A Method, Device, Equipment and Storage Medium for Optimizing the Leg Structure of a Robot

Abstract

The present application provides a method, device, equipment and storage medium for optimizing the leg structure of a robot, which relates to the technical field of robot design. The method includes: obtaining an initial three-dimensional model of the leg structure of the robot; establishing a first drop simulation model of the leg structure according to the initial three-dimensional model and a preset contact surface three-dimensional model, and configuring multi-body dynamics analysis for the first drop simulation model; using the first drop simulation model configured with multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure, so as to obtain the ultimate load information of the target structural member during the drop process; according to the ultimate load information, performing topology optimization on the initial structural model of the target structural member in the initial three-dimensional model to obtain a topology reconstruction model of the target structural member. In this way, it is possible to perform topology optimization on the target structural member in the robot leg structure, so that the weight of the robot after topology optimization is optimized while meeting the stiffness conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of robot design, and in particular, to a method, device, equipment and storage medium for optimizing the leg structure of a robot. Background Art

[0002] A humanoid robot mainly includes legs, a torso, arms and a head. It has multiple joint degrees of freedom, and the overall weight of the robot has a great impact on the joint motors, especially for the leg motors. An overweight overall weight not only affects the motor selection and increases costs, but also causes serious motor heating problems, affecting the normal operation of the robot. Therefore, structural lightweighting is one of the key technologies in the design process of humanoid robots.

[0003] The essence of structural lightweighting design is the balance between two indicators: weight and stiffness. Generally speaking, the lighter the weight, the weaker the stiffness, and the more easily the structure is damaged. Lightweighting design is to optimize the weight of the structure under the condition of meeting the stiffness requirements.

[0004] Topology optimization is a commonly used technical means for lightweighting design. Topology optimization mainly includes two aspects: structural topology and strength checking. Structural topology means that on the basis of the initial structure, define the material properties, divide the finite element mesh, apply boundary constraints and load conditions, determine the structure optimization area, and optimize the structure scheme with the maximum stiffness under the specified mass reduction index. After completing the topology, reconstruct the model of the topology structure, and then apply the corresponding load for simulation calculation to evaluate whether the strength meets the requirements.

[0005] In the related art, there is no technical solution for topologically optimizing the leg structure of a robot. Summary of the Invention

[0006] The purpose of the present invention is to provide a method, device, equipment and storage medium for optimizing the leg structure of a robot, aiming at the deficiencies in the above-mentioned prior art, so as to topologically optimize the target structural parts in the leg structure of the robot, so that the weight of the robot after topology optimization is optimized under the condition of meeting the stiffness requirements.

[0007] To achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

[0008] In a first aspect, an embodiment of the present application provides a method for optimizing the leg structure of a robot, including: obtaining an initial three-dimensional model of the leg structure of the robot; establishing a first drop simulation model of the leg structure according to the initial three-dimensional model and a preset contact surface three-dimensional model, and configuring multi-body dynamics analysis for the first drop simulation model; using the first drop simulation model configured with multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure to obtain the ultimate load information of the target structural member during the drop process; and performing topology optimization on the initial structural model of the target structural member in the initial three-dimensional model according to the ultimate load information to obtain a topology reconstruction model of the target structural member.

[0009] In one implementation, the step of establishing a first drop simulation model of the leg structure according to the initial three-dimensional model and a preset contact surface three-dimensional model includes: simplifying other structural members except for the key structural members in the initial three-dimensional model, and adding the mass of the other structural members to the corresponding key structural members where the other structural members are located to obtain a rigid body simplified model of the leg structure; and associating the end assembly of the rigid body simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the first drop simulation model.

[0010] In one implementation, the step of using the first drop simulation model configured with multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure to obtain the ultimate load information of the target structural member during the drop process includes: using the first drop simulation model configured with multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure to obtain the load change information of the target structural member during the drop process; and determining the ultimate load information according to the load change information.

[0011] In one implementation, the step of configuring multi-body dynamics analysis for the first drop simulation model includes: setting the material density information of each key structural member in the leg structure for the first drop simulation model; establishing a plurality of connection pairs in the leg structure according to the first drop simulation model, where each connection pair includes two key structural members connected to each other; establishing a torsion spring at the corresponding position of the dynamic rotating pair in the leg structure according to the first drop simulation model and setting the torsion spring configuration parameters of the torsion spring; establishing a first contact configuration parameter between the end assembly in the leg structure and the preset contact surface three-dimensional model according to the first drop simulation model; and establishing the load measurement items of the target structural member according to the first drop simulation model to calculate the load change information of the target structural member in the multi-body dynamics analysis.

[0012] In one embodiment, performing topology optimization on the initial structural model of the target structural member in the initial three-dimensional model to obtain the topology reconstruction model of the target structural member includes: establishing a topology simulation model of the target structural member according to the initial structural model of the target structural member; performing topology analysis configuration on the topology simulation model according to the ultimate load information; and performing topology optimization on the initial structural model of the target structural member by using the topology simulation model of the target structural member after the topology analysis configuration to obtain the topology reconstruction model of the target structural member.

[0013] In one embodiment, performing topology analysis configuration on the topology simulation model according to the ultimate load information includes: configuring the material and material property parameters of the target structural member for the topology simulation model; establishing a coupling constraint between the end reference point in the target structural member and the surrounding area of the end reference point; establishing a displacement constraint for the end reference point in the target structural member and setting the load input information of the head reference point as the ultimate load information; and establishing a topology optimization task in the topology simulation model and setting the target strain function, volume constraint function, and structural constraint conditions of the topology optimization task.

[0014] In one embodiment, the method further includes: establishing a second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and performing transient dynamics analysis configuration on the second drop simulation model; importing the topology reconstruction model into the second drop simulation model to update the structural three-dimensional model of the target structural member in the second drop simulation model; and using the second drop simulation model after importing the topology reconstruction model to perform strength check on the leg structure to obtain the strength check result after topology optimization of the leg structure.

[0015] In one embodiment, before establishing the second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, the method further includes: performing strength check on the leg structure by using the second drop simulation model before importing the topology reconstruction model to obtain the strength check result before topology optimization of the leg structure.

[0016] In one embodiment, establishing the second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model includes: replacing other structural members except the key structural members in the initial three-dimensional model with corresponding mass points to obtain a flexible simplified model of the leg structure; and associating the end assembly of the flexible simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the second drop simulation model.

