Joint module motor speed reducer fusion method and system combined with 3D printing

Abstract

The application provides a joint module motor reducer fusion method and system combined with 3D printing. First, a fusion data model containing motor parameters, reducer parameters and joint module assembly constraint data is generated. Then, the motor and reducer parameter association features are extracted to generate a fusion feature set. Next, the 3D printing path optimization logic is generated according to the fusion feature set. Then, the 3D printing path optimization logic is input into the virtual 3D printing simulation system to generate a simulation result. Finally, the fusion data model parameters are adjusted based on the virtual 3D printing simulation system to generate a joint module motor reducer fusion 3D printing implementation scheme. Thus, the precise design and efficient manufacturing of the joint module motor reducer fusion are realized, the performance and quality of the joint module are improved, and the cost and production cycle are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a joint module motor-reducer fusion method and system combined with 3D printing. BACKGROUND

[0002] In the field of joint module manufacturing, the traditional joint module motor-reducer fusion method usually adopts the method of manufacturing motor and reducer separately, and then combining them into a joint module through mechanical processing and assembly process. In terms of parameter matching of motor and reducer, the above-mentioned method often relies on experience formula and pre-set standard parameters for selection, and it is difficult to accurately consider the dynamic matching relationship of motor and reducer in actual operation. For example, when determining the motor output torque and the transmission ratio of the reducer, only the theoretical calculation value is simply relied on, without fully considering the mutual influence between them and the synergy with the overall performance of the joint module.

[0003] In the assembly process, the coaxial degree of motor and reducer, the assembly gap of joint module shell and other assembly constraints mainly rely on the operation skills of workers and traditional detection tools to ensure, and the assembly precision is difficult to be stably controlled, which is easy to cause the problems of performance decline and noise increase of joint module due to improper assembly. Moreover, the traditional manufacturing method usually adopts general manufacturing process without optimization for the special structure of motor-reducer fusion when producing joint module, which leads to low production efficiency and high manufacturing cost, and it is difficult to meet the demand of modern industry for high-precision, high-performance, low-cost and rapid manufacturing of joint module. SUMMARY

[0004] In view of the above-mentioned problems, in combination with the first aspect of the present application, the embodiments of the present application provide a joint module motor-reducer fusion method combined with 3D printing, which comprises:

[0005] generating a joint module motor-reducer fusion data model, the joint module motor-reducer fusion data model containing motor parameter data, reducer parameter data and joint module assembly constraint data, the motor parameter data containing motor output torque parameter data and motor speed parameter data, the reducer parameter data containing reducer transmission ratio parameter data and reducer gear modulus parameter data, and the joint module assembly constraint data containing coaxial degree constraint data of motor and reducer and joint module shell assembly gap constraint data;

[0006] based on the joint module motor-reducer fusion data model, extracting the correlation characteristics of motor parameter data and reducer parameter data to generate a fusion feature set, the fusion feature set containing matching features of motor output torque and reducer transmission ratio and adaptation features of motor speed and reducer gear modulus;

[0007] According to the fusion feature set, 3D printing path optimization logic is generated, which includes a printing path node coordinate sequence, path travel speed parameter data, and printing layer thickness parameter data, and the printing path node coordinate sequence is generated based on assembly constraint data in the joint module motor-reducer fusion data model;

[0008] The 3D printing path optimization logic is input into a virtual 3D printing simulation system, a virtual printing simulation process is performed, and a virtual printing simulation result is generated, which includes printing part forming precision data, printing part shrinkage deformation data, and motor and reducer assembly adaptability data.

[0009] Based on the virtual printing simulation result, parameter data in the joint module motor-reducer fusion data model is adjusted, and a joint module motor-reducer fusion 3D printing implementation scheme is generated, which includes adjusted motor parameter data, adjusted reducer parameter data, and final 3D printing path optimization logic.

[0010] In another aspect, the embodiments of the present application also provide a joint module motor-reducer fusion system combined with 3D printing, which is characterized by comprising:

[0011] A processor; a machine-readable storage medium for storing machine-executable instructions of the processor; wherein the processor is configured to execute the above-mentioned joint module motor-reducer fusion method combined with 3D printing by executing the machine-executable instructions.

[0012] In another aspect, the embodiments of the present application also provide a computer program product, which includes machine-executable instructions stored in a computer-readable storage medium, and a processor of a computer device reads the machine-executable instructions from the computer-readable storage medium, and the processor executes the machine-executable instructions, so that the computer device executes the above-mentioned joint module motor-reducer fusion method combined with 3D printing.

[0013] Based on the above aspects, by generating a fusion data model containing motor parameters, reducer parameters and joint module assembly constraint data, and extracting associated features based on the fusion data model to generate a fusion feature set, the matching and adaptation relationship between the motor and the reducer parameters can be accurately grasped. According to the 3D printing path optimization logic generated based on the fusion feature set, the assembly constraints of the joint module are fully considered, the scientificity and rationality of the printing path are ensured, and the forming quality and assembly adaptability of the printed part are improved. Through the simulation processing of the printing path optimization logic by the virtual 3D printing simulation system, the forming precision, shrinkage deformation and assembly adaptability of the motor and the reducer of the printed part can be predicted in advance, the parameters in the fusion data model can be adjusted in time, and a feasible 3D printing implementation scheme is generated, realizing the precise design, optimized printing and efficient manufacturing of the joint module motor and reducer fusion, improving the performance and quality of the joint module, and reducing the manufacturing cost and production cycle. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is an execution flow schematic diagram of the joint module motor and reducer fusion method provided by an embodiment of the present application.

[0015] Figure 2 is a schematic diagram of exemplary hardware and software components of the joint module motor and reducer fusion system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0016] The present application will be described in detail below with reference to the accompanying drawings of the specification, Figure 1 is a flow schematic diagram of the joint module motor and reducer fusion method provided by an embodiment of the present application, and the joint module motor and reducer fusion method will be described in detail below.

[0017] Step S110: generate a joint module motor and reducer fusion data model, the joint module motor and reducer fusion data model contains motor parameter data, reducer parameter data and joint module assembly constraint data, the motor parameter data contains motor output torque parameter data and motor speed parameter data, the reducer parameter data contains reducer transmission ratio parameter data and reducer gear modulus parameter data, and the joint module assembly constraint data contains coaxial degree constraint data of the motor and the reducer and joint module housing assembly gap constraint data.

[0018] In the development scenario of collaborative robot joint module, in order to realize the efficient integration of motor and speed reducer and 3D printing integrated forming, a comprehensive data model needs to be built. The data model needs to integrate the core performance parameters of the motor, the key structural parameters of the speed reducer and the constraint conditions when the two are assembled, form a structured data set, which will be the basis for all subsequent analysis and optimization work, and ensure that the data used in each link has consistency and correlation.

[0019] Step S111: Collect motor basic parameter information, the motor basic parameter information includes motor output torque basic information and motor speed basic information, convert the motor output torque basic information into structured motor output torque parameter data, convert the motor speed basic information into structured motor speed parameter data, and form motor parameter data.

[0020] In the development of collaborative robot joint module, first, the basic parameters of the selected driving motor need to be collected. The motor output torque basic information can be obtained from the technical data provided by the motor manufacturer. These information includes the torque value that the motor can continuously output under different working environment conditions, the overload torque value that the motor can withstand in a short time, and the instantaneous peak torque value, as well as the motor efficiency characteristic data corresponding to these torque values. The motor speed basic information also comes from the manufacturer's technical data, covering the no-load rotating speed of the motor under the rated working voltage, the rotating speed under the rated load, and the related rotating speed characteristics when the motor occurs to be blocked, as well as the relationship curve between rotating speed and output torque.

[0021] After obtaining the motor output torque basic information, it is structured. The continuous output torque, overload output torque and peak output torque are respectively taken as independent parameter items, the measurement unit of each parameter item is specified, and the test conditions when the parameter is obtained are recorded in detail, such as environmental temperature range, load duration, etc. For the motor speed basic information, similar structured processing method is adopted, the no-load speed, rated speed, blocked speed and other data items are classified and labeled, the measurement unit is unified, and the test condition parameters such as working voltage and current are recorded. After the above conversion processing, the above structured data is integrated together to form complete motor parameter data.

[0022] Step S112: Collect speed reducer basic parameter information, the speed reducer basic parameter information includes speed reducer transmission ratio basic information and speed reducer gear modulus basic information, convert the speed reducer transmission ratio basic information into structured speed reducer transmission ratio parameter data, convert the speed reducer gear modulus basic information into structured speed reducer gear modulus parameter data, and form speed reducer parameter data.

[0023] For the matched reducer of the collaborative robot joint module, the basic parameter information of the reducer also needs to be collected comprehensively. The basic information of the transmission ratio of the reducer mainly includes the total reduction ratio of the reducer, the number of transmission stages, and the transmission ratio distribution of each stage, as well as the accuracy level of the transmission ratio and the back-lash performance parameters. These information can be obtained from the product specification or design document of the reducer. The basic information of the gear modulus of the reducer involves the modulus size, pressure angle, and addendum coefficient of each gear that constitutes the gear train of the reducer. These parameters directly affect the transmission performance, load capacity, and structure size of the reducer.

