Digital twin modeling method, system, medium and equipment for servo transmission mechanism

Abstract

The embodiment of the invention discloses a digital twin modeling method and system of a servo transmission mechanism, a medium and equipment. In one specific embodiment, the method comprises the following steps: establishing a sub-model of each part of the servo transmission mechanism; all the sub-models of the servo transmission mechanism are assembled into a whole, and a finite element type of the servo transmission mechanism is obtained; the step of establishing the sub-model of each part of the servo transmission mechanism comprises the step of constructing a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism; based on kinetic analysis, simplifying the three-dimensional model of the servo transmission mechanism to obtain a simplified model of each part of the servo transmission mechanism; and performing grid division on the simplified model of each component of the servo transmission mechanism to obtain a sub-model of each component of the servo transmission mechanism. By building the model of the servo transmission mechanism, acceleration signals of key parts can be monitored, and a new thought and approach are provided for test system design and health monitoring.

Description

Technical Field

[0001] The present invention relates to the field of computer processing technology, and more specifically to a digital twin modeling method, system, medium and device for a servo transmission mechanism. Background Art

[0002] At present, digital twin technology is an innovative method that combines physical objects with virtual models, aiming to achieve accurate simulation and prediction of the real world. In recent years, with the rapid development of computer technology and data processing capabilities, digital twin technology has been widely used in various fields, especially in industrial manufacturing, aerospace, automobile transportation and other fields. Digital twin technology has become a hot spot for research and application. Servo transmission mechanism is a key component in modern precision control systems, and its performance directly affects the stability, reliability and accuracy of the entire system. Many scholars have carried out a lot of research on the damage fault diagnosis of the main shaft, gears and bearings of the transmission mechanism. This type of research is mainly based on simulation methods, which can handle complex models and facilitate the introduction of specific faults, and has great reference significance. At the same time, this type of research is limited to the modeling and analysis of a single link of the transmission system, and lacks consideration of the overall system.

[0003] Due to the complexity and strong nonlinear characteristics of servo transmission mechanisms, traditional theoretical analysis, experimental research and simulation methods are difficult to meet the needs of accurate analysis of their performance and behavior. The emergence of digital twin technology provides new ideas and methods to solve this problem. In order to study the health monitoring technology of servo transmission systems, a servo transmission mechanism was designed and built, and the research objectives and research methods of the test bench were proposed. On this basis, a digital twin modeling method for servo transmission mechanisms was studied. Summary of the invention

[0004] The object of the present invention is to provide a digital twin modeling method, system, medium and equipment for a servo transmission mechanism to solve at least one of the problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A first aspect of the present invention provides a digital twin modeling method for a servo transmission mechanism, comprising:

[0007] Establish sub-models of each component of the servo transmission mechanism;

[0008] Assembling the sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism; the sub-models of the components of the servo transmission mechanism are established including

[0009] According to the structural size parameters of the servo transmission mechanism, a three-dimensional model of the servo transmission mechanism is constructed;

[0010] Based on dynamic analysis, the three-dimensional model of the servo transmission mechanism is simplified to obtain simplified models of each component of the servo transmission mechanism;

[0011] The simplified models of the various components of the servo transmission mechanism are meshed to obtain sub-models of the various components of the servo transmission mechanism.

[0012] Optionally, the components of the servo transmission mechanism include a motor, a reducer, a gear pair and at least one torque sensor;

[0013] The output end of the motor is connected to the first end of the first torque sensor, the second end of the first torque sensor is connected to the input end of the reducer, the output end of the reducer is connected to the first end of the second torque sensor, and the second end of the second torque sensor is connected to the input end of the gear pair;

[0014] The sub-models of the various components of the servo transmission mechanism include a motor model, a reducer model, a gear pair model and at least one torque sensor model.

[0015] Optionally, building a motor model includes

[0016] Simplifying the three-dimensional model of the motor to obtain a simplified model of the motor;

[0017] The simplified model of the motor includes a drive shaft sub-model, a motor housing sub-model, a first bearing sub-model and a second bearing sub-model;

[0018] The inner rings of the first bearing sub-model and the second bearing sub-model are assembled to the drive shaft sub-model; the outer rings of the first bearing sub-model and the second bearing sub-model are assembled to the motor housing sub-model;

[0019] Dividing the drive shaft sub-model into a solid grid to obtain a finite element model of the drive shaft;

[0020] Dividing the motor housing sub-model into a solid grid to obtain a finite element model of the motor housing;

[0021] Dividing the first bearing sub-model and the second bearing sub-model into solid meshes respectively to obtain finite element models of the first bearing sub-model and the second bearing sub-model;

[0022] The motor model is obtained by replacing the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model with the finite element models of the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model.

