Simulation method for absorbing cut object of reactor metal component

Abstract

The embodiment of the invention relates to the technical field of computer-aided simulation, in particular to a simulation method for absorbing a cut object of a reactor metal component, which comprises the following steps: S1, simulating an absorbing device; s2, simulating cutting of the reactor metal component to obtain a cut object; and S3, a simulated suction device is used for conducting simulated suction on the cut object. According to the simulation method provided by the embodiment of the invention, the simulated suction process is closer to the real suction process, and by simulating the suction process, problems possibly occurring in the suction process can be found in time, so that the problems occurring in the actual suction process are avoided.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of computer-aided simulation, and in particular to a simulation method for sucking cut objects of reactor metal components. Background Art

[0002] The statements herein merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] The reactor has a large volume. After decommissioning, it needs to be cut into multiple smaller pieces for processing. However, the cut pieces produced by cutting still have a large volume. After the cut pieces are sucked by a suction device, they need to be moved by manipulating the suction device. In the process of sucking the cut pieces by the suction device, problems may be encountered, resulting in the suction process not being able to proceed smoothly. Summary of the invention

[0004] A brief overview of the present application is provided below in order to provide a basic understanding of certain aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to identify the key or important parts of the present application, nor is it intended to limit the scope of the present application. Its purpose is merely to present certain concepts in a simplified form as a prelude to a more detailed description discussed later.

[0005] An embodiment of the present application provides a simulation method for sucking the cut material of a reactor metal component, which includes the following steps: S1: simulating a sucking device; S2: simulating the cutting of the reactor metal component to obtain the cut material; S3: using the simulated sucking device to simulate the sucking of the cut material.

[0006] The simulation method provided in the embodiment of the present application simulates an absorption process that is closer to the actual absorption process. By simulating the absorption process, problems that may occur in the absorption process can be discovered in time, thereby avoiding these problems from occurring in the actual absorption process. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to further illustrate the above and other advantages and features of the present application, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. The accompanying drawings together with the following detailed description are included in this specification and form a part of this specification. Elements with the same function and structure are represented by the same reference numerals. It should be understood that these drawings only describe typical examples of the present application and should not be regarded as limiting the scope of the present application.

[0008] Figure 1 is a flow chart of a simulation method according to an embodiment of the present application;

[0009] Figure 2 is a flow chart of step S3 of a simulation method according to an embodiment of the present application;

[0010] Figure 3 It is a schematic diagram of the effect of verifying whether the cutting device will interfere with the existence space of the reactor in one embodiment of the present application.

[0011] It should be noted that the drawings are not necessarily drawn to scale, but are merely shown in a schematic manner that does not affect the reader's understanding.

[0012] Explanation of reference numerals: 10. cutting device; 30. reactor assembly. DETAILED DESCRIPTION

[0013] Exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual implementation are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the process of developing any such actual implementation in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and these constraints may vary from implementation to implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the content of this application.

[0014] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure and / or processing steps closely related to the scheme according to the present application are shown in the accompanying drawings, while other details that are not very relevant to the present application are omitted.

[0015] The disclosure below provides a plurality of different embodiments or examples to implement the present application. In order to simplify the disclosure of the present application, the parts and methods of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the present application. In the description of the embodiments of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0016] When using the suction device to suck the cut objects of the reactor, if the suction power is too large, the smaller cut objects will obtain a very large initial velocity and be difficult to control. If the suction power is too small, the larger cut objects will fall off the suction device and fall to the ground. In addition, if the suction cup does not correspond to the center position of the cut object, the cut object will fly due to inertia during the grasping process. To address the above problems, the suction process needs to be simulated.

[0017] See also Figure 1The embodiment of the present application provides a simulation method for sucking the cut object of the reactor metal component, which includes the following steps S1 to S3:

[0018] S1: Simulated suction device.

[0019] S2: Simulate the cutting of reactor metal components to obtain cuttings.

[0020] S3: Use a simulated suction device to simulate suction of the cut object.

[0021] The simulation method provided in the embodiment of the present application simulates an absorption process that is closer to the actual absorption process. By simulating the absorption process, problems that may occur in the absorption process can be discovered in time, thereby avoiding these problems from occurring in the actual absorption process.

