Four-bar linkage arrangement method, device and equipment

Abstract

The invention relates to the technical field of four-bar linkage design, and discloses a four-bar linkage arrangement method, device and equipment, and the method comprises the following steps: determining a first mounting point and a second mounting point of a four-bar linkage; determining a first positioning point and a second positioning point of the movable cover plate, and determining a first posture positioning line according to the first positioning point and the second positioning point; determining a safe movement condition of the movable cover plate, and determining a second posture positioning line according to the safe movement condition, the first positioning point and the second positioning point; and determining a third mounting point and a fourth mounting point of the four-bar linkage according to the first mounting point, the second mounting point, the first attitude positioning line and the second attitude positioning line so as to determine an arrangement scheme of the four-bar linkage. According to the method, the number of times of repeated trial and error simulation is reduced, the four-bar linkage arrangement efficiency is remarkably improved, the accuracy and feasibility of four-bar linkage arrangement are effectively ensured, and adaptation to a rapid development period is facilitated.

Description

Technical Field

[0001] This application relates to the field of four-bar linkage design technology, and in particular to a four-bar linkage arrangement method, device and equipment. Background Technology

[0002] In the design of movable covers, to avoid interference with adjacent environmental components during the opening and closing process, a four-bar hinge structure is generally used to realize the opening and closing of the movable cover.

[0003] In related technologies, it is usually necessary to first define the four installation points of the four-bar linkage, and then simulate the opening process of the movable cover through constrained motion to verify whether the design requirement of no interference is met. If not, the points are readjusted and the simulation process is repeated. However, this method is inefficient and prone to design deviations, making it difficult to meet the tight development cycle requirements. Summary of the Invention

[0004] This application provides a four-link arrangement method, device, and equipment, which solves the technical problems of low arrangement efficiency and easy design deviation in current four-link arrangements. Based on the positioning point of the movable cover plate, safe movement conditions, and the relative relationship of fixed points, the installation points of each four-link are determined, reducing the number of repeated trial and error simulations, significantly improving the arrangement efficiency of the four-link, and effectively ensuring the accuracy and feasibility of the four-link arrangement, which is conducive to adapting to the rapid automotive development cycle.

[0005] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, this application provides a four-bar linkage arrangement method, the method comprising: Determine the first and second mounting points of the four-bar linkage; Determine the first and second positioning points of the movable cover plate, and determine the first attitude positioning line of the movable cover plate based on the first and second positioning points; Determine the safe movement conditions of the movable cover from the first posture to the second posture, and determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point, and the second positioning point; The third mounting point of the four-bar linkage is determined based on the first mounting point, the first attitude positioning line, and the second attitude positioning line; the fourth mounting point of the four-bar linkage is determined based on the second mounting point, the first attitude positioning line, and the second attitude positioning line. The arrangement of the four-bar linkage is determined based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point.

[0006] The four-bar linkage method proposed in this application first determines the first and second mounting points of the four-bar linkage. Then, it accurately simulates the closed and fully open states of the movable cover using the first and second attitude positioning lines, ensuring that the second attitude positioning line meets the safe movement conditions of the movable cover. Finally, based on the first and second attitude positioning lines and the already determined first and second mounting points, the third and fourth mounting points are determined, thus forming the four-bar linkage scheme. Therefore, this application uses the safe movement conditions of the movable cover opening process as the input to the determination process, thereby accurately determining the precise positions of the four hinge mounting points of the four-bar linkage. Compared with related technologies, this reduces the number of repeated trial-and-error simulations, significantly improves the efficiency of the four-bar linkage arrangement, and effectively ensures the accuracy and feasibility of the four-bar linkage arrangement, which is beneficial for adapting to rapid automotive development cycles.

[0007] Optionally, determining the first mounting point and the second mounting point of the four-bar linkage includes: When the movable cover is in the closed state, the first mounting point is determined according to the shape of the movable cover; The relative position design requirements of the first mounting point and the second mounting point are determined according to the preset dimensions of the four-bar linkage, so as to determine the second mounting point based on the first mounting point and the relative position design requirements.

[0008] This application determines the first mounting point based on the shape of the movable cover when it is closed, so that the first mounting point can meet the spatial constraints of the movable cover shape. At the same time, the relative position design requirements of the first mounting point and the second mounting point are determined according to the preset dimensions of the four-link rod, thereby using the first mounting point and the second mounting point to provide an accurate benchmark for determining other mounting points.

[0009] Optionally, determining the first and second positioning points of the movable cover plate, and determining the first attitude positioning line of the movable cover plate based on the first and second positioning points, includes: Obtain the first seam line between the movable cover plate and the first adjacent member, and determine the first positioning point on the first seam line; The second positioning point is determined based on the front end point of the shape of the movable cover plate; The first attitude positioning line is determined by connecting the first positioning point and the second positioning point.

[0010] This application utilizes the seam line and the front end of the shape, which are prone to interference with the assembly boundary of the movable cover, to determine the first positioning point and the second positioning point. In this way, the first posture positioning line determined by the first positioning point and the second positioning point can accurately characterize the spatial position reference of the movable cover in the closed state, providing a reliable position reference for subsequently determining the second posture positioning line in combination with safe movement conditions.

