Arrangement optimization method and device for four-bar linkage and gas spring

Abstract

The invention relates to the technical field of automobile design, and discloses a four-bar linkage and gas spring arrangement optimization method and device.The method comprises the steps that fixed coordinates of all fixed connecting points and initial coordinates of all movable connecting points are obtained, according to the initial coordinates and the fixed coordinates, determining dynamic coordinates of the movable connection points in different rotating postures of the four-bar linkage; determining an axis coordinate of the four-bar linkage according to the dynamic coordinate and the fixed coordinate, and determining a rotation angle of the movable rod according to the dynamic coordinate and the initial coordinate, so as to determine a gas spring movable point coordinate, an operation point position coordinate of the vehicle body opening and closing piece and a barycentric coordinate under different rotation postures according to the rotation angle; and according to the axis coordinates, the gas spring moving point coordinates, the operation point position coordinates and the barycentric coordinates, the operation force of the vehicle body opening and closing piece is determined, and arrangement optimization is conducted on the four-bar linkage and the gas spring according to the operation force. According to the invention, the operation force corresponding to the arrangement scheme of the four-bar linkage and the gas spring can be quickly and accurately determined, so that the arrangement efficiency is remarkably improved.

Description

Technical Field

[0001] This application relates to the field of automotive design technology, and in particular to a method and apparatus for optimizing the arrangement of a four-link linkage and a gas spring. Background Technology

[0002] In the design of vehicle body opening and closing mechanisms, a four-bar hinge structure is commonly used to achieve the opening and closing of the mechanisms. Additionally, if the weight of the opening and closing mechanism is too great, a gas spring needs to be added to provide assistance when the user opens and closes the mechanism.

[0003] In related technologies, engineers typically need to repeatedly build structural models of the vehicle body opening and closing components at different opening angles, and use these models to measure the operating force of the components in order to adjust the opening and closing comfort. However, this simulation measurement method leads to inefficient arrangement of the four-link and gas spring and is prone to design deviations, making it difficult to meet the tight development cycle requirements. Summary of the Invention

[0004] This application provides a method and apparatus for optimizing the arrangement of four-bar linkages and gas springs, which solves the technical problems of low efficiency, easy design deviation, and difficulty in meeting tight development cycle requirements in the current arrangement of four-bar linkages and gas springs. It can quickly and accurately determine the operating force corresponding to the arrangement scheme of four-bar linkages and gas springs, thereby significantly improving the arrangement efficiency.

[0005] To achieve the above objectives, the main technical solutions adopted in this application include: In a first aspect, this application provides a method for optimizing the arrangement of a four-bar linkage and a gas spring. The four-bar linkage includes two rocker arms, a movable rod, and a fixed rod. Each rocker arm has a fixed connection point and a movable connection point. The fixed rod is located between the fixed connection points, and the movable rod is located between the movable connection points. The movable rod is used to drive the movement of a vehicle body opening and closing component. The method includes: Obtain the fixed coordinates of each of the fixed connection points and the initial coordinates of each of the movable connection points, so as to determine the dynamic coordinates of the movable connection points corresponding to different rotational postures of the four-bar linkage based on the initial coordinates and the fixed coordinates; The axis coordinates of the four-bar linkage are determined based on the dynamic coordinates and the fixed coordinates, and the rotation angle of the movable rod is determined based on the dynamic coordinates and the initial coordinates. The coordinates of the gas spring movable point, the operating point coordinates of the vehicle body opening and closing component, and the center of gravity coordinates are determined based on the rotation angle. The operating force of the vehicle body opening and closing component is determined based on the axis coordinates, the gas spring movable point coordinates, the operating point coordinates, and the center of gravity coordinates, so as to optimize the arrangement of the four-link and the gas spring according to the operating force.

[0006] The proposed layout optimization method first determines the dynamic coordinates of the movable connection point corresponding to different rotational postures based on the fixed coordinates of the fixed connection point and the initial coordinates of the movable connection point. Then, combining the dynamic coordinates, fixed coordinates, and initial coordinates, it determines the coordinates of key points such as the axis of the four-link linkage, the coordinates of the gas spring's movable point, the coordinates of the operating point of the vehicle body opening / closing component, and the coordinates of the center of gravity. Finally, based on these key point coordinates, it performs lever arm analysis to quickly determine the operating force of the vehicle body opening / closing component, thereby optimizing the layout of the four-link linkage and gas spring based on this operating force. Compared with related technologies, this application does not require repeated tedious simulation measurements using 3D simulation design software. It only requires knowing the four connection points of the four-link linkage, the coordinates of the gas spring, the coordinates of the operating point of the vehicle body opening / closing component, and the coordinates of the center of gravity to quickly and accurately determine the corresponding operating force. This significantly improves the layout efficiency of the four-link linkage and gas spring, effectively avoids operational force analysis errors, and helps shorten the development cycle.

[0007] Optionally, the two joysticks include a first joystick and a second joystick, and the step of determining the dynamic coordinates of the active connection point corresponding to different rotational postures of the four-link based on the initial coordinates and the fixed coordinates includes: The initial slope of the first joystick corresponding to the initial posture is determined based on the initial coordinates and the fixed coordinates, and the first initial positioning angle of the first joystick is determined based on the initial slope. The first rotation positioning angle of the first joystick in the rotation posture is determined based on the first initial positioning angle, and the first dynamic coordinate of the first joystick corresponding to the active connection point is determined based on the first rotation positioning angle, the fixed coordinate of the first joystick, and the length of the first joystick. The second dynamic coordinates of the second rocker at the active connection point corresponding to the second rocker are determined based on the first dynamic coordinates, the length of the movable rod, the fixed coordinates corresponding to the second rocker, and the length of the second rocker.

[0008] This application analyzes the motion trajectory of the corresponding movable connection points of the first and second rockers based on initial and fixed coordinates, thereby obtaining the dynamic coordinates of the movable connection points as the four-bar linkage rotates, thus providing an accurate basis for subsequently determining key geometric parameters such as the axis coordinates of the four-bar linkage and the rotation angle of the movable rod.

[0009] Optionally, determining the first dynamic coordinates of the active connection point corresponding to the first rocker arm based on the first rotation positioning angle, the fixed coordinates corresponding to the first rocker arm, and the length of the first rocker arm includes: Determine a first circle with the fixed coordinates corresponding to the first joystick as its center and the length of the first joystick as its radius; The first dynamic coordinates of the first rocker corresponding to the active connection point are determined based on the first rotation positioning angle and the parametric equation of the first circle.

[0010] This application constructs a first circle with the fixed coordinates of the first rocker as the center and the length of the rocker as the radius. Then, it uses the parametric equation of the first circle to characterize the motion trajectory of the corresponding active connection point of the first rocker. Therefore, it can quickly determine the first dynamic coordinate that satisfies the geometric constraints without relying on simulation measurement, and combined with the first rotation positioning angle, which is beneficial to improving the analysis efficiency of dynamic coordinates.

