CN112068443B - Robot joint component optimization method and device, robot and storage medium - Google Patents
Robot joint component optimization method and device, robot and storage medium Download PDFInfo
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Abstract
The application relates to a robot joint component optimization method, a device, a robot and a storage medium. The method comprises the following steps: and when the original strength and the original rigidity of the joint components of the robot are determined not to meet the preset requirements, determining the reinforced areas corresponding to the joint components according to the initial structures of the joint components. And adding grids in the reinforced area, determining each added grid as an optimized object, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to a preset requirement when a topology optimization triggering operation instruction is detected. And adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements. By adopting the method, the minimum quality is guaranteed according to the optimization operation of the topological structure, the strength and the rigidity of the joint are improved, the manual adjustment of workers is not needed, the human error is reduced, and the accuracy of the structure reinforcement of the robot joint component is improved.
Description
Technical Field
The application relates to the technical field of intelligent manufacturing, in particular to a robot joint component optimization method and device, a robot and a storage medium.
Background
With the development of the intelligent manufacturing technology, a production mode of realizing industrial automatic production by using a robot is gradually applied. The robot can be composed of a plurality of joint components which are connected, and in practical application, under different application scenes, different requirements exist on joint strength and rigidity of different joint components of the robot. In order to be attached to practical application, the structure of the joint assembly needs to be strengthened in different application scenes.
Traditionally, the structure of the joint component is strengthened by adopting the artificial experience of workers such as designers or engineers, and the structure is strengthened by the artificial experience alone, so that the strengthening effect cannot be expected due to the inevitable artificial error, or the structure is strengthened too much, so that the new problem of overweight joint component is caused.
Therefore, the traditional structure reinforcing method still has the problem of low structure reinforcing precision of the robot joint assembly due to human operation errors.
Disclosure of Invention
In view of the above, it is necessary to provide a robot joint component optimization method, apparatus, robot, and storage medium capable of improving the structural reinforcement accuracy of a robot joint component.
A method of robotic joint assembly optimization, the method comprising:
when the original strength and the original rigidity of joint components of the robot are determined not to meet preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
In one embodiment, determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement includes:
determining the integral constraint condition of each optimized object according to the preset requirement;
and determining an objective function according to the overall constraint condition, and determining a topological optimization result corresponding to the minimum quality of the optimized object according to the objective function.
In one embodiment, the overall constraint condition includes a displacement response constraint determined according to a preset requirement corresponding to the target strength and a stress response constraint determined according to a preset requirement corresponding to the target stiffness; the determining an objective function according to the overall constraint condition and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the objective function includes:
acquiring a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint;
determining the quality response as an objective function of the overall constraint;
determining the minimum quality corresponding to the objective function according to the first upper limit value and the second upper limit value;
and acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
In one embodiment, adjusting the raw strength and the raw stiffness of the joint component according to the topology optimization result comprises:
converting the topological optimization result from a grid form into a corresponding geometric model form to obtain a corresponding topological optimization model;
exporting the topological optimization model into a corresponding three-dimensional format;
obtaining a topology optimization model after detail optimization by performing detail optimization on the topology optimization model in the three-dimensional format;
and adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
In one embodiment, when it is determined that the original strength and the original rigidity of the joint components of the robot do not meet the preset requirements, determining the reinforced area corresponding to each joint component according to the initial structure of each joint component comprises:
acquiring the original strength and the original rigidity of the joint assembly and the target strength and the target rigidity corresponding to the preset requirements;
comparing the original strength with the target strength, and comparing the original rigidity with the target rigidity;
when the original strength and the target strength of the joint assembly of the robot are determined to be inconsistent or the original rigidity and the target rigidity are determined to be inconsistent, acquiring an initial structure of the joint assembly determined according to the original strength and the original rigidity;
and determining a region of the material which can be increased on the structure space corresponding to the initial structure according to the initial structure, and determining the region of the material which can be increased as a region which can be strengthened and corresponds to the joint component.
In one embodiment, the manner of adjusting the original strength and the original stiffness of the joint component according to the topology optimization result includes:
determining a corresponding target reinforcement area according to the topology optimization result; the target stiffened region is smaller than the stiffened region;
and adjusting the original strength and the original rigidity of the joint component according to the target reinforcing area.