[0011] Optionally, the safe movement conditions include a first safe gap threshold between the movable cover and the second adjacent member, a second safe gap threshold between the movable cover and the first adjacent member, and the human body envelope; Determining the second attitude positioning line of the movable cover plate based on the safe movement conditions, the first positioning point, and the second positioning point includes: Obtain the second seam line between the movable cover plate and the second adjacent member, and translate the second seam line along the first direction according to the first safety gap threshold to obtain the first translation positioning line; A baseline is generated along the first direction based on the first positioning point, and the baseline is translated along the second direction according to the second safety gap threshold to obtain a second translation positioning line. The third positioning point is determined based on the intersection of the first translation positioning line and the second translation positioning line; The second positioning point is obtained as the movable cover plate moves from the first posture to the second posture, and the fourth positioning point is determined based on the movement trajectory and the human body envelope. The second attitude positioning line is determined by the line connecting the third positioning point and the fourth positioning point.

[0012] The third positioning point determined in this application can simultaneously meet the interference requirements between the movable cover and adjacent parts when the cover is opened, and the fourth positioning point determined can simultaneously meet the interference requirements between the movable cover and the human body when the cover is opened. Thus, the second posture positioning line determined by the third and fourth positioning points can accurately characterize the spatial position reference of the fully opened state of the movable cover, so that the positioning of the opening posture of the movable cover can accurately meet the relevant safety clearance requirements, thereby providing an accurate target posture reference for the subsequent determination of the four-bar linkage installation point.

[0013] Optionally, the first direction is a vertical direction and the second direction is a horizontal direction.

[0014] Optionally, determining the third mounting point of the four-bar linkage based on the first mounting point, the first attitude positioning line, and the second attitude positioning line includes: Determine the first initial position of the first mounting point corresponding to the first attitude positioning line, and determine the first relative positional relationship between the first initial position and the first attitude positioning line; The first final position of the first mounting point corresponding to the second attitude positioning line is determined based on the first relative position relationship and the second attitude positioning line. The set length of the rocker arm of the four-bar linkage is determined, and the third mounting point is determined based on the set length of the rocker arm, the first initial position, and the first final position.

[0015] This application determines the first initial position of the first mounting point corresponding to the first attitude positioning line, clarifies its first relative positional relationship with the first attitude positioning line, and then determines the first final position of the first mounting point on the second attitude positioning line based on this first relative positional relationship. Finally, by combining the two positions of the first mounting point that change with the movement of the movable cover plate and the set length of the rocker arm, the unique position of the third mounting point on the fixed rod can be determined. In this way, the traditional method of repeated trial and error adjustments is eliminated, and the third mounting point is accurately determined based on geometric relationships, further improving the accuracy and efficiency of the four-bar linkage arrangement.

[0016] Optionally, determining the fourth mounting point of the four-bar linkage based on the second mounting point, the first attitude positioning line, and the second attitude positioning line includes: Determine the second initial position of the second mounting point corresponding to the first attitude positioning line, and determine the second relative positional relationship between the second initial position and the first attitude positioning line; The second final position of the second mounting point corresponding to the second attitude positioning line is determined based on the second relative position relationship and the second attitude positioning line. Determine the rocker arm setting angle of the four-bar linkage, and determine the fourth mounting point based on the rocker arm setting angle, the second initial position, and the second final position.

[0017] This application determines the second initial position of the second mounting point corresponding to the first attitude positioning line, clarifies its second relative positional relationship with the first attitude positioning line, and then determines the second final position of the second mounting point on the second attitude positioning line based on this second relative positional relationship. Finally, by combining the two positions of the second mounting point that change with the movement of the movable cover plate and the rocker arm's set angle, the unique position of the fourth mounting point on the fixed rod can be determined. In this way, the traditional method of repeated trial and error adjustments is eliminated, and the fourth mounting point is accurately determined based on geometric relationships, further improving the accuracy and efficiency of the four-bar linkage arrangement.

[0018] Optionally, the four-bar linkage includes a first rocker arm, a second rocker arm, a movable link, and a fixed link; The step of determining the arrangement scheme of the four-bar linkage based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point includes: The first rocker arm is arranged according to the first mounting point and the third mounting point; The second rocker arm is arranged according to the second mounting point and the fourth mounting point; The movable connecting rod is arranged according to the first mounting point and the second mounting point; The fixed connecting rod is arranged according to the third mounting point and the fourth mounting point.

[0019] Secondly, this application provides a four-bar linkage device, the device comprising: The first mounting point determination module is used to determine the first mounting point and the second mounting point of the four-bar linkage. The first attitude positioning module is used to determine the first positioning point and the second positioning point of the movable cover plate, and to determine the first attitude positioning line of the movable cover plate based on the first positioning point and the second positioning point. The second posture positioning module is used to determine the safe movement conditions of the movable cover from the first posture to the second posture, so as to determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point and the second positioning point; The second mounting point determination module is used to determine the third mounting point of the four-link based on the first mounting point, the first attitude positioning line and the second attitude positioning line, and to determine the fourth mounting point of the four-link based on the second mounting point, the first attitude positioning line and the second attitude positioning line. The arrangement module is used to determine the arrangement scheme of the four-bar linkage based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point.

[0020] The four-bar linkage device proposed in this application can use the safe movement conditions during the opening of the movable cover as the input of the determination process, thereby accurately determining the precise positions of the four hinge mounting points of the four-bar linkage. Compared with related technologies, it reduces the number of repeated trial and error simulations, significantly improves the efficiency of the four-bar linkage arrangement, and effectively ensures the accuracy and feasibility of the four-bar linkage arrangement, which is conducive to adapting to the rapid automotive development cycle.

[0021] Thirdly, this application provides a computer device, comprising: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes these computer instructions to perform the aforementioned four-bar linkage arrangement.

