Method and system for optimizing gravity center of gas-liquid actuating mechanism

Abstract

The invention discloses a method and system for optimizing the gravity center of a gas-liquid actuating mechanism, and relates to the technical field related to gas-liquid actuating mechanism optimizing.The method comprises the steps that a gas-liquid actuating mechanism model is established by obtaining a design scheme of the gas-liquid actuating mechanism; and based on the gravity center evaluation factor of the gas-liquid actuating mechanism, constructing a gravity center fitness analytic function of the gas-liquid actuating mechanism. And performing gravity center evaluation according to the gas-liquid actuating mechanism model to obtain a mechanism gravity center prediction evaluation result. And according to the mechanism gravity center prediction evaluation result, obtaining the gravity center fitness of the gas-liquid actuating mechanism, judging whether the gravity center fitness is less than a gravity center fitness threshold, and if so, generating a mechanism gravity center optimization instruction. And based on the mechanism gravity center optimization instruction, performing gravity center optimization to obtain a gas-liquid execution mechanism design optimization scheme. The technical problem that in the prior art, a gas-liquid executing mechanism gravity center optimization method is difficult to accurately optimize a gas-liquid executing mechanism in different application scenes, and consequently the stability and precision of equipment are reduced is solved.

Description

Technical Field

[0001] The present application relates to the field related to gas-liquid actuator optimization technology, and specifically to a gas-liquid actuator center of gravity optimization method and system. Background Art

[0002] Pneumatic-hydraulic actuators are commonly used in modern industry and automation, typically performing complex mechanical movements and driving mechanical components through a combination of pneumatic and hydraulic pressure. The design of pneumatic-hydraulic actuators must ensure good stability and precision under varying loads, operating environments, and application scenarios. The distribution of the center of gravity, in particular, directly impacts the safety of movement, operating accuracy, and load uniformity. However, optimizing the center of gravity of current pneumatic-hydraulic actuators remains a challenge in device design. Variations in the center of gravity under different operating conditions can lead to instability or reduced precision.

[0003] Therefore, in the existing technology, it is difficult to accurately optimize the gas-liquid actuator center of gravity in different application scenarios, resulting in technical problems such as reduced stability and accuracy of the equipment. Summary of the Invention

[0004] This application provides a method and system for optimizing the center of gravity of a gas-liquid actuator, addressing the technical problem that existing methods for optimizing the center of gravity of gas-liquid actuators have difficulty accurately optimizing the actuators in different application scenarios, resulting in decreased stability and accuracy of the equipment. By constructing an analytical function for the center of gravity fitness and evaluating and optimizing the center of gravity of the gas-liquid actuator design, it is possible to effectively improve its motion safety, accuracy, and load distribution balance, achieve automated optimization of the gas-liquid actuator's center of gravity, and thus enhance its overall performance.

[0005] The present application provides a method for optimizing the center of gravity of a gas-liquid actuator, the method comprising: obtaining a design scheme for a gas-liquid actuator, wherein the design scheme for the gas-liquid actuator has a correspondingly identified application requirement for the gas-liquid actuator. Establishing a gas-liquid actuator model based on the design scheme for the gas-liquid actuator. Constructing a gas-liquid actuator center of gravity fitness analytical function based on a gas-liquid actuator center of gravity evaluation factor, wherein the gas-liquid actuator center of gravity evaluation factor includes a motion safety index, a motion accuracy index, and a load distribution balance index. Based on the gas-liquid actuator application requirement and the gas-liquid actuator center of gravity evaluation factor, performing a center of gravity evaluation according to the gas-liquid actuator model to obtain a predicted evaluation result of the mechanism center of gravity. Inputting the predicted evaluation result of the mechanism center of gravity into the gas-liquid actuator center of gravity fitness analytical function to obtain the gas-liquid actuator center of gravity fitness. Determining whether the center of gravity fitness of the gas-liquid actuator is less than a center of gravity fitness threshold. If the center of gravity fitness of the gas-liquid actuator is less than the center of gravity fitness threshold, generating a mechanism center of gravity optimization instruction. Based on the mechanism center of gravity optimization instruction, the center of gravity of the gas-liquid actuator design scheme is optimized according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold to obtain a gas-liquid actuator design optimization scheme.

[0006] In an implementation, the center-of-gravity fitness analytical function of the gas-liquid actuator is: Among them, MGF represents the center of gravity adaptability of the gas-hydraulic actuator, γ represents the analytical factor of the predetermined center of gravity adaptability, 0<γ<1, MGS represents the predicted motion safety factor, GSO represents the expected motion safety factor, MGA represents the predicted motion accuracy coefficient, GAO represents the expected motion accuracy coefficient, MGK represents the predicted load distribution balance coefficient, and GKO represents the expected load distribution balance coefficient.

[0007] In an implementation, based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, a center of gravity evaluation is performed according to the gas-liquid actuator model to obtain a prediction evaluation result of the mechanism center of gravity, including: establishing a mechanism application scenario based on the gas-liquid actuator application requirements; performing a simulated application of the gas-liquid actuator model based on the mechanism application scenario to obtain mechanism simulation application working condition data; establishing a mechanism center of gravity prediction evaluation channel based on the gas-liquid actuator center of gravity evaluation factor; and outputting the mechanism center of gravity prediction evaluation result according to the mechanism center of gravity prediction evaluation channel based on the mechanism simulation application working condition data.