[0022] In some embodiments, the simulation method further includes: creating a first object, the object is defined as a suction device, the object includes a plurality of attributes, and the plurality of attributes represent a plurality of elements of the suction device.

[0023] By using multiple attributes to characterize multiple elements of the suction device, only some of the attributes can be adjusted during the process of simulated suction, thereby achieving precise control of the simulated suction device.

[0024] See also Figure 2 In some embodiments, step S3 further includes the following steps S31 to S33:

[0025] S31: The suction device detects the nearest object within the cylindrical suction range.

[0026] S32: Calculate the projection area of ​​the nearest object on the surface of the suction cup of the suction device.

[0027] S33: Calculate the suction force of the suction device according to the projected area.

[0028] S34: Calculate the actual suction force of the suction device according to the center of mass position of the sucked object.

[0029] S35: Determine to suck the sucked object according to the actual suction force and the self-weight of the sucked object.

[0030] By detecting the nearest object, the range of objects sucked by the suction device can be narrowed, and the amount of calculation can be reduced. By calculating the actual suction force of the suction device and comparing it with the self-weight of the sucked object, it can be confirmed whether the sucked object is sucked normally.

[0031] In some embodiments, in step S31, a cylindrical suction range is generated according to the maximum suction distance of the center point of the suction cup of the suction device in the direction of the suction force, and objects within the range are detected according to the cylindrical suction range.

[0032] By generating a cylindrical suction range, it can be ensured that the suction device suctions the object to be suctioned, and does not suction irrelevant objects.

[0033] In some embodiments, in step S33, according to the electromagnetic suction cup suction simulation calculation formula, the contact suction force F0 is equal to the suction cup power C multiplied by the contact area S:

[0034] F0=C×S.

[0035] Through the above expression, the suction force of the suction device can be determined more accurately, thereby avoiding suction failure caused by excessive or insufficient suction force.

[0036] In some embodiments, the simulation method further includes: creating a third object, where the third object is defined as an operating device, the suction device is fixed to the operating device, and the movement of the suction device is driven by the movement of the operating device.

[0037] In the actual suction process, the suction device is arranged on an operating device such as a crane, and by simulating the third object, it can be verified whether the suction device can be driven by the operating device to move to a specified position.

[0038] In some embodiments, the simulation method also includes: creating the shape of the moving parts of the operating device, defining the axis of each moving part, and based on the axis, constructing the movement properties and rotation properties of the moving parts; constructing the linkage relationship between the moving parts; defining the input of the operator when operating the operating device, and associating the input with the movement of the moving parts so that the moving parts can be controlled by the operator's input.

[0039] The movement attribute and the rotation attribute may be the speed and range of movement and rotation. The above simulation method can divide the simulated operating device from a whole into multiple parts based on multiple axes, making the movement of the simulated operating device more precise, so that the simulation effect is closer to the actual situation.

[0040] In some embodiments, before the cutting is completed, a suction device is placed near the cutting object to be cut.

[0041] Placing the suction device near the cut object can make the cut object be sucked in time to prevent the cut object from falling on the ground. Further, when the cut object is about to be cut, the suction power of the suction device can be increased to ensure that the cut object is successfully sucked.

[0042] In some embodiments, the simulation method further comprises: after the cut object is sucked up, transferring it to a transport device, turning off the suction, separating the cut object from the cutting device, and transporting it by the transport device.

[0043] After the cut material is sucked by the suction device, the suction device establishes a constraint on the cut material, and the cut material can be moved to any position with the suction device. The switch and power of the suction device can be adjusted. When the suction device is turned off or the suction power is insufficient to maintain the attraction force that offsets the gravity of the cut material, the constraint on the cut material is released, and the cut material falls freely with gravity. In the process of transferring the cut material to the transfer device, problems such as the cut material falling too fast may occur. By simulating this process, problems that may occur in the process can be discovered, thereby avoiding these problems from occurring during the actual cutting process. In some embodiments, the transfer device can, for example, be a cart for loading the cut material.

[0044] In some embodiments, the cut material is subjected to simplified processing prior to cutting.

[0045] When the cutting object is more complex, for example, the number of faces of the model is greater than 300,000, there will be a certain delay in the operation and a freeze when the display is updated, which will affect the absorption process. Simplifying the more complex cutting objects can make the absorption process smoother and avoid the above problems.

