Component stackable review method and device, electronic equipment and storage medium

Abstract

The invention provides a component stackable review method and device, electronic equipment and a storage medium, and belongs to the technical field of intelligent manufacturing, and the method comprises the steps: obtaining an initial three-dimensional model of a target component, setting the mass distribution and initial motion state of the initial three-dimensional model, and obtaining a rigid body model; performing grid division on the rigid body model to generate grid OBJ data; simulating a gravity simulation result of a preset number of target parts in a stacked state by using the grid OBJ data; and according to a gravity simulation result, determining an inclined state of the target component in the stacked state. According to the method, the limitation of the prior art in a complex scene can be effectively solved, through accurate physical modeling and gravity simulation, the stability of the parts in the stacking state is comprehensively evaluated, design defects are found in advance, and a scientific basis is provided for product design optimization, so that the accuracy and efficiency of review are improved, and the review efficiency is improved. And the stability and the reliability of the product are obviously improved, and the production cost and the potential safety risk are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing, and in particular to a part stackability review method and device, an electronic device, and a storage medium. BACKGROUND

[0002] The existing design for manufacturability (DFM) review technology mainly relies on feature recognition and numerical rule comparison, and cannot handle non-quantifiable review scenarios such as part tilt and self-stacking state analysis.

[0003] In addition, some existing tilt determination methods usually set a fixed tilt angle threshold (such as 10°), and if the tilt angle of an object exceeds this threshold, it is determined to be unstable. This method is simple and direct, but lacks in-depth analysis of the actual situation.

[0004] Therefore, there is an urgent need to provide a new DFM review method to meet the technical requirements of quickly and accurately reviewing the stackability of parts. SUMMARY

[0005] The present application provides a part stackability review method, device, electronic device, and storage medium to solve the problem that the existing technology relying on feature recognition and numerical rule comparison cannot review some complex review items that cannot be determined by detailed numerical rules. By developing a DFM algorithm based on gravity solution, these complex review items can be quickly and accurately evaluated.

[0006] The present application provides a part stackability review method, comprising the following steps: Obtain the initial three-dimensional model of the target part with stacking requirements; Set the mass distribution and initial motion state of the initial three-dimensional model to obtain the rigid body model of the target part; Grid division is performed on the rigid body model to generate grid OBJ data according to the discretized grid elements of all the rigid body models; Simulate the gravity simulation results of a predetermined number of target parts in a stacked state using the grid OBJ data; Determine the tilt state of all target parts in the stacked state according to the gravity simulation results, and the tilt state is used to represent the stackability of the target parts.

[0007] According to the part stackability review method provided by the present application, the gravity simulation results of a predetermined number of target parts in a stacked state are simulated using the grid OBJ data, which includes: acquire a gravity simulation motion trajectory of each rigid body model under the action of gravity; determine collision information of all the rigid body models in the stacking state according to the gravity simulation motion trajectories of all the rigid body models; position contact points of all the rigid body models when collision occurs in the stacking state based on the collision information; determine a normal vector of a position surface where each contact point is located, a projection offset of a center of mass of the rigid body model on each position surface, and an attitude angle of the rigid body model; determine a direction included angle between two adjacent rigid body models at a position surface where a contact point between the two rigid body models is located according to the normal vector of the position surface where each contact point is located; the gravity simulation result at least includes the direction included angle, the projection offset, and the attitude angle.

[0008] According to the component stackability review method provided by the application, the acquisition of the gravity simulation motion trajectory of each rigid body model under the action of gravity comprises: determine six degrees of freedom of each rigid body model in three-dimensional space based on the direction of gravity and the value of gravitational acceleration; establish a mathematical model equation of motion of each rigid body model in the six degrees of freedom under the action of gravity, the mathematical model equation including a translational motion model equation and a rotational motion model equation; solve the mathematical model equation according to the constraint conditions of the rigid body models in the stacking state, and acquire simulation position changes and simulation attitude changes of each rigid body model within each simulation time step under the action of gravity and the constraint conditions; determine the gravity simulation motion trajectory of each rigid body model based on the simulation position changes and the simulation attitude changes.

[0009] According to the component stackability review method provided by the application, after positioning the contact points of all the rigid body models when collision occurs in the stacking state based on the collision information, the method further comprises: calculate a friction force at each contact point based on the normal vector of the position surface where each contact point is located and the surface material parameters of the target component; set the friction force at each contact point as an external force acting on the related rigid body model, and update the mathematical model equation of each rigid body model.

[0010] According to the component stackability review method provided by the application, the determination of the tilting state of all the target components in the stacking state according to the gravity simulation result comprises: Determine the geometric stability judgment result of each rigid body model in the stacking state based on the included angle between the two adjacent rigid body models. Determine the static stability judgment result of each rigid body model in the stacking state based on the projection offset of the centroid of each rigid body model on the position surface of the contact point. Determine the dynamic stability judgment result of each rigid body model in the stacking state based on the attitude angle of each rigid body model in the collision process. Integrate the geometric stability judgment result, the static stability judgment result and the dynamic stability judgment result of each rigid body model to determine the inclination state of all target components in the stacking state.

[0011] According to the component stackability evaluation method provided by the application, the mass distribution and initial motion state of the initial three-dimensional model are set, and the rigid body model of the target component is obtained, which comprises: According to the material, structure and use scene of the target component, the mass distribution requirement is determined. According to the mass distribution requirement, different density areas in the initial three-dimensional model are set, and different density areas correspond to different mass distribution. The initial three-dimensional model after completing the density area setting is imported into a gravity simulation solver, and after checking and / or refining the distribution of the density area by using the gravity simulation solver and setting the initial motion state of the initial three-dimensional model, the rigid body model of the target component is generated.

[0012] According to the component stackability evaluation method provided by the application, the grid OBJ data comprises vertex information, face information, grid topology structure information and normal vector information of each face of the rigid body model.

[0013] According to the component stackability evaluation method provided by the application, after generating the grid OBJ data, further comprising: The grid OBJ data is converted from the local coordinate system of the rigid body model to the global simulation coordinate system by using the coordinate system conversion matrix.

[0014] The application also provides a component stackability evaluation device, comprising: A three-dimensional modeling unit is used for obtaining the initial three-dimensional model of the target component with stacking requirement. A model initialization unit is used for setting the mass distribution and initial motion state of the initial three-dimensional model, and obtaining the rigid body model of the target component. A mesh division unit is configured to divide the rigid body model into meshes to generate mesh OBJ data according to the discretized mesh units of all the rigid body models. A simulation running unit is configured to simulate gravity simulation results of a preset number of target components in a stacked state by using the mesh OBJ data. A design analysis unit is configured to determine the inclination state of all the target components in the stacked state according to the gravity simulation results, and the inclination state is used to represent the stackability of the target components.

[0015] The application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the component stackability review method according to any one of the above when executing the program.

[0016] The application further provides a non-transitory computer-readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the component stackability review method according to any one of the above.

[0017] The application further provides a computer program product, which includes a computer program, and the computer program is executable on a processor to implement the component stackability review method according to any one of the above.

[0018] The component stackability review method, device, electronic device, and storage medium provided by the application provide a DFM method based on gravity solving, which realizes the review of stackability review items that cannot be determined by detailed numerical rules by modeling the full-dimension rigid body pose parameters, effectively improves the review efficiency, breaks through the traditional single position analysis mode, and supports accurate simulation in a multi-rigid body complex motion scenario. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiment or related art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0020] Figure 1 is a flowchart of the component stackability review method provided by the application.

[0021] Figure 2 is a schematic diagram of the direction angle between adjacent components in a stacked state.

[0022] Figure 3is a schematic diagram of the projection offset amount and the attitude angle of the center of mass of adjacent components in a stacked state at each position surface.

[0023] Figure 4 is a flowchart of the gravity simulation solution provided by the present application.

[0024] Figure 5 is a flowchart of the inclination state judgment in a stacked state provided by the present application.

[0025] Figure 6 is a flowchart of the UI initialization of the gravity simulation design provided by the present application.

[0026] Figure 7 is a structural schematic diagram of the component stackability review device provided by the present application.

[0027] Figure 8 is a structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0029] It should be noted that in the description of the present application, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or device comprising the element. The terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, and do not limit the number of objects, for example, the first object can be one or more.

[0031] Design for Manufacturability (DFM) refers to a design method that considers manufacturing processes at the product design stage, aiming to optimize product design to improve manufacturing efficiency, reduce cost and improve product quality. The core goal of DFM is to ensure smooth production of products in the manufacturing process by considering various factors in the manufacturing process (such as material selection, process flow, assembly method, etc.) during the design stage, while reducing manufacturing complexity and potential problems.

[0032] Existing DFM reviews primarily rely on primitive feature recognition and comparison with numerical rules, failing to address non-quantifiable review scenarios (such as component tilt and self-stacking state analysis). This paper proposes a component stackability review method that, by establishing a precise physical model and incorporating gravity simulation technology, simulates component behavior during actual stacking, enabling a comprehensive assessment of component stackability. This method not only identifies potential defects in component design but also provides a crucial basis for product design optimization, ensuring component stability and reliability in actual production, effectively improving production efficiency and product quality.

