Optimization method and device for output shaft structure of speed reducer and computer equipment

Abstract

The invention relates to the technical field of speed reducers, and discloses a speed reducer output shaft structure optimization method and device and computer equipment, and the method comprises the steps: obtaining boundary condition data corresponding to an output shaft of a speed reducer, the boundary condition data being data of the speed reducer under a target working condition, the target working condition indicates that the torque change rate of the reducer is greater than or equal to a change rate threshold; determining deformation characteristics of the output shaft under the target working condition according to the boundary condition data; and based on the deformation characteristics, optimizing the initial structure of the output shaft to obtain a target structure of the output shaft. According to the technical scheme, the problem that the speed reducer output shaft designed in the related technology is difficult to stably work under the high-dynamic-load working condition is solved, and the adaptability of the speed reducer output shaft to the high-dynamic-load working condition is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a method, a device and a computer device for optimizing the output shaft structure of a reducer. Background Art

[0002] In related technologies, the structure of the reducer output shaft is simulated and designed based on the static mechanics method. The reducer output shaft designed using this simulation design method is difficult to adapt to high-dynamic load working scenarios where the torque change rate increases dramatically. For example, in high-dynamic load working scenarios such as impact, vibration, and alternating torque, it is easy to cause failure of the reducer output shaft.

[0003] Therefore, how to design a reducer output shaft that can work stably under high dynamic load conditions has become a technical problem that needs to be solved urgently. Summary of the Invention

[0004] In view of this, the present invention provides a method for optimizing the output shaft structure of a reducer to solve the problem that the output shaft of the reducer designed in the related art is difficult to work stably under high dynamic load conditions.

[0005] In a first aspect, the present invention provides a method for optimizing the output shaft structure of a reducer, the method comprising:

[0006] Obtaining boundary condition data corresponding to the output shaft of the reducer, where the boundary condition data is data of the reducer under a target operating condition, where the target operating condition indicates that a rate of change of the torque of the reducer is greater than or equal to a rate of change threshold;

[0007] Determine the deformation characteristics of the output shaft under target working conditions based on boundary condition data;

[0008] Based on the deformation characteristics, the initial structure of the output shaft is optimized to obtain the target structure of the output shaft.

[0009] By collecting the working data of the reducer under conditions with a large torque change rate, the deformation characteristics of the reducer output shaft under high dynamic load conditions represented by the working data are extracted, providing optimization data for designing an output shaft that adapts to high dynamic conditions. The optimized output shaft can operate stably under high dynamic load conditions.

[0010] In an optional embodiment, determining the deformation characteristics of the output shaft under the target working condition according to the boundary condition data includes:

[0011] Determine the target curve of the output shaft during the dynamic simulation process, where the target curve indicates the relative relationship between the dynamic deformation and time;

[0012] The peak deformation variable and deformation fluctuation value are extracted from the target curve, and the combination of the peak deformation variable and deformation fluctuation value is used as the deformation feature.

[0013] By recording the output shaft deformation data during the dynamic simulation process and extracting features from it as the basis for optimizing the output shaft structure, a design reference is provided for the output shaft structure to adapt to the working conditions corresponding to the features.

[0014] In an optional embodiment, the initial structure of the output shaft is optimized based on the deformation characteristics to obtain the target structure of the output shaft, including:

[0015] constructing a parametric three-dimensional geometric model of an initial structure, the initial structure including an output shaft and a gear system meshing with the output shaft;

[0016] In the parameterized 3D geometric model, local mesh refinement is performed on the output shaft and the gear system meshing with the output shaft to obtain the target structural mesh.

[0017] The target structure is determined based on the target structure mesh and deformation characteristics.

[0018] The mesh of the three-dimensional geometric model of the output shaft is refined to improve the model accuracy. Combining the high-precision three-dimensional structure with the deformation characteristics of the output shaft helps to design an output shaft with corresponding deformation characteristics that can adapt to high dynamic load conditions.

[0019] In an optional embodiment, determining the target structure based on the target structure mesh and deformation characteristics includes:

[0020] Based on the deformation characteristics and the displacement range of the output shaft, the target structure mesh is continuously simulated and the deformation variable of the target structure mesh is updated to obtain the target structure model until the deformation variable of the target structure model is less than or equal to the deformation threshold;

[0021] The corresponding data of the initial structure is updated with the target structure model to obtain the target structure.