[0022] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the above-described four-bar linkage method. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 A schematic diagram of a four-bar linkage provided in an embodiment of this application; Figure 2 One of the flowcharts for a four-bar linkage arrangement method provided in this application embodiment; Figure 3 A second schematic flowchart illustrating a four-bar linkage arrangement method provided in this application embodiment; Figure 4(a) is a schematic diagram of one of the methods for determining the first installation point provided in an embodiment of this application; Figure 4(b) is a second schematic diagram of the method for determining the first installation point provided in the embodiments of this application; Figure 5 This is a schematic diagram showing the relative positions of the first installation point and the second installation point. Figure 6 The third schematic flowchart of a four-bar linkage arrangement method provided in this application embodiment; Figure 7 A schematic diagram illustrating the method for determining the first and second attitude positioning lines in an embodiment of this application; Figure 8 The fourth schematic flowchart of a four-bar linkage arrangement method provided in this application embodiment; Figure 9 Fifth schematic flowchart of a four-bar linkage arrangement method provided in this application embodiment; Figure 10 This is a schematic diagram showing the relative positional relationship between the first mounting point and the vehicle's hood. Figure 11 This is a schematic diagram illustrating the method for determining the third installation point as provided in an embodiment of this application. Figure 12 A schematic flowchart of a four-bar linkage arrangement method provided in this application embodiment is shown in Figure 6. Figure 13 This is a schematic diagram illustrating the method for determining the fourth installation point as provided in an embodiment of this application. Figure 14 This is a simplified schematic diagram of a four-bar linkage provided in an embodiment of this application; Figure 15 This is a schematic diagram of a four-bar linkage device provided in an embodiment of this application; Figure 16This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] To avoid interference with adjacent environmental components during the opening and closing of the movable cover, related technologies typically define the coordinates of the four mounting points of the four-bar linkage based on the engineer's experience. Then, motion simulation software is used to constrain the motion relationship of each point, simulating the movement process of the movable cover from closing to opening. The process is then verified to check whether the opening angle of the movable cover meets the human body envelope requirements, whether there is interference with adjacent environmental components during the opening process, and whether the four mounting points are feasible installation points for installing hinges. If any of the above does not meet the expected requirements, the coordinates of the four mounting points need to be manually readjusted and the motion simulation needs to be carried out again until the design requirements are met.

[0027] However, in practical engineering applications, the auxiliary function of the four-bar linkage in opening and closing the movable cover is a composite motion resulting from the coordinated and coupled circular motions of two rockers. Therefore, the impact of adjusting any mounting axis on the four-bar linkage on the points on the movable cover is difficult to determine intuitively, making it impossible to ascertain the adjustment range and effect. Furthermore, motion simulation verification of the four-bar linkage arrangement requires manually migrating the coordinates of the four mounting points from the CATIA software's part module to the DMU motion simulation module. This process lacks an automatic synchronization mechanism, requiring engineers to manually adjust and verify repeatedly, significantly increasing operational time. In addition, when a layout scheme needs optimization due to issues such as insufficient safety clearance, engineers struggle to accurately locate the mounting points requiring adjustment. The formulation of adjustment schemes lacks clear basis, and adjustments must be considered to prevent new interference or abnormal motion trajectories, further reducing layout efficiency and increasing the risk of design deviations.

[0028] Therefore, the above simulations are usually repeated more than 20 times, resulting in low efficiency and design deviations. Inaccurate layout can affect the user's experience of opening and closing the movable cover. Furthermore, the relevant technology cannot identify whether the installation point layout of the four-bar linkage is engineeringly feasible in terms of the shape design of the movable cover.

[0029] Therefore, there is an urgent need for a movable cover plate four-bar arrangement scheme that balances layout efficiency and accuracy and can identify the feasibility of the design project in advance.

[0030] According to an embodiment of this application, a four-bar linkage arrangement method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This embodiment provides a four-bar linkage method, which can be used for vehicle body opening and closing components such as vehicle hoods, vehicle trunk lids, and doors, and can also be used for equipment opening and closing components such as sliding covers. Figure 1 The diagram illustrates a four-bar linkage structure, including a first mounting point, a second mounting point, a third mounting point, and a fourth mounting point. The link between the first and second mounting points is a movable link, used to assist in opening and closing the movable cover. The link between the third and fourth mounting points is a fixed link. It is understood that the movable cover can be a vehicle hood, a vehicle trunk lid, a door, a sliding cover, etc. This embodiment uses a vehicle hood as an example.

[0032] Figure 2 This is a flowchart of a four-bar linkage arrangement method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps: Step S1: Determine the first and second mounting points of the four-bar linkage.

[0033] Specifically, the first mounting point and the second mounting point are the mounting points in the four-bar linkage that are directly related to the movement of the movable cover plate. That is, the first mounting point and the second mounting point will move with the movement of the movable cover plate. In the embodiments of this application, given the shape of the movable cover plate, firstly, with the movable cover plate in the closed state, the arrangement area of ​​the four-bar linkage relative to the movable cover plate is determined. Then, based on the spatial constraints in the vertical direction Z and the horizontal direction X of the movable cover plate shape, the unique coordinates of the first mounting point relative to the movable cover plate are determined within this arrangement area.

[0034] Since the installation positions of the movable hinges of the two rockers in the four-bar linkage design have pre-set relative position design requirements, after determining the coordinates of the first installation point, the second installation point can be determined based on the preset linkage size parameters, using the first installation point as a reference.

