Method for optimizing hinge point of fly boom oil cylinder and fly boom and related device

Abstract

The invention provides a method for optimizing a hinge point of a fly jib oil cylinder and a fly jib and a related device, and relates to the technical field of high-altitude operation equipment. The method comprises the following steps: acquiring a target function constructed based on the stress of a fly boom oil cylinder in the aerial work platform, preset optimization parameters and a fly boom angle; the preset optimization parameters comprise position parameters of a hinge point of the fly boom oil cylinder and the fly boom; the preset optimization parameter corresponds to a plurality of groups of candidate parameter values; according to the multiple sets of candidate parameter values and the fly boom angle range corresponding to the fly boom angle, the target function is solved, the target candidate parameter value enabling the maximum stress of the fly boom oil cylinder to be minimized is determined, and then the optimal hinge point position of the fly boom oil cylinder and the fly boom is obtained. Due to the fact that the objective function takes minimization of the maximum stress of the fly jib oil cylinder in the fly jib angle changing process as an optimization objective and is solved based on the candidate parameter values, the maximum stress of the fly jib oil cylinder can be reduced by optimizing the position parameters of the hinge points, and therefore the effects of reducing cost and reducing weight are achieved.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, and more specifically, to a method and related apparatus for optimizing the hinge point between the boom cylinder and the boom. Background Technology

[0002] In self-propelled aerial work platforms, the boom is a key component connecting the telescopic boom and the work platform. Through the coordinated action of the parallelogram mechanism, boom cylinder and swing cylinder, the angle adjustment of the work platform in the luffing plane and the swing function of 180° in the horizontal plane are realized.

[0003] In the specific implementation of the boom, the boom cylinder is a core power component. The position of the hinge point between the boom cylinder and the boom has a significant impact on the force on the boom cylinder, which in turn affects the selection of the hydraulic system, the overall weight distribution of the machine, and the energy efficiency ratio of the equipment. If the cylinder is subjected to excessive force, a larger diameter cylinder must be selected, leading to increased costs, a bulkier structure, and potentially affecting the mobility and safety of the entire vehicle.

[0004] In the existing technology, the hinge point position of the boom cylinder is mostly designed based on experience or preliminarily checked based on static working conditions. Although this method can ensure the realization of basic functions, it is difficult to fully consider the force characteristics under various working conditions. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method and related device for optimizing the hinge point of the boom cylinder and the boom, which can determine the optimal hinge point position of the boom cylinder and the boom, reduce the maximum force on the boom cylinder, and thus achieve the effects of cost reduction and weight reduction.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, the present invention provides a method for optimizing the hinge point between a boom cylinder and a boom, the method comprising: Obtain an objective function based on the forces acting on the boom cylinder in the aerial work platform, preset optimization parameters, and boom angle; the preset optimization parameters include the hinge point position parameters between the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values; The objective function is solved based on the multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and the target candidate parameter values ​​that minimize the maximum force on the boom cylinder are determined. The optimal hinge point position between the boom cylinder and the boom is obtained based on the target candidate parameter values.

[0007] In an optional implementation, the step of solving the objective function based on multiple sets of candidate parameter values ​​and the range of boom angles corresponding to the boom angle, and determining the target candidate parameter values ​​that minimize the maximum force on the boom cylinder, includes: For each set of candidate parameter values, the maximum force on the boom cylinder is determined as the boom angle changes within the range of the boom angle. From the maximum force of the boom cylinder corresponding to all candidate parameter values, determine the candidate parameter value corresponding to the minimum value of the maximum force of the boom cylinder. The candidate parameter value corresponding to the minimum maximum force on the boom cylinder is determined as the target candidate parameter value.

[0008] In an optional embodiment, the aerial work platform further includes a connecting frame, a connecting rod, a swing cylinder, and a working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, the connecting frame, and the boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. The expression for the objective function is as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the connecting rod and the horizontal direction, and the angle between the connecting rod and the horizontal direction is equal to the angle of the flying arm. The vertical component of the force at point b is represented; G represents the gravity of the work platform. The preset manual force is represented by d, the loading point of the preset manual force is represented by d, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This indicates the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are 0 and 0 respectively. L represents the length of the flying arm. This represents the weight of the flying arm. This indicates the force applied to the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0009] In an optional implementation, the multiple sets of candidate parameter values ​​are determined according to r, The corresponding value range is determined.