[0017] In one embodiment, the transient dynamic analysis configuration for the second drop simulation model includes: setting materials and material property parameters for each key structural component in the second drop simulation model; establishing second contact configuration parameters for the three-dimensional models of the end component in the leg structure and the preset contact surface according to the second drop simulation model; setting mass parameters of corresponding structural components for each mass point in the second drop simulation model according to the second drop simulation model, and establishing connection couplings between each mass point and other corresponding structural components and binding relationships between fixed structural components; establishing a plurality of kinematic pairs in the second drop simulation model according to the second drop simulation model, each kinematic pair including two key structural components that are kinematically related to each other; setting motion boundary constraint conditions and load setting parameters in the second drop simulation model.

[0018] In a second aspect, an embodiment of the present application further provides an optimization device for the leg structure of a robot, including: an acquisition module configured to acquire an initial three-dimensional model of the leg structure of the robot; a configuration module configured to establish a first drop simulation model of the leg structure according to the initial three-dimensional model and the three-dimensional model of the preset contact surface, and perform multi-body dynamics analysis configuration for the first drop simulation model; a processing module configured to perform multi-body dynamics analysis on the leg structure by using the first drop simulation model after multi-body dynamics analysis configuration to obtain limit load information of the target structural component during the drop process; an optimization module configured to perform topology optimization on the initial structural model of the target structural component in the initial three-dimensional model according to the limit load information to obtain a topology reconstruction model of the target structural component.

[0019] In one embodiment, the configuration module is configured to: simplify other structural components except the key structural components in the initial three-dimensional model, and add the mass of the other structural components to the corresponding key structural components where the other structural components are located to obtain a rigid body simplified model of the leg structure; associate the contact surface of the end component of the rigid body simplified model with the contact surface of the three-dimensional model of the preset contact surface to obtain the first drop simulation model.

[0020] In one embodiment, the processing module is configured to: perform multi-body dynamics analysis on the leg structure by using the first drop simulation model after multi-body dynamics analysis configuration to obtain load change information of the target structural component during the drop process; determine the limit load information according to the load change information.

[0021] In one embodiment, the configuration module is configured to: set the material density information of each key structural member in the leg structure for the first drop simulation model; establish a plurality of connection pairs in the leg structure according to the first drop simulation model, each connection pair including two key structural members connected to each other; establish a torsion spring at the corresponding position of the dynamic rotating pair in the leg structure according to the first drop simulation model and set the torsion spring configuration parameters of the torsion spring; establish the first contact configuration parameters of the end assembly in the leg structure and the three-dimensional model of the preset contact surface according to the first drop simulation model; establish the load measurement items of the target structural member according to the first drop simulation model to calculate the load change information of the target structural member in the multi-body dynamics analysis.

[0022] In one embodiment, the optimization module is configured to: establish a topology simulation model of the target structural member according to the initial structural model of the target structural member; perform topology analysis configuration on the topology simulation model according to the ultimate load information; use the topology simulation model of the target structural member after topology analysis configuration to perform topology optimization on the initial structural model of the target structural member to obtain the topology reconstruction model of the target structural member.

[0023] In one embodiment, the optimization module is configured to: configure the material and material property parameters of the target structural member for the topology simulation model; establish a coupling constraint between the end reference point in the target structural member and the surrounding area of the end reference point; establish a displacement constraint for the end reference point in the target structural member and set the load input information of the head end reference point as the ultimate load information; establish a topology optimization task in the topology simulation model and set the target strain function, volume constraint function and structural constraint conditions of the topology optimization task.

[0024] In one embodiment, the leg structure optimization device of the robot further includes a strength checking module, and the strength checking module is configured to: establish a second drop simulation model of the leg structure according to the initial three-dimensional model and the three-dimensional model of the preset contact surface, and perform transient dynamics analysis configuration for the second drop simulation model; import the topology reconstruction model into the second drop simulation model to update the structural three-dimensional model of the target structural member in the second drop simulation model; use the second drop simulation model after importing the topology reconstruction model to perform strength checking on the leg structure to obtain the strength checking result after topology optimization of the leg structure.

[0025] In one embodiment, the strength checking module is configured to: perform strength checking on the leg structure by using the second drop simulation model before importing the topology reconstruction model, so as to obtain the strength checking result of the leg structure before topology optimization.

[0026] In one embodiment, the strength checking module is configured to: replace other structural members except the key structural members in the initial three-dimensional model with corresponding mass points to obtain a flexible simplified model of the leg structure; associate the contact surface of the end assembly of the flexible simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the second drop simulation model.

[0027] In one embodiment, the strength checking module is configured to: set materials and material property parameters for each key structural member in the second drop simulation model; establish second contact configuration parameters of the end assembly in the leg structure and the preset contact surface three-dimensional model according to the second drop simulation model; set mass parameters of corresponding structural members for each mass point in the second drop simulation model according to the second drop simulation model, and establish connection couplings between the mass points and corresponding other structural members and binding relationships between fixed structural members; establish a plurality of kinematic pairs in the second drop simulation model according to the second drop simulation model, and each kinematic pair includes two key structural members that are mutually kinematically related; set motion boundary constraint conditions and load setting parameters in the second drop simulation model.

[0028] In a third aspect, an embodiment of the present application further provides a computer device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the computer device runs, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of any of the above methods.

[0029] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of any of the above methods.

[0030] The beneficial effects of the present application are as follows: Obtain the initial three-dimensional model of the leg structure of the robot; Based on the initial three-dimensional model and the preset three-dimensional model of the contact surface, establish the first drop simulation model of the leg structure, and configure the multi-body dynamics analysis for the first drop simulation model; Use the first drop simulation model after the multi-body dynamics analysis configuration to perform multi-body dynamics analysis on the leg structure, and obtain the limit load information of the target structural member during the drop process; According to the limit load information, perform topology optimization on the initial structural model of the target structural member in the initial three-dimensional model to obtain the topology reconstruction model of the target structural member. By establishing a drop simulation model of the robot leg structure in multi-body dynamics analysis software, performing multi-body dynamics analysis on it, obtaining the limit load information, and performing topology optimization on the initial structural model of the target structural member (such as the thigh skeleton and / or the calf skeleton) in the robot leg structure according to the limit load information, the topology reconstruction model of the target structural member is obtained. In this way, the topology optimization of the target structural member in the robot leg structure can be carried out, so that the weight of the robot after topology optimization is optimized (lighter weight) under the condition of meeting the stiffness condition, reducing the impact on its motor, improving the running ability, safety, stability of the robot, and extending the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0033] Figure 2 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0034] Figure 3 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0035] Figure 4 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0036] Figure 5 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0037] Figure 6An example diagram of the topology optimization of the thigh skeleton in a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0038] Figure 7 A schematic flowchart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0039] Figure 8 A schematic flowchart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0040] Figure 9 A schematic flowchart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0041] Figure 10 A schematic flowchart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0042] Figure 11 A schematic structural diagram of a device for optimizing the leg structure of a robot provided by an embodiment of the present application;

[0043] Figure 12 A schematic structural diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention.