[0011] Optionally, determining the second dynamic coordinates of the second rocker at the active connection point corresponding to the second rocker based on the first dynamic coordinates, the length of the movable rod, the fixed coordinates corresponding to the second rocker, and the length of the second rocker includes: A second circle is determined with the first dynamic coordinate as the center and the length of the movable rod as the radius, and a third circle is determined with the fixed coordinate corresponding to the second rocker as the center and the length of the second rocker as the radius. The second rotation positioning angle of the second rocker in the rotation posture is determined according to the standard equation of the second circle and the parametric equation of the third circle. The second dynamic coordinates of the second rocker corresponding to the active connection point are determined based on the second rotation positioning angle and the parametric equation of the third circle.

[0012] This application constructs a second circle with the first dynamic coordinate as the center and the length of the movable rod as the radius, and constructs a third circle with the fixed coordinate corresponding to the second rocker as the center and the length of the second rocker as the radius. In this way, the second circle and the third circle are used to represent the motion trajectory of the movable connection point corresponding to the second rocker, and then the second dynamic coordinate that satisfies the geometric constraints is determined according to the intersection of the second circle and the third circle, which is beneficial to improving the analysis efficiency of dynamic coordinates.

[0013] Optionally, determining the axis coordinates of the four-bar linkage based on the dynamic coordinates and the fixed coordinates includes: The first linear equation of the first joystick is determined based on the fixed coordinates and the first dynamic coordinates corresponding to the first joystick. The second linear equation of the second joystick is determined based on the fixed coordinates and the second dynamic coordinates corresponding to the second joystick. The intersection point of the extension directions of the first joystick and the second joystick is determined based on the first linear equation and the second linear equation, and the axis coordinates are determined based on the intersection point of the extension directions.

[0014] After determining the dynamic coordinates of the active connection point, this application can accurately characterize the positions of the two joysticks in the corresponding rotational postures of the four-bar linkage using both dynamic and fixed coordinates. This enables rapid calculation of the axis coordinates, achieving fast and accurate analysis of the axis trajectory of the four-bar linkage and providing an accurate geometric parameter basis for subsequent operating force analysis.

[0015] Optionally, determining the rotation angle of the movable rod based on the dynamic coordinates and the initial coordinates includes: Determine the initial positioning angle of the movable rod corresponding to the initial posture based on the initial coordinates; The rotation positioning angle of the movable rod corresponding to the rotation posture is determined based on the first dynamic coordinate and the second dynamic coordinate; The rotation angle is determined based on the difference between the rotation positioning angle of the movable rod and the initial positioning angle of the movable rod.

[0016] After determining the dynamic coordinates of the active connection point, this application can accurately characterize the position of the active rod in the initial and rotational postures of the four-bar linkage using the dynamic and initial coordinates. This enables the rapid calculation of the rotation angle of the active rod, thereby quickly determining the mapping relationship between the rotation angle of the rocker arm and the rotation angle of the active rod. This provides an accurate geometric parameter basis for determining the coordinates of key points such as the coordinates of the gas spring active point, the coordinates of the operating point of the vehicle body opening and closing parts, and the coordinates of the center of gravity.

[0017] Optionally, determining the coordinates of the gas spring's movable point, the coordinates of the operating point of the vehicle body opening / closing component, and the coordinates of the center of gravity under different rotational postures based on the rotation angle includes: Determine the first relative distance between the gas spring and the first dynamic coordinate, and determine a fourth circle with the first dynamic coordinate as the center and the first relative distance as the radius, so as to determine the coordinates of the gas spring's moving point based on the rotation angle and the parametric equation of the fourth circle; The second relative distance between the operating point of the vehicle body opening and closing component and the first dynamic coordinate is determined, and a fifth circle with the first dynamic coordinate as the center and the second relative distance as the radius is determined, so as to determine the coordinates of the operating point based on the rotation angle and the parametric equation of the fifth circle; The third relative distance between the center of gravity of the vehicle body opening / closing component and the first dynamic coordinate is determined, and a sixth circle with the first dynamic coordinate as the center and the third relative distance as the radius is determined, so as to determine the center of gravity coordinates according to the rotation angle and the parametric equation of the sixth circle.

[0018] This application utilizes the constructed fourth, fifth, and sixth circles to accurately characterize the motion trajectory of the gas spring's moving point, operating point, and the center of gravity of the vehicle body opening and closing component as the moving rod rotates. Furthermore, by combining the rotation angle of the moving rod with the corresponding motion trajectory, the coordinates of the gas spring's moving point, operating point, and center of gravity are obtained, which is beneficial for the rapid and accurate analysis of the operating force of the vehicle body opening and closing component.

[0019] Optionally, determining the operating force of the vehicle body opening / closing component based on the axis coordinates, the gas spring movable point coordinates, the operating point coordinates, and the center of gravity coordinates includes: Determine the coordinates of the gas spring mounting point, and determine the gas spring lever arm and gas spring force value based on the coordinates of the gas spring movable point, the coordinates of the gas spring mounting point, and the coordinates of the axis. The gravity lever arm of the vehicle body opening and closing component is determined based on the center of gravity coordinates and the axis coordinates. The operating force lever arm is determined based on the coordinates of the operating point and the coordinates of the axis. The gravity of the vehicle body opening and closing component is obtained, and the operating force is determined based on the gravity, the gravity lever arm, the gas spring force value, the gas spring lever arm, and the operating force lever arm.

[0020] Optionally, optimizing the arrangement of the four-bar linkage and the gas spring based on the operating force includes: If the operating force does not meet the preset conditions, the gas spring is adjusted; or If the operating force does not meet the preset conditions, the fixed connection point and the movable connection point are adjusted.

[0021] Secondly, this application provides an optimized arrangement device for a four-bar linkage and a gas spring. The four-bar linkage includes two rocker arms, a movable rod, and a fixed rod. Each rocker arm has a fixed connection point and a movable connection point. The fixed rod is located between the fixed connection points, and the movable rod is located between the movable connection points. The movable rod is used to drive the opening and closing of the vehicle body opening and closing mechanism. The device includes: The rotation analysis module is used to obtain the fixed coordinates of each of the fixed connection points and the initial coordinates of each of the movable connection points, so as to determine the dynamic coordinates of the movable connection points corresponding to different rotation postures of the four-bar linkage based on the initial coordinates and the fixed coordinates. The coordinate determination module is used to determine the axis coordinates of the four-bar linkage based on the dynamic coordinates and the fixed coordinates, and to determine the rotation angle of the movable rod based on the dynamic coordinates and the initial coordinates, so as to determine the coordinates of the gas spring movable point, the coordinates of the operating point of the vehicle body opening and closing component, and the coordinates of the center of gravity under different rotation postures based on the rotation angle. The layout optimization module is used to determine the operating force of the vehicle body opening and closing component based on the axis coordinates, the gas spring moving point coordinates, the operating point coordinates, and the center of gravity coordinates, so as to optimize the layout of the four-link and the gas spring based on the operating force.