[0022] The displacement range of the output shaft, combined with the deformation characteristics, is used as a parameter to optimize the output shaft structure. Through continuous simulation and iteration of the output shaft structure, a reducer output shaft suitable for stable operation under high dynamic load conditions is obtained.

[0023] In an optional embodiment, determining the target structure based on the target structure mesh and the deformation characteristics further includes:

[0024] Based on the deformation characteristics and material parameters of the output shaft, multi-objective optimization is performed on the target structural grid to obtain the target design parameters;

[0025] The target structure is generated according to the initial structure and target design parameters.

[0026] Optimizing the structure of the output shaft by combining its material properties and deformation characteristics helps to design a reducer output shaft that is fatigue-resistant, wear-resistant, and adaptable to high dynamic load conditions.

[0027] In a second aspect, the present invention provides a reducer, comprising a reducer output shaft determined based on the method for optimizing the reducer output shaft structure according to the first aspect.

[0028] In a third aspect, the present invention provides a device for optimizing the output shaft structure of a reducer, the device comprising:

[0029] An acquisition module is used to obtain boundary condition data corresponding to the output shaft of the reducer, where the boundary condition data is data of the reducer under a target working condition, where the target working condition indicates that the rate of change of the torque of the reducer is greater than or equal to a rate of change threshold;

[0030] A determination module, for determining the deformation characteristics of the output shaft under target working conditions based on boundary condition data;

[0031] The optimization module is used to optimize the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft.

[0032] In a fourth aspect, the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, computer instructions being stored in the memory, and the processor executing the computer instructions to thereby execute the method for optimizing the output shaft structure of the reducer according to the first aspect or any corresponding embodiment thereof.

[0033] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for optimizing the output shaft structure of a reducer according to the first aspect or any corresponding embodiment thereof.

[0034] In a sixth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to execute the method for optimizing the output shaft structure of a reducer according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 11 is a flow chart of a method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention;

[0037] Figure 2 is a flow chart of another method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention;

[0038] Figure 3 1 is a flow chart of another method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention;

[0039] Figure 4 Schematic diagram of an optimized front and rear output shaft structure according to an embodiment of the present invention;

[0040] Figure 5 A schematic diagram showing a comparison of simulation results before and after optimization of an output shaft according to an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of a rotary reducer for controlling the dynamic deformation of an output shaft according to an embodiment of the present invention;

[0042] Figure 7 Schematic diagram of the dynamic modeling and simulation process of the output shaft using ABAQUS according to an embodiment of the present invention;

[0043] Figure 8 2 is a structural block diagram of a device for optimizing the output shaft structure of a reducer according to an embodiment of the present invention;

[0044] Figure 9 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0046] The reducer output shaft structure manufactured based on the optimization method of the reducer output shaft structure can be widely used in the following scenarios:

[0047] In the field of engineering machinery, it can be applied to equipment such as excavators, loaders, cranes, shield machines and concrete pump trucks. Specifically, it can be used to cope with frequent starts and stops, impact loads and sudden loads (such as the inertial impact of the excavator's rotary braking moment), by reducing the dynamic deformation and reducing the gear eccentric load wear, thereby extending the service life of the equipment under harsh working conditions.

[0048] In the fields of industrial automation and robotics, this technology can be applied to industrial robot joint reducers, spindle drives for precision CNC machine tools, and high-precision servo systems for automated production lines. Specifically, by controlling deformation fluctuations, transmission accuracy (such as robot end-of-line positioning accuracy) is improved, gear meshing errors caused by shaft deformation are reduced, and high-speed, highly repeatable motion requirements are met.

[0049] In the field of new energy equipment, it can be applied to the output shaft of wind turbine gearboxes. Specifically, it can be used to address micropitting of gears caused by alternating wind loads. Combined with lightweight design, it reduces tower top loads, improving transmission efficiency and design life. It can also be applied to the output shaft of the reducer in electric vehicle drive systems. Specifically, through structural optimization, such as optimizing the double-curvature transition fillet, it can reduce stress concentration under high-speed rotation and adapt to the high torque output requirements of the motor.