[0045] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0046] In the description of the present application, it should be noted that if terms such as "upper", "lower", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.

[0047] In addition, the terms "first", "second", etc. in the description, claims, and the above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0048] It should be noted that, without conflict, the features in the embodiments of the present application can be combined with each other.

[0049] Figure 1 It is a schematic flow chart of a method for optimizing the leg structure of a robot provided by an embodiment of the present application; as Figure 1 shown, the method includes:

[0050] Step 110: Obtain the initial three-dimensional model of the leg structure of the robot.

[0051] Among them, the robot can be a robot including a leg structure, such as: a bionic robot; specifically, it can be a humanoid robot or a robot in the form of an animal, which is not limited here.

[0052] The initial three-dimensional model of the robot leg structure can be established by software such as SolidWorks, AutoCAD, CATIA, UG (Unigraphics NX), Pro / Engineer (Creo Parametric), etc., which is not limited here.

[0053] Exemplarily, the initial three-dimensional model of the robot leg structure can be established by the above-mentioned SolidWorks software.

[0054] Step 120: According to the initial three-dimensional model and the preset contact surface three-dimensional model, establish the first drop simulation model of the leg structure, and configure the multi-body dynamics analysis for the first drop simulation model.

[0055] Among them, the preset contact surface can be determined according to the simulated drop working conditions; for example: it can be the ground, stairs, etc., which is not limited here.

[0056] The first drop simulation model can be established in multi-body dynamics simulation software, such as: RecurDyn, Adams, Universal Mechanism, SIMULIA, SIMPACK and other software.

[0057] Exemplarily, the first drop simulation model of the leg structure can be established in the above-mentioned Adams software according to the initial three-dimensional model and the preset contact surface three-dimensional model.

[0058] Exemplarily, in this step, the initial three-dimensional model established in SolidWorks software can be imported into Adams software.

[0059] The multi-body dynamics analysis configuration generally includes material settings, establishment of connection pairs at joints, establishment of torsion springs in the motor rotation pairs in the rotation pairs of the connection pairs, establishment of contact between the sole of the foot and the preset contact surface, establishment of measurements during the drop process, etc.

[0060] Step 130: Use the first drop simulation model after the multi-body dynamics analysis configuration to perform multi-body dynamics analysis on the leg structure to obtain the ultimate load information of the target structural member during the drop process.

[0061] Among them, the target structural member is the object of topology optimization; that is, the topology object; for example: the thigh bone and / or the calf bone in the leg structure, which is not limited here.

[0062] In topology optimization, the ultimate load information refers to the maximum value in the load information; for example: the maximum force, the maximum moment, etc.

[0063] In actual operation, after performing the multi-body dynamics analysis configuration on the first drop simulation model in step 120, submit the calculation, and the ultimate load information of the target structural member during the drop process can be obtained according to the calculation results.

[0064] Step 140: According to the ultimate load information, perform topology optimization on the initial structural model of the target structural member in the initial three-dimensional model to obtain the topology reconstruction model of the target structural member.

[0065] Among them, the ultimate load information can be used as the load information for the topology optimization of the initial structural model of the target structural member, and the initial structural model of the target structural member in the initial three-dimensional model can be topologically optimized to obtain the topology reconstruction model of the target structural member.

[0066] The leg structure optimization method for a robot provided by an embodiment of the present application establishes a drop simulation model of the robot's leg structure in a multi-body dynamics analysis software, performs multi-body dynamics analysis on it to obtain limit load information, and performs topology optimization on the initial structure model of the target structural member (such as: thigh bone and / or calf bone) in the robot's leg structure to obtain a topology reconstruction model of the target structural member. In this way, it is possible to perform topology optimization on the target structural member in the robot's leg structure, so that the weight of the robot after topology optimization is optimized (lighter weight) under the condition of meeting the stiffness requirements, reducing the impact on its motor, improving the running ability, safety, stability of the robot, and extending the service life of the robot.

[0067] It fills the gap in the related art where there is no technical solution for topology optimization of the robot's leg structure.

[0068] The following continues to combine examples to give an example explanation of the process of establishing the first drop simulation model of the leg structure according to the initial three-dimensional model in the above embodiment. Figure 2 It is a schematic flowchart of the leg structure optimization method for a robot provided by an embodiment of the present application. As Figure 2 shown, the above step 120 may further include the following step 210 and step 220:

[0069] Step 210: Simplify the other structural members except the key structural members in the initial three-dimensional model, and add the mass of the other structural members to the corresponding key structural members where the other structural members are located to obtain a rigid body simplified model of the leg structure.

[0070] Among them, the leg structure of the robot can be divided into two types of structural members. One type is the structural members that can be equivalent to mass points, such as: joints, ankles, knees; the other type is the key structural members, that is, the structural members other than those equivalent to mass points, such as: thigh bone, calf bone, outside the thigh bone, inside the thigh bone.

[0071] The "simplify the other structural members except the key structural members in the initial three-dimensional model" mentioned in this step means that structural members such as joints, ankles, and knees are equivalent to mass points. Generally, connection pairs will be established at joints, ankles, knees, etc. The connection pairs are divided into fixed pairs, rotating pairs, and spherical hinge pairs. What specific set parts are used for the connection pairs, then the mass of the mass point is equivalent to the mass of the set parts; for example: the connection pair is a rotating pair, and the rotating pair uses a motor rotating pair, then the mass of the mass point is the mass of the motor.

[0072] Add the mass of other structural components to the corresponding key structural components where the other structural components are located. That is, if other structural component a belongs to key structural component A, add the mass of other structural component a to key structural component A. For example, the knee is between the calf and the thigh. A revolute joint is established at the knee, and the revolute joint uses a motor revolute joint. Then add the mass of the motor in the motor revolute joint to the thigh skeleton or the calf skeleton. Another example: The ankle is between the foot and the calf. A revolute joint is established at the ankle, and the revolute joint uses a motor revolute joint. Then add the mass of the motor in the motor revolute joint to the calf skeleton.

[0073] Step 220: Associate the end component of the rigid body simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the first drop simulation model.

[0074] Among them, the end component refers to the component that contacts the contact surface during the general drop process of the robot's leg structure. Specifically, it is the foot of the robot.

[0075] The contact surface between the end component (sole of the foot) of the rigid body simplified model and the preset contact surface can be associated by establishing collision contact between them and setting contact parameters at the same time.