[0022] 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 optimized arrangement method for the four-bar linkage and gas spring.

[0023] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the above-described method for optimizing the arrangement of the four-bar linkage and gas spring. Attached Figure Description

[0024] 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.

[0025] Figure 1 A schematic diagram of a four-bar linkage provided in an embodiment of this application; Figure 2 One of the flowcharts for an optimized arrangement method of a four-bar linkage and a gas spring provided in this application embodiment; Figure 3 A second schematic flowchart illustrating an optimized arrangement method for a four-bar linkage and a gas spring, provided as an embodiment of this application. Figure 4 A simplified structural diagram of a four-bar linkage for an automobile hood provided in an embodiment of this application; Figure 5 A schematic diagram of the geometric relationship of a right-angled triangle provided in an embodiment of this application; Figure 6 The third flowchart illustrates a method for optimizing the arrangement of a four-bar linkage and a gas spring, as provided in an embodiment of this application. Figure 7 The fourth flowchart illustrates a method for optimizing the arrangement of a four-bar linkage and a gas spring, as provided in an embodiment of this application. Figure 8 The fifth flowchart illustrates a method for optimizing the arrangement of a four-bar linkage and a gas spring, as provided in this embodiment of the application. Figure 9 This is the sixth flowchart illustrating an optimized arrangement method for a four-bar linkage and a gas spring provided in this application embodiment. Figure 10 A schematic diagram illustrating the lever arm relationship between the gas spring and the shaft provided in an embodiment of this application; Figure 11 A schematic diagram of the calibration measurement of a gas spring provided in an embodiment of this application; Figure 12 A schematic diagram illustrating the lever arm relationship between the center of gravity and the axis provided in this application embodiment; Figure 13 This is a schematic diagram illustrating the lever arm relationship between the operating point and the axis provided in the embodiments of this application; Figure 14 A schematic diagram of a four-bar linkage and gas spring arrangement optimization device provided in an embodiment of this application; Figure 15 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0026] 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 examples 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.

[0027] Currently, large hoods are commonly designed in the styling of large SUVs and sedans. To achieve this design and avoid interference with adjacent components during opening and closing, a four-bar linkage structure is used to plan the hood's movement trajectory. At the same time, the structural characteristics of a large hood significantly increase its weight. To reduce the opening and closing force required by the user, a gas spring is needed to provide auxiliary power. Therefore, the length and spatial position of the four-bar linkage and the installation point of the gas spring in the hood's design require precise adjustment to achieve optimal opening and closing comfort.

[0028] In some related technologies, engineers typically use 3D simulation design software such as CATIA to build structural models of the hood at different opening angles, measure the axis and gas spring attitude points of the hood at different opening angles, and then calculate the user's opening force value at different angles. When the opening force value does not meet the expected requirements, the above modeling and simulation measurement process needs to be repeated. In actual application scenarios, this process usually needs to be repeated about 20 times.

[0029] However, each simulation measurement process is complex, not only time-consuming and labor-intensive, resulting in low efficiency in the arrangement of the four-bar linkage and gas spring, but also increasing labor costs. Moreover, it relies on the engineer's subjective experience in adjusting the opening force value, which makes the arrangement of the four-bar linkage and gas spring prone to design deviations.

[0030] Therefore, there is an urgent need for a method that can quickly and accurately determine the arrangement parameters of the four-bar linkage and gas spring.

[0031] To address the aforementioned technical problems, according to an embodiment of this application, an embodiment of a method for optimizing the arrangement of a four-bar linkage and a gas spring 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.

[0032] This embodiment provides an optimized arrangement method for four-bar linkages and gas springs, which can be used for vehicle body opening and closing components such as car hoods, trunk lids, and doors that require assistance from four-bar linkages and gas springs. Figure 1 A schematic diagram of the four-bar linkage and gas spring is shown, as follows: Figure 1 As shown, the four-bar linkage includes a first rocker arm 1, a second rocker arm 2, a movable rod 3, and a fixed rod 4. The first rocker arm 1 has a fixed connection point A and a movable connection point C, the second rocker arm 2 has a fixed connection point B and a movable connection point D, a fixed rod 4 is located between the fixed connection points A and B, and a movable rod 3 is located between the movable connection points C and D. The movable rod 3 is used to drive the movement of the vehicle body opening and closing mechanism. Furthermore, one end of the gas spring 5 is fixedly connected to the vehicle body via the gas spring mounting point E, and the other end of the gas spring is connected to one end of the transmission rod 6 via the gas spring movable point F. The other end of the transmission rod 6 is connected to the movable rod 3, allowing the assistance provided by the gas spring to be transmitted to the movable rod 3 through the transmission rod 6, thus providing assistance to the user in opening and closing the vehicle body opening and closing mechanism.

[0033] Figure 2 This is a flowchart of a method for optimizing the arrangement of a four-bar linkage and a gas spring according to an embodiment of this application, as shown below. Figure 2 As shown, the process includes the following steps: Step S1: Obtain the fixed coordinates of each fixed connection point and the initial coordinates of each moving connection point, so as to determine the dynamic coordinates of the four links corresponding to the moving connection points in different rotational postures based on the initial coordinates and fixed coordinates.

[0034] Specifically, a fixed connection point refers to the hinge mounting point in the four-bar linkage that is fixedly connected to the vehicle body. It can be understood that the position of the fixed connection point does not change with the rotation of the joystick; the fixed coordinates are the coordinate values ​​of the fixed connection point. A movable connection point refers to the hinge mounting point in the four-bar linkage that connects to the vehicle body opening / closing mechanism, and is also the hinge point connecting the joystick and the movable rod. It can be understood that the position of the movable connection point changes with the rotation of the joystick. The initial coordinates are the coordinate values ​​of the movable connection point when the four-bar linkage is in its initial posture, and the dynamic coordinates are the coordinate values ​​of the movable connection point when the four-bar linkage is in various rotational postures. It should be noted that in some embodiments of this application, the initial posture is the closed state of the vehicle body opening / closing mechanism, and the rotational posture is the open state of the vehicle body opening / closing mechanism at different opening degrees.

[0035] Based on the motion characteristics of each rocker arm in the four-bar linkage, this application constructs a geometric relationship using fixed coordinates and initial coordinates, and derives the dynamic coordinates of the active connection point under each rotational posture through trajectory analysis and geometric constraint calculation, ensuring that the dynamic coordinates are consistent with the actual motion trajectory of the four-bar linkage.

[0036] Step S3: Determine the axis coordinates of the four-bar linkage based on the dynamic coordinates and fixed coordinates, and determine the rotation angle of the movable rod based on the dynamic coordinates and initial coordinates, so as to determine the coordinates of the gas spring movable point, the operating point coordinates of the vehicle body opening and closing parts, and the center of gravity coordinates under different rotation postures based on the rotation angle.