[0023] Optionally, establishing a reducer model includes,

[0024] Simplify the three-dimensional model of the reducer to obtain a simplified model of the reducer;

[0025] The simplified model of the reducer includes a first shaft sub-model, a second shaft sub-model, a reducer housing sub-model, a third bearing sub-model and a fourth bearing sub-model;

[0026] Among them, the first shaft sub-model and the second shaft sub-model are coaxial, the first shaft sub-model is installed on the inner ring of the third bearing sub-model, and the first shaft sub-model rotates around the third bearing sub-model, and the outer ring of the third bearing sub-model is connected to the reducer housing sub-model; the second shaft sub-model is installed on the inner ring of the fourth bearing sub-model, and the second shaft sub-model rotates around the fourth bearing sub-model, and the outer ring of the fourth bearing sub-model is connected to the reducer housing sub-model; the reducer housing sub-model is fixed;

[0027] The first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are respectively divided into solid meshes to obtain finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model; the finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are assembled to obtain the reducer model.

[0028] Optionally, building a gear pair model includes

[0029] Simplify the three-dimensional model of the gear pair to obtain a simplified model of the gear pair;

[0030] The simplified model of the gear pair includes a large gear sub-model and a small gear sub-model, wherein the large gear sub-model rotates around its own axis, the small gear sub-model rotates around its own axis, and the large gear sub-model and the small gear sub-model transmit motion and load through gear meshing;

[0031] The large gear sub-model and the small gear sub-model are respectively divided into solid meshes to obtain finite element models of the large gear sub-model and the small gear sub-model; the finite element models of the large gear sub-model and the small gear sub-model are assembled to obtain a gear pair model; wherein, when the large gear sub-model and the small gear sub-model are divided into solid meshes, the meshing teeth of the large gear sub-model and the small gear sub-model are refined, a contact pair is established between the meshing tooth surfaces of the large gear sub-model and the small gear sub-model, and a tooth side clearance is set in the contact pair.

[0032] Optionally, establishing a torque sensor model includes

[0033] Simplifying the three-dimensional model of the torque sensor to obtain a simplified model of the torque sensor;

[0034] The simplified model of the torque sensor includes a first connecting shaft sub-model, a second connecting shaft sub-model, a torque sensor housing sub-model, a fifth bearing sub-model and a sixth bearing sub-model;

[0035] Wherein, the first connecting shaft sub-model and the second connecting shaft sub-model are coaxial, and are formed by a complete connecting shaft being cut in the middle; the first connecting shaft sub-model is installed on the inner ring of the fifth bearing sub-model, and the first connecting shaft sub-model rotates around the fifth bearing sub-model, and the outer ring of the fifth bearing sub-model is connected to the torque sensor housing sub-model; the second connecting shaft sub-model is installed on the inner ring of the sixth bearing sub-model, and the second connecting shaft sub-model rotates around the sixth bearing sub-model, and the outer ring of the sixth bearing sub-model is connected to the torque sensor sub-model; the torque sensor housing is fixed;

[0036] The first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are divided into solid meshes respectively to obtain finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model; the finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are assembled to obtain the torque sensor model.

[0037] Optionally, the servo transmission mechanism further includes a coupling, a gear shaft system, an inertia disk, a mounting bracket and a base;

[0038] The coupling, pinion shaft system, gear shaft system, inertia plate and mounting bracket are respectively divided into solid meshes to obtain coupling model, pinion shaft system model, gear shaft system model, inertia plate model and mounting bracket model; the base model is set as a rigid body.