[0010] In an optional implementation, the aerial work platform further includes a connecting frame, a connecting rod, a swing cylinder, and a working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, the connecting frame, and the boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. The preset optimization parameters also include the angle between the line connecting a and b and the vertical direction, and the distance between points a and b. The expression of the objective function is as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the angle between the line connecting ab and the vertical direction; This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the connecting rod and the horizontal direction, and the angle between the connecting rod and the horizontal direction is equal to the angle of the flying arm. The vertical component of the force at point b is represented; G represents the gravity of the work platform. The preset manual force is represented by d, the loading point of the preset manual force is represented by d, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This indicates the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are respectively , L represents the length of the flying arm. This represents the weight of the flying arm. This indicates the force applied to the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0011] In an optional implementation, the multiple sets of candidate parameter values ​​are determined according to r, , , The corresponding value range is determined.

[0012] Secondly, the present invention provides a device for optimizing the hinge point between a boom cylinder and a boom, the device comprising: The objective function acquisition module is used to acquire an objective function based on the force on the boom cylinder, preset optimization parameters, and boom angle in the aerial work platform. The preset optimization parameters include the hinge point position parameters between the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction. The preset optimization parameters correspond to multiple sets of candidate parameter values. The objective function solving module is used to solve the objective function based on multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and to determine the target candidate parameter values ​​that minimize the maximum force on the boom cylinder. The optimal hinge point determination module is used to determine the optimal hinge point position between the boom cylinder and the boom based on the target candidate parameter values.

[0013] Thirdly, the present invention provides an aerial work platform, wherein the optimal hinge point position of the boom cylinder and the boom in the aerial work platform is determined by the hinge point optimization method of boom cylinder and boom described in any of the foregoing embodiments.

[0014] Fourthly, the present invention provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for optimizing the hinge point of the boom cylinder and the boom as described in any of the foregoing embodiments.

[0015] Fifthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for optimizing the hinge point of the boom cylinder and the boom as described in any of the foregoing embodiments.

[0016] The present invention provides a method and related apparatus for optimizing the hinge point of the boom cylinder and boom in an aerial work platform. The method includes: obtaining an objective function based on the force on the boom cylinder, preset optimization parameters, and boom angle in the aerial work platform; the preset optimization parameters include the hinge point position parameters of the boom cylinder and boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values; the objective function is solved based on the multiple sets of candidate parameter values ​​and the boom angle range corresponding to the boom angle, determining the target candidate parameter values ​​that minimize the maximum force on the boom cylinder; and the optimal hinge point position of the boom cylinder and boom is obtained based on the target candidate parameter values. Since the objective function aims to minimize the maximum force on the boom cylinder during boom angle changes and is solved based on candidate parameter values, the maximum force on the boom cylinder can be reduced by optimizing the hinge point position parameters. This allows for the selection of smaller, lighter, and lower-cost boom cylinders while meeting structural performance requirements, thereby achieving cost reduction and weight reduction.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This paper illustrates a flowchart of a method for optimizing the hinge point between the boom cylinder and the boom according to an embodiment of the present invention. Figure 2 This diagram illustrates a structural schematic of an aerial work platform provided in an embodiment of the present invention. Figure 3This diagram illustrates another structural schematic of the aerial work platform provided in an embodiment of the present invention; Figure 4 This diagram illustrates a functional block diagram of the hinge point optimization device for the boom cylinder and boom provided in an embodiment of the present invention. Figure 5 A block diagram of an electronic device provided in an embodiment of the present invention is shown.

[0020] Icons: 100 - Electronic device; 110 - Memory; 120 - Processor; 130 - Communication module; 600 - Optimization device for the hinge point of the boom cylinder and boom; 610 - Objective function acquisition module; 620 - Objective function solution module; 630 - Optimal hinge point determination module. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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.