[0024] When converting the basic information of the transmission ratio of the reducer into structured data, the numerical representation method of the total transmission ratio needs to be specified, which can be an integer ratio or a decimal form, and the transmission stage number and the transmission ratio distribution of each stage are labeled in detail. At the same time, the accuracy level of the transmission ratio, i.e. the allowed deviation range between the actual transmission ratio and the theoretical transmission ratio, and the specific value of the back-lash need to be recorded. For the basic information of the gear modulus of the reducer, the modulus, pressure angle, and addendum coefficient of each gear are structured respectively, the numerical value and unit of each parameter are specified, and the corresponding gear type is labeled, such as sun gear, planet gear, and inner ring gear. After completing the above conversion, the structured data is combined to form the parameter data of the reducer.

[0025] Step S113: Collecting joint module assembly basic constraint information, the joint module assembly basic constraint information includes motor and reducer coaxial degree basic constraint information, joint module shell assembly gap basic constraint information, converting the motor and reducer coaxial degree basic constraint information into structured motor and reducer coaxial degree constraint data, converting the joint module shell assembly gap basic constraint information into structured joint module shell assembly gap constraint data, and forming joint module assembly constraint data.

[0026] The collection of joint module assembly basic constraint information needs to be combined with the overall design requirements of the joint module. Generally, the relevant data can be obtained through the assembly analysis function of the three-dimensional modeling software. The motor and reducer coaxial degree basic constraint information is usually specified by the design drawing, including the coaxial degree tolerance requirement of the motor output shaft and the reducer input shaft, i.e. the allowed axis deviation, and the definition of the reference axis, i.e. which component's axis is used as the reference, as well as the specific measurement position and measurement length range. The joint module shell assembly gap basic constraint information involves the gap size requirement between the shell and the internally installed motor, reducer, and other components, including the radial direction gap and the axial direction gap, as well as the specific differences of the gaps at different positions.

[0027] When converting the coaxiality basic constraint information of the motor and the speed reducer into structured data, the specific value and unit of the coaxiality tolerance are determined, the coordinate definition method of the reference axis is determined, for example, whether it is defined based on a certain specific plane or the center axis of a certain hole, and the specific description of the measurement position is recorded in detail, such as measuring at a position away from the end face by a certain distance. For the joint module shell assembly gap basic constraint information, the gap requirements of different parts are structured and processed respectively, the type of the gap is marked, whether it is a radial gap or an axial gap, the maximum and minimum gap values allowed are determined, and the corresponding assembly component name is marked. After the above conversion and integration, the joint module assembly constraint data is formed.

[0028] Step S114: Establishing an association mapping rule of the motor parameter data, the speed reducer parameter data and the joint module assembly constraint data, the association mapping rule being used to define a matching relationship of the motor output torque parameter data and the speed reducer transmission ratio parameter data, an adaptation relationship of the motor rotating speed parameter data and the speed reducer gear modulus parameter data, and a corresponding relationship of the motor parameter data and the coaxiality constraint data of the motor and the speed reducer.

[0029] Establishing the association mapping rule is a key step to effectively fuse the motor parameter data, the speed reducer parameter data and the joint module assembly constraint data. For the matching relationship of the motor output torque parameter data and the speed reducer transmission ratio parameter data, the required output torque of the joint module in actual work is determined. The output torque of the joint module is equal to the output torque of the motor multiplied by the total transmission ratio of the speed reducer, and the mechanical efficiency of the speed reducer in the transmission process is considered. The mechanical efficiency can be determined according to the model of the speed reducer from its performance manual. When the continuous output torque of the motor changes, the total transmission ratio of the speed reducer needs to be adjusted accordingly to ensure that the output torque of the joint module is not lower than the minimum value required by the design.

[0030] The adaptation relationship of the motor rotating speed parameter data and the speed reducer gear modulus parameter data is realized through the association between the rotating speed and the gear strength. The product of the rated rotating speed of the motor and the total transmission ratio of the speed reducer is the output rotating speed of the joint module, which needs to be matched with the allowable circumferential speed corresponding to the gear modulus. When the motor rotating speed increases, the circumferential speed of the gear will also increase accordingly, which requires the modulus of the gear to be increased correspondingly to meet the strength requirement of the gear to prevent the gear from being damaged due to insufficient strength when running at high speed.

[0031] The correspondence between the motor parameter data and the coaxial constraint data of the motor and the speed reducer is reflected in the cooperation tolerance of the motor shaft diameter and the speed reducer input shaft hole diameter. The upper deviation of the motor output shaft diameter and the lower deviation of the speed reducer input shaft hole diameter need to meet the coaxial tolerance requirement therebetween, and the specific deviation value range can be determined by consulting the tolerance cooperation table in the mechanical design manual, so as to ensure that the motor shaft and the speed reducer input shaft can be smoothly assembled and the coaxial precision is ensured.

[0032] Step S115: Based on the association mapping rule, the motor parameter data, the speed reducer parameter data and the joint module assembly constraint data are integrated into a unified data structure, the association identifier of each parameter data is labeled, and a joint module motor speed reducer fusion data model containing all parameter data and association relationship is formed; the source information of each parameter data in the joint module motor speed reducer fusion data model, the transformation logic and the generation basis of the association mapping rule are recorded, and a model construction specification document is formed.

[0033] Based on the association mapping rule established in the foregoing, a hierarchical data structure is used to integrate the motor parameter data, the speed reducer parameter data and the joint module assembly constraint data. In this unified data structure, three first-level nodes of motor parameters, speed reducer parameters and assembly constraints can be set at the top layer, and second-level nodes can be set under each first-level node according to the categories of parameters, for example, output torque parameters and speed parameters can be set as second-level nodes under the motor parameter node, and each second-level node contains specific parameter items and attributes. Association identifiers are added to each parameter item to clearly indicate the association relationship between the parameter and other parameters, for example, the association identifier of the motor continuous output torque parameter can indicate that it is associated with the speed reducer total transmission ratio parameter through a specific formula.

[0034] In the integration process, the consistency between parameters needs to be checked through the association mapping rule, when a parameter changes, it is automatically checked whether the other parameters associated with it still meet the design requirements, if not, it is marked as a conflict item for subsequent adjustment. After the integration is completed, the joint module motor speed reducer fusion data model is formed. At the same time, the source information of each parameter data in the model is recorded in detail, such as which manufacturer's technical manual and which version of design drawing the data comes from; the transformation logic of the data, that is, the processing process from the original basic information to the structured parameter data; and the generation basis of the association mapping rule, such as the derivation process of the formula, the reference design standard, etc. The above contents are sorted to form a model construction specification document, which is used as the basis for model use and maintenance.

[0035] Step S120: Based on the joint module motor reducer fusion data model, the correlation characteristics of motor parameter data and reducer parameter data are extracted, and a fusion feature set is generated, which contains the matching characteristics of motor output torque and reducer transmission ratio, and the adaptation characteristics of motor speed and reducer gear modulus.

[0036] In the development of collaborative robot joint modules, based on the joint module motor reducer fusion data model that has been constructed, it is necessary to deeply explore the internal correlation between motor parameter data and reducer parameter data. Through specific feature extraction methods, features that can reflect the mutual influence and mutual restraint relationship between the two are found, which will be an important basis for subsequent 3D printing path optimization. First, the parameter pairs with strong correlation are selected from the model, and then the correlation features are extracted by analyzing and modeling the above parameter pairs, and finally integrated into a fusion feature set.

[0037] Step S121: Extract motor parameter data and reducer parameter data from the joint module motor reducer fusion data model, and determine the specific numerical representation form of motor output torque parameter data, motor speed parameter data, reducer transmission ratio parameter data, and reducer gear modulus parameter data.

[0038] From the joint module motor reducer fusion data model, motor parameter data and reducer parameter data are extracted according to the set data extraction path. For the motor output torque parameter data, its specific numerical representation form needs to include torque values under different working conditions, such as output torque under continuous working condition, overload output torque allowed within a certain time, and peak output torque in an instant, while the test conditions corresponding to each torque value are also noted, such as environmental temperature range, load duration, etc., and the unit of measurement is specified.

[0039] The representation form of motor speed parameter data also needs to include speed values under different working conditions, such as no-load speed under rated voltage, speed under rated load, and locked-rotor speed, etc. Each speed value also needs to record the working conditions during testing, such as voltage, current, etc. The unit is unified as revolutions per minute. The representation of reducer transmission ratio parameter data should include the value of total transmission ratio, the number of transmission stages, and the transmission ratio allocation of each stage, while also noting the accuracy level of transmission ratio, i.e. the allowed deviation range between actual transmission ratio and theoretical transmission ratio. Reducer gear modulus parameter data needs to specify the modulus size, pressure angle, addendum coefficient, etc. of each gear, corresponding to different gear types such as sun gear, planetary gear, and inner ring gear, and note the unit.

[0040] Step S122: analyze the mutual influence relationship between the motor output torque parameter data and the reducer transmission ratio parameter data, calculate the change of the reducer transmission ratio parameter data required to match when the motor output torque parameter data changes under the premise of meeting the joint module output torque demand, determine the matching relationship between the two, and generate the matching characteristics of the motor output torque and the reducer transmission ratio based on the matching relationship.

[0041] Step S1221: extract multiple sets of motor output torque parameter data and corresponding reducer transmission ratio parameter data from the joint module motor-reducer fusion data model to form a parameter data pair set, wherein each set of parameter data contains a motor output torque parameter data value and a corresponding reducer transmission ratio parameter data value.

