Counterweight forklift truck accident auxiliary identification method based on ADAMS secondary development

Abstract

The invention belongs to the technical field of data analysis, and relates to a counterbalance forklift truck accident auxiliary identification method based on ADAMS secondary development, and the method comprises the steps: running a program, and opening an interface; selecting an initial vehicle model parameter interface; using a tire road surface interface; using an input condition interface; a simulation interface and a post-processing interface are used. Through the ADAMS secondary development method, simulation, analysis, curve drawing and animation demonstration are integrated, forklift accidents can be quickly simulated according to steps, forklift animations can be quickly output, the use requirements of accident identification personnel for ADAMS software are reduced, and the working efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of data analysis technology, and in particular to an auxiliary identification method for counterbalance forklift accidents based on secondary development of ADAMS (Automatic Dynamic Analysis of Mechanical Systems). Background Technology

[0002] Current technology proposes a method for judging the rollover instability of forklifts. This method uses tire pressure data to assess the rollover instability and categorizes the forklift's condition into three states: stable, initially stable, and critically overturned. This allows for the determination of the rollover direction and a safety rating of the instability state. However, this method requires the forklift to be equipped with tire pressure sensors, which is costly. Furthermore, it cannot assist investigators in determining the specific cause of the instability after an accident. Therefore, this application proposes a method that utilizes ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software to simulate various operating conditions.

[0003] With the rapid development of my country's logistics and industrial production markets, forklifts, as small, flexible, and highly mobile handling tools, are widely used in industrial production, logistics, and many other places. However, due to their high inertia and insufficient stability, forklifts are extremely prone to accidents such as forward tilting and side tilting, which can even cause serious damage to the forklift and personal injury. Limited by the current state of technological development, forklift rollover accident identification still relies on investigators' experience for qualitative assessment and accident simulation, lacking effective identification support systems for judgment and accident animation reconstruction. This not only increases the technical difficulty for accident investigators but also increases the risk of inaccurate accident liability determination. Therefore, developing a counterbalanced forklift identification system is particularly important.

[0004] Current technologies primarily prevent forklift tipping accidents by limiting speed or adding control systems, rather than by assisting in the identification of counterbalance forklift accidents. Furthermore, due to limitations in control system technology and high costs, forklift tipping accidents still occur frequently. Summary of the Invention

[0005] The purpose of this invention is to solve the technical problems existing in the background art. To this end, it provides a counterbalance forklift accident auxiliary identification method based on ADAMS secondary development. It uses ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software to address the weak links in accident identification, and then develops a counterbalance forklift accident auxiliary identification method through secondary development. This makes it convenient for identification personnel to use the system, assists in accident identification, and outputs tire pressure curves and intuitive animation demonstrations.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: The method for auxiliary identification of counterbalance forklift accidents based on ADAMS secondary development is characterized by the following steps: Step S1: Run the program and open the interface: Open the command file with the .bat extension. The ADAMS software will start automatically and import the initial data. Step S2: Using the initial vehicle model parameter selection interface: First, open the model selection dialog box, which includes three drop-down menus: built-in forklift models, added forklift models, and custom forklift models. Vehicle model parameters include forklift weight, center of gravity position, wheelbase, front and rear track width, front overhang, and steering mechanism parameters (steering mechanism parameters include steering knuckle initial angle, steering knuckle length, connecting rod length, hydraulic cylinder offset, and kingpin distance). The container corresponding to the built-in forklift model dialog box contains vehicle model data that has been pre-stored in the database. The container corresponding to the custom forklift model dialog box is used to supplement other vehicle model data and will automatically output a vehicle model data file. The container corresponding to the added forklift model dialog box is used to select the vehicle model data file exported from the container corresponding to the custom forklift model dialog box. Step S3: Use the tire road surface interface: Select a wheel attribute file for each wheel, input the tire radius, select a road surface attribute file and location for the road surface, and open the wheel attribute file and road surface attribute file with Notepad, modify the corresponding parameters and save them; Step S4: Use the input condition interface, which includes four parts: cargo attributes, lifting drive settings, front wheel drive settings, and steering drive settings; enter the actual data in the corresponding container. Step S5: Use the simulation interface and post-processing interface: The simulation interface includes simulation settings such as termination time, step size, and analysis type. After the simulation is complete, rename the default name and open the post-processing dialog box and post-processing interface. Click the corresponding button to automatically plot the corresponding curves, such as ground pressure and tilt angle. You can also open the animation interface for a more intuitive view. The results can also be exported to a local file for easy viewing.