[0046] In some embodiments, the plurality of properties of the suction device may include:

[0047] The maximum suction distance is used to determine whether the object will be sucked by the suction device. The object will be sucked only when the distance from the projected center of mass of the object to the suction device is less than the maximum suction distance.

[0048] The suction cup power coefficient is used to calculate the suction force of the suction cup on the object being attracted.

[0049] The suction cup switch provides suction to the object when it is turned on, and the suction to the object disappears when it is turned off.

[0050] The suction cup scanning interval is the interval for calculating the area and gravity of the attracted object. The smaller the suction cup scanning interval, the more accurate the simulation result, but the computing power consumed also increases. In some embodiments, the suction cup scanning interval can be 0.2 seconds per time.

[0051] The suction force of the suction cup on the object is calculated by the system.

[0052] In some embodiments, in step S34, the actual suction force of the suction device is determined according to the following formula:

[0053]

[0054] In the formula, α is the distance from the object to the center of mass of the suction cup projection. From this formula, it can be concluded that the actual suction force is proportional to the suction cup power and the projection area of ​​the object to the suction cup, and is inversely proportional to the distance from the object to the center of mass of the suction cup projection.

[0055] In some embodiments, step S35 further includes: when the actual suction force is greater than the self-weight of the attracted object, the rigid body state of the attracted object is modified to dynamic, and a force is applied to it in the direction of the suction device.

[0056] The initial value of the rigid body state of all objects is static. Only objects with a dynamic rigid body state will simulate physical effects during initialization. This process can save computing power and only simulate the physical effects of the attracted objects.

[0057] In some embodiments, simulating the suction device includes: setting a plurality of reference devices inside and outside the reactor, establishing a coordinate system about the reactor according to the position of the reference devices; setting a plurality of scanning points near the suction device, recording the coordinates of the scanning points, scanning the reactor at the scanning points, converting the scanned photos into point cloud data, obtaining the geometric parameters and physical property parameters of the suction device according to the point cloud data, importing the point cloud data into the modeling software, using the modeling software to remove the content that is not for the suction device in the point cloud data, splicing and coloring the processed point cloud data according to the position of the reference device, and converting the spliced ​​and colored point cloud data into a digital model of the suction device. In some embodiments, in step S2, it also includes: simulating the cutting laser. Specifically, a second object can be created, the second object is defined as a laser, and the second object includes multiple attributes, and the multiple attributes represent multiple elements of the laser.

[0058] The multiple properties of the second object may include: laser switch, cutting laser length, cutting laser width, cutting distance, minimum cutting distance, maximum cutting distance, cutting angle, minimum cutting angle, maximum cutting angle, cutting grid generation interval, longitudinal movement tolerance, and laser overlap tolerance.

[0059] Among them, the laser switch is a Boolean value. When it is turned on, it can perform cutting operations on the object to be cut. When it is turned off, the cutting action will be stopped and the cutting operation will be performed immediately.

[0060] The length of the cutting laser is in cm. If the length is too long, the cutting grid will be redundant, resulting in a long cutting calculation time. The length of the cutting laser can be set to a length that is suitable for the object to be cut. In some embodiments, a corresponding relationship between laser power and laser length can be established, and through this relationship, the laser length is determined according to the laser power.

[0061] The width of the cutting laser is measured in cm, which determines the width of the gap in the object being cut.

[0062] The unit of cutting distance is cm, and its value is the distance between the laser end and the nearest object to be cut. The cutting distance attribute is a read-only attribute.

[0063] The maximum cutting distance and the minimum cutting distance are used in combination with the cutting distance to determine whether to perform cutting. When the cutting distance is greater than the maximum cutting distance, or the cutting distance is less than the minimum cutting distance, the cutting is not performed, or the cutting action is stopped and the cutting operation is performed immediately.

[0064] The unit of cutting angle is degree, and its value is the angle between the laser and the surface of the object being cut. The cutting angle attribute is a read-only attribute.

[0065] The maximum cutting angle and the minimum cutting angle are used in combination with the cutting angle to determine whether to perform cutting. When the cutting angle is greater than the maximum cutting angle, or the cutting angle is less than the minimum cutting angle, the cutting is not performed, or the cutting action is stopped and the cutting operation is performed immediately.