[0039] A second aspect of the present invention provides a digital twin modeling system for a servo transmission mechanism, comprising:

[0040] A processing module, used to establish sub-models of various components of the servo transmission mechanism;

[0041] A modeling module, used for assembling the sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism;

[0042] The modeling module also includes

[0043] A three-dimensional model submodule is used to construct a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism;

[0044] The simplified model submodule is used to simplify the three-dimensional model of the servo transmission mechanism based on dynamic analysis to obtain simplified models of various components of the servo transmission mechanism;

[0045] The finite element model submodule is used to mesh the simplified models of the various components of the servo transmission mechanism to obtain sub-models of the various components of the servo transmission mechanism.

[0046] A third aspect of the present invention provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided by the first aspect of the present invention.

[0047] A fourth aspect of the present invention provides a digital twin modeling device for a servo transmission mechanism, comprising: a processor; and a memory for storing executable instructions of the processor;

[0048] The processor is configured to execute the method provided in the first aspect of the present invention by executing the executable instructions.

[0049] The beneficial effects of the present invention are as follows:

[0050] The present invention can monitor the acceleration signals of key parts by constructing a model of the servo transmission mechanism, and can consider the main characteristics of the rotating parts, such as torsional stiffness, moment of inertia, bearing stiffness, etc., for comparative research on the dynamic characteristics of the test bench; it can also analyze and study the vibration characteristics of the system; by detecting the torque fluctuation of the shaft system, the system spectrum can be accurately identified, and its accuracy is equivalent to that of the displacement spectrum, which provides a new idea and approach for test system design and health monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0052] Figure 1 A schematic diagram showing an example of a servo transmission mechanism modeling method according to the present invention;

[0053] Figure 2 A schematic diagram of a three-dimensional model of the servo transmission mechanism of the present invention is shown;

[0054] Figure 3 A schematic diagram showing a simplified model of the motor according to the present invention;

[0055] Figure 4 A schematic diagram showing a finite element model of the motor according to the present invention;

[0056] Figure 5 A schematic diagram showing a simplified model of the reducer of the present invention;

[0057] Figure 6A schematic diagram showing a finite element model of the reducer of the present invention;

[0058] Figure 7 A schematic diagram showing a simplified model of the gear pair of the present invention;

[0059] Figure 8 A schematic diagram showing a finite element model of the gear pair of the present invention;

[0060] Fig. 9 A schematic diagram showing a simplified model of the torque sensor of the present invention;

[0061] Fig.10 A schematic diagram showing a finite element model of the torque sensor of the present invention;

[0062] Fig.11 A schematic diagram showing a finite element model of the servo transmission mechanism of the present invention;

[0063] Fig.12 A schematic diagram showing an example of the servo transmission mechanism modeling device according to the present invention. DETAILED DESCRIPTION

[0064] In order to explain the present invention more clearly, the present invention is further described below in conjunction with embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0065] After analyzing and studying the existing technologies, through the model of the system-level servo transmission mechanism, it is possible to monitor the acceleration signals of key parts, and consider the main characteristics of the rotating parts, such as torsional stiffness, moment of inertia, bearing stiffness, etc., for comparative research on the dynamic characteristics of the test bench; it is also possible to analyze and study the vibration characteristics of the system; by detecting the torque fluctuations of the shaft system, the system spectrum can be accurately identified, and its accuracy is equivalent to that of the displacement spectrum, which provides a new idea and approach for test system design and health monitoring.

[0066] Therefore, the present invention aims to provide a digital twin modeling method for a servo transmission mechanism, which uses solid units to establish finite element models for various components of the servo transmission mechanism.

[0067] The servo transmission mechanism modeling method proposed by the present invention will be described in detail below with reference to the accompanying drawings. Figure 1 As shown, specifically, the method includes:

[0068] Step S1, establishing sub-models of various components of the servo transmission mechanism;

[0069] Step S2, assembling the sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism.

[0070] The sub-models of the various components of the servo transmission mechanism established in step S1 include:

[0071] S11, constructing a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism;

[0072] S12, based on dynamic analysis, simplifying the three-dimensional model of the servo transmission mechanism to obtain simplified models of various components of the servo transmission mechanism;

[0073] S13, meshing the simplified models of the components of the servo transmission mechanism to obtain sub-models of the components of the servo transmission mechanism.

[0074] In one embodiment, Figure 2 As shown, the components of the servo transmission mechanism in the above step S1 include a motor, a reducer, a gear pair and a torque sensor; wherein the output end of the motor is connected to the first end of the first torque sensor, the second end of the first torque sensor is connected to the input end of the reducer, the output end of the reducer is connected to the first end of the second torque sensor, and the second end of the second torque sensor is connected to the input end of the gear pair;

[0075] The sub-models of the various components of the servo transmission mechanism include a motor model, a reducer model, a gear pair model and at least one torque sensor model.