In one embodiment, the method further comprises:
acquiring joint component historical optimization data of robots of the same category in practical application;
determining to obtain a strength threshold and a rigidity threshold of the joint component according to the historical optimization data of the joint component;
acquiring an intensity value range covered by the intensity threshold and a rigidity value range covered by the rigidity threshold;
generating a preset requirement aiming at the joint component according to the strength value range and the rigidity value range; and the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
A robotic joint assembly optimization device, the device comprising:
the strengthening region determining module is used for determining strengthening regions corresponding to the joint components according to the initial structures of the joint components when determining that the original strength and the original rigidity of the joint components of the robot do not meet preset requirements;
an optimized object determining module, configured to add a new grid to the region that can be enhanced, and determine each of the new grids as an optimized object;
the topology optimization result determining module is used for responding to a topology optimization operation instruction when detecting that the topology optimization operation instruction is triggered, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and the adjusting module is used for adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
A robot comprises a machine body, a memory and a processor, wherein the memory and the processor are arranged on the machine body, the machine body comprises joint components and joint arms, and the joint arms are used for connecting the joint components; the memory stores a computer program which when executed by the processor performs the steps of:
when the original strength and the original rigidity of joint components of the robot are determined not to meet preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
when the original strength and the original rigidity of joint components of the robot are determined not to meet preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
According to the method and the device for optimizing the joint components of the robot, the robot and the storage medium, when the original strength and the original rigidity of the joint components of the robot are determined not to meet the preset requirements, the reinforced areas corresponding to the joint components are determined according to the initial structures of the joint components. The method comprises the steps of adding grids in a reinforced area, determining each added grid as an optimization object, responding to a topology optimization operation instruction when detecting that the topology optimization operation instruction is triggered, and determining a topology optimization result corresponding to the minimum quality of the optimization object according to preset requirements. And then adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements. According to the method, the aim of minimum mass is set, the condition that the weight of the joint assembly exceeds the standard when the strength and the rigidity of the joint assembly meet the requirements can be avoided, the strength and the rigidity of the joint can be improved while the quality is ensured to be minimum according to the optimization operation of the topological structure, manual adjustment of workers is not needed, the artificial error is reduced, and the accuracy of reinforcing the structure of the robot joint assembly is further improved.
Drawings
FIG. 1 is a diagram of an environment in which a method for optimizing a joint assembly of a robot is applied in one embodiment;
FIG. 2 is a schematic flow chart diagram of a method for optimizing a robotic joint assembly in one embodiment;
FIG. 3 is a schematic illustration of an alignment of an initial structure and a region of reinforcement in one embodiment;
FIG. 4 is a schematic diagram illustrating an embodiment of a comparison of a region of interest and a region of interest;
FIG. 5 is a flowchart illustrating the determination of a topology optimization result corresponding to a minimum quality of an optimized object according to an objective function in one embodiment;
FIG. 6 is a schematic diagram illustrating a process of adjusting the raw strength and the raw stiffness of the joint assembly according to the result of the topology optimization in one embodiment;
FIG. 7 is a schematic illustration of alignment before and after adjustment of joint components in one embodiment;
FIG. 8 is a block diagram of an apparatus for optimizing a joint assembly of a robot according to an embodiment;
fig. 9 is an internal structural view of the robot in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The robot joint component optimization method provided by the application can be applied to the application environment shown in fig. 1. Wherein the robot 102 and the server 104 communicate over a network. When it is determined that the original strength and the original rigidity of the joint components of the robot 102 do not satisfy the preset requirements, a region corresponding to the joint components that can be reinforced is determined from the initial structure of each joint component. The grid is added in the reinforced area, and each added grid is determined as an optimization object. And when the topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to a preset requirement. Wherein, the topology optimization operation instruction can be initiated by the user to the server 104, and the server 104 sends the topology optimization operation instruction to the robot 102 through network communication. And adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements. The robot 102 is provided with a machine body, a processor, a memory, and the like, and the server 104 may be implemented by an independent server or a server cluster formed by a plurality of servers.
In one embodiment, as shown in fig. 2, there is provided a method for optimizing a robot joint assembly, which is described by taking the method as an example applied to the robot in fig. 1, and comprises the following steps:
and S202, when the original strength and the original rigidity of the joint components of the robot are determined not to meet the preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component.
Specifically, a corresponding first comparison result is generated by acquiring target stiffness and target strength corresponding to preset requirements and original stiffness and original strength of a robot joint component and comparing the original strength and the target strength. Meanwhile, the original rigidity and the target rigidity are compared to generate a corresponding second comparison result.
Further, as shown in fig. 3, fig. 3 provides a schematic comparison diagram of the initial structure and the region that can be reinforced, and referring to fig. 3, when the original strength of the joint component of the robot is determined according to the first comparison result and is not consistent with the target strength, or the original stiffness of the joint component of the robot is determined according to the second comparison result and is not consistent with the target stiffness, the initial structure of the joint component determined according to the original strength and the original stiffness is obtained. And determining a region of the material which can be increased on the structure space corresponding to the initial structure according to the initial structure, and determining the determined region of the material which can be increased as a region which can be strengthened and corresponds to the joint component.
