Topological optimization design method and application of wrapping head support

Abstract

The invention discloses a topological optimization design method for a lapping head support and application, and belongs to the technical field of topological optimization. Comprising the following steps: S1, establishing an initial model of a lapping head support; s2, determining a design domain according to the initial model and introducing deformation parameters; s3, a driving device is installed on the driving device fixing area; s4, under the load F, performing variable density topological optimization on the initial model based on a variable density topological optimization method to obtain a topological structure; and S5, extracting the contour of the topological structure, and based on the contour and the size constraint of the non-mobility load area, performing model reconstruction by adopting Spaceclaim to obtain a three-dimensional model of the topological structure. On the basis of a variable-density topological optimization method, the rigidity requirement and the nonlinear deformation characteristic are considered, the mass fraction serves as constraint, a comprehensive optimization target model meeting the requirement under the rated working condition is established, the designed lapping head has higher rigidity and strength, and the weight of manufacturing materials and the economic cost are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of topology optimization, and in particular relates to a topology optimization design method for a wrapping head support and an application thereof. Background Art

[0002] In the current industrial development process, in order to fully ensure the optimal design of the structure to improve the motion performance, it is often necessary to conduct structural research on size structure, shape structure, material selection and other issues, and topology optimization is an important part of it. Especially in the context of the increasing complexity of CAE in the industrial development of the new era, the application of topology optimization technology in CAE is an inevitable way to improve the effectiveness of new product research and development. Topology optimization is a structural optimization method that finds the optimal distribution of materials in a given area based on known design variables, constraints and stress states, with the optimization goals of increasing strength and reducing mass. According to the different unit structures, structural topology optimization is mainly divided into two categories: discrete body structure topology and continuum structure topology. For spatial structures such as beams and trusses, discrete body topology optimization is generally used, introducing the concept of base structure, and iterating by optimizing the retention of each unit structure in the design area; for plane structures, continuum topology optimization is generally used, introducing the concept of material unit, and iterating by optimizing the retention of each material unit in the design area.

[0003] For example, the patent with application number CN202410104969.7 discloses a wrapping system for non-linear pipe fittings, including a wrapping head, the wrapping head includes a C-shaped shell, a C-shaped gear in the C-shaped shell and matched therewith, one or more material trays on the C-shaped gear, and a driving mechanism on the C-shaped shell and used to drive the C-shaped gear to rotate, the material tray can rotate and revolve around the axis of the C-shaped shell; the wrapping system also includes a pipe hanging device, a robot mobile platform, a manipulator on the robot mobile platform and a visual guidance device on the manipulator, the wrapping head is arranged on the manipulator and its notch can pass through the hanging point, the pipe hanging device adopts a multi-point hanging method to hang the pipe fitting, the visual guidance device can obtain the bending condition and hanging point of the pipe fitting during the wrapping process, and the wrapping head can adjust its position and posture in cooperation with the manipulator and the robot mobile platform to pass through the bending position and the hanging point; when wrapping, the robot mobile platform moves back and forth along the direction where the pipe fitting is located to achieve wrapping. The existing taping head usually includes a taping head support, a driving device, a C-shaped gear, a tensioning gear and a transmission gear. The taping head support is a continuous planar structure and belongs to the category of continuum topology optimization. At present, the commonly used methods for solving continuum topology optimization mainly include homogenization method, level set method, variable density method, independent continuous mapping method and progressive structure optimization method.

[0004] The variable density method is a method that transforms the structural optimization problem into a material distribution problem. The core idea can be described as follows: artificially assume a material with a variable density value. In topology optimization, the density field of the structure is a function defined in the entire structural domain, which is used to represent the material density at different positions. Usually, each point in the density field corresponds to a unit or a cell in the structure. The value in the density field represents the proportion or density of the material occupied at that position. In topology optimization, the density field usually ranges from 0 to 1, and there is a nonlinear relationship with the macro elastic model. By selecting a reasonable material interpolation model and an optimization solution algorithm, the relative density value of the material unit in the design domain is calculated. 0 means that the unit is an empty body and needs to be removed, and 1 means that the unit is a solid and needs to be added. Then, a penalty variable is introduced to aggregate the intermediate density values ​​in the direction of 0 and 1. Finally, the distribution of the material in the design domain is determined according to the relative density value of the unit. Because the variable density topology optimization method introduces the concepts of pseudo-density and penalty factor, the computational efficiency and convergence are better than those of other methods. At the same time, it has better practicality and versatility, and is more suitable for the topology optimization problem of the wrapping head support. Summary of the invention

[0005] In order to solve the above problems, the embodiment of the present invention provides a method and application for topological optimization design of a wrapping head support, which optimizes the design of the wrapping head support and performs 3D printing. The technical solution is as follows: On the one hand, an embodiment of the present invention provides a method for topological optimization design of a wrapping head support, the method comprising the following steps: S1: Establish the initial model of the wrapping support.