[0024] To address the problem that existing technologies often rely on experience or preliminary verification based on static conditions to determine the hinge point position of boom cylinders, making it difficult to comprehensively consider the force characteristics under various working conditions, this invention provides a method and related apparatus for optimizing the hinge point between the boom cylinder and the boom. The method includes: obtaining an objective function constructed based on the forces acting on the boom cylinder in the aerial work platform, preset optimization parameters, and the boom angle; the preset optimization parameters include the hinge point position parameters between the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values; the objective function is solved based on the multiple sets of candidate parameter values ​​and the boom angle range corresponding to the boom angle to determine the target candidate parameter value that minimizes the maximum force on the boom cylinder; and the optimal hinge point position between the boom cylinder and the boom is obtained based on the target candidate parameter value. Since the objective function is to minimize the maximum force on the boom cylinder during the boom angle change process, and is solved based on the candidate parameter values, the maximum force on the boom cylinder can be reduced by optimizing the hinge point position parameters. Thus, under the premise of meeting the structural performance requirements, a smaller, lighter, and lower-cost boom cylinder can be selected, thereby achieving the effects of cost reduction and weight reduction.

[0025] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0026] Please refer to Figure 1 This is a flowchart illustrating a method for optimizing the hinge point between the boom cylinder and the boom according to an embodiment of the present invention. It should be noted that the method for optimizing the hinge point between the boom cylinder and the boom of the present invention does not rely on... Figure 1 The specific order described below is a limitation. It should be understood that in other embodiments, the order of some steps in the method for optimizing the hinge point of the boom cylinder and boom of the present invention can be interchanged according to actual needs, or some steps can be omitted or deleted. The following will describe... Figure 1 The specific process shown will be explained in detail.

[0027] Step S101: Obtain the objective function based on the force on the boom cylinder in the aerial work platform, the preset optimization parameters, and the boom angle; the preset optimization parameters include the hinge point position parameters of the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values.

[0028] In this embodiment, the objective function uses preset optimization parameters and the boom angle as independent variables, and the force on the boom cylinder as the dependent variable. The preset optimization parameters include, but are not limited to, the hinge point position parameters between the boom cylinder and the boom. For example, only the hinge point position parameters between the boom cylinder and the boom can be used as preset optimization parameters, or the hinge point position parameters between the boom cylinder and the boom, along with relevant parameters from other hinge points in the aerial work platform, can be used as preset optimization parameters. It is understood that this embodiment does not limit the type or number of parameters involved in the optimization.

[0029] In this embodiment, multiple sets of candidate parameter values ​​can be set for the preset optimization parameters, so as to solve the objective function based on the candidate parameter values. For example, if the preset optimization parameters include the hinge point position parameters of the boom cylinder and the boom, then the hinge point position parameters of the boom cylinder and the boom will correspond to multiple sets of candidate parameter values.

[0030] Step S102: Solve the objective function based on multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and determine the target candidate parameter values ​​that minimize the maximum force on the boom cylinder.

[0031] In this embodiment, the objective function is to minimize the maximum force on the boom cylinder during the boom angle change process. It is solved based on multiple sets of candidate parameter values ​​corresponding to the hinge point position parameters of the boom cylinder and the boom, and finally obtains the target candidate parameter values ​​that minimize the maximum force on the boom cylinder.

[0032] Step S103: The optimal hinge point position between the boom cylinder and the boom is obtained based on the target candidate parameter values.

[0033] In this embodiment, since the target candidate parameter value can minimize the maximum force on the boom cylinder, the determined optimal hinge point position can reduce the maximum force on the boom cylinder. Under the premise of meeting the structural performance requirements, a smaller, lighter, and lower-cost boom cylinder can be selected, thereby achieving the effect of cost reduction and weight reduction.

[0034] As can be seen, the method for optimizing the hinge point of the boom cylinder and boom provided in this embodiment of the invention includes: obtaining an objective function based on the force on the boom cylinder in the aerial work platform, preset optimization parameters, and boom angle; the preset optimization parameters include the hinge point position parameters of the boom cylinder and boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values; the objective function is solved based on the multiple sets of candidate parameter values ​​and the boom angle range corresponding to the boom angle, and the target candidate parameter values ​​that minimize the maximum force on the boom cylinder are determined; the optimal hinge point position of the boom cylinder and boom is obtained based on the target candidate parameter values. Since the objective function aims to minimize the maximum force on the boom cylinder during the boom angle change process and is solved based on the candidate parameter values, the maximum force on the boom cylinder can be reduced by optimizing the hinge point position parameters. Thus, while meeting structural performance requirements, a smaller, lighter, and lower-cost boom cylinder can be selected, thereby achieving cost reduction and weight reduction.