[0066] The unit of the cutting grid generation interval is seconds / time. The default value is 0.2, which means that a cutting grid is generated every 0.2 seconds (i.e. 5 times / second). The smaller the value of the cutting grid generation interval, the finer the generated cutting grid and the better the cutting effect, but correspondingly, the calculation time will also increase. Generally, the cutting grid generation interval can use the default value, or adjust it appropriately above 0.05 according to actual needs.

[0067] The longitudinal movement tolerance indicates the cosine value from the laser direction to the movement direction. The smaller the value, the greater the possibility that the laser will enter the object to be cut vertically and then perform cutting. If it is found that the object cannot be effectively cut in the nearly vertical direction, the longitudinal movement tolerance can be appropriately lowered. However, if the value of the longitudinal movement tolerance is too small, it will cause problems in cutting.

[0068] Laser overlap tolerance is used to determine the overlap between the beginning and the end of the ring cutting. The larger the value, the larger the determination range, the higher the success rate of the ring cutting, but the higher the misjudgment rate.

[0069] In step S2, the simulation of cutting the reactor metal components also includes: confirming that the laser is in contact with the object to be cut; determining that the effective cutting distance of the laser is within a predetermined range; determining that the angle between the laser beam and the object to be cut is within the cutting angle range; determining that the time of the last record and the time of this record are greater than a predetermined time interval; generating laser cutting record points; repeating the above process until the above conditions are not met, generating multiple laser cutting record points; generating a laser cutting path line based on the multiple cutting record points; generating a laser cutting grid body based on the cutting path line and the length and width of the laser; comparing the laser cutting grid body with the object to be cut, thereby simulating the cutting of the object to be cut.

[0070] The method to confirm whether the laser is in contact with the object being cut is to compare the two end points of the laser with the three vertices of each face of the object being cut, and determine whether the two end points pass through each face of the object being cut. If so, it means that the laser is in contact with the object being cut.

[0071] When the laser cutting grid body is compared with the object to be cut, the laser grid body is used to perform Boolean operation on the object to be cut, and the repeated parts are subtracted from the object to be cut, thereby achieving the cutting of the object to be cut.

[0072] In some embodiments, the simulation method further includes: verifying whether the cutting device, the suction device, the operating equipment and the loading container will interfere with the reactor.

[0073] In actual operation, the sizes of the cutting device, suction device, operating equipment and loading container may be large, and may interfere with the reactor during the cutting and suction process, thereby making the suction process impossible to achieve. By verifying the cutting and suction process, the above situation can be avoided and a better cutting and suction scheme can be selected from multiple cutting and suction schemes.

[0074] Figure 3 A schematic diagram of the effect of verifying whether the cutting device will have spatial interference with the digital model of the reactor in one embodiment of the present application is shown. In the figure, when the cutting device 10 simulates cutting one of the reactor components 30, the cutting device 10 "passes through" another reactor component 30, which means that in the actual cutting process, when the cutting device 10 cuts one of the reactor components 30, it will be blocked by another reactor component 30 and cannot be cut. Therefore, in the actual cutting, this solution is not used to cut the reactor. Similarly, in the process of simulating absorption, it can also be checked whether the absorption device, operating equipment and loading container will interfere with the reactor component. The simulation method of the present application is explained below in conjunction with specific embodiments.

[0075] A plurality of reference devices are arranged inside and outside the reactor, and a coordinate system of the reactor is established according to the positions of the reference devices; a plurality of scanning points are arranged near the suction device, the coordinates of the scanning points are recorded, and the reactor is scanned at the scanning points, and the scanned photos are converted into point cloud data, and the geometric parameters and physical property parameters of the suction device are obtained according to the point cloud data, and the point cloud data are imported into the modeling software, and the modeling software is used to remove the content of the point cloud data that is not for the suction device, and the processed point cloud data are spliced ​​and colored according to the position of the reference device, and the spliced ​​and colored point cloud data are converted into a digital model of the suction device.