The region capable of being strengthened represents the conditions that interference with other parts cannot occur in the working process after strengthening, the appearance of the joint cannot be changed, the joint casting mold cannot be changed, the machining difficulty cannot be increased, even the machining cannot be performed, and the like.
And step S204, adding grids in the region capable of being strengthened, and determining each newly added grid as an optimization object.
Specifically, by adding a mesh to the strengtheneable region, a strengthening operation is performed on the strengtheneable region by simulating a new structure based on the added mesh. And determining each newly added grid as an optimization object, namely, when topology optimization is performed, indicating that topology structure optimization operation needs to be performed on each grid as the optimization object.
Step S206, when the topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to preset requirements.
Specifically, when it is detected that a user initiates a topology optimization operation based on a connected server or mobile terminal device, a corresponding topology optimization instruction is triggered according to the detected topology optimization operation. And determining a topology optimization result corresponding to the optimized minimum quality according to a preset requirement by responding to the topology optimization operation instruction.
Further, an overall constraint condition corresponding to each optimization can be determined according to a preset requirement, an objective function is further determined according to the overall constraint condition, and a topological optimization result corresponding to the minimum quality of the optimized object can be determined according to the objective function.
The overall constraint condition comprises displacement response constraint and stress response constraint, the displacement response constraint is determined according to a preset requirement corresponding to the target strength, and the stress response constraint is determined according to a preset requirement corresponding to the target rigidity.
In one embodiment, the strength is obtained by judging whether the maximum stress of the part exceeds the allowable stress of the material, namely the yield strength of the material is divided by a safety factor, the rigidity comprises static rigidity and dynamic rigidity, the static rigidity is deformation under static force, the maximum deformation does not exceed a fixed proportion of the whole size, and the influence of the dynamic rigidity, namely joint flexibility on the precision of the whole robot cannot exceed a certain fixed value.
Further, in the actual analysis, the area as large as possible is first selected, that is, the area which can be reinforced as shown in fig. 3 is selected, and the final optimized area is determined from the area which can be reinforced through calculation. For example, if A, B is large, the value of C increase is minimum when A, B is not greater than the target values a0 and B0, and conversely, if A, B is small, the value of C is maximum when A, B is not greater than the target values a0 and B0, and finally the common optimal solution of A, B, C is achieved, that is, the joint component can be optimized according to the common optimal solution to meet the preset requirement.
And S208, adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet preset requirements.
Specifically, a corresponding target reinforcement area is determined according to a topology optimization result, wherein the target reinforcement area is smaller than the reinforcement area, and the original strength and the original rigidity of the joint assembly are adjusted according to the target reinforcement area.
Further, as shown in fig. 4, fig. 4 provides a schematic diagram of a comparison between the strengthenable region and the target region, and referring to fig. 4, according to the topology optimization result, the target region smaller than the strengthenable region is determined from the strengthenable region. The target area is an area left after topology optimization is carried out on the reinforced area, namely the area which needs to be reinforced actually, and then the original strength and the original rigidity of the joint assembly can be adjusted according to the determined target reinforced area until the adjusted strength and rigidity meet preset requirements, and then the adjustment operation is stopped.
In one embodiment, when the joint component is specially configured, additional settings for topology optimization may be made, such as minimum size of the optimization area, i.e., specific settings for topology optimization, to ensure machinability of the result. For example, after optimization, a certain block needs to be added with a very thin rib and is difficult to process, the minimum size of the reserved area of the optimized area can be set to be not too small, and the optimized result can be processed.
In the robot joint component optimization method, when the original strength and the original rigidity of the joint component of the robot are determined not to meet the preset requirements, the reinforced area corresponding to the joint component is determined according to the initial structure of each joint component. The method comprises the steps of adding grids in a reinforced area, determining each added grid as an optimization object, responding to a topology optimization operation instruction when detecting that the topology optimization operation instruction is triggered, and determining a topology optimization result corresponding to the minimum quality of the optimization object according to preset requirements. And then adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements. According to the method, the aim of minimum mass is set, the condition that the weight of the joint assembly exceeds the standard when the strength and the rigidity of the joint assembly meet the requirements can be avoided, the strength and the rigidity of the joint can be improved while the quality is guaranteed to be minimum according to the optimization operation of the topological structure, the manual adjustment of workers is not needed, the artificial error is reduced, and the accuracy degree of strengthening the structure of the robot joint assembly is further improved.