[0076] The present invention can monitor the acceleration signals of key parts by constructing a model of the servo transmission mechanism, and can consider the main characteristics of the rotating parts, such as torsional stiffness, moment of inertia, bearing stiffness, etc., for comparative research on the dynamic characteristics of the test bench; it can also analyze and study the vibration characteristics of the system; by detecting the torque fluctuation of the shaft system, the system spectrum can be accurately identified, and its accuracy is equivalent to that of the displacement spectrum, which provides a new idea and approach for test system design and health monitoring.

[0077] In one embodiment, in the above step S13, establishing the motor model includes:

[0078] The three-dimensional model of the motor is simplified to obtain a simplified model of the motor, such as Figure 3 As shown;

[0079] The simplified model of the motor includes a drive shaft sub-model, a motor housing sub-model, a first bearing sub-model and a second bearing sub-model;

[0080] The inner rings of the first bearing sub-model and the second bearing sub-model are assembled to the drive shaft sub-model; the outer rings of the first bearing sub-model and the second bearing sub-model are assembled to the motor housing sub-model;

[0081] Dividing the drive shaft sub-model into a solid grid to obtain a finite element model of the drive shaft;

[0082] Dividing the motor housing sub-model into a solid grid to obtain a finite element model of the motor housing;

[0083] Dividing the first bearing sub-model and the second bearing sub-model into solid meshes respectively to obtain finite element models of the first bearing sub-model and the second bearing sub-model;

[0084] The finite element models of the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model are used to replace the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model to obtain the motor model, such as Figure 4 shown.

[0085] Specifically, a bushing unit is used to connect the inner ring raceway and the outer ring raceway of the bearing; a mass unit is added to the rear end face of the drive shaft, that is, inside the motor, to adjust the mass and moment of inertia of the motor rotor part (drive shaft). The motor model can simulate the torsional stiffness and moment of inertia of the rotor part (drive shaft), and can also consider the stiffness of the internal bearing.

[0086] In one embodiment, in the above step S13, establishing the reducer model includes:

[0087] The three-dimensional model of the reducer is simplified to obtain a simplified model of the reducer, such as Figure 5 As shown;

[0088] The simplified model of the reducer includes a first shaft sub-model, a second shaft sub-model, a reducer housing sub-model, a third bearing sub-model and a fourth bearing sub-model;

[0089] Among them, the first shaft sub-model and the second shaft sub-model are coaxial, the first shaft sub-model is installed on the inner ring of the third bearing sub-model, and the first shaft sub-model rotates around the third bearing sub-model, and the outer ring of the third bearing sub-model is connected to the reducer housing sub-model; the second shaft sub-model is installed on the inner ring of the fourth bearing sub-model, and the second shaft sub-model rotates around the fourth bearing sub-model, and the outer ring of the fourth bearing sub-model is connected to the reducer housing sub-model; the reducer housing sub-model is fixed;

[0090] The first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are respectively divided into solid meshes to obtain finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model; the finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are assembled to obtain a reducer model, such as Figure 6 shown.

[0091] Specifically, the internal structure of the reducer is complex, the modeling process considering the internal details is cumbersome, the model is large in scale, and the computing power required is huge. Therefore, the three-dimensional model of the reducer must be reasonably simplified to facilitate modeling and calculation while expressing the basic dynamic characteristics.

[0092] Use bushing units to connect the inner raceway and outer raceway of the fourth bearing sub-model; use bushing units to connect the inner raceway and outer raceway of the fifth bearing sub-model; use hinge units with torsional stiffness to connect the truncated surface between the first shaft sub-model and the second shaft sub-model, which can be used to simulate the torsional stiffness of the reducer; add mass units to the inner annular surface of the first shaft sub-model to adjust the moment of inertia of the reducer; use constraint equations (a professional term for finite elements) to connect the inner hole of the first shaft sub-model and the outer end face of the connecting shaft of the torque sensor model, and set the effect of the constraint equations to be the angular displacement ratio of the axis around the rotating shaft as the transmission ratio of the reducer to simulate the transmission ratio of the reducer. The reducer model can simulate the torsional stiffness, moment of inertia, and transmission ratio of the rotor part of the reducer, and can also consider the stiffness of the internal bearing.