[0035] Step S3: Determine the first positioning point and the second positioning point of the movable cover plate, and determine the first attitude positioning line of the movable cover plate based on the first positioning point and the second positioning point.

[0036] Specifically, in this embodiment, the closed state of the movable cover is defined as the first posture. The first positioning point and the second positioning point are key reference points for the closed state of the movable cover. Their selection needs to take into account the structural features of the movable cover and the assembly boundary of the surrounding adjacent components. The first positioning point and the second positioning point are connected to form the first posture positioning line. In this way, the first posture positioning line can be used to characterize the accurate spatial positioning of the movable cover when it is in the closed state.

[0037] Step S5: Determine the safe movement conditions of the movable cover from the first posture to the second posture, and determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point, and the second positioning point.

[0038] Specifically, in this embodiment, the fully open state of the movable cover is defined as the second posture. It should be noted that the fully open state refers to the state where the opening degree of the movable cover reaches 100%. Safe movement conditions are preset constraints that ensure no interference occurs during the process of the movable cover opening from closing and meeting human-machine requirements. The determination of safe movement conditions needs to comprehensively consider the safety clearance requirements between the movable cover and adjacent parts such as fenders and doors, as well as the constraint of the human body envelope on the movement trajectory of the movable cover, to ensure that the movable cover will not collide with the human body during opening, while allowing most users to reach the highest point of the movable cover, so as to facilitate the user's opening and closing of the movable cover.

[0039] After clarifying the safe movement conditions, the first positioning point k and the second positioning point z are used as the reference to transform the safe movement conditions into quantifiable spatial constraints. The corresponding positions of the first positioning point k and the second positioning point z in the fully open state of the movable cover are determined. Then, the second attitude positioning line is formed by connecting the corresponding positions. In this way, the second attitude positioning line can be used to characterize the accurate spatial positioning of the movable cover when it is in the fully open state.

[0040] Step S7: Determine the third mounting point of the four-bar linkage based on the first mounting point, the first attitude positioning line, and the second attitude positioning line; determine the fourth mounting point of the four-bar linkage based on the second mounting point, the first attitude positioning line, and the second attitude positioning line.

[0041] Specifically, the third and fourth mounting points are fixed mounting points in the four-bar linkage, meaning they will not move with the movement of the movable cover. For the third mounting point, the relative position of the first mounting point on the first attitude positioning line is first determined. Then, based on this relative position and the second attitude positioning line, the final position of the first mounting point after the movable cover opens is determined. Based on the preset length of the four-bar linkage, the coordinates of the third mounting point are determined through geometric relationships. Subsequently, the rocker arm formed by the third and first mounting points can adapt to the movement trajectory of the first mounting point. This ensures that the opening process of the movable cover meets the aforementioned safe movement conditions without needing to repeatedly adjust the coordinate settings of the third and first mounting points.

[0042] Similarly, for the fourth mounting point, based on the second mounting point and combined with the set angle between the first attitude positioning line, the second attitude positioning line and the joystick, the coordinates of the fourth mounting point are determined through the same logic, which will not be elaborated here.

[0043] Step S9: Determine the arrangement scheme of the four-bar linkage based on the first installation point, the second installation point, the third installation point, and the fourth installation point.

[0044] Specifically, by assembling corresponding movable hinges at the first, second, third, and fourth mounting points, and assembling corresponding rocker arms or connecting rods between these four mounting points, a rapid four-bar linkage can be achieved. In this embodiment, the engineering feasibility of this arrangement can be verified to ensure that the four-bar linkage, when driving the movable cover plate, will not interfere with other components and satisfies the constraint of the human body envelope on the movement trajectory of the movable cover plate. This demonstrates that the arrangement determined based on the above steps can be put into practical design applications and product manufacturing.

[0045] The four-bar linkage arrangement method provided in this application first determines the first and second mounting points of the four-bar linkage. Then, it accurately simulates the closed and fully open states of the movable cover using the first and second attitude positioning lines, ensuring that the second attitude positioning line meets the safe movement conditions of the movable cover. Finally, based on the first and second attitude positioning lines and the already determined first and second mounting points, the third and fourth mounting points are determined, thus forming the four-bar linkage arrangement scheme. Therefore, this application uses the safe movement conditions of the movable cover opening process as the input to the determination process, thereby accurately determining the precise positions of the four hinge mounting points of the four-bar linkage. Compared with related technologies, this reduces the number of repeated trial-and-error simulations, significantly improves the efficiency of the four-bar linkage arrangement, and effectively ensures the accuracy and feasibility of the four-bar linkage arrangement, which is beneficial for adapting to the rapid automotive development cycle.

[0046] Figure 3 A flowchart of step S1 above is shown, as follows: Figure 3 As shown, in some embodiments of this application, step S1 may include the following steps: Step S11: With the movable cover in the closed state, determine the first installation point based on the shape of the movable cover.

[0047] Specifically, in some embodiments of this application, the shape of the movable cover is a Concept A Surface (CAS), which refers to a digital model used to showcase the interior and exterior styling of the vehicle before the release of the CAS. When the vehicle hood is closed, the CAS is used as a positioning reference. Simultaneously, preset vehicle design requirements are obtained, requiring that the distance between the axis of the four-link linkage in the vertical direction Z and the upper boundary of the CAS is greater than or equal to 50mm, and the distance between the axis of the four-link linkage in the horizontal direction X and the rear boundary of the CAS is greater than or equal to 10mm. Thus, as shown in Figure 4(a), the arrangement area of ​​the four-link linkage relative to the vehicle hood in the direction Y is defined. Then, as shown in Figure 4(b), the first mounting point is set at a position greater than or equal to 50mm from the upper boundary of the CAS in the vertical direction Z and greater than or equal to 10mm from the rear boundary of the CAS in the horizontal direction X.