In an embodiment, as shown in fig. 5, the step of determining a topology optimization result corresponding to the minimum quality of the optimized object according to the objective function, that is, the step of determining the objective function according to the overall constraint condition and determining the topology optimization result corresponding to the minimum quality of the optimized object according to the objective function specifically includes:
step S502, a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint are obtained.
Specifically, the overall constraint condition includes a displacement response constraint determined according to a preset requirement corresponding to the target strength, and a stress response constraint determined according to a preset requirement corresponding to the target stiffness, and a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint are obtained. The first upper limit value and the second upper limit value can be determined according to historical optimization data of the same type of robot, and can also be adjusted according to different requirements in an actual application scene, and are not limited to specific values.
Step S504, determine the quality response as an objective function of the overall constraint.
In particular, the mass response is taken as an objective function of the overall constraint, i.e. indicating that in this embodiment the objective to be achieved is a minimum mass of the joint component. It will be appreciated that the displacement response constraint and the stress response constraint are still required to meet the minimum mass of the adjusted joint assembly on the basis of meeting the preset requirements of strength and rigidity.
Step S506, the minimum quality corresponding to the objective function is determined according to the first upper limit value and the second upper limit value.
Specifically, by establishing a functional relationship between the first upper limit value, the second upper limit value and the target function, the minimum value of the target function can be calculated according to the first upper limit value and the second upper limit value, that is, the minimum quality corresponding to the target function is obtained.
And step S508, acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
Specifically, a corresponding topological structure is obtained by obtaining a displacement response constraint and a stress response constraint under the minimum mass and according to the obtained displacement response constraint and the stress response constraint under the minimum mass, and the obtained topological structure is determined as a topological optimization result of the joint component. According to the topological optimization result of the joint assembly, a target area which actually needs to be reinforced can be determined from the reinforced area.
In this embodiment, the quality response is determined as an objective function of the overall constraint condition by obtaining a first upper limit corresponding to the displacement response constraint and a second upper limit corresponding to the stress response constraint, the minimum quality corresponding to the objective function is determined according to the first upper limit and the second upper limit, a topological structure corresponding to the minimum quality is obtained, and the topological structure is determined as a topological optimization result corresponding to the joint component. On the basis that the requirement for meeting the preset requirement of the strength and the rigidity is met, the requirement for enabling the quality of the adjusted joint assembly to reach the minimum can be met, the requirement for meeting the preset requirement of the adjusted strength and the adjusted rigidity can be met, the problem that the quality of the joint assembly exceeds the standard can be avoided, repeated adjustment is not needed, and the work efficiency for strengthening the structure of the robot joint assembly can be improved.
In one embodiment, as shown in fig. 6, the step of adjusting the original strength and the original stiffness of the joint component according to the topology optimization result specifically includes:
step S602, converting the topology optimization result from the grid form into a corresponding geometric model form to obtain a corresponding topology optimization model.
Specifically, according to the topological structure corresponding to the minimum mass, the obtained topological optimization result corresponding to the joint component is in a grid form, and the corresponding topological optimization model can be further obtained by converting the topological optimization result from the grid form into a corresponding geometric model form.
Step S604, exporting the topology optimization model to a corresponding three-dimensional format.
Specifically, by exporting the topology optimization model as a three-dimensional model of a three-dimensional format including three coordinates, the corresponding three-dimensional format data can be applied to three-dimensional software, and the three-dimensional software can be utilized to realize the detailed optimization of the topology optimization model of the three-dimensional format.
Step S606, the topology optimization model in the three-dimensional format is obtained and subjected to detail optimization, and the topology optimization model after the detail optimization is obtained.
Specifically, the detailed optimization of the topology optimization model in the three-dimensional format, such as fine tuning of the properties of the reinforcing ribs, and addition or deletion of structures in consideration of machining and casting processes, can be performed in three-dimensional software, so that the refined topology optimization model can be derived from the three-dimensional software.
And step S608, adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
Specifically, the network is subdivided through the derived refined topology optimization model, the original strength and the original rigidity of the joint assembly are adjusted, the adjusted strength and rigidity are compared with preset requirements, and when the preset requirements are met, the current overall structure of the joint assembly is determined to meet the design requirements corresponding to the preset requirements.
In one embodiment, as shown in fig. 7, fig. 7 provides a comparison schematic diagram of the joint components before and after adjustment, referring to fig. 7, the network is subdivided by the derived refined topology optimization model, and the original strength and the original stiffness of the joint components are adjusted to obtain the strength and the stiffness of the adjusted joint components, and the maximum displacement of the adjusted joint components is reduced, for example, the maximum displacement is reduced from 2.98mm to 1.90 mm.