[0093] In one embodiment, in the above step S13, establishing the gear pair model includes:

[0094] The three-dimensional model of the gear pair is simplified to obtain a simplified model of the gear pair, such as Figure 7 As shown;

[0095] The simplified model of the gear pair includes a large gear sub-model and a small gear sub-model, wherein the large gear sub-model rotates around its own axis, the small gear sub-model rotates around its own axis, and the large gear sub-model and the small gear sub-model transmit motion and load through gear meshing;

[0096] The large gear sub-model and the small gear sub-model are respectively divided into solid meshes to obtain finite element models of the large gear sub-model and the small gear sub-model; the finite element models of the large gear sub-model and the small gear sub-model are assembled to obtain a gear pair model, such as Figure 8 shown.

[0097] Specifically, when the large gear sub-model and the small gear sub-model are divided into solid meshes, the meshing teeth of the large gear sub-model and the small gear sub-model are refined, a contact pair is established between the meshing tooth surfaces of the large gear sub-model and the small gear sub-model, and a tooth side clearance is set in the contact pair. The gear pair model can take into account the time-varying meshing stiffness and tooth side clearance of the gears, and can simulate the dynamic process of gear meshing, including the collision and impact between the gear teeth.

[0098] In one embodiment, in the above step S13, establishing the torque sensor model includes:

[0099] The three-dimensional model of the torque sensor is simplified to obtain a simplified model of the torque sensor, such as Fig. 9 As shown;

[0100] The simplified model of the torque sensor includes a first connecting shaft sub-model, a second connecting shaft sub-model, a torque sensor housing sub-model, a fifth bearing sub-model and a sixth bearing sub-model;

[0101] Wherein, the first connecting shaft sub-model and the second connecting shaft sub-model are coaxial, and are formed by a complete connecting shaft being cut in the middle; the first connecting shaft sub-model is installed on the inner ring of the fifth bearing sub-model, and the first connecting shaft sub-model rotates around the fifth bearing sub-model, and the outer ring of the fifth bearing sub-model is connected to the torque sensor housing sub-model; the second connecting shaft sub-model is installed on the inner ring of the sixth bearing sub-model, and the second connecting shaft sub-model rotates around the sixth bearing sub-model, and the outer ring of the sixth bearing sub-model is connected to the torque sensor sub-model; the torque sensor housing is fixed;

[0102] The first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are respectively divided into solid meshes to obtain finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model; the finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are assembled to obtain a torque sensor model, such as Fig.10 shown.

[0103] Specifically, the inner raceway and outer raceway of the fifth bearing sub-model are connected by bushing units; the inner raceway and outer raceway of the sixth bearing sub-model are connected by bushing units; the truncated surface between the first connecting shaft sub-model and the second connecting shaft sub-model is connected by hinge units with torsional stiffness, which can be used to simulate the torsional stiffness of the sensor; and mass units are added to the inner annular surface of the first connecting shaft sub-model to adjust the moment of inertia of the sensor. This sensor model can simulate the torsional stiffness and moment of inertia of the torque sensor, and can also consider the stiffness of the internal bearing.

[0104] In one embodiment, in the above step S1, the servo transmission mechanism further includes a coupling, a gear shaft system, an inertia disk, a mounting bracket and a base;

[0105] The coupling, pinion shaft system, gear shaft system, inertia plate and mounting bracket are respectively divided into solid grids to obtain a coupling model, a pinion shaft system model, a gear shaft system model, an inertia plate model and a mounting bracket model; the base model is set as a rigid body;

[0106] Specifically, the assembly principle of the servo transmission mechanism is as follows: the screw hole on the motor housing is connected to the screw hole of the mounting bracket, and the motor mounting bracket is connected to the base through the bottom screw hole; the output shaft of the motor is tightly connected to the input shaft of the first coupling, the output shaft of the first coupling is tightly connected to the input shaft of the first torque sensor, the output shaft of the first torque sensor is tightly connected to the input shaft of the reducer, and the first torque sensor is connected to the base through the bottom screw hole. The output shaft of the reducer is tightly connected to the input shaft of the second coupling, the reducer is connected to the screw hole of the mounting bracket through the screw hole on the housing, and the reducer mounting bracket is connected to the base through the bottom screw hole; the output shaft of the second coupling is tightly connected to the input shaft of the second torque sensor, and the second torque sensor is connected to the base through the bottom screw hole; the output shaft of the second torque sensor is tightly connected to the input shaft of the third coupling, and the output shaft of the third coupling is tightly connected to the pinion shaft.

