Rail system dynamics parameter determination method and device, computer equipment

Abstract

The application relates to a guide rail system dynamics parameter determination method and device and computer equipment. The method comprises the following steps: acquiring compression stiffness data and support stiffness data of a ball in a guide rail slider grid model; assigning the compression stiffness data and the support stiffness data of the ball to a pre-established nonlinear spring model to obtain a ball equivalent model; updating the guide rail slider grid model based on the ball equivalent model, and performing finite element analysis on the updated guide rail slider grid model based on a preset load parameter to determine the maximum rotation angle of the guide rail and the slider; determining a guide rail slider surface and ball contact model according to the ball equivalent model and the guide rail slider grid model; and performing finite element analysis on the guide rail slider surface and ball contact model based on the preset load parameter and the maximum rotation angle of the guide rail and the slider to determine the contact stiffness of the guide rail slider and the ball. The method can effectively determine the contact stiffness of the guide rail slider and the ball.

Description

Technical Field

[0001] This application relates to the field of guide rail system dynamics technology, and in particular to a method, apparatus, and computer equipment for determining the dynamic parameters of a guide rail system. Background Technology

[0002] With the development of automation in lithium battery production, linear motor guide rail systems are widely used. In the process of production automation, for certain highly precise equipment, the contact stiffness between the guide rail slider and the ball bearings directly affects the system's accuracy.

[0003] There are two existing methods for evaluating the contact stiffness mentioned above: theoretical analytical methods and model mesh discretization methods. Theoretical analytical methods can only evaluate the stress in the contact area and cannot evaluate the stiffness in the non-contact area. Although finite element simulation analysis can evaluate the stiffness at multiple points, it is computationally difficult to discretize a large number of balls in contact with the slider and guide rail, as the model mesh size is large and the contact does not converge.

[0004] Therefore, it is necessary to propose an effective method for determining the contact stiffness between the guide rail slider and the ball. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, and computer equipment for determining the dynamic parameters of a guide rail system that can effectively determine the contact stiffness between the guide rail slider and the ball bearing, in order to address the aforementioned technical problems.

[0006] Firstly, this application proposes a method for determining the dynamic parameters of a guide rail system, the method comprising:

[0007] Obtain the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model;

[0008] The compressive stiffness data and support stiffness of the ball are assigned to a pre-established nonlinear spring model to obtain the ball equivalent model.

[0009] The guide rail and slider mesh model is updated based on the ball equivalent model, and finite element analysis is performed on the updated guide rail and slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and slider.

[0010] Based on the ball equivalent model and the guide rail slider mesh model, determine the contact model between the guide rail slider surface and the ball.

[0011] Based on preset load parameters and the maximum rotation angle between the guide rail and the slider, a finite element analysis is performed on the contact model between the guide rail slider surface and the ball to determine the contact stiffness between the guide rail slider and the ball.

[0012] In one embodiment, the method further includes:

[0013] Different compressive stresses are provided to the upper contact surface of the ball compression stiffness test model to obtain the compression stiffness test curve; the ball compression stiffness test model includes an upper contact surface, a lower contact surface, and an equivalent ball model set between the upper and lower contact surfaces, and the lower contact surface is subject to fixed constraints.

[0014] The compressive stiffness data of the ball bearings is determined as the compressive stiffness test curve.

[0015] In one embodiment, the updated guide rail slider mesh model includes a transient dynamics calculation model and a rigid-flexible coupling dynamics calculation model; the transient dynamics calculation model is used to reflect the stiffness change of the guide rail system under load, and the rigid-flexible coupling dynamics calculation model is used to reflect the structural deformation and stiffness change of the guide rail system under load.

[0016] In one embodiment, the steps for establishing the nonlinear spring model include:

[0017] Based on the guide rail slider mesh model, extract the neutral file;

[0018] Based on neutral files, identify the contact points between the guide rail slider and the ball in the guide rail slider mesh model;

[0019] Multiple nonlinear springs are established based on the contact points, and the connection relationship between each nonlinear spring and the inner and outer rings of the ball is determined to establish a nonlinear spring model.

[0020] In one embodiment, the guide rail slider mesh model is updated based on the ball equivalent model, and finite element analysis is performed on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider, including:

[0021] Finite element analysis was performed on the updated guide rail slider mesh model based on preset load parameters to determine the target data; the target data included the displacement data, stress data and acceleration data of the guide rail slider.