[0042] From the historical data records or different configuration schemes of the joint module motor-reducer fusion data model, multiple sets of motor output torque parameter data and corresponding reducer transmission ratio parameter data are extracted. These data sets should cover as many different combinations of motor and reducer parameters as possible to reflect the relationship between the two in a wide range. Each set of parameter data contains a specific motor output torque parameter data value and a corresponding reducer transmission ratio parameter data value. The above data pairs are arranged in a certain order to form a parameter data pair set.

[0043] Step S1222: set the gradient change of the motor output torque parameter data value in the parameter data pair set to generate multiple gradient motor output torque parameter data change values.

[0044] Based on the value range of the motor output torque parameter data value in the parameter data pair set, it is divided into multiple uniform gradient intervals, each corresponding to a motor output torque parameter data change value. The number of gradients can be determined according to the degree of analysis required, and the gradient change value should be able to cover the commonly used working range and possible change range of the motor output torque, and the generated multiple gradient change values will be used as input variables for subsequent simulation analysis.

[0045] Step S1223: input each gradient motor output torque parameter data change value into the joint module motor-reducer fusion data model to simulate the response of the reducer transmission ratio parameter data when the motor output torque parameter data changes, and collect the reducer transmission ratio parameter data response value corresponding to each change value.

[0046] The motor output torque parameter data change value of each set gradient is input into the joint module motor reducer fusion data model in turn, and the model will automatically calculate and output the reducer gear ratio parameter data response value corresponding to the motor output torque change value to meet the joint module output torque demand according to the internal correlation mapping rules and simulation algorithms. In this process, the model will comprehensively consider the motor efficiency, performance characteristics of the reducer and other factors to ensure that the calculated gear ratio response value is actually feasible. The reducer gear ratio response value corresponding to each motor output torque change value is collected to form a series of input-output data pairs.

[0047] Step S1224: Calculate the change trend of the reducer gear ratio parameter data required to match the change of the motor output torque parameter data to meet the joint module output torque demand under each gradient, and obtain a plurality of matching relationship data, which includes torque change amount, gear ratio change amount, basic parameter value and response parameter value.

[0048] For each gradient of the motor output torque parameter data change value, calculate the change amount of the initial basic torque value and the change amount of the corresponding reducer gear ratio parameter data response value relative to the initial basic gear ratio value. At the same time, record the basic parameter value under this gradient, that is, the initial motor output torque value and the reducer gear ratio value, and the response parameter value, that is, the changed motor output torque value and the corresponding reducer gear ratio response value. Through the analysis of the above data, the change trend of the reducer gear ratio required to match the change of the motor output torque under different gradients can be obtained, such as linear change, nonlinear change or other specific change rules, thereby forming a plurality of matching relationship data.

[0049] Step S1225: Analyze the stability of the plurality of matching relationship data, filter out the parameter change interval with stable matching relationship, and determine the fixed proportional correlation between the motor output torque parameter data and the reducer gear ratio parameter data in the parameter change interval.

[0050] The stability of the plurality of matching relationship data obtained is analyzed, and the statistical characteristics of the data, such as standard deviation and variance, are calculated to evaluate the stability of the matching relationship between the motor output torque parameter data and the reducer gear ratio parameter data. The smaller the standard deviation, the more stable the matching relationship between the two in the parameter change range, and the less affected by other interference factors. According to the results of the stability analysis, the parameter change interval with stable matching relationship is selected, and in this interval, there is a relatively certain corresponding relationship between the motor output torque parameter data and the reducer gear ratio parameter data.

[0051] In the selected stable parameter variation range, the fixed proportional relationship between the motor output torque parameter data and the reducer transmission ratio parameter data is determined by linear fitting or other suitable curve fitting method on the matching relationship data, that is, a determined function expression can be used to describe the relationship between the two, and the proportional coefficient in the function expression reflects the proportional relationship between the two.

[0052] Step S1226: Based on the fixed proportional relationship, a matching feature description of the motor output torque and the reducer transmission ratio is generated, which contains the proportional correlation value, the applicable parameter variation range, and the corresponding joint module assembly constraint condition.

[0053] According to the determined fixed proportional relationship, a matching feature description of the motor output torque and the reducer transmission ratio is generated. The matching feature description should contain the proportional correlation value, that is, the proportional coefficient in the fitted function expression; the applicable parameter variation range of the matching feature is determined, that is, the variation range of the motor output torque and the reducer transmission ratio selected in the matching relationship stability screening; and the corresponding joint module assembly constraint condition is noted, such as the specific requirements that should be met by the coaxial degree constraint of the motor and the reducer and the shell assembly gap constraint in the parameter variation range, to ensure that the matching feature is feasible in actual assembly.

[0054] Step S1227: The accuracy of the matching feature description is verified, and the applicability of the proportional relationship is verified by other data groups in the parameter data pair set, so that the matching feature can accurately represent the mutual influence relationship between the two.

[0055] From the parameter data pair set, select data groups that do not participate in the previous fitting process as the verification set. The motor output torque parameter data value in the verification set is substituted into the matching feature description based on the fixed proportional relationship, and the corresponding reducer transmission ratio predicted value is calculated. The predicted value is compared with the actual reducer transmission ratio parameter data value in the verification set, and the error between the two, such as absolute error, relative error, etc. is calculated. By statistical distribution of these errors, such as average error, maximum error, and standard deviation of error, the accuracy of the matching feature description is evaluated. If the error is within an acceptable range, it means that the matching feature description can accurately represent the mutual influence relationship between the motor output torque and the reducer transmission ratio; if the error is large, it is necessary to return to the previous step to re-analyze the matching relationship data or adjust the fitting method to improve the accuracy of the matching feature description.

[0056] Step S123: analyze the mutual influence relationship between the motor speed parameter data and the gear modulus parameter data of the speed reducer, calculate the change of the gear modulus parameter data of the speed reducer required to match when the motor speed parameter data changes under the premise of meeting the joint module transmission smoothness and strength requirements, determine the adaptive correlation between the two, and generate the adaptive characteristics of the motor speed and the gear modulus of the speed reducer based on the adaptive correlation.

[0057] The gear strength calculation model is used to analyze the mutual influence relationship between the motor speed parameter data and the gear modulus parameter data of the speed reducer. Different gradient motor speed parameter data change sequences are input into the gear strength calculation model, and through the checking of the gear face contact strength and the gear root bending strength, the minimum allowable value of the gear modulus is determined under the premise of meeting the strength requirements. When the motor speed increases, the circumferential velocity of the gear increases, and the impact force between the gear faces increases. In order to ensure that the gear has sufficient strength, the gear modulus needs to be increased accordingly; when the motor speed decreases, the load on the gear decreases relatively, and the gear modulus can be appropriately reduced to reduce the structure size.

[0058] Through the analysis and fitting of multiple sets of simulation data, the adaptive correlation between the motor speed and the gear modulus of the speed reducer can be obtained, i.e. the functional relationship of the gear modulus changing with the motor speed. Based on this adaptive correlation, the adaptive characteristics of the motor speed and the gear modulus of the speed reducer are generated. This virtual printing simulation feature can reflect the adaptive law between the two under the premise of meeting the transmission smoothness and strength requirements.

[0059] Step S124: extract the collaborative change characteristics of the motor parameter data and the speed reducer parameter data, which are used to represent the collaborative response law when the motor output torque parameter data and the gear modulus parameter data of the speed reducer change simultaneously, and the collaborative response law when the motor speed parameter data and the speed reducer transmission ratio parameter data change simultaneously.

[0060] The control variable method is used for multi-parameter collaborative simulation to extract the collaborative change characteristics of the motor parameter data and the speed reducer parameter data. In the simulation of the collaborative change of the motor output torque and the gear modulus of the speed reducer, the motor speed and the speed reducer transmission ratio and other parameters are fixed, and the motor output torque and the gear modulus of the speed reducer are adjusted within a certain range. The performance indicators such as the vibration response and noise level of the joint module output end are collected through the simulation model. The law of the performance indicators changing with the motor output torque and the gear modulus is analyzed, such as the change trend of the vibration and noise when the torque increases and the modulus decreases, and the change of the structure weight and performance when the torque decreases and the modulus increases.

[0061] In the simulation of the coordinated variation of the motor speed and the transmission ratio of the speed reducer, other parameters are fixed, the motor speed and the transmission ratio of the speed reducer are adjusted to vary in their respective ranges, and the performance parameters of the joint module output end, such as the dynamic response time and the positioning accuracy, are recorded. The variation laws of these parameters with the simultaneous variation of the speed and the transmission ratio are analyzed, such as the variation of the response time and the positioning accuracy when the speed increases and the transmission ratio decreases, and the variation trend of the response time and the accuracy when the speed decreases and the transmission ratio increases. The above coordinated variation characteristics are quantitatively processed to form the coordinated variation characteristics, which can describe the comprehensive influence of the simultaneous variation of multiple parameters on the performance of the joint module.

[0062] Step S125: The matching characteristics of the motor output torque and the transmission ratio of the speed reducer, the adaptation characteristics of the motor speed and the gear modulus of the speed reducer, and the coordinated variation characteristics are integrated, the repeated characteristic representations are removed, the parameter data sources corresponding to each characteristic and the associated logic are labeled, the integrated characteristics are subjected to dimension unification processing, all the characteristics have the same data representation dimension, a fusion characteristic set containing all the associated characteristics is formed, and the extraction process and the calculation logic of each characteristic in the fusion characteristic set are recorded.