[0037] Specifically, the axis coordinates represent the position of the rotation center during the rotation of the four-bar linkage, and are determined by the intersection of the extension directions of the two rockers. In this embodiment, the linear relationship between each rocker is constructed using dynamic and fixed coordinates, and the axis coordinates are obtained by solving for the intersection of the two lines.

[0038] The rotation angle of the movable lever refers to the deflection angle of the movable lever relative to its initial posture under different rotation postures of the four-bar linkage. In this embodiment, the initial positioning angle of the movable lever is determined by the initial coordinates of the two rockers, and the rotation positioning angle of the movable lever under the current rotation posture is determined by the dynamic coordinates of the two rockers. Then, the aforementioned rotation angle is determined by the initial positioning angle and the rotation positioning angle of the movable lever. Since the center of gravity, gas spring activation point, and other positions of the vehicle body opening and closing component are all installed on the side of the vehicle body opening and closing component, they have a fixed relative positional relationship with the vehicle body opening and closing component. The rotation angle of the movable lever represents the opening angle of the vehicle body opening and closing component from its initial posture to its rotation posture. Therefore, the real-time position changes of the center of gravity, gas spring activation point, and operating point of the vehicle body opening and closing component as the four-bar linkage rotates can be determined based on the rotation angle.

[0039] Step S5: Determine the operating force of the vehicle body opening and closing components based on the axis coordinates, gas spring moving point coordinates, operating point coordinates, and center of gravity coordinates, so as to optimize the arrangement of the four-link and gas spring according to the operating force.

[0040] Specifically, the operating force refers to the force required by the user to open and close the vehicle body opening and closing parts. In this embodiment, the axial coordinate is used as a reference, and the auxiliary force of the gas spring, the gravity of the vehicle body opening and closing parts, and the operating force applied by the user are combined to perform torque balance analysis, thereby quickly determining the operating force required by the user when operating the vehicle body opening and closing parts to various rotational postures. Finally, the arrangement of the four-link and the gas spring is optimized based on the operating force to achieve the best opening and closing comfort of the vehicle body opening and closing parts.

[0041] The layout optimization method provided in this application first determines the dynamic coordinates of the movable connection point corresponding to different rotational postures based on the fixed coordinates of the fixed connection point and the initial coordinates of the movable connection point. Then, it combines the dynamic coordinates, fixed coordinates, and initial coordinates to determine the coordinates of key points such as the axis coordinates of the four-link linkage, the coordinates of the gas spring's movable point, the coordinates of the operating point of the vehicle body opening and closing component, and the coordinates of the center of gravity. Finally, it performs lever arm analysis based on these key point coordinates to quickly determine the operating force of the vehicle body opening and closing component, thereby optimizing the layout of the four-link linkage and gas spring based on this operating force. Compared with related technologies, this application does not require repeated tedious simulation measurements using 3D simulation design software. It only requires knowing the four connection points of the four-link linkage, the coordinates of the gas spring, the coordinates of the operating point of the vehicle body opening and closing component, and the coordinates of the center of gravity to quickly and accurately determine the corresponding operating force, thereby significantly improving the layout efficiency of the four-link linkage and gas spring, effectively avoiding deviations in operating force analysis, and helping to shorten the development cycle.

[0042] This application uses a hood as an example of a vehicle body opening and closing component. It should be noted that the four-link and gas spring arrangement optimization method provided in this application can also be applied to vehicle body opening and closing components such as trunk lids, doors, and sliding doors. This application is not intended to limit the invention.

[0043] Figure 3 The flowchart of step S1 in the embodiment of this application is shown. Step S1 may include the following steps: Step S11: Determine the initial slope of the first joystick corresponding to the initial posture based on the initial coordinates and fixed coordinates, so as to determine the first initial positioning angle of the first joystick based on the initial slope.

[0044] Specifically, Figure 4 A simplified schematic diagram of the four-bar linkage of a car hood is shown, as follows: Figure 4 As shown, the fixed coordinates of fixed connection points A and B are (x, y, y) and (x, y, y) respectively. A ,z A ) and (x B ,z B The initial coordinates of the four-link initial attitude corresponding to the active connection points C and D are respectively (x... C ,z C),(x D ,z D The length of the first rocker arm between the fixed connection point A and the movable connection point C is r1, the length of the second rocker arm between the fixed connection point B and the movable connection point D is r2, and the length of the movable rod between the movable connection point C and the movable connection point D is r3.

[0045] First, calculate the initial slope of the first joystick corresponding to the initial posture according to the following formula (1). : The initial positioning angle σ between the first joystick and the x-axis in the initial attitude is determined by the following formula (2): Step S13: Determine the first rotation positioning angle of the first rocker arm in the rotation posture based on the first initial positioning angle, and determine the first dynamic coordinate of the active connection point corresponding to the first rocker arm based on the first rotation positioning angle, the fixed coordinates corresponding to the first rocker arm, and the length of the first rocker arm.

[0046] Specifically, as the four-bar linkage moves from its initial position to its rotational position, the movable connection point C of the first rocker arm moves to position C1, as shown below. Figure 4 As shown, the rotation angle α of the first joystick moving from position AC to position AC1 is α. Therefore, the first rotation positioning angle is the sum of the first initial positioning angle and this rotation angle, i.e., the first rotation positioning angle is α. .

[0047] During the movement of the four-bar linkage, the first rocker arm moves in a circle with the fixed connection point A as the center. Therefore, the movement trajectory of the moving connection point is a circular trajectory. The specific coordinates of point C1 can be determined by the first rotation positioning angle, the fixed coordinates of the fixed connection point A, and the length r1 of the first rocker arm.

[0048] Furthermore, step S13 may include the following steps: Step S131: Determine the first circle with the fixed coordinates corresponding to the first joystick as the center and the length of the first joystick as the radius.

[0049] Specifically, such as Figure 4 As shown, the parametric equation of the first circle with fixed connection point A as the center and the length r1 of the first rocker arm as the radius is shown in the following formula (3): In the formula, Let be the central angle between each point on the first circle and the x-axis direction.

[0050] Step S133: Determine the first dynamic coordinates of the active connection point corresponding to the first rocker arm based on the parametric equations of the first rotation positioning angle and the first circle.

[0051] Specifically, by substituting the first rotational positioning angle mentioned above into formula (3), the first dynamic coordinate can be determined by the following formula (4): In the formula, ( , ) is the first dynamic coordinate corresponding to the current rotation posture of the active connection point of the first joystick.

[0052] Therefore, the embodiments of this application construct a first circle with the fixed coordinates of the first rocker as the center and the length of the rocker as the radius. Then, the parametric equation of the first circle is used to characterize the motion trajectory of the corresponding active connection point of the first rocker. Thus, without relying on simulation measurement, the first dynamic coordinate that satisfies the geometric constraints can be quickly determined by combining the first rotation positioning angle, which is beneficial to improving the analysis efficiency of dynamic coordinates.