[0035] In one embodiment, step S102 specifically includes: for each set of candidate parameter values, determining the maximum force on the boom cylinder during the process of the boom angle changing within the boom angle range; determining the candidate parameter value corresponding to the minimum maximum force on the boom cylinder from the maximum forces on the boom cylinder corresponding to all candidate parameter values; and determining the candidate parameter value corresponding to the minimum maximum force on the boom cylinder as the target candidate parameter value.

[0036] In this embodiment, for each set of candidate parameter values, the boom angle is varied within its range, ensuring that every value within that range is taken. As the boom angle changes, the force on the boom cylinder also changes, ultimately determining the maximum force on the boom cylinder. In this way, the maximum force on the boom cylinder corresponding to each of all candidate parameter values ​​can be obtained.

[0037] To reduce the maximum force on the boom cylinder, it is necessary to minimize this maximum force. Therefore, from all candidate parameter values, the candidate parameter value corresponding to the minimum maximum force on the boom cylinder is determined, and this candidate parameter value is designated as the target candidate parameter value. In other words, the hinge point position between the boom cylinder and the boom determined based on the target candidate parameter value, compared to the hinge point positions determined based on other candidate parameter values, minimizes the maximum force on the boom cylinder during boom angle changes. Therefore, the hinge point position between the boom cylinder and the boom determined based on the target candidate parameter value is the optimal hinge point position.

[0038] In one implementation, with Figure 2Taking the aerial work platform shown as an example, the aerial work platform also includes a connecting frame, connecting rod, swing cylinder, and working platform. The swing cylinder is fixedly connected to the working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, connecting frame, and boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; the hinge point between the boom cylinder and the boom is point C; and point D is the loading point of the preset manual force. Point D is located 1.1m above the outermost edge of the working platform. The direction of the preset manual force is perpendicular to the line connecting AD, and the angle between the preset manual force and the horizontal direction is B. The line connecting AD is parallel to the vertical direction. Furthermore, since the connecting frame, connecting rod, swing cylinder, boom, and corresponding hinge points (O, E, B, A) form a parallelogram mechanism, the line connecting E and E is also parallel to the vertical direction, and the length of the line connecting E and E is the same as the length of the line connecting AD.

[0039] based on Figure 2 The aerial work platform shown can have its objective function constructed using the following steps: 1. Assume that the resultant moment of the working platform, swing cylinder, platform load (i.e. the load of the working platform, with a safety factor to be considered) and the preset manual force about point a (the lower hinge point of the flying arm) is M (wind load is not considered). Let be the distance between points a and b. Since the working platform remains horizontal under the action of the leveling cylinder, we can perform a force analysis on the working platform with point a as the axis of rotation, and obtain the following results: ; 2. For the connecting rod, neglecting its weight and treating it as a two-force member, with the angle between the connecting rod and the horizontal direction being A, we can obtain: ; 3. d is the preset manual force loading point, located 1.1m above the outermost edge of the work platform. The direction of the (preset manual force) is perpendicular to the line ad. Let the weight of the work platform be G. Then, for the work platform as a whole, based on the force balance in the x and y directions, we can obtain: , ; 4. Assuming the center of gravity of the boom is at position L / 2, establish a polar coordinate system with point O as the center and the horizontal axis to the right as the polar axis. At any given time, point c can be represented as c(r, A-). For example, when the boom swings to its lower limit, the boom angle A is -65°. Then, at this point, c(r, -65°- In a Cartesian coordinate system, the coordinates of the hinge point c between the boom cylinder and the boom can be expressed as: , ; 5. The angle between the boom cylinder and the horizontal direction can be expressed as: ,in, Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are 0 and 0 respectively. ; 6. Taking the boom arm as the object of study and point O as the axis of rotation, we can obtain: The value of A can be in the range of (-65°, 70°). The range of values ​​for can be ( , ), The value of r can be taken from (0, L) depending on the actual situation.