[0008] In the implementation method, based on the gas-liquid actuator center of gravity evaluation factor, a mechanism center of gravity prediction and evaluation channel is established, including: searching the gas-liquid actuator center of gravity evaluation record according to the gas-liquid actuator center of gravity evaluation factor to obtain the mechanism application condition data record, mechanism motion safety factor record, mechanism motion accuracy coefficient record and mechanism load distribution balance coefficient record. Using the mechanism application condition data record as input data and the mechanism motion safety factor record as output data, a mechanism motion safety prediction and evaluation model is trained. Based on the mechanism application condition data record and the mechanism motion accuracy coefficient record, a mechanism motion accuracy prediction and evaluation model is established. Based on the mechanism application condition data record and the mechanism load distribution balance coefficient record, a mechanism load distribution balance prediction and evaluation model is trained. The mechanism motion safety prediction and evaluation model, the mechanism motion accuracy prediction and evaluation model and the mechanism load distribution balance prediction and evaluation model are connected as parallel independent nodes to generate the mechanism center of gravity prediction and evaluation channel.

[0009] In an implementation method, based on the mechanism center of gravity optimization instruction, the gas-liquid actuator design scheme is optimized according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function, and the center of gravity fitness threshold to obtain a gas-liquid actuator design optimization scheme, including: based on the gas-liquid actuator application requirements, adjusting the center of gravity of the gas-liquid actuator design scheme to obtain a mechanism design adjustment scheme space that meets the predetermined adjustment scheme capacity. Based on the mechanism design adjustment scheme space, a first mechanism design adjustment scheme is extracted. Based on the gas-liquid actuator center of gravity fitness analytical function, the center of gravity fitness of the first mechanism design adjustment scheme is calculated to obtain the center of gravity fitness of the first adjustment scheme. It is determined whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold, the first mechanism design adjustment scheme is added to the gas-liquid actuator design optimization scheme.

[0010] In an implementation method, based on the application requirements of the gas-liquid actuator, the center of gravity of the gas-liquid actuator design scheme is adjusted to obtain a mechanism design adjustment scheme space that meets the predetermined adjustment scheme capacity, including: performing pairwise scheme comparison based on the mechanism design adjustment scheme space to obtain multiple scheme comparison degrees. Determining whether the multiple scheme comparison degrees are less than a scheme comparison degree threshold. If the comparison degree of any one of the multiple scheme comparison degrees is less than the scheme comparison degree threshold, generating an identified scheme comparison degree. Based on the identified scheme comparison degree, the mechanism design adjustment scheme space is optimized.

[0011] In an implementation, determining whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold includes: if the center of gravity fitness of the first adjustment scheme is less than the center of gravity fitness threshold, eliminating the first mechanism design adjustment scheme. Based on the mechanism design adjustment scheme space, extracting the second mechanism design adjustment scheme. Based on the gas-liquid actuator center of gravity fitness analytical function, performing center of gravity fitness calculation on the second mechanism design adjustment scheme to obtain the center of gravity fitness of the second adjustment scheme. Determining whether the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold, adding the second mechanism design adjustment scheme to the gas-liquid actuator design optimization scheme. If the center of gravity fitness of the second adjustment scheme is less than the center of gravity fitness threshold, eliminating the second mechanism design adjustment scheme, and continuing to iteratively optimize the mechanism design adjustment scheme space based on the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold until the gas-liquid actuator design optimization scheme is obtained.

[0012] The present application also provides a gas-liquid actuator center of gravity optimization system, comprising: The design solution acquisition module is used to obtain a design solution of a gas-liquid actuator, wherein the design solution of the gas-liquid actuator has a correspondingly identified gas-liquid actuator application requirement.

[0013] The mechanism model establishment module is used to establish a gas-liquid actuator model based on the gas-liquid actuator design scheme.

[0014] The analytical function acquisition module is used to build an analytical function of the center of gravity fitness of the gas-liquid actuator based on the center of gravity evaluation factor of the gas-liquid actuator, wherein the center of gravity evaluation factor of the gas-liquid actuator includes a motion safety index, a motion accuracy index and a load distribution balance index.

[0015] An evaluation result acquisition module is used to perform center of gravity evaluation according to the gas-liquid actuator model based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, and obtain a mechanism center of gravity prediction evaluation result.

[0016] The fitness acquisition module is used to input the mechanism center of gravity prediction evaluation result into the gas-liquid actuator center of gravity fitness analytical function to obtain the gas-liquid actuator center of gravity fitness.

[0017] The judgment module is used to judge whether the center of gravity adaptability of the gas-liquid actuator is less than a center of gravity adaptability threshold.

[0018] The optimization instruction acquisition module is used to generate a mechanism center of gravity optimization instruction if the center of gravity fitness of the gas-liquid actuator is less than the center of gravity fitness threshold.

[0019] An optimization scheme acquisition module is used to optimize the center of gravity of the gas-liquid actuator design scheme based on the mechanism center of gravity optimization instruction, according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold, to obtain a gas-liquid actuator design optimization scheme.

