605 results about "Hydraulic machinery" patented technology

The invention relates to the technical field of mechanical arm control, and particularly discloses a multi-axis motion control method based on a six-axis hydraulic mechanical arm, and the method comprises the following steps: establishing a kinetic model and a hydraulic system model of the six-axis hydraulic mechanical arm, generating a motion track in a Cartesian space or a joint space based on a preset task demand, and generating a multi-axis motion model of the six-axis hydraulic mechanical arm; the track smoothness is optimized through an S-type acceleration and deceleration algorithm; a deviation coupling synchronous control strategy is adopted, and position, speed and pressure signals of all hydraulic cylinders are collected in real time. According to the multi-axis motion control method based on the six-axis hydraulic mechanical arm, through multi-layer modeling, multi-algorithm fusion and intelligent optimization, the core problems of synchronous errors, non-linear interference, high energy consumption and the like in multi-axis cooperative control of the hydraulic mechanical arm are solved, high-precision, high-robustness and low-energy-consumption industrial-grade motion control is achieved, and the multi-axis motion control method is suitable for industrial production. The method is suitable for heavy-load carrying, precision assembling and other complex scenes.

A hydraulic damper comprises a main tube, a piston assembly, a base valve assembly, and a compression stop assembly. The compression stop assembly includes an insert defining an inner chamber, and a sleeve displaceable along with the main piston assembly and configured to be slidably introduced inside the inner chamber. The sleeve has a diameter lower than the diameter of the main tube defining a first external flow channel between the sleeve and the main tube; the sleeve is attached to the piston assembly by a spring disposed within the sleeve; and the insert is provided with a plurality of axially-spaced holes and has an annular flange adjoining the inner wall of the main tube and separating the compression chamber from a second external flow channel between the radially external outlets of the holes and the base valve assembly.

A hydraulic brake motive apparatus includes a reservoir containing hydraulic fluid. A power transmission unit selectively provides at least one of negative and positive pressure to the hydraulic fluid to generate pressurized hydraulic fluid. A caliper piston includes a piston cavity configured to selectively contain hydraulic fluid and at least a portion of the power transmission unit. The piston cavity is in selective communication with the reservoir via a reservoir passage. A motive housing contains at least a portion of each of the reservoir, the power transmission unit, and the caliper piston therein to maintain a closed-loop system for the hydraulic fluid. The motive housing defines a piston bore. The caliper piston selectively reciprocates longitudinally with respect to the piston bore under influence of pressurized hydraulic fluid from the power transmission unit. The reservoir, power transmission unit, and caliper piston are co-located proximate a corresponding brake pad.

The invention belongs to the field of hydraulic machinery state monitoring, and particularly discloses a digital twinning-based pumped storage unit shafting operation state monitoring method and system, and the method comprises the steps: building a multi-physics field coupling finite element full-order model of a pumped storage unit shafting, carrying out the model reduction of the finite element full-order model, and obtaining a digital twinning model; utilizing a multi-physics field coupling reduced-order model to construct a digital twinborn body of the pumping and storage unit shafting for real-time simulation; acquiring operation state data corresponding to the monitoring signal, and establishing an operation state knowledge base of the pumped storage unit; and according to the established virtual-real interaction subsystem, the three-dimensional visualization subsystem and the operation state knowledge base, constructing an operation state monitoring system of the pumping and storage unit shaft system, and performing real-time data transmission of the operation state monitoring system by using a sensor so as to evaluate the operation state of the pumping and storage unit in real time and realize operation state early warning of the pumping and storage unit. According to the invention, the real-time performance of monitoring the operation state of the shaft system of the pumping and storage unit can be improved, and the monitoring efficiency is further improved.