[0006] S2: Determine the design domain based on the initial model and introduce deformation parameters.

[0007] Among them, the design domain includes the front end contact area, the non-mobile load area and the rear end connection area. The non-mobile load area includes the tensioning gear fixing area 3, the transmission gear fixing area 2 and the drive device fixing area 1. The deformation parameters include the obstacle avoidance opening angle α, the side edge termination position y and the straight edge termination position x.

[0008] S3: Install the drive device on the drive device fixing area 1.

[0009] S4: Under load F, the initial model is subjected to variable density topology optimization based on the variable density topology optimization method to obtain the topological structure.

[0010] S5: The contour of the topological structure is extracted, and based on the contour and the size constraints of the non-mobile load area, Spaceclaim is used to reconstruct the model to obtain a three-dimensional model of the topological structure.

[0011] Among them, the front end contact area in the embodiment of the present invention is a C-shaped structure and a reinforcing rib is provided on its outer edge; the rear end connection area is located on the side of the front end contact area away from the opening, and is arranged along the center line of the front end contact area, and its end close to the front end contact area is an arc that cooperates with the front end contact area, which is an isosceles trapezoid or a waist-shaped structure; the obstacle avoidance opening angle α is the deformation angle at the opening of the front end contact area, the side edge termination position y is half of the width of the winding head support, and the straight edge termination position x is the length of the winding head support; the tensioning gear fixing area 3 and the transmission gear fixing area 2 are both located at the end of the front end contact area away from the opening, and the drive device fixing area 1 is located at the end of the rear end connection area close to the front end contact area.

[0012] Specifically, the tensioning gear fixing area 3 in the embodiment of the present invention is a first circular hole and is located on the center line of the front end contact area. The transmission gear fixing area 2 includes two second circular holes, which are respectively located on both sides of the first circular hole and are symmetrically arranged with respect to the center line of the front end contact area. The driving device fixing area 1 is a square hole and is located on the center line of the rear end connection area.

[0013] Wherein, step S1 specifically includes: establishing an initial model of the wrapping head support through the Solidworks structural mechanics module.

[0014] Wherein, step S4 specifically includes: S401: Establish a function of the design domain according to the initial model and deformation parameters; define a non-mobile load area to impose a dimensional constraint, and define a load F to be applied symmetrically toward the inner side of the front contact area.

[0015] S402: Select several points on the front contact area and the non-mobile load area as deformation points, and analyze the deformation capacity under the load F.

[0016] S403: Setting topology optimization parameters, where the topology optimization parameters include volume fraction, filter radius, driving force, and penalty factor.

[0017] S404: Select materials.

[0018] S405: Establish a multi-objective function for controlling bearing deformation, and define the multi-objective function as a weighted dimensionless form of the flexibility single-objective function of all deformation points.

[0019] S406: Adjoint solution method is used to iterate continuously according to the multi-objective function and the topology optimization parameters to obtain the topology structure of the wrapping head support.

[0020] Specifically, in step S401, the function of the design domain is:

[0021]

[0022]

[0023]

[0024] in, is the comprehensive objective function; is the weight coefficient of the flexibility objective function; is the weight coefficient of the stiffness objective function; , They are the nonlinear deformation objective function and the stiffness objective function respectively; , y, and α are deformation parameters; is the optimized area; To optimize the front envelope model area; 0.5 is the mass fraction.

[0025] Wherein, step S405 specifically includes: S501: Using the average difference method, determine the flexibility single objective function for controlling a single deformation point.

[0026] S502: Introducing a weight coefficient into the single objective function of the flexibility of all deformation points to obtain a multi-objective function for controlling the overall deformation of the support.

[0027] Specifically, in step S501: The flexibility single objective function is:

[0028] Among them, M(x,y,α) represents the structural flexibility objective function corresponding to the load F, x k and x k-1 Indicates the extension of two adjacent points in the x-axis direction, y k and k-1 Indicates the extension of two adjacent points in the y-axis direction, α k and α k-1 Represents the deformation angle between two adjacent points.