[0076] The method for optimizing the leg structure of the robot provided by the embodiments of the present application establishes the leg components and the three-dimensional model of the preset contact surface, as well as the association between them, in the multi-body dynamics simulation software, so as to facilitate subsequent calculation of the ultimate load information, and use this ultimate load information as the load for topology optimization, thereby improving the accuracy of topology optimization.

[0077] The following continues to combine examples to give an example explanation of the process of performing multi-body dynamics analysis on the leg structure using the first drop simulation model after configuring multi-body dynamics analysis in the above embodiments to obtain the ultimate load information of the target structural component during the drop process. Figure 3 It is a schematic flow chart of the method for optimizing the leg structure of the robot provided by the embodiments of the present application. As Figure 3 shown, the above step 130 may further include the following step 310 and step 320:

[0078] Step 310: Use the first drop simulation model configured with multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure to obtain the load change information of the target structural component during the drop process.

[0079] Among them, the load change information may be a change curve of the load with respect to time. For example: a change curve of force with respect to time, a change curve of moment load with respect to time, etc.

[0080] After configuring the multi-body dynamics analysis for the first drop simulation model in step 120, submit the calculation to perform the multi-body dynamics analysis on the leg structure, and the load change information of the target structural components (such as the thigh bone frame and the calf bone frame) during the drop process can be obtained (such as the force-time change curve and / or the moment load-time change curve).

[0081] Step 320: Determine the ultimate load information according to the load change information.

[0082] Among them, after obtaining the force-time change curve through step 310, take the maximum value to obtain the above-mentioned ultimate load information; for example: the maximum force, the maximum moment, which is not limited here.

[0083] The leg structure optimization method of the robot provided by the embodiments of the present application performs multi-body dynamics analysis on the leg structure by submitting calculations in multi-body dynamics simulation software, and then obtains the load change information of the target structural components during the drop process; then take the maximum value according to the load change information to obtain the ultimate load information. In this way, the ultimate load information can be determined from the load change information. Since the time can be freely set according to the actual situation, the determined ultimate load information is more accurate.

[0084] The following continues to combine examples to give an example explanation of the process of configuring the multi-body dynamics analysis for the first drop simulation model in the above embodiments. Figure 4 It is a schematic flow chart of the leg structure optimization method of the robot provided by the embodiments of the present application. As Figure 4 shown, the above step 120 may further include the following steps 410 to 450:

[0085] Step 410: Set the material density information of each key structural component in the leg structure for the first drop simulation model.

[0086] Among them, the material setting mainly sets the material density to construct a rigid body simplified model, and further obtains the first drop simulation model. Considering that "add the mass of other structural components to the corresponding key structural components where the other structural components are located", therefore, the material density of the key structural component is the equivalent density, that is, if other structural component a belongs to key structural component A, then add the mass of other structural component a to key structural component A, then the material density of key structural component A is (the mass of other structural component a + the mass of key structural component A) / the volume of key structural component A; for example: the ankle is between the foot and the calf, and the rotating pair established at the ankle is a motor rotating pair, then add the mass of the motor in the motor rotating pair to the calf bone frame, then the material density of the calf bone frame is (the mass of the motor + the mass of the calf bone frame) / the volume of the calf bone frame.

[0087] Step 420: Based on the first drop simulation model, establish multiple connection pairs in the leg structure, and each connection pair includes two key structural components connected to each other.

[0088] Among them, connection pairs are established at the joints of the leg structure, and each connection pair includes two key structural components connected to each other; for example: a revolute pair includes a stator and a rotor connected to each other. The connection pairs include fixed pairs, revolute pairs, and spherical hinge pairs. Specifically, a spherical hinge pair is established between the ankle crank and the ankle link, and revolute pairs are established at other rotating joints; fixed pairs are established between the rigidly connected components.

[0089] Step 430: Based on the first drop simulation model, establish torsion springs at the corresponding positions of the power revolute pairs in the leg structure and set the torsional configuration parameters of the torsion springs.

[0090] Among them, the revolute pairs include motor revolute pairs and bearing revolute pairs. Torsion springs are added at the positions of the motor revolute pairs, and the torsion springs need to be set with torsional stiffness, damping, and initial force.

[0091] Step 440: Based on the first drop simulation model, establish the first contact configuration parameters of the three-dimensional model of the end component in the leg structure and the preset contact surface.

[0092] Among them, establish the first contact configuration parameters of the three-dimensional model of the end component in the leg structure and the preset contact surface; that is, establish the collision contact between the end component (the sole of the foot) in the leg structure and the three-dimensional model of the preset contact surface (the ground), and the first contact configuration parameters set between the two include: material stiffness, contact force index, material damping, penetration amount, static friction coefficient, dynamic friction coefficient, etc.

[0093] Step 450: Based on the first drop simulation model, establish the load measurement items of the target structural components to calculate the load change information of the target structural components in the multi-body dynamics analysis.

[0094] Among them, according to the load on the target structural components of the first drop simulation model during the drop process, establish the load measurement to calculate the load change information of the target structural components in the multi-body dynamics analysis; specifically, according to the drop process, the forces and torques on the target structural components (such as the thigh bone frame and the calf bone frame) of the first drop simulation model, establish the measurement of the forces and torques to calculate the change curves of the forces of the target structural components with respect to time and the change curves of the torques with respect to time in the multi-body dynamics analysis.

[0095] The leg structure optimization method for the robot provided by the embodiment of the present application configures multi-body dynamics analysis for the first drop simulation model, specifically including material setting, establishment of connection pairs at joints, establishment of torsion springs in the motor rotation pairs in the rotation pairs of the connection pairs, establishment of contact between the sole and the preset contact surface, establishment of measurement during the drop process, etc. In this way, the multi-body dynamics analysis configuration for the first drop simulation model is closer to the actual situation. Furthermore, based on the analysis using this multi-body dynamics simulation software, the obtained analysis data is more accurate.

[0096] The following continues to combine examples to give an example explanation of the process of performing topology optimization on the initial structure model of the target structural member in the initial three-dimensional model according to the ultimate load information in the above embodiment to obtain the topology reconstruction model of the target structural member. Figure 5 It is a schematic flow chart of the leg structure optimization method for the robot provided by the embodiment of the present application. As Figure 5 shown, the above step 140 may further include the following steps 510 to step 530:

[0097] Step 510: Establish a topology simulation model of the target structural member according to the initial structure model of the target structural member.

[0098] Among them, the topology simulation model of the target structural member can be established in finite element analysis software, such as: software like ANSYS, ABAQUS, Autodesk Simulation, MIDAS, Solid Edge Simulation, etc.

