starting process traction acceleration and step 63, the starting process traction force and the constraint range are determined as: .

[0019] Optionally, the constraint condition of the starting and stopping process of the moving tooling determined in step 43 includes: Step 81, when the moving tooling stops, the rotational speed of the tooling at the stopping time is , the angle at the initial time is 0, wherein , Wherein is the starting traction force of the moving tooling, is the time for which the traction force is applied from 0 to , ​​Let $\frac{ ...

[0020] Step 82, determine the angular velocity of the tooling rotation. At that time, the actual angle through which the tooling rotated ,have to

[0021] Step 83, establish the constraint condition for the moving fixture to stop without overturning: when the rotational angular velocity of the fixture approaches 0, the angle through which the fixture has rotated is less than or equal to... ,Right now .

[0022] have to

[0023] Right now

[0024] Optionally, the traction force and start-stop speed constraint equations for the stopping process of the moving tooling in step 44 include: Step 91: When the moving fixture stops, establish the constraint equations for the traction force and start / stop speed during the stopping process of the moving fixture, which are the fixture speed and traction force during the stopping process. The speed constraint range of the tooling during the stopping process, as determined in step 83, is as follows:

[0025] The traction acceleration during the stopping process is determined based on the tooling speed during the stopping process:

[0026] The traction force and constraint range during the stopping process are determined based on the traction acceleration during the stopping process: .

[0027] In a second aspect, a device for determining the traction force and start / stop speed of a wing moving fixture is provided, for use in any of the methods described in the first aspect, the device comprising: The determination module is used to determine the dimensions of each component of the moving tool, the mass of each component, the position of the center of gravity of the moving tool, the moment of inertia of the moving tool about the axis passing through the center of gravity, and the number of wheel sets. The acquisition module is used to obtain the coefficient of friction between the moving tool wheel assembly and the ground. ; A module is established to create constraint equations for the traction force and start / stop speed during the starting and stopping processes of the mobile tooling without overturning, and to determine the constraint range of the traction force and start / stop speed during the starting and stopping processes of the mobile tooling without overturning.

[0028] The beneficial effects of the present application are at least: In view of the lack of positive analysis method for the current wing moving tool traction force and start-stop speed, a wing moving tool traction force and start-stop speed determination method considering overturning is provided, the moving tool movement process is divided into start and stop processes, the overturning safety definitions of the start and stop processes are established respectively, and the traction force and start-stop speed constraint equations are established, thereby ensuring the safe operation of the wing tool in the movement process without overturning, and the method is a positive and feasible calculation method. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 A wing moving tool structure and size schematic diagram is provided for the embodiment of the present application. Figure 2 A wing moving tool coordinate schematic diagram is provided for the embodiment of the present application. Figure 3 A wing tool start process overturning schematic diagram is provided for the embodiment of the present application. Figure 4 A wing tool stop process overturning schematic diagram is provided for the embodiment of the present application. Figure 5 A wing tool force schematic diagram under the wing tool start overturning condition is provided for the embodiment of the present application. Figure 6 A rotation angular velocity and rotation angle relationship schematic diagram when the wing tool stop process overturns is provided for the embodiment of the present application. Figure 7 A wing tool force schematic diagram under the wing tool start overturning condition is provided for the embodiment of the present application. Figure 8 A method flowchart is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0030] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] The features and exemplary embodiments of the various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some or all of these specific details. The description of the embodiments is merely illustrative of the present application and is not intended to limit the present application, as is apparent to one of ordinary skill in the art. The present application is not limited to the specific arrangements and instrumentalities set forth in the following description and is covered by any improvements, alternatives, and modifications that fall within the spirit of the present application. In the drawings and the following description, well-known structures and techniques have not been shown or described in detail in order not to obscure the present application.

[0032] It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict, and each embodiment can be referred to and cited by each other.

[0033] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Traction and start-stop speed are key parameters to determine whether the wing moving tooling is safe to run, however, traction and start-stop speed lack positive analysis method, and there is no clear formula to limit the traction and start-stop speed.