[0033] Self-stacking occurs when multiple target components, under the influence of gravity, form a stable stack, relying on their own structure and interaction forces. This state is common in actual manufacturing and use, for example, during storage, transportation, or assembly. Unstable stacking can lead to component damage, assembly failure, or safety hazards.

[0034] By simulating the stability of components in their self-stacked state, we can avoid component damage or safety incidents caused by improper stacking. This helps designers proactively identify potential design issues and optimize component geometry, mass distribution, and surface properties to improve stacking stability. During the manufacturing process, a stable self-stacked state reduces manual intervention, improves the efficiency of automated assembly, and reduces production costs.

[0035] The following combination Figures 1-8 The present invention describes a component stackability review method, device, electronic device, and storage medium.

[0036] Figure 1 FIG. 1 is a flow chart of the component stackability review method provided by the present invention, such as Figure 1 As shown, including but not limited to the following steps: Step 101: Obtain an initial three-dimensional model of a target component that requires stacking.

[0037] Target parts refer to the whole or partial parts of products, components, or parts that need to be tested and evaluated. For example, they can be the outer shell parts of a household appliance, the cylinder block of an automobile engine, or the outer shell parts of a 3C product.

[0038] For example, for a home appliance housing component, the first step is to collect the design drawings and technical documentation of the target component to determine its shape, dimensions, and connection relationships. Then, appropriate 3D modeling software (such as SolidWorks or AutoCAD) is selected to construct an initial 3D model based on this data.

[0039] In the process of constructing the initial three-dimensional model, basic shapes (such as cuboids, cylinders, etc.) can be created first, and then detailed features (such as holes, grooves, bosses, etc.) can be added, and connection relationships (such as hinges, bolt connections, etc.) can be set. The initial three-dimensional model proposed in the present application refers to a three-dimensional model that only contains component geometric shape and structure information, and has not yet considered mass distribution and motion state.

[0040] In step 102, the mass distribution and initial motion state of the initial three-dimensional model are set, and a rigid body model of the target component is obtained.

[0041] The mass distribution refers to the distribution of the mass inside the component, which affects the center of gravity position and stability. Considering that uneven mass distribution in the target component can cause the center of gravity to shift, thereby affecting the stacking stability, the present application can determine the mass distribution requirements of the target component (such as a household appliance shell assembly) according to its material (such as plastic, metal, etc.) and shape structure.

[0042] Generally, the mass properties of the initial three-dimensional model can be added in the modeling software, the material density can be specified, and the mass distribution can be defined.

[0043] Further, the three-dimensional model with the mass distribution set is imported into a gravity simulation solver (such as ADAMS or Simulate), and the initial motion state is set, including the initial position (such as the coordinate origin), the attitude (such as horizontal placement), the velocity and the acceleration (usually initialized to zero). After the above settings, the obtained rigid body model has mass properties and initial motion state, and is suitable for physical simulation calculation. The establishment of the rigid body model makes the component not only have geometric shape, but also has physical properties, providing necessary physical basis for subsequent gravity simulation.

[0044] In step 103, the rigid body model is meshed to generate mesh OBJ data according to the discretized mesh elements of all rigid body models.

[0045] Meshing is the process of discretizing a continuous geometric model into a series of small elements. Mesh OBJ data is a file format that contains vertex information, face information, mesh topology, and normal vector information, which is used for numerical calculation by the gravity simulation solver. The rigid body model generated in step 102 is imported into a meshing tool (such as Gmsh or TetGen), and then a suitable meshing algorithm is selected according to the model complexity and simulation accuracy requirements, the mesh parameters are set, and the meshing operation is performed. After checking and optimizing the mesh quality, the mesh OBJ file is exported. Through meshing, the continuous geometric model can be discretized into discrete elements, so that the computer can efficiently perform numerical calculation, providing data support for subsequent simulation analysis.

[0046] Step 104, using the grid OBJ data, simulate the gravity simulation results of the preset number of target components in the stacking state.

[0047] Gravity simulation is a technique that calculates the motion and interaction of target components under the action of gravity through numerical simulation methods. In the gravity simulation solver, set the gravity direction and gravity acceleration value, establish the motion equation based on the six degrees of freedom of rigid body, consider the constraint conditions and select the appropriate numerical method to solve the motion equation, calculate the motion trajectory of multiple components under the action of gravity. At the same time, the continuous collision detection algorithm can be used to monitor the collision between components in real time, accurately locate the contact point and calculate the normal vector and tangent vector of the contact surface, so as to calculate the collision force and friction force in the subsequent calculation. Through gravity simulation, the physical behavior of the target components in the actual stacking process is simulated, including motion, collision and friction, etc., which provides intuitive and accurate basis for evaluating the stackability of the target components.

[0048] Step 105, according to the gravity simulation results, determine the inclination state of all the target components in the stacking state, the inclination state is used to characterize the stackability of the target components.

[0049] Inclination state refers to the case that the components deviate from the ideal stacking position or attitude due to the action of gravity or other external forces in the stacking state. Through geometric judgment, static equilibrium judgment and attitude angle judgment, etc., the stability of the components is comprehensively evaluated. For example, calculate the angle between the contact surface normal vector and the gravity acceleration, judge whether it is greater than the threshold value; calculate the mass center projection offset, judge whether it exceeds the set value; monitor the change amount of pitch angle and roll angle, judge whether it exceeds the set threshold value. Finally determine the inclination state of the target components in the stacking state, so as to characterize its stackability.

[0050] The following takes a certain household appliance shell assembly as an example to illustrate the specific implementation process of the above steps as follows: Collect the design drawings of the household appliance shell assembly, use SolidWorks to build its initial three-dimensional model, including basic shape, detail features and connection relationship. When building the model, ensure that all geometric details are consistent with the design drawings, especially the key connection parts and support structures, to ensure the accuracy of the model.

[0051] According to the material (plastic, density about 1200 kg / m³) of the shell assembly, set the mass distribution in SolidWorks to ensure that the physical properties of the model are consistent with the actual components. Import it into ADAMS, set the initial position as the coordinate origin, the attitude as horizontal, the velocity and acceleration as zero, and generate a rigid body model.

[0052] The rigid body model is unstructured meshed in Gmsh, and a medium mesh density is set to balance the calculation accuracy and efficiency. The OBJ file containing vertex, face, mesh topology and normal vector information is exported to provide data support for subsequent simulation.

[0053] In ADAMS, the gravity direction is set to be vertical downward, and the gravity acceleration is 9.8 m / s². The Runge-Kutta method can be used to solve the motion equation to simulate the stacking process of multiple shell components. Real-time monitoring of collisions and calculation of normal and tangent vectors of contact points ensure the accuracy of the simulation results.

[0054] If the angle between the normal vector of the contact surface and the gravity is 12°, the centroid projection offset is 6% of the bottom size, and the attitude angle change is 7°, then the stackability of the shell component can be determined according to these calculation values, and the design needs to be optimized. According to the simulation results, it is recommended to adjust the geometry or mass distribution of the component to improve its stacking stability.

[0055] The component stackability evaluation method provided by the application can effectively solve the limitations of the prior art in complex scenarios. Through accurate physical modeling and gravity simulation, the stability of the component in the stacked state is comprehensively evaluated, and design defects are found in advance, providing a scientific basis for product design optimization. This not only improves the accuracy and efficiency of the evaluation, but also significantly improves the stability and reliability of the product, reduces production costs and potential safety risks.

[0056] It should be noted that before simulating the gravity of the rigid body model, the rigid body model is meshed into multiple small units, mainly considering the following three points: (1) Numerical calculation needs: Many physical simulation methods (such as finite element method, discrete element method, etc.) are based on discretized mesh for numerical solution. By dividing the rigid body model into small units, the distribution and variation of physical quantities can be approximately described within each unit, thereby transforming complex continuous problems into a series of algebraic equations on discrete units for numerical solution.

[0057] (2) Improve calculation accuracy: Smaller units can capture the geometric details of the rigid body model and the local changes of physical phenomena more meticulously, thereby improving the accuracy of the simulation. For example, when simulating rigid body collision, smaller units can more accurately calculate contact points and normal vectors, etc.

[0058] (3) Adapt to complex geometry: For rigid body models with complex geometry, discretization into small units can more flexibly adapt to their shape characteristics, allowing the rigid body model to be more accurately described and simulated. Even in areas with irregular geometry or local details, adjusting the mesh density and division method can ensure the integrity and accuracy of the rigid body model.

[0059] In summary, the present application generates the grid OBJ data required by the gravity simulation solver by dividing the rigid body model into a series of small units, which is the discretization of the geometric model. This not only provides basic data for the subsequent physical simulation of the rigid body model by the gravity simulation solver, but also affects the accuracy and efficiency of the simulation. The quality of the grid division is directly related to the accuracy of the subsequent collision detection, physical quantity calculation, etc.