[0053] Step S15: Determine the second dynamic coordinates of the second rocker at the corresponding active connection point of the second rocker based on the first dynamic coordinates, the length of the movable rod, the fixed coordinates corresponding to the second rocker, and the length of the second rocker.

[0054] Furthermore, step S15 may include the following steps: Step S151: Determine a second circle with the first dynamic coordinate as the center and the length of the movable rod as the radius, and determine a third circle with the fixed coordinate corresponding to the second rocker as the center and the length of the second rocker as the radius. Determine the second rotation positioning angle of the second rocker in the rotation posture according to the standard equation of the second circle and the parametric equation of the third circle.

[0055] Specifically, the standard equation of the second circle with point C1 as the center and the length r3 of the movable rod as the radius is shown in the following formula (5): The parametric equation of the third circle with fixed connection point B as the center and the length r2 of the second rocker as the radius is shown in the following formula (6): In the formula, Let be the central angle between each point on the third circle and the x-axis direction.

[0056] Let the second rotation positioning angle between the second rocker and the x-axis be β. Then, substituting this second rotation positioning angle β into formula (6) and then into formula (5), we get the following formula (7): Expanding formula (7) and combining like terms, we get the following formula (8): make , , Then, the above formula (8) can be expressed as the following formula (9): The embodiments of this application are constructed based on variables s, r, and t, as follows: Figure 5 The right triangle shown has one leg of length . The length of the other right-angled side is The degree of the hypotenuse is And the angle between the other right-angled side and the hypotenuse is .

[0057] The above formula (9) can be expressed as the following formula (10): Based on the principle of right triangles, we know that , , Substituting this into formula (10), we obtain the following formula (11): This leads to the following formula (12): Then the solution is obtained As shown in the following formula (13): From the formula Able to obtain Of the two solutions, based on the motion characteristics of the four-bar linkage, the embodiment of this application selects the solution with the larger value as the solution. The final solution result is the second rotation positioning angle of the second joystick in the current rotation posture.

[0058] Step S153: Determine the second dynamic coordinates of the active connection point corresponding to the second rocker arm based on the parametric equations of the second rotation positioning angle and the third circle.

[0059] Specifically, the second rotational positioning angle obtained in the above steps Substituting into formula (6), we obtain the following formula (14): In the formula, ( , ) is the second dynamic coordinate corresponding to the current rotation posture of the active connection point of the second joystick.

[0060] Therefore, this application constructs a second circle with the first dynamic coordinate as the center and the length of the movable rod as the radius, and constructs a third circle with the fixed coordinate corresponding to the second rocker as the center and the length of the second rocker as the radius. In this way, the second circle and the third circle are used to represent the motion trajectory of the movable connection point corresponding to the second rocker, and then the second dynamic coordinate that satisfies the geometric constraints is determined according to the intersection of the second circle and the third circle, which is beneficial to improving the analysis efficiency of dynamic coordinates.

[0061] Therefore, this application embodiment analyzes the motion trajectory of the corresponding active connection points of the first and second rockers based on initial and fixed coordinates, thereby obtaining the dynamic coordinates of the active connection points as the four-bar linkage rotates, thus providing an accurate basis for subsequently determining key geometric parameters such as the axis coordinates of the four-bar linkage and the rotation angle of the active rod.

[0062] Figures 6 to 8 A flowchart illustrating step S3 of the present application is shown below. Figure 6 As shown, step S3 may include the following steps: Step S311: Determine the first linear equation of the first joystick based on the fixed coordinates and the first dynamic coordinates corresponding to the first joystick.

[0063] Specifically, in this embodiment, the position of the first rocker arm in the current rotational posture of the four-bar linkage is characterized by a first linear equation, which is shown in the following formula (15): In the formula, (x,z) represents the coordinates of the point in the extension direction of the first rocker arm under the current rotational attitude of the four-bar linkage.

[0064] Step S313: Determine the second straight line equation of the second joystick based on the fixed coordinates and the second dynamic coordinates corresponding to the second joystick.

[0065] Specifically, in this embodiment, the position of the second rocker arm in the current rotational posture of the four-bar linkage is characterized by a second linear equation, which is shown in the following formula (16): In the formula, (x,z) represents the coordinates of the point in the extension direction of the second rocker arm under the current rotational attitude of the four-bar linkage.

[0066] Step S315: Determine the intersection point of the extension directions of the first rocker arm and the second rocker arm according to the first straight line equation and the second straight line equation, and determine the axis coordinates according to the intersection point of the extension directions.

[0067] Specifically, the axis of the four-bar linkage is the intersection of the extension directions of the first rocker and the second rocker. Therefore, in this embodiment, the coordinates of the axis are determined by solving the intersection of the first and second line equations.

[0068] First, express formula (15) as follows: Equation (16) can be expressed as follows: Solve the equations (17) and (18) simultaneously, and let... , , , , , Thus, the intersection of the extension directions of the first and second joysticks is obtained as shown in the following formula (19): In the formula, ( , ) represents the coordinates of the aforementioned axis.

[0069] Therefore, it can be seen that after determining the dynamic coordinates of the active connection point, the embodiments of this application can accurately characterize the positions of the two joysticks in the corresponding rotational postures of the four-bar linkage using the dynamic and fixed coordinates, thereby realizing the rapid solution of the axis coordinates and achieving rapid and accurate analysis of the axis trajectory of the four-bar linkage, providing an accurate geometric parameter basis for subsequent operation force analysis.

[0070] like Figure 7 As shown, step S3 above may further include the following steps: Step S321: Determine the initial positioning angle of the movable rod corresponding to the initial posture based on the initial coordinates.

[0071] Specifically, in this embodiment of the application, the initial coordinates (x, y, y) of the active connection point of the first and second joysticks are used. C ,z C ) and (x D ,z D Determine the position of the movable link in the initial attitude of the four-bar linkage, and then calculate the slope of the extension direction of the movable link corresponding to the initial attitude according to the following formula (20). : Therefore, the initial positioning angle of the movable rod is obtained as follows: It should be noted that, Corresponding to the two solution results, in this embodiment of the application, the initial positioning angle of the movable rod is determined based on the solution result greater than 90°.

[0072] Step S323: Determine the rotation positioning angle of the movable rod corresponding to the rotation posture based on the first dynamic coordinate and the second dynamic coordinate.

[0073] Specifically, in this embodiment of the application, the dynamic coordinates (x, y, z) of the active connection point of the first and second joysticks are used. C1 ,z C1 ) and (x D1 ,z D1 Determine the position of the movable link in the current rotational posture of the four-bar linkage, and then calculate the slope of the extension direction of the movable link corresponding to the initial posture according to the following formula (21). : Therefore, the rotation positioning angle of the movable rod is obtained as follows: It should be noted that, Corresponding to the two solution results, in this embodiment of the application, the rotation positioning angle of the movable rod is determined based on the solution result greater than 90°.