[0035] Based on the above problems, the movement process of the wing moving tooling is divided into three processes of starting, stable movement and stopping, the overturning of the moving tooling in the three processes is defined, and the movement equation and constraint equation of each movement process are established, and for the design idea, the present application provides a wing moving tooling traction and start-stop speed determination method considering overturning.

[0036] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0037] Referring to Figure 8 , the present application provides a wing moving tooling traction and start-stop speed determination method, comprising the following steps: Step 1, determining the structure form of the moving tooling as a Huazi type frame symmetrical along the length direction and the width direction, determining the component parts of the moving tooling including wing root columns, upper beams, wing tip columns, lower beams and wheel groups, wherein the wing root columns, the upper beams, the wing tip columns and the lower beams are connected in pairs in sequence to form a Huazi type frame, the wheel groups are installed on both sides of the lower beam and are evenly distributed along the length direction of the moving tooling, the center of the wheel group is flush with the bottom edge of the lower beam, and the wheel group is in contact with the ground, as shown in Figure 1 ; Step 2: Determine the dimensions, mass, center of gravity, moment of inertia, and number of wheelsets of each component of the moving fixture. The structural dimensions of the moving fixture include the length, width, and height of each component (wing root column, upper beam, wing tip column, lower beam), the radius and width of the wheelsets, and the length, width, and height of the wing root column and wing tip column, respectively (…). The length, width, and height of the upper beam are respectively ( The length, width, and height of the lower beam are respectively ( The radius of the wheelset is r, and the width of the wheelset is... The number of wheelsets is 2n, where n is a natural number greater than 0. The masses of the wing root column, top rail, wingtip column, bottom rail, and a single wheelset are respectively... , , , , In this embodiment, the dimensions and weight of each component are shown in Table 1 below.

[0038] Table 1 Dimensions and weights of each component

[0039] The wheelset radius is r=0.4m, the wheelset width is 0.4m, the number of wheelsets is 8, and the mass of a single wheelset is 0.1 tons.

[0040] The center of gravity of each component—wing root pillar, top beam, wingtip pillar, bottom beam, and wheelset—is determined as its corresponding geometric center. The center of gravity of the wing root pillar and wingtip pillar is determined as (…). The center of gravity of the upper beam is located at ( The center of gravity of the lower beam is located at ( The center of gravity of a single wheelset is ( ); The formula for calculating the center of gravity of the moving fixture is as follows: Taking the midpoint of the lower beam's width direction corresponding to the side of the wing root column as the origin, the length direction of the lower beam as the x-axis, the direction from the wing root column to the wing tip column as the positive x-axis, the height direction of the wing root column as the y-axis, the direction from the lower beam to the upper beam as the positive y-axis, and using the right-hand rule to determine the width direction of the lower beam as the z-axis. The positive z-axis direction is outward from the width direction of the lower beam. Figure 2 As shown. Confirm the center of gravity position of the moving fixture is...

[0041] The moment of inertia of the moving fixture about an axis passing through its center of mass includes the moment of inertia about a longitudinal axis passing through its center of mass. In this embodiment

[0042] Step 3, determine the moving form of the moving tool as moving on the ground by the wheel group, and the moving direction as moving along the direction parallel to the ground and parallel to the length of the moving tool; Step 4, determine the position of the traction force of the moving tool as the lower beam of the moving tool, and the position of the traction force as below the center of the length direction of the lower beam of the tool, with the distance to the ground height H1=0.5m; Step 5, determine the friction coefficient between the wheel group of the moving tool and the ground , the friction coefficient in the embodiment is ; Step 6, determine the movement process of the moving tool considering overturning including the starting and stopping processes; Step 7, establish the traction force and starting and stopping speed constraint equation of the starting and stopping processes of the moving tool without overturning, and determine the constraint range of the traction force and starting and stopping speed of the starting and stopping processes of the moving tool without overturning.