[0022] Linear interpolation is performed on the target data to determine the maximum rotation angle of the guide rail and slider.

[0023] In one embodiment, the method further includes:

[0024] The contact stiffness between the guide rail slider and the ball, the compressive stiffness and support stiffness data of the ball, the calibration acceleration data and the calibration stress and strain data are substituted into the guide rail slider mesh model to obtain test data.

[0025] If the test data meets the preset conditions, the updated guide rail slider mesh model is verified; the preset conditions are used to characterize the degree of matching between the test data and the actual data of the guide rail system in normal operation.

[0026] In one embodiment, the method further includes:

[0027] If the test data does not meet the preset conditions, adjust the compression stiffness data and support stiffness data of the ball, and then proceed to the step of assigning the compression stiffness data and support stiffness data of the ball to the pre-established nonlinear spring model to obtain the ball equivalent model.

[0028] Secondly, this application also provides a device for determining the dynamic parameters of a guide rail system, the device comprising:

[0029] The data acquisition module is used to acquire the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model;

[0030] The assignment module is used to assign the compressive stiffness data and support stiffness of the ball to the pre-established nonlinear spring model to obtain the ball equivalent model.

[0031] The rotation angle determination module is used to update the guide rail slider mesh model based on the ball equivalent model, and perform finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider.

[0032] The model determination module is used to determine the contact model between the guide rail slider surface and the ball based on the ball equivalent model and the guide rail slider mesh model.

[0033] The stiffness determination module is used to perform finite element analysis on the contact model between the guide rail slider surface and the ball bearings based on preset load parameters and the maximum rotation angle between the guide rail and the slider, and to determine the contact stiffness between the guide rail slider and the ball bearings.

[0034] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described above.

[0035] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods described above.

[0036] The above-mentioned method, apparatus, and computer equipment for determining the dynamic parameters of the guide rail system have at least the following beneficial effects:

[0037] By acquiring the compressive stiffness and support stiffness data of the balls in the guide rail slider mesh model, and assigning these data to a pre-established nonlinear spring model, an equivalent ball model is obtained. This equivalent model does not require consideration of tensile stiffness, thus replacing the balls in the guide rail system and effectively solving the computational convergence problem. Furthermore, the guide rail slider mesh model is updated based on the equivalent ball model, and finite element analysis is performed on the updated model based on preset load parameters to determine the maximum rotation angle between the guide rail and slider, thereby determining the relative deformation between the guide rail slider and the balls. Based on the equivalent ball model and the guide rail slider mesh model, a simplified contact model between the guide rail slider surface and the balls is determined, reducing the mesh size by 30%, thus reducing debugging time for engineering calculation errors, decreasing workload, and improving computational efficiency. Finally, based on preset load parameters and the maximum rotation angle between the guide rail and slider, finite element analysis is performed on the contact model between the guide rail slider surface and the balls to determine the contact stiffness between the guide rail slider and the balls. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is an application environment diagram of the method for determining the dynamic parameters of the guide rail system in one embodiment;

[0040] Figure 2 This is a schematic diagram of the linear motor guide rail system in one embodiment;

[0041] Figure 3 This is a flowchart illustrating a method for determining the dynamic parameters of a guide rail system in one embodiment;

[0042] Figure 4 This is a schematic diagram of the guide rail slider mesh model in one embodiment;

[0043] Figure 5 This is a schematic diagram of a nonlinear spring model in one embodiment;

[0044] Figure 6 This is a schematic diagram of a nonlinear spring model in another embodiment;

[0045] Figure 7 This is a schematic diagram of the contact model between the guide rail slider surface and the ball bearing in one embodiment;

[0046] Figure 8This is a flowchart illustrating the method for determining the dynamic parameters of the guide rail system in another embodiment;

[0047] Figure 9 This is a schematic diagram of a ball bearing compression stiffness test model in one embodiment;

[0048] Figure 10 Here is a graph showing the compressive stiffness test results in one embodiment;

[0049] Figure 11 This is a flowchart illustrating the steps involved in establishing a nonlinear spring model in one embodiment.