[0107] The overall finite element model of the servo transmission mechanism, such as Fig.11 As shown,

[0108] The driving shaft sub-model of the motor model is tightly connected to the input shaft of the first coupling, the output shaft of the first coupling is tightly connected to the first connecting shaft sub-model of the first torque sensor, and the second connecting shaft sub-model of the first torque sensor is tightly connected to the first rotating shaft sub-model of the reducer; the second rotating shaft sub-model of the reducer is tightly connected to the input shaft of the second coupling; the output shaft of the second coupling is tightly connected to the first connecting shaft sub-model of the second torque sensor, the second connecting shaft sub-model of the second torque sensor is tightly connected to the input shaft of the third coupling model, the output shaft of the third coupling is tightly connected to the first end of the pinion shaft system model, and the second end of the pinion shaft system model is tightly connected to the pinion sub-model of the gear pair model.

[0109] Convert the three-dimensional diagram of the servo transmission mechanism into a finite element model that is assembled into an integral whole. It is also necessary to create a corresponding finite element connection model. For example, use a rigid connection unit to connect the screw holes on the motor model housing with the screw holes on the motor mounting bracket model. The motor model mounting bracket model is connected to the base model through the bottom screw holes; the torque sensor is connected to the base model through the bottom screw holes; the reducer housing sub-model is connected to the screw holes on the mounting bracket model; the reducer mounting bracket model is connected to the base model through the bottom screw holes;

[0110] In one embodiment, based on the implementation method of the digital twin modeling method of the servo transmission mechanism, the present invention further provides a digital twin modeling system of a servo transmission mechanism. The system includes: a processing module and a modeling module; the processing module is used to establish sub-models of each component of the servo transmission mechanism; the modeling module is used to assemble each sub-model of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism; the modeling module also includes a three-dimensional model sub-module, which is used to construct a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism; a simplified model sub-module, which is used to simplify the three-dimensional model of the servo transmission mechanism based on dynamic analysis to obtain simplified models of each component of the servo transmission mechanism; a finite element model sub-module, which is used to mesh the simplified models of each component of the servo transmission mechanism to obtain sub-models of each component of the servo transmission mechanism.

[0111] The present invention is further described below by taking the dynamic finite element modeling of a servo transmission mechanism as an example.

[0112] The first step is to build a servo transmission mechanism dynamic finite element modeling system, including a processing module for establishing sub-models of various components of the servo transmission mechanism; a modeling module for assembling various sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism; the modeling module also includes a three-dimensional model sub-module for constructing a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism; a simplified model sub-module for simplifying the three-dimensional model of the servo transmission mechanism based on dynamic analysis to obtain simplified models of various components of the servo transmission mechanism; and a finite element model sub-module for meshing the simplified models of various components of the servo transmission mechanism to obtain sub-models of various components of the servo transmission mechanism.

[0113] The second step is to build a three-dimensional model of the servo transmission mechanism

[0114] The three-dimensional model submodule is used to collect the structural dimension parameters of the servo transmission mechanism to be constructed, and a three-dimensional model of the servo transmission mechanism is constructed.

[0115] The third step is to simplify the 3D model of the servo transmission mechanism

[0116] The simplified model submodule simplifies the three-dimensional model of the servo transmission mechanism based on dynamic analysis to obtain simplified models of various components of the servo transmission mechanism.

[0117] Step 4: Finite Element Meshing Module to divide the mesh

[0118] The modeling module meshes the simplified models of the various components of the servo transmission mechanism to obtain sub-models of the various components of the servo transmission mechanism; that is, the motor model, reducer model, gear pair model and torque sensor model of the servo transmission mechanism. The finite element meshes of each component are independent and do not share mesh nodes on the contact surface.