[0048] Step S13: Determine the relative position design requirements of the first mounting point and the second mounting point according to the preset dimensions of the four-bar linkage, and determine the second mounting point based on the first mounting point and the relative position design requirements.

[0049] Specifically, such as Figure 5 As shown, based on the preset dimensions of the four-bar linkage, the second mounting point must be 10mm higher than the first mounting point in the vertical Z direction, and the design length of the movable link in the four-bar linkage is L. dc This allows us to determine the relative positional design requirements of the first and second mounting points. Specifically, we determine the coordinates of the first mounting point in the vertical Z direction, and draw a baseline along the horizontal X direction at a position 10mm above this coordinate. Then, we define a line with L as its coordinate. dc Draw a circle with radius , and the circumference curve intersects this baseline at two points. Since the second mounting point is defaulted to the front side of the vehicle where the first mounting point is located, that is... Figure 5 The intersection point on the left side, as shown in the diagram, can be identified as the second installation point.

[0050] In this embodiment, the first mounting point is determined based on the shape of the movable cover when it is closed, so that the first mounting point can meet the spatial constraints of the movable cover shape. At the same time, the relative position design requirements of the first mounting point and the second mounting point are determined according to the preset dimensions of the four-link rod, thereby using the first mounting point and the second mounting point to provide an accurate reference for determining other mounting points.

[0051] Figure 6The flowchart of step S3 above is shown, as follows: Figure 6 As shown, in some embodiments of this application, step S3 may include the following steps: Step S31: Obtain the first seam line between the movable cover plate and the first adjacent member, and determine the first positioning point on the first seam line.

[0052] Specifically, such as Figure 7 As shown, in some embodiments of this application, the first adjacent component is a car door. It can be understood that the first seam line refers to the outline line corresponding to the mating gap between the vehicle hood and the car door when the hood is closed, representing the assembly boundary between the vehicle hood and the car door. Any point is selected on this first seam line and designated as the first positioning point k to accurately represent the relative positional relationship between the vehicle hood and the car door assembly boundary when the hood is closed.

[0053] Step S33: Determine the second positioning point based on the front end of the shape of the movable cover plate.

[0054] Specifically, such as Figure 7 As shown, the front end point of the styling refers to the end point of the CAS styling of the vehicle hood in the direction of the front of the vehicle, representing the foremost position of the vehicle hood. This front end point of the styling is determined as the second positioning point z to accurately represent the front spatial position of the vehicle hood when it is closed.

[0055] Step S35: Determine the first attitude positioning line based on the line connecting the first positioning point and the second positioning point.

[0056] Specifically, such as Figure 7 As shown, the first attitude positioning line can be obtained by geometrically connecting the first positioning point k and the second positioning point z. This first attitude positioning line can accurately characterize the spatial attitude reference when the movable cover is in the closed state. The length of the line connecting the first positioning point k and the second positioning point z is L. kz .

[0057] In this embodiment, the first positioning point and the second positioning point are determined by the seam line and the front end of the shape, which are prone to interference with the assembly boundary of the movable cover. In this way, the first posture positioning line determined by the first positioning point and the second positioning point can accurately characterize the spatial position reference of the closed state of the movable cover, and provide a reliable position reference for subsequently determining the second posture positioning line in combination with safe movement conditions.

[0058] In some embodiments of this application, safe movement conditions include: (1) The first safety gap threshold between the movable cover and the second adjacent member is set to 10mm, taking the vehicle front cover as the movable cover and the second adjacent member as the fender. (2) The second safety gap threshold between the movable cover and the first adjacent member, taking the vehicle front cover as an example, the first adjacent member is the car door, and the second safety gap threshold is set to 50mm; (3) Human body envelope, wherein the human body envelope is determined by envelope 1 and envelope 2. Envelope 1 represents the head point envelope of 95% of males and envelope 2 represents the head point envelope of 95% of females. Envelope 2 needs to ensure that 95% of females can reach the highest point of the vehicle hood.

[0059] Furthermore, Figure 8 A flowchart of step S5 above is shown, as follows: Figure 8 As shown, in some embodiments of this application, step S5 may include the following steps: Step S51: Obtain the second seam line between the movable cover plate and the second adjacent member, and translate the second seam line along the first direction according to the first safety gap threshold to obtain the first translation positioning line. In this embodiment, the first direction is the vertical direction Z.

[0060] Specifically, such as Figure 7 As shown, the second seam line refers to the outline of the gap between the hood and the fender when the vehicle is closed, representing the assembly boundary between the hood and the fender. Based on the first safety clearance threshold, the second seam line is translated 10mm along the vertical Z direction of the vehicle body. The outline formed after the translation is the first translation positioning line, which ensures that the gap between the hood and the fender meets the safety constraints when the vehicle is open.

[0061] Step S53: Generate a baseline along a first direction based on the first positioning point, and translate the baseline along a second direction according to a second safety gap threshold to obtain a second translational positioning line. In this embodiment, the second direction is the horizontal direction X.