[0050] Figure 12 This is a schematic diagram of a nonlinear spring model in yet another embodiment;

[0051] Figure 13 This is a flowchart illustrating the steps of updating the guide rail slider mesh model based on the ball equivalent model in one embodiment, and performing finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider.

[0052] Figure 14 This is a flowchart illustrating the method for determining the dynamic parameters of the guide rail system in yet another embodiment;

[0053] Figure 15 This is a structural block diagram of a device for determining the dynamic parameters of a guide rail system in one embodiment;

[0054] Figure 16 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0056] The method for determining the dynamic parameters of a guide rail system provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, simulations are used to simulate... Figure 2The dynamics of the linear motor guide system shown are illustrated, wherein the linear motor guide system includes a guide rail slider 202, multiple balls 204, and a guide rail 206. In response to modeling and data input operations performed by the user on the operation interface of the terminal 102, the terminal 102 acquires the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model; assigns the compressive stiffness data and support stiffness data of the balls to a pre-established nonlinear spring model 502 to obtain a ball equivalent model 702; updates the guide rail slider mesh model based on the ball equivalent model 702, and performs finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider; based on the ball equivalent model 702 and the guide rail slider mesh model, determines the contact model 60 between the guide rail slider surface and the balls; and performs finite element analysis on the contact model 60 between the guide rail slider surface and the balls based on preset load parameters and the maximum rotation angle between the guide rail and the slider to determine the contact stiffness between the guide rail slider and the balls.

[0057] In one exemplary embodiment, such as Figure 3 As shown, a method for determining the dynamic parameters of a guide rail system is provided, and this method is applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps S302 to S310. Wherein:

[0058] S302, obtain the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model.

[0059] Among them, such as Figure 4 As shown, the guide rail slider mesh model 40 can refer to the whole composed of the guide rail slider 3D model 402, multiple ball 3D models 404, and guide rail 3D model 406, and a series of meshes formed after the guide rail slider 3D model 402 and guide rail 3D model 406 are divided into hexahedral meshes by means of writing TCL language commands. It should be noted that the guide rail slider mesh model 40 includes the geometric information, mesh information, material properties, boundary conditions, loading conditions, etc. of the finite element model, for subsequent finite element analysis. The ball compression stiffness data can be used to characterize the deformation and stiffness characteristics of the ball under static loading to evaluate the stability and stiffness distribution of the ball under static conditions; the ball support stiffness data can be used to characterize the vibration characteristics and stiffness changes of the ball under dynamic loading to evaluate the vibration response and natural frequency of the structure under dynamic conditions. It should be noted that the above-mentioned ball compression stiffness data and support stiffness data can be directly obtained in response to the data input operation performed by the user on the operation interface of the terminal 102.

[0060] S304. The compressive stiffness data and support stiffness of the ball are assigned to the pre-established nonlinear spring model to obtain the ball equivalent model.

[0061] Among them, such as Figures 5-7 As shown, the nonlinear spring model 502 can refer to a three-dimensional model of the ball equivalent to the guide rail slider mesh model 40, used to characterize the contact relationship between the ball, the guide rail slider, and the guide rail. The ball equivalent model 702 can refer to a model that includes at least the above-mentioned mechanical characteristic parameters such as compressive stiffness data and support stiffness data, to simulate the actual mechanical characteristics of the ball in the linear motor guide rail.

[0062] For example, the acquired ball bearing support stiffness data can be assigned to the pre-established nonlinear spring model 502 in response to the user's input of non-phenomenal spring material information on the terminal operation interface. As for the ball bearing compression stiffness data, the inp format file of the guide rail slider mesh model 40 can be modified by changing the insertion keyword to assign the ball bearing compression stiffness data to the pre-established nonlinear spring model 502, thereby obtaining the ball bearing equivalent model 702.

[0063] S306, the guide rail slider mesh model is updated based on the ball equivalent model, and finite element analysis is performed on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle of the guide rail and slider.

[0064] The preset load parameters may include model boundary constraints applied to the updated guide rail slider mesh model 40, as well as dynamic loads such as displacement, velocity, and acceleration applied to the guide rail slider mesh model 40. The maximum rotation angle between the guide rail and the slider is used to characterize the maximum rotation angle of the slider relative to the guide rail in the guide rail system, in order to determine the deformation of the guide rail system.