[0099] Exemplarily, a topology simulation model of the target structural member can be established in the above ABAQUS software according to the initial structure model.

[0100] Exemplarily, in this step, the initial three-dimensional model established in SolidWorks software can be imported into ABAQUS software.

[0101] Step 520: Perform topology analysis configuration on the topology simulation model according to the ultimate load information.

[0102] Among them, the topology analysis configuration generally includes material setting, analysis step setting, establishment of interactions, boundary condition setting, load setting, mesh generation, topology analysis setting, etc.

[0103] Step 530: Use the topology simulation model of the target structural member after the topology analysis configuration to perform topology optimization on the initial structure model of the target structural member to obtain the topology reconstruction model of the target structural member.

[0104] Among them, the ultimate load information (the maximum value in the load information) can be used as the load information for the topology optimization of the initial structural model of the target structural member. Using the topology simulation model of the target structural member configured in step 520 for topology analysis, the initial structural model of the target structural member is topologically optimized to obtain the topology reconstruction model of the target structural member.

[0105] As Figure 6 shown, for the topology reconstruction of the thigh bone structure, starting from the initial structural model, the topology simulation model after topology analysis configuration is obtained, and then the topology reconstruction model is obtained.

[0106] The method for optimizing the leg structure of the robot provided by the embodiment of the present application uses the ultimate load information (the maximum value in the load information) as the load information for the topology optimization of the initial structural model of the target structural member, and topologically optimizes the initial structural model of the target structural member, which can improve the accuracy of topology optimization (structural optimization).

[0107] Continuing with examples below, the process of configuring the topology analysis for the topology simulation model according to the ultimate load information in the above embodiment will be explained by examples. Figure 7 This is a schematic flowchart of the method for optimizing the leg structure of the robot provided by the embodiment of the present application. As Figure 7 shown, the above step 520 may further include the following steps 710 to 740:

[0108] Step 710: Configure the material and material property parameters of the target structural member for the topology simulation model.

[0109] Among them, the material setting mainly sets the material quality and material properties; among them, the material quality includes aluminum alloy, titanium alloy, steel, etc.; the material properties include density, elastic modulus, Poisson's ratio, yield strength, etc.

[0110] Step 720: Establish the coupling constraint between the end reference point and the surrounding area of the end reference point in the target structural member.

[0111] Among them, the establishment of the interaction, that is, a reference point is established at the center position of the end of the target structural member, and a coupling constraint is established between the surrounding area of the end rotation axis of the target structural member and the reference point. For example: reference points are established at the center positions of both ends of the thigh bone structure, and a coupling constraint is established between the surrounding areas of the rotation axes at both ends of the thigh bone structure and the reference points.

[0112] The analysis step can also be set. Here, a static analysis step can be used, and the time of the analysis step is 1 second.

[0113] Step 730: Establish the displacement constraint of the end reference point in the target structural member, and set the load input information of the head reference point as the ultimate load information.

[0114] Among them, the boundary condition is set, that is, displacement constraints are applied to the lower reference point of the target structural member. The load is set, that is, the ultimate load information is applied to the upper reference point of the target structural member. For example, displacement constraints are applied to the lower reference point of the thigh bone frame, and the ultimate load information is applied to the upper reference point of the thigh bone frame.

[0115] Step 740: Establish a topology optimization task in the topology simulation model, and set the objective strain function, volume constraint function, and structural constraint conditions of the topology optimization task.

[0116] Among them, the topology analysis setting, that is, the establishment of the topology optimization task. Specifically, a conditional topology optimization (stiffness topology optimization) task is created, the objective function is to minimize the strain energy, the constraint function is the volume constraint (initial volume percentage), the frozen area is defined, and the minimum wall thickness of the structure is constrained.

[0117] Tetrahedral meshes can be used for mesh division, such as C3D4, and the mesh size is 1 - 3 mm.

[0118] The method for optimizing the leg structure of the robot provided by the embodiment of the present application configures the topology analysis for the topology simulation model, specifically including material setting, analysis step setting, establishment of interactions, boundary condition setting, load setting, mesh division, topology analysis setting, etc. In this way, the transient dynamic analysis configuration for the topology simulation model is closer to the actual situation. Furthermore, based on this finite element analysis software for topology optimization, the obtained topology reconstruction model is more optimized.

[0119] In one implementation, the strength of the leg structure after topology optimization can be checked to determine whether the leg structure after topology optimization meets the strength conditions; if not, topology optimization can be performed again until the finally obtained leg structure after topology optimization meets the strength conditions; as Figure 8 shown, the method for optimizing the leg structure of the robot provided by the embodiment of the present application may further include the following steps 810 to step 830:

[0120] Step 810: Establish a second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and configure the transient dynamic analysis for the second drop simulation model.

[0121] Among them, the second drop simulation model can be established in finite element analysis software, such as software like ANSYS, ABAQUS, Autodesk Simulation, MIDAS, Solid Edge Simulation, etc.

[0122] Exemplarily, a topology simulation model of the target structural member can be established in the above-mentioned ABAQUS software according to the initial structural model.

[0123] Exemplarily, in this step, the initial 3D model established in SolidWorks software can be imported into ABAQUS software.

[0124] The transient dynamic analysis configuration generally includes material settings, analysis step settings, establishment of interactions, boundary condition settings, load settings, mesh generation, etc.

[0125] Step 820: Import the topology reconstruction model into the second drop simulation model to update the structural 3D model of the target structural member in the second drop simulation model.

[0126] Exemplarily, the topology reconstruction model is imported into the ABAQUS software in which the second drop simulation model is established.

[0127] Step 830: Use the second drop simulation model after importing the topology reconstruction model to perform strength verification on the leg structure, and obtain the strength verification result after topology optimization of the leg structure.

[0128] Among them, strength verification means applying the above-mentioned ultimate load information to the topology reconstruction model to evaluate whether the strength meets the conditions. For example: Apply the ultimate load information to the upper reference point of the thigh bone frame, solve the stress and deformation of the thigh bone frame, and then determine whether the strength meets the conditions.

[0129] The method for optimizing the leg structure of the robot provided by the embodiments of the present application performs topology analysis configuration on the topology simulation model, specifically including material settings, analysis step settings, establishment of interactions, boundary condition settings, load settings, mesh generation, topology analysis settings, etc. Further evaluate the effect of the leg structure after topology optimization. If the strength does not meet the conditions, topology optimization can be performed again according to steps 110 to 140 until the strength of the finally obtained leg structure after topology optimization meets the conditions. In this way, the optimal leg structure after topology optimization that meets the strength conditions can be obtained.