[0076] Confirm that the laser is in contact with the object to be cut; determine that the effective cutting distance of the laser is within a predetermined range; determine that the angle between the laser beam and the object to be cut is within the cutting angle range; determine that the time of the last record and the time of this record are greater than a predetermined time interval; generate laser cutting record points; repeat the above process until the above conditions are not met, and generate multiple laser cutting record points; based on the multiple cutting record points, generate a laser cutting path line; based on the cutting path line and the length and width of the laser, generate a laser cutting grid; compare the two endpoints of the laser with the three vertices of each face of the object to be cut to determine whether the two endpoints pass through each face of the object to be cut. If so, it means that the laser is in contact with the object to be cut, use the laser grid to perform Boolean operations on the object to be cut, subtract the repeated parts from the object to be cut, and obtain the cut object.

[0077] Before the cutting is completed, the cutting object is simplified and the suction device is placed near the cutting object to be cut. The suction device detects the nearest object within the cylindrical suction range and creates a first object, which is defined as the suction device. The object includes multiple properties such as the maximum suction distance, suction cup power coefficient, suction cup switch, and suction cup scanning interval. Create a third object, which is defined as an operating device. The suction device is fixed to the operating device. Create the shape of the moving parts of the operating device, define the axis of each moving part, and build the movement and rotation properties of the moving parts based on the axis; build the linkage relationship between the moving parts; define the input of the operator when operating the operating device, and associate the input with the movement of the moving parts so that the moving parts can be controlled through the input of the operator.

[0078] According to the maximum suction distance of the center point of the suction cup of the suction device in the direction of the suction force, a cylindrical suction range is generated. According to the cylindrical suction range, objects within the range are detected, and the suction force of the suction device is calculated using the formula F0 = C × S. The actual suction force of the suction device is calculated. When the actual suction force is greater than the weight of the object being attracted, the rigid body state of the object being attracted is modified to dynamic, and a force is applied to it in the direction of the suction device to ensure that the object is attracted. After the cut object is sucked, it is transferred to the transfer device, the suction force is turned off, the cut object is separated from the cutting device, and is transferred by the transfer device.

[0079] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.

[0080] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A simulation method for sucking cut objects of reactor metal components, comprising the following steps: S1: simulated suction device; S2: simulate cutting of reactor metal components to obtain cuttings; S3: using a simulated suction device to simulate suction of the cut object.

2. The simulation method according to claim 1, wherein: Create a first object, which is defined as a suction device, The object includes a plurality of attributes, and the plurality of attributes characterize a plurality of elements of the suction device.

3. The simulation method according to claim 2, wherein: S31: The suction device detects the nearest object within the cylindrical suction range. S32: Calculating the projection area of ​​the nearest object on the surface of the suction cup of the suction device; S33: Calculating the suction force of the suction device according to the projection area; S34: Calculating the actual suction force of the suction device according to the center of mass position of the sucked object; S35: Determine to suck the sucked object according to the actual suction force and the self-weight of the sucked object.

4. The simulation method according to claim 3, wherein: In step S31, the columnar suction range is generated according to the maximum suction distance of the center point of the suction cup of the suction device in the direction of the suction force. According to the cylindrical suction range, objects within the range are detected.

5. The simulation method according to claim 3, wherein: In step S33, according to the electromagnetic suction cup suction simulation calculation formula, the contact suction force F0 is equal to the suction cup power coefficient C multiplied by the contact area S: F0=C×S.

6. The simulation method according to claim 1, wherein: creating a third object, the third object being defined as an operation device, The suction device is fixed to the operating device, and the movement of the suction device is driven by the movement of the operating device.

7. The simulation method according to claim 6, wherein: Create the shape of the moving parts of the operating device and define the axis of each moving part. Based on the axis, construct the movement attribute and the rotation attribute of the moving part; Establishing a linkage relationship between the moving parts; An input when an operator operates the operating device is defined, and the input is associated with the movement of the moving component, so that the moving component is controlled by the input of the operator.

8. The simulation method according to claim 1, wherein: Before the cutting is completed, the suction device is placed near the object to be cut.

9. The simulation method according to claim 1, wherein: After the cut material is sucked, it is transferred to the transfer device, the suction is turned off, the cut material is separated from the cutting device, and is transferred by the transfer device.

10. The simulation method according to claim 1, wherein: Simplify the material before cutting.

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