And when the preset requirement is met, determining that the overall structure of the current joint assembly meets the design requirement corresponding to the preset requirement. And when the strength and the rigidity of the adjusted joint component do not meet the preset requirements, returning to the step of adding grids in the reinforced area, determining each added grid as an optimization object, and repeatedly executing the step of adjusting the rigidity and the strength of the joint component until the adjusted strength and the rigidity meet the preset requirements.
In this embodiment, the topology optimization result is converted from the mesh form to the corresponding geometric model form to obtain a corresponding topology optimization model, and the topology optimization model is derived to a corresponding three-dimensional format. The three-dimensional topological optimization model is subjected to detail optimization, so that the detailed topological optimization model is obtained, and the original strength and the original rigidity of the joint component can be adjusted according to the detailed topological optimization model. The strength and the rigidity of the joint can be improved while the quality is ensured to be minimum according to the optimization operation of the topological structure, the manual adjustment of workers is not needed, the human error is reduced, and the accuracy of strengthening the structure of the robot joint assembly is further improved.
In one embodiment, a method for optimizing a robot joint assembly is provided, further comprising the steps of:
acquiring joint component historical optimization data of robots of the same category in practical application;
determining to obtain a strength threshold and a rigidity threshold of the joint component according to historical optimization data of the joint component;
acquiring an intensity value range covered by an intensity threshold and a rigidity value range covered by a rigidity threshold;
generating a preset requirement for the joint component according to the strength value range and the rigidity value range; and the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
Specifically, by acquiring historical optimization data of joint components of robots of the same category in practical application, a strength threshold and a stiffness threshold of the joint components can be determined according to the historical optimization data of the joint components. Wherein the strength threshold and the stiffness threshold of the joint assembly are used to represent the maximum optimization degree that can be achieved by the same category of robots in the historical optimization data of the joint assembly.
Further, a plurality of target strengths and target rigidities corresponding to the preset requirements are determined by obtaining the strength value range covered by the strength threshold and the rigidity value range covered by the rigidity threshold and according to the strength value range and the rigidity value range. It can be understood that the target strength and the target stiffness which are attached to different application scenes can be determined based on the strength value range and the stiffness value range according to actual requirements under different application scenes.
In this embodiment, the strength threshold and the stiffness threshold of the joint component are determined and obtained by obtaining the historical optimization data of the joint component of the robots of the same category in practical application and according to the historical optimization data of the joint component. And then, by acquiring the strength value range covered by the strength threshold and the rigidity value range covered by the rigidity threshold, a plurality of target strengths and target rigidities corresponding to the preset requirements can be determined according to the strength value range and the rigidity value range. According to the method, the target strength and the target rigidity required under different application scenes can be flexibly determined according to the historical optimization data of the joint assemblies of the robots of the same category, manual adjustment of workers is not needed, human errors are reduced, and the accuracy of strengthening the structures of the joint assemblies of the robots is further improved.
It should be understood that although the various steps in the flowcharts of fig. 2, 5-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2 and 5-6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 8, there is provided a robot joint assembly optimizing device including: a region-to-be-enhanced determination module 802, an optimization object determination module 804, a topology optimization result determination module 806, and an adjustment module 808, wherein:
and a reinforced area determining module 802, configured to determine a reinforced area corresponding to the joint component according to the initial structure of each joint component when it is determined that the original strength and the original stiffness of the joint component of the robot do not meet preset requirements.
And an optimization object determining module 804, configured to add a new grid to the strengthenable region, and determine each of the added grids as an optimization object.
And a topology optimization result determining module 806, configured to, when it is detected that a topology optimization operation instruction is triggered, determine, according to a preset requirement, a topology optimization result corresponding to the minimum quality of the optimized object in response to the topology optimization operation instruction.
And the adjusting module 808 is configured to adjust the original strength and the original stiffness of the joint assembly according to the topology optimization result until the adjusted strength and stiffness meet preset requirements.
In the robot joint assembly optimization device, when it is determined that the original strength and the original rigidity of the joint assembly of the robot do not meet the preset requirements, the reinforced area corresponding to the joint assembly is determined according to the initial structure of each joint assembly. The method comprises the steps of adding grids in a reinforced area, determining each added grid as an optimization object, responding to a topology optimization operation instruction when detecting that the topology optimization operation instruction is triggered, and determining a topology optimization result corresponding to the minimum quality of the optimization object according to preset requirements. And then adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements. According to the method, the aim of minimum mass is set, the condition that the weight of the joint assembly exceeds the standard when the strength and the rigidity of the joint assembly meet the requirements can be avoided, the strength and the rigidity of the joint can be improved while the quality is ensured to be minimum according to the optimization operation of the topological structure, manual adjustment of workers is not needed, the artificial error is reduced, and the accuracy of reinforcing the structure of the robot joint assembly is further improved.