[0074] Step S325: Determine the rotation angle based on the difference between the rotation positioning angle and the initial positioning angle of the movable rod.

[0075] Specifically, it is determined according to the following formula (22). Figure 4 The rotation angle θ of the movable lever before and after its movement is shown in the figure: Understandably, because the movable lever drives the rotation of the vehicle body opening and closing parts, the rotation angle... This can be used to characterize the opening and closing degree of the vehicle body's opening and closing components. .

[0076] Therefore, it can be seen that after determining the dynamic coordinates of the active connection point, the embodiments of this application can accurately characterize the position of the active rod in the initial and rotational postures of the four-bar linkage using the dynamic and initial coordinates, thereby realizing the rapid solution of the rotation angle of the active rod. This enables the rapid determination of the mapping relationship between the rotation angle of the rocker arm and the rotation angle of the active rod, providing an accurate geometric parameter basis for the subsequent determination of key point coordinates such as the coordinates of the gas spring active point, the coordinates of the operating point of the vehicle body opening and closing parts, and the coordinates of the center of gravity.

[0077] like Figure 8 As shown, step S3 above may further include the following steps: Step S331: Determine the first relative distance between the gas spring and the first dynamic coordinate, and determine the fourth circle with the first dynamic coordinate as the center and the first relative distance as the radius, and determine the coordinates of the gas spring's moving point based on the rotation angle and the parametric equation of the fourth circle.

[0078] Specifically, as the vehicle body opening and closing parts rotate, the movable point of the gas spring moves in a circle with the axis as the center and the distance between the movable point of the gas spring and the axis as the radius. Therefore, the fourth circle represents the trajectory of the movable point of the gas spring, and the opening degree of the vehicle body opening and closing parts is determined according to the following formula (23). Corresponding coordinates of the gas spring's movable point: In the formula, Let these be the coordinates of the moving point of the gas spring. The first relative distance represents the straight-line distance between the coordinates of the gas spring's moving point and the first dynamic coordinate. Let be the angle between the direction of the straight line extending from the moving point of the gas spring and the moving connection point C in the initial posture of the four-bar linkage and the x-axis direction.

[0079] Step S333: Determine the second relative distance between the operating point of the vehicle body opening and closing component and the first dynamic coordinate, and determine the fifth circle with the first dynamic coordinate as the center and the second relative distance as the radius, so as to determine the coordinates of the operating point based on the rotation angle and the parametric equation of the fifth circle.

[0080] Specifically, similar to the motion logic of the gas spring's movable point, as the vehicle body opening and closing parts rotate, the operating point moves in a circle with the axis as the center and the distance between the operating point and the axis as the radius. Therefore, the fifth circle represents the motion trajectory of the operating point, and the opening degree of the vehicle body opening and closing parts is determined according to the following formula (24). Corresponding operation point coordinates: In the formula, For the coordinates of the operation point, The second relative distance represents the straight-line distance between the coordinates of the operating point and the first dynamic coordinate. Let be the angle between the direction of the straight line extending from the operating point and the active connection point C in the initial posture of the four-bar linkage and the x-axis direction.

[0081] It should be noted that in some embodiments of this application, the operation points include the opening and closing points of the user's interaction with the vehicle body opening and closing mechanism. This application uses the example of the opening and closing points sharing the same coordinate position, but the opening and closing points can also correspond to different coordinate positions. For example, the coordinates of the opening point might be... The coordinates of the closed point are The above examples are not intended to limit this application.

[0082] Step S335: Determine the third relative distance between the center of gravity of the vehicle body opening and closing component and the first dynamic coordinate, and determine the sixth circle with the first dynamic coordinate as the center and the third relative distance as the radius, so as to determine the coordinate of the center of gravity based on the rotation angle and the parametric equation of the sixth circle.

[0083] Specifically, similar to the motion logic of the gas spring's moving point, as the vehicle body opening and closing parts rotate, the center of gravity of the vehicle body opening and closing parts moves in a circle with the axis as the center and the distance between the center of gravity and the axis as the radius. Therefore, the sixth circle represents the motion trajectory of the operating point, and then the opening degree of the vehicle body opening and closing parts is determined according to the following formula (25). Corresponding centroid coordinates: In the formula, Using the coordinates of the centroid, The third relative distance represents the straight-line distance between the centroid coordinates and the first dynamic coordinates. Let be the angle between the direction of the straight line extending from the center of gravity and the moving connection point C in the initial posture of the four-bar linkage and the x-axis direction.

[0084] Therefore, the embodiments of this application utilize the constructed fourth, fifth, and sixth circles to accurately characterize the motion trajectory of the gas spring's moving point, operating point, and the center of gravity of the vehicle body opening and closing component as the moving rod rotates. Furthermore, by combining the rotation angle of the moving rod with the corresponding motion trajectory, the coordinates of the gas spring's moving point, operating point, and center of gravity are obtained, which is beneficial for the rapid and accurate analysis of the operating force of the vehicle body opening and closing component.

[0085] Figure 9 A flowchart illustrating step S5 of this application embodiment is shown below. Figure 9 As shown, step S5 may include the following steps: Step S51: Determine the coordinates of the gas spring mounting point, and determine the gas spring lever arm and gas spring force value based on the coordinates of the gas spring moving point, the gas spring mounting point, and the axis coordinates.

[0086] Specifically, Figure 10 A schematic diagram showing the lever arm relationship between the gas spring and the shaft is shown, as follows: Figure 10 As shown in the embodiment of this application, the initial length of the gas spring is determined according to the following formula (26). : Then, determine the distance from the gas spring mounting point to the shaft center according to the following formula (27). : The distance from the moving point of the gas spring to the axis is determined according to the following formula (28). : Therefore, according to Heron's formula, let , Finally, the gas spring lever arm is obtained. As shown in the following formula (29): In the above formula, Here are the coordinates of the gas spring mounting point. Let these be the coordinates of the moving point of the gas spring. These are the coordinates of the axis.

[0087] The process of determining the gas spring force value in the embodiments of this application is described in detail below: First, the force of the gas spring is related to its extended or compressed length. When the gas spring is in its maximum open state, the coordinates of the moving point of the gas spring are: The extension length of the gas spring is determined according to the following formula (30). : Therefore, the gas spring travel S from the initial state to the maximum opening state is... - The gas spring stroke S represents the axial displacement of the gas strut assembly from its fully extended state to its minimum compressed size.

[0088] Then, the force changes during the extension process of the gas spring from the initial state to the maximum opening state and the compression process from the maximum opening state to the initial state were calibrated and measured. Figure 11 A schematic diagram of the calibration measurement of a gas spring is shown, as follows: Figure 11 As shown, during the extension process, the position of the gas spring's movable point in the initial state is the starting point of the working stroke, and the position of the gas spring's movable point in the maximum opening state is the ending point of the working stroke. During the compression process, the position of the gas spring's movable point in the maximum opening state is the starting point of the working stroke, and the position of the gas spring's movable point in the initial state is the ending point of the working stroke, thus obtaining the following gas spring calibration force values: (1) Minimum extension force F1: The spring force measured at a distance H from the starting point of the working stroke during the extension process; (2) Maximum extension force F2: The spring force measured at a distance H at the end of the working stroke during the extension process; (3) Minimum compressive force F3: The spring force measured at a distance H from the start of the working stroke during the compression process; (4) Maximum compressive force F4: The spring force measured at a distance H from the end of the working stroke during the compression process.