[0040] Thus, the expression for the objective function can be obtained as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the link and the horizontal direction, and the angle between the link and the horizontal direction is equal to the angle of the flying arm. G represents the vertical component of the force at point b; G represents the weight of the work platform. d represents the preset manual force, d represents the loading point of the preset manual force, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This represents the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are 0 and 0 respectively. L represents the length of the boom arm. This represents the weight of the boom arm. This indicates the force acting on the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0041] It is understandable that when the preset optimization parameters are r, At that time, the values ​​of multiple candidate parameters can be determined according to r, Each value has a defined range, meaning that r takes on every value within the range (0, L). exist( , Take each value within the range, for each group r, By determining the specific values, we can obtain a set of candidate parameter values, and thus obtain multiple sets of candidate parameter values.

[0042] When solving for the objective function, the objective function can be expressed as follows: Since A represents the angle of the boom's change, every value within the boom's angle range needs to be taken. During the change of the boom's angle, the force on the boom cylinder also changes. This solution aims to optimize the calculation of the maximum value of the force F on the boom cylinder during the boom's angle change, and to minimize this maximum value. Therefore, the problem can be expressed as: .

[0043] Furthermore, the problem can be broken down into two parts: for the inner problem, for the fixed... Solve The maximum value, i.e. Regarding the outer layer problem, regarding Solve The minimum value, i.e. .

[0044] In some embodiments, a joint solution method can be used, combining inner and outer layer problems, nested optimization, or mathematical programming tools can be used to solve the minimization and maximization problem. In another embodiment, since the theoretical thrust of the boom cylinders with adjacent cylinder diameters differs significantly, the force on the boom cylinder does not need to be calculated precisely. Therefore, the calculation formula for F can be listed in an Excel spreadsheet, and the boom angle can be calculated by dragging down the formula. Find all the forces acting on the boom cylinder within the range of variation, and calculate the maximum force F. and Changes within the range And r, roughly calculate The values ​​of r and maxF are such that maxF reaches its minimum value.

[0045] In another implementation, with Figure 3 Taking the aerial work platform shown as an example, Figure 3 and Figure 2 The main difference lies in the angle between the line connecting ab and the vertical direction. (Understandable) Figure 2 for Figure 3 middle (When the angle is 0°), the distance between points a and b remains the same. .therefore, Figure 3 The content not shown in the image can be referenced. Figure 2 .

[0046] In this embodiment, the preset optimization parameters are not limited to the hinge point position parameters (r, ...) between the boom cylinder and the boom. It also includes the angle between the line connecting ab and the vertical direction. and the distance between points a and b .

[0047] based on Figure 3 The aerial work platform shown can have its objective function constructed using the following steps: 1. Taking point a as the axis of rotation, a force analysis of the working platform can be performed, and the following results can be obtained: ; 2. For the connecting rod, neglecting its weight and treating it as a two-force member, with the angle between the connecting rod and the horizontal direction being A, we can obtain: ; 3. d is the preset manual force loading point, located 1.1m above the outermost edge of the work platform. The direction of the (preset manual force) is perpendicular to the line ad. Let the weight of the work platform be G. Then, for the work platform as a whole, based on the force balance in the x and y directions, we can obtain: , ; 4. Assuming the center of gravity of the boom is at position L / 2, establish a polar coordinate system with point O as the center and the horizontal axis to the right as the polar axis. At any given time, point c can be represented as c(r, A-). For example, when the boom swings to its lower limit, the boom angle A is -65°. Then, at this point, c(r, -65°- In a Cartesian coordinate system, the coordinates of the hinge point c between the boom cylinder and the boom can be expressed as: , ; 5. The angle between the boom cylinder and the horizontal direction can be expressed as: ,in, Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are respectively , ; 6. Taking the boom arm as the object of study and point O as the axis of rotation, we can obtain: The value of A can be in the range of (-65°, 70°). The range of values ​​for can be ( , The range of values ​​for r can be (0, L). The range of values ​​for can be ( , ), The range of values ​​for can be ( , ), The value should be determined based on the actual situation.