[0060] The following will explain in detail how the present application divides the rigid body model into grids, mainly including but not limited to the following steps: Step 1, import the rigid body model created in the rigid body modeling software (such as SolidWorks, AutoCAD, etc.) into the grid division tool such as Gmsh or TetGen for grid division. The file format imported is usually STL, STEP, BREP, IGES, etc., which can accurately describe the geometric shape of the rigid body model.

[0061] Step 2, according to the geometric complexity of the rigid body model and the simulation accuracy requirements, select the appropriate grid division algorithm. Common grid division algorithms include structured grid division and unstructured grid division. Among them, structured grid division is mainly suitable for regular geometric shapes, and the generated grid cells are arranged neatly and have high quality, but it may be difficult to apply in complex geometric regions. Unstructured grid division is suitable for complex geometric shapes and can adaptively divide the grid to generate triangular or tetrahedral grid cells with strong flexibility.

[0062] Step 3, determine the density, size and other parameters of the grid. The grid density reflects the fineness of the grid, and higher density can improve the simulation accuracy but increase the calculation amount; the grid size is used to control the maximum edge length or diameter of the grid cell, which can be set according to the characteristic size of the rigid body model and the accuracy requirements. At the same time, grid quality parameters such as cell shape quality, Jacobian, etc. can be set to ensure that the generated grid quality meets the simulation requirements.

[0063] Step 4, start the grid division process in the grid division tool. The grid division tool will discretize the rigid body model into a series of small units such as tetrahedral cells or triangular cells according to the selected grid division algorithm and the set parameters.

[0064] Step 5, check the quality of the generated grid to see if there are poor quality cells such as twisted, too small or too large cells. If some of the grids have quality problems, optimization measures such as adjusting the grid parameters, locally re-dividing the grid, etc. can be taken to improve the grid quality.

[0065] Step 6: Export the divided mesh in OBJ file format. The exported mesh OBJ data is a common 3D model file format that can describe the geometric shape, mesh topology structure and other information of the rigid body model. The gravity simulation solver can read the mesh OBJ data for subsequent simulation calculations.

[0066] Existing DFM review techniques have significant shortcomings when handling complex scenarios, especially when analyzing the detailed motion and interaction of stacked components. Traditional simulation methods often only provide relatively crude results, failing to accurately capture collision information, contact point details, and component posture changes. This is because traditional position-based rigid body model motion simulation methods only focus on position when solving positional constraints, ignoring the rigid body model's movement direction, resulting in inaccurate distance and angle calculations.

[0067] Penetration occurs when two rigid body models collide during simulation. Due to insufficient collision detection algorithm accuracy or improper time step settings, one rigid body model can pass through the other. This phenomenon is physically impossible, but it can occur in simulation. Physical displacement occurs when the trajectory or position of a rigid body model during simulation does not conform to actual physical laws. This can be caused by ignoring the rigid body model's direction of motion, friction, or other physical constraints.

[0068] Specifically, the direction of motion of a rigid body model affects the distance and angular relationships between it and other rigid bodies. Ignoring this direction can lead to deviations in the solution calculation results. The direction of motion of a rigid body model determines the orientation of its surface. Ignoring this direction can lead to errors in collision detection, resulting in penetration or unphysical displacement. Furthermore, ignoring the direction of motion can cause simulation results to be inconsistent with actual physical laws, affecting the assessment of component stacking stability and motion.

[0069] To address these shortcomings, this invention further refines the gravity simulation process. By acquiring the gravity-simulated motion trajectory of each target component, analyzing collision information, locating contact points, and determining relevant parameters, the accuracy and completeness of the simulation results are significantly improved. This allows designers to gain a deeper understanding of the target component's behavior in a stacked state, identify potential design flaws in advance, and optimize product design, improving production efficiency and quality.

[0070] As an optional embodiment, the step 103 mentioned using the mesh OBJ data to simulate the gravity simulation results of a preset number of target components in a stacked state specifically includes but is not limited to the following steps: Step 1: Obtain the gravity simulation motion trajectory of the rigid body model corresponding to each target component under the action of gravity.

[0071] The gravity simulation motion trajectory refers to the motion path of the rigid body model under the action of gravity over time, including the changes of position, velocity and acceleration. By establishing the six-degree-of-freedom motion equation of the rigid body, considering factors such as initial motion state, gravity direction and gravity acceleration, and using numerical solution methods (such as Euler method or Runge-Kutta method), the present application can accurately calculate the motion state change of each rigid body model within each simulation time step, thereby obtaining its gravity simulation motion trajectory.

[0072] Step 2, according to the gravity simulation motion trajectory of all rigid body models, determine the collision information of all rigid body models in the stacking state.

[0073] The collision information refers to the time, position and intensity of the collision between different rigid body models in the stacking state. By monitoring the motion trajectory of the rigid body model in real time, combined with the collision detection algorithm, the time of collision can be accurately judged, and the related collision information can be recorded.

[0074] Optionally, the specific execution process of the collision detection algorithm includes: Step 2.1, select the collision detection algorithm: select the appropriate collision detection algorithm according to the simulation requirements, such as polygon collision detection (Gilbert-Johnson-Keceoglou, GJK) algorithm, swept volume closure (Swept Volume) algorithm or continuous collision detection (Continuous Collision Detection, CCD) algorithm, etc. The collision detection algorithm used in the present application can select the CCD algorithm, which can effectively avoid the collision omission or penetration phenomenon caused by too large time step.

[0075] Step 2.2, set the collision detection parameters: set the accuracy and frequency of collision detection, and determine the threshold and tolerance range of collision detection according to the motion speed of the rigid body model and the simulation time step.

[0076] Step 2.3, real-time monitoring of collision: in the simulation process, the distance between the rigid body models is calculated in real time to determine whether a collision occurs. For fast-moving rigid body models, an interpolation method can also be used to predict the time point of collision to avoid collision omission or penetration phenomenon caused by too large time step.

[0077] Step 2.4, output collision information: once the collision is detected, the relevant information of the collision is recorded, such as collision time, collision position, collision speed, etc.

[0078] Step 3, based on the collision information, locate the contact point of all rigid body models when the collision occurs in the stacking state.

[0079] The contact point refers to the specific location of contact between two rigid body models at the time of collision. By analyzing the collision information and using geometric calculation methods (such as calculating the closest point pair), the contact point can be accurately located, which is of great significance for subsequent collision response calculation and friction force calculation.

[0080] Step 4, determine the normal vector of the location surface of each contact point, the projection offset of the centroid of the rigid body model on each location surface, and the attitude angle of the rigid body model.

[0081] The normal vector refers to the vertical direction vector of the location surface of the contact point, which is used to calculate the direction of the collision force. The centroid projection offset refers to the projection distance of the centroid of the rigid body in the direction of the contact surface normal vector, which is used to evaluate the static balance state of the target component. The attitude angle includes pitch angle, yaw angle, and roll angle, which are used to describe the attitude change of the rigid body model in three-dimensional space. Through the calculation of these parameters, the stability and dynamic behavior of the component during collision and stacking can be comprehensively evaluated.

[0082] Step 5, according to the normal vector of the location surface of each contact point, determine the direction angle between the two adjacent rigid body models at the location surface of the contact point between them.

[0083] The gravity simulation results mentioned in the present application at least include the above-mentioned direction angle, projection offset, and attitude angle.

[0084] Figure 2 is a schematic diagram of the direction angle between adjacent components in the stacked state, as shown in Figure 2 , which shows the method of determining the direction angle, where the lower component is placed on a horizontal ground tray, the upper component is stacked on the lower component, the plane normal vector is perpendicular to the upper surface of the upper component, and the gravity direction is vertically downward. The direction angle refers to the angle between the plane normal vector of the upper surface of the upper component and the gravity direction. The specific determination method is as follows: The normal vector is perpendicular to the lower surface of the upper component and points upwards to the contact surface, and the gravity direction is usually vertically downward. Then the direction angle is the angle between the plane normal vector and the gravity direction, denoted as θ , which can be calculated by the vector dot product formula: ; wherein θ is the direction angle, n is the plane normal vector, g is the gravity direction vector.

[0085] The direction angle θ reflects the inclination of the lower surface of the upper component relative to the horizontal plane (the plane perpendicular to the gravity direction). If θWhen the inclination exceeds a certain threshold (e.g., 10°-15°), it indicates that the lower surface of the upper component has a large inclination, and the upper component may not be stable enough when stacked, and there is a risk of sliding or toppling.

[0086] Figure 3 is a schematic diagram of the projection offset and the attitude angle of the center of mass of adjacent components in the stacked state, as Figure 3 As shown, assuming that the two adjacent target components are an upper component and a lower component, the lower component is placed on a horizontal ground tray, and the upper component is stacked on the lower component. The center of mass of the upper component is denoted as center of mass C1, the center of mass of the lower component is denoted as center of mass C2, and the position surface refers to the upper surface of the lower component, i.e., the surface in contact with the lower component.