[0029] Specifically, in step S502: The multi-objective function is:

[0030] Where G(x) is the multi-objective function of support deformation; q represents the penalty factor in the SIMP interpolation function, and are the maximum and minimum values ​​of the flexibility target; and are the maximum and minimum stiffness target values.

[0031] On the other hand, the present invention also provides an application of the method for topological optimization design of a wrapping head support, and 3D printing is performed on the three-dimensional model of the topological structure obtained by the above-mentioned method for topological optimization design of a wrapping head support. The beneficial effects of the technical solution provided by the embodiment of the present invention are as follows: the present invention is based on a variable density topology optimization method, takes into account both stiffness requirements and nonlinear deformation characteristics, uses mass fraction as a constraint, and establishes a comprehensive optimization target model that meets the requirements under rated working conditions. The designed winding head has higher stiffness and strength, and reduces the weight of manufacturing materials and economic costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is the initial model of the wrap-around support; Figure 2 It is a schematic diagram of the design domain and deformation parameters of the initial model of the wrap-around head support; Figure 3 is a schematic diagram of the front end contact area; Figure 4 It is a schematic diagram of the rear end connection area; Figure 5 It is a schematic diagram of the topological structure; Figure 6 is a flow chart of a method for topological optimization design of a wrapping head support in an embodiment of the present invention; Figure 7 This is a flowchart of step S4.

[0033] Among them, 1 is a driving device fixing area, 2 is a transmission gear fixing area, and 3 is a tensioning gear fixing area. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] Example 1 See also Figure 6 Embodiment 1 provides a method for topological optimization design of a wrapping head support, the method comprising the following steps: S1: Establish the initial model of the wrapping support.

[0036] S2: Determine the design domain based on the initial model and introduce deformation parameters.

[0037] Among them, the design domain includes the front contact area, the non-mobile load area and the rear connection area. The non-mobile load area includes the tensioning gear fixing area 3, the transmission gear fixing area 2 and the driving device fixing area 1. The deformation parameters include the obstacle avoidance opening angle α, the side edge termination position y and the straight edge termination position x.

[0038] S3: Install the drive device on the drive device fixing area 1.

[0039] S4: Under load F, the initial model is subjected to variable density topology optimization based on the variable density topology optimization method to obtain the topological structure.

[0040] S5: The contour of the topological structure is extracted, and based on the contour and the size constraints of the non-mobile load area, Spaceclaim is used to reconstruct the model to obtain a three-dimensional model of the topological structure.

[0041] Example 2 See also Figure 6 Embodiment 2 provides a method for topological optimization design of a wrapping head support, the method comprising the following steps: S1: Use Solidworks structural mechanics module to build the initial model of the wrapping head support. Figure 1 Specifically, the initial model has a width of 300 mm, a length of 750 mm, and a thickness of 10 mm.

[0042] S2: Determine the design domain based on the initial model and introduce deformation parameters.

[0043] Among them, see Figure 2-4 The design domain includes the front contact area, the non-mobile load area and the rear connection area. The non-mobile load area includes the tensioning gear fixing area 3, the transmission gear fixing area 2 and the drive device fixing area 1. The deformation parameters include the obstacle avoidance opening angle α, the side edge end position y and the straight edge end position x. This regional parametric design method ensures structural continuity while eliminating the problem of regional parameter interference.

[0044] Specifically, the front contact area is a C-shaped structure and a reinforcing rib is provided on its outer edge (not considered during optimization). The rear end connection area is located on the side of the front contact area away from the opening, and is arranged along the center line of the front contact area. The end close to the front contact area is an arc that matches the front contact area, which is an isosceles trapezoid or a waist-shaped structure. The obstacle avoidance opening angle α is the deformation angle at the opening of the front contact area, the side edge termination position y is half the width of the winding head support, and the straight edge termination position x is the length of the winding head support. The tensioning gear fixing area 3 and the transmission gear fixing area 2 are both located at the end of the front contact area away from the opening, and the drive device fixing area 1 is located at the end of the rear end connection area close to the front contact area. Specifically, the tensioning gear fixing area 3 is a first circular hole and is located on the center line of the front contact area. The transmission gear fixing area 2 includes two second circular holes, which are respectively located on both sides of the first circular hole and are symmetrically arranged with respect to the center line of the front contact area. The drive device fixing area 1 is a square hole and is located on the center line of the rear end connection area.