[0043] Step 71, determine the definition of the overturning of the moving tool in the starting and stopping processes as: all the wheel groups on one side of the moving tool are off the ground, and the gravity center of the tool rotates from the initial position and rotates to the plane where the length direction edge of the lower beam of the tool is located at the initial moment, and the angle of the rotation of the gravity center of the tool is denoted as , , as shown in Figure 3 , Figure 4

[0044] Step 72, establish the movement equation of the starting and stopping processes of the moving tool as:

[0045] wherein is the sum of the masses of all components of the moving tool, tons, is the acceleration of gravity , is the vertical distance from the gravity center of the moving tool to the rotation shaft formed by the wheel group on the side of the moving tool not off the ground and the ground, , is the angle between the gravity center of the moving tool and the plane where the length direction edge of the lower beam of the tool is located at the initial moment in the rotation process, is the moment of inertia of the rotation shaft formed by the wheel group on the side of the moving tool not off the ground and the ground, .

[0046] Step 73, when the moving tool starts, the rotation speed of the tool at the initial moment is , the angle at the initial moment is 0, wherein , , wherein is the starting traction force of the moving tool,​ For the traction force applied from 0 to Time, Let $\frac{ ...

[0047] Step 74, determine the angular velocity of the tooling rotation. At that time, the actual angle through which the tooling rotated ,have to

[0048] Right now

[0049] Step 75, establish the constraint condition that the moving fixture will not overturn upon startup: when the angular velocity of the fixture approaches 0, the angle through which the fixture has rotated is less than or equal to... ,Right now .

[0050] have to

[0051] Step 76: When the moving fixture starts, establish the constraint equations for the traction force and start / stop speed during the starting process of the moving fixture. The maximum speed of the tooling during startup is

[0052] The traction acceleration during the start-up process is

[0053] Set the traction application time during startup

[0054] The acceleration during the tooling startup process is obtained as follows:

[0055] like Figure 5 As shown, the maximum traction force during the start-up process is obtained as follows:

[0056] Step 77, when the moving fixture stops, the fixture's rotational speed at the moment of stopping is... Angle at the initial moment =0, where , ,in To activate the traction force of the moving tooling, For the traction force applied from 0 to Time, Let $\frac{ ...

[0057] Step 78, determine the rotation angular velocity of the tooling When the tooling actually rotates an angle , get

[0058] Step 79, establish the constraint condition that the moving tooling does not overturn when stopping, that is, when the rotation angular velocity of the tooling tends to 0, the angle rotated by the tooling is less than or equal to , that is, .

[0059] Get

[0060] In this embodiment, the running speed of the tooling limited by the tractor during the traction process of the moving tooling is 0.33 m / s~1.667 m / s, and the running speeds of 0.33 m / s, 0.67 m / s, 1 m / s, 1.33 m / s, and 1.67 m / s are taken respectively, which are substituted into Step 79 to get the relationship between the rotation angular velocity of the moving tooling and the rotation angle under different running speeds, as shown in Figure 6 It can be found that when the speed is less than 1.33 m / s, the rotation speed of the tooling becomes 0 before the rotation angle reaches , that is, no overturning occurs, and when the speed is equal to 1.67 m / s, the rotation angular velocity of the tooling is not 0 when the rotation angle reaches , that is, the moving tooling overturns. Take

[0061] The critical speed of the starting process is 1.6 m / s, Step 91, when the moving tooling stops, establish the traction force and start-stop speed constraint equation of the stopping process of the moving tooling as: The traction acceleration of the stopping process is

[0062] Set the traction force application time in the stopping process

[0063] Get the acceleration of the tooling starting process

[0064] As shown in Figure 7 , the maximum traction force of the stopping process is

[0065] The embodiment of the present application also provides a wing moving tool traction force and start-stop speed determination device for executing the method of the present application, and the device comprises: a determination module for determining the size of each component of the moving tool, the mass of each component, the position of the center of gravity of the moving tool, the moment of inertia of the moving tool around the rotation axis through the center of mass and the number of wheel sets; an acquisition module for acquiring the friction coefficient between the moving tool wheel set and the ground ; a building module for building a traction force and start-stop speed constraint equation of the start and stop process of the moving tool without overturning, and determining the constraint range of the traction force and start-stop speed of the start and stop process of the moving tool without overturning.