[0007] The following is a further defined technical solution of the present invention. In step S1, during the process of starting the ADAMS software using a file, the following is included: Create three folders, menu, dboxes, and huitupeizhi, in the main folder. These folders will be used to store the menu file, dialog box file, and drawing configuration file, respectively. The main folder also contains the forklift model data file, start.bat file, and ccmain.cmd file, used to initialize the ADAMS environment. Double-clicking the start.bat file will automatically run and open the ADAMS software, then import the model data file, menu file, and dialog box file. The default path for the ADAMS software is the path where the start.bat file is located.

[0008] The following is a further defined technical solution of the present invention. In step S2, during the process of selecting the initial vehicle model parameter interface, the following is included: Access the initial vehicle model parameter selection interface via the customized menu bar. This interface includes options for built-in forklift models, added forklift models, and custom forklift models. Select from the drop-down menu; the selected option's content will change accordingly. If the database of forklift models required for simulation already exists, simply select the corresponding vehicle model in the container corresponding to the built-in forklift model dialog box. If the forklift model does not exist in the database, first select the container corresponding to the custom forklift model dialog box, then click the "Custom Forklift Model" button. This will bring up the forklift's specific structural parameter data interface. In this interface, first enter the forklift model name. Note that this name cannot be the same as the built-in forklift model name and can only be in English. Then, modify the structural parameter data according to the actual data. Finally, click the "Export Vehicle Model File" button, which will automatically export the vehicle model CMD command. After customizing the vehicle model data, select the container corresponding to the added forklift model dialog box, right-click in the first field and select "Export CMD File," enter the vehicle model name in the second field, and click "OK."

[0009] The following is a further defined technical solution of the present invention. In step S3, the process of using the tire-road surface interface includes: Right-click in the wheel attribute file field to open the default tire storage directory. You can select different simulation tire types there. The specific tire parameters need to be modified by opening the wheel attribute file with Notepad, making the corresponding modifications in the text file, saving it, and then selecting the wheel attribute file. The method for modifying the road surface attribute file is the same as that for the wheel attribute file. The road surface positioning coordinates are as follows: X represents the vehicle's longitudinal direction (the default value for reversing is +), Y represents the road surface height (the default value for the tire connection point height is 0, and upward is +), and Z represents the lateral direction (the default value for the left is +). After entering all the information, click the OK button.

[0010] The following is a further defined technical solution of the present invention. In step S4, the process of using the input condition interface includes: The input interface is divided into cargo attribute input, lifting drive input, front-wheel drive input, and steering drive input. Input is based on the actual situation. First, input the cargo's mass and center of gravity coordinates, then input the lifting height data of the lifting device, and finally input the front-wheel drive and steering drive conditions. The front-wheel drive interface is divided into three containers: acceleration, deceleration, and custom, each with corresponding labels. Additionally, under the custom container, there is a button to convert vehicle speed (km / h) to tire angular velocity (degrees / second), facilitating user-defined input of drive functions. The steering drive interface is divided into hydraulic rod displacement input, inner wheel angle input, and custom input, to handle various steering input conditions.

[0011] The following is a further defined technical solution of the present invention. In step S5, during the process of using the simulation interface and the post-processing interface, the following is included: First, enter the simulation termination time and step size in the simulation interface. Select the analysis type as dynamics or default. Check the "Start in equilibrium" option box and "Update graphic display." Then, click the "Static Balance" button, followed by the "Start Simulation Symbol" button. The model will begin simulation. After the simulation ends, the system will automatically generate a result set with a default name. Rename the result set in the "Analysis Name" field in the simulation interface, and then click "OK." The post-processing interface will automatically pop up. The post-processing interface has an "Analysis Name" field, which inherits from the object in the simulation interface. Then, simply click the corresponding plotting and animation buttons to obtain the required parameter curves and forklift simulation animation.

[0012] Compared with the prior art, the present invention has the following technical effects: This invention integrates simulation, analysis, curve plotting, and animation demonstration through ADAMS secondary development. It can quickly simulate forklift accidents step by step and output forklift animations, reducing the requirements for accident investigators to use ADAMS software and improving work efficiency.

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1This is a flowchart of the method of the present invention; Figure 2 This is a schematic diagram of the identification curve for when the outer wheel's ground pressure is 0 and the vehicle rolls over in Example 1. Figure 3 This is a schematic diagram of the identification curve when the rear wheel ground pressure is 0 in Example 2 and the forklift tilts forward. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0017] Example 1: Simulating a forklift rollover accident, such as Figure 1 As shown: Step 1: Double-click the start.bat file to start the ADAMS software and automatically import the relevant data and interface.