[0087] The center of mass C1 of the upper component is projected on the upper surface of the lower component. The distance between the projection point of the center of mass C1 and the center point (generally the center of mass C2) of the upper surface of the lower component is calculated, i.e., the projection offset Δx, also referred to as the projection distance.

[0088] The attitude angle change Δθ refers to the change in the attitude angle of the lower component after being subjected to the pressure of the upper component. The attitude angle change Δθ can be calculated by comparing the attitude angles of the lower component in the unloaded state and the loaded state of the upper component.

[0089] The following takes a certain household appliance shell assembly as an example to specifically explain how the present application determines the gravity simulation results of a preset number of target components in the stacked state based on the grid OBJ data.

[0090] Step 1: Set the gravity direction to be vertically downward and the gravity acceleration to be 9.8 m / s² in the ADAMS software. According to the rigid body model of the household appliance shell assembly, establish a six-degree-of-freedom motion equation, and consider the initial position, attitude, velocity, and acceleration, etc. initial motion state. Use the Runge-Kutta method to solve the motion equation, calculate the position, velocity, and acceleration changes of each rigid body model within each simulation time step, and obtain the gravity simulation motion trajectory thereof.

[0091] Step 2: Use the continuous collision detection algorithm to monitor the motion trajectories of multiple shell assemblies in the stacking process in real time. When a collision between two shell assemblies is detected, record the collision information such as the time, position, and intensity of the collision.

[0092] Step 3: According to the collision information, the contact point position between the relevant shell assemblies when the collision occurs is calculated by combining the geometric calculation method. For example, the contact point is determined by calculating the closest point pair between the surfaces of two rigid body models.

[0093] Step 4: For each contact point, calculate the normal vector of the surface at which it is located. Also, calculate the offset of the projection of the rigid body's center of mass in the direction of the contact surface normal vector, as well as the change in the rigid body's attitude angle during the collision. For example, if the pitch angle of a shell component after the collision is 5°, the yaw angle is 3°, and the roll angle is 4°, then record these attitude angle changes.

[0094] Step 5: Calculate the angle between the two adjacent rigid body models at each contact point based on the normal vector of the surface at each contact point. For example, if the normal vectors of the rigid body models of the two housing components at the contact point have been determined, the relevant angle θ can be calculated using the dot product formula.

[0095] Compared to existing technologies, the component stackability assessment method provided by this invention can more accurately simulate the motion and interaction of components in a stacked state. By obtaining the simulated gravity motion trajectory of each component, analyzing collision information in detail, locating contact points, and determining relevant parameters, a comprehensive assessment of the component's stability and dynamic behavior in a stacked state can be achieved. This method not only improves the accuracy and completeness of simulation results but also provides designers with more in-depth guidance for design optimization, helping to identify potential design flaws in advance, reduce scrap rates during production, and improve production efficiency and product quality.

[0096] In complex stacking simulation scenarios, accurately capturing the gravity-simulated motion trajectory of rigid body models is crucial. While existing technologies can provide basic simulations, they struggle to balance the accuracy of six-degree-of-freedom motion with the adaptability of constraints. This paper focuses on methods for capturing gravity-simulated motion trajectories, striving to significantly improve the accuracy and reliability of simulation results through refined modeling and solution, providing solid support for design for manufacturability during product development.

[0097] The following provides a specific implementation method for obtaining the gravity simulation motion trajectory of each rigid body model under the action of gravity, mainly including but not limited to: Step 1: Based on the direction of gravity and the value of gravity acceleration, determine the six degrees of freedom of each rigid body model in three-dimensional space.

[0098] In gravity simulation, a rigid body model's motion in three-dimensional space includes three translational degrees of freedom (along the X, Y, and Z axes) and three rotational degrees of freedom (around the X, Y, and Z axes). The direction of gravity (usually vertically downward) and the gravitational acceleration (e.g., 9.8 m / s²) are the key factors influencing rigid body motion. Determining these six degrees of freedom is fundamental to building an accurate motion model.

[0099] Step 2: Establish a mathematical model equation for each rigid body model moving in six degrees of freedom under the action of gravity. The mathematical model equation includes a translational motion model equation and a rotational motion model equation.

[0100] To accurately simulate the motion of rigid bodies under the action of gravity, a mathematical model equation needs to be constructed, including both translational and rotational parts. The translational motion model equation is constructed based on Newton's second law and can be expressed as F = m a; the rotational motion model equation uses the rotational dynamics equation, M = I α. Where M is the moment, I is the moment of inertia, and α is the angular acceleration.

[0101] Step 3, according to the constraint conditions of the rigid body model in the stacking state, solve the mathematical model equation, and obtain the simulation position change and simulation attitude change of each rigid body model under the action of gravity and constraint conditions in each simulation time step.

[0102] In the stacking state, the motion of the rigid body model is subject to various constraints, such as joint constraints, contact surface constraints, etc. These constraint conditions are introduced into the mathematical model equation in the form of equations to limit certain degrees of freedom of the rigid body. For example, a hinge joint may limit the translational freedom of the rigid body in a certain direction, allowing it to only rotate around a certain axis.

[0103] Then, the numerical method can be used to solve the mathematical model equation combined with the constraint conditions and the action of gravity. Common methods include Euler's method and Runge-Kutta method, etc. The solution can obtain the position change and attitude change of the rigid body in each simulation time step.

[0104] As one or optional embodiment, the general steps of solving the mathematical model equation using numerical method include: Step 3.1, select numerical method: common numerical methods include Euler's method and Runge-Kutta method, etc. Euler's method is a simple first-order method, fast in calculation, but relatively low in accuracy; Runge-Kutta method is a high-order method, high in accuracy, but relatively large in calculation. According to the requirements of simulation on accuracy and efficiency, select the appropriate numerical method.

[0105] Step 3.2, initialize variables: according to the initial state of the rigid body (initial position, attitude, velocity, acceleration, etc.), initialize the related variables in the solving process.

[0106] Step 3.3, discretize time step: discretize the continuous time domain into a series of small time steps Δt, so as to solve the mathematical model equation in each time step using numerical method.

[0107] Step 3.4, iterative solution: for Euler's method, use the derivative at the current time to predict the state at the next time in each time step; for Runge-Kutta method, calculate the derivatives at multiple intermediate points in each time step Δt, then use the weighted average of these derivatives to update the state at the next time.

[0108] Step 3.5, update the rigid body model state: according to the results of numerical solution, update the position, attitude, velocity and acceleration of the rigid body model and other state variables.

[0109] Step 3.6, check convergence: in the process of numerical solution, check whether the solution converges. If it is found that the solution diverges or the error is too large, the numerical method or step size parameter may need to be adjusted.

[0110] Step 3.7, record the results: record the solution results of each time step, including the position, attitude and other information of the rigid body model, so as to carry out analysis and visualization in the future.

[0111] Through the above steps, the mathematical model equation of the rigid body model is established and solved, and the position change and attitude change of the rigid body in each simulation time step are obtained, and then the gravity simulation motion trajectory is fitted, so as to provide basic data for the subsequent steps of collision detection, inclination determination and the like.

[0112] Step 4, determine the gravity simulation motion trajectory of each rigid body model based on the simulation position change and simulation attitude change.

[0113] Finally, according to the solution results, the gravity simulation motion trajectory of the shell assembly is drawn. From the gravity simulation motion trajectory, the motion details of the multiple target components in the stacking process can be clearly observed, such as smooth descent, contact with the lower part, slight collision and attitude adjustment, etc.

[0114] The component stackability review method provided by the application can significantly improve the accuracy and reliability of the simulation results by determining the six degrees of freedom of the rigid body, establishing the mathematical model equation and solving it combined with the constraint conditions. The refined simulation results help the researchers to deeply understand the actual performance of the product in the stacking or assembly process, to find and solve potential design defects in advance, to optimize the product design and to enhance the market competitiveness.

[0115] Suppose a component is placed on an inclined plane, and due to the action of gravity, the component will slide down the inclined plane. If the friction of the inclined plane or the attitude change of the component is ignored in the simulation, it may cause abnormal physical displacement phenomenon of the gravity simulation motion trajectory of the component, such as sudden jumping or sliding at an unnatural angle. Such physical displacement phenomenon that does not conform to the physical law will affect the accurate evaluation of the stacking stability and motion state of the component.

[0116] Therefore, after locating all the contact points of the rigid body models when the collision occurs in the stacking state based on the collision information, the application further comprises: Based on the normal vector of the position surface where each contact point is located and the surface material parameters of the target component, the friction at each contact point is calculated.

[0117] The calculation of friction is based on the normal vector of the surface where the contact point is located and the surface material parameters of the target component. The surface material parameters include static friction coefficient (μ_s) and kinetic friction coefficient (μ_k), which determine the friction characteristics between the contact surfaces. The static friction coefficient is related to the maximum static friction force when the components are relatively stationary, while the kinetic friction coefficient is related to the kinetic friction force when the components are in relative motion. During dynamic simulation, it is necessary to simulate the energy dissipation process to make the friction force more realistic in affecting the motion of the rigid body model. The specific calculation steps can include: Step 1, input the material parameters of the rigid body model surface, such as static friction coefficient μ_s and kinetic friction coefficient μ_k, which can be set according to the actual material characteristics or measured by experiment.