[0066] The above only expresses the embodiments of the present application, the description is more specific and detailed, but cannot be understood as the limitation of the patent scope. It should be pointed out that for ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. In addition, the non-exhaustive part of the present application is the conventional technology.

Claims

1. A method for determining a towing force and a start-stop speed of a wing moving tool, characterized by, The utility model relates to a mobile tool, the structural form of mobile tool is the square frame that is symmetrical along the length direction and width direction, the component part of mobile tool includes wing root column, upper beam, wing tip column, lower beam and wheel group, wherein wing root column, upper beam, wing tip column, lower beam connect gradually two two, constitute square frame, wheel group installs in the both sides of lower beam, evenly distributes along the length direction of mobile tool, wheel group center is with lower beam bottom edge level, wheel group contacts with ground, the movement form of mobile tool is through wheel group ground moves, and the movement direction is along with the direction parallel with ground and with the length of mobile tool parallel movement, the traction force position of mobile tool is lower beam of mobile tool, and the traction force position is the lower beam length direction center of tool below, the distance ground height H1, the method includes the following steps: Step 1, determine the size of each component of the mobile tool, the mass of each component, the center of gravity position of the mobile tool, the moment of inertia of the mobile tool around the rotation axis through the center of mass and the number of wheel groups; Step 2, acquiring the friction coefficient of the mobile tool wheel set and the ground ; Step 3, establish the traction force and start-stop speed constraint equation of the start and stop process of the mobile tool without overturning, and determine the constraint range of the traction force and start-stop speed of the start and stop process of the mobile tool without overturning.

2. The method of claim 1, wherein, The step 1 includes: Step 21, determining the size of each component of the mobile tool, including the length, width, height of each component of the wing root column, upper beam, wing tip column, lower beam, the radius of the wheel set and the width of the wheel set, the length, width, height of the wing root column and wing tip column are respectively , the length, width, height of the upper beam are respectively , the length, width, height of the lower beam are respectively , the radius of the wheel set is r, the width of the wheel set is , the number of wheel sets is 2n, n is a natural number greater than 0, and the mass of the wing root column, upper beam, wing tip column, lower beam and single wheel set is respectively 、 、 、 、 ; Step 22, determine the center of gravity position of the mobile tool based on the center of gravity position of each component of the wing root column, the upper beam, the wing tip column, the lower beam and the wheel group; Step 23, the rotational inertia of the mobile tool about the lengthwise axis through the center of mass as the rotational inertia of the mobile tool.

3. The method of claim 2, wherein, The step 22 includes: Step 31, the gravity center positions of the wing root pillar, the upper beam, the wing tip pillar, the lower beam and the wheel group are determined as the corresponding geometric centers of the components, the gravity center positions of the wing root pillar and the wing tip pillar are determined as (x1, y1, z1) and (x2, y2, z2) respectively, the gravity center position of the upper beam is determined as (x3, y3, z3), the gravity center position of the lower beam is determined as (x4, y4, z4), and the gravity center position of the single wheel group is determined as (x5, y5, z5); ); ); ); ); Step 32, determine the center of gravity position of the mobile tool: take the midpoint corresponding to the outer edge of the lower beam width direction of the wing root column side as the coordinate origin, take the lower beam length direction as the x-axis, take the wing root column to the wing tip column direction as the positive direction of the x-axis, take the wing root column height direction as the y-axis, take the lower beam to the upper beam direction as the positive direction of the y-axis, and determine the center of gravity position of the mobile tool as follows according to the right-hand rule that the lower beam width direction is the z-axis and the z-axis positive direction is outward: wherein is the x-direction coordinate of the center of gravity of the tooling, is the y-direction coordinate of the center of gravity of the tooling, is the z-direction coordinate of the center of gravity of the tooling.