[0018] Step 2: After importing the relevant data into the model, click the "chushi" command in the "chache" dropdown menu to open the initial interface dialog box. Select "Custom Forklift Model," and the custom forklift model data interface will pop up. Modify the forklift model name to "ceshi," leaving other settings unchanged. Click the "Export Model File" button. Then select the "Added Forklift Model" option, right-click on the exported cmd file, and enter the model name "ceshi" in the field below. Click "OK." A success message will pop up indicating that the model already exists in the database. After confirming, the detailed data dialog box for the "ceshi" model will open. Click "Close" to finish.

[0019] Step 3: Select the luntailumian option from the chache drop-down menu. A dialog box will pop up. Leave the tire and road surface property files as default and do not change other parameters. Click OK.

[0020] Step 4: In the chache drop-down menu, select the shurutiaojian option. A corresponding dialog box will pop up. Enter 1000 for cargo mass, 1000mm for cargo lifting, set the front wheel drive to accelerate to 20km / h within 5 seconds, and set the steering drive to move the steering hydraulic cylinder 50mm within 5 seconds. Click OK.

[0021] Step 5: In the `chache` drop-down menu, select the `fangzhen` option. A corresponding dialog box will pop up. Select 5s for the termination time and 500 for the number of steps. Click "static balance" to start the simulation. After the simulation ends, rename the file to "ceshi" and click "OK" to open the post-processing interface. The "houchuli" dialog box will also pop up. In the post-processing dialog box, click the "plotting" button and the "animation interface" button to automatically create the corresponding pages.

[0022] like Figure 2 As shown, from Figure 2 As can be seen, the outer wheel's pressure on the ground is 0, and the vehicle overturns.

[0023] Example 2: Simulating a forklift tilting accident, such as Figure 1 As shown: Step 1: Double-click the start.bat file to start the ADAMS software and automatically import the relevant data and interface.

[0024] Step 2: After importing the relevant data into the model, click the "chushi" command in the "chache" dropdown menu to open the initial interface dialog box. Select "Custom Forklift Model," and the custom forklift model data interface will pop up. Modify the forklift model name to "ceshi," leaving other settings unchanged. Click the "Export Model File" button. Then select the "Added Forklift Model" option, right-click on the exported cmd file, and enter the model name "ceshi" in the field below. Click "OK." A success message will pop up indicating that the model already exists in the database. After confirming, the detailed data dialog box for the "ceshi" model will open. Click "Close" to finish.

[0025] Step 3: Select the luntailumian option from the chache drop-down menu. A dialog box will pop up. Leave the tire and road surface property files as default and do not change other parameters. Click OK.

[0026] Step 4: In the chache drop-down menu, select the shurutiaojian option. A corresponding dialog box will pop up. Enter 3000 for the cargo mass. Lift the cargo by 1000mm within 10 seconds. Then, set the front-wheel drive to accelerate to 20km / h within 5 seconds and brake to 0 within 1 second. Set the steering drive to step(time,10,0,15,0) to no steering. Click OK.

[0027] Step 5: In the `chache` drop-down menu, select the `fangzhen` option. A corresponding dialog box will pop up. Select 17s for the termination time and 170 for the number of steps. Click "static balance" to start the simulation. After the simulation ends, rename the file to `shishili2` and click "OK" to open the post-processing interface. The `houchuli` dialog box will also pop up. In the post-processing dialog box, click the "plotting" button and the "animation interface" button to automatically create the corresponding pages.

[0028] like Figure 3 As shown, from Figure 3 As can be seen, the rear wheel's ground pressure is 0, causing the forklift to tilt forward.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention's technical solution. Therefore, all equivalent changes made based on the shape, structure, and principle of the present invention without departing from the scope of the present invention's technical solution should be covered within the protection scope of the present invention.

Claims

1. A method for accident auxiliary identification of counterbalanced forklift based on secondary development of ADAMS, characterized in that, Comprising the following steps: Step S1, run the program, open the interface: open the command file with suffix bat, ADAMS software will automatically start and import initial data; Step S2, use the initial vehicle model parameter selection interface: first open the model selection dialog box, including three drop-down menus of built-in forklift model, added forklift model and custom forklift model; Vehicle parameters include forklift mass, mass center position, wheelbase, front and rear track, front suspension distance, steering mechanism parameters; The container corresponding to the built-in forklift model dialog box has the vehicle data stored in the database in advance, the container corresponding to the custom forklift model dialog box is used to supplement other vehicle data, and the vehicle data file is automatically output, the container corresponding to the added forklift model dialog box is used to select the vehicle data file exported from the container corresponding to the custom forklift model dialog box; Step S3, use the tire road interface: select the wheel attribute file for each wheel, input the tire radius, select the road attribute file and positioning position for the road, wherein the wheel attribute file and the road attribute file are opened by notepad and the corresponding parameters are modified and saved; Step S4, use the input condition interface: contains four parts: cargo attribute, lifting drive setting, front wheel drive setting, steering drive setting; Input actual data in the corresponding container; Step S5, use the simulation interface and post-processing interface: the simulation interface contains simulation settings: termination time, step, analysis type; After the simulation is completed, rename the default name, open the post-processing dialog box and post-processing interface, and click the corresponding button to automatically complete the corresponding curve drawing.