The invention provides a movable hydraulic mechanical arm and a control method, and the mechanical arm comprises a base which adopts the design of a movable chassis with an independent drive, so that the equipment moving capability is provided. The arm support assembly is formed by connecting a plurality of arm supports in series through rotary joints, and each joint is provided with a hydraulic actuator to achieve the driving function. The sensing and positioning system is responsible for obtaining the state of the mechanical arm and surrounding three-dimensional environment information and providing data support for intelligent control. The control system is arranged on the arm support and connected with the subsystems through cables, and cooperative motion control based on state information and environment information is achieved. The hydraulic system comprises three core assemblies, wherein hydraulic power units are in one-to-one correspondence with the actuators; the hydraulic execution unit is integrated on an actuator oil port valve block and comprises a servo valve, a pressure sensor and an emergency locking valve. The hydraulic auxiliary unit provides oil storage, temperature control and filtering functions. The key problems of dynamic coupling, response delay, low energy efficiency and the like are solved.

The invention discloses a hydraulic mechanical arm motion control method based on low-pressure volume elastic modulus compensation. The method comprises the steps that a dynamic linearization model of the multi-degree-of-freedom hydraulic mechanical arm containing the effective volume elastic modulus is established, a backstepping method is used for designing a self-adaptive robust controller, an expected joint angle is input into the self-adaptive robust controller, meanwhile, online self-adaptive parameter updating is carried out, and the optimal joint angle is obtained. The self-adaptive robust controller outputs virtual control flow of the multi-degree-of-freedom hydraulic mechanical arm after processing, and valve port control voltage is obtained after static mapping so as to control a hydraulic valve; and the multi-degree-of-freedom hydraulic mechanical arm outputs the actual control flow, the actual joint control torque and the actual joint angle to the self-adaptive robust controller in real time, and motion closed-loop control over the multi-degree-of-freedom hydraulic mechanical arm is achieved. According to the method, the high-precision motion tracking performance can be achieved under the condition that the hydraulic mechanical arm keeps stable low pressure.

The invention belongs to the field of hydraulic mechanical arm modeling, and provides a hydraulic mechanical arm modeling method and system fusing a physical model and data driving. The modeling method for the hydraulic mechanical arm fusing the physical model and the data drive comprises the steps that the hydraulic mechanical arm is virtually decomposed into a plurality of mutually independent sub-models, so that a closed chain structure between a joint and a connecting rod is decoupled; constructing a hydraulic driving system model of each sub-model, and further combining the hydraulic driving system model with the corresponding sub-model to form a corresponding subsystem; an embedded neural network model is adopted to learn dynamic characteristics of the hydraulic mechanical arm under different working conditions, and then dynamic compensation is conducted on all subsystems; and combining the subsystems with the dynamic compensation of the embedded neural network models corresponding to the subsystems to construct a dynamic model of the hydraulic mechanical arm. The modeling precision of the hydraulic mechanical arm can be improved, and the response speed of the hydraulic mechanical arm can be increased.

The invention provides a hydraulic mechanical arm structure control method and system based on data fusion, and the method comprises the steps: firstly initializing a mechanical arm structure and unifying a global coordinate system, then collecting multi-source heterogeneous sensor data in real time, carrying out the data fusion through an unscented Kalman filtering algorithm, and obtaining the real-time high-dimensional state estimation of the mechanical arm structure. According to construction task requirements and obstacle information and spatial constraint conditions of a construction area, the system uses a path generation algorithm to plan an expected trajectory of an end effector in a world coordinate system. And finally, in combination with real-time high-dimensional state estimation and the expected trajectory, an optimal control instruction for driving the mechanical arm frame and the base is generated by applying a control law based on operation space dynamics, and accurate control is achieved. The operation precision and adaptability of the mechanical arm in a complex environment are effectively improved.