[0020] The present application proposes a method and system for optimizing the center of gravity of a gas-liquid actuator. The method and system obtain a gas-liquid actuator design scheme, wherein the gas-liquid actuator design scheme has a correspondingly identified gas-liquid actuator application requirement. A gas-liquid actuator model is established based on the gas-liquid actuator design scheme. A gas-liquid actuator center of gravity fitness analytical function is constructed based on the gas-liquid actuator center of gravity evaluation factor, wherein the gas-liquid actuator center of gravity evaluation factor includes a motion safety index, a motion accuracy index, and a load distribution balance index. Based on the gas-liquid actuator application requirement and the gas-liquid actuator center of gravity evaluation factor, a center of gravity evaluation is performed according to the gas-liquid actuator model to obtain a predicted evaluation result of the mechanism center of gravity. The predicted evaluation result of the mechanism center of gravity is input into the gas-liquid actuator center of gravity fitness analytical function to obtain the gas-liquid actuator center of gravity fitness. A determination is made as to whether the gas-liquid actuator center of gravity fitness is less than a center of gravity fitness threshold. If the gas-liquid actuator center of gravity fitness is less than the center of gravity fitness threshold, a mechanism center of gravity optimization instruction is generated. Based on the center of gravity optimization instruction of the mechanism, the center of gravity of the gas-liquid actuator design scheme is optimized according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold, and a gas-liquid actuator design optimization scheme is obtained. This solves the technical problem that the existing gas-liquid actuator center of gravity optimization method is difficult to accurately optimize the gas-liquid actuator in different application scenarios, resulting in a decrease in the stability and accuracy of the equipment. By constructing a center of gravity fitness analytical function, the center of gravity of the gas-liquid actuator design scheme is evaluated and optimized, which can effectively improve its motion safety, accuracy and load distribution balance, realize the automated optimization of the gas-liquid actuator center of gravity, and thus improve the technical effect of its overall performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings of the embodiments of the present disclosure are briefly introduced below. Flowcharts are used in this application to illustrate the operations performed by the systems according to the embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in precise order. Instead, various steps may be processed in reverse order or simultaneously as needed. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0022] Figure 1A schematic flow chart of a method for optimizing the center of gravity of a gas-liquid actuator provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a gas-liquid actuator center of gravity optimization system provided in an embodiment of the present application.

[0023] Explanation of the accompanying symbols: design scheme acquisition module 11, mechanism model establishment module 12, analytical function acquisition module 13, evaluation result acquisition module 14, fitness acquisition module 15, judgment module 16, optimization instruction acquisition module 17, optimization scheme acquisition module 18. DETAILED DESCRIPTION

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0025] In order to make the purpose, technical solutions and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0026] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict, and the terms “first\second” involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. The terms “including” and “having” and any variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or that are inherent to these processes, methods, products, or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are for the purpose of describing the embodiments of this application only.

[0027] The embodiment of the present application provides a method and system for optimizing the center of gravity of a gas-liquid actuator, such as Figure 1 As shown, the method includes: A design proposal for a gas-liquid actuator is obtained, wherein the gas-liquid actuator design proposal has a correspondingly identified gas-liquid actuator application requirement. A gas-liquid actuator model is established based on the gas-liquid actuator design proposal. A gas-liquid actuator center-of-gravity fitness analytical function is constructed based on a gas-liquid actuator center-of-gravity evaluation factor, wherein the gas-liquid actuator center-of-gravity evaluation factor includes a motion safety index, a motion accuracy index, and a load distribution balance index. Based on the gas-liquid actuator application requirement and the gas-liquid actuator center-of-gravity evaluation factor, a center-of-gravity evaluation is performed according to the gas-liquid actuator model to obtain a predicted evaluation result of the mechanism center of gravity.

[0028] A pneumatic-hydraulic actuator is a mechanism capable of performing specific mechanical actions through a combination of pneumatic and hydraulic pressure. A design proposal for the pneumatic-hydraulic actuator is obtained, with corresponding identified application requirements for the actuator. These requirements include specific application scenario requirements, i.e., various requirements within the scenario environment, such as center of gravity range and materials, as well as design parameters for the actuator, including component parameter drawings. Subsequently, a three-dimensional model of the actuator is established based on the pneumatic-hydraulic actuator design proposal. Furthermore, an analytical function for the pneumatic-hydraulic actuator's center of gravity fitness is constructed based on a pneumatic-hydraulic actuator center of gravity evaluation factor. The pneumatic-hydraulic actuator center of gravity evaluation factor includes a motion safety index, a motion accuracy index, and a load distribution balance index. Subsequently, based on the pneumatic-hydraulic actuator application requirements and the pneumatic-hydraulic actuator center of gravity evaluation factor, simulated application condition data is obtained from the pneumatic-hydraulic actuator model, and a center of gravity evaluation is performed to obtain a predicted center of gravity evaluation result. The predicted center of gravity evaluation result includes a predicted motion safety factor, a predicted motion accuracy factor, and a predicted load distribution balance factor.

[0029] The center-of-gravity fitness analytical function of the gas-liquid actuator is: .

[0030] Among them, MGF represents the center of gravity adaptability of the gas-liquid actuator, γ represents the predetermined center of gravity adaptability analytical factor, 0<γ<1, MGS represents the predicted motion safety factor, GSO represents the expected motion safety factor, MGA represents the predicted motion accuracy coefficient, GAO represents the expected motion accuracy coefficient, MGK represents the predicted load distribution balance coefficient, GKO represents the expected load distribution balance coefficient, among which GSO represents the expected motion safety factor, GAO represents the expected motion accuracy coefficient, and GKO represents the expected load distribution balance coefficient, which are expected parameters pre-set according to actual application requirements.

[0031] The method provided in the embodiment of the present application further includes: establishing an application scenario for the gas-liquid actuator based on the application requirements of the gas-liquid actuator. Simulating the application of the gas-liquid actuator model based on the application scenario to obtain simulated application working condition data for the actuator. Establishing a mechanism center-of-gravity prediction and evaluation channel based on the gas-liquid actuator center-of-gravity evaluation factor. Outputting the mechanism center-of-gravity prediction and evaluation results based on the simulated application working condition data and the mechanism center-of-gravity prediction and evaluation channel.