[0045] More specifically, the length of the front contact area is 8 / 15 times the length of the initial model, which is 400 mm; the width of the front contact area is 300 mm. The length of the rear connection area is 7 / 15 times the length of the initial model, which is 350 mm. The first circular hole is a circle with a diameter of 20 mm, the second circular hole is a circle with a diameter of 40 mm, and the side length of the square hole is 75 mm.

[0046] S3: Install the driving device on the driving device fixing area 1 of the initial model. Specifically, the driving device is a stepping motor.

[0047] S4: Under load F (such as Figure 3 As shown in Figure 2), the initial model is optimized by variable density topology optimization based on the variable density topology optimization method to obtain the topological structure (specifically, the weight-reducing topological structure, such as Figure 5 See Figure 7 , specifically including the following steps: S401: Establish a function of the design domain based on the initial model and deformation parameters; define a non-mobile load area to impose dimensional constraints, and define a load F to be applied symmetrically to the inner side of the front contact area. Figure 3-4 As shown in the figure, the front contact area is simplified to a rectangular area of ​​400×300mm; the rear connection area is simplified to a rectangular area of ​​350×Kmm; the dots are the optimized areas of the front contact area and the rear connection area; the white area in the rectangle is the non-optimized area. In initialization, the relative density of the non-optimized area is defined as 0, and the relative density of the optimized area is defined as 1.

[0048] The function of the design domain is:

[0049]

[0050]

[0051]

[0052] in, is the comprehensive objective function; is the weight coefficient of the flexibility objective function; is the weight coefficient of the stiffness objective function; , They are the nonlinear deformation objective function and the stiffness objective function respectively; , y, and α are deformation parameters; is the optimized area; To optimize the front envelope model area; 0.5 is the mass fraction.

[0053] S402: Select several points on the front contact area (excluding the area of ​​the reinforcement ribs) and the non-mobile load area as deformation points, and analyze the deformation capacity under the load F.

[0054] S403: Setting topology optimization parameters, which include volume fraction, filter radius, driving force, penalty factor, etc.

[0055] S404: Selecting materials. Specifically, by comparing the elastic modulus, Poisson's ratio and allowable stiffness of commonly used 3D printing materials, a material for processing the wrapping support topological structure is selected. In this embodiment, polytetrafluoroethylene material is selected for processing.

[0056] S405: Establish a multi-objective function for controlling bearing deformation, and define the dimensionless form of the single-objective function of the flexibility of all deformation points as a multi-objective function by weighting. The steps include: S501: Using the average difference method, determine the flexibility single objective function for controlling a single deformation point; the flexibility single objective function is:

[0057] Among them, M(x,y,α) represents the structural flexibility objective function corresponding to the load F, x k and x k-1 Indicates the extension of two adjacent points in the x-axis direction (length direction), y k and k-1 Indicates the extension of two adjacent points in the y-axis direction (width direction), α k and α k-1 Represents the deformation angle between two adjacent points.

[0058] S502: Introduce a weight coefficient into the single objective function of the flexibility of all deformation points to obtain a multi-objective function for controlling the overall deformation of the support; the multi-objective function is:

[0059] Where G(x) is the multi-objective function of support deformation; q represents the penalty factor in the SIMP interpolation function, and are the maximum and minimum values ​​of the flexibility target; and are the maximum and minimum stiffness target values.

[0060] S406: Adjoint solution method is used to iterate continuously according to the multi-objective function and topology optimization parameters to obtain the topological structure of the winding head support (to achieve deformation control and weight reduction of the winding head support).

[0061] S5: Extract the outline of the topological structure, and reconstruct the model using Spaceclaim based on the outline and the size constraint of the non-mobile load area to obtain a three-dimensional model of the topological structure; this process is a conventional method and a detailed description is omitted in this embodiment.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A topological optimization design method for a taping head support, characterized in that: The method comprises the following steps: S1: Establish the initial model of the winding head support; S2: Determine the design domain based on the initial model and introduce deformation parameters; The design domain includes a front contact area, a non-mobile load area and a rear connection area, the non-mobile load area includes a tensioning gear fixing area (3), a transmission gear fixing area (2) and a drive device fixing area (1), and the deformation parameters include an obstacle avoidance opening angle α, a side edge termination position y and a straight edge termination position x; S3: Install the drive device on the drive device fixing area (1); S4: Under load F, the initial model is subjected to variable density topology optimization based on the variable density topology optimization method to obtain the topological structure; S5: The contour of the topological structure is extracted, and based on the contour and the size constraints of the non-mobile load area, Spaceclaim is used to reconstruct the model to obtain a three-dimensional model of the topological structure.