The invention discloses a cavitation erosion strength prediction method and system coupled with a multi-scale material model, relates to the technical field of engineering computational fluid mechanics, and aims to solve the problem that the influence of material response cannot be considered in cavitation erosion assessment of a hydraulic machinery overflow pipeline in the prior art. Calculating the macroscopic evolution process of the cavitation bubbles in the cavitation flow field by using the cavitation model to obtain macroscopic evolution information of the cavitation bubbles, and converting all small cavitation bubbles into single bubbles according to the macroscopic evolution information; and calculating the microcosmic dynamic process of the single bubble to obtain microcosmic dynamic information, calculating the impact load of the single bubble according to the microcosmic dynamic information, and synthesizing the impact load of the single bubble in all time steps to calculate the material cavitation erosion incubation period of the overflowing pipeline, namely the cavitation erosion strength. According to the method, the dynamic evolution process of large-scale cavitation bubbles and small-scale cavitation bubbles can be described at the same time, and the cavitation erosion strength forecasting is spanned from qualitative to quantitative.

The invention discloses a hydraulic arm safety control method and device based on parallel learning and a high-order CBF, and the method comprises the steps: building a kinetic equation of a hydraulic mechanical arm through a Lagrange method, integrating unmodeled dynamics, structural parameter change and external interference into an uncertain item, and describing the generalized uncertainty of the uncertain item in a linear parameterization form; for the problem of insufficient excitation in a complex environment task, a parallel learning mechanism is introduced, and historical data and real-time data are combined to realize parameter identification. For high relative order safety constraints (such as obstacle distance constraints and joint limiting constraints) in a task space, an obstacle function family is constructed. A dynamic error buffer function is introduced, and a high-order adaptive control barrier function condition is designed. The high-order self-adaptive control obstacle function constraint is embedded into a real-time quadratic programming solving problem, input obtained through optimization solving can keep the track precision, meanwhile, a joint instruction is automatically corrected to prevent constraint failure, and minimum intervention type safety control is achieved.

The invention discloses a hydraulic machinery feasibility research report grading review method based on a large language model, comprising the following steps: collecting and analyzing an original hydraulic machinery feasibility research report to generate a logic structure tree and a structured text; based on the logic structure tree, hierarchical gating and strategy scheduling are executed, and gating scheduling data are generated; according to review strategy parameters in the gating scheduling data, executing three-constraint parallel partitioning on the structured text to obtain a sub-document set; utilizing the gating scheduling data to execute auditing adversarial compliance review on each sub-document of the sub-document set to form a preliminary review conclusion set; and aggregating the preliminary review conclusion set, executing cross-subdocument consistency judgment and result summarization, and generating a final review conclusion. According to the method, the compliance problem of the hydraulic machinery research-length document report can be completely and accurately identified.

The invention discloses a dynamic matrix and graph theory model construction method for an HMCVT. The dynamic matrix and graph theory model construction method comprises the following steps that S1, a layered topological graph of a hydraulic mechanical continuously variable transmission is established; s2, constructing an adjacent matrix of the layered topological graph as a feature matrix; s3, determining a transmission constraint condition and a structure constraint condition of the hydraulic mechanical continuously variable transmission; s4, constructing and simplifying a rotating speed matrix equation, performing isomorphic identification through the simplified rotating speed matrix equation, and finding out a graph theory model of the HMCVT with the same transmission mechanism; and S5, constructing a basic torque matrix equation to obtain torque state matrix equations under different connection modes, and reflecting the dynamic performance of the graph theory model through the rotating speed matrix equation and the torque state matrix equations. According to the method, the conversion of a computer programming language is facilitated, a powerful theoretical reference is provided for realizing structure digitization, the time for designing the HMCVT structure can be greatly saved, and the design complexity is reduced.

The invention discloses a hydraulic mechanical heat dissipation device in the field of hydraulic heat dissipation equipment. The hydraulic mechanical heat dissipation device comprises a heat dissipation pipe, a collection unit and a control unit. A liquid cooling mechanism is communicated in the heat dissipation pipe, and an air cooling mechanism is arranged outside the heat dissipation pipe; the acquisition unit is used for acquiring temperature of hydraulic oil in two ends of the radiating pipe; and the control unit is used for controlling the cooling amplitude of the liquid cooling mechanism and / or the air cooling mechanism based on the temperature acquired by the acquisition unit. According to the scheme, the heat dissipation power can be automatically and flexibly adjusted according to the actual temperature condition of the hydraulic system, so that the heat dissipation accuracy is improved.