[0032] Based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, a center of gravity evaluation is performed on the gas-liquid actuator model to obtain a predicted center of gravity evaluation result. This includes: based on the gas-liquid actuator application requirements, which include functional and performance requirements in actual applications and actual working scenario parameters. A mechanism application scenario is constructed based on the functional and performance requirements in actual applications and the actual working scenario parameters. For example, the gas-liquid actuator is used in the hydraulic drive device of an industrial handling robot arm, and its application requirements include parameters such as handling speed, maximum load, and working range. The process of constructing an application scenario is to convert the application requirements into a simulated working environment. For example, for a robot arm application scenario, the task of handling materials in a factory can be simulated, including the weight of the object, the movement speed, the robot arm's working trajectory, and its position. Subsequently, the gas-liquid actuator model is simulated based on the mechanism application scenario to obtain simulated application condition data. Specifically, the gas-liquid actuator model is simulated and applied to the constructed mechanism application scenario to obtain operating data under the simulated environment, including center of gravity position, speed, load, etc., to obtain the simulated application condition data. Based on the center-of-gravity evaluation factor of the gas-liquid actuator, a mechanism center-of-gravity prediction and evaluation channel is established. Finally, based on the simulated application data of the mechanism, the mechanism center-of-gravity prediction and evaluation channel outputs the mechanism center-of-gravity prediction and evaluation results. The mechanism center-of-gravity prediction and evaluation results include the predicted motion safety factor, the predicted motion accuracy factor, and the predicted load distribution balance factor.

[0033] The method provided in the embodiment of the present application also includes: searching the gas-liquid actuator center of gravity evaluation record according to the gas-liquid actuator center of gravity evaluation factor to obtain the mechanism application working condition data record, mechanism motion safety factor record, mechanism motion accuracy coefficient record and mechanism load distribution balance coefficient record. Using the mechanism application working condition data record as input data and the mechanism motion safety factor record as output data, the mechanism motion safety prediction and evaluation model is trained. Based on the mechanism application working condition data record and the mechanism motion accuracy coefficient record, a mechanism motion accuracy prediction and evaluation model is built. Based on the mechanism application working condition data record and the mechanism load distribution balance coefficient record, a mechanism load distribution balance prediction and evaluation model is trained. The mechanism motion safety prediction and evaluation model, the mechanism motion accuracy prediction and evaluation model and the mechanism load distribution balance prediction and evaluation model are connected as parallel independent nodes to generate the mechanism center of gravity prediction and evaluation channel.

[0034] Based on the gas-liquid actuator center of gravity evaluation factor, a mechanism center of gravity prediction and evaluation channel is established, including: searching for the gas-liquid actuator center of gravity evaluation record according to the gas-liquid actuator center of gravity evaluation factor, that is, searching the gas-liquid actuator center of gravity evaluation record through the gas-liquid actuator center of gravity evaluation factor, and obtaining the mechanism application working condition data record, mechanism motion safety factor record, mechanism motion accuracy coefficient record and mechanism load distribution balance coefficient record in the mechanism center of gravity evaluation record. The mechanism application working condition data record is the operating data of the mechanism under different working conditions, such as center of gravity position, speed, load, etc. The mechanism motion safety factor record is the historical data related to the safety performance of the mechanism under different working conditions. The mechanism motion accuracy coefficient record is the historical record data of the accuracy of the mechanism when performing tasks. The mechanism load distribution balance coefficient record is the historical data showing the load distribution of the actuator at various parts. The neural network model is supervised and trained using the mechanism application condition data record as input data and the mechanism motion safety factor record as output data until the output accuracy of the model meets the threshold value, thereby obtaining a mechanism motion safety prediction and evaluation model, which is used to obtain the output predicted motion safety factor based on the mechanism application condition data. The same construction method as the mechanism motion safety prediction and evaluation model is used to build a mechanism motion accuracy prediction and evaluation model based on the mechanism application condition data record and the mechanism motion accuracy coefficient record. The mechanism motion accuracy prediction and evaluation model is used to obtain the output predicted motion accuracy coefficient based on the mechanism application condition data. The same construction method as the mechanism motion safety prediction and evaluation model is used to train a mechanism load distribution balance prediction and evaluation model based on the mechanism application condition data record and the mechanism load distribution balance coefficient record. The mechanism load distribution balance prediction and evaluation model is used to obtain the output predicted load distribution balance coefficient based on the mechanism application condition data. Finally, the mechanism motion safety prediction and evaluation model, the mechanism motion accuracy prediction and evaluation model, and the mechanism load distribution balance prediction and evaluation model are connected as parallel independent nodes, so that each model has the ability to process in parallel, thereby improving data acquisition efficiency and generating the mechanism center of gravity prediction and evaluation channel.

[0035] The center of gravity prediction evaluation result of the mechanism is input into the gas-liquid actuator center of gravity fitness analytical function to obtain the gas-liquid actuator center of gravity fitness. It is determined whether the gas-liquid actuator center of gravity fitness is less than the center of gravity fitness threshold. If the gas-liquid actuator center of gravity fitness is less than the center of gravity fitness threshold, a mechanism center of gravity optimization instruction is generated. Based on the mechanism center of gravity optimization instruction, the gas-liquid actuator design scheme is optimized according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function, and the center of gravity fitness threshold to obtain a gas-liquid actuator design optimization scheme.

[0036] After obtaining the mechanism center of gravity prediction evaluation result, input it into the gas-liquid actuator center of gravity fitness analytical function, perform fitness calculation, and obtain the gas-liquid actuator center of gravity fitness. Further, determine whether the gas-liquid actuator center of gravity fitness is less than the center of gravity fitness threshold. If the gas-liquid actuator center of gravity fitness is greater than or equal to the center of gravity fitness threshold, it means that the corresponding gas-liquid actuator scheme design is good and no optimization is required. If the gas-liquid actuator center of gravity fitness is less than the center of gravity fitness threshold, generate a mechanism center of gravity optimization instruction. Based on the mechanism center of gravity optimization instruction, the gas-liquid actuator design scheme is optimized according to the gas-liquid actuator application requirements, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold to obtain a gas-liquid actuator design optimization scheme. This solves the technical problem that the gas-liquid actuator center of gravity optimization method in the prior art is difficult to accurately optimize the gas-liquid actuator in different application scenarios, resulting in reduced stability and accuracy of the equipment. By constructing an analytical function for the center of gravity fitness and evaluating and optimizing the design scheme of the gas-liquid actuator, its motion safety, accuracy and load distribution balance can be effectively improved, and the center of gravity of the gas-liquid actuator can be automatically optimized, thereby improving its overall performance.