[0063] The matching characteristics of the motor output torque and the transmission ratio of the speed reducer, the adaptation characteristics of the motor speed and the gear modulus of the speed reducer, and the coordinated variation characteristics extracted above are integrated. The integration process can adopt the form of a characteristic matrix, the rows represent different characteristic names, and the columns represent the attributes of the characteristics, such as the numerical value of the characteristic, the applicable range, and the associated parameters. The similarity between the characteristics, such as the cosine similarity, is calculated to identify and remove the repeated characteristic representations. For characteristics that have similar expressions but different sources or logics, the characteristics that can better reflect the essential relationship are retained.

[0064] The integrated characteristics are subjected to dimension unification processing, all the characteristic values are mapped to the same data interval, for example, through standardization processing, the characteristic values are converted into numerical values in the [0, 1] interval, so that the different characteristics have comparability. The parameter data sources corresponding to each characteristic are labeled, that is, which original parameter data is used to obtain the characteristic through which analysis, and the associated logic between the characteristics. Finally, a fusion characteristic set containing all the associated characteristics is formed, and the extraction process of each characteristic in the fusion characteristic set is recorded in detail, including the analysis method used, the setting of the simulation model, the steps of data processing, and the calculation logic of the characteristics, such as the derivation process of the formula and the fitting method.

[0065] Step S130: Generate a 3D printing path optimization logic based on the fusion characteristic set, the 3D printing path optimization logic contains a printing path node coordinate sequence, a path travel speed parameter data, and a printing layer thickness parameter data, and the printing path node coordinate sequence is generated based on the assembly constraint data in the joint module motor speed reducer fusion data model.

[0066] According to the matching features, adaptive features and collaborative change features between the motor and the speed reducer parameters contained in the fusion feature set, combined with the structural characteristics of the joint module and the 3D printing process requirements, a 3D printing path optimization logic is generated. The 3D printing path optimization logic will determine the key parameters such as the movement trajectory, movement speed and layer thickness of the nozzle in the 3D printing process, to ensure that the printed joint module can meet the performance requirements and assembly accuracy of the design. Among them, the generation of the printing path node coordinate sequence needs to be based on the assembly constraint data in the joint module motor and speed reducer fusion data model to ensure that the printed parts can be accurately assembled.

[0067] Step S131: Extract the joint module assembly constraint data from the joint module motor and speed reducer fusion data model, and determine the specific constraint range of the coaxial constraint data of the motor and the speed reducer and the assembly gap constraint data of the joint module shell.

[0068] From the assembly constraint nodes of the joint module motor and speed reducer fusion data model, the coaxial constraint data of the motor and the speed reducer and the assembly gap constraint data of the joint module shell are extracted. For the coaxial constraint data of the motor and the speed reducer, the specific constraint range is determined, including the definition of the reference axis, that is, which two component axes need to be kept coaxial, such as the motor front bearing hole axis and the speed reducer rear bearing hole axis; the allowed value of the coaxiality tolerance, that is, the maximum allowed distance between the two axes; and the length range for measuring the coaxiality, that is, the length interval of the axis within which the coaxiality is detected.

[0069] For the assembly gap constraint data of the joint module shell, the specific constraint range is also determined, including the radial gap range between the motor shell and the module shell, that is, the distance range allowed in the radial direction; the axial gap range between the speed reducer flange and the module shell, that is, the distance range allowed in the axial direction; and the gap requirements of other key matching parts, such as the matching gap between the output shaft bearing end cover and the shell, etc., the allowed minimum and maximum values of each gap are determined.

[0070] Step S132: Based on the coaxial constraint data of the motor and the speed reducer, the center positioning coordinates of the motor mounting hole and the speed reducer mounting hole in the 3D printing process are determined, and the reference node coordinates of the printing path are planned based on the center positioning coordinates.

[0071] Step S1321: Extract the coaxial constraint data of the motor and the speed reducer from the joint module motor and speed reducer fusion data model, and determine the allowed deviation range of the motor mounting hole center and the speed reducer mounting hole center, and the direction parameters of the coaxial reference axis.

[0072] From the joint module motor reducer fusion data model, the coaxial degree constraint related data of the motor and the reducer is extracted. The allowable deviation range of the center of the motor mounting hole and the center of the reducer mounting hole during assembly is determined, that is, the maximum deviation value of the center positions of the two holes in X, Y and Z directions. At the same time, the direction parameter of the coaxial degree reference axis is determined, which describes the trend of the reference axis in 3D space, usually represented by a direction vector, such as along the positive direction of X axis, the positive direction of Y axis or the positive direction of Z axis, or a certain angle direction, to ensure that the reference axis can be accurately positioned during 3D printing.

[0073] Step S1322: Based on the direction parameter of the coaxial degree reference axis, the reference axis coordinates in the 3D printing coordinate system are determined, and based on the reference axis coordinates, the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center are determined in combination with the allowable deviation range of the motor mounting hole and the reducer mounting hole.

[0074] According to the direction parameter of the coaxial degree reference axis, the specific coordinate position of the reference axis in the 3D printing coordinate system is determined. If the reference axis is along the Z axis direction, its coordinates can be represented as (X0, Y0, Z), where X0 and Y0 are the fixed coordinates of the reference axis in the XY plane, and Z is a variable representing the extension of the axis along the Z axis. Based on the determined reference axis coordinates, in combination with the design radii of the motor mounting hole and the reducer mounting hole and the allowable deviation range, the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center in the 3D printing coordinate system are calculated. The theoretical positioning coordinates should be located on the reference axis or near the reference axis within the allowable deviation range.

[0075] Step S1323: In combination with the size deviation factors in the 3D printing process, the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center are compensated and adjusted to generate the actual positioning coordinates of the motor mounting hole center and the reducer mounting hole center. The compensation and adjustment need to be determined based on historical 3D printing size deviation data.

[0076] Considering various dimensional deviation factors that may exist in the 3D printing process, such as shrinkage of the material during cooling, mechanical errors of the printing equipment, temperature fluctuations of the nozzle, etc., the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center need to be compensated and adjusted. The magnitude and direction of the compensation adjustment need to be determined based on historical 3D printing dimensional deviation data, by analyzing the dimensional deviation rules when printing similar structural components in the past, such as the average deviation value in a certain direction, the fluctuation range of the deviation, etc., to determine the current compensation amount. Add or subtract the corresponding compensation amount to the theoretical positioning coordinates to generate the actual positioning coordinates of the motor mounting hole center and the actual positioning coordinates of the reducer mounting hole center, to offset the dimensional deviation in the printing process and improve the assembly accuracy.

[0077] Step S1324: Take the actual positioning coordinates of the motor mounting hole center and the actual positioning coordinates of the reducer mounting hole center as the core reference point coordinates of the printing path, and set the auxiliary reference point coordinates around the core reference point coordinates at a predetermined interval.

[0078] The actual positioning coordinates of the motor mounting hole center and the actual positioning coordinates of the reducer mounting hole center obtained after compensation adjustment are taken as the core reference point coordinates of the printing path, and these core reference points are the key to ensuring the positioning accuracy of the mounting holes. Around the core reference point coordinates, multiple auxiliary reference point coordinates are set at a predetermined interval. The distribution of auxiliary reference points can be uniform, such as uniform distribution on the circumference centered on the core reference point, or non-uniform distribution according to the shape of the mounting hole and the needs of printing. The purpose of setting auxiliary reference points is to better control the printing path and improve the stability and accuracy of the mounting hole area in the printing process.

[0079] Step S1325: Arrange the core reference point coordinates and the auxiliary reference point coordinates in the printing order to form a reference node coordinate sequence of the printing path; check whether the reference node coordinate sequence meets the coaxiality constraint data of the motor and the reducer, so that the printing positions corresponding to all reference node coordinates can meet the coaxiality requirements of the motor and the reducer.

[0080] According to the sequence of 3D printing, the core reference point coordinates and the auxiliary reference point coordinates are arranged. The arrangement order can be determined according to the printing levels of the mounting hole and the movement efficiency of the nozzle, for example, first printing the lower level reference points, and then printing the higher level reference points. After arrangement, a reference node coordinate sequence of the printing path is formed.

[0081] The generated reference node coordinate sequence is checked to verify whether the coordinates of each reference node meet the coaxiality constraint data of the motor and the speed reducer. Specifically, it is checked whether the coordinates of all reference nodes related to the motor mounting hole are within the allowed deviation range of the actual positioning coordinates of the motor mounting hole center, whether the coordinates of all reference nodes related to the speed reducer mounting hole are within the allowed deviation range of the actual positioning coordinates of the speed reducer mounting hole center, and whether the relative positions between the reference node coordinates of the motor mounting hole and the speed reducer mounting hole meet the coaxiality tolerance requirements. If it is found that the coordinates of some reference nodes do not meet the requirements, the positions of these reference nodes need to be adjusted or the arrangement order needs to be adjusted until the printing positions corresponding to all reference nodes can meet the coaxiality requirements of the motor and the speed reducer.