The invention discloses a mechanical arm online calibration method and system. The method comprises the steps that a hydraulic mechanical arm no-load dynamic model based on the Lagrangian method is constructed; the method comprises the following steps: establishing an improved Denavit-Hartenberg kinematic error model; constructing a position prediction model by using a convolutional neural network and training the position prediction model; performing error compensation correction on the predicted position based on the model; online calibration parameters are determined and dynamically adjusted; and iterative optimization is repeated to realize real-time calibration. The system comprises a dynamical model construction unit, a kinematic error model establishment unit, a position prediction model training unit, an error compensation calculation unit, a calibration parameter determination unit and a model iterative optimization unit which work cooperatively. The method and the system can respond to working condition changes in real time, integrate multi-source errors, improve calibration precision, effectively reduce track deviation and guarantee operation quality and stability.

The invention relates to the technical field of mechanical arms, in particular to a walking type hydraulic mechanical arm for carrying a bearing shaft sleeve. Comprising a bottom plate, a sliding rail is fixedly connected to the bottom plate, a supporting base is slidably connected to the sliding rail, a mechanical arm is rotationally connected to the supporting base, a clamping jaw mechanism is installed at one end of the mechanical arm, buffer plates are slidably connected to the two ends of the bottom plate, buffer springs are installed between the buffer plates and the bottom plate, and brake structures are installed at the two ends of the bottom plate; the problems that when an existing carrying mechanical arm walks to a fixed position for grabbing or placing, a movable clamping jaw is prone to inclining, so that the clamping jaw does not clamp the center position of a bearing shaft sleeve when clamping the bearing shaft sleeve, the clamping jaw is prone to inclining in the transferring process, dislocation is prone to occurring when the bearing shaft sleeve is placed, and the clamping jaw cannot clamp the center position of the bearing shaft sleeve are effectively solved. The bearing shaft sleeve is not placed at a fixed position; and the working stability of the mechanical arm is effectively improved.

The invention discloses a hydraulic mechanical transmission device control method based on optimal trajectory optimization, and relates to the technical field of equipment intelligent auxiliary operation and control, and the method comprises the following steps: S1, building a physical model of a hydraulic mechanical transmission device; s2, taking the shortest motion time, the most smooth trajectory and the minimum energy consumption as optimization objectives, and obtaining an optimal trajectory based on a trajectory planning algorithm combining an improved sparrow algorithm and a quintic non-uniform B-spline curve; s3, oil return control is optimized; and S4, oil inlet control is optimized, specifically, an oil inlet flow controller is optimized based on a time-varying secant obstacle Lyapunov function and an RBF neural network. According to the trajectory planning algorithm, the trajectory of the hydraulic transmission device can be optimized, oil return and oil inlet are optimized based on the optimal trajectory, and working trajectory planning and high-precision control over the hydraulic equipment executing mechanism are achieved.

The invention discloses a double-motor hydraulic mechanical stepless speed change transmission system and method, and relates to the technical field of stepless speed change transmission. The output end of an input shaft module is connected with the input end of a power output shaft module and the input end of a hydraulic pump shaft module, and a motor shaft driven gear is meshed with the output end of the input shaft module; the motor shaft driven gear is coaxially connected with the two hydraulic motors, the output end of the hydraulic pump shaft module is connected with the two hydraulic motors, the two hydraulic motors are connected with the input end of the motor shaft sun gear, and the motor shaft sun gear is meshed with the forward planet assembly and the backward planet assembly. The motor shaft driving gear is connected with the forward planet assembly and the backward planet assembly, the forward clutch is connected with the forward planet assembly, the backward clutch is connected with the backward planet assembly, the motor shaft driving gear is further meshed with the output shaft module, and the output end of the output shaft module is used for being connected with a front drive axle and a rear drive axle. The transmission efficiency, the control performance and the working efficiency can be improved.