[0037] The method provided in the embodiment of the present application also includes: based on the application requirements of the gas-liquid actuator, adjusting the center of gravity of the gas-liquid actuator design scheme to obtain a mechanism design adjustment scheme space that meets the predetermined adjustment scheme capacity. Based on the mechanism design adjustment scheme space, extracting the first mechanism design adjustment scheme. Based on the gas-liquid actuator center of gravity fitness analytical function, calculating the center of gravity fitness of the first mechanism design adjustment scheme to obtain the center of gravity fitness of the first adjustment scheme. Determine whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold, add the first mechanism design adjustment scheme to the gas-liquid actuator design optimization scheme.

[0038] Obtaining a design optimization solution for a gas-liquid actuator includes: based on the application requirements of the gas-liquid actuator, adjusting the center of gravity of the gas-liquid actuator design solution so that the center of gravity meets the requirements of the application requirements. Center of gravity adjustment refers to optimizing the center of gravity position of the mechanism by changing the structural design, component positions, material optimization, etc., to make it more balanced and stable. Center of gravity adjustment can be optimized by professional technicians to generate multiple design adjustment solutions. Based on the multiple design adjustment solutions, adjustable objects, such as pipeline positions, hydraulic cylinder positions, and material optimization objects, are obtained. An adjustment solution space for each adjustable object is formed, and a mechanism design adjustment solution space that meets a predetermined adjustment solution capacity, i.e., the number of solutions, is obtained. Based on the mechanism design adjustment solution space, a first mechanism design adjustment solution is extracted. The first mechanism design adjustment solution is a random adjustment solution in the mechanism design adjustment solution space. Based on the gas-liquid actuator center of gravity fitness analytical function, a pre-processing step is performed on the first mechanism design adjustment solution to obtain a mechanism center of gravity prediction evaluation result, and then a center of gravity fitness calculation is performed to obtain the center of gravity fitness of the first adjustment solution. It is determined whether the center of gravity fitness of the first adjustment solution is greater than / equal to a center of gravity fitness threshold. If the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold, the first mechanism design adjustment scheme is added to the gas-liquid actuator design optimization scheme.

[0039] The method provided in an embodiment of the present application further includes: performing pairwise scheme comparison based on the mechanism design adjustment scheme space to obtain multiple scheme comparison degrees. Determining whether the multiple scheme comparison degrees are less than a scheme comparison degree threshold. If the comparison degree of any one of the multiple scheme comparison degrees is less than the scheme comparison degree threshold, generating an identified scheme comparison degree. Optimizing the mechanism design adjustment scheme space based on the identified scheme comparison degree.

[0040] Obtaining a mechanism design adjustment scheme space that meets a predetermined adjustment scheme capacity includes: randomly selecting a plurality of different adjustment schemes for adjustable objects based on the mechanism design adjustment scheme space, performing pairwise scheme comparisons, and obtaining a plurality of scheme comparison degrees. The plurality of scheme comparison degrees are the similarities of the schemes when the schemes are compared pairwise. Determine whether the plurality of scheme comparison degrees are less than a scheme comparison threshold, the scheme comparison threshold is a pre-set comparison parameter, and when it is less than the parameter, it indicates that the scheme similarity is high. If the comparison degree of any one of the plurality of scheme comparison degrees is less than the scheme comparison threshold, the scheme comparison degree is identified, and an identified scheme comparison degree is generated. Based on the identified scheme comparison degree, one of the corresponding schemes is selectively deleted, and the scheme optimization of the mechanism design adjustment scheme space is completed to reduce redundant processing of schemes.

[0041] The method provided in the embodiment of the present application also includes: if the center of gravity fitness of the first adjustment scheme is less than the center of gravity fitness threshold, the first mechanism design adjustment scheme is eliminated. Based on the mechanism design adjustment scheme space, the second mechanism design adjustment scheme is extracted. Based on the gas-liquid actuator center of gravity fitness analytical function, the center of gravity fitness of the second mechanism design adjustment scheme is calculated to obtain the center of gravity fitness of the second adjustment scheme. Determine whether the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold, the second mechanism design adjustment scheme is added to the gas-liquid actuator design optimization scheme. If the center of gravity fitness of the second adjustment scheme is less than the center of gravity fitness threshold, the second mechanism design adjustment scheme is eliminated, and the mechanism design adjustment scheme space is continued to be iteratively optimized based on the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold until the gas-liquid actuator design optimization scheme is obtained.

[0042] Determining whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold includes: if the center of gravity fitness of the first adjustment scheme is less than the center of gravity fitness threshold, eliminating the first mechanism design adjustment scheme. Extracting a second mechanism design adjustment scheme based on the mechanism design adjustment scheme space. The second mechanism design adjustment scheme is a random one in the adjustment scheme space that is different from the first mechanism design adjustment scheme. Calculating the center of gravity fitness of the second mechanism design adjustment scheme based on the gas-liquid actuator center of gravity fitness analytical function to obtain the center of gravity fitness of the second adjustment scheme. Determining whether the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold, adding the second mechanism design adjustment scheme to the gas-liquid actuator design optimization scheme. If the center of gravity fitness of the second adjustment scheme is less than the center of gravity fitness threshold, eliminating the second mechanism design adjustment scheme, and continuing to iteratively optimize the mechanism design adjustment scheme space based on the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold until the gas-liquid actuator design optimization scheme is obtained.

