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Single-cylinder bolt multistage sequential extension path optimization method

A single-cylinder bolt-type, sequential telescopic technology, applied to cranes and other directions, can solve the problem of not being able to plan paths in advance, and achieve the effects of program implementation, concise logic, and good optimization effects

Active Publication Date: 2017-05-31
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0015] Different from document 1, which is only a program implementation method, the path cannot be planned in advance, and it can only be "one step smaller, one step smaller"; the present invention provides a systematic solution to the path optimization problem, as long as the current state set of the single-cylinder bolt-type telescopic arm is input and the target state set, the system can plan the optimal path

Method used

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  • Single-cylinder bolt multistage sequential extension path optimization method
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  • Single-cylinder bolt multistage sequential extension path optimization method

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example

[0100] Example: the number of boom sections is n=5, there are 4 pin holes on the boom sections, the values ​​of m are 1, 2, 3, and 4, which correspond to 0%, 45%, 90, and 100% of the cylinder stroke respectively; Set {1 4 4 2 1}, the optimized path to the target state set {2 1 2 1 2}

[0101] (1) Obtaining the optimal limit combination of boom retraction

[0102] 1. From the aforementioned process step (21), take the first four elements {1 4 4 2} of the current state set A and the first 4 elements {2 1 2 1} of the target state set T and arrange and combine them to obtain 2 5-1 =16 permutation and combination sets, add T[5]=2 as the fifth element into 16 combination sets, and obtain an intermediate state set tM{} containing 16 data sets, as follows:

[0103] {2 1 2 1 2}; {1 1 2 1 2};

[0104] {2 1 2 2 2}; {1 1 2 2 2};

[0105] {2 1 4 1 2}; {1 1 4 1 2};

[0106] {2 1 4 2 2}; {1 1 4 2 2};

[0107] {2 4 2 1 2}; {1 4 2 1 2};

[0108] {2 4 2 2 2}; {1 4 2 2 2};

[0109] {2 4 4...

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Abstract

The invention relates to a single-cylinder bolt multistage sequential extension path optimization method, and belongs to the single-cylinder bolt multistage sequential extension path optimization method. Middle states of all arc sections are extracted according to three states for arrangement and combination to generate multiple middle state sets tM{}; and a shrinkage arm limit combination to be searched is searched from the generated middle state sets. The middle state sets are sent to an estimation formula series in sequence; and the state sets satisfied by all estimation formulas are the shrinkage arm limit state sets. The method is simple and clear in flow, and in particular, is suitable for program realization; and in particular, when the arm section number n and the pin hole number m are increased, the program can be conveniently performed.

Description

technical field [0001] The present invention belongs to a method for optimizing the single-cylinder bolt-type multi-stage sequential telescopic path. The single-cylinder bolt-type multi-stage sequential telescopic is to sequentially push a multi-section telescopic arm / sleeve by one drive cylinder, and each section arm / sleeve has several pin hole positions. The boom pin at the end of the boom section is locked with the pin hole of the outer boom section, so that the telescopic boom / sleeve can be extended step by step to the required length. The single-cylinder bolt-type multi-stage telescopic boom of the truck crane is a typical multi-stage sequential telescopic mechanism. Background technique [0002] The "single-cylinder plug-type sequential telescoping" involved in the present invention means: use one telescopic oil cylinder to sequentially extend or retract each arm section to a certain arm pin hole position, and the stroke of the oil cylinder is only one section of arm le...

Claims

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Application Information

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IPC IPC(8): B66C23/693
CPCB66C23/705B66C23/708
Inventor 毛艳成凯
Owner JILIN UNIV
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