[0082] Step S1326: Record the determination process of the reference node coordinates, including the calculation logic of the theoretical positioning coordinates, the basis for compensation adjustment, and the setting rules of the auxiliary reference points, to form a reference node coordinate planning specification document.

[0083] The determination process of the reference node coordinates is recorded in detail, including the calculation logic of the theoretical positioning coordinates, such as the coordinate system used, the parameters of the reference axis, and the relationship with the mounting hole size; the basis for compensation adjustment, such as the source of historical 3D printing size deviation data, analysis method, and compensation amount calculation process; and the setting rules of auxiliary reference points, such as the determination method of preset interval and the selection basis of distribution method. The above contents are organized to form a reference node coordinate planning specification document, which will be used as important technical data for 3D printing path planning, facilitating subsequent modification, optimization, and problem troubleshooting of the printing path.

[0084] Step S133: Based on the joint module shell assembly gap constraint data, determine the printing boundary coordinates of the joint module shell, and plan the boundary node coordinates of the printing path based on the printing boundary coordinates.

[0085] According to the gap requirements between the shell and the internal components in the joint module shell assembly gap constraint data, the printing boundary of the joint module shell is determined. For the radial gap between the motor shell and the module shell, the inner boundary and outer boundary coordinates of the module shell are calculated based on the design size of the motor shell and the allowed gap range; for the axial gap between the speed reducer flange and the module shell, the front boundary and rear boundary coordinates of the shell in the axial direction are determined based on the design position of the flange and the gap requirements.

[0086] According to the calculated printing boundary coordinates, a plurality of points on the boundary contour of the shell are planned as boundary node coordinates of the printing path. These boundary node coordinates should accurately reflect the shape and size of the shell to ensure that the printed shell can meet the requirements of the assembly gap. The number and distribution of boundary nodes should be determined according to the complexity of the shell. For parts with large curvature changes, the number of nodes should be appropriately increased to ensure printing accuracy.

[0087] Step S134: Sort the reference node coordinates and the boundary node coordinates according to the printing order, supplement intermediate transition node coordinates, and form a printing path node coordinate sequence that meets the coaxiality constraint data of the motor and the speed reducer and the assembly gap constraint data of the joint module shell.

[0088] According to the process sequence of 3D printing, the previously planned reference node coordinates and boundary node coordinates are sorted. The usual printing order is to print the bottom structure of the model first, and then print layer by layer upwards. For nodes in the same layer, the printing order is usually from inside to outside or from outside to inside to reduce the idle stroke of the nozzle and improve printing efficiency. According to the smoothness requirements of the printing path, intermediate transition node coordinates are supplemented between the sorted reference nodes and boundary nodes. The generation of transition nodes can use curve interpolation methods such as B-spline curve interpolation to ensure smooth transition between adjacent nodes and avoid sudden changes in nozzle motion trajectories.

[0089] The formed printing path node coordinate sequence needs to meet the coaxiality constraint data of the motor and the speed reducer, that is, the center positions of the printed motor mounting hole and the speed reducer mounting hole should be within the coaxiality tolerance allowed range; and meet the assembly gap constraint data of the joint module shell, that is, the printed shell boundary should be within the specified gap range. After generating the coordinate sequence, it needs to be verified to check whether the coordinates of each node meet the requirements, and the nodes that do not meet the requirements are adjusted.

[0090] Step S135: According to the structural strength and stiffness requirements of the matching features of the motor output torque and the speed reducer transmission ratio in the fusion feature set, determine the printing path travel speed parameter data to adapt the path travel speed to the structural performance requirements of the formed part.

[0091] The matching features of the motor output torque and the speed reducer transmission ratio in the fusion feature set reflect the output torque requirements of the joint module under different working conditions, which corresponds to the need for the joint module components to have certain structural strength and stiffness. The 3D printing path travel speed will affect the density of the printed part, and thus affect its structural strength and stiffness. Generally speaking, the lower the printing speed, the more sufficient the material deposition, the higher the density, and the better the structural strength and stiffness, but the printing efficiency will be reduced; the higher the printing speed, the density may be reduced, but the efficiency is improved.

[0092] According to the structural strength and stiffness requirements corresponding to the matching features, combined with the characteristics of the material and the performance of the 3D printing equipment, the printing path speed parameter data of different regions is determined. For regions with high structural strength requirements, such as the connecting part between the motor mounting hole and the speed reducer mounting hole, a lower printing speed should be set to improve the density and strength of the region; for regions with relatively low structural strength requirements, the printing speed can be appropriately increased to improve the overall printing efficiency. At the same time, the smooth transition of speed should be considered to avoid the impact of sudden speed changes on the printing quality.

[0093] Step S136: According to the transmission accuracy and noise requirements corresponding to the matching features of the motor speed and the gear modulus of the speed reducer in the fusion feature set, determine the printing layer thickness parameter data, so that the printing layer thickness is adapted to the size accuracy and surface quality requirements of the formed part.

[0094] The matching features of the motor speed and the gear modulus of the speed reducer in the fusion feature set require the transmission accuracy and noise level of the joint module, which requires the printed parts to have high size accuracy and good surface quality. The 3D printing layer thickness is an important parameter that affects the size accuracy and surface quality. Smaller layer thickness can improve the size accuracy and surface finish of the printed part, but will increase the printing time; larger layer thickness can improve the printing efficiency, but the size accuracy and surface quality will be reduced.

[0095] According to the transmission accuracy and noise requirements corresponding to the matching features, determine the printing layer thickness parameter data of different regions. For regions with high size accuracy requirements, such as the inner surface of the gear mounting reference hole, a smaller printing layer thickness should be used to ensure that its size accuracy meets the design requirements; for regions with high surface quality requirements, such as the surface of the shell that cooperates with other parts, a smaller layer thickness should also be used; for internal non-cooperative regions or regions with low accuracy requirements, a larger layer thickness can be used. By reasonably setting the printing layer thickness of different regions, the printing quality and printing efficiency are balanced under the premise of meeting the performance requirements.

[0096] Step S137: Integrate the printing path node coordinate sequence, path travel speed parameter data, and printing layer thickness parameter data, label the association between each parameter data and the fusion feature set and joint module assembly constraint data, and form the 3D printing path optimization logic.

[0097] The generated print path node coordinate sequence, path travel speed parameter data, and print layer thickness parameter data are integrated to form a complete 3D print path optimization logic. During the integration process, the association of each parameter data with the fusion feature set and joint module assembly constraint data needs to be labeled. For example, the print path node coordinate sequence of a certain area is generated based on the coaxial constraint data of the motor and the speed reducer; the travel speed parameter data of a certain path is determined according to the structural strength required by the matching features of the motor output torque and the transmission ratio of the speed reducer; the print layer thickness parameter data of a certain part is determined according to the dimensional accuracy required by the adaptation features of the motor speed and the gear modulus of the speed reducer.

[0098] Through the above association labeling, the design basis of each parameter in the 3D print path optimization logic can be clearly reflected, facilitating subsequent modification and optimization. The integrated 3D print path optimization logic can be stored in a specific file format, such as XML format, to facilitate the 3D printing device to correctly read and execute.

[0099] Step S140: input the 3D print path optimization logic into a virtual 3D print simulation system, perform virtual print simulation processing, and generate virtual print simulation results, which include print part forming precision data, print part shrinkage and deformation data, and motor and speed reducer assembly adaptability data.

[0100] The generated 3D print path optimization logic is input into a virtual 3D print simulation system, which can simulate the entire process of 3D printing, including the movement of the nozzle, the accumulation of materials, the change of temperature, etc. By performing virtual print simulation processing, problems that may occur during printing can be predicted before actual printing, and virtual print simulation results can be generated. The virtual print simulation results will include print part forming precision data, i.e., the deviation between the actual size of the print part and the designed size; print part shrinkage and deformation data, i.e., the size shrinkage and shape deformation of the print part during cooling; and motor and speed reducer assembly adaptability data, i.e., the fit of the printed parts with the motor and speed reducer during virtual assembly, such as whether they can be successfully assembled, whether the gap after assembly meets the requirements, etc.

[0101] Step S141: obtain the input data format requirements of the virtual 3D print simulation system, and convert the print path node coordinate sequence, path travel speed parameter data, and print layer thickness parameter data in the 3D print path optimization logic into simulation input data that conforms to the system input format.

[0102] Firstly, understand the format requirements of the virtual 3D printing simulation system for input data. Different simulation systems may have different data format standards, such as specific file extensions, data organization structures, parameter naming rules, etc. According to these requirements, the format conversion and arrangement of the printing path node coordinate sequence, path travel speed parameter data, and printing layer thickness parameter data in the 3D printing path optimization logic are carried out. For example, convert the coordinate sequence from one coordinate system to the coordinate system required by the simulation system, unify the units of speed and layer thickness parameters to the units recognized by the simulation system, organize and store the data according to the structure specified by the simulation system, and ensure that the converted simulation input data can be correctly recognized and read by the virtual 3D printing simulation system.

[0103] Step S142: Import the simulation input data into the virtual 3D printing simulation system, set the basic simulation parameters of the simulation system, which include printing material attribute parameters, printing environment temperature parameters, and printing environment humidity parameters. The printing material attribute parameters need to be compatible with the parameter data in the joint module motor reducer fusion data model.