2. The ADAMS secondary development-based auxiliary identification method for the counterbalance forklift accident according to claim 1, characterized in that, In step S1, during the process of starting ADAMS software using files, including: A menu folder, a dboxes folder and a huitupeizhi folder are established under the main folder, the menu folder, the dboxes folder and the huitupeizhi folder are used to store menu files, dialog box files and drawing configuration files respectively, the main folder also has forklift model data files, start.bat file and ccmain.cmd file, which are used to initialize ADAMS environment; Double click start.bat file to automatically run and open ADAMS software, then import model data file, menu file and dialog box file; The default path of ADAMS software is the path of start.bat file.

3. The ADAMS secondary development-based auxiliary identification method for the counterbalance forklift accident according to claim 1, characterized in that, In step S2, the steering mechanism parameters include the initial angle of the steering knuckle arm, the length of the steering knuckle arm, the length of the connecting rod, the hydraulic cylinder offset distance and the kingpin distance.

4. The ADAMS secondary development-based auxiliary identification method for the counterbalance type forklift truck accidents according to claim 1, characterized in that, In step S2, during the process of using the initial vehicle model parameter selection interface, including: Through the customized menu bar, open the initial forklift model parameter selection interface, including built-in forklift model, added forklift model, custom forklift model options, select through the drop-down menu, and the corresponding content will change after selection; When the forklift model database required for simulation already exists, only need to select the corresponding container under the built-in forklift model dialog box to select the corresponding vehicle type; When the forklift model does not exist in the database, you need to select the custom forklift model dialog box corresponding to the container interface first, then click the custom forklift model button, and the forklift specific structure parameter data interface will pop up. First, input the forklift model name, then modify the structure parameter data according to the actual data, and finally click the output vehicle model file button to automatically export the vehicle model cmd command; After customizing the vehicle data, select the container corresponding to the added forklift model dialog box, right-click the exported cmd file in the first field, enter the vehicle model name in the second field, and click OK.

5. The ADAMS secondary development-based auxiliary identification method for the counterbalance type forklift truck accidents according to claim 1, characterized in that, In step S3, the process of using the tire road interface includes: Right-click to open the default tire storage directory in the wheel attribute file field, select different simulation category tires in it, and the specific parameters of the tire need to be opened by Notepad to modify the wheel attribute file in the text. After saving, select the wheel attribute file again; The road attribute file modification method is the same as the wheel attribute file modification method; The road positioning coordinates are X indicating the vehicle longitudinal, Y indicating the road height, and Z indicating the transverse. After all inputs, click the OK button.

6. The ADAMS secondary development-based auxiliary identification method for the counterbalance type forklift truck accidents according to claim 1, characterized in that, In step S4, the process of using the input condition interface includes: The input condition interface is divided into cargo attribute input, lifting drive input, front wheel drive input, and steering drive input; According to the actual situation, first input the mass and centroid coordinate data of the cargo, then input the lifting height data of the lifting device, and then input the front wheel drive condition and steering drive condition; The front wheel drive is divided into three container interfaces: acceleration, deceleration, and custom. Each container interface has a corresponding label prompt; There is also a vehicle speed conversion to tire angular velocity button under the custom container to facilitate user-defined input drive function; In the steering drive, it is divided into hydraulic rod displacement input, inner wheel rotation angle input, and custom input to cope with various steering input conditions.

7. The ADAMS secondary development-based auxiliary identification method for the counterbalance type forklift truck accidents according to claim 1, characterized in that, In step S5, the process of using the simulation interface and post-processing interface includes: In the simulation interface, first input the simulation termination time and step size, select the analysis type as dynamics or default, check the balance state start option box and update the graphic display, then click the static balance button, and then click the start simulation symbol button. The model starts simulation. After simulation, the system will automatically generate a result set with a default name. Rename the result set in the analysis name field below the simulation interface, then click OK to automatically pop up the post-processing interface; In the post-processing interface, there is an analysis name field, which inherits the object in the simulation interface. Then, click the corresponding drawing and animation buttons to obtain the required parameter curve and forklift simulation animation.

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