[0118] Step 2, according to the motion state of the rigid body model, determine whether the contact point is in static friction state or kinetic friction state. If there is no relative sliding between the rigid body models, use the static friction coefficient; if relative sliding occurs, use the kinetic friction coefficient.

[0119] Step 3, according to the Coulomb friction law, calculate the size and direction of the friction force. The size of the friction force is proportional to the normal force of the contact surface, and the direction is opposite to the relative motion trend or relative motion direction.

[0120] Further, set the friction force at each contact point as an external force acting on the relevant rigid body model, update the mathematical model equation of each rigid body model, and recalculate the acceleration, velocity and position of the rigid body model.

[0121] Specifically, the friction force acts as a tangential force on the contact point, which together with the normal vector affects the motion state of the rigid body. By introducing the friction force term into the original mathematical model equation, the translation and rotation model equations are comprehensively updated. The translation model equation becomes F total = ma ± f friction , and the rotation model equation becomes M total =I α± τ friction In this way, the updated mathematical model equation can more realistically reflect the complex stress and motion of the rigid body model in the stacked state, laying a foundation for subsequent simulation analysis.

[0122] where, F total is the total force on the rigid body, i.e. the vector sum of all external forces acting on the rigid body, with units of Newton; m is the mass of the rigid body, with units of kilograms; a is the translational acceleration of the rigid body; f frictionis the friction force, whose direction is opposite to the relative motion direction (or the relative motion trend direction) of the object, and the unit is Newton; M total is the total torque of the rigid body, which is the vector sum of all external torques acting on the rigid body, and the unit is Newton-meter; I is the moment of inertia of the rigid body, and the unit is kilogram square meter; and a is the angular acceleration of the rigid body, and the unit is radian per square second; τ friction is the friction torque, which is usually calculated by the product of the friction force of the contact surface and the force arm, and the unit is Newton-meter.

[0123] The relationship between the collision detection, contact point positioning and friction force calculation involved in the part stackability review method provided by the present application and the role for DFM detection are specifically explained as follows: Collision detection is the basis, which is responsible for real-time monitoring whether collision occurs between rigid bodies and determining the time and position of collision. Only after collision is detected, can contact point positioning and friction force calculation be performed. Contact point positioning is to further determine the specific contact point of collision on the basis of collision detection, calculate the normal vector and tangent vector of the contact point, and provide accurate position and direction information for collision response and friction force calculation. Friction force calculation is based on contact point information, dynamically calculates the static friction coefficient and dynamic friction coefficient according to the surface material parameters, and simulates the energy dissipation process, so that the influence of friction force on the motion of the rigid body is more realistic.

[0124] The present application can timely find the collision between rigid bodies and avoid the occurrence of object penetration or non-physical displacement phenomenon by accurate collision detection and response in the process of DFM review, so that the simulation result is closer to the actual situation and the accuracy of DFM detection is improved. Contact point positioning provides accurate collision position information, so that the collision response can correctly calculate the size and direction of the collision force. Friction force calculation can realistically reflect the relative motion between objects. If the friction force calculation is ignored, the motion of the object may not conform to the actual physical law. In addition, the stability of the target part in the self-stacking, tilting and other states and the interaction in the assembly process can be realistically simulated, which helps to find potential design problems. Collision detection can find whether the parts will collide during self-stacking or assembly, so as to evaluate its feasibility; contact point positioning helps to analyze the contact between parts, so as to evaluate its stability; and friction force calculation can simulate the anti-skid, anti-displacement and other effects between parts. The problems found by collision detection can guide the designer to optimize the geometry of the part, the contact point positioning can help the designer to optimize the contact surface design of the part, and the friction force calculation result can provide the basis for the designer to adjust the surface material or processing technology.

[0125] Figure 4is a flowchart of a gravity simulation solution provided by the present application, Figure 4 The flowchart of the gravity simulation solution shown can be preloaded into the gravity simulation solver to quickly obtain the gravity simulation result according to the mesh partition result of the rigid body model by using the gravity simulation solver.

[0126] Step 1, system initialization of the gravity simulation solver, including loading a configuration file, setting a simulation step (such as 0.01 seconds / step), defining the mass, size and material properties of the rigid body, and setting constraint parameters (such as the friction coefficient of the contact surface, joint limits, etc.), providing basic parameters for subsequent simulation. The rigid body, particle and joint elements participating in the simulation can also be loaded into the simulation space according to the product design file of the target component to build a complete simulation scene. For example, for the stacking simulation of a household appliance shell assembly, the rigid body model of the shell assembly and the joint model of the connecting component are imported to build a complete simulation scene.

[0127] Step 2, updating the velocity and angular velocity of the rigid body according to the external force and torque acting on the rigid body, that is, the gravity simulation solver reads the external force and torque data (such as gravity, contact force, friction force, etc.) acting on the rigid body model, calculates the velocity and angular velocity change of the rigid body model according to the dynamics equation, and updates the motion state of the rigid body model. For example, a rigid body model is subjected to external force F , the mass of which is m , the acceleration is calculated according to Newton's second law a = F / m , and then the velocity is updated v new = v old + a Δt, where v new is the updated velocity, v old is the velocity before updating, a and the acceleration of the rigid body.

[0128] Step 3, performing proximity detection, based on the position, attitude and motion state of the rigid body in the last simulation step, predicting the possible motion trend of the rigid body in the current step. Based on the last frame state, generate proximity constraint C prox , record the penetration depth and normal direction: based on the position, attitude and motion state of the last frame rigid body model, the gravity simulation solver efficiently detects the proximity relationship between rigid bodies by using algorithms such as spatial partitioning or Bounding Volume hierarchy. When the distance between two rigid bodies is less than a predetermined threshold, a proximity constraint C prox, record the penetration depth and normal direction. For example, when the distance between rigid body A and rigid body B is detected to be less than the collision threshold, a proximity constraint is generated, and the normal direction and penetration depth of the contact surface of the two rigid bodies are recorded to provide data support for subsequent collision response calculations.

[0129] Step 4, use an iterative algorithm (such as the sequential impulse method) to calculate the collision impulse based on the proximity constraint and physical laws, and iteratively correct the rigid body motion state to solve the penetration problem. For example, if rigid body A and rigid body B collide, calculate the collision impulse based on the mass, velocity and normal direction of the contact surface of the two rigid bodies, update the velocity and position of the two rigid bodies to separate them and solve the penetration problem. At the same time, based on the friction coefficient and the relative motion trend, calculate the friction impulse to limit the tangential slip. For example, if the two rigid bodies have a relative sliding tendency on the contact surface, calculate the friction impulse according to Coulomb's law of friction to update the angular velocity of the rigid body and limit its tangential slip, simulating the real friction effect.

[0130] Step 5, predict the position x n+1 and direction q n+1 of the next frame: combine the current velocity, angular velocity and kinematic formula to predict the position and direction of the rigid body in the next frame. For example, the translational position prediction formula is and the direction prediction formula is to provide the predicted state for subsequent constraint solving. Wherein, v is the current velocity, Δ t is the time step, ω is the current angular velocity.

[0131] Step 6, multiple rounds of iterative constraint solving, including: defining and interrelating the definitions of four types of constraints (proximity constraints, PBD basic constraints, joint constraints, and bidirectional coupling constraints). Proximity constraints are prioritized to correct penetration displacement, followed by PBD basic constraints to ensure that particle and rigid body distances meet requirements, then joint constraints to correct displacement, and finally bidirectional coupling constraints to synchronize the states of rigid bodies and particles.

[0132] Specifically, proximity constraints refer to correcting the position of a rigid body according to the penetration displacement Δ p of the proximity constraint, and updating the velocity according to the velocity correction formula v new= v old +(Δ p / Δ t ). For example, when two rigid bodies collide, separate the rigid bodies along the normal direction according to the penetration displacement Δp, correct the position and velocity.

[0133] PBD basic constraint processing includes distance constraints between particles or rigid bodies, using position correction formulas correct the position of the particle and the rigid body to make sure it meets the distance constraint. Where Δk is the position correction, current_dist is the current distance, rest_dist is the target distance, and correction_factor is the correction factor.

[0134] Joint constraint correction includes using the Jacobian matrix projection method to correct the joint constraint displacement. For a rotational joint, according to the Jacobian matrix JC , the current angular velocity ω and the target angular velocity ω target Calculate the correction torque τ : τ = JC T ( ω target- ω ), and convert it to the global simulation coordinate system to correct the angular velocity of the joint.

[0135] Two-way coupling constraint unified processing refers to establishing a connection relationship model between rigid bodies and particles, using a unified constraint solving method to update the positions and velocities of both simultaneously.