4. The method of claim 1, wherein, The step 3 includes: Step 41, determine the working condition of the mobile tool that generates overturning during the start and stop process: The mobile tool one side wheel group is all off the ground, and the tool gravity center is rotated from the initial position and rotated to the plane where the tool lower beam length direction side is located at the initial time, and the angle of the tool gravity center rotation is recorded as , ; Step 42, establish the motion equation of the start and stop process of the mobile tool when the mobile tool generates overturning; Step 43, determine the constraint condition of the start and stop process of the mobile tool; Step 44, based on the motion equation and the constraint condition, establish the traction force and start-stop speed constraint equation of the start and stop process of the mobile tool, and determine the constraint range of the traction force and start-stop speed of the mobile tool.

5. The method of claim 4, wherein, The step 42 includes: Step 51, during the start and stop process of the mobile tool, the motion equation of the mobile tool is: wherein is the sum of the mass of all components of the mobile tool, , is the acceleration due to gravity , is the vertical distance from the center of gravity of the mobile tool to the rotation axis formed by the wheel set on the side of the mobile tool not in contact with the ground, , is the angle between the center of gravity of the mobile tool during rotation and the plane in which the lengthwise edge of the tool lower beam was located at the initial moment, is the moment of inertia of the rotation axis formed by the wheel set on the side of the mobile tool not in contact with the ground, .

6. The method of claim 4, wherein, The constraint condition of the start of the mobile tool in the step 43 includes: Step 61, at the start of the movement of the tool, the initial moment of the tool is , the initial moment angle is 0, wherein , , wherein is the starting traction of the movement of the tool, is the time for which the traction is applied from 0 to , and is the initial speed of the tool generated by the quickly applied traction, and the rotational angular velocity of the tool during the start-up process is obtained from the motion equation of step 51: Step 62, determine the rotational angular velocity of the tool the actual rotational angle of the tool ​ That is Step 63, the constraint condition for establishing the mobile tool to start without overturning is that when the rotation angular velocity of the tool tends to 0, the angle of rotation of the tool is less than or equal to i.e. , get .

7. The method of claim 4, wherein, The step 44 includes: Step 71, when the mobile tool starts, the traction force and start-stop speed constraint equation of the start process of the mobile tool is established as follows: Wherein, the start process tool speed is: The start process tool speed constraint range is determined by step 63 as follows: Based on the start process tool speed, the start process traction acceleration is determined as follows: Based on the start process traction acceleration and step 63, the start process traction force and the constraint range are determined as follows: 。 8. The method of claim 4, wherein, The step 43 includes determining the constraint condition of the start-stop process of the mobile tool, and the constraint condition includes: Step 81, at the time of stopping the moving tool, the tool rotation speed at the time of stopping is , the initial time angle is 0, wherein , , wherein is the starting traction of the moving tool, is the time of applying the traction from 0 to , is the tool running speed of the tool braked by the traction, and the rotation angular velocity of the tool during the stopping process is obtained from the motion equation of step 51 Step 82, determine the rotational angular velocity of the tool the actual rotational angle of the tool , and Step 83, the constraint condition for establishing the mobile tool to stop without overturning is that when the rotation angular velocity of the tool tends to 0, the angle of rotation of the tool is less than or equal to i.e.

9. Get That is .

10. The method of claim 4, wherein, The step 44 includes establishing the traction force and start-stop speed constraint equation of the start-stop process of the mobile tool, and the constraint equation includes: The step 91 includes establishing the traction force and start-stop speed constraint equation of the start-stop process of the mobile tool, and the constraint equation includes: The stop process tool speed constraint range determined by the step 83 includes: The stop process traction acceleration determined based on the stop process tool speed includes: The stop process traction force and constraint range determined based on the stop process traction acceleration includes: 。 11. A device for determining the traction force and start / stop speed of a wing-moving tool, characterized in that, The device for executing the method of any one of claims 1 to 9 includes: A determining module is configured to determine the size of each component of the mobile tool, the mass of each component, the center of gravity of the mobile tool, the rotational inertia of the mobile tool around the rotation axis through the center of mass, and the number of wheel sets. An acquisition module is configured to acquire a friction coefficient between the mobile tool wheel set and the ground ; An establishing module is configured to establish the traction force and start-stop speed constraint equation of the start-stop process of the mobile tool, and determine the constraint range of the traction force and start-stop speed of the start-stop process of the mobile tool.

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