[0065] For example, as can be seen from the above steps, the ball equivalent model 702, relative to the nonlinear spring model 502, includes the aforementioned compressive stiffness data and support stiffness data. Based on the determined ball equivalent model 702, the mesh model of the guide rail slider is updated, for example, by modifying material properties, so that the updated guide rail slider mesh model can accurately reflect the geometry, material properties, and boundary conditions of each component of the guide rail system. According to the actual working conditions and design requirements, preset load parameters are set, including forces, moments, or other loads acting on the slider. It is ensured that the load parameters can cover various load conditions that the guide rail slider and balls in the guide rail system may experience during actual operation. Using finite element analysis software (such as Hyperworks and Abaqus), the preset load parameters are applied to the updated guide rail slider mesh model 40 to perform static or dynamic analysis, solving for the stress, displacement, deformation, and other responses of the guide rail slider and balls under a given load. The maximum rotation angle of the guide rail and slider is determined through the analysis results.

[0066] S308, based on the ball equivalent model and the guide rail slider mesh model, determine the contact model between the guide rail slider surface and the ball.

[0067] Among them, the contact model 60 between the guide rail slider surface and the ball can refer to a relative... Figure 4 The guide rail slider mesh model 40 shown is a simplified model to reflect the contact behavior and mechanical properties between the ball and the guide rail slider. For example... Figure 7 As shown, the contact model 60 between the guide rail slider surface and the ball can be a solid ball model consisting of only one equivalent ball model 702. Based on the contact area between this solid ball model and the guide rail and guide rail slider, the guide rail and guide rail slider parts in the guide rail slider model are further simplified and reduced. It should be noted that, compared with the updated guide rail slider mesh model 40, the number of meshes required for finite element analysis is relatively reduced in the contact model 60 between the guide rail slider surface and the ball, but it still has the mechanical properties of the updated guide rail slider mesh model 40 (such as the compressive stiffness data and support stiffness data of the ball).

[0068] S310, based on preset load parameters and the maximum rotation angle of the guide rail and slider, performs finite element analysis on the contact model between the guide rail slider surface and the ball to determine the contact stiffness between the guide rail slider and the ball.

[0069] For example, after calculating the maximum rotation angle between the guide rail and the slider, this maximum rotation angle is used as one of the mechanical property parameters of the guide rail slider surface contact model 60 with the ball bearing. The guide rail slider surface contact model 60 is then updated, and finite element analysis is performed. By solving the finite element model, the stress, strain, and deformation of the contact portion between the inner guide rail slider and the ball bearing are obtained. Based on the results of the finite element analysis, the stress-strain relationship of the contact portion between the inner guide rail slider and the ball bearing can be extracted, and the contact stiffness can then be solved.

[0070] In the above embodiments, the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model 40 are obtained; the compressive stiffness data and support stiffness data of the balls are assigned to the pre-established nonlinear spring model 502 to obtain the ball equivalent model 702. Moreover, this ball equivalent model 702 does not need to consider tensile stiffness, thus replacing the balls in the guide rail system and effectively solving the calculation convergence problem; furthermore, the guide rail slider mesh model 40 is updated based on the ball equivalent model 702, and the updated guide rail slider mesh model 40 is adjusted based on preset load parameters. Finite element analysis is performed to determine the maximum rotation angle between the guide rail and the slider, thereby determining the relative deformation between the guide rail / slider and the ball. Based on the ball equivalent model 702 and the guide rail / slider mesh model 40, a simplified contact model 60 between the guide rail / slider surface and the ball is determined, reducing the mesh size by 30%, thus reducing the time spent debugging errors in engineering calculations, decreasing workload, and improving computational efficiency. Furthermore, based on preset load parameters and the maximum rotation angle between the guide rail and the slider, finite element analysis is performed on the contact model 60 between the guide rail / slider surface and the ball to determine the contact stiffness between the guide rail / slider and the ball.

[0071] In one exemplary embodiment, such as Figure 8 As shown, the method also includes:

[0072] S802 provides different compressive stresses to the upper contact surface of the ball compression stiffness test model to obtain the compression stiffness test curve; the ball compression stiffness test model includes an upper contact surface, a lower contact surface, and an equivalent ball model set between the upper and lower contact surfaces, and the lower contact surface is subject to fixed constraints.