In one embodiment, the topology optimization result determination module is further configured to:
acquiring a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint; determining the quality response as an objective function of the overall constraint condition; determining the minimum quality corresponding to the target function according to the first upper limit value and the second upper limit value; and acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
In this embodiment, the quality response is determined as an objective function of the overall constraint condition by obtaining a first upper limit corresponding to the displacement response constraint and a second upper limit corresponding to the stress response constraint, the minimum quality corresponding to the objective function is determined according to the first upper limit and the second upper limit, a topological structure corresponding to the minimum quality is obtained, and the topological structure is determined as a topological optimization result corresponding to the joint component. On the basis that the requirement for meeting the preset requirement of the strength and the rigidity is met, the requirement for enabling the quality of the adjusted joint assembly to reach the minimum can be met, the requirement for meeting the preset requirement of the adjusted strength and the adjusted rigidity can be met, the problem that the quality of the joint assembly exceeds the standard can be avoided, repeated adjustment is not needed, and the work efficiency for strengthening the structure of the robot joint assembly can be improved.
In one embodiment, the adjustment module is further configured to:
converting the topological optimization result from a grid form into a corresponding geometric model form to obtain a corresponding topological optimization model; exporting the topology optimization model into a corresponding three-dimensional format; obtaining a topology optimization model after detail optimization by performing detail optimization on the topology optimization model in the three-dimensional format; and adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
In this embodiment, the topology optimization result is converted from the mesh form to the corresponding geometric model form to obtain a corresponding topology optimization model, and the topology optimization model is derived to a corresponding three-dimensional format. The three-dimensional topological optimization model is subjected to detail optimization, so that the detailed topological optimization model is obtained, and the original strength and the original rigidity of the joint component can be adjusted according to the detailed topological optimization model. Can realize improving articular intensity and rigidity when guaranteeing the quality minimum according to topological structure optimization operation, and need not staff's manual adjustment, reduce human error, further promote to carry out the accurate degree strengthened to robot joint assembly's structure.
In one embodiment, there is provided a robot joint assembly optimizing device, further comprising:
the joint component historical optimization data acquisition module is used for acquiring joint component historical optimization data of robots of the same category in practical application;
the threshold value determining module is used for determining and obtaining the strength threshold value and the rigidity threshold value of the joint component according to historical optimization data of the joint component;
the value range acquisition module is used for acquiring an intensity value range covered by the intensity threshold and a rigidity value range covered by the rigidity threshold;
the preset requirement generating module is used for generating a preset requirement for the joint component according to the strength value range and the rigidity value range; and the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
In this embodiment, the strength threshold and the stiffness threshold of the joint component are determined and obtained by acquiring the historical optimization data of the joint component of the robots of the same category in practical application and according to the historical optimization data of the joint component. And then by acquiring the strength value range covered by the strength threshold and the rigidity value range covered by the rigidity threshold, a plurality of target strengths and target rigidities corresponding to the preset requirements can be determined according to the strength value range and the rigidity value range. According to the method, the target strength and the target rigidity required under different application scenes are flexibly determined according to the historical optimization data of the joint assemblies of the robots of the same category, manual adjustment of workers is not needed, human errors are reduced, and the accuracy degree of strengthening the structure of the joint assemblies of the robots is further improved.
In one embodiment, the topology optimization result determination module is further configured to:
determining the integral constraint condition of each optimized object according to the preset requirement; and determining an objective function according to the overall constraint condition, and determining a topological optimization result corresponding to the minimum quality of the optimized object according to the objective function.
In one embodiment, the adjustment module is further configured to:
determining a corresponding target reinforcement area according to a topology optimization result; the target reinforcement area is smaller than the reinforcement area; the green strength and green stiffness of the joint assembly are adjusted according to the target reinforcement area.