[0119] The fifth step is to model the servo transmission mechanism as a whole

[0120] The modeling module creates the corresponding finite element connection model according to the specific assembly relationship and assembles the components into an overall model. For example, a rigid connection unit is used to connect the reducer housing sub-model with the screw holes of the mounting bracket model.

[0121] like Fig.12As shown, a computer system suitable for implementing a digital twin modeling method of a servo transmission mechanism provided in the above embodiment includes a central processing module (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage part into a random access memory (RAM). In RAM, various programs and data required for the operation of the computer system are also stored. The CPU, ROM, and RAM are connected to each other via a bus. The input / output (I / O) interface is also connected to the bus.

[0122] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a liquid crystal display (LCD), etc. and a speaker, etc.; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0123] In particular, according to this embodiment, the process described in the flowchart above can be implemented as a computer software program. For example, this embodiment includes a computer program product, which includes a computer program tangibly contained on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium.

[0124] The flow chart and schematic diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product of the present embodiment. In this regard, each square box in the flow chart or schematic diagram can represent a part of a module, program segment or code, and a part of the above-mentioned module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the schematic diagram and / or flow chart, and the combination of the square boxes in the schematic diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The modules involved in the description of this embodiment can be implemented by software or hardware. The modules described can also be set in a processor, for example, can be described as: a processor, including a processing module, used to establish sub-models of various components of the servo transmission mechanism; a modeling module, used to assemble the various sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism. Among them, the names of these modules do not constitute a limitation on the modules themselves in some cases.

[0126] As another aspect, this embodiment further provides a non-volatile computer storage medium, which may be the non-volatile computer storage medium included in the above-mentioned device in the above-mentioned embodiment, or may be a non-volatile computer storage medium that exists independently and is not installed in the terminal.

[0127] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0128] It should also be noted that, in the description of the present invention, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0129] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the embodiments here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.

Claims

1. A servo transmission mechanism modeling method, characterized in that: include: Establish sub-models of each component of the servo transmission mechanism; Assembling the sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism; The sub-models of the various components of the servo transmission mechanism are established as follows: According to the structural size parameters of the servo transmission mechanism, a three-dimensional model of the servo transmission mechanism is constructed; Based on dynamic analysis, the three-dimensional model of the servo transmission mechanism is simplified to obtain simplified models of each component of the servo transmission mechanism; The simplified models of the various components of the servo transmission mechanism are meshed to obtain sub-models of the various components of the servo transmission mechanism.

2. The method according to claim 1, characterized in that: The components of the servo transmission mechanism include a motor, a reducer, a gear pair and at least one torque sensor; The output end of the motor is connected to the first end of the first torque sensor, the second end of the first torque sensor is connected to the input end of the reducer, the output end of the reducer is connected to the first end of the second torque sensor, and the second end of the second torque sensor is connected to the input end of the gear pair; The sub-models of the various components of the servo transmission mechanism include a motor model, a reducer model, a gear pair model and at least one torque sensor model.

3. The method according to claim 2, characterized in that Building the motor model includes Simplifying the three-dimensional model of the motor to obtain a simplified model of the motor; The simplified model of the motor includes a drive shaft sub-model, a motor housing sub-model, a first bearing sub-model and a second bearing sub-model; The inner rings of the first bearing sub-model and the second bearing sub-model are assembled to the drive shaft sub-model; the outer rings of the first bearing sub-model and the second bearing sub-model are assembled to the motor housing sub-model; Dividing the drive shaft sub-model into a solid grid to obtain a finite element model of the drive shaft; Dividing the motor housing sub-model into a solid grid to obtain a finite element model of the motor housing; Dividing the first bearing sub-model and the second bearing sub-model into solid meshes respectively to obtain finite element models of the first bearing sub-model and the second bearing sub-model; The motor model is obtained by replacing the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model with the finite element models of the drive shaft sub-model, the motor housing sub-model, the first bearing sub-model and the second bearing sub-model.