The invention provides a mobile hydraulic mechanical arm control system and method. The system comprises a central control system, a mobile platform control system and a hydraulic mechanical arm control system, wherein the mobile platform control system and the hydraulic mechanical arm control system are in communication connection with the central control system; the central control system is configured with a decision model based on a depth deterministic policy gradient algorithm (DDPG); the mobile platform control system adopts a PID feedback control algorithm to control the movement speed of the mobile platform; and the hydraulic mechanical arm control system controls the motion trail and action of the hydraulic mechanical arm according to the reasoning result of the decision model. According to the method, the depth deterministic strategy gradient algorithm (DDPG) is introduced into control over the throttling valve and the reversing valve of the hydraulic mechanical arm, the action strategy is dynamically optimized through Actor and Critic networks, the trajectory tracking precision and the dynamic response capacity of the mechanical arm under the complex load are remarkably improved, and control errors caused by hydraulic oil compressibility and mechanical friction are reduced.

The utility model discloses a hydraulic mechanical buffer device, belongs to the technical field of hydraulic machinery, and aims to solve the problems that in the prior art, the height of a first supporting plate is fixed and cannot be adjusted, so that when different rail cars such as subways, light rails and high-speed rails are involved, the height of the first supporting plate cannot be adjusted due to different specifications of the cars; the hydraulic mechanical buffering device solves the problem that the hydraulic mechanical buffering device cannot be well matched due to the fact that the height point position of hydraulic buffering is correspondingly changed. Comprising a base frame, mounting mechanisms are mounted on the two sides of the base frame, a fixed mounting frame is fixed to one side of the upper portion of the base frame, an adjusting mechanism is mounted on the inner portion and the outer portion of the fixed mounting frame in a combined mode, the adjusting mechanism comprises two jacking columns, hydraulic cylinders are connected to the top ends of the two jacking columns, and hydraulic rods are movably arranged in the middles of the hydraulic cylinders; and the top end of the hydraulic rod is connected with a rubber buffer plate, the adjusting mechanism comprises an adjusting assembly, and the adjusting assembly is mounted in the fixed mounting frame and on one side of the fixed mounting frame.

The invention relates to a rocker arm assembly with roller deactivation. More specifically, a variable valve lift rocker arm assembly may include an outer rocker arm body having a valve end and a cam end and configured to rotate about a first shaft. The inner rocker arm body may be configured to rotate about a first shaft or a second shaft and selectively and operably locked to the outer rocker arm body via a latch assembly. The latch assembly may have a first latch pin actuated by a latch pin spring, a second latch pin, and a third latch pin driven hydraulically, mechanically or pneumatically. The latch assembly may have a locked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is locked, and an unlocked mode in which relative movement between the inner rocker arm body and the outer rocker arm body is permitted.

The invention relates to the field of hydraulic mechanical equipment, and discloses a folding type hydraulic lifting platform which is characterized in that a scissor type support is arranged above a movable vehicle body, rotating rods are rotationally connected to the middle and one side of the bottom of the scissor type support correspondingly, and rotating shafts are rotationally connected to the middles of the two rotating rods correspondingly; a hydraulic cylinder is arranged between the two rotating shafts, a lifting platform body is arranged at the top of the scissor type support, an L-shaped connecting rod is fixedly connected to the lower surface of the lifting platform body, a second sliding block is fixedly connected to one end of the L-shaped connecting rod, and a guide stand column is slidably connected to the outer wall of the second sliding block; a pushing assembly is arranged at the top of the guide stand column. The material pushing assembly comprises a lead screw, a threaded sleeve, a scissor type push rod and a push plate. Through meshing transmission of the spur rack and the gear and cooperation with telescopic linkage of the push plate driven by the lead screw, cooperative control over lifting action and material pushing is achieved, and the problem of material clamping stagnation caused by step-by-step operation of existing equipment is solved.