[0062] Specifically, such as Figure 7 As shown, starting from the first positioning point k, a straight line is drawn along the vertical direction Z of the vehicle body. This straight line is the aforementioned baseline. Based on the second safety clearance threshold, this baseline is translated 50mm along the horizontal direction X of the vehicle body. The straight line obtained after the translation is the second translation positioning line. This second translation positioning line ensures that the gap between the movable cover and the door meets the safety constraints after the cover is opened.

[0063] Step S55: Determine the third positioning point based on the intersection of the first translation positioning line and the second translation positioning line.

[0064] Specifically, such as Figure 7 As shown, the only intersection point formed by the first translation positioning line and the second translation positioning line is the third positioning point k', which simultaneously meets the safety clearance requirements between the vehicle hood and the fender and the door respectively.

[0065] It should be noted that in some embodiments of this application, after determining the third positioning point k', an engineering feasibility verification is performed. The process of the entire vehicle hood CAS moving from a closed state to a fully open state is simulated to verify whether the entire vehicle hood CAS will interfere with the fender. If interference occurs, it indicates that the first positioning point k selected in step S31 is not suitable. The selection position of the first positioning point k is readjusted and the above steps S33, S35 and S5 are repeated.

[0066] Step S57: Obtain the motion trajectory of the second positioning point as the movable cover moves from the first posture to the second posture, and determine the fourth positioning point based on the motion trajectory and the human body envelope.

[0067] Specifically, with the second positioning point z as the center, and L... kz Draw a circle with radius , which corresponds to the trajectory of the front end of the movable cover plate as it moves from the first posture to the second posture. This circle intersects with envelope 1 and envelope 2 respectively. Take the middle line segment between these two intersection points as the safe gap between the movable cover plate and the human body. Select a point on this safe gap as the fourth positioning point z'.

[0068] Step S59: Determine the second attitude positioning line based on the line connecting the third positioning point and the fourth positioning point.

[0069] Specifically, by geometrically connecting the third positioning point k' and the fourth positioning point z', the second attitude positioning line can be obtained. This second attitude positioning line can accurately characterize the spatial attitude reference when the vehicle hood is in a fully open state.

[0070] The third positioning point k' determined in this embodiment can simultaneously satisfy the interference requirements between the movable cover and the first and second adjacent parts when the cover is opened. At the same time, the fourth positioning point can satisfy the interference requirements between the movable cover and the human body when the cover is opened. In this way, the second posture positioning line determined by the third positioning point k' and the fourth positioning point can accurately characterize the spatial position reference of the fully opened state of the movable cover, so that the positioning of the opening posture of the movable cover can accurately meet the relevant safety clearance requirements, thereby providing an accurate target posture reference for the subsequent determination of the four-bar installation point.

[0071] Figure 9 A flowchart of step S7 above is shown, as follows: Figure 9 As shown, in some embodiments of this application, step S7 may include the following steps: Step S711: Determine the first initial position of the first mounting point corresponding to the first attitude positioning line, and determine the first relative positional relationship between the first initial position and the first attitude positioning line.

[0072] Specifically, such as Figure 10 As shown, the position of the first mounting point when the vehicle hood is closed is recorded as the first initial position. It can be understood that the coordinates of the first mounting point determined in step S11 above are this first initial position C. At the same time, there is a fixed distance L1 between the first positioning point k and the second positioning point z, and a fixed distance L2 between the first initial position and the first positioning point k. Furthermore, there is a fixed angle β between the line segment between the first positioning point k and the second positioning point z and the line segment between the first initial position and the first positioning point k. Since the first positioning point k, the second positioning point z, and the first mounting point are fixed points relative to the vehicle hood, the above-mentioned first relative positional relationship can be determined using the distance L1, the distance L2, and the angle β.

[0073] Step S713: Determine the first final position of the first mounting point corresponding to the second attitude positioning line based on the first relative position relationship and the second attitude positioning line.

[0074] Specifically, regardless of how the vehicle hood moves, the aforementioned first relative positional relationship remains unchanged. Therefore, based on the side-angle-side (SAS) principle of congruent triangles, and based on the aforementioned spacing L1, spacing L2, and included angle β, the unique coordinates of the first final position C' of the first mounting point corresponding to the second attitude positioning line are obtained based on the known second attitude positioning line.

[0075] Step S715: Determine the set length of the rocker arm of the four-bar linkage, and determine the third mounting point based on the set length of the rocker arm, the first initial position, and the first final position.

[0076] Specifically, such as Figure 11 As shown, since the centers and radii of two circles are known, two unique circles can be determined. In this embodiment, the set length L of the rocker arm AC in the four-bar linkage is determined. ac Using the first initial position C and the first final position C' of the first mounting point as the radius, two circles are drawn with their centers respectively. Geometrically, these two circles intersect at two points. Considering the actual mechanical structure of the four-bar linkage, the third mounting point must be below the first mounting point. Therefore, the intersection point above the first mounting point is excluded, and the intersection point below the first mounting point is taken as the third mounting point. Figure 11 The position of midpoint A.

[0077] This embodiment of the application determines the first initial position of the first mounting point corresponding to the first attitude positioning line, clarifies its first relative positional relationship with the first attitude positioning line, and then determines the first final position of the first mounting point on the second attitude positioning line based on this first relative positional relationship. Finally, by combining the two positions of the first mounting point that change with the movement of the movable cover plate and the set length of the rocker arm, the unique position of the third mounting point on the fixed rod can be determined. In this way, the traditional method of repeated trial and error adjustments is eliminated, and the third mounting point is accurately determined based on geometric relationships, further improving the accuracy and efficiency of the four-bar linkage arrangement.