For specific limitations of the robot joint component optimization device, reference may be made to the above limitations of the robot joint component optimization method, which are not described herein again. The various modules in the above described robotic joint assembly optimization device may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a robot, the internal structure of which may be as shown in fig. 9. The robot comprises a machine body, wherein the machine body comprises joint components and joint arms, and the joint arms are used for connecting the joint components. The mechanical body is provided with a processor, a sensor, a driver, input and output equipment and a memory, the sensor is used for providing information of the robot body or the environment where the robot body is located, the control processor generates command signals according to a control program, and the joint components reach the space-specified position in a certain posture by controlling the driver of the motion coordinate of each joint. The driver converts the signal output by the control system into a high-power signal to drive the joint component to work. Wherein the processor of the robot is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of robot joint assembly optimization.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a robot is provided, which includes a machine body, a memory and a processor, wherein the memory and the processor are arranged on the machine body, the machine body includes joint components and joint arms, and the joint arms are used for connecting the joint components; the memory stores a computer program that when executed by the processor performs the steps of:
when the original strength and the original rigidity of the joint components of the robot are determined not to meet the preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
newly adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation triggering instruction is detected, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of an optimized object according to a preset requirement;
and adjusting the original strength and the original rigidity of the joint component according to the topology optimization result until the adjusted strength and rigidity meet the preset requirements.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the integral constraint condition of each optimized object according to the preset requirement;
and determining an objective function according to the overall constraint condition, and determining a topological optimization result corresponding to the minimum quality of the optimized object according to the objective function.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint;
determining the quality response as an objective function of the overall constraint condition;
determining the minimum quality corresponding to the target function according to the first upper limit value and the second upper limit value;
and acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
converting the topological optimization result from a grid form into a corresponding geometric model form to obtain a corresponding topological optimization model;
exporting the topology optimization model into a corresponding three-dimensional format;
obtaining a topology optimization model after detail optimization by performing detail optimization on the topology optimization model in the three-dimensional format;
and adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the original strength and the original rigidity of a joint assembly, and presetting target strength and target rigidity corresponding to requirements;
comparing the original strength with the target strength, and comparing the original rigidity with the target rigidity;
when the original strength and the target strength of the joint assembly of the robot are determined to be inconsistent or the original rigidity and the target rigidity are determined to be inconsistent, acquiring an initial structure of the joint assembly determined according to the original strength and the original rigidity;
and determining the area of the increasable material on the structure space corresponding to the initial structure according to the initial structure, and determining the area of the increasable material as the area of the increasable material corresponding to the joint component.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a corresponding target reinforcement area according to a topology optimization result; the target reinforcement area is smaller than the strengthenable area;
the green strength and green stiffness of the joint assembly are adjusted according to the target reinforcement area.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring joint component historical optimization data of robots of the same category in practical application;
determining to obtain a strength threshold and a rigidity threshold of the joint component according to historical optimization data of the joint component;
acquiring an intensity value range covered by an intensity threshold and a rigidity value range covered by a rigidity threshold;
generating a preset requirement for the joint component according to the strength value range and the rigidity value range; and the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
when the original strength and the original rigidity of the joint components of the robot are determined not to meet the preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
newly adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation triggering instruction is detected, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of an optimized object according to a preset requirement;
and adjusting the original strength and the original rigidity of the joint component according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the integral constraint condition of each optimized object according to the preset requirement;
and determining an objective function according to the overall constraint condition, and determining a topological optimization result corresponding to the minimum quality of the optimized object according to the objective function.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint;
determining the quality response as an objective function of the overall constraint condition;
determining the minimum quality corresponding to the target function according to the first upper limit value and the second upper limit value;
and acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
In one embodiment, the computer program when executed by the processor further performs the steps of:
converting the topological optimization result from a grid form into a corresponding geometric model form to obtain a corresponding topological optimization model;
exporting the topology optimization model into a corresponding three-dimensional format;
obtaining a topology optimization model after detail optimization by performing detail optimization on the topology optimization model in the three-dimensional format;
and adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the original strength and the original rigidity of a joint assembly, and presetting target strength and target rigidity corresponding to requirements;
comparing the original strength with the target strength, and comparing the original rigidity with the target rigidity;
when the original strength and the target strength of the joint assembly of the robot are determined to be inconsistent or the original rigidity and the target rigidity are determined to be inconsistent, acquiring an initial structure of the joint assembly determined according to the original strength and the original rigidity;
and determining the area of the increasable material on the structure space corresponding to the initial structure according to the initial structure, and determining the area of the increasable material as the area of the increasable material corresponding to the joint component.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a corresponding target reinforcement area according to a topology optimization result; the target reinforcement area is smaller than the reinforcement area;
the green strength and green stiffness of the joint assembly are adjusted according to the target reinforcement area.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring joint component historical optimization data of robots of the same category in practical application;
determining to obtain a strength threshold and a rigidity threshold of the joint component according to historical optimization data of the joint component;
acquiring an intensity value range covered by an intensity threshold and a rigidity value range covered by a rigidity threshold;
generating a preset requirement for the joint component according to the strength value range and the rigidity value range; and the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of robotic joint assembly optimization, the method comprising:
when the original strength and the original rigidity of joint components of the robot are determined not to meet preset requirements, determining a reinforced area corresponding to the joint components according to the initial structure of each joint component;
adding grids in the reinforced area, and determining each newly added grid as an optimization object;
when a topology optimization operation instruction is detected to be triggered, responding to the topology optimization operation instruction, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
2. The method according to claim 1, wherein determining a topology optimization result corresponding to a minimum quality of the optimized object according to the preset requirement comprises:
determining the integral constraint condition of each optimized object according to the preset requirement;
and determining an objective function according to the overall constraint condition, and determining a topological optimization result corresponding to the minimum quality of the optimized object according to the objective function.