[0104] The converted simulation input data is imported into the system through the interface provided by the virtual 3D printing simulation system. Set the basic simulation parameters in the system, which are necessary for simulating the 3D printing process. The printing material attribute parameters include the density, melting point, thermal expansion coefficient, thermal conductivity, elastic modulus, etc. of the material. These parameters should be determined according to the actual 3D printing material selected for the joint module, and need to be compatible with the material parameter data in the joint module motor reducer fusion data model to ensure the accuracy of the simulation results. The printing environment temperature parameter sets the temperature of the working environment during the printing process, and the printing environment humidity parameter sets the humidity of the working environment. These environmental parameters will affect the material forming process and performance.

[0105] Step S143: Start the virtual 3D printing simulation system and execute the virtual printing simulation process. Real-time collection of printing process data during the simulation process, including printing layer accumulation data, printing part size change data, and printing part stress distribution data.

[0106] The virtual 3D printing simulation system is started, and the system will start to perform virtual printing simulation processing according to the imported simulation input data and the set basic simulation parameters. During the simulation process, the system will simulate the movement of the nozzle according to the printing path node coordinate sequence, and accumulate materials layer by layer to form a printed part. At the same time, the system will collect the forming process data of the printed part in real time, including the printing layer accumulation data, that is, the accumulation thickness, accumulation speed, and accumulation temperature of each layer of material; the size change data of the printed part, that is, the size change of the printed part in the X, Y, and Z directions with the printing process; and the stress distribution data of the printed part, that is, the stress size and distribution caused by temperature changes, material shrinkage, and other reasons inside the printed part. These forming process data will be recorded in real time for subsequent analysis and result generation.

[0107] Step S144: Extracting printed part forming precision data from the forming process data, the printed part forming precision data is used to represent the deviation of the actual size of the printed part from the design size in the joint module motor reducer fusion data model.

[0108] From the collected forming process data, the data related to the size of the printed part is selected, mainly the size change data of the printed part. The actual size data of the printed part after printing is compared with the design size data in the joint module motor reducer fusion data model, and the deviation between the two is calculated. The calculation of the deviation can be for the key size of the printed part, such as the diameter of the motor mounting hole, the diameter of the reducer mounting hole, the distance between the two holes, the length, width, and height of the shell, etc. The above deviation values are sorted and quantified to form the printed part forming precision data, which can be represented in the form of absolute deviation, relative deviation, and size tolerance.

[0109] Step S145: Extracting printed part shrinkage and deformation data from the forming process data, the printed part shrinkage and deformation data is used to represent the size shrinkage and deformation trend of the printed part during the cooling process, which needs to be compared and analyzed with the preset printed part shrinkage and deformation standard range.

[0110] Step S1451: Selecting the size change data of the printed part in the cooling stage from the forming process data, the size change data of the cooling stage includes the length size data, width size data, and height size data of the printed part at different cooling time points.

[0111] In the forming process data, the size change data of the printed part after entering the cooling stage is screened according to the time sequence of the printing process. The cooling stage generally refers to the process of gradually cooling the printed part from a high temperature state to an ambient temperature after printing is completed. The size change data of this stage includes length size data, width size data and height size data of the printed part at different cooling time points, which reflect the size changes of the printed part in the X-axis, Y-axis and Z-axis directions with cooling time. The selection of different cooling time points can be determined according to the cooling rate. When the size changes rapidly at the beginning of cooling, a shorter time interval can be selected, and when the size changes slowly at the later stage of cooling, a longer time interval can be selected.

[0112] Step S1452: Calculate the difference between the size data at each cooling time point and the initial size data at the completion of printing to obtain size shrinkage data at each time point, which includes length shrinkage data, width shrinkage data and height shrinkage data.

[0113] Taking the size data of the printed part at the completion of printing (i.e. at the beginning of the cooling stage) as the initial size data, for each cooling time point, the length size data at this time point is subtracted from the initial length size data to obtain the length shrinkage data. Similarly, width shrinkage data and height shrinkage data are calculated. The size shrinkage data can be positive, indicating size shrinkage, or negative in some cases due to material properties or process reasons, but generally shrinkage is the main factor. These size shrinkage data reflect the shrinkage degree of the printed part in each direction during the cooling process.

[0114] Step S1453: Analyze the variation law of the size shrinkage data with cooling time to determine the variation rate of the size shrinkage and the stable time point, and generate a deformation trend description of the printed part based on the variation law and the stable time point.

[0115] The size shrinkage data at each time point obtained is analyzed, and a curve of the size shrinkage with cooling time is drawn. By observing and fitting the curve, the variation rate of the size shrinkage, i.e. the change amount of the shrinkage per unit time, is determined, and it is analyzed whether it gradually increases, gradually decreases or remains basically unchanged. At the same time, the stable time point of the size shrinkage is determined, i.e. when the cooling time exceeds this time point, the change of the size shrinkage is very small, and it can be considered that the size of the printed part has tended to be stable.

[0116] Based on the variation law of the size shrinkage with cooling time and the determined stable time point, a deformation trend description of the printed part is generated. The description includes the shrinkage characteristics in the early, middle and late stages of cooling, such as the speed of the shrinkage rate, the final shrinkage amount, and the time required to reach a stable state, etc., to fully reflect the deformation of the printed part during the cooling process.

[0117] Step S1454: Obtain the preset printing piece shrinkage standard range, which includes the length direction shrinkage standard range, the width direction shrinkage standard range, and the height direction shrinkage standard range, which is determined based on the assembly constraint data in the joint module motor reducer fusion data model.

[0118] The preset printing piece shrinkage standard range is obtained from the design specification or related technical documents. The printing piece shrinkage standard range is determined according to the assembly constraint data in the joint module motor reducer fusion data model, ensuring that the size of the printing piece after cooling shrinkage still meets the assembly requirements. The printing piece shrinkage standard range is divided into length direction shrinkage standard range, width direction shrinkage standard range, and height direction shrinkage standard range. Each direction's standard range specifies the maximum shrinkage amount and the minimum shrinkage amount (usually zero or a small positive value) allowed.

[0119] Step S1455: Compare the size shrinkage data of the printing piece with the printing piece shrinkage standard range, and identify the size shrinkage data and the corresponding cooling time point that exceeds the printing piece shrinkage standard range.

[0120] The calculated size shrinkage data of the printing piece at each cooling time point is compared with the corresponding direction's standard range in the preset printing piece shrinkage standard range. For length shrinkage data, it is judged whether it is within the length direction shrinkage standard range; for width and height shrinkage data, similar judgments are made. If the size shrinkage data at a certain cooling time point exceeds the corresponding standard range, record the value of the size shrinkage data and the corresponding cooling time point. These out-of-tolerance data and time points will be the focus of subsequent analysis and adjustment.

[0121] Step S1456: Integrate the size shrinkage data that exceeds the printing piece shrinkage standard range, the corresponding cooling time point, and the description of the deformation trend of the printing piece to form the printing piece shrinkage deformation data, and record the data sources and standard range basis in the comparison process.

[0122] Integrate the identified size shrinkage data that exceeds the printing piece shrinkage standard range, the corresponding cooling time point, and the previously generated description of the deformation trend of the printing piece to form complete printing piece shrinkage deformation data. At the same time, record the data sources used in the comparison process in detail, that is, the size shrinkage data comes from which specific data file and which time series of virtual simulation; the standard range basis, that is, the preset printing piece shrinkage standard range comes from which clause of which design specification or technical document. This ensures the traceability and reliability of the printing piece shrinkage deformation data.

[0123] Step S146: Based on the printing precision data and the printing shrinkage data, the assembly process of the motor and the speed reducer is simulated, the coaxiality deviation of the motor mounting hole and the speed reducer mounting hole, and the assembly gap deviation between the joint module shell and the internal components are analyzed, and the motor and speed reducer assembly adaptability data is generated.

[0124] Using virtual assembly technology, based on the printing precision data and the printing shrinkage data, the assembly process of the motor and the speed reducer in the printed joint module is simulated in a virtual environment. The three-dimensional model of the motor and the speed reducer is assembled with the three-dimensional model of the printed part according to the designed assembly relationship. In the assembly process, the coaxiality deviation of the motor mounting hole and the speed reducer mounting hole is analyzed, that is, whether the deviation between the axes of the two holes after actual assembly is within the coaxiality tolerance allowed; the assembly gap deviation between the joint module shell and the internally mounted motor, speed reducer and other components is analyzed, that is, whether the difference between the actual gap and the design required gap is within the allowed range.

[0125] According to the analysis results, the motor and speed reducer assembly adaptability data is generated, which contains the coaxiality deviation value, the assembly gap deviation value of each part, and the judgment result whether it meets the assembly requirements, etc. information, which is used to evaluate the assembly performance of the printed part.

[0126] Step S147: The printing precision data, the printing shrinkage data, and the motor and speed reducer assembly adaptability data are integrated, the collection time nodes of each data and the simulation calculation basis are labeled, and the virtual printing simulation result is formed.

[0127] The extracted printing precision data, printing shrinkage data and motor and speed reducer assembly adaptability data are integrated, classified and arranged according to the type and importance of the data. Each item of data is labeled with its collection time node in the simulation process, such as the printing precision data is collected at a certain time point after printing, the shrinkage data is collected at multiple time points during the cooling process, etc. At the same time, the simulation calculation basis of the data is labeled, such as which simulation model and which input parameters are used to calculate the data. The above integrated data and labeled information form a virtual printing simulation result, which can be presented in the form of a report.