[0089] In some embodiments of this application, if the value of S is less than or equal to 80 mm, then the value of H is 5 mm; if the value of S is greater than 80 mm, then the value of H is 10 mm.

[0090] The relationship between the rated force values ​​of the gas spring is shown in the following formula (31): In the formula, The spring force coefficient of the gas spring. This refers to the internal friction force of the gas spring.

[0091] Understandably, during the opening and closing process of the vehicle body's opening and closing components, that is, under any rotational posture of the four-link linkage, the coordinates of the corresponding gas spring's moving point... gas spring elongation As shown in the following formula (32): Furthermore, the gas spring force is also related to the ambient temperature. In this embodiment, the minimum extension force F1 is set as the gas spring force calibration result when the ambient temperature of the gas spring is 20°C. Then, according to the following formula (33), the minimum extension force F1 is updated to the gas spring force F at the actual ambient temperature. t : In the formula, This represents the actual ambient temperature.

[0092] Furthermore As updated Substituting into formula (31), and then based on the calculated... and Determine the gas spring force value under any rotational posture of the four-bar linkage. Specifically, during the opening and closing of the vehicle body, the gas spring force value under any rotational posture of the four-link linkage... As shown in the following formula (34): During the closing process of the vehicle body opening and closing mechanism, the gas spring force value under any rotational posture of the four-link linkage As shown in the following formula (35): .

[0093] Step S53: Determine the gravity lever arm of the vehicle body opening and closing component based on the center of gravity coordinates and axis coordinates.

[0094] Specifically, Figure 12 A schematic diagram showing the lever arm relationship between the center of gravity and the axis is shown, as follows: Figure 12 As shown, the gravitational lever arm is determined according to the following formula (36). : .

[0095] Step S55: Determine the lever arm of the operating force based on the coordinates of the operating point and the axis coordinates; Specifically, Figure 13 A schematic diagram showing the lever arm relationship between the operating point and the axis is shown, as follows: Figure 13 As shown, the operating force lever arm is determined according to the following formula (37). : .

[0096] Step S57: Obtain the gravity of the vehicle body opening and closing parts, and determine the operating force based on the gravity, gravity lever arm, gas spring force value, gas spring lever arm, and operating force lever arm.

[0097] Specifically, based on the principle of torque balance, this application determines the corresponding operating force during the opening process of the vehicle body opening and closing components. Calculate according to the following formula (38): During the closing process of the vehicle body opening and closing parts, the corresponding operating force Calculate according to the following formula (39): In the formula, This refers to the weight of the vehicle body opening and closing components. It should be noted that in this embodiment, the opening and closing points are considered the same; therefore, the operating force lever arm for the closing process of the vehicle body opening and closing components is... = .

[0098] Step S59: If the operating force does not meet the preset conditions, adjust the gas spring or adjust the fixed connection point and movable connection point of the four-bar linkage.

[0099] Specifically, in terms of operational force or When the force exceeds the preset range, the coordinates of the gas spring mounting point should be selected first. and activity point coordinates Next, select and adjust the force value F1 of the gas spring, and finally consider adjusting the coordinates of the fixed connection point and the movable connection point of the four-bar linkage.

[0100] Therefore, the embodiments of this application simplify the known input quantities of the operating force required to analyze the vehicle body opening and closing components. Only the coordinates of the four connection points of the four-bar linkage, the coordinates of the gas spring mounting point and the movable point, the center of gravity and the center of gravity of the vehicle body opening and closing components, and the coordinates of the operating point need to be input. The new coordinates of the four connection points and the axis of the four-bar linkage, the new coordinates of the center of gravity, the new coordinates of the operating point, and the coordinates of the movable point of the gas spring can be solved using spatial coordinates under different opening angles. This overcomes the problem that the motion trajectory of the axis of the four-bar linkage, the movable point of the gas spring, and the center of gravity of the vehicle body opening and closing components are non-circular and difficult to solve due to the change of the opening and closing of the vehicle body opening and closing components. It does not require complex simulation measurement and debugging, thus significantly improving the arrangement efficiency of the four-bar linkage and the gas spring.

[0101] Accordingly, please refer to Figure 14 This application provides an optimized arrangement device for a four-bar linkage and a gas spring, the device comprising: The rotation analysis module 100 is used to obtain the fixed coordinates of each fixed connection point and the initial coordinates of each moving connection point, so as to determine the dynamic coordinates of the moving connection points in different rotational postures of the four-bar linkage based on the initial coordinates and fixed coordinates. For details, please refer to step S1. The coordinate determination module 200 is used to determine the axis coordinates of the four-bar linkage based on the dynamic coordinates and the fixed coordinates, and to determine the rotation angle of the movable rod based on the dynamic coordinates and the initial coordinates. Based on the rotation angle, the coordinates of the gas spring movable point, the coordinates of the operating point of the vehicle body opening and closing parts and the center of gravity are determined under different rotation postures. For details, please refer to step S3. The layout optimization module 300 is used to determine the operating force of the vehicle body opening and closing parts based on the axis coordinates, gas spring moving point coordinates, operating point coordinates and center of gravity coordinates, so as to optimize the layout of the four-link and gas spring according to the operating force. For details, please refer to step S5.

[0102] 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.

[0103] In this embodiment, the layout optimization 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.

[0104] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 15 As 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 15Take a processor 10 as an example.

[0105] 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 (GDA), or any combination thereof.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 limitations, 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.

[0115] 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.

[0116] 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.

[0117] 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 method for optimizing the arrangement of a four-bar linkage and a gas spring, characterized in that, The four-bar linkage includes two rocker arms, a movable rod, and a fixed rod. Each rocker arm has a fixed connection point and a movable connection point. The fixed rod is located between the fixed connection points, and the movable rod is located between the movable connection points. The movable rod is used to drive the vehicle body opening and closing components to move. The method includes: Obtain the fixed coordinates of each of the fixed connection points and the initial coordinates of each of the movable connection points, so as to determine the dynamic coordinates of the movable connection points corresponding to different rotational postures of the four-bar linkage based on the initial coordinates and the fixed coordinates; The axis coordinates of the four-bar linkage are determined based on the dynamic coordinates and the fixed coordinates, and the rotation angle of the movable rod is determined based on the dynamic coordinates and the initial coordinates. The coordinates of the gas spring movable point, the operating point coordinates of the vehicle body opening and closing component, and the center of gravity coordinates are determined based on the rotation angle. The operating force of the vehicle body opening and closing component is determined based on the axis coordinates, the gas spring movable point coordinates, the operating point coordinates, and the center of gravity coordinates, so as to optimize the arrangement of the four-link and the gas spring according to the operating force.

