CN111898306B - Thermosetting coupling analysis method and analysis device for robot - Google Patents
Thermosetting coupling analysis method and analysis device for robot Download PDFInfo
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- CN111898306B CN111898306B CN202010791593.3A CN202010791593A CN111898306B CN 111898306 B CN111898306 B CN 111898306B CN 202010791593 A CN202010791593 A CN 202010791593A CN 111898306 B CN111898306 B CN 111898306B
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- 238000004458 analytical method Methods 0.000 title claims abstract description 31
- 230000008878 coupling Effects 0.000 title claims abstract description 29
- 238000010168 coupling process Methods 0.000 title claims abstract description 29
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 29
- 229920001187 thermosetting polymer Polymers 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 36
- 238000004364 calculation method Methods 0.000 claims abstract description 35
- 238000012546 transfer Methods 0.000 claims abstract description 25
- 230000017525 heat dissipation Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 11
- 230000002159 abnormal effect Effects 0.000 claims description 13
- 230000003746 surface roughness Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 4
- 230000005855 radiation Effects 0.000 claims description 3
- 230000035882 stress Effects 0.000 description 64
- 230000008569 process Effects 0.000 description 7
- 230000020169 heat generation Effects 0.000 description 6
- 230000005856 abnormality Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/08—Thermal analysis or thermal optimisation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces
Abstract
The application provides a thermosetting coupling analysis method and a thermosetting coupling analysis device for a robot. The method comprises the following steps: dividing grids of the robot and establishing a grid computing model; determining mechanical parameters and thermal parameters of materials of all parts of the robot; determining thermal and structural loads of the parts; determining a heat transfer coefficient between two parts and a heat dissipation coefficient of each part; and solving the grid calculation model according to the mechanical parameters, the thermal load and the structural load, and determining the temperature distribution and the stress distribution of the robot. According to the method, the temperature distribution of the whole robot can be accurately analyzed and obtained through dividing grids and solving a grid calculation model, and the problem that the temperature of the robot is difficult to accurately analyze in the prior art is solved. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a thermosetting coupling analysis method, an analysis device, a computer-readable storage medium, and a processor for a robot.
Background
In the working process of the industrial robot, when the motor and the gear run at a high speed, relatively more heat is generated, and the heat is transmitted to the joints through contact between parts, so that the temperature of the joints is increased, and thermal expansion is generated.
The thermal expansion deformation of the joints can cause the joints to generate thermal stress, and the tail end position of the industrial robot can be influenced, so that the normal operation of the robot is influenced. Therefore, it is very important to analyze the heat distribution of the robot during the operation, and it is difficult to accurately analyze the temperature distribution of the whole robot in the prior art.
The above information disclosed in the background section is only for enhancement of understanding of the background art from the technology described herein and, therefore, may contain some information that does not form the prior art that is already known in the country to a person of ordinary skill in the art.
Disclosure of Invention
The main object of the present application is to provide a thermosetting coupling analysis method, an analysis device, a computer readable storage medium and a processor for a robot, so as to solve the problem that it is difficult to accurately analyze the temperature distribution of the whole machine of the robot in the prior art.
According to an aspect of the embodiment of the present invention, there is provided a thermosetting coupling analysis method for a robot, including: dividing grids of the robot and establishing a grid computing model; determining mechanical parameters and thermal parameters of materials of parts of the robot; determining the thermal and structural loads of each of the parts; determining a heat transfer coefficient between two of the parts and a heat dissipation coefficient of each of the parts; and solving the grid computing model according to the mechanical parameters, the thermal load and the structural load, and determining the temperature distribution and the stress distribution of the robot.
Optionally, meshing the robot and establishing a mesh calculation model, including: and a thermosetting coupling unit of finite element simulation software is adopted to establish finite element grids of the robot, and a grid calculation model is established.
Optionally, the mechanical parameter comprises at least one of: modulus of elasticity, poisson's ratio, density, yield strength, tensile strength, elongation, the thermal parameters including at least one of: thermal conductivity, specific heat capacity, thermal expansion coefficient.
Optionally, the thermal load comprises at least one of: the heat exchange coefficient between the meshed gears, the heat exchange coefficient of the surface of the part in contact with air, and at least one of the following structural loads: fixed constraint, whole machine gravity, joint torque load, joint rotational speed load.
Optionally, determining the heat transfer coefficient between two of the parts comprises: acquiring the surface roughness of the part, the width of a contact gap between two adjacent parts and the contact pressure between the two adjacent parts; and determining the heat transfer coefficient between the two parts according to the surface roughness of the parts, the width of the contact gap between the two adjacent parts and the contact pressure between the two adjacent parts.