[0048] Thus, the expression for the objective function can be obtained as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the angle between the line connecting ab and the vertical direction; This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the link and the horizontal direction, and the angle between the link and the horizontal direction is equal to the angle of the flying arm. G represents the vertical component of the force at point b; G represents the weight of the work platform. d represents the preset manual force, d represents the loading point of the preset manual force, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This represents the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are respectively , L represents the length of the boom arm. This represents the weight of the boom arm. This indicates the force acting on the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0049] It is understandable that when the preset optimization parameters are r, , At that time, the values ​​of multiple candidate parameters are determined according to r, , , Each value has a defined range, meaning that r takes on every value within the range (0, L). exist( , Take each value within the range. exist( , Take each value within the range. exist( , Take each value within the range, for each group r, , By determining the specific values, we can obtain a set of candidate parameter values, and thus obtain multiple sets of candidate parameter values.

[0050] When solving for the objective function, the objective function can be expressed as follows: Since A represents the angle of the boom's change, every value within the boom's angle range needs to be taken. During the change of the boom's angle, the force on the boom cylinder also changes. This solution aims to optimize the calculation of the maximum value of the force F on the boom cylinder during the boom's angle change, and to minimize this maximum value. Therefore, the problem can be expressed as: .

[0051] Furthermore, the problem can be broken down into two parts: for the inner problem, for the fixed... Solve The maximum value, i.e. Regarding the outer layer problem, regarding Solve The minimum value, i.e. .

[0052] In some embodiments, a joint solution method can be used, combining inner and outer layer problems, nested optimization, or mathematical programming tools can be used to solve the minimization and maximization problem. In another embodiment, since the theoretical thrust of the boom cylinders with adjacent cylinder diameters differs significantly, the force on the boom cylinder does not need to be calculated precisely. Therefore, the calculation formula for F can be listed in an Excel spreadsheet, and the boom angle can be calculated by dragging down the formula. Find all the forces acting on the boom cylinder within the range of variation, and calculate the maximum force F. , , and Changes within the range ,r, A rough estimate ,r, The value of makes maxF reach its minimum value.

[0053] To perform the corresponding steps in the above embodiments and various possible methods, an implementation method for an optimized hinge point device between the boom cylinder and the boom is given below. Please refer to... Figure 4 This is a functional block diagram of a boom cylinder and boom hinge point optimization device 600 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the boom cylinder and boom hinge point optimization device 600 provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The boom cylinder and boom hinge point optimization device 600 includes: an objective function acquisition module 610, an objective function solution module 620, and an optimal hinge point determination module 630.

[0054] The objective function acquisition module 610 is used to acquire the objective function constructed based on the force on the boom cylinder in the aerial work platform, the preset optimization parameters, and the boom angle; the preset optimization parameters include the hinge point position parameters of the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values.

[0055] It is understandable that the objective function acquisition module 610 can perform the above step S101.

[0056] The objective function solving module 620 is used to solve the objective function based on multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and to determine the target candidate parameter values ​​that minimize the maximum force on the boom cylinder.

[0057] It is understandable that the objective function solving module 620 can perform the above step S102.

[0058] The optimal hinge point determination module 630 is used to obtain the optimal hinge point position between the boom cylinder and the boom based on the target candidate parameter values.

[0059] It is understood that the optimal hinge point determination module 630 can perform the above step S103.

[0060] Optionally, the objective function solving module 620 is specifically used to determine the maximum force on the boom cylinder for each set of candidate parameter values ​​as the boom angle changes within the boom angle range; determine the candidate parameter value corresponding to the minimum maximum force on the boom cylinder from the maximum forces on the boom cylinder corresponding to all candidate parameter values; and determine the candidate parameter value corresponding to the minimum maximum force on the boom cylinder as the target candidate parameter value.