[0050] In the rail transit and aerospace sectors, this material can be applied to high-speed rail / subway traction drive system gearboxes. Specifically, it can be used to optimize shaft-bearing span to reduce the impact of support reaction forces on bearings, accommodating frequent starts and stops and vibration environments. It can also be used in helicopter main reducers and aircraft landing gear transmissions in the aviation sector. Specifically, gradient material designs (high surface hardness and high core toughness) achieve both fatigue and impact resistance, meeting extreme lightweighting and reliability requirements.

[0051] In the heavy-duty industrial equipment sector, it can be applied to the transmission systems of mining dump trucks and crushers. Specifically, it can be used to carburize and quench the surface layer, significantly improving wear resistance and addressing journal wear issues in high-dust, high-impact operating conditions. It can also be applied to shipbuilding and heavy industry propeller reduction gearboxes, where it can be optimized through transient simulation to mitigate dynamic deformation caused by wave impact and reduce transmission system failure rates.

[0052] In precision instruments and special scenarios, it can be applied to medical equipment, such as the gantry drive system of computed tomography (CT) machines. Specifically, it can be used to control deformation to ensure imaging scanning accuracy and reduce vibration and noise interference.

[0053] In the field of military equipment, it can be applied to the transmission of tanks and armored vehicles. Specifically, it can be used to strengthen asymmetric geometric designs to adapt to the impact of complex battlefield terrain and improve structural stability under extreme loads.

[0054] During the operation of the excavator's slewing reducer, the slewing action accounts for more than half of the operation. The slewing reducer is affected by factors such as installation form, space limitations, and transmission stability. It must have the characteristics of impact resistance, durability, stability and high efficiency. Among them, the design of the output shaft of the reducer is crucial.

[0055] In related technologies, the design of the reducer output shaft mainly relies on static mechanical analysis, and does not fully consider the cumulative deformation effects caused by high dynamic loads, such as impact, vibration, and alternating torque. As a result, the dynamic deformation of the designed reducer output shaft exceeds the limit under high dynamic load conditions, causing a series of faults such as decreased gear meshing accuracy, oil seal leakage, and wear of the planetary carrier and internal splines that match the output shaft.

[0056] In summary, the output shaft of the reducer designed in the related art is difficult to work stably under high dynamic load conditions.

[0057] According to an embodiment of the present invention, an embodiment of a method for optimizing the output shaft structure of a reducer is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0058] In this embodiment, a method for optimizing the output shaft structure of a reducer is provided, which can be used in various terminal devices, such as personal computers, tablet computers, mobile phones, etc. Figure 1 FIG. 1 is a flow chart of a method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0059] Step S101, obtaining boundary condition data corresponding to the output shaft of the reducer, the boundary condition data being data of the reducer under a target working condition, the target working condition indicating that the rate of change of the torque of the reducer is greater than or equal to a rate of change threshold.

[0060] In this embodiment, the target operating condition refers to an operating scenario in which the rate of change of the reducer's torque is greater than or equal to a rate of change threshold, i.e., a high-dynamic load condition. Examples include startup, where the reducer's torque value increases rapidly in a short period of time; braking, where the torque value decreases rapidly in a short period of time; and sudden loads, where the torque value changes rapidly between clockwise and counterclockwise rotation directions.

[0061] Boundary condition data refers to the torque values ​​collected at different times under target operating conditions while the output shaft deformation remains within the deformation range. Users can collect a large number of torque values ​​for the reducer under highly dynamic load conditions as sample data for optimizing the output shaft structure.

[0062] Optionally, the boundary condition data also includes data on the change in torque over time due to the installation and fixing method of the reducer.

[0063] Step S102: determining the deformation characteristics of the output shaft under the target working condition according to the boundary condition data.

[0064] In this embodiment, the deformation feature refers to data used to represent the deformation of the reducer output shaft, such as the deformation amount of the output shaft, the deformation fluctuation value, etc. Based on the sample data of the torque value of the reducer under high dynamic load conditions represented by the collected boundary condition data, the deformation characteristics of the reducer output shaft under the target working conditions can be obtained through feature extraction. Optionally, the feature extraction method includes extracting statistical features, clustering, regression, etc. The present invention does not limit the feature extraction method.

[0065] Based on the large amount of sample data of torque changes over time provided by the boundary condition data, the output shaft can be determined to be in the target working condition through feature extraction.

[0066] Step S103 : optimizing the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft.