Optionally, solving the grid computing model according to the mechanical parameter, the thermal load and the structural load, determining a temperature distribution and a stress distribution of the robot includes: determining a time step of thermosetting coupling analysis; solving the grid calculation model according to the mechanical parameter, the thermal load and the structural load by adopting a nonlinear mode to obtain the temperature and the stress of each grid; and determining the temperature distribution and the stress distribution of the robot according to the temperature and the stress of each grid.
Optionally, after obtaining the temperature profile and the stress profile of the robot, the method further comprises: determining a temperature abnormal region according to the temperature distribution, wherein the temperature abnormal region is a region with the temperature being greater than a preset temperature; adjusting the structure corresponding to the temperature abnormal region to reduce heat inflow and/or increase heat outflow, and after obtaining the temperature distribution and the stress distribution of the robot, the method further comprises: determining a region with a heated expansion volume ratio greater than a predetermined ratio according to the stress distribution, wherein the heated expansion volume ratio is the ratio of the volume after heated expansion to the volume before heated expansion; the gaps between adjacent ones of the parts are adjusted to reduce thermal expansion stresses of the parts.
According to another aspect of the embodiment of the present invention, there is also provided a temperature analysis apparatus of a robot, including: the model construction unit is used for dividing the grids of the robot and establishing a grid calculation model; a first determining unit for determining mechanical parameters and thermal parameters of materials of each part of the robot; a second determining unit that determines a thermal load and a structural load of each of the parts; a third determining unit that determines a heat transfer coefficient between the two parts and a heat radiation coefficient of each of the parts; and solving and determining the temperature distribution and the stress distribution of the robot according to the mechanical parameter, the thermal load and the structural load.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs any one of the methods.
According to another aspect of the embodiment of the present invention, there is also provided a processor, where the processor is configured to execute a program, and where the program executes any one of the methods.
In the method, firstly, the robot is divided to obtain a plurality of grids, and a calculation model of the grids is suggested, wherein the calculation model can calculate the temperature and the stress at the same time; then, determining mechanical parameters, thermal loads, structural loads, heat transfer coefficients between two adjacent parts and heat dissipation coefficients of the parts of the robot; and finally, according to the determined parameters and the grid calculation model, calculating the temperature and stress of each grid to obtain the temperature distribution and stress distribution of the robot. According to the method, the temperature distribution of the whole robot can be accurately analyzed and obtained through dividing grids and solving a grid calculation model, and the problem that the temperature of the robot is difficult to accurately analyze in the prior art is solved. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 shows a flow diagram of an embodiment of a thermoset coupling analysis method of a robot according to the present application; and
fig. 2 shows a schematic structural view of an embodiment of a thermosetting coupling analysis device of a robot according to the present application.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in order to solve the problem that it is difficult to accurately analyze the temperature distribution of the whole robot in the prior art, in an exemplary embodiment of the present application, a thermosetting coupling analysis method for a robot is provided.
According to an embodiment of the application, a thermosetting coupling analysis method of a robot is provided.
Fig. 1 is a flowchart of a temperature analysis method of a robot according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, dividing grids of the robot and establishing a grid computing model;
step S102, determining mechanical parameters and thermal parameters of materials of parts of the robot;
step S103, determining the thermal load and the structural load of each part;
step S104, determining the heat transfer coefficient between two adjacent parts and the heat dissipation coefficient of each part;
and step 105, solving the grid computing model according to the mechanical parameter, the thermal load and the structural load to determine the temperature distribution and the stress distribution of the robot.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In the method, firstly, the robot is divided to obtain a plurality of grids, and a calculation model of the grids is suggested, wherein the calculation model can calculate the temperature and the stress at the same time; then, determining mechanical parameters, thermal loads, structural loads, heat transfer coefficients between two adjacent parts and heat dissipation coefficients of the parts of the robot; and finally, according to the determined parameters and the grid calculation model, calculating the temperature and stress of each grid to obtain the temperature distribution and stress distribution of the robot. According to the method, the temperature distribution of the whole robot can be accurately analyzed and obtained through dividing grids and solving a grid calculation model, and the problem that the temperature of the robot is difficult to accurately analyze in the prior art is solved. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
In a specific embodiment of the present application, the mesh division of the robot and the establishment of the mesh calculation model include: and a thermosetting coupling unit of finite element simulation software is adopted to build a finite element grid of the robot and build a grid calculation model, so that the displacement freedom degree and the temperature freedom degree can be simultaneously included.