[0130] In one implementation, strength verification can be performed on the leg structure before topology optimization to determine whether the leg structure needs topology optimization and where to perform topology optimization if needed; specifically, before the above step 830, the method for optimizing the leg structure of the robot provided by the embodiments of the present application may further include the following steps:

[0131] Use the second drop simulation model before importing the topology reconstruction model to perform strength verification on the leg structure, and obtain the strength verification result before topology optimization of the leg structure.

[0132] Among them, strength verification can also be performed on the leg structure before topology optimization. Here, the purpose of strength verification is to determine the weak points to identify the structural members that need topology optimization.

[0133] In actual operation, for the main structural components in the key structural components, such as the thigh skeleton and the calf skeleton, there is practical significance in topological optimization. For the rest of the key structural components, the practical significance of topological optimization is not great, and the adjustment of their mass has little impact on the change of the overall mass. Therefore, generally, when the strength check result in this step shows that there are weak points in the main structural components, topological optimization is carried out on them.

[0134] The leg structure optimization method of the robot provided by the embodiment of the present application performs a strength check on the leg structure before topological optimization, which can determine whether there are weak points in the leg structure and whether optimization is needed, so as to avoid topological optimization operations with little practical significance or value, and achieve cost reduction and efficiency improvement.

[0135] Continuing with examples below, the process of establishing the second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model in the above embodiment will be explained by examples. Figure 9 It is a schematic flow chart of the leg structure optimization method of the robot provided by the embodiment of the present application. As Figure 9 shown, the above step 810 may further include the following steps 910 and 920:

[0136] Step 910: Replace other structural components outside the key structural components in the initial three-dimensional model with corresponding mass points to obtain a flexible simplified model of the leg structure.

[0137] Among them, the leg structure of the robot can be divided into two types of structural components. One type is the structural components that can be equivalent to mass points, such as joints, ankles, and knees; the other type is the key structural components, that is, the structural components other than those that can be equivalent to mass points, such as the thigh skeleton, the calf skeleton, outside the thigh skeleton, and inside the thigh skeleton.

[0138] Step 920: Associate the end component of the flexible simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the second drop simulation model.

[0139] Among them, the contact surface between the end component (sole) of the flexible simplified model and the contact surface of the preset contact surface three-dimensional model (ground) can be established, and at the same time, the contact parameters are set to associate the end component of the flexible simplified model with the contact surface of the preset contact surface three-dimensional model.

[0140] The leg structure optimization method of the robot provided by the embodiment of the present application equivalentizes the leg components to flexible components, and then performs a strength check on the topological optimized leg structure through a fully flexible second drop simulation model, overcoming the influence of the infinite rigidity of pure rigid bodies on the stress and deformation analysis results of flexible bodies (topological objects) in multi-body dynamic rigid-flexible coupling analysis in the related art. Because when the rigid body is a slender part or a thin-walled part, the flexibility of the rigid body part cannot be ignored.

[0141] Continuing with the examples below, the process of configuring the transient dynamics analysis for the second drop simulation model in the above embodiments will be exemplified and explained. Figure 10 The flowchart of the method for optimizing the leg structure of the robot provided by the embodiment of the present application is shown. As Figure 10 shown, the above step 810 may further include the following steps 1010 to 1050:

[0142] Step 1010: Set the material and material property parameters for each key structural component in the second drop simulation model.

[0143] Among them, the material setting mainly sets the material and material properties; among them, the materials include aluminum alloy, titanium alloy, steel, rubber, etc.; the material properties include density, elastic modulus, Poisson's ratio, yield strength, etc.

[0144] Step 1020: According to the second drop simulation model, establish the second contact configuration parameters of the three-dimensional models of the end component and the preset contact surface in the leg structure.

[0145] Among them, the establishment of the interaction includes establishing the contact between the end component (sole of the foot) in the leg structure and the three-dimensional model of the preset contact surface, setting the second contact configuration parameters between the two (such as: static friction coefficient, dynamic friction coefficient), whether to rebound after contact, etc.

[0146] Step 1030: According to the second drop simulation model, set the mass parameters of the corresponding structural components for each mass point in the second drop simulation model, and establish the connection coupling between each mass point and the corresponding other structural components, and the binding relationship between the fixed structural components.

[0147] The establishment of the interaction includes assigning mass to the mass points. Generally, connection pairs will be established at joints, ankles, knees, etc. The connection pairs are divided into fixed pairs, rotating pairs, and spherical hinge pairs. The specific set of parts used for the connection pair, then the mass of the mass point is equivalent to the mass of this set of parts; for example: the connection pair is a rotating pair, and the rotating pair uses a motor rotating pair, then the mass of the mass point is the mass of the motor.

[0148] At the same time, establish the connection coupling between the mass points and other structural components, and establish the binding relationship between the fixed structural components.

[0149] Step 1040: According to the second drop simulation model, establish multiple kinematic pairs in the second drop simulation model, and each kinematic pair includes two key structural components that are mutually kinematically related.

[0150] Among them, the establishment of the interaction includes establishing kinematic pairs. The kinematic pairs include motor rotation pairs or bearing rotation pairs. According to needs, the motor rotation pairs can be set with torsional stiffness. The kinematic pairs include the connection between the ankle cross shaft and the calf skeleton, the connection between the ankle cross shaft and the foot, the connection between the ankle link and the ankle crank, the connection between the knee link and the calf skeleton, the connection between the motor and each link, etc.; among them, the ankle link and the ankle crank establish a universal joint kinematic pair, and the others are hinge kinematic pairs.

[0151] An analysis step can also be set. The analysis step adopts an explicit dynamics analysis step, and the analysis step time can be 0.01 seconds.

[0152] Step 1050: Set the motion boundary constraint conditions and load setting parameters in the second drop simulation model.

[0153] Among them, the boundary condition setting, that is, the setting of the ground displacement constraint and the symmetry constraint of the waist fixing part; among them, both the ground displacement constraint and the symmetry constraint of the waist fixing part are used to constrain the left and right leg structures. In this way, even if a general model (left leg structure or right leg structure) is established in the finite element analysis software, based on the constraints, a mirror image will be formed, making the strength check effect close to the actual effect.

[0154] Load setting, that is, the speed and gravitational acceleration of the second drop simulation model; among them, the speed given to the second drop simulation model is the landing speed under the drop condition.

[0155] In the mesh division, among them, the second drop simulation model can adopt tetrahedral meshes, such as: C3D4; the preset contact surface three-dimensional model can adopt discrete rigid body meshes, such as: R3D4, and the mesh size is 1 - 3 mm.