[0043] In the above, refer to Figure 1 A method for optimizing the center of gravity of a gas-liquid actuator according to an embodiment of the present invention is described in detail. Figure 2 A center-of-gravity optimization system for a gas-hydraulic actuator according to an embodiment of the present invention is described.

[0044] A center-of-gravity optimization system for a gas-liquid actuator according to an embodiment of the present invention solves the technical problem that the center-of-gravity optimization method for a gas-liquid actuator in the prior art is difficult to accurately optimize the gas-liquid actuator in different application scenarios, resulting in a decrease in the stability and accuracy of the equipment. By constructing a center-of-gravity fitness analytical function and evaluating and optimizing the center of gravity of the design scheme of the gas-liquid actuator, it is possible to effectively improve its motion safety, accuracy and load distribution balance, realize automated optimization of the center of gravity of the gas-liquid actuator, and thus improve its overall performance. A center-of-gravity optimization system for a gas-liquid actuator includes: a design scheme acquisition module 11, a mechanism model establishment module 12, an analytical function acquisition module 13, an evaluation result acquisition module 14, a fitness acquisition module 15, a judgment module 16, an optimization instruction acquisition module 17, and an optimization scheme acquisition module 18.

[0045] The design solution acquisition module 11 is used to obtain a design solution for a gas-liquid actuator, wherein the design solution for the gas-liquid actuator has a correspondingly identified gas-liquid actuator application requirement.

[0046] The mechanism model building module 12 is used to build a gas-liquid actuator model based on the gas-liquid actuator design solution.

[0047] The analytical function acquisition module 13 is used to build an analytical function of the center of gravity fitness of the gas-liquid actuator based on the center of gravity evaluation factor of the gas-liquid actuator, wherein the center of gravity evaluation factor of the gas-liquid actuator includes a motion safety index, a motion accuracy index and a load distribution balance index.

[0048] The evaluation result acquisition module 14 is used to perform gravity center evaluation according to the gas-liquid actuator model based on the application requirements of the gas-liquid actuator and the gas-liquid actuator gravity center evaluation factor, and obtain a mechanism gravity center prediction evaluation result.

[0049] The fitness acquisition module 15 is used to input the mechanism center of gravity prediction evaluation result into the gas-liquid actuator center of gravity fitness analytical function to obtain the gas-liquid actuator center of gravity fitness.

[0050] The judgment module 16 is used to judge whether the center of gravity adaptability of the gas-liquid actuator is less than a center of gravity adaptability threshold.

[0051] The optimization instruction acquisition module 17 is configured to generate an optimization instruction for the center of gravity of the mechanism if the center of gravity fitness of the gas-liquid actuator is less than the center of gravity fitness threshold.

[0052] The optimization scheme acquisition module 18 is used to optimize the center of gravity of the gas-liquid actuator design scheme based on the mechanism center of gravity optimization instruction, according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold, and obtain the gas-liquid actuator design optimization scheme.

[0053] The specific configuration of the analytical function acquisition module 13 will be described in detail below. The surface analytical function acquisition module 13 may further include: the gas-liquid actuator center of gravity fitness analytical function is: Among them, MGF represents the center of gravity adaptability of the gas-hydraulic actuator, γ represents the analytical factor of the predetermined center of gravity adaptability, 0<γ<1, MGS represents the predicted motion safety factor, GSO represents the expected motion safety factor, MGA represents the predicted motion accuracy coefficient, GAO represents the expected motion accuracy coefficient, MGK represents the predicted load distribution balance coefficient, and GKO represents the expected load distribution balance coefficient.

[0054] The specific configuration of the evaluation result acquisition module 14 will be described in detail below. The evaluation result acquisition module 14 further includes: based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, performing center of gravity evaluation according to the gas-liquid actuator model to obtain a mechanism center of gravity prediction evaluation result, including: building a mechanism application scenario based on the gas-liquid actuator application requirements. Based on the mechanism application scenario, the gas-liquid actuator model is simulated and applied to obtain mechanism simulation application working condition data. Based on the gas-liquid actuator center of gravity evaluation factor, a mechanism center of gravity prediction evaluation channel is built. Based on the mechanism simulation application working condition data, according to the mechanism center of gravity prediction evaluation channel, the mechanism center of gravity prediction evaluation result is output.

[0055] Below, the specific configuration of the evaluation result acquisition module 14 will be described in detail. The evaluation result acquisition module 14 may further include: building a mechanism center of gravity prediction and evaluation channel based on the gas-liquid actuator center of gravity evaluation factor, including: searching the gas-liquid actuator center of gravity evaluation record according to the gas-liquid actuator center of gravity evaluation factor, and obtaining the mechanism application condition data record, mechanism motion safety factor record, mechanism motion accuracy coefficient record and mechanism load distribution balance coefficient record. Using the mechanism application condition data record as input data and the mechanism motion safety factor record as output data, the mechanism motion safety prediction and evaluation model is trained. Based on the mechanism application condition data record and the mechanism motion accuracy coefficient record, a mechanism motion accuracy prediction and evaluation model is built. Based on the mechanism application condition data record and the mechanism load distribution balance coefficient record, a mechanism load distribution balance prediction and evaluation model is trained. The mechanism motion safety prediction and evaluation model, the mechanism motion accuracy prediction and evaluation model and the mechanism load distribution balance prediction and evaluation model are connected as parallel independent nodes to generate the mechanism center of gravity prediction and evaluation channel.