An electro-hydraulic steering system comprises a hydraulic steering actuator and a hydro-mechanical steering unit for actuating the hydraulic steering actuator in response to a steering demand from a steering wheel connected to the hydro-mechanical steering unit by a steering shaft. An electric motor is operative to apply a torque to the steering shaft and is controlled to provide a haptic steering torque feedback to a user through the steering wheel. The motor is controlled to provide a haptic steering torque feedback that follows a predetermined profile compensating for the effects of a spring in the hydro-mechanical steering unit which opposes movement of the steering member. The motor may be controlled to provide haptic steering torque feedback during a dead band range of movement of the steering member before the hydro-mechanical steering unit begins supplying fluid to the steering actuator.

The utility model discloses a material testing device under erosion and cavitation coupling action, which comprises a container, an ultrasonic transducer, an injector head and a circulating device, a placing table is arranged in the container, the ultrasonic transducer is used for being arranged above the placing table, the injector head is arranged at the lower end of the ultrasonic transducer, and the circulating device is arranged on the placing table. The circulating device comprises a booster pump, a liquid inlet of the booster pump is communicated with the container, and a liquid outlet of the booster pump is connected with the injector head through a pipeline; in the using state, the ultrasonic transducer is electrically connected with an ultrasonic power source through a wire. According to the utility model, the erosion medium is pumped into the injector head through the booster pump, and meanwhile, the ultrasonic transducer enables the erosion medium to generate a large number of bubbles in the injector head, so that the erosion medium with the bubbles impacts a test material at a high speed, and the test condition of the hydraulic mechanical material is met.

The invention discloses an intelligent asymptotic motion control method and system for a hydraulic mechanical arm. The method comprises the following steps: firstly, establishing a nonlinear mathematical model of a multi-degree-of-freedom series hydraulic mechanical arm system; secondly, estimating an endogenous uncertain item suffered by the system based on a multi-layer feedforward neural network; then, a robust control law for other uncertain items of the system is constructed, and an intelligent asymptotic motion controller of the hydraulic mechanical arm system is designed; designing a multilayer feedforward neural network updating law; and finally, parameters of the intelligent asymptotic motion controller of the hydraulic mechanical arm system are selected. According to the method, asymptotic tracking control of all the joints can be achieved on the premise that rotational inertia information of the hydraulic mechanical arm is not needed, and the tracking performance, adaptability and reliability of the system under complex working conditions are improved.

The invention relates to the technical field of sediment and bubble monitoring, in particular to a sediment and bubble concentration monitoring device and method.The sediment and bubble concentration monitoring device comprises a laser transmitter, a light sensor, a light coupler, a light transmitting piece, an image obtaining device and a beam splitter, and further comprises an electromagnetic flowmeter and a detector which are arranged on a pipeline module; the laser transmitter, the spectroscope and the image acquisition device are placed at fixed positions in the shell so as to shoot silt and gas particles in the flowing pipeline, and then data are transmitted to the processor; a processor calculates the concentration of sediment and bubbles in a pipeline through data preprocessing of a k-Mean clustering algorithm, median filtering and connected domain analysis and a CNN convolutional neural network algorithm, and in the prior art, only the sediment concentration can be measured, but the concentration of gas cannot be monitored at the same time. According to the invention, the content of silt and gas and the influence on hydraulic machinery can be monitored at the same time, timely early warning is provided, and the operation efficiency and safety of equipment are effectively improved.

A hydromechanical brake power plant includes a reservoir containing hydraulic fluid. A power transmission unit selectively provides at least one of a negative pressure and a positive pressure to the hydraulic fluid to produce a pressurized hydraulic fluid. A caliper piston includes a piston cavity configured to selectively contain hydraulic fluid and at least a portion of the power transmission unit. The piston chamber is in selective communication with the reservoir via a reservoir passage. A power housing accommodates at least a portion of each of the reservoir, the power transmission unit, and the caliper piston therein to maintain a closed loop system for hydraulic fluid. The power housing defines a piston bore. The caliper piston selectively reciprocates longitudinally relative to the piston bore under the influence of pressurized hydraulic fluid from the power transmission unit. The reservoir, the power transmission unit, and the caliper piston are co-located proximate corresponding brake pads.