[0128] Step S150: Based on the virtual printing simulation result, the parameter data in the joint module motor and speed reducer fusion data model is adjusted, and a joint module motor and speed reducer fusion 3D printing implementation scheme is generated, which contains the adjusted motor parameter data, the adjusted speed reducer parameter data, and the final 3D printing path optimization logic.

[0129] According to the problems reflected in the virtual printing simulation results, such as the forming accuracy of the printed part, shrinkage and deformation, and assembly adaptability, the related parameter data in the motor-reducer fusion data model of the joint module is adjusted. The purpose of adjustment is to optimize the performance and assembly accuracy of the printed part, so that the finally printed joint module can meet the design requirements. After adjustment, the joint module motor-reducer fusion 3D printing implementation scheme containing the adjusted motor parameter data, the adjusted reducer parameter data, and the finally determined 3D printing path optimization logic is generated as a guidance file for actual 3D printing production.

[0130] Step S151: Analyze the forming accuracy data of the printed part in the virtual printing simulation result, identify the parts with forming accuracy deviation and the corresponding size deviation value, determine the association between the deviation parts and the parameter data in the joint module motor-reducer fusion data model, and determine the motor parameter data or reducer parameter data that needs to be adjusted.

[0131] The forming accuracy data of the printed part in the virtual printing simulation result is analyzed in detail. The actual size of each part of the printed part is compared with the design size to find out the parts with forming accuracy deviation, i.e. the parts whose actual size deviates from the design size beyond the allowed size tolerance range. The specific position and corresponding size deviation value of these deviation parts are recorded, including the direction of deviation (positive deviation or negative deviation) and the size.

[0132] The structural characteristics and functional requirements of the deviation parts are analyzed to determine which parameter data in the joint module motor-reducer fusion data model is associated with these deviation parts. For example, if the diameter of the motor mounting hole is out of tolerance, it may be related to the motor shaft diameter parameter in the motor parameter data or the input hole diameter parameter in the reducer parameter data; if the size of a certain plane of the shell is out of tolerance, it may be related to the gap parameter in the shell design parameter or assembly constraint data. Through the above association analysis, the motor parameter data or reducer parameter data that needs to be adjusted is determined.

[0133] Step S152: Analyze the shrinkage and deformation data of the printed part in the virtual printing simulation result, identify the size shrinkage data that exceeds the standard range of the printed part shrinkage and deformation, determine the association between the shrinkage and deformation deviation and the parameter data in the 3D printing path optimization logic, and determine the printed path node coordinate sequence, path travel speed parameter data or printed layer thickness parameter data that needs to be adjusted.

[0134] The shrinkage and deformation data of the printed part in the virtual printing simulation result is analyzed, focusing on the size shrinkage data that exceeds the preset standard range of the printed part shrinkage and deformation. Analyze in which direction the shrinkage and deformation deviation occurs, how much the shrinkage amount is, and the corresponding cooling time point.

[0135] Determine the correlation between the shrinkage deformation out-of-tolerance and the parameter data in the 3D printing path optimization logic. The printing path node coordinate sequence determines the material accumulation position, which may affect the distribution of shrinkage deformation; the path travel speed parameter data affects the cooling speed and density of the material, and in turn affects the shrinkage deformation; the printing layer thickness parameter data affects the shrinkage amount of each layer of material and the interlayer bonding strength, which also affects the overall shrinkage deformation. Through analysis, the key parameter data that causes the shrinkage deformation out-of-tolerance is identified, and the printing path node coordinate sequence, path travel speed parameter data, or printing layer thickness parameter data that needs to be adjusted is determined.

[0136] Step S153: Analyze the motor and reducer assembly compatibility data in the virtual printing simulation result, identify the items of assembly compatibility out-of-tolerance and the corresponding deviation values, and determine the correlation between the out-of-tolerance items and the assembly constraint data in the joint module motor and reducer fusion data model.

[0137] The motor and reducer assembly compatibility data in the virtual printing simulation result is analyzed to identify the items of assembly compatibility out-of-tolerance, mainly including the coaxiality out-of-tolerance and the assembly gap out-of-tolerance. The coaxiality out-of-tolerance refers to the actual axis of the motor mounting hole and the reducer mounting hole deviating beyond the coaxiality tolerance allowed range; the assembly gap out-of-tolerance refers to the actual gap between the housing and the internal components exceeding the designed gap range, which may be due to excessive gap causing loose fit, or due to small gap causing assembly difficulty. Record the deviation values corresponding to the out-of-tolerance items, such as the specific deviation distance of the coaxiality out-of-tolerance, and the difference between the specific gap value and the standard value of the assembly gap out-of-tolerance.

[0138] Determine the correlation between the out-of-tolerance items and the assembly constraint data in the joint module motor and reducer fusion data model, and analyze which assembly constraint data settings are unreasonable or not accurately executed to cause the assembly compatibility out-of-tolerance, such as the coaxiality tolerance being set too strictly, or the gap range being set improperly.

[0139] Step S154: Based on the analysis result of the forming precision out-of-tolerance, adjust the corresponding motor parameter data or reducer parameter data in the joint module motor and reducer fusion data model, and generate adjusted motor parameter data or adjusted reducer parameter data to reduce the forming precision deviation.

[0140] Step S1541: Determine the joint module components corresponding to the parts of the forming precision out-of-tolerance from the forming precision out-of-tolerance analysis result, and determine the deviation values of the design size data and the actual forming size data of the joint module components, including length deviation values, width deviation values, and height deviation values.

[0141] In the analysis result of the forming precision deviation, the part of the forming precision deviation is determined which specific component of the joint module belongs to, such as the motor mounting seat, the reducer housing, the connecting flange, etc. For the joint module component, the design size data of the joint module motor reducer fusion data model is obtained, including length, width, height and other key dimensions. At the same time, the actual forming size data of the component is obtained from the virtual printing simulation result. The difference between the design size data and the actual forming size data is calculated to obtain the length deviation value, the width deviation value and the height deviation value, which reflect the forming precision deviation of the component in each direction.

[0142] Step S1542: analyze the correlation between the design size data of the joint module component and the motor parameter data or the reducer parameter data in the joint module motor reducer fusion data model, and determine the key parameter data that affects the size of the joint module component. The key parameter data is the motor output torque parameter data, the motor speed parameter data, the reducer transmission ratio parameter data or the reducer gear modulus parameter data.

[0143] In-depth analysis of how the design size data of the joint module component is determined by the motor parameter data or the reducer parameter data in the joint module motor reducer fusion data model. For example, the size of the motor mounting seat may be related to the size parameter of the motor, and the size parameter of the motor may be related to the output torque parameter data of the motor, because a larger output torque usually requires a larger motor volume; the size of the reducer housing may be related to the transmission ratio parameter data and the gear modulus parameter data of the reducer, because different transmission ratios and modulus correspond to different gear structures and box sizes. Through the above hierarchical correlation analysis, the key parameter data that affects the size of the joint module component is determined, which may be one or more of the motor output torque parameter data, the motor speed parameter data, the reducer transmission ratio parameter data or the reducer gear modulus parameter data.

[0144] Step S1543: calculate the sensitivity coefficient of the deviation value and the key parameter data, which is used to represent the change amount of the deviation value when the key parameter data changes by one unit. The greater the absolute value of the sensitivity coefficient, the greater the influence of the key parameter data on the deviation value.

[0145] The control variable method is adopted. In the joint module motor reducer fusion data model, other parameter data is kept unchanged, and only the key parameter data is changed by one unit. Then, the change amount of the joint module component size deviation value is obtained through virtual simulation or theoretical calculation. The change amount of the deviation value is divided by the change amount of the key parameter data (i.e. one unit) to obtain the sensitivity coefficient of the deviation value and the key parameter data. The sensitivity coefficient can be positive, indicating that the deviation value increases when the key parameter data increases; or negative, indicating that the deviation value decreases when the key parameter data increases. The greater the absolute value of the sensitivity coefficient, the greater the influence of the key parameter data on the deviation value, which is the key object of adjustment.

[0146] Step S1544: Based on the sensitivity coefficient, the adjustment direction and adjustment amplitude of the key parameter data are determined.

[0147] The adjustment direction of the key parameter data is determined according to the sign of the sensitivity coefficient. If the sensitivity coefficient is positive and the current deviation value is positive deviation (the actual size is greater than the design size), the key parameter data needs to be reduced to reduce the deviation value; if the sensitivity coefficient is positive and the deviation value is negative deviation, the key parameter data needs to be increased. If the sensitivity coefficient is negative, the adjustment direction is opposite.

[0148] The adjustment amplitude is determined according to the absolute value of the sensitivity coefficient and the size of the deviation value. The greater the absolute value of the sensitivity coefficient, the more significant the influence of parameter adjustment on the deviation, and a smaller adjustment amplitude can be appropriately selected; the greater the deviation value, the greater the adjustment amplitude. The determination of the adjustment amplitude also needs to consider the value range and physical meaning of the parameter, and cannot exceed the reasonable engineering range. A preliminary adjustment amplitude can be set first, and then fine-tuned after verifying the adjustment effect through simulation.

[0149] Step S1545: According to the adjustment direction and adjustment amplitude, the corresponding key parameter data in the joint module motor reducer fusion data model is modified to generate adjusted motor parameter data or adjusted reducer parameter data.