[0073] S804, determine the compressive stiffness data of the ball bearings as the compressive stiffness test curve.

[0074] For example, such as Figure 9 As shown, the ball compression stiffness test model includes an upper contact surface 902, a lower contact surface 904, and an equivalent ball model 702 set between the upper and lower contact surfaces. Static stiffness finite element simulation of the balls in the guide rail system is performed. The equivalent ball model 702 is extracted from the guide rail slider mesh model 40. Finite element models of the two clamping plates are established and assigned relevant properties. Two reference points are established and coupled to the upper and lower clamping plates respectively. The contact relationship between the clamping plates and the balls is set. Displacement load is applied to the upper reference point, and a fixed constraint is set for the lower reference point. Data extraction is performed on the finite element analysis results, yielding the following: Figure 10 The compressive stiffness test curve is shown.

[0075] In the above embodiments, the displacement of the ball under different loads is obtained through compression tests, and then the compression stiffness curve is obtained. This allows for the simulation of the stiffness change of the ball under static load, making the overall simulation of the guide rail system more accurate.

[0076] In an exemplary embodiment, the updated guide rail slider mesh model 40 includes a transient dynamics calculation model and a rigid-flexible coupling dynamics calculation model; the transient dynamics calculation model is used to reflect the stiffness change of the guide rail system under load, and the rigid-flexible coupling dynamics calculation model is used to reflect the structural deformation and stiffness change of the guide rail system under load.

[0077] The transient dynamics calculation model refers to the transient mechanical analysis performed using finite element simulation. It can simulate and analyze the dynamic response of a guide rail system under external load excitation, including the system's vibration, stress, strain, and other dynamic characteristics. This allows for understanding the system's dynamic behavior, structural strength, and response to external excitation. For example, after obtaining the ball bearing's compressive stiffness data, it can be assigned to the nonlinear spring model 502, resulting in an equivalent ball bearing model 702 that is equivalent to the ball bearing's compressive stiffness. The guide rail slider mesh model 40 is then updated to obtain the transient dynamics calculation model. Under preset load parameters, displacement and stress data at test points in the transient dynamics calculation model are extracted. Guide rail systems, such as linear motor guide rail systems, typically include a flexible structure (guide rail, slider) and a rigid structure (motor, load, etc.). The rigid-flexible coupling dynamics calculation model refers to the calculation of the influence of the flexible structure's deformation on the rigid structure and the rigid structure's motion on the flexible structure under external load excitation, thus providing a more comprehensive description of the system's dynamic characteristics. For example, after extracting the displacement and stress data of the test points in the transient dynamic calculation model, the support stiffness data of the ball is further assigned to the ball equivalent model 702, which is equivalent to the ball compressive stiffness, to obtain a ball equivalent model 702 that can simultaneously represent the ball's compressive stiffness and support stiffness. The guide rail and slider mesh model 40 is then updated, resulting in a rigid-flexible coupling dynamic calculation model. Under the action of preset load parameters, the acceleration data of the test points in the rigid-flexible coupling dynamic calculation model is extracted. Then, the maximum rotation angle of the guide rail and slider can be calculated using the aforementioned displacement, stress, and acceleration data.

[0078] In the above embodiments, by combining the transient dynamic calculation model and the rigid-flexible coupling dynamic calculation model, both dynamic characteristics and structural deformation characteristics are reflected. Based on the acquired displacement data, stress data and acceleration data, the calculation of the maximum rotation angle of the guide rail and slider is made more accurate.

[0079] In one exemplary embodiment, such as Figure 11 As shown, the steps for establishing the nonlinear spring model 502 include:

[0080] S1102, based on the guide rail slider mesh model, extracts neutral files.

[0081] S1104, based on a neutral file, identifies the contact points between the guide rail slider and the ball in a guide rail slider mesh model.

[0082] S1106, establish multiple nonlinear springs based on the contact points, and determine the connection relationship between each nonlinear spring and the inner and outer rings of the ball to establish a nonlinear spring model.