[0067] In this embodiment, the target structure refers to the structure of the output shaft of the reducer that can operate stably under high dynamic load conditions. Using the structural change parameters recorded by the deformation characteristics, the initial structure of the reducer output shaft is optimized through dynamic simulation to obtain the target structure of the output shaft.

[0068] In this embodiment, a method for optimizing the output shaft structure of a reducer is provided, which can be used in various terminal devices, such as personal computers, tablet computers, mobile phones, etc. Figure 2 FIG. 1 is a flow chart of a method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0069] Step S201, obtaining boundary condition data corresponding to the output shaft of the reducer, the boundary condition data being data of the reducer under a target working condition, the target working condition indicating that the rate of change of the torque of the reducer is greater than or equal to a rate of change threshold.

[0070] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0071] Step S202: determining the deformation characteristics of the output shaft under the target working condition according to the boundary condition data.

[0072] Specifically, the above step S202 includes:

[0073] Step S2021 : determining a target curve of the output shaft during the dynamics simulation process, where the target curve indicates the relative relationship between the dynamic deformation amount and time.

[0074] In this embodiment, the dynamic deformation refers to the value of the deformation generated at a point or region in the output shaft structure during the dynamic simulation. The target curve refers to the curve recorded during the dynamic simulation of the output shaft, which shows the relative relationship between the deformation of the output shaft and time. For example, in a rectangular coordinate system, time is the horizontal axis and the deformation of the output shaft is the vertical axis. Based on the dynamic deformation recorded during the dynamic simulation, a target curve can be plotted.

[0075] Step S2022: extract the peak deformation value and deformation fluctuation value from the target curve, and use the combination of the peak deformation value and the deformation fluctuation value as the deformation feature.

[0076] Peak deformation refers to the peak value of the deformation in the target curve, indicating the maximum deformation value over a period of time. Deformation fluctuation refers to the difference between the peak deformation and the valley deformation, indicating the amplitude of deformation fluctuation. The peak deformation and deformation fluctuation values ​​are combined as deformation characteristics to reflect the rate of change of torque under highly dynamic load conditions.

[0077] Step S203 : optimizing the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft.

[0078] For details, please see Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0079] The method for optimizing the output shaft structure of the reducer provided in this embodiment records the deformation of the output shaft structure in dynamic simulation, thereby providing an optimization direction for the output shaft to adapt to high dynamic load conditions with a large torque change rate.

[0080] In this embodiment, a method for optimizing the output shaft structure of a reducer is provided, which can be used in the above-mentioned mobile terminals, such as mobile phones, tablet computers, etc. Figure 3 FIG. 1 is a flow chart of a method for optimizing the output shaft structure of a reducer according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0081] Step S301, obtaining boundary condition data corresponding to the output shaft of the reducer, where the boundary condition data is data of the reducer under a target working condition, where the target working condition indicates that the rate of change of the torque of the reducer is greater than or equal to a rate of change threshold;

[0082] For details, please see Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0083] Step S302: determining the deformation characteristics of the output shaft under the target working condition according to the boundary condition data.

[0084] Specifically, the above step S302 includes:

[0085] Step S3021 : determining a target curve of the output shaft during the dynamics simulation process, where the target curve indicates the relative relationship between the dynamic deformation amount and time.

[0086] For details, please see Figure 2 Step S2021 of the illustrated embodiment will not be described in detail here.

[0087] Step S3022: extract the peak deformation value and deformation fluctuation value from the target curve, and use the combination of the peak deformation value and the deformation fluctuation value as the deformation feature.

[0088] For details, please see Figure 2 Step S2022 of the illustrated embodiment will not be described in detail here.

[0089] Step S303 : optimizing the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft.

[0090] Specifically, the above step S303 includes:

[0091] Step S3031 : constructing a parameterized three-dimensional geometric model of an initial structure, where the initial structure includes an output shaft and a gear system meshing with the output shaft.

[0092] In this embodiment, a parameterized 3D geometric model of the initial structure of the output shaft is constructed using a 3D modeling tool (such as CREO). Optionally, the parameterized 3D geometric model of the initial structure is simplified, ignoring non-critical features (such as small fillets and small holes).

[0093] Step S3032: In the parameterized three-dimensional geometric model, local mesh refinement is performed on the output shaft and the gear system meshing with the output shaft to obtain a target structural mesh.