4. The method according to claim 2, characterized in that: Building a reducer model includes, Simplify the three-dimensional model of the reducer to obtain a simplified model of the reducer; The simplified model of the reducer includes a first shaft sub-model, a second shaft sub-model, a reducer housing sub-model, a third bearing sub-model and a fourth bearing sub-model; Among them, the first shaft sub-model and the second shaft sub-model are coaxial, the first shaft sub-model is installed on the inner ring of the third bearing sub-model, and the first shaft sub-model rotates around the third bearing sub-model, and the outer ring of the third bearing sub-model is connected to the reducer housing sub-model; the second shaft sub-model is installed on the inner ring of the fourth bearing sub-model, and the second shaft sub-model rotates around the fourth bearing sub-model, and the outer ring of the fourth bearing sub-model is connected to the reducer housing sub-model; the reducer housing sub-model is fixed; The first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are respectively divided into solid meshes to obtain finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model; the finite element models of the first shaft sub-model, the second shaft sub-model, the reducer housing sub-model, the third bearing sub-model and the fourth bearing sub-model are assembled to obtain the reducer model.

5. The method according to claim 2, characterized in that: Gear pair modeling includes Simplify the three-dimensional model of the gear pair to obtain a simplified model of the gear pair; The simplified model of the gear pair includes a large gear sub-model and a small gear sub-model, wherein the large gear sub-model rotates around its own axis, the small gear sub-model rotates around its own axis, and the large gear sub-model and the small gear sub-model transmit motion and load through gear meshing; The large gear sub-model and the small gear sub-model are respectively divided into solid meshes to obtain finite element models of the large gear sub-model and the small gear sub-model; the finite element models of the large gear sub-model and the small gear sub-model are assembled to obtain a gear pair model; wherein, when the large gear sub-model and the small gear sub-model are divided into solid meshes, the meshing teeth of the large gear sub-model and the small gear sub-model are refined, a contact pair is established between the meshing tooth surfaces of the large gear sub-model and the small gear sub-model, and a tooth side clearance is set in the contact pair.

6. The method according to claim 2, characterized in that Establishing the torque sensor model includes simplifying the three-dimensional model of the torque sensor to obtain a simplified model of the torque sensor; The simplified model of the torque sensor includes a first connecting shaft sub-model, a second connecting shaft sub-model, a torque sensor housing sub-model, a fifth bearing sub-model and a sixth bearing sub-model; Wherein, the first connecting shaft sub-model and the second connecting shaft sub-model are coaxial, and are formed by a complete connecting shaft being cut in the middle; the first connecting shaft sub-model is installed on the inner ring of the fifth bearing sub-model, and the first connecting shaft sub-model rotates around the fifth bearing sub-model, and the outer ring of the fifth bearing sub-model is connected to the torque sensor housing sub-model; the second connecting shaft sub-model is installed on the inner ring of the sixth bearing sub-model, and the second connecting shaft sub-model rotates around the sixth bearing sub-model, and the outer ring of the sixth bearing sub-model is connected to the torque sensor sub-model; the torque sensor housing is fixed; The first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are divided into solid meshes respectively to obtain finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model; the finite element models of the first connecting shaft sub-model, the second connecting shaft sub-model, the torque sensor housing sub-model, the fifth bearing sub-model and the sixth bearing sub-model are assembled to obtain the torque sensor model.

7. The method according to claim 2, characterized in that: The servo transmission mechanism also includes a coupling, a large gear shaft system, an inertia disk, a mounting bracket and a base; The coupling, pinion shaft system, gear shaft system, inertia plate and mounting bracket are respectively divided into solid meshes to obtain coupling model, pinion shaft system model, gear shaft system model, inertia plate model and mounting bracket model; the base model is set as a rigid body.

8. A digital twin modeling system for a servo transmission mechanism, characterized in that: include: A processing module, used to establish sub-models of various components of the servo transmission mechanism; A modeling module, used for assembling the sub-models of the servo transmission mechanism into a whole to obtain a finite element model of the servo transmission mechanism; The modeling module also includes A three-dimensional model submodule is used to construct a three-dimensional model of the servo transmission mechanism according to the structural size parameters of the servo transmission mechanism; The simplified model submodule is used to simplify the three-dimensional model of the servo transmission mechanism based on dynamic analysis to obtain simplified models of various components of the servo transmission mechanism; The finite element model submodule is used to mesh the simplified models of the various components of the servo transmission mechanism to obtain sub-models of the various components of the servo transmission mechanism.

9. A computer storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. A digital twin modeling device for a servo transmission mechanism, characterized in that: include: processor; and a memory for storing executable instructions for the processor; The processor is configured to perform the method according to any one of claims 1 to 7 by executing the executable instructions.

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