[0056] The specific configuration of the optimization solution acquisition module 18 will be described in detail below. The optimization solution acquisition module 18 further includes: based on the mechanism center of gravity optimization instruction, optimizing the center of gravity of the gas-liquid actuator design solution according to the gas-liquid actuator application requirements, the gas-liquid actuator center of gravity fitness analytical function, and the center of gravity fitness threshold, to obtain a gas-liquid actuator design optimization solution, including: adjusting the center of gravity of the gas-liquid actuator design solution based on the gas-liquid actuator application requirements to obtain a mechanism design adjustment solution space that meets a predetermined adjustment solution capacity. Based on the mechanism design adjustment solution space, extracting a first mechanism design adjustment solution. Based on the gas-liquid actuator center of gravity fitness analytical function, calculating the center of gravity fitness of the first mechanism design adjustment solution to obtain the center of gravity fitness of the first adjustment solution. Determining whether the center of gravity fitness of the first adjustment solution is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the first adjustment solution is greater than / equal to the center of gravity fitness threshold, adding the first mechanism design adjustment solution to the gas-liquid actuator design optimization solution.

[0057] The specific configuration of the optimization scheme acquisition module 18 will be described in detail below. The optimization scheme acquisition module 18 further includes: based on the application requirements of the gas-liquid actuator, adjusting the center of gravity of the gas-liquid actuator design scheme to obtain a mechanism design adjustment scheme space that meets the predetermined adjustment scheme capacity, including: performing pairwise scheme comparisons based on the mechanism design adjustment scheme space to obtain multiple scheme comparison degrees. Determine whether the multiple scheme comparison degrees are less than the scheme comparison degree threshold. If the comparison degree of any one of the multiple scheme comparison degrees is less than the scheme comparison degree threshold, generate an identification scheme comparison degree. Optimize the mechanism design adjustment scheme space based on the identification scheme comparison degree.

[0058] The specific configuration of the optimization scheme acquisition module 18 will be described in detail below. Determining whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold includes: if the center of gravity fitness of the first adjustment scheme is less than the center of gravity fitness threshold, eliminating the first mechanism design adjustment scheme. Extracting a second mechanism design adjustment scheme based on the mechanism design adjustment scheme space. Calculating the center of gravity fitness of the second mechanism design adjustment scheme based on the gas-liquid actuator center of gravity fitness analytical function to obtain the center of gravity fitness of the second adjustment scheme. Determining whether the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold. If the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold, adding the second mechanism design adjustment scheme to the gas-liquid actuator design optimization scheme. If the center of gravity fitness of the second adjustment scheme is less than the center of gravity fitness threshold, eliminating the second mechanism design adjustment scheme, and continuing to iteratively optimize the mechanism design adjustment scheme space based on the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold until the gas-liquid actuator design optimization scheme is obtained.

[0059] A gas-liquid actuator center-of-gravity optimization system provided in an embodiment of the present invention can execute a gas-liquid actuator center-of-gravity optimization method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0060] Although this application makes various references to certain modules in the system according to the embodiments of the present application, any number of different modules may be used and run on the user terminal and / or server. The various units and modules included are only divided according to functional logic, but are not limited to the above divisions, as long as the corresponding functions can be achieved. In addition, the specific names of the functional units are only for the purpose of distinguishing them from each other and are not intended to limit the scope of protection of the present invention.

[0061] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A method for optimizing the center of gravity of a gas-liquid actuator, characterized in that: The method comprises: Obtaining a design scheme for a gas-liquid actuator, wherein the design scheme for the gas-liquid actuator has a correspondingly identified gas-liquid actuator application requirement; Based on the design scheme of the gas-liquid actuator, a gas-liquid actuator model is established; Based on the center-of-gravity evaluation factor of the gas-liquid actuator, an analytical function of the center-of-gravity fitness of the gas-liquid actuator is constructed, wherein the center-of-gravity evaluation factor of the gas-liquid actuator includes a motion safety index, a motion accuracy index, and a load distribution balance index; Based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, the center of gravity evaluation is performed according to the gas-liquid actuator model to obtain a mechanism center of gravity prediction evaluation result; Inputting the mechanism gravity center prediction evaluation result into the gas-liquid actuator gravity center fitness analytical function to obtain the gas-liquid actuator gravity center fitness; Determining whether the center of gravity adaptability of the gas-liquid actuator is less than a center of gravity adaptability threshold; If the center-of-gravity fitness of the gas-liquid actuator is less than the center-of-gravity fitness threshold, generating a mechanism center-of-gravity optimization instruction; Based on the mechanism center of gravity optimization instruction, the center of gravity of the gas-liquid actuator design scheme is optimized according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold to obtain a gas-liquid actuator design optimization scheme.

2. The method according to claim 1, wherein The center-of-gravity fitness analytical function of the gas-liquid actuator is: ； Among them, MGF represents the center of gravity adaptability of the gas-liquid actuator, γ represents the analytical factor of the predetermined center of gravity adaptability, 0<γ<1, MGS represents the predicted motion safety factor, GSO represents the expected motion safety factor, MGA represents the predicted motion accuracy coefficient, GAO represents the expected motion accuracy coefficient, MGK represents the predicted load distribution balance coefficient, and GKO represents the expected load distribution balance coefficient.

3. The method according to claim 1, wherein Based on the application requirements of the gas-liquid actuator and the gas-liquid actuator center of gravity evaluation factor, a center of gravity evaluation is performed according to the gas-liquid actuator model to obtain a mechanism center of gravity prediction evaluation result, including: Based on the application requirements of the gas-liquid actuator, build the mechanism application scenario; Simulating the application of the gas-liquid actuator model based on the mechanism application scenario to obtain mechanism simulation application working condition data; Based on the center-of-gravity evaluation factor of the gas-liquid actuator, a mechanism center-of-gravity prediction and evaluation channel is established; Based on the mechanism simulation application working condition data and according to the mechanism center of gravity prediction evaluation channel, the mechanism center of gravity prediction evaluation result is output.