[0078] Similarly, such as Figure 12 As shown, step S7 above may further include the following steps: Step S721: Determine the second initial position of the second mounting point corresponding to the first attitude positioning line, and determine the second relative positional relationship between the second initial position and the first attitude positioning line.

[0079] Step S723: Determine the second final position of the second mounting point corresponding to the second attitude positioning line based on the second relative position relationship and the second attitude positioning line.

[0080] Specifically, such as Figure 13 As shown, the determination logic of the second initial position D and the second final position D' of the second installation point is the same as that of the first installation point. For details, please refer to steps S711 and S713 above, which will not be repeated here.

[0081] Step S725: Determine the rocker arm setting angle of the four-bar linkage, and determine the fourth mounting point based on the rocker arm setting angle, the second initial position, and the second final position.

[0082] Specifically, such as Figure 13 As shown, given the second initial position D and the second final position D', a unique perpendicular bisector can be determined connecting the second initial position D and the second final position D'. Furthermore, the four-bar design requires that the angle between the first rocker arm and the second rocker arm be at least 10° when the vehicle hood is fully open. Therefore, in this embodiment, starting from the second initial position D, a straight line is determined that forms a 10° angle with line segment AC. The intersection of this straight line and the aforementioned perpendicular bisector is taken as the fourth mounting point, i.e. Figure 13 The position of midpoint B.

[0083] This embodiment of the application determines the second initial position of the second mounting point corresponding to the first attitude positioning line, clarifies its second relative positional relationship with the first attitude positioning line, and then determines the second final position of the second mounting point on the second attitude positioning line based on this second relative positional relationship. Furthermore, by combining the two positions of the second mounting point that change with the movement of the movable cover plate and the rocker arm's set angle, the unique position of the fourth mounting point on the fixed rod can be determined. In this way, the traditional method of repeated trial and error adjustments is eliminated, and the fourth mounting point is accurately determined based on geometric relationships, further improving the accuracy and efficiency of the four-bar linkage arrangement.

[0084] The four-bar linkage includes a first rocker arm, a second rocker arm, a movable link, and a fixed link. Further, in some embodiments of this application, step S9 may include: The first rocker arm is arranged according to the first and third mounting points, the second rocker arm is arranged according to the second and fourth mounting points, the movable connecting rod is arranged according to the first and second mounting points, and the fixed connecting rod is arranged according to the third and fourth mounting points.

[0085] Specifically, Figure 14 for Figure 1 A simplified structural diagram, such as Figure 14 As shown, points C and D represent the first and second mounting points of the four-bar linkage that move together with the vehicle's hood, while points A and B represent the third and fourth mounting points fixed to the vehicle body. In actual vehicle assembly, corresponding hinges are installed at points A to D, a first rocker arm is installed between points A and C, and a second rocker arm is installed between points B and D. Both the first and second rockers are capable of circular motion. Simultaneously, a fixed link is installed between points A and B, and a movable link is installed between points C and D.

[0086] In this way, the arrangement of the four-link system can be quickly determined through the above steps, and the four-link system can be assembled based on this arrangement to ensure that the vehicle's hood meets the following requirements during the opening process: (1) Front hood opening position constraint: to meet the ergonomic requirements, ensuring that 95% of women can reach the highest point of the vehicle's front hood, while avoiding collisions between the head and the vehicle's front hood for 95% of men. Rocker arm angle constraint: When the vehicle hood is fully open, the angle between the first rocker arm and the second rocker arm must be no less than 10°. Linkage motion constraint: The movable link and the first rocker arm cannot be collinear; Hood trajectory constraints: The movement trajectory of the vehicle's hood must conform to preset empirical parameters; Installation constraints: The four-bar linkage must have sufficient installation space and not interfere with surrounding components, while meeting all performance requirements.

[0087] Therefore, compared with related technologies, the embodiments of this application only need to determine the shape CAS of the vehicle hood, the distance requirement between the axis of the four-link and the upper boundary of the CAS of the vehicle hood in the vertical direction Z, the safety clearance requirement between the vehicle hood and the fender, the safety clearance requirement between the vehicle hood and the door, and the human body envelope. Without going through a complicated and repetitive debugging process, the four-link arrangement scheme that meets the requirements can be quickly determined, which greatly improves the design and assembly efficiency of the four-link.

[0088] Accordingly, please refer to Figure 15 This application provides a four-bar linkage device, which includes: The first mounting point determination module 100 is used to determine the first and second mounting points of the four-bar linkage. For details, please refer to step S1. The first attitude positioning module 200 is used to determine the first positioning point and the second positioning point of the movable cover plate, and to determine the first attitude positioning line of the movable cover plate based on the first positioning point and the second positioning point. For details, please refer to step S3. The second posture positioning module 300 is used to determine the safe movement conditions of the movable cover from the first posture to the second posture, so as to determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point and the second positioning point. For details, please refer to step S5. The second mounting point determination module 400 is used to determine the third mounting point of the four-link based on the first mounting point, the first attitude positioning line, and the second attitude positioning line, and to determine the fourth mounting point of the four-link based on the second mounting point, the first attitude positioning line, and the second attitude positioning line. For details, please refer to step S7. The arrangement module 500 is used to determine the arrangement scheme of the four-bar linkage based on the first installation point, the second installation point, the third installation point, and the fourth installation point. For details, please refer to step S9.