[0094] In this embodiment, the target structural mesh refers to the mesh of the three-dimensional geometric model of the gear system meshing the output shaft and the output shaft, which has a high degree of precision. The parameterized three-dimensional geometric model is imported into computer-aided engineering pre-processing software (such as Hypermesh). The target structural mesh is obtained by locally refining the mesh of the gear system meshing the output shaft and the output shaft, for example, by tetrahedral meshing.

[0095] Step S3033: Determine the target structure based on the target structure mesh and deformation characteristics.

[0096] Import the target structure mesh into a dynamics simulation tool (such as ABAQUS) to obtain a dynamics simulation finite element model of the output shaft. Parameters are set for this finite element model, optionally using the ABAQUS Display Dynamics module. Deformation characteristics are used as parameters for the finite element model, and dynamics simulation is then performed to obtain the target output shaft structure.

[0097] Thus, a reducer output shaft is designed to adapt to the high dynamic load conditions corresponding to the deformation characteristics, which helps to improve the adaptability of the output shaft to high torque change rates, reduce the deformation of the output shaft under high torque change rate conditions, and extend the working life of the output shaft.

[0098] In some optional implementations, the above step S3033 includes:

[0099] Step a1: Based on the deformation characteristics and the displacement range of the output shaft, the target structure grid is continuously simulated and the deformation variable of the target structure grid is updated to obtain the target structure model until the deformation variable of the target structure model is less than or equal to the deformation threshold.

[0100] In this embodiment, the target structural model refers to the structural parameters of the target structural mesh that are deformed during the simulation process. In addition to the deformation characteristics of the reducer under high dynamic load conditions, the displacement range of the output shaft is also combined and set as the parameters of the finite element model. The target structural mesh is continuously simulated and the deformation variable of the target structural mesh is updated. During the gradual simulation and update process, the deformation variable of the target structural mesh will gradually decrease until the deformation variable is less than or equal to the deformation threshold. The simulation optimization process ends and the structural parameters of the output shaft that meet the requirements for stable operation under high dynamic conditions are obtained and used as the target structural model.

[0101] In some examples of this embodiment, the structure reflected by the target structural model uses a double curvature transition fillet in the geometrically enhanced variable cross-section transition section and in the stress concentration area to reduce the local stress peak during the dynamic simulation process compared to the initial structure of the output shaft.

[0102] Step a2: update the corresponding data of the initial structure with the target structure model to obtain the target structure.

[0103] After the parameters corresponding to the target structure model are obtained, the corresponding parameters in the initial structure of the output shaft are adjusted to obtain the target structure of the output shaft, which can meet the requirements of stable operation under high dynamic load conditions.

[0104] In some instances of this embodiment, after the target structure is updated, the matching span of the upper and lower main bearings is increased, and the support reaction force of the bearings on the output shaft is reduced while the output torque remains unchanged, thereby improving the life of the reducer.

[0105] In an optional implementation of this embodiment, the above-mentioned method for optimizing the output shaft structure of the reducer can be used to obtain the following Figure 4 The output shaft structure shown. Figure 4 The diagram is a schematic diagram of the output shaft structure before and after optimization according to an embodiment of the present invention. The left figure is the initial structure, and the right figure is the optimized structure. In order to obtain the optimized output shaft structure, first, the external spline of the output shaft of the initial structure of the output shaft in the left figure is designed using CREO software, and a file in STP format is exported. The neutral STP file is then imported into Hypermesh for meshing, and a file in INP format is output. Then, the INP file is imported into ABAQUS finite element software for dynamic simulation analysis of the output shaft. If it is found that the deformation of the output shaft is large, the output shaft is structurally optimized and designed. After topological optimization design, the external spline of the output shaft is changed to a hobbing structure; at the same time, fillets are added to the thread backing groove and smooth transition fillets are added to the shoulder transition area to obtain the target structure of the output shaft in the right figure. Effectively reduce deformation and stress concentration problems. Improve the adaptability and service life of the reducer output shaft under high dynamic load conditions.

[0106] In some optional implementations, the above step S3033 further includes:

[0107] Step b1: Perform multi-objective optimization on the target structure grid according to the deformation characteristics and the material parameters of the output shaft to obtain the target design parameters.