4. The method according to claim 3, wherein Based on the center of gravity evaluation factor of the gas-liquid actuator, a mechanism center of gravity prediction and evaluation channel is established, including: Retrieving the center-of-gravity evaluation record of the gas-liquid actuator according to the center-of-gravity evaluation factor of the gas-liquid actuator to obtain the mechanism application working condition data record, mechanism motion safety factor record, mechanism motion accuracy coefficient record and mechanism load distribution balance coefficient record; Using the mechanism application working condition data record as input data and the mechanism motion safety factor record as output data, training the mechanism motion safety prediction and evaluation model; Building a mechanism motion accuracy prediction and evaluation model based on the mechanism application working condition data records and the mechanism motion accuracy coefficient records; Training a mechanism load distribution balance prediction and evaluation model based on the mechanism application working condition data record and the mechanism load distribution balance coefficient record; The mechanism motion safety prediction and evaluation model, the mechanism motion accuracy prediction and evaluation model, and the mechanism load distribution balance prediction and evaluation model are connected as parallel independent nodes to generate the mechanism center of gravity prediction and evaluation channel.

5. The method according to claim 1, wherein Based on the mechanism center of gravity optimization instruction, the center of gravity optimization of the gas-liquid actuator design scheme is performed according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function, and the center of gravity fitness threshold, to obtain a gas-liquid actuator design optimization scheme, including: Based on the application requirements of the gas-liquid actuator, the center of gravity of the gas-liquid actuator design solution is adjusted to obtain a mechanism design adjustment solution space that meets the predetermined adjustment solution capacity; Extracting a first mechanism design adjustment solution based on the mechanism design adjustment solution space; Based on the center-of-gravity fitness analytical function of the gas-liquid actuator, calculating the center-of-gravity fitness of the first mechanism design adjustment scheme to obtain the center-of-gravity fitness of the first adjustment scheme; Determining whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold; If the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold, the first mechanism design adjustment scheme is added to the gas-liquid actuator design optimization scheme.

6. The method according to claim 5, wherein Based on the application requirements of the gas-liquid actuator, the center of gravity of the gas-liquid actuator design solution is adjusted to obtain a mechanism design adjustment solution space that meets the predetermined adjustment solution capacity, including: Comparing two schemes based on the mechanism design adjustment scheme space to obtain multiple scheme comparison degrees; Determining whether the comparison degree of the multiple solutions is less than a solution comparison degree threshold; If the comparison degree of any one of the plurality of solutions is less than the comparison degree threshold, generating an identification solution comparison degree; The mechanism design adjustment solution space is optimized based on the identification solution comparison degree.

7. The method according to claim 5, wherein Determining whether the center of gravity fitness of the first adjustment scheme is greater than / equal to the center of gravity fitness threshold includes: If the center of gravity fitness of the first adjustment scheme is less than the center of gravity fitness threshold, the first mechanism design adjustment scheme is eliminated; extracting a second mechanism design adjustment solution based on the mechanism design adjustment solution space; Based on the center-of-gravity fitness analytical function of the gas-liquid actuator, calculating the center-of-gravity fitness of the second mechanism design adjustment scheme to obtain the center-of-gravity fitness of the second adjustment scheme; Determining whether the center of gravity fitness of the second adjustment scheme is greater than / equal to the center of gravity fitness threshold; If the center-of-gravity fitness of the second adjustment scheme is greater than / equal to the center-of-gravity fitness threshold, adding the second mechanism design adjustment scheme to the gas-liquid actuator design optimization scheme; If the center of gravity fitness of the second adjustment scheme is less than the center of gravity fitness threshold, the second mechanism design adjustment scheme is eliminated, and the mechanism design adjustment scheme space is continued to be iteratively optimized based on the center of gravity fitness analytical function of the gas-liquid actuator and the center of gravity fitness threshold until the gas-liquid actuator design optimization scheme is obtained.

8. A gas-liquid actuator center of gravity optimization system, characterized in that: The system comprises: a design solution acquisition module, configured to obtain a design solution for a gas-liquid actuator, wherein the design solution for the gas-liquid actuator has a correspondingly identified gas-liquid actuator application requirement; A mechanism model building module, used to build a gas-liquid actuator model based on the gas-liquid actuator design scheme; An analytical function acquisition module is used to construct an analytical function of the center of gravity fitness of the gas-liquid actuator based on the center of gravity evaluation factor of the gas-liquid actuator, wherein the center of gravity evaluation factor of the gas-liquid actuator includes a motion safety index, a motion accuracy index, and a load distribution balance index; An evaluation result acquisition module is used to perform a gravity center evaluation based on the gas-liquid actuator model based on the application requirements of the gas-liquid actuator and the gravity center evaluation factor of the gas-liquid actuator, and obtain a mechanism gravity center prediction evaluation result; A fitness acquisition module, configured to input the mechanism gravity center prediction evaluation result into the gas-liquid actuator gravity center fitness analytical function to obtain the gas-liquid actuator gravity center fitness; a judgment module, configured to judge whether the center of gravity adaptability of the gas-liquid actuator is less than a center of gravity adaptability threshold; an optimization instruction acquisition module, configured to generate an optimization instruction for the center of gravity of the mechanism if the center of gravity fitness of the gas-liquid actuator is less than the center of gravity fitness threshold; An optimization scheme acquisition module is used to optimize the center of gravity of the gas-liquid actuator design scheme based on the mechanism center of gravity optimization instruction, according to the application requirements of the gas-liquid actuator, the gas-liquid actuator center of gravity fitness analytical function and the center of gravity fitness threshold, to obtain a gas-liquid actuator design optimization scheme.

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