3. The method of claim 2, wherein the global constraints include displacement response constraints determined from preset requirements corresponding to a target strength, and stress response constraints determined from preset requirements corresponding to a target stiffness; the determining an objective function according to the overall constraint condition and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the objective function includes:
acquiring a first upper limit value corresponding to the displacement response constraint and a second upper limit value corresponding to the stress response constraint;
determining a quality response as an objective function of the overall constraint;
determining the minimum quality corresponding to the objective function according to the first upper limit value and the second upper limit value;
and acquiring a topological structure corresponding to the minimum mass, and determining the topological structure as a topological optimization result corresponding to the joint component.
4. The method of any of claims 1 to 3, wherein adjusting the raw strength and raw stiffness of the joint assembly according to the topology optimization results comprises:
converting the topological optimization result from a grid form into a corresponding geometric model form to obtain a corresponding topological optimization model;
exporting the topology optimization model into a corresponding three-dimensional format;
obtaining a topology optimization model after detail optimization by performing detail optimization on the topology optimization model in the three-dimensional format;
and adjusting the original strength and the original rigidity of the joint component according to the topology optimization model after the detail optimization.
5. The method according to any one of claims 1 to 3, wherein when it is determined that the original strength and the original rigidity of the joint components of the robot do not satisfy the preset requirements, determining the reinforcable region corresponding to each joint component according to the original structure of the joint component comprises:
acquiring the original strength and the original rigidity of the joint assembly and the target strength and the target rigidity corresponding to the preset requirements;
comparing the original strength with the target strength, and comparing the original rigidity with the target rigidity;
when the original strength and the target strength of the joint assembly of the robot are determined to be inconsistent or the original rigidity and the target rigidity are determined to be inconsistent, acquiring an initial structure of the joint assembly determined according to the original strength and the original rigidity;
and determining a region of the material which can be increased on the structure space corresponding to the initial structure according to the initial structure, and determining the region of the material which can be increased as a region which can be strengthened and corresponds to the joint component.
6. The method of any of claims 1 to 3, wherein the manner of adjusting the raw strength and raw stiffness of the joint assembly according to the topology optimization result comprises:
determining a corresponding target reinforcement area according to the topology optimization result; the target stiffened region is smaller than the stiffened region;
and adjusting the original strength and the original rigidity of the joint component according to the target reinforcing area.
7. The method of claim 5, further comprising:
acquiring joint component historical optimization data of robots of the same category in practical application;
determining to obtain a strength threshold and a rigidity threshold of the joint component according to the historical optimization data of the joint component;
acquiring an intensity value range covered by the intensity threshold and a rigidity value range covered by the rigidity threshold;
generating a preset requirement aiming at the joint component according to the strength value range and the rigidity value range; the strength value range and the rigidity value range are used for determining a plurality of target strengths and target rigidities corresponding to the preset requirements.
8. A robotic joint assembly optimization device, the device comprising:
the strengthening region determining module is used for determining a strengthening region corresponding to the joint components according to the initial structure of each joint component when determining that the original strength and the original rigidity of the joint components of the robot do not meet the preset requirements;
an optimized object determining module, configured to add a new grid to the region that can be enhanced, and determine each of the new grids as an optimized object;
the topology optimization result determining module is used for responding to a topology optimization operation instruction when detecting that the topology optimization operation instruction is triggered, and determining a topology optimization result corresponding to the minimum quality of the optimized object according to the preset requirement;
and the adjusting module is used for adjusting the original strength and the original rigidity of the joint assembly according to the topological optimization result until the adjusted strength and rigidity meet the preset requirements.
9. A robot comprises a machine body, a memory and a processor, wherein the memory and the processor are arranged on the machine body, the machine body comprises joint components and joint arms, and the joint arms are used for connecting the joint components; the memory stores a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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