[0083] The neutral file can refer to an H3D format file. H3D format is a format used in HyperMesh software to export finite element models, including geometric information, mesh information, material properties, boundary conditions, and loading conditions of the finite element model. Specifically, the extracted neutral file in H3D format typically includes the following parameters: node information (including node coordinates, node numbers, etc.), element information (including element type, node connection relationships, element number, etc.), material properties (including material parameters such as density, elastic modulus, and Poisson's ratio), element properties (including element thickness, cross-sectional area, etc.), node boundary conditions (including node constraints, such as fixed boundaries and displacement constraints), element boundary conditions (including element loading conditions, such as surface loads and volume forces), connection information (including information on connected elements, used to describe the connection relationships of the multibody system), and mesh generation information (including mesh generation parameters, such as mesh density and element type, etc.).

[0084] For example, in the pre-constructed guide rail slider mesh model 40, by extracting its neutral file and based on parameters such as node information in the neutral file, the contact points between the guide rail slider and the ball in the guide rail slider mesh model 40 can be automatically identified. Multiple nonlinear springs 5022 are then established based on these contact points, and the connection relationship between each nonlinear spring 5022 and the inner and outer rings of the ball is determined to establish a nonlinear spring model 502. Figure 12 As shown, 12 springs are established through the contact points between the ball and the guide rail slider. The spring units are connected to the inner and outer rings at nodes, and the node connection lines are selected to be as perpendicular as possible to simulate the actual stiffness of the ball. The spring units are set as nonlinear springs 5022.

[0085] In the above embodiments, by establishing multiple nonlinear springs 5022 at the contact point, the accuracy of the ball simulation is further ensured.

[0086] In one exemplary embodiment, such as Figure 13 As shown, the guide rail slider mesh model 40 is updated based on the ball bearing equivalent model 702, and finite element analysis is performed on the updated guide rail slider mesh model 40 based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider, including:

[0087] S1302, based on preset load parameters, performs finite element analysis on the updated guide rail slider mesh model to determine the target data; the target data includes the displacement data, stress data and acceleration data of the guide rail slider.

[0088] S1304 performs linear interpolation calculations on the target data to determine the maximum rotation angle between the guide rail and the slider.

[0089] For example, after the target data is determined, the target data can be processed by linear interpolation to obtain a continuous data curve, thereby determining the maximum rotation angle of the guide rail and the slider.

[0090] In the above embodiments, the maximum rotation angle of the guide rail and slider is determined by linear interpolation of the acquired target data and curve fitting, thereby further ensuring data accuracy.

[0091] In one exemplary embodiment, such as Figure 14 As shown, the method also includes:

[0092] S1402, substitute the contact stiffness of the guide rail slider and the ball, the compressive stiffness data and support stiffness data of the ball, the calibration acceleration data and the calibration stress-strain data into the guide rail slider mesh model to obtain test data.

[0093] Among them, the calibration acceleration data and calibration stress-strain data are used to characterize the actual operating state of the guide rail system.

[0094] For example, after determining the contact stiffness between the guide rail slider and the ball, the compressive stiffness data of the ball, and the support stiffness data, these are substituted into the guide rail slider mesh model 40. Calibrated acceleration data and calibrated stress-strain data are then loaded into the guide rail slider mesh model 40 to simulate the actual operating state of the guide rail system and test the data under this state, including, for example, contact force and contact stress data, displacement and deformation data, acceleration data, stress and strain data, and dynamic response data.

[0095] S1404, under the condition that the test data meets the preset conditions, the updated guide rail slider mesh model is verified; the preset conditions are used to characterize the degree of matching between the test data and the actual data of the guide rail system in normal operation.

[0096] For example, the simulation capability of the guide rail slider mesh model 40 is verified by model calibration, specifically by loading calibrated acceleration and stress-strain data onto the model. If the test data meets the preset conditions, it indicates that the guide rail slider mesh model 40 can accurately simulate the actual operating state of the guide rail slider and balls in the guide rail system. Furthermore, the updated guide rail slider mesh model 40 can be applied to the overall modeling of the motor guide rail system.

[0097] In the above embodiments, the accuracy of the model is verified by model calibration to ensure that the model can accurately simulate the actual operation of the guide rail system.