[0136] Step 7, post-processing adjacent constraints to enhance the stability of the stack (Guendelman method): the gravity simulation solver uses the Guendelman method to post-process the adjacent constraints to enhance the stability of the stack and improve the physical authenticity and reliability of the simulation results.

[0137] Step 8, when a collision occurs between rigid bodies and the collision energy exceeds a certain threshold, trigger impact propagation calculation. Using the Guendelman method, according to the collision energy and the mass distribution of the rigid body, calculate the propagation path and influence range of the shock wave in the rigid body. For example, in the simulation of part stacking, when the upper part impacts the lower part, calculate the propagation of the shock wave in the lower part and evaluate the impact propagation results on the surrounding parts.

[0138] Based on the impact propagation results, use local rigid body property adjustment and constraint strengthening strategies to enhance the stability of the stack. For example, increase the friction coefficient between rigid bodies in the impact area, or introduce a damping term when calculating joint constraints to improve system stability.

[0139] Step 9, output and rendering, includes: updating the final position, posture, velocity, angular velocity and other status information of the rigid body obtained by simulation calculation to the display system. The display system converts the updated rigid body status information into a format recognizable by the rendering engine for visual rendering. For example, the rigid body position and posture information is passed to the OpenGL rendering engine to generate an intuitive simulation animation for users to view and analyze. Users can observe the motion and interaction of rigid bodies through the visual interface and analyze the effects of collision, friction and constraints. For example, observing the stacking simulation animation of household appliance housing components to check whether there are component collisions or instability phenomena provides a basis for product design optimization.

[0140] Step 10: Execute parameter tuning, which mainly includes time step adjustment, iteration number adjustment, friction coefficient calibration, and fine-tuning of other parameters.

[0141] For example, adjust the time step size based on simulation stability and accuracy requirements. For high-speed motion or fine manipulation scenarios, reduce the time step size (for example, from 0.01 seconds / step to 0.005 seconds / step) to improve simulation accuracy.

[0142] Adjust the number of iterations to balance computational cost and simulation accuracy. For scenarios with limited computing resources, reduce the number of iterations appropriately and improve the computational efficiency of each iteration by optimizing the algorithm.

[0143] Friction coefficient calibration can be used to calibrate the friction coefficient of a rigid surface based on experimental data or empirical formulas. For example, if a friction test determines the friction coefficient of a plastic material to be 0.3, the corresponding settings can be made in the simulation to improve the accuracy of friction force calculations.

[0144] Fine-tuning other parameters, such as adjusting the restitution coefficient (e.g., from 0.8 to 0.5) to change the rebound effect of the rigid body after a collision, or optimizing mass properties (e.g., refining the mass property settings in a rigid body model with uneven mass distribution), can comprehensively improve the performance of the gravity simulation solver.

[0145] The component stackability assessment method proposed in this paper incorporates constraints based on six-degree-of-freedom motion modeling, breaking through the limitations of traditional methods that focus solely on position. Specifically, friction is incorporated into the mathematical model equations to update the rigid body motion state. This innovative combination makes simulation results more consistent with actual physical laws and provides more accurate solutions for complex stacking scenarios.

[0146] The application also innovatively proposes to calculate the friction force at the contact point and integrate it into the mathematical model equation as an external force. The static friction coefficient and the dynamic friction coefficient are calculated by the Coulomb friction law, and the translation and rotation model equations are dynamically updated. This mechanism enables the simulation model to reflect the changes in the rigid body motion state caused by the change in friction force in real time, significantly improving the accuracy and authenticity of the simulation results.

[0147] In addition, the application deepens the application of the iterative algorithm in collision response. The iterative algorithm is used to gradually correct the rigid body position and velocity to solve the penetration problem, and on this basis, the iterative calculation of collision impulse and friction impulse is used to further refine the collision response process. This deepening application effectively balances the simulation accuracy and computational efficiency, and improves the performance of the simulation system.

[0148] The prior art relies on a fixed threshold tilt determination method when evaluating the stability of component stacking, which is difficult to comprehensively consider factors such as the geometric characteristics, mass distribution and dynamic behavior of the components. The application provides a tilt state determination method that comprehensively considers multiple dimensions of stability. By comprehensively evaluating the geometric stability, static stability and dynamic stability of the three dimensions, the tilt state of the components in the stacked state can be more comprehensively and accurately determined, thereby making up for the shortcomings of the prior art and providing a more scientific evaluation basis for component stacking design in product research and production.

[0149] Figure 5 The application provides a tilt state determination process in a stacked state, as shown in Figure 5 According to the gravity simulation results, the judgment logic for determining the tilt state of all target components in the stacked state mainly includes but is not limited to: Step 1, based on the directional angle between the adjacent two rigid body models, determine the geometric stability judgment result of the rigid body model corresponding to each target component in the stacked state.

[0150] The directional angle refers to the angle between the normal vector of the adjacent two rigid body models at the contact point and the direction of gravity. This angle reflects the contribution of the geometric shape of the component to stability. The larger the directional angle, the more unfavorable the geometric shape of the component is for stable stacking.

[0151] Therefore, the application first determines the geometric stability of the component in the stacked state according to the comparison result of the directional angle and the first threshold value (such as 10°-15°). If the directional angle exceeds the first threshold value, it indicates that the geometric stability is poor, and the geometric stability judgment result is output as abnormal tilt in the stacked state. If the directional angle does not exceed the first threshold value, proceed to step 2 for judgment.

[0152] Step 2, based on the projection offset of the centroid of each rigid body model on the position surface at the contact point, determine the static stability judgment result of the rigid body model corresponding to each target component in the stacked state.

[0153] The projection offset of the center of mass refers to the projection distance of the center of mass of the rigid body in the direction of the normal vector of the contact surface. The distance reflects the balance state of the target component in the static state, and the larger the projection offset, the more likely the target component is to tip over.

[0154] The present application determines the static stability of the target component in the stacked state according to the comparison result of the center of mass projection offset and the second threshold value (such as 5% of the bottom surface feature size). If the directional angle does not exceed the second threshold value, it is considered that the stacking of all target components is normal. If the projection offset exceeds the second threshold value, it can be determined that the static stability is problematic, at which time further judgment needs to be made in step 3.

[0155] Step 3, based on the attitude angle of each rigid body model during the collision process, determine the dynamic stability judgment result of each target component in the stacked state.

[0156] The attitude angle includes pitch angle, yaw angle and roll angle, which describes the attitude change of the rigid body model in three-dimensional space, and the attitude angle change reflects the stability of the target component in the dynamic environment, so the dynamic stability of the target component in the stacked state can be determined according to the comparison result of the attitude angle change and the third threshold value (such as 5°-10°). If the attitude angle change exceeds the third threshold value, it indicates that the dynamic stability is poor, at which time the dynamic stability judgment result is output as abnormal tilt in stacking. Among them, the attitude angle change can be understood as the change of any one of the pitch angle, yaw angle and roll angle.

[0157] Step 4, comprehensively determine the tilt state of the target component in the stacked state based on the geometric stability judgment result, the static stability judgment result and the dynamic stability judgment result of each rigid body model.

[0158] In combination Figure 5 As shown in the figure, the component stackability evaluation method provided by the present application is based on the following steps to comprehensively determine the tilt state of the target component in the stacked state based on the geometric stability judgment result, the static stability judgment result and the dynamic stability judgment result of each rigid body model: First, based on the directional angle between the two adjacent rigid body models, the geometric stability is judged. If the directional angle exceeds the first preset threshold value (for example, 15°), it indicates that the geometric shape of the target component itself is not conducive to stable stacking, and there is a great risk of sliding or overturning. In this case, it can be directly determined that the tilt state of the target component is abnormal tilt in stacking (i.e. unqualified stackability), and the subsequent judgment is terminated.

[0159] Only when the geometric stability judgment is passed, the static stability judgment is made based on the center of mass projection offset of each rigid body model.

[0160] If the centroid projection offset does not exceed the preset second threshold (for example, 5% of the feature size of the bottom surface), it indicates that the centroid of the rigid body is located in the stable region of its support surface, and the static stability judgment result is stable even without considering dynamic disturbance. Therefore, the stacking state can be directly determined as "stacking normal" (i.e., the stackability is qualified), and the judgment process ends.

[0161] If the static stability judgment result indicates that the rigid body is in a critical state of static instability, statics analysis alone is not enough to determine its final stability. At this time, it cannot be directly determined as unqualified, but needs to enter the next step to make a final ruling through dynamic stability. The present application is based on the attitude angle change of each rigid body model during the collision process to judge the dynamic stability. If the attitude angle change exceeds the preset third threshold (for example, 10°), it indicates that although the component geometry and statics barely meet the conditions, severe shaking or overturning will occur during the actual dynamic stacking process, eventually leading to instability, i.e., the dynamic stability judgment result is abnormal stacking tilt (i.e., the stackability is unqualified). Conversely, if the dynamic stability judgment result is normal, it indicates that the target component can withstand the dynamic impact during the stacking process and eventually tend to be stable, so the stacking state is determined as stacking normal (i.e., the stackability is qualified).