[0156] The method for optimizing the leg structure of the robot provided by the embodiment of the present application configures the transient dynamics analysis for the second drop simulation model, specifically including material setting, analysis step setting, establishment of interaction, boundary condition setting, load setting, mesh division, etc. In this way, the transient dynamics analysis configuration for the second drop simulation model is closer to the actual situation. Furthermore, based on the strength check performed by this finite element analysis software, the obtained strength check result is more accurate.

[0157] After introducing the method for optimizing the leg structure of the robot in the exemplary embodiment of the present disclosure, next, refer to Figure 11 The robot leg structure optimization device 1100 in the exemplary embodiment of the present disclosure will be described.

[0158] Refer to Figure 11 As shown, the robot leg structure optimization device 1100 includes:

[0159] An acquisition module 1110, configured to acquire the initial three-dimensional model of the robot's leg structure;

[0160] A configuration module 1120, configured to establish a first drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and configure the first drop simulation model for multi-body dynamics analysis;

[0161] A processing module 1130, configured to perform multi-body dynamics analysis on the leg structure by using the first drop simulation model after multi-body dynamics analysis configuration, so as to obtain the limit load information of the target structural member during the drop process;

[0162] An optimization module 1140, configured to perform topology optimization on the initial structural model of the target structural member in the initial three-dimensional model according to the limit load information, so as to obtain the topology reconstruction model of the target structural member.

[0163] In one implementation, the configuration module 1120 is configured to: simplify other structural members in the initial three-dimensional model except for the key structural members, and add the mass of the other structural members to the corresponding key structural members where the other structural members are located, so as to obtain a rigid body simplified model of the leg structure; associate the end assembly of the rigid body simplified model with the contact surface of the preset contact surface three-dimensional model to obtain the first drop simulation model.

[0164] In one implementation, the processing module 1130 is configured to: perform multi-body dynamics analysis on the leg structure by using the first drop simulation model after multi-body dynamics analysis configuration, so as to obtain the load change information of the target structural member during the drop process; determine the limit load information according to the load change information.

[0165] In one implementation, the configuration module 1120 is configured to: set the material density information of each key structural member in the leg structure for the first drop simulation model; establish a plurality of connection pairs in the leg structure according to the first drop simulation model, and each connection pair includes two key structural members connected to each other; establish a torsion spring at the corresponding position of the dynamic rotation pair in the leg structure according to the first drop simulation model and set the torsion spring configuration parameters of the torsion spring; establish the first contact configuration parameters of the end assembly in the leg structure and the preset contact surface three-dimensional model according to the first drop simulation model; establish the load measurement items of the target structural member according to the first drop simulation model, so as to calculate the load change information of the target structural member in the multi-body dynamics analysis.

[0166] In one implementation, the optimization module 1140 is configured to: establish a topology simulation model of the target structural member according to the initial structural model of the target structural member; perform topology analysis configuration on the topology simulation model according to the limit load information; perform topology optimization on the initial structural model of the target structural member by using the topology simulation model of the target structural member after topology analysis configuration, so as to obtain the topology reconstruction model of the target structural member.

[0167] In one embodiment, the optimization module 1140 is configured to: configure the material and material property parameters of the target structural member for the topology simulation model; establish the coupling constraints between the end reference points and the surrounding areas of the end reference points in the target structural member; establish the displacement constraints of the end reference points in the target structural member, and set the load input information of the head reference point as the ultimate load information; establish the topology optimization task in the topology simulation model, and set the target strain function, volume constraint function, and structural constraint conditions of the topology optimization task.

[0168] In one embodiment, the leg structure optimization device 1100 of the robot further includes a strength checking module, which is configured to: establish a second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and configure for transient dynamic analysis of the second drop simulation model; import the topology reconstruction model into the second drop simulation model to update the structural three-dimensional model of the target structural member in the second drop simulation model; use the second drop simulation model after importing the topology reconstruction model to perform strength checking on the leg structure, and obtain the strength checking result after topology optimization of the leg structure.

[0169] In one embodiment, the strength checking module is configured to: use the second drop simulation model before importing the topology reconstruction model to perform strength checking on the leg structure, and obtain the strength checking result before topology optimization of the leg structure.

[0170] In one embodiment, the strength checking module is configured to: replace other structural members except the key structural members in the initial three-dimensional model with corresponding mass points to obtain a flexible simplified model of the leg structure; associate the end components of the flexible simplified model with the contact surface of the preset contact surface three-dimensional model to obtain a second drop simulation model.

[0171] In one embodiment, the strength checking module is configured to: set the material and material property parameters for each key structural member in the second drop simulation model; establish the second contact configuration parameters between the end components in the leg structure and the preset contact surface three-dimensional model according to the second drop simulation model; set the mass parameters of the corresponding structural members for each mass point in the second drop simulation model according to the second drop simulation model, and establish the connection coupling between each mass point and the corresponding other structural members and the binding relationship between the fixed structural members; establish a plurality of kinematic pairs in the second drop simulation model according to the second drop simulation model, and each kinematic pair includes two key structural members that are mutually kinematically related; set the motion boundary constraint conditions and load setting parameters in the second drop simulation model.

[0172] The above device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be elaborated here.

[0173] The above modules may be one or more integrated circuits configured to implement the above methods. For example, one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processors that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0174] Figure 12 Schematic diagram of the computer device provided by the embodiment of the present application. This device may be integrated into a terminal device or a chip of a terminal device, and the terminal may be a computing device with data processing capabilities.

[0175] The device includes: a processor 1201, a storage medium 1202, and a bus 1203.

[0176] The storage medium 1202 stores program instructions executable by the processor 1201. When the computer device 1200 runs, the processor 1201 communicates with the storage medium 1202 through the bus 1203, and the processor 1201 executes the program instructions to execute the above method embodiments. The specific implementation manners and technical effects are similar and will not be elaborated here.

[0177] Exemplarily, the present invention also provides a program product, such as a computer-readable storage medium, including a program that is used to execute the above method embodiments when executed by a processor.

[0178] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other may be through some interfaces. The indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

[0179] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0181] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit stored in a storage medium includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute some steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (English: Read-Only Memory, abbreviated as: ROM), random access memories (English: Random Access Memory, abbreviated as: RAM), magnetic disks or optical discs and other various media that can store program codes.