The invention provides a method and device for analyzing the number and size of bubbles in a gas-liquid multiphase pump, and relates to the technical field of hydraulic machinery, the method and device are applied to a system for measuring the number and size of bubbles in the gas-liquid multiphase pump, the measuring system comprises a high-speed photographing system, and the method comprises the following steps: acquiring a gas-liquid flow field image in the pump based on the high-speed photographing system; determining a plurality of target gas-liquid flow field images, and preprocessing the plurality of target gas-liquid flow field images; determining the boundary of each bubble in a plurality of bubbles based on the preprocessed target gas-liquid flow field image to obtain a detection result of a bubble contour, and performing calculation based on the detection result of the bubble contour to obtain a bubble contour pixel area of each bubble in the plurality of bubbles; and calculating the diameter of each bubble based on the bubble contour pixel area of each bubble in the plurality of bubbles, and determining the number of bubbles under each diameter. Through the method provided by the invention, the efficiency and accuracy of data analysis are improved.

The invention relates to the technical field of mechanical control, in particular to a full-hydraulic mechanical control method, a machine, equipment and a program product. The method comprises the steps that under the condition that the full-hydraulic machine is in an economic operation mode, the rotating speed adjusting step length of an engine in the full-hydraulic machine is obtained; based on the rotating speed adjusting step length, the motor current adjusting step length of a hydraulic driving motor in the full-hydraulic machine is obtained, and the larger the rotating speed adjusting step length is, the larger the motor current adjusting step length is; adjusting an engine speed of the engine based on the speed adjustment step, and adjusting a motor current of the hydraulic travel motor based on the motor current adjustment step, where the motor current decreases when the engine speed increases; when the engine speed decreases, the motor current increases. Under the condition that the full-hydraulic machine is in the economic operation mode, the stability and smoothness of the full-hydraulic machine can be improved, and the driving experience of a driver is improved.

The present invention belongs to the technical field of hydraulic machinery, and particularly relates to a canal forming machine, which includes a forming machine body and a forming die arranged on its surface. An integrated leveling and cutting assembly is arranged on the outer surface of the forming die. The integrated leveling and cutting assembly at least includes a conveyor belt, a plurality of rolling rollers, a plurality of leveling shells, and a plurality of guide wheels. The plurality of guide wheels are arranged at intervals around the edge of the forming die. A conveyor belt is commonly connected to the outside of the plurality of guide wheels. The plurality of rolling rollers and the leveling shells are arranged at intervals on the surface of the conveyor belt. One end of the rolling roller close to the forming die is connected with a driven gear. At least two arc-shaped movable blocks are rotatably connected to the end of the rolling roller far away from the forming die. By adopting the technical scheme of the present invention, the problems that the surface of the canal formed by the existing canal forming machine is uneven and not smooth, and an additional device is needed to make expansion joints, and the formed quality of the made expansion joints is poor, time-consuming and laborious can be solved.

The invention discloses a hydraulic mechanical arm modeling and optimizing method based on a digital twinning technology, which comprises the following steps: based on geometric performance parameters of a hydraulic mechanical arm, establishing a corresponding virtual geometric morphology model through modeling software; establishing a corresponding kinematics attribute model based on the position and attitude data of each joint of the hydraulic mechanical arm; optimizing the kinematics attribute model by using an Adam optimization method to obtain an optimized attribute model; constructing a dynamic simulation model of the hydraulic system according to the working state data of each component in the hydraulic system; integrating the virtual geometric morphology model, the optimized attribute model and the dynamic simulation model to obtain a digital twinborn model of the hydraulic mechanical arm; and operating state data of the hydraulic mechanical arm are collected in real time, and the state of the digital twin model is updated based on the operating state data. According to the method, the modeling precision of the hydraulic mechanical arm is effectively improved.