[0108] In this embodiment, the target design parameters refer to the design parameters of the structure of the reducer output shaft that meets the requirements for stable operation under high dynamic conditions. In addition to the method of optimizing the reducer output shaft based on the deformation characteristics of the reducer output shaft under high dynamic conditions, the material parameters of the output shaft can be combined to optimize the strength and stress tolerance of the output shaft structure. Through multi-objective optimization, such as the multi-objective genetic algorithm (NSGA-II), the target structure grid can be optimized to obtain the target design parameters.

[0109] Step b2: generating a target structure based on the initial structure and target design parameters.

[0110] According to the target design parameters of the optimized part of the output shaft, the design parameters of the corresponding structure in the initial structure of the output shaft are updated, and the target structure of the output shaft of the reducer can be generated.

[0111] In one example of this embodiment, high-hardness carburizing and quenching are prepared on the surface of the output shaft, and the core maintains a high-toughness matrix to achieve a synergistic improvement in deformation resistance and wear resistance. Through the optimization method of the output shaft structure of this embodiment, the dynamic deformation of the output shaft of the rotary reducer of the excavator is reduced by 16.7% after optimization (from 0.191mm to 0.159mm). Through parameter coupling optimization, a parametric model of the shaft-gear-bearing system is constructed to solve the "shaft deformation-gear eccentric load" coupling problem. Through optimization based on material parameters, lightweighting and life improvement are achieved, with a weight reduction of 18%, a fatigue life increase of 30%, and a wear life extension of 40%.

[0112] Figure 5 The figure is a schematic diagram showing the comparison of simulation results before and after the output shaft is optimized according to an embodiment of the present invention. The deformation of the output shaft is analyzed and extracted based on the dynamic simulation module in the finite element software ABAQUS. The original output shaft structure is simulated first to extract the deformation-related results. Then, the multi-objective optimization algorithm NSGA-II is used to optimize the output shaft structure, such as adjusting the shoulder fillet and optimizing the structure of the output shaft external spline. Then, the improved model is subjected to dynamic simulation analysis. This process is repeated until the required result that meets the deformation target is obtained. Figure 5 As shown, the structural displacement of the top gear of the output shaft experiences the greatest change, representing the most significant change in the optimized output shaft structure. The output shaft optimization method of this embodiment incorporates dynamic simulation and multi-objective collaborative optimization, compared to static simulation and experimental methods in related technologies. This optimizes the reducer system design from aspects such as the output shaft's dynamic deformation, stress distribution, and lightweighting.

[0113] In this embodiment, a reducer is proposed, which includes a first-stage sun gear 1, a first-stage planetary gear 2, a first-stage planetary carrier 3, a second-stage sun gear 4, a second-stage planetary gear 5, a second-stage planetary carrier 6, an output gear shaft 7, a ring gear 8 and a fixed seat 9, wherein the structure of the output gear shaft 7 is designed by the above-mentioned optimization method of the reducer output shaft structure, which will not be repeated here.

[0114] In one example of this embodiment, Figure 6 FIG. 1 is a schematic diagram of a rotary reducer for controlling the dynamic deformation of an output shaft according to an embodiment of the present invention. Figure 6As shown, first, the hydraulic motor is connected to the reducer through a spline sleeve, and the motor power is transmitted to the first-stage sun gear 1 of the reducer through the spline sleeve. After the first-stage sun gear 1 rotates, it drives the first-stage planetary gear 2. After the first-stage planetary gear 2 rotates, it drives the second-stage sun gear 4 through the connected first-stage planetary carrier 3, thereby transmitting power from the first-stage planetary gear system to the second-stage planetary gear system and completing the first-stage reduction; secondly, after the second-stage sun gear 4 rotates, it drives the second-stage planetary gear 5. After the second-stage planetary gear 5 rotates, it transmits power from the second-stage planetary gear system to the output gear shaft 7 through the connected second-stage planetary carrier 6 and completes the second-stage reduction; finally, after the output gear shaft 7 rotates, it drives the external slewing bearing to complete the power output, wherein the ring gear 8 and the fixed seat 9 are connected as a whole by bolts, together realizing the reduction and power output of the transmission system.