[0182] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all of them should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for optimizing the leg structure of a robot, characterized in that: include: Obtaining an initial three-dimensional model of the robot's leg structure; According to the initial three-dimensional model and the preset contact surface three-dimensional model, a first fall simulation model of the leg structure is established, and a multi-body dynamics analysis configuration is performed for the first fall simulation model, wherein the multi-body dynamics analysis configuration includes material setting, establishment of a connection pair at a joint, establishment of a torsion spring in a motor rotation pair in a rotation pair in a connection pair, establishment of contact between a sole and a preset contact surface, and establishment of measurement during a fall; Using the first drop simulation model configured by multi-body dynamics analysis, a multi-body dynamics analysis is performed on the leg structure to obtain the ultimate load information of the target structural component during the drop process; According to the limit load information, topological optimization is performed on the initial structural model of the target structural part in the initial three-dimensional model to obtain a topological reconstruction model of the target structural part; The step of establishing a first drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model comprises: Simplifying other structural parts except the key structural parts in the initial three-dimensional model, and adding the mass of the other structural parts to the corresponding key structural parts where the other structural parts are located, to obtain a simplified rigid body model of the leg structure, wherein the simplification process includes equating other structural parts except the key structural parts to mass points, and the mass of the mass points is equivalent to the mass of the assembly; The end component of the rigid body simplified model is associated with the contact surface of the preset contact surface three-dimensional model to obtain the first drop simulation model.

2. The method according to claim 1, characterized in that: The configuring of performing multi-body dynamics analysis for the first drop simulation model includes: Setting material density information of each key structural component in the leg structure for the first drop simulation model; According to the first drop simulation model, a plurality of connection pairs in the leg structure are established, each connection pair comprising two key structural parts connected to each other; According to the first drop simulation model, establishing a torsion spring at a position corresponding to the power rotation pair in the leg structure and setting torsion spring configuration parameters of the torsion spring; Establishing first contact configuration parameters of the three-dimensional model of the terminal component in the leg structure and the preset contact surface according to the first drop simulation model; According to the first drop simulation model, load measurement items of the target structural component are established to calculate load change information of the target structural component in the multi-body dynamics analysis.

3. The method according to claim 1, characterized in that The first drop simulation model configured by multi-body dynamics analysis is used to perform multi-body dynamics analysis on the leg structure to obtain the ultimate load information of the target structural part during the drop process, including: Using the first drop simulation model configured by multi-body dynamics analysis, a multi-body dynamics analysis is performed on the leg structure to obtain load change information of the target structural component during the drop process; The limit load information is determined according to the load change information.

4. The method according to claim 1, characterized in that: The topological optimization is performed on the initial structural model of the target structural part in the initial three-dimensional model to obtain the topological reconstruction model of the target structural part, including: Establishing a topological simulation model of the target structural component according to the initial structural model of the target structural component; Performing topological analysis configuration on the topological simulation model according to the limit load information; The topological simulation model of the target structural part configured by topological analysis is used to perform topological optimization on the initial structural model of the target structural part to obtain a topological reconstruction model of the target structural part.

5. The method according to claim 4, characterized in that The performing topological analysis configuration on the topological simulation model according to the limit load information includes: Configuring the material and material property parameters of the target structural component for the topological simulation model; Establishing a coupling constraint between an end reference point in the target structural component and a surrounding area of ​​the end reference point; Establishing a displacement constraint of the end reference point in the target structural member, and setting the load input information of the head end reference point as the limit load information; A topology optimization task in the topology simulation model is established, and a target strain function, a volume constraint function and a structural constraint condition of the topology optimization task are set.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Establishing a second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and performing transient dynamics analysis configuration for the second drop simulation model; Importing the topological reconstruction model into the second drop simulation model to update the structural three-dimensional model of the target structural component in the second drop simulation model; The second drop simulation model after the topology reconstruction model is imported is used to perform strength verification on the leg structure to obtain a strength verification result of the leg structure after topology optimization.

7. The method according to claim 6, characterized in that Before establishing the second fall simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, the method further includes: The second drop simulation model before the topology reconstruction model is introduced is used to perform strength verification on the leg structure to obtain a strength verification result before the topology optimization of the leg structure.

8. The method according to claim 6, characterized in that The step of establishing a second drop simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model comprises: Replacing other structural parts except the key structural parts in the initial three-dimensional model with corresponding mass points to obtain a flexible simplified model of the leg structure; The end component of the flexible simplified model is associated with the contact surface of the preset contact surface three-dimensional model to obtain the second drop simulation model.

9. The method according to claim 6, characterized in that The step of configuring the second drop simulation model for transient dynamics analysis includes: Setting materials and material property parameters for each key structural component in the second drop simulation model; According to the second drop simulation model, establishing second contact configuration parameters of the end component in the leg structure and the three-dimensional model of the preset contact surface; According to the second drop simulation model, set the mass parameters of the corresponding structural parts for each mass point in the second drop simulation model, and establish the connection coupling between each mass point and the corresponding other structural parts, and the binding relationship between the fixed structural parts; According to the second drop simulation model, a plurality of kinematic pairs in the second drop simulation model are established, each kinematic pair comprising two key structural parts that are kinematically associated with each other; Set the motion boundary constraint conditions and load setting parameters in the second drop simulation model.

10. A robot leg structure optimization device, characterized in that: include: An acquisition module is configured to acquire an initial three-dimensional model of the leg structure of the robot; a configuration module, configured to establish a first fall simulation model of the leg structure according to the initial three-dimensional model and the preset contact surface three-dimensional model, and perform multi-body dynamics analysis configuration for the first fall simulation model, wherein the multi-body dynamics analysis configuration includes material setting, establishment of a connection pair at a joint, establishment of a torsion spring in a motor rotation pair in a rotation pair in the connection pair, establishment of contact between the sole and the preset contact surface, and establishment of measurement during the fall; A processing module is configured to use the first drop simulation model configured by multi-body dynamics analysis to perform multi-body dynamics analysis on the leg structure to obtain the limit load information of the target structural part during the drop process; an optimization module, configured to perform topological optimization on the initial structural model of the target structural part in the initial three-dimensional model according to the limit load information, so as to obtain a topological reconstruction model of the target structural part; The configuration module is configured to: Simplifying other structural parts except the key structural parts in the initial three-dimensional model, and adding the mass of the other structural parts to the corresponding key structural parts where the other structural parts are located, to obtain a simplified rigid body model of the leg structure, wherein the simplification process includes equating other structural parts except the key structural parts to mass points, and the mass of the mass points is equivalent to the mass of the assembly; The end component of the rigid body simplified model is associated with the contact surface of the preset contact surface three-dimensional model to obtain the first drop simulation model.

11. A computer device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the computer device is running, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to perform the steps of the robot leg structure optimization method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the robot leg structure optimization method as claimed in any one of claims 1 to 9 are executed.

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