In another embodiment of the present application, the mechanical parameter includes at least one of: modulus of elasticity, poisson's ratio, density, yield strength, tensile strength, elongation, the thermal parameters including at least one of: thermal conductivity, specific heat capacity, thermal expansion coefficient. Of course, in practical applications, the mechanical parameters may include the above-described plurality of parameters, and likewise, the thermal parameters may include the above-described plurality of parameters. The mechanical parameters and thermal parameters of the present application are not limited to the specific parameters described above, but may be other mechanical parameters and thermal parameters.
In practical applications, if the temperature change is large, the influence of the temperature on the mechanical parameters of the material is also considered.
In yet another embodiment of the present application, the thermal load includes at least one of: the heat exchange coefficient between the meshed gears and the heat exchange coefficient of the surface of the part contacted with air. The meshing of gears generates heat due to friction, the quantity of generated heat and the contact gap are related, so that a parameter is defined, the parameter is the heat exchange coefficient between the gears which are meshed, the heat exchange coefficient between the gears which are meshed with each other is defined, heating elements such as a motor and the like do not consider the internal heat generation process, a volume heat source is defined as a whole, heat is generated due to friction in the gear meshing process, the heat is generated on the meshed teeth, the meshed teeth are always changed due to rotation of the gears, a heat generation contact pair is defined between the gears which are meshed, and the continuously changed heat generation is simulated, so that the accuracy of the obtained temperature distribution can be further ensured. The heat exchange coefficient of the surface of the part in contact with air can simulate the heat dissipation of the part through the air. The structural load is at least one of: fixed constraint, whole machine gravity, joint torque load, joint rotational speed load. Of course, in practical applications, the thermal load may include a plurality of parameters as described above, and likewise, the structural load may include a plurality of parameters as described above. In addition, the thermal load and the structural load of the present application are not limited to the specific ones described above, but may be others. The fixed constraint is to limit all degrees of freedom of the structure in space, and three translational degrees of freedom and three rotational degrees of freedom of the node of the robot subjected to the fixed constraint are completely constrained, namely the space coordinates of the node cannot be changed.
In order to more accurately determine the heat transfer coefficient between two adjacent parts, and thus to more accurately obtain the temperature distribution of the robot, in one embodiment of the present application, determining the heat transfer coefficient between two adjacent parts includes: acquiring the surface roughness of the parts, the width of the contact gap between two adjacent parts and the contact pressure between two adjacent parts; and determining the heat transfer coefficient between the two parts according to the surface roughness of the parts, the width of the contact gap between the two adjacent parts and the contact pressure between the two adjacent parts. The smoother the surface of the part, the smaller the gap, the greater the pressure, the greater the heat transfer coefficient, and vice versa.
In yet another embodiment of the present application, solving the grid computing model based on the mechanical parameter, the thermal load, and the structural load, determines a temperature distribution and a stress distribution of the robot, including: determining a time step of thermosetting coupling analysis; solving the grid calculation model according to the mechanical parameter, the thermal load and the structural load by adopting a nonlinear mode to obtain the temperature and the stress of each grid; and determining the temperature distribution and stress distribution of the robot according to the temperature and stress of each grid.
In order to avoid that the thermal expansion of the robot affects the operation of the robot for a long time, in one embodiment of the present application, after obtaining the temperature distribution and the stress distribution of the robot, the method further includes: determining a temperature abnormality region according to the temperature distribution, wherein the temperature abnormality region is a region with a temperature greater than a preset temperature; and adjusting the structure corresponding to the temperature abnormal region so as to reduce the inflow of heat and/or increase the outflow of heat. Specific tuning structures include, but are not limited to, increasing the heat dissipation area and/or changing the wall thickness of the part, etc.
In order to avoid that the thermal expansion of the robot affects the operation of the robot for a long time, in one embodiment of the present application, after obtaining the temperature distribution and the stress distribution of the robot, the method further includes: determining a region with a thermal expansion volume ratio greater than a predetermined ratio according to the stress distribution, wherein the thermal expansion volume ratio is the ratio of the volume after thermal expansion to the volume before thermal expansion; the gaps between adjacent ones of the parts are adjusted to reduce thermal expansion stresses of the parts. The thermal expansion of the parts does not have too much stress, but when the thermal expansion is restrained and can not expand freely, the thermal expansion stress is generated greatly and even larger than the structural stress generated by the force load applied to the structure, so that the excessive stress can be a problem caused by insufficient clearance, and the thermal expansion stress of the parts is reduced by adjusting the clearance or interval between the parts.