[0115] Through the above-mentioned two-stage deceleration, the purpose of reducing the output speed and increasing the output torque is achieved. The upper end that cooperates with the output shaft is a small self-aligning bearing 10, and the lower end is a large self-aligning bearing 11. The upper end gear transmission system and the lower end large bearing space are separated by a skeleton oil seal 12. The upper part is lubricated with gear oil and the lower part is lubricated with grease. The lower end of the large self-aligning bearing is sealed with a dustproof ring 13.

[0116] In this embodiment, a method for optimizing the output shaft structure of a speed reducer is provided. Figure 7 FIG. 1 is a schematic diagram of the dynamic modeling and simulation process of the output shaft using ABAQUS according to an embodiment of the present invention. Figure 7 As shown, first, a 3D model of the slewing reducer transmission system was constructed using CREO software. The 3D model was simplified, removing small fillets and holes, and then tetrahedral meshing was performed in Hypermesh to obtain a dynamic simulation finite element model. Second, a nonlinear elastic constitutive model for the output shaft material was established in ABAQUS. Third, an actual torque curve was applied to the output shaft to simulate actual operating conditions. Fourth, nonlinear spring elements were used at the bearing supports to simulate actual stiffness. Fifth, the reducer transmission system was simulated and analyzed using the ABAQUS dynamics module. System deformation analysis was performed, the gear mesh misalignment was calculated, and the output shaft deformation was further calculated to obtain the output shaft deformation and stress distribution. The output shaft material distribution was optimized, retaining material in high-stress areas and removing redundancy. The current deformation was compared with the deformation reduction target. If the current deformation did not meet the deformation reduction target, ABAQUS was used to perform dynamic simulation analysis and extract the deformation, thereby optimizing the output shaft material distribution. The simulation ends when the current deformation reaches the deformation reduction target, and the structural design of the reducer output shaft that is suitable for stable operation under high dynamic loads is obtained.

[0117] In this embodiment, a device for optimizing the output shaft structure of a reducer is also provided. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the details that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0118] This embodiment provides a device for optimizing the output shaft structure of a reducer, such as Figure 8 Shown, including:

[0119] An acquisition module 801 is configured to acquire boundary condition data corresponding to an output shaft of a reducer, wherein the boundary condition data is data of the reducer under a target operating condition, wherein the target operating condition indicates that a rate of change of the torque of the reducer is greater than or equal to a rate of change threshold;

[0120] A determination module 802 is used to determine the deformation characteristics of the output shaft under the target working condition based on the boundary condition data;

[0121] The optimization module 803 is used to optimize the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft.

[0122] In some optional implementations, the determining module 802 includes:

[0123] The curve determination unit 8021 is used to determine the target curve of the output shaft during the dynamic simulation process, where the target curve indicates the relative relationship between the dynamic deformation amount and time;

[0124] The feature generation unit 8022 is used to extract the peak deformation variable and the deformation fluctuation value from the target curve, and use the combination of the peak deformation variable and the deformation fluctuation value as the deformation feature.

[0125] In some optional implementations, the optimization module 803 includes:

[0126] A geometric model building unit 8031 ​​is used to build a parameterized three-dimensional geometric model of an initial structure, where the initial structure includes an output shaft and a gear system meshing with the output shaft;

[0127] A local mesh refinement unit 8032 is used to perform local mesh refinement on the output shaft and the gear system meshing with the output shaft in the parameterized three-dimensional geometric model to obtain a target structural mesh;

[0128] The target structure determination unit 8033 is used to determine the target structure based on the target structure grid and deformation characteristics.

[0129] In some optional embodiments, the target structure determination unit 8033 includes:

[0130] The simulation subunit is used to continuously simulate the target structure grid and update the deformation variable of the target structure grid based on the deformation characteristics and the displacement range of the output shaft to obtain the target structure model until the deformation variable of the target structure model is less than or equal to the deformation threshold;

[0131] The updating subunit is used to update the corresponding data of the initial structure with the target structure model to obtain the target structure.

[0132] In some optional implementations, the target structure determination unit 8033 further includes:

[0133] The multi-objective optimization subunit is used to perform multi-objective optimization on the target structure grid according to the deformation characteristics and the material parameters of the output shaft to obtain the target design parameters;

[0134] The target structure generation subunit is used to generate the target structure according to the initial structure and target design parameters.