[0162] The component stackability evaluation method provided by the present application significantly improves the accuracy and comprehensiveness of the evaluation by comprehensively evaluating the tilting state of the component in the stacking state from multiple dimensions. This method not only effectively identifies potential defects in component design, but also provides clear direction and basis for product design optimization. By optimizing the geometry, mass distribution, and surface material parameters of the component, the stacking stability of the component can be significantly improved, reducing the waste rate during production, improving production efficiency and product quality. In addition, this method also helps to identify safety hazards in the design in advance, reducing production costs and safety risks.

[0163] As an optional embodiment, the setting of the mass distribution and the initial motion state of the initial three-dimensional model and the obtaining of the rigid body model of the target component mentioned in the above embodiments include but are not limited to: determining the mass distribution requirement according to the material, structure and use scenario of the target component; setting different density regions in the initial three-dimensional model according to the mass distribution requirement, different density regions corresponding to different mass distributions; importing the initial three-dimensional model after the density region setting into the gravity simulation solver to check and / or refine the distribution of the density region and set the initial motion state of the initial three-dimensional model, and then generate the rigid body model of the target component.

[0164] Specifically, setting the mass distribution is an important link in rigid body modeling. The following is a specific implementation step provided by the present application: Step 1: Determine the need for mass distribution.

[0165] (1) Analyze the material and structure of the component: Understand what material the component is made of, as different materials have different densities and mass distributions. For example, metal components typically have more uniform mass distribution than plastic components, but if there are internal stiffeners or cavities, the mass distribution may be uneven.

[0166] (2) Consider the usage scenario of the component: If the component will experience different forces during use, the mass distribution may affect its motion characteristics and stability. For example, a component that needs to rotate at high speed may experience vibration and imbalance due to uneven mass distribution.

[0167] Step 2: Set up mass distribution using 3D modeling software.

[0168] (1) Add mass properties in modeling software: Many 3D modeling software allows users to add mass properties to the model. For example, in SolidWorks, you can set the mass and density of the component through the "Mass Properties" function.

[0169] (2) Specify material density: According to the actual material of the component, input the corresponding density value. For example, the density of steel is about 7850 kg / m³, and the density of aluminum is about 2700 kg / m³.

[0170] (3) Define mass distribution: Some software allows users to define the unevenness of mass distribution. For example, you can simulate different materials or structures inside the component by setting different density areas.

[0171] Step 3: Refine the mass distribution settings through the solver.

[0172] (1) Import the initial 3D model generated by the 3D modeling software into the gravity simulation solver. For example, save the initial 3D model as an OBJ file and then import it into the gravity simulation solver.

[0173] (2) In the gravity simulation solver, you can further refine the settings of mass distribution. For example, you can specify different mass density areas or define a mass distribution function.

[0174] (3) You can check whether the mass distribution settings are reasonable through the pre-processing function of the gravity simulation solver. For example, you can view the visualization results of mass distribution to confirm whether they meet your expectations.

[0175] Optionally, you can also perform Step 4: Set up complex mass distribution using scripts or programming.

[0176] (1) For complex mass distribution, scripts or programs can be written to achieve it. For example, use Python scripts to define different density areas in the initial three-dimensional model, or set mass distribution according to mathematical functions.

[0177] (2) The written script is imported into the gravity simulation solver, and the script is executed to apply the mass distribution setting.

[0178] (3) The gravity simulation solver can verify the correctness of the script setting of the mass distribution through the verification function.

[0179] The component stackability review method provided by the application can determine the mass distribution requirement according to the material, structure and use scene of the component, and set different density areas in the initial three-dimensional model. This makes the simulation model accurately reflect the actual physical characteristics of the component, and can more realistically simulate the behavior of the component in the stacked state compared with the traditional uniform mass distribution assumption, providing a reliable basis for subsequent simulation analysis. And by allowing different density areas to be set in the initial three-dimensional model, components with complex internal structure and non-uniform mass distribution can be processed, making up for the shortcomings of traditional methods in processing such complex components and expanding the range of assessable components. The generated rigid body model can more realistically reflect the stacking performance of the component in actual use. Based on such a model, simulation analysis can provide more targeted and practical guidance for product design optimization, helping researchers to discover design defects in advance and make improvements, and improving the stability and reliability of the product.

[0180] As an optional embodiment, the grid OBJ data obtained after the rigid body model is meshed mainly includes vertex information, face information, mesh topology structure information and normal vector information of each face of the rigid body model.

[0181] Regarding the vertex information, all vertex coordinates of the rigid body model are listed in the grid OBJ data, and each vertex is represented by a pair of three-dimensional coordinates (x, y, z) to indicate its position in space. These vertices constitute the nodes of the grid unit and are the basic data for describing the geometric shape of the rigid body model.

[0182] Regarding the face information, it contains the description of the faces (usually triangular or quadrilateral faces) of the rigid body model. Each face is defined by specifying the vertex index that constitutes the face, for example, a triangular face may be composed of vertex 1, vertex 2 and vertex 3. Face information describes the geometric surface structure of the rigid body model, and the gravity simulation solver can calculate the distribution and interaction of physical quantities on the surface according to the face information, such as contact surface judgment in collision detection.

[0183] Regarding the mesh topology, it reflects the connection relationship between each mesh element, that is, which vertices or edges are shared between adjacent mesh elements. This topological information helps the gravity simulation solver quickly locate and access other mesh elements adjacent to a certain element during physical calculation, thereby more efficiently performing numerical solution.

[0184] Regarding the normal vector information, for some simulations that need to consider the directionality of the surface (such as light calculation, fluid-solid interaction, etc.), the mesh OBJ data can also include normal vector information for each face. The normal vector represents the orientation of the face, which helps the gravity simulation solver consider the directional factors of the surface during calculation, thereby more accurately simulating physical phenomena.

[0185] It should be noted that, after the grid OBJ data generated by the mesh division of the rigid body model, the present application further comprises: Using the coordinate system transformation matrix, the mesh OBJ data is converted from the local coordinate system of the rigid body model to the global simulation coordinate system.

[0186] In the DFM review technology, the mesh OBJ data of the rigid body model is usually based on the local coordinate system, which is effective in the analysis of a single rigid body model, but has limitations in complex scenarios of multiple rigid body models, such as component stacking simulation. There is a lack of unified reference frame between the local coordinate systems of different rigid body models, resulting in complex simulation settings and difficult result interpretation.

[0187] The present application solves the problem of inconsistent coordinate systems in multiple rigid body simulation by adding a key data coordinate system conversion process, converting the mesh OBJ data of the local coordinate system to the global simulation coordinate system through the coordinate system transformation matrix, thereby improving the accuracy and operability of the simulation.

[0188] The transformation matrix contains rotation and translation information, which is used to describe the relative relationship between the local coordinate system and the global coordinate system. The rotation part is usually represented as a 3x3 rotation matrix, and the translation part is represented as a 3x1 translation vector, combined into a 4x4 homogeneous transformation matrix.

[0189] The specific conversion process is: applying the transformation matrix to the coordinate conversion of the geometric information of each vertex coordinate, normal vector, etc. of the rigid body model. The converted data ensures that all rigid body models are based on the same reference system (i.e. the global coordinate system) during simulation, achieving accurate mutual position and attitude description.

[0190] The present application effectively solves the problem of inconsistent coordinate systems in multiple rigid body complex scenario simulation by adding a coordinate system conversion step, improves the accuracy and reliability of the simulation results, and enhances the applicability of the present application in multiple rigid body complex scenarios, providing a more accurate analysis tool for manufacturability design review in product development.

[0191] The application can visually show the rigid body motion and collision process through simulation animation, and output a report containing data such as rigid body position, attitude, collision times, and tilt state, thereby providing visual and quantitative basis for subsequent analysis.

[0192] Figure 6 The application provides a flowchart of user interface initialization of gravity simulation design, as shown in Figure 6 The user interface (UI) initialization flowchart can ensure that the UI is correctly configured and the parameters set by the user are restored each time the UI is started.

[0193] The following are specific implementation steps of the UI initialization described in Figure 6 The following are specific implementation steps of the UI initialization described in Step 1: When starting the application, first call the UI initialization function to set the basic layout and initial parameters of the interface. For example, in the stacking simulation software of the household appliance shell assembly, the main window size is set to 1280x720 pixels during initialization, and the default menu bar and toolbar are loaded.

[0194] Step 2: After initialization, the program enters the main loop and starts processing user input and events, such as the main interface of the simulation software appearing, waiting for the user to further operate, such as loading component models or starting simulation.

[0195] Step 3: Read the UI settings saved by the user in the last session from the configuration file or database, such as reading the window position, panel layout, and common tool position set by the user last time.

[0196] Step 4: Check whether the read UI parameters are valid, including checking whether the parameter format is correct, the value is within a reasonable range, etc., such as verifying whether the window position parameter is within the screen range, checking whether the panel layout parameter conforms to the preset layout options, etc.