[0098] In one exemplary embodiment, the method further includes:

[0099] If the test data does not meet the preset conditions, adjust the compression stiffness data and support stiffness data of the ball, and then proceed to the step of assigning the compression stiffness data and support stiffness data of the ball to the pre-established nonlinear spring model to obtain the ball equivalent model.

[0100] For example, if the test data does not meet the preset conditions, the compression stiffness data and support stiffness data of the ball are adjusted and further adjusted, and reassigned to the pre-established nonlinear spring model 502 to obtain a new ball equivalent model 702. Then, the subsequent steps of calculating the contact stiffness between the guide rail slider and the ball are performed until the test data does not meet the preset conditions.

[0101] In the above embodiments, by continuously adjusting the compression stiffness data and support stiffness data of the ball bearings, the updated guide rail slider mesh model is made more accurate.

[0102] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0103] Based on the same inventive concept, this application also provides a device for determining the dynamic parameters of a guide rail system to implement the above-described method for determining the dynamic parameters of a guide rail system. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the device for determining the dynamic parameters of a guide rail system provided below can be found in the limitations of the method for determining the dynamic parameters of a guide rail system described above, and will not be repeated here.

[0104] In one exemplary embodiment, such as Figure 15 As shown, a device for determining the dynamic parameters of a guide rail system is provided, comprising:

[0105] The data acquisition module 1502 is used to acquire the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model;

[0106] The assignment module 1504 is used to assign the compressive stiffness data and support stiffness of the ball to the pre-established nonlinear spring model to obtain the ball equivalent model.

[0107] The rotation angle determination module 1506 is used to update the guide rail slider mesh model based on the ball equivalent model, and to perform finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider.

[0108] Model determination module 1508 is used to determine the contact model between the guide rail slider surface and the ball based on the ball equivalent model and the guide rail slider mesh model;

[0109] The stiffness determination module 1510 is used to perform finite element analysis on the contact model between the guide rail slider surface and the ball bearing based on preset load parameters and the maximum rotation angle between the guide rail and the slider, and to determine the contact stiffness between the guide rail slider and the ball bearing.

[0110] In an exemplary embodiment, the above-described guide rail system dynamic parameter determination device further includes:

[0111] The test module is used to provide different compressive stresses to the upper contact surface of the ball compression stiffness test model in order to obtain the compression stiffness test curve. The ball compression stiffness test model includes an upper contact surface, a lower contact surface, and an equivalent ball model set between the upper and lower contact surfaces, and the lower contact surface is subject to fixed constraints.

[0112] The compression stiffness data determination module is used to determine the compression stiffness data of the ball bearing as a compression stiffness test curve.

[0113] In an exemplary embodiment, the assignment module 1504 includes:

[0114] The neutral file extraction unit is used to extract neutral files based on the guide rail slider mesh model;

[0115] The identification unit is used to identify the contact points between the guide rail slider and the ball in the guide rail slider mesh model based on the neutral file;

[0116] The nonlinear spring model building unit is used to build multiple nonlinear springs based on contact points and determine the connection relationship between each nonlinear spring and the inner and outer rings of the ball to build a nonlinear spring model.

[0117] In an exemplary embodiment, the aforementioned angle determination module 1506 includes:

[0118] The target data determination unit is used to perform finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the target data; the target data includes the displacement data, stress data and acceleration data of the guide rail slider.

[0119] The angle determination unit is used to perform linear interpolation calculations on the target data to determine the maximum angle between the guide rail and the slider.

[0120] In one exemplary embodiment, the above-mentioned guide rail system dynamic parameter determination device includes:

[0121] The testing module is used to input the contact stiffness between the guide rail slider and the ball, the compressive stiffness data and support stiffness data of the ball, the calibration acceleration data and the calibration stress and strain data into the guide rail slider mesh model to obtain test data;

[0122] The judgment module is used to determine whether the updated guide rail slider mesh model passes verification if the test data meets the preset conditions; the preset conditions are used to characterize the degree of matching between the test data and the actual data of the guide rail system during normal operation.

[0123] In one exemplary embodiment, the above-mentioned guide rail system dynamic parameter determination device includes:

[0124] The adjustment module is used to adjust the compression stiffness data and support stiffness data of the ball when the test data does not meet the preset conditions, and then to assign the compression stiffness data and support stiffness data of the ball to a pre-established nonlinear spring model to obtain the ball equivalent model.