[0089] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0090] In this embodiment, the four-bar linkage device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0091] Please see Figure 16 , Figure 16 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 16As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 16 Take a processor 10 as an example.

[0092] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GPA), or any combination thereof.

[0093] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0094] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0095] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0096] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0097] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0098] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0099] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

[0100] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0101] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0102] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0108] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0109] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A four-bar linkage arrangement method, characterized in that, The method includes: Determine the first and second mounting points of the four-bar linkage; Determine the first and second positioning points of the movable cover plate, and determine the first attitude positioning line of the movable cover plate based on the first and second positioning points; Determine the safe movement conditions of the movable cover from the first posture to the second posture, and determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point, and the second positioning point; The third mounting point of the four-bar linkage is determined based on the first mounting point, the first attitude positioning line, and the second attitude positioning line; the fourth mounting point of the four-bar linkage is determined based on the second mounting point, the first attitude positioning line, and the second attitude positioning line. The arrangement of the four-bar linkage is determined based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point.

2. The method according to claim 1, characterized in that, Determining the first and second mounting points of the four-bar linkage includes: When the movable cover is in the closed state, the first mounting point is determined according to the shape of the movable cover; The relative position design requirements of the first mounting point and the second mounting point are determined according to the preset dimensions of the four-bar linkage, so as to determine the second mounting point based on the first mounting point and the relative position design requirements.

3. The method according to claim 1, characterized in that, The step of determining the first and second positioning points of the movable cover plate, and determining the first attitude positioning line of the movable cover plate based on the first and second positioning points, includes: Obtain the first seam line between the movable cover plate and the first adjacent member, and determine the first positioning point on the first seam line; The second positioning point is determined based on the front end point of the shape of the movable cover plate; The first attitude positioning line is determined by connecting the first positioning point and the second positioning point.

4. The method according to claim 1, characterized in that, The safe movement conditions include a first safe gap threshold between the movable cover plate and the second adjacent member, a second safe gap threshold between the movable cover plate and the first adjacent member, and the human body envelope. Determining the second attitude positioning line of the movable cover plate based on the safe movement conditions, the first positioning point, and the second positioning point includes: Obtain the second seam line between the movable cover plate and the second adjacent member, and translate the second seam line along the first direction according to the first safety gap threshold to obtain the first translation positioning line; A baseline is generated along the first direction based on the first positioning point, and the baseline is translated along the second direction according to the second safety gap threshold to obtain a second translation positioning line. The third positioning point is determined based on the intersection of the first translation positioning line and the second translation positioning line; The second positioning point is obtained as the movable cover plate moves from the first posture to the second posture, and the fourth positioning point is determined based on the movement trajectory and the human body envelope. The second attitude positioning line is determined by the line connecting the third positioning point and the fourth positioning point.

5. The method according to claim 4, characterized in that, The first direction is the vertical direction, and the second direction is the horizontal direction.

6. The method according to claim 1, characterized in that, Determining the third mounting point of the four-bar linkage based on the first mounting point, the first attitude positioning line, and the second attitude positioning line includes: Determine the first initial position of the first mounting point corresponding to the first attitude positioning line, and determine the first relative positional relationship between the first initial position and the first attitude positioning line; The first final position of the first mounting point corresponding to the second attitude positioning line is determined based on the first relative position relationship and the second attitude positioning line. The set length of the rocker arm of the four-bar linkage is determined, and the third mounting point is determined based on the set length of the rocker arm, the first initial position, and the first final position.

7. The method according to claim 1, characterized in that, Determining the fourth mounting point of the four-link based on the second mounting point, the first attitude positioning line, and the second attitude positioning line includes: Determine the second initial position of the second mounting point corresponding to the first attitude positioning line, and determine the second relative positional relationship between the second initial position and the first attitude positioning line; The second final position of the second mounting point corresponding to the second attitude positioning line is determined based on the second relative position relationship and the second attitude positioning line. Determine the rocker arm setting angle of the four-bar linkage, and determine the fourth mounting point based on the rocker arm setting angle, the second initial position, and the second final position.

8. The method according to claim 1, characterized in that, The four-bar linkage includes a first rocker arm, a second rocker arm, a movable link, and a fixed link; The step of determining the arrangement scheme of the four-bar linkage based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point includes: The first rocker arm is arranged according to the first mounting point and the third mounting point; The second rocker arm is arranged according to the second mounting point and the fourth mounting point; The movable connecting rod is arranged according to the first mounting point and the second mounting point; The fixed connecting rod is arranged according to the third mounting point and the fourth mounting point.

9. A four-bar linkage device, characterized in that, The device includes: The first mounting point determination module is used to determine the first mounting point and the second mounting point of the four-bar linkage. The first attitude positioning module is used to determine the first positioning point and the second positioning point of the movable cover plate, and to determine the first attitude positioning line of the movable cover plate based on the first positioning point and the second positioning point. The second posture positioning module is used to determine the safe movement conditions of the movable cover from the first posture to the second posture, so as to determine the second posture positioning line of the movable cover based on the safe movement conditions, the first positioning point and the second positioning point; The second mounting point determination module is used to determine the third mounting point of the four-link based on the first mounting point, the first attitude positioning line and the second attitude positioning line, and to determine the fourth mounting point of the four-link based on the second mounting point, the first attitude positioning line and the second attitude positioning line. The arrangement module is used to determine the arrangement scheme of the four-bar linkage based on the first mounting point, the second mounting point, the third mounting point, and the fourth mounting point.

10. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the four-bar linkage method according to any one of claims 1 to 8.

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