[0135] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0136] The optimization device for the output shaft structure of the reducer in this embodiment is presented in the form of a functional unit, where the unit refers to an application-specific integrated circuit (ASIC) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0137] The embodiment of the present invention also provides a computer device having the above Figure 8 The optimized device of the reducer output shaft structure is shown.

[0138] See also Figure 9 , Figure 9 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 9As shown, the computer device includes: one or more processors 901, memory 902, and the interface for connecting each component, including a high-speed interface and a low-speed interface. Each component utilizes different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instruction executed in the computer device, including the instruction stored in the memory or on the memory to display the graphic information of the GUI on an external input / output device (such as, being coupled to the display device of the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides the necessary operation of part (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 9 A processor 901 is taken as an example.

[0139] Processor 901 may be a central processing unit, a network processor, or a combination thereof. Processor 901 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0140] The memory 902 stores instructions that can be executed by at least one processor 901, so that the at least one processor 901 executes the method shown in the above embodiment.

[0141] The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 902 may optionally include a memory remotely located relative to the processor 901, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0142] The memory 902 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 902 may also include a combination of the above types of memory.

[0143] The computer device also includes an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903 and the output device 904 can be connected via a bus or other means. Figure 9 The bus connection is taken as an example.

[0144] The input device 903 can receive input digital or character information and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 904 can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0145] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0146] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0147] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for optimizing the output shaft structure of a reducer, characterized in that: The method comprises: Acquiring boundary condition data corresponding to an output shaft of a reducer, wherein the boundary condition data is data of the reducer under a target operating condition, wherein the target operating condition indicates that a rate of change of the torque of the reducer is greater than or equal to a rate of change threshold; determining, according to the boundary condition data, a deformation characteristic of the output shaft under the target working condition; Based on the deformation characteristics, the initial structure of the output shaft is optimized to obtain the target structure of the output shaft.

2. The method according to claim 1, characterized in that Determining the deformation characteristics of the output shaft under the target working condition according to the boundary condition data includes: determining a target curve of the output shaft during a dynamic simulation, the target curve indicating a relative relationship between a dynamic deformation amount and time; A peak deformation amount and a deformation fluctuation value are extracted from the target curve, and a combination of the peak deformation amount and the deformation fluctuation value is used as the deformation feature.

3. The method according to claim 1 or 2, characterized in that The optimizing the initial structure of the output shaft based on the deformation characteristics to obtain the target structure of the output shaft includes: constructing a parameterized three-dimensional geometric model of the initial structure, wherein the initial structure includes the output shaft and a gear system meshing with the output shaft; In the parameterized three-dimensional geometric model, locally refining the output shaft and the gear system meshing with the output shaft to obtain a target structural mesh; The target structure is determined based on the target structure mesh and the deformation feature.

4. The method according to claim 3, characterized in that The determining the target structure based on the target structure grid and the deformation feature includes: Based on the deformation characteristics and in combination with the displacement range of the output shaft, the target structure grid is continuously simulated and the deformation variable of the target structure grid is updated to obtain a target structure model until the deformation variable of the target structure model is less than or equal to a deformation threshold; The corresponding data of the initial structure is updated with the target structure model to obtain the target structure.

5. The method according to claim 3, characterized in that The determining the target structure based on the target structure grid and the deformation feature further includes: performing multi-objective optimization on the target structural grid according to the deformation characteristics and the material parameters of the output shaft to obtain target design parameters; The target structure is generated according to the initial structure and the target design parameters.

6. A reducer, characterized in that: The invention comprises a reducer output shaft determined based on the optimization method of the reducer output shaft structure according to any one of claims 1 to 5.

7. A device for optimizing the output shaft structure of a reducer, characterized in that: The device comprises: an acquisition module, configured to acquire boundary condition data corresponding to an output shaft of a reducer, wherein the boundary condition data is data of the reducer under a target operating condition, and the target operating condition indicates that a rate of change of the torque of the reducer is greater than or equal to a rate of change threshold; a determination module, configured to determine the deformation characteristics of the output shaft under the target working condition according to the boundary condition data; An optimization module is used to optimize the initial structure of the output shaft based on the deformation characteristics to obtain a target structure of the output shaft.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for optimizing the output shaft structure of the reducer according to any one of claims 1 to 5 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for optimizing the output shaft structure of a reducer according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method for optimizing the output shaft structure of a reducer according to any one of claims 1 to 5.

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