[0125] The modules in the aforementioned guide rail system dynamic parameter determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0126] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 16 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for determining the dynamic parameters of a guide rail system. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0127] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0128] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0129] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0130] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0132] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining the dynamic parameters of a guide rail system, characterized in that, The method includes: Obtain the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model; The compressive stiffness data and support stiffness data of the ball are assigned to a pre-established nonlinear spring model to obtain the ball equivalent model. The guide rail slider mesh model is updated based on the ball equivalent model, and finite element analysis is performed on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider. Based on the ball equivalent model and the guide rail slider mesh model, determine the contact model between the guide rail slider surface and the ball. Based on the preset load parameters and the maximum rotation angle between the guide rail and the slider, a finite element analysis is performed on the contact model between the guide rail slider surface and the ball to determine the contact stiffness between the guide rail slider and the ball.

2. The method according to claim 1, characterized in that, The method further includes: Different compressive stresses are provided to the upper contact surface of the ball compression stiffness test model to obtain a compression stiffness test curve; the ball compression stiffness test model includes an upper contact surface, a lower contact surface, and an equivalent ball model disposed between the upper contact surface and the lower contact surface, and the lower contact surface is subject to fixed constraints; The compressive stiffness data of the ball bearing is determined as the compressive stiffness test curve.

3. The method according to claim 1, characterized in that, The updated guide rail slider mesh model includes a transient dynamics calculation model and a rigid-flexible coupling dynamics calculation model; the transient dynamics calculation model is used to reflect the stiffness change of the guide rail system under load, and the rigid-flexible coupling dynamics calculation model is used to reflect the structural deformation and stiffness change of the guide rail system under load.

4. The method according to claim 1, characterized in that, The steps for establishing the nonlinear spring model include: Based on the aforementioned guide rail slider mesh model, extract the neutral file; Based on the neutral file, identify the contact points between the guide rail slider and the ball in the guide rail slider mesh model; Based on the contact point, multiple nonlinear springs are established, and the connection relationship between each nonlinear spring and the inner and outer rings of the ball is determined to establish the nonlinear spring model.

5. The method according to claim 1, characterized in that, The process of updating the guide rail slider mesh model based on the ball equivalent model and performing finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider includes: Finite element analysis is performed on the updated guide rail slider mesh model based on the preset load parameters to determine the target data; the target data includes the displacement data, stress data and acceleration data of the guide rail slider. Linear interpolation is performed on the target data to determine the maximum rotation angle between the guide rail and the slider.

6. The method according to claim 1, characterized in that, The method further includes: The contact stiffness between the guide rail slider and the ball, the compressive stiffness data and support stiffness data of the ball, the calibrated acceleration data and the calibrated stress-strain data are substituted into the guide rail slider mesh model to obtain test data. If the test data meets the preset conditions, the updated guide rail slider mesh model is determined to have passed the verification; the preset conditions are used to characterize the degree of matching between the test data and the actual data of the guide rail system in normal operation.

7. The method according to claim 6, characterized in that, The method further includes: If the test data does not meet the preset conditions, adjust the compression stiffness data and support stiffness data of the ball, and proceed to the step of assigning the compression stiffness data and support stiffness data of the ball to the pre-established nonlinear spring model to obtain the ball equivalent model.

8. A device for determining the dynamic parameters of a guide rail system, characterized in that, The device includes: The data acquisition module is used to acquire the compressive stiffness data and support stiffness data of the balls in the guide rail slider mesh model; The assignment module is used to assign the compression stiffness data and support stiffness data of the ball to a pre-established nonlinear spring model to obtain the ball equivalent model. The rotation angle determination module is used to update the guide rail slider mesh model based on the ball equivalent model, and perform finite element analysis on the updated guide rail slider mesh model based on preset load parameters to determine the maximum rotation angle between the guide rail and the slider. The model determination module is used to determine the contact model between the guide rail slider surface and the ball based on the ball equivalent model and the guide rail slider mesh model; The stiffness determination module is used to perform finite element analysis on the contact model between the guide rail slider surface and the ball bearing based on the preset load parameters and the maximum rotation angle between the guide rail and the slider, and to determine the contact stiffness between the guide rail slider and the ball bearing.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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