The embodiment of the application also provides a temperature analysis device of the robot, and it is to be noted that the temperature analysis device of the robot of the embodiment of the application can be used for executing the temperature analysis method for the robot provided by the embodiment of the application. The following describes a temperature analysis device of a robot provided in an embodiment of the present application.
Fig. 2 is a schematic view of a temperature analysis device of a robot according to an embodiment of the present application. As shown in fig. 2, the apparatus includes:
a thermosetting coupling unit 10 for dividing the mesh of the robot and establishing a mesh calculation model;
a first determining unit 20 for determining mechanical parameters and thermal parameters of materials of the parts of the robot;
a second determining unit 30 for determining a thermal load and a structural load of each of the above-mentioned parts;
a third determining unit 40 for determining a heat transfer coefficient between two adjacent parts and a heat radiation coefficient of each of the parts;
and a fourth determining unit 50 for determining a temperature distribution and a stress distribution of the robot according to the mechanical parameter, the thermal load, and the structural load.
In the device, the thermosetting coupling unit divides the robot to obtain a plurality of grids, and suggests a calculation model of the grids, wherein the calculation model can calculate temperature and stress at the same time; the first determining unit, the second determining unit and the third determining unit determine mechanical parameters, thermal loads, structural loads, heat transfer coefficients between two adjacent parts and heat dissipation coefficients of the parts; and a fourth determining unit calculates the temperature and stress of each grid according to the determined parameters and the grid calculation model to obtain the temperature distribution and stress distribution of the robot. The device can accurately analyze and obtain the temperature distribution of the whole robot by dividing grids and solving a grid calculation model, and solves the problem that the temperature of the robot is difficult to accurately analyze in the prior art. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
In a specific embodiment of the present application, the thermosetting coupling unit is a thermosetting coupling unit of finite element simulation software, and the thermosetting coupling unit establishes a finite element grid of the robot and establishes the grid calculation model, so that the thermosetting coupling unit can include both a displacement degree of freedom and a temperature degree of freedom.
In another embodiment of the present application, the mechanical parameter includes at least one of: modulus of elasticity, poisson's ratio, density, yield strength, tensile strength, elongation, the thermal parameters including at least one of: thermal conductivity, specific heat capacity, thermal expansion coefficient. Of course, in practical applications, the mechanical parameters may include the above-described plurality of parameters, and likewise, the thermal parameters may include the above-described plurality of parameters. The mechanical parameters and thermal parameters of the present application are not limited to the specific parameters described above, but may be other mechanical parameters and thermal parameters.
In practical applications, if the temperature change is large, the influence of the temperature on the mechanical parameters of the material is also considered.
In yet another embodiment of the present application, the thermal load includes at least one of: the heat exchange coefficient between the meshed gears and the heat exchange coefficient of the surface of the part contacted with air. The meshing of gears generates heat due to friction, the quantity of generated heat and the contact gap are related, so that a parameter is defined, the parameter is the heat exchange coefficient between the gears which are meshed, the heat exchange coefficient between the gears which are meshed with each other is defined, heating elements such as a motor and the like do not consider the internal heat generation process, a volume heat source is defined as a whole, heat is generated due to friction in the gear meshing process, the heat is generated on the meshed teeth, the meshed teeth are always changed due to rotation of the gears, a heat generation contact pair is defined between the gears which are meshed, and the continuously changed heat generation is simulated, so that the accuracy of the obtained temperature distribution can be further ensured. The heat exchange coefficient of the surface of the part in contact with air can simulate the heat dissipation of the part through the air. The structural load is at least one of: fixed constraint, whole machine gravity, joint torque load, joint rotational speed load. Of course, in practical applications, the thermal load may include a plurality of parameters as described above, and likewise, the structural load may include a plurality of parameters as described above. In addition, the thermal load and the structural load of the present application are not limited to the specific ones described above, but may be others. The fixed constraint is to limit all degrees of freedom of the structure in space, and three translational degrees of freedom and three rotational degrees of freedom of the node of the robot subjected to the fixed constraint are completely constrained, namely the space coordinates of the node cannot be changed.