2. The method for topological optimization design of a taping head support according to claim 1, characterized in that: The front end contact area is a C-shaped structure and a reinforcing rib is provided on its outer edge; the rear end connection area is located on the side of the front end contact area away from the opening, and is arranged along the center line of the front end contact area, and the end close to the front end contact area is an arc that matches the front end contact area, and is an isosceles trapezoid or waist-shaped structure; the obstacle avoidance opening angle α is the deformation angle at the opening of the front end contact area, the side edge termination position y is half the width of the winding head support, and the straight edge termination position x is the length of the winding head support; the tensioning gear fixing area (3) and the transmission gear fixing area (2) are both located at the end of the front end contact area away from the opening, and the drive device fixing area (1) is located at the end of the rear end connection area close to the front end contact area.

3. The method for topological optimization design of a taping head support according to claim 2, characterized in that: The tensioning gear fixing area (3) is a first circular hole and is located on the center line of the front end contact area. The transmission gear fixing area (2) includes two second circular holes, which are respectively located on both sides of the first circular hole and are symmetrically arranged with respect to the center line of the front end contact area. The driving device fixing area (1) is a square hole and is located on the center line of the rear end connection area.

4. The method for topological optimization design of a taping head support according to claim 1, characterized in that: Step S1 specifically includes: establishing an initial model of the wrapping head support through the Solidworks structural mechanics module.

5. The method for topological optimization design of a taping head support according to claim 1, characterized in that: Step S4 specifically includes: S401: Establish a function of the design domain according to the initial model and deformation parameters; define a non-mobile load area to impose a size constraint, and define a load F to be symmetrically applied to the inner side of the front contact area; S402: Selecting a number of points on the front contact area and the non-mobile load area as deformation points, and analyzing the deformation capacity under the load F; S403: Setting topology optimization parameters, where the topology optimization parameters include volume fraction, filter radius, driving force, and penalty factor; S404: Select materials; S405: establishing a multi-objective function for controlling bearing deformation, and defining the dimensionless form of the flexibility single-objective function of all deformation points as a multi-objective function by weighting; S406: Adjoint solution method is used to iterate continuously according to the multi-objective function and the topology optimization parameters to obtain the topology structure of the wrapping head support.

6. The method for topological optimization design of a taping head support according to claim 5, characterized in that: In step S401, the function of the design domain is: in, is the comprehensive objective function; is the weight coefficient of the flexibility objective function; is the weight coefficient of the stiffness objective function; , They are the nonlinear deformation objective function and the stiffness objective function respectively; , y, and α are deformation parameters; is the optimized area; To optimize the front envelope model area; 0.5 is the mass fraction.

7. The method for topological optimization design of a taping head support according to claim 5, characterized in that: Step S405 specifically includes: S501: using the average difference method to determine the flexibility single objective function for controlling a single deformation point; S502: Introducing weight coefficients into the single objective function of the flexibility of all deformation points to obtain a multi-objective function for controlling the overall deformation of the support.

8. The method for topological optimization design of a taping head support according to claim 7, characterized in that: In step S501: The flexibility single objective function is: Among them, M(x,y,α) represents the structural flexibility objective function corresponding to the load F, x k and x k-1 Indicates the extension of two adjacent points in the x-axis direction, y k and k-1 Indicates the extension of two adjacent points in the y-axis direction, α k and α k-1 Represents the deformation angle between two adjacent points.

9. The method for topological optimization design of a taping head support according to claim 7, characterized in that: In step S502: The multi-objective function is: Where G(x) is the multi-objective function of support deformation; q represents the penalty factor in the SIMP interpolation function, and are the maximum and minimum values ​​of the flexibility target; and are the maximum and minimum stiffness target values.

10. Application of the topological optimization design method for the taping head support, characterized in that: The three-dimensional model of the topological structure obtained by the method for topological optimization design of the wrapping head support as described in any one of claims 1 to 9 is 3D printed.

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