[0061] Optionally, the aerial work platform also includes a connecting frame, connecting rod, swing cylinder, and work platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, connecting frame, and boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. The expression for the objective function is as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the link and the horizontal direction, and the angle between the link and the horizontal direction is equal to the angle of the flying arm. G represents the vertical component of the force at point b; G represents the weight of the work platform. d represents the preset manual force, d represents the loading point of the preset manual force, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This represents the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are 0 and 0 respectively. L represents the length of the boom arm. This represents the weight of the boom arm. This indicates the force acting on the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0062] Optionally, the values ​​of multiple candidate parameters are determined according to r, The corresponding value range is determined.

[0063] Optionally, the aerial work platform also includes a connecting frame, connecting rod, swing cylinder, and working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, connecting frame, and boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. Preset optimization parameters also include the angle between the line connecting a and b and the vertical direction, and the distance between points a and b. The objective function is expressed as follows: ; ; ; ; ; ; ; ; in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the angle between the line connecting ab and the vertical direction; This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the link and the horizontal direction, and the angle between the link and the horizontal direction is equal to the angle of the flying arm. G represents the vertical component of the force at point b; G represents the weight of the work platform. d represents the preset manual force, d represents the loading point of the preset manual force, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This represents the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are respectively , L represents the length of the boom arm. This represents the weight of the boom arm. This indicates the force acting on the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

[0064] Optionally, the values ​​of multiple candidate parameters are determined according to r, , , The corresponding value range is determined.

[0065] Please refer to Figure 5 This is a block diagram of an electronic device 100 provided in an embodiment of the present invention. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0066] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0067] The processor 120 is used to read / write data or programs stored in the memory 110 and perform corresponding functions. For example, when the computer program stored in the memory 110 is executed by the processor 120, the method for optimizing the hinge point of the boom cylinder and the boom disclosed in the above embodiments can be implemented.

[0068] The communication module 130 is used to establish a communication connection between the electronic device 100 and other devices via a network, and to send and receive data via the network.

[0069] It should be understood that, Figure 5 The structure shown is only a schematic diagram of the electronic device 100. The electronic device 100 may also include components that are larger than... Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented using hardware, software, or a combination thereof.

[0070] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor 120, implements the method for optimizing the hinge point between the boom cylinder and the boom disclosed in the above embodiments.

[0071] This invention also provides an aerial work platform, which uses the hinge point optimization method for the boom cylinder and boom disclosed in the above embodiments to determine the optimal hinge point position of the boom cylinder and boom in the aerial work platform.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0073] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0074] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0075] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of optimizing the hinge point of a boom cylinder and boom, characterized by, The method includes: Obtain an objective function based on the forces acting on the boom cylinder in the aerial work platform, preset optimization parameters, and boom angle; the preset optimization parameters include the hinge point position parameters between the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction; the preset optimization parameters correspond to multiple sets of candidate parameter values; The objective function is solved based on the multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and the target candidate parameter values ​​that minimize the maximum force on the boom cylinder are determined. The optimal hinge point position between the boom cylinder and the boom is obtained based on the target candidate parameter values.

2. The method of claim 1, wherein: The step of solving the objective function based on multiple sets of candidate parameter values ​​and the range of boom angles corresponding to the boom angle, and determining the target candidate parameter values ​​that minimize the maximum force on the boom cylinder, includes: For each set of candidate parameter values, the maximum force on the boom cylinder is determined as the boom angle changes within the range of the boom angle. From the maximum force of the boom cylinder corresponding to all candidate parameter values, determine the candidate parameter value corresponding to the minimum value of the maximum force of the boom cylinder. The candidate parameter value corresponding to the minimum maximum force on the boom cylinder is determined as the target candidate parameter value.

3. The method of claim 1, wherein: The aerial work platform further includes a connecting frame, a connecting rod, a swing cylinder, and a working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, the connecting frame, and the boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. The expression for the objective function is as follows: ； ； ； ； ； ； ； ； wherein, represents the moment of force of the working platform, the swing cylinder, the platform load and the preset manual force on point a in the aerial work platform; represents the horizontal component of the force on point b; represents the distance between points a and b; A represents the angle between the connecting rod and the horizontal direction, and the angle between the connecting rod and the horizontal direction is equal to the boom angle; represents the vertical component of the force on point b; G represents the gravity of the working platform; represents the preset manual force, d represents the loading point of the preset manual force, the direction of the preset manual force is the perpendicular direction of the ad line, and B represents the angle between the preset manual force and the horizontal direction; represents the horizontal component of the force on point a, represents the vertical component of the force on point a; r represents the distance between points c and o, represents the angle between the oc line and the boom, , respectively represent the horizontal and vertical coordinates of point c in the plane rectangular coordinate system with point o as the origin, C represents the angle between the boom cylinder and the horizontal direction, respectively represent the horizontal and vertical coordinates of point e in the plane rectangular coordinate system with point o as the origin, respectively represent 0, ; L represents the length of the boom, represents the gravity of the boom, represents the force on the boom cylinder; r, constitutes the hinge point position parameter of the boom cylinder and the boom.