[0197] Step 5: If it is determined that the UI parameters are valid, restore the UI settings, such as moving the window to the last saved position, restoring the panel layout and tool position. If it is confirmed that the UI parameters are invalid, use the default settings to initialize the UI, such as placing the window in the center of the screen, using the default panel layout and tool position.

[0198] Step 6: After completing the UI initialization flowchart, the program enters the normal running state, and the user can start loading component models or running simulation.

[0199] Figure 7 The application provides a structure diagram of a component stackability review device, as shown in Figure 7 The structure diagram of the component stackability review device mainly includes but is not limited to: The three-dimensional modeling unit 71 is mainly used for obtaining an initial three-dimensional model of the target component with stacking requirements.

[0200] The model initialization unit 72 is mainly used for setting a mass distribution and an initial motion state of the initial three-dimensional model, and obtaining a rigid body model of the target component.

[0201] The mesh division unit 73 is mainly used for mesh division of the rigid body model, so as to generate mesh OBJ data according to discrete mesh units of all rigid body models.

[0202] The simulation running unit 74 is mainly used for simulating a gravity simulation result of a preset number of target components in a stacked state by using the mesh OBJ data.

[0203] The design analysis unit 75 is used for determining an inclination state of all target components in the stacked state according to the gravity simulation result, and the inclination state is used for representing the stackability of the target component.

[0204] It should be noted that the component stackability evaluation device provided by the present application can execute the component stackability evaluation method provided by any one of the above-mentioned embodiments in the actual operation process, and will not be described here.

[0205] The component stackability evaluation device provided by the present application can effectively solve the limitations of the prior art in a complex scene, comprehensively evaluate the stability of the component in the stacked state through accurate physical modeling and gravity simulation, and find design defects in advance, which provides a scientific basis for product design optimization. This not only improves the accuracy and efficiency of the evaluation, but also significantly improves the stability and reliability of the product, reduces the production cost and potential safety risk.

[0206] Figure 8 is a structural schematic diagram of an electronic device provided by the present application, as Figure 8As shown, the electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 complete mutual communication through the communications bus 840. The processor 810 can invoke a logical instruction in the memory 830 to execute a component stackability review method, which includes: obtaining an initial three-dimensional model of a target component having stacking requirements; setting a mass distribution and an initial motion state of the initial three-dimensional model, obtaining a rigid body model of the target component; performing mesh division on the rigid body model to generate mesh OBJ data according to discretized mesh units of all the rigid body models; simulating a gravity simulation result of a preset number of the target components in a stacked state by using the mesh OBJ data; and determining an inclination state of all the target components in the stacked state according to the gravity simulation result, wherein the inclination state is used to represent stackability of the target components.

[0207] In addition, the logical instruction in the memory 830 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application or parts of the present application that essentially contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0208] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the component stackability review method provided by any of the above embodiments, the method comprising: obtaining an initial three-dimensional model of a target component having stacking requirements; setting a mass distribution and an initial motion state of the initial three-dimensional model to obtain a rigid body model of the target component; performing meshing on the rigid body model to generate mesh OBJ data according to discretized mesh elements of all the rigid body models; simulating a gravity simulation result of a preset number of the target components in a stacked state by using the mesh OBJ data; and determining an inclination state of all the target components in the stacked state according to the gravity simulation result, the inclination state being used to represent stackability of the target components.

[0209] In yet another aspect, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a component stackability review method provided by any of the above embodiments, the method comprising: obtaining an initial three-dimensional model of a target component having stacking requirements; setting a mass distribution and an initial motion state of the initial three-dimensional model to obtain a rigid body model of the target component; performing meshing on the rigid body model to generate mesh OBJ data according to discretized mesh elements of all the rigid body models; simulating a gravity simulation result of a preset number of the target components in a stacked state by using the mesh OBJ data; and determining an inclination state of all the target components in the stacked state according to the gravity simulation result, the inclination state being used to represent stackability of the target components.

[0210] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0211] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0212] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of component stackability review, characterized by, The method comprises the following steps: acquiring an initial three-dimensional model of a target component with stacking requirements; setting a mass distribution and an initial motion state of the initial three-dimensional model, and acquiring a rigid body model of the target component; performing mesh division on the rigid body model to generate mesh OBJ data according to discrete mesh units of all the rigid body models; simulating a gravity simulation result of a preset number of the target components in a stacked state by using the mesh OBJ data; determining an inclination state of all the target components in the stacked state according to the gravity simulation result, the inclination state being used to represent stackability of the target components.

2. The component stackability review method of claim 1, wherein, The step of simulating the gravity simulation result of the preset number of the target components in the stacked state by using the mesh OBJ data comprises the following steps: acquiring a gravity simulation motion trajectory of each rigid body model corresponding to the target component under the action of gravity; determining collision information of all the rigid body models in the stacked state according to the gravity simulation motion trajectory of all the rigid body models; positioning a contact point of all the rigid body models when collision occurs in the stacked state based on the collision information; determining a normal vector of a position surface where each contact point is located, a projection offset of a center of mass of the rigid body model on each position surface, and an attitude angle of the rigid body model; determining a direction included angle between two adjacent rigid body models at a position surface where a contact point between the two rigid body models is located according to the normal vector of the position surface where each contact point is located; the gravity simulation result at least comprises the direction included angle, the projection offset, and the attitude angle.

3. The component stackability review method of claim 2, wherein, The step of acquiring the gravity simulation motion trajectory of each rigid body model corresponding to the target component under the action of gravity comprises the following steps: determining six degrees of freedom of each rigid body model in a three-dimensional space based on a gravity direction and a gravity acceleration value; establishing a mathematical model equation of motion of each rigid body model in the six degrees of freedom under the action of gravity, the mathematical model equation comprising a translation motion model equation and a rotation motion model equation; solving the mathematical model equation according to a constraint condition of the rigid body model in the stacked state to acquire a simulation position change and a simulation attitude change of each rigid body model within each simulation time step under the action of gravity and the constraint condition; determining the gravity simulation motion trajectory of each rigid body model based on the simulation position change and the simulation attitude change.

4. The component stackability review method of claim 3, wherein, After the step of positioning the contact point of all the rigid body models when collision occurs in the stacked state based on the collision information, the method further comprises the following steps: calculating a friction force at each contact point based on the normal vector of the position surface where each contact point is located and a surface material parameter of the target component; setting the friction force at each contact point as an external force acting on the relevant rigid body model, and updating the mathematical model equation of each rigid body model.

5. The component stackability review method of claim 2, wherein, The step of determining the inclination state of all the target components in the stacked state according to the gravity simulation result comprises the following steps: determining a geometric stability judgment result of each rigid body model corresponding to the target component in the stacked state based on the direction included angle between two adjacent rigid body models; determine a static stability judgment result of the rigid body model corresponding to each of the target components in the stacking state based on the projection offset of the centroid of each of the rigid body models on the position surface of the contact point; determine a dynamic stability judgment result of the rigid body model corresponding to each of the target components in the stacking state based on the attitude angle of each of the rigid body models in the collision process; integrate the geometric stability judgment result, the static stability judgment result and the dynamic stability judgment result of each of the rigid body models to determine the tilting state of all the target components in the stacking state.

6. The component stackability review method of claim 1, wherein, The setting of the mass distribution and the initial motion state of the initial three-dimensional model, and the obtaining of the rigid body model of the target component, comprises: determining a mass distribution requirement according to the material, structure and use scenario of the target component; setting different density regions in the initial three-dimensional model according to the mass distribution requirement, and different density regions correspond to different mass distributions; after the initial three-dimensional model with the density region set is imported into a gravity simulation solver, the gravity simulation solver is used to check and / or refine the distribution of the density region and set the initial motion state of the initial three-dimensional model, and then the rigid body model of the target component is generated.

7. The component stackability review method of claim 1, wherein, The grid OBJ data comprises vertex information, face information, grid topology structure information and normal vector information of each face of the rigid body model.

8. The component stackability review method of claim 1, wherein, After the grid OBJ data is generated, it further comprises: using a coordinate system transformation matrix to convert the grid OBJ data from a local coordinate system of the rigid body model to a global simulation coordinate system.

9. A component stackability review apparatus, characterized by, It comprises: a three-dimensional modeling unit for obtaining an initial three-dimensional model of a target component with stacking requirements; a model initialization unit for setting a mass distribution and an initial motion state of the initial three-dimensional model, and obtaining a rigid body model of the target component; a grid division unit for dividing the rigid body model into grids to generate grid OBJ data according to the discretized grid units of all the rigid body models; a simulation running unit for simulating gravity simulation results of a predetermined number of target components in a stacking state by using the grid OBJ data; a design analysis unit for determining a tilting state of all the target components in the stacking state according to the gravity simulation results, and the tilting state is used to represent the stackability of the target components.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the component stackability review method of any one of claims 1 to 8. 11.A non-transitory computer-readable storage medium having stored thereon a computer program. The computer program is executed by the processor to realize the component stackability review method of any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to realize the component stackability review method of any one of claims 1 to 8.

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