In order to more accurately determine the heat transfer coefficient between two adjacent parts as described above, and thus to more accurately obtain the temperature distribution of the robot, in one embodiment of the present application, the third determining unit is further configured to: acquiring the surface roughness of the parts, the width of the contact gap between two adjacent parts and the contact pressure between two adjacent parts; and determining the heat transfer coefficient between the two parts according to the surface roughness of the parts, the width of the contact gap between the two adjacent parts and the contact pressure between the two adjacent parts. The smoother the surface of the part, the smaller the gap, the greater the pressure, the greater the heat transfer coefficient, and vice versa.
In a further embodiment of the present application, the fourth determining unit is further configured to: determining a time step of thermosetting coupling analysis; solving the grid calculation model according to the mechanical parameter, the thermal load and the structural load by adopting a nonlinear mode to obtain the temperature and the stress of each grid; and determining the temperature distribution and stress distribution of the robot according to the temperature and stress of each grid.
In order to avoid that the thermal expansion of the robot affects the operation of the robot for a long time, in an embodiment of the present application, the above device is further configured to: after the temperature distribution and the stress distribution of the robot are obtained, determining a temperature abnormal region according to the temperature distribution, wherein the temperature abnormal region is a region with a temperature greater than a preset temperature; and adjusting the structure corresponding to the temperature abnormal region so as to reduce the inflow of heat and/or increase the outflow of heat. Specific tuning structures include, but are not limited to, increasing the heat dissipation area and/or changing the wall thickness of the part, etc.
In order to avoid that the thermal expansion of the robot affects the operation of the robot for a long time, in an embodiment of the present application, the above device is further configured to: after the temperature distribution and the stress distribution of the robot are obtained, determining a region with a heated expansion volume ratio greater than a preset ratio according to the stress distribution, wherein the heated expansion volume ratio is the ratio of the volume after heated expansion to the volume before heated expansion; the gaps between adjacent ones of the parts are adjusted to reduce thermal expansion stresses of the parts. The thermal expansion of the parts does not have too much stress, but when the thermal expansion is restrained and can not expand freely, the thermal expansion stress is generated greatly and even larger than the structural stress generated by the force load applied to the structure, so that the excessive stress can be a problem caused by insufficient clearance, and the thermal expansion stress of the parts is reduced by adjusting the clearance or interval between the parts.
The temperature analysis device of the robot comprises a processor and a memory, wherein the units and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the temperature distribution of the whole robot can be accurately analyzed by adjusting the kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, which when executed by a processor, implements the above-described temperature analysis method of a robot.
The embodiment of the invention provides a processor, which is used for running a program, wherein the temperature analysis method of the robot is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:
step S101, dividing grids of the robot and establishing a grid computing model;
step S102, determining mechanical parameters and thermal parameters of materials of parts of the robot;
step S103, determining the thermal load and the structural load of each part;
step S104, determining the heat transfer coefficient between two adjacent parts and the heat dissipation coefficient of each part;
and step 105, solving the grid computing model according to the mechanical parameter, the thermal load and the structural load to determine the temperature distribution and the stress distribution of the robot.
. The device herein may be a server, PC, PAD, cell phone, etc.
The present application also provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:
step S101, dividing grids of the robot and establishing a grid computing model;
step S102, determining mechanical parameters and thermal parameters of materials of parts of the robot;
step S103, determining the thermal load and the structural load of each part;
step S104, determining the heat transfer coefficient between two adjacent parts and the heat dissipation coefficient of each part;
and step 105, solving the grid computing model according to the mechanical parameter, the thermal load and the structural load to determine the temperature distribution and the stress distribution of the robot.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) In the method, firstly, a robot is divided to obtain a plurality of grids, and a calculation model of the grids is suggested, wherein the calculation model can calculate temperature and stress simultaneously; then, determining mechanical parameters, thermal loads, structural loads, heat transfer coefficients between two adjacent parts and heat dissipation coefficients of the parts of the robot; and finally, according to the determined parameters and the grid calculation model, calculating the temperature and stress of each grid to obtain the temperature distribution and stress distribution of the robot. According to the method, the temperature distribution of the whole robot can be accurately analyzed and obtained through dividing grids and solving a grid calculation model, and the problem that the temperature of the robot is difficult to accurately analyze in the prior art is solved. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