4. The method for optimizing the hinge point between the boom cylinder and the boom according to claim 3, characterized in that, The multiple sets of candidate parameter values ​​are based on r, The corresponding value range is determined.

5. The method for optimizing the hinge point between the boom cylinder and the boom according to claim 1, characterized in that, The aerial work platform further includes a connecting frame, a connecting rod, a swing cylinder, and a working platform. The hinge point between the connecting frame and the boom is point O; the hinge point between the connecting rod, the connecting frame, and the boom cylinder is point E; the hinge point between the boom and the swing cylinder is point A; the hinge point between the connecting rod and the swing cylinder is point B; and the hinge point between the boom cylinder and the boom is point C. The preset optimization parameters also include the angle between the line connecting a and b and the vertical direction, and the distance between points a and b. The expression of the objective function is as follows: ； ； ； ； ； ； ； ； in, This represents the resultant torque of the working platform, swing cylinder, platform load, and preset manual force about point a in the aerial work platform. This represents the angle between the line connecting ab and the vertical direction; This represents the horizontal component of the force at point b; A represents the distance between points a and b; A represents the angle between the connecting rod and the horizontal direction, and the angle between the connecting rod and the horizontal direction is equal to the angle of the flying arm. The vertical component of the force at point b is represented; G represents the gravity of the work platform. The preset manual force is represented by d, the loading point of the preset manual force is represented by d, the direction of the preset manual force is the perpendicular direction of the line connecting ad, and B represents the angle between the preset manual force and the horizontal direction. This represents the horizontal component of the force at point a. r represents the vertical component of the force at point a; r represents the distance between point c and point o. This indicates the angle between the line connecting OC and the flying arm. , Let x and y represent the x and y coordinates of point c in a Cartesian coordinate system with point o as the origin, respectively, and let C represent the angle between the boom cylinder and the horizontal direction. Let x and y be the x and y coordinates of point e in a Cartesian coordinate system with point o as the origin. They are respectively , L represents the length of the flying arm. This represents the weight of the flying arm. This indicates the force applied to the boom cylinder; r, The position parameters of the hinge point between the boom cylinder and the boom.

6. The method for optimizing the hinge point between the boom cylinder and the boom according to claim 5, characterized in that, The multiple sets of candidate parameter values ​​are based on r, , , The corresponding value range is determined.

7. A device for optimizing the hinge point between a boom cylinder and a boom, characterized in that, The device includes: The objective function acquisition module is used to acquire an objective function based on the force on the boom cylinder, preset optimization parameters, and boom angle in the aerial work platform. The preset optimization parameters include the hinge point position parameters between the boom cylinder and the boom, and the boom angle is the angle between the boom and the horizontal direction. The preset optimization parameters correspond to multiple sets of candidate parameter values. The objective function solving module is used to solve the objective function based on multiple sets of candidate parameter values ​​and the range of the boom angle corresponding to the boom angle, and to determine the target candidate parameter values ​​that minimize the maximum force on the boom cylinder. The optimal hinge point determination module is used to determine the optimal hinge point position between the boom cylinder and the boom based on the target candidate parameter values.

8. An aerial work platform, characterized in that, The optimal hinge point position of the boom cylinder and boom in the aerial work platform is determined by the hinge point optimization method of any one of claims 1-6.

9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when executed by the processor, the computer program implements the steps of the method for optimizing the hinge point of the boom cylinder and the boom as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the method for optimizing the hinge point of the boom cylinder and the boom as described in any one of claims 1-6.

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