2. The method according to claim 1, characterized in that, The two joysticks include a first joystick and a second joystick. Determining the dynamic coordinates of the active connection point corresponding to different rotational postures of the four-bar linkage based on the initial coordinates and the fixed coordinates includes: The initial slope of the first joystick corresponding to the initial posture is determined based on the initial coordinates and the fixed coordinates, and the first initial positioning angle of the first joystick is determined based on the initial slope. The first rotation positioning angle of the first joystick in the rotation posture is determined based on the first initial positioning angle, and the first dynamic coordinate of the first joystick corresponding to the active connection point is determined based on the first rotation positioning angle, the fixed coordinate of the first joystick, and the length of the first joystick. The second dynamic coordinates of the second rocker at the active connection point corresponding to the second rocker are determined based on the first dynamic coordinates, the length of the movable rod, the fixed coordinates corresponding to the second rocker, and the length of the second rocker.

3. The method according to claim 2, characterized in that, The step of determining the first dynamic coordinates of the active connection point corresponding to the first rocker arm based on the first rotation positioning angle, the fixed coordinates corresponding to the first rocker arm, and the length of the first rocker arm includes: Determine a first circle with the fixed coordinates corresponding to the first joystick as its center and the length of the first joystick as its radius; The first dynamic coordinates of the first rocker corresponding to the active connection point are determined based on the first rotation positioning angle and the parametric equation of the first circle.

4. The method according to claim 2, characterized in that, The step of determining the second dynamic coordinates of the second rocker at the active connection point corresponding to the second rocker based on the first dynamic coordinates, the length of the movable rod, the fixed coordinates corresponding to the second rocker, and the length of the second rocker includes: A second circle is determined with the first dynamic coordinate as the center and the length of the movable rod as the radius, and a third circle is determined with the fixed coordinate corresponding to the second rocker as the center and the length of the second rocker as the radius. The second rotation positioning angle of the second rocker in the rotation posture is determined according to the standard equation of the second circle and the parametric equation of the third circle. The second dynamic coordinates of the second rocker corresponding to the active connection point are determined based on the second rotation positioning angle and the parametric equation of the third circle.

5. The method according to any one of claims 2 to 4, characterized in that, Determining the axis coordinates of the four-bar linkage based on the dynamic coordinates and the fixed coordinates includes: The first linear equation of the first joystick is determined based on the fixed coordinates and the first dynamic coordinates corresponding to the first joystick. The second linear equation of the second joystick is determined based on the fixed coordinates and the second dynamic coordinates corresponding to the second joystick. The intersection point of the extension directions of the first joystick and the second joystick is determined based on the first linear equation and the second linear equation, and the axis coordinates are determined based on the intersection point of the extension directions.

6. The method according to any one of claims 2 to 4, characterized in that, Determining the rotation angle of the movable rod based on the dynamic coordinates and the initial coordinates includes: Determine the initial positioning angle of the movable rod corresponding to the initial posture based on the initial coordinates; The rotation positioning angle of the movable rod corresponding to the rotation posture is determined based on the first dynamic coordinate and the second dynamic coordinate; The rotation angle is determined based on the difference between the rotation positioning angle of the movable rod and the initial positioning angle of the movable rod.

7. The method according to claim 2, characterized in that, The step of determining the coordinates of the gas spring's movable point, the coordinates of the operating point of the vehicle body opening / closing component, and the coordinates of the center of gravity under different rotational postures based on the rotation angle includes: Determine the first relative distance between the gas spring and the first dynamic coordinate, and determine a fourth circle with the first dynamic coordinate as the center and the first relative distance as the radius, so as to determine the coordinates of the gas spring's moving point based on the rotation angle and the parametric equation of the fourth circle; The second relative distance between the operating point of the vehicle body opening and closing component and the first dynamic coordinate is determined, and a fifth circle with the first dynamic coordinate as the center and the second relative distance as the radius is determined, so as to determine the coordinates of the operating point based on the rotation angle and the parametric equation of the fifth circle; The third relative distance between the center of gravity of the vehicle body opening / closing component and the first dynamic coordinate is determined, and a sixth circle with the first dynamic coordinate as the center and the third relative distance as the radius is determined, so as to determine the center of gravity coordinates according to the rotation angle and the parametric equation of the sixth circle.

8. The method according to claim 1, characterized in that, The step of determining the operating force of the vehicle body opening and closing component based on the axis coordinates, the gas spring movable point coordinates, the operating point coordinates, and the center of gravity coordinates includes: Determine the coordinates of the gas spring mounting point, and determine the gas spring lever arm and gas spring force value based on the coordinates of the gas spring movable point, the coordinates of the gas spring mounting point, and the coordinates of the axis. The gas spring force value is determined according to the preset mapping relationship between the gas spring coordinates and the gas spring force value; The gravity lever arm of the vehicle body opening and closing component is determined based on the center of gravity coordinates and the axis coordinates. The operating force lever arm is determined based on the coordinates of the operating point and the coordinates of the axis. The gravity of the vehicle body opening and closing component is obtained, and the operating force is determined based on the gravity, the gravity lever arm, the gas spring force value, the gas spring lever arm, and the operating force lever arm.

9. The method according to claim 1, characterized in that, The optimization of the arrangement of the four-bar linkage and the gas spring based on the operating force includes: If the operating force does not meet the preset conditions, the gas spring is adjusted; or If the operating force does not meet the preset conditions, the fixed connection point and the movable connection point are adjusted.

10. An optimized arrangement device for a four-bar linkage and a gas spring, characterized in that, The four-bar linkage includes two rocker arms, a movable rod, and a fixed rod. Each rocker arm has a fixed connection point and a movable connection point. The fixed rod is located between the fixed connection points, and the movable rod is located between the movable connection points. The movable rod is used to drive the opening and closing of the vehicle body opening and closing mechanism. The device includes: The rotation analysis module is used to obtain the fixed coordinates of each of the fixed connection points and the initial coordinates of each of the movable connection points, so as to determine the dynamic coordinates of the movable connection points corresponding to different rotation postures of the four-bar linkage based on the initial coordinates and the fixed coordinates. The coordinate determination module is used to determine the axis coordinates of the four-bar linkage based on the dynamic coordinates and the fixed coordinates, and to determine the rotation angle of the movable rod based on the dynamic coordinates and the initial coordinates, so as to determine the coordinates of the gas spring movable point, the coordinates of the operating point of the vehicle body opening and closing component, and the coordinates of the center of gravity under different rotation postures based on the rotation angle. The layout optimization module is used to determine the operating force of the vehicle body opening and closing component based on the axis coordinates, the gas spring moving point coordinates, the operating point coordinates, and the center of gravity coordinates, so as to optimize the layout of the four-link and the gas spring based on the operating force.

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