2) In the device, the thermosetting coupling unit divides the robot to obtain a plurality of grids, and suggests a calculation model of the grids, wherein the calculation model can calculate temperature and stress at the same time; the first determining unit, the second determining unit and the third determining unit determine mechanical parameters, thermal loads, structural loads, heat transfer coefficients between two adjacent parts and heat dissipation coefficients of the parts; and a fourth determining unit calculates the temperature and stress of each grid according to the determined parameters and the grid calculation model to obtain the temperature distribution and stress distribution of the robot. The device can accurately analyze and obtain the temperature distribution of the whole robot by dividing grids and solving a grid calculation model, and solves the problem that the temperature of the robot is difficult to accurately analyze in the prior art. In addition, the temperature distribution and stress distribution of the whole robot can be obtained at the same time, so that the temperatures of different positions can be determined more accurately according to the temperature distribution and stress distribution.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (9)
1. A method for thermosetting coupling analysis of a robot, comprising:
dividing grids of the robot and establishing a grid computing model;
determining mechanical parameters and thermal parameters of materials of parts of the robot;
determining the thermal and structural loads of each of the parts;
determining a heat transfer coefficient between two adjacent parts and a heat dissipation coefficient of each part;
solving the grid computing model according to the mechanical parameters, the thermal load and the structural load, and determining the temperature distribution and stress distribution of the robot;
after obtaining the temperature profile and the stress profile of the robot, the method further comprises:
determining a temperature abnormal region according to the temperature distribution, wherein the temperature abnormal region is a region with the temperature being greater than a preset temperature;
adjusting the structure corresponding to the temperature abnormal region to reduce heat inflow and/or increase heat outflow, and after obtaining the temperature distribution and the stress distribution of the robot, the method further comprises:
determining a region with a heated expansion volume ratio greater than a predetermined ratio according to the stress distribution, wherein the heated expansion volume ratio is the ratio of the volume after heated expansion to the volume before heated expansion;
the gaps between adjacent ones of the parts are adjusted to reduce thermal expansion stresses of the parts.
2. The method of claim 1, wherein meshing the robot and building the mesh computation model comprises:
and a thermosetting coupling unit of finite element simulation software is adopted to establish finite element grids of the robot, and a grid calculation model is established.
3. The method of claim 1, wherein the mechanical parameters include at least one of: modulus of elasticity, poisson's ratio, density, yield strength, tensile strength, elongation, the thermal parameters including at least one of: thermal conductivity, specific heat capacity, thermal expansion coefficient.
4. The method of claim 1, wherein the thermal load comprises at least one of: the heat exchange coefficient between the meshed gears, the heat exchange coefficient of the surface of the part in contact with air, and at least one of the following structural loads: fixed constraint, whole machine gravity, joint torque load, joint rotational speed load.
5. The method of claim 1, wherein determining a heat transfer coefficient between two adjacent ones of the parts comprises:
acquiring the surface roughness of the part, the width of a contact gap between two adjacent parts and the contact pressure between the two adjacent parts;
and determining the heat transfer coefficient between the two parts according to the surface roughness of the parts, the width of the contact gap between the two adjacent parts and the contact pressure between the two adjacent parts.
6. The method of claim 1, wherein solving the grid computing model from the mechanical parameters, the thermal load, and the structural load, determines a temperature profile and a stress profile of the robot, comprising:
determining a time step of thermosetting coupling analysis;
solving the grid calculation model according to the mechanical parameter, the thermal load and the structural load by adopting a nonlinear mode to obtain the temperature and the stress of each grid;
and determining the temperature distribution and the stress distribution of the robot according to the temperature and the stress of each grid.
7. A temperature analysis device for a robot, comprising:
the thermosetting coupling unit is used for dividing the grids of the robot and establishing a grid calculation model;
a first determining unit for determining mechanical parameters and thermal parameters of materials of each part of the robot;
a second determining unit for determining a thermal load and a structural load of each of the parts;
a third determining unit configured to determine a heat transfer coefficient between two adjacent parts and a heat radiation coefficient of each of the parts;
a fourth determining unit for determining a temperature distribution and a stress distribution of the robot according to the mechanical parameter, the thermal load and the structural load;
the device is also for: after the temperature distribution and the stress distribution of the robot are obtained, determining a temperature abnormal region according to the temperature distribution, wherein the temperature abnormal region is a region with the temperature being greater than a preset temperature; adjusting the corresponding structure of the temperature abnormal region to reduce the inflow of heat and/or increase the outflow of heat,
the device is also for: after the temperature distribution and the stress distribution of the robot are obtained, determining a region with a heated expansion volume ratio larger than a preset ratio according to the stress distribution, wherein the heated expansion volume ratio is the ratio of the volume after heated expansion to the volume before heated expansion; the gaps between adjacent ones of the parts are adjusted to reduce thermal expansion stresses of the parts.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 6.
9. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 6.
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