[0150] According to the determined adjustment direction and adjustment amplitude, the corresponding key parameter data in the joint module motor reducer fusion data model is found and modified. For example, if it is determined that the motor output torque parameter data needs to be reduced, and the adjustment amplitude is a certain value, the motor output torque parameter data in the model is reduced by the adjustment amplitude. The adjusted motor parameter data or adjusted reducer parameter data is generated after modification, and the related associated data in the model is updated.

[0151] Step S1546: Substitute the adjusted motor parameter data or the adjusted reducer parameter data into the joint module motor-reducer fusion data model, recalculate the design size data of the corresponding components, and verify whether the deviation value between the adjusted design size data and the actual forming size data is reduced.

[0152] Substitute the adjusted motor parameter data or the adjusted reducer parameter data into the joint module motor-reducer fusion data model, and the model will recalculate the design size data of the corresponding joint module components according to the internal correlation mapping rules. Compare the recalculated design size data with the actual forming size data in the virtual printing simulation result, calculate the new deviation value, and compare it with the deviation value before adjustment to verify whether the deviation value is reduced.

[0153] Step S1547: If the deviation value is reduced to within the allowable range, it is determined that the adjusted motor parameter data or the adjusted reducer parameter data is effective; if the deviation value is not reduced to within the allowable range, the sensitivity coefficient is recalculated, and the adjustment range of the key parameter data is adjusted until the deviation value meets the requirements.

[0154] If the new deviation value is reduced to within the allowable size tolerance range after verification, it means that the adjusted motor parameter data or the adjusted reducer parameter data is effective and can be accepted. If the deviation value still exceeds the allowable range or the reduction is not obvious, it is necessary to re-examine whether the calculation of the sensitivity coefficient is accurate and whether there are other key parameter data that affect the deviation value. Recalculate the sensitivity coefficient, adjust the adjustment range of the key parameter data according to the new analysis results, and may need to increase the adjustment range or change the adjustment direction, and then repeat the previous modification, model calculation and verification steps until the deviation value meets the requirements.

[0155] Step S1548: Record the key parameter data identification logic, sensitivity coefficient calculation basis, adjustment direction and amplitude determination method during the adjustment process to form a parameter adjustment specification document.

[0156] Record the key information during the entire parameter adjustment process in detail, including the identification logic of the key parameter data, i.e. why these parameters are selected as the key parameters; the calculation basis of the sensitivity coefficient, such as the specific steps of the control variable method adopted, the setting of the simulation or calculation model, etc.; the determination method of the adjustment direction and amplitude, such as the thinking process of how to determine the adjustment direction and amplitude according to the sensitivity coefficient and the deviation value. Organize the above information into a parameter adjustment specification document, which can help technical personnel understand the reasons and basis of parameter adjustment, and facilitate subsequent maintenance and further optimization of the model.

[0157] Step S155: Based on the shrinkage deformation out-of-tolerance analysis result, adjust the corresponding parameter data in the 3D printing path optimization logic to generate adjusted printing path node coordinate sequence, adjusted path travel speed parameter data or adjusted printing layer thickness parameter data, so that the adjusted data can make the shrinkage deformation meet the printing part shrinkage deformation standard range.

[0158] According to the shrinkage deformation out-of-tolerance analysis result, the parameter data determined to be adjusted in the 3D printing path optimization logic is adjusted. For example, if the shrinkage in a certain direction exceeds the standard range, the shrinkage can be pre-compensated by adjusting the printing path node coordinate sequence in that direction; if the shrinkage deformation is caused by uneven cooling due to too fast printing speed, the path travel speed parameter data of the corresponding area can be reduced; if the interlayer shrinkage is inconsistent, the printing layer thickness parameter data can be adjusted to change the material accumulation method and cooling condition. After adjustment, new printing path node coordinate sequence, path travel speed parameter data or printing layer thickness parameter data are generated, and the adjustment effect is verified through virtual simulation until the shrinkage deformation meets the printing part shrinkage deformation standard range.

[0159] Step S156: Based on the assembly adaptability out-of-tolerance analysis result, adjust the corresponding assembly constraint data in the motor-reducer fusion data model of the joint module to make the adjusted assembly constraint data improve the assembly adaptability of the motor and the reducer.

[0160] According to the assembly adaptability out-of-tolerance analysis result, the corresponding assembly constraint data in the motor-reducer fusion data model of the joint module is adjusted. For coaxiality out-of-tolerance, if it is caused by unreasonable definition of reference axis, the reference axis can be redefined; if it is caused by unreasonable tolerance setting, the allowable value of coaxiality tolerance can be adjusted appropriately. For assembly gap out-of-tolerance, the allowable gap range in the housing assembly gap constraint data can be adjusted, or the design size parameters of related components can be adjusted. The adjusted assembly constraint data should be able to improve the assembly adaptability of the motor and the reducer, ensure that the virtual assembly process can proceed smoothly, and the assembled components meet the functional requirements.

[0161] Step S157: Integrate the adjusted motor parameter data, adjusted reducer parameter data and adjusted assembly constraint data into the adjusted motor-reducer fusion data model of the joint module, and integrate the adjusted 3D printing path parameter data into the final 3D printing path optimization logic.

[0162] The adjusted motor parameter data, the adjusted reducer parameter data and the adjusted assembly constraint data are re-integrated according to the structure and the association mapping rule of the joint module motor reducer fusion data model to form an adjusted joint module motor reducer fusion data model. At the same time, the adjusted 3D printing path parameter data such as the adjusted printing path node coordinate sequence, the adjusted path travel speed parameter data and the adjusted printing layer thickness parameter data are integrated to form a final 3D printing path optimization logic. In the integration process, the association and consistency between the parameter data are ensured to avoid data conflicts.

[0163] Step S158: The parameter data in the adjusted joint module motor reducer fusion data model is integrated with the final 3D printing path optimization logic to form a joint module motor reducer fusion 3D printing implementation scheme containing all the adjusted data and logic.

[0164] The parameter data in the adjusted joint module motor reducer fusion data model, such as the adjusted motor output torque parameter, the speed parameter, the reducer gear ratio parameter, the gear modulus parameter and the assembly constraint parameter, is fully integrated with the final 3D printing path optimization logic, such as the final printing path node coordinate sequence, the path travel speed parameter data and the printing layer thickness parameter data. The integrated content should include all the adjusted data and logic to form a complete and unified joint module motor reducer fusion 3D printing implementation scheme, which details the setting of each parameter, the planning of the printing path and the matters needing attention in the implementation process, ensuring that the technical personnel in the field can implement 3D printing production according to the scheme without obstacles.

[0165] Based on the same inventive concept, please refer to Figure 2 , shows the structure schematic block diagram of the joint module motor reducer fusion system 100 combined with 3D printing for executing the above-mentioned inspection video stream processing method provided by the embodiment of the application. The joint module motor reducer fusion system 100 combined with 3D printing can include a communication unit 110, a machine readable storage medium 120 and a processor 130.

[0166] In this embodiment, the machine readable storage medium 120 and the processor 130 are both located in the joint module motor reducer fusion system 100 combined with 3D printing and are separately arranged. However, it should be understood that the machine readable storage medium 120 can also be independent of the joint module motor reducer fusion system 100 combined with 3D printing, and can be accessed by the processor 130 through a bus interface. Alternatively, the machine readable storage medium 120 can also be integrated into the processor 130 and can communicate and interact with external systems through the communication unit 110.

[0167] The processor 130 is the control center of the joint module motor reducer fusion system 100 combined with 3D printing, connects each part of the joint module motor reducer fusion system 100 combined with 3D printing through various interfaces and lines, executes the software programs and / or modules stored in the machine readable storage medium 120 and calls the data stored in the machine readable storage medium 120, performs various functions and processes data of the joint module motor reducer fusion system 100 combined with 3D printing, and thus monitors the joint module motor reducer fusion system 100 combined with 3D printing as a whole. Optionally, the processor 130 can include one or more processing cores; for example, the processor 130 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application program, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor. Among them, the machine readable storage medium 120 is used to store machine executable instructions for executing the scheme of the present application, and the processor 130 is used to execute the machine executable instructions stored in the machine readable storage medium 120 to realize the method for processing video stream provided by the foregoing method embodiment.

[0168] It should be noted that, in order to simplify the expression of the present disclosure and to help the understanding of one or more embodiments of the present application, in the foregoing description of the embodiments of the present application, various features are sometimes combined into one embodiment, figure or description thereof.

Claims

1. A method of fusing a joint module motor reducer combined with 3D printing, characterized in that, The method comprises: generating a joint module motor reducer fusion data model, the joint module motor reducer fusion data model comprising motor parameter data, reducer parameter data and joint module assembly constraint data, the motor parameter data comprising motor output torque parameter data and motor speed parameter data, the reducer parameter data comprising reducer transmission ratio parameter data and reducer gear modulus parameter data, and the joint module assembly constraint data comprising coaxial degree constraint data of the motor and the reducer and joint module shell assembly gap constraint data; based on the joint module motor reducer fusion data model, extracting the correlation characteristics of the motor parameter data and the reducer parameter data to generate a fusion feature set, the fusion feature set comprising matching characteristics of the motor output torque and the reducer transmission ratio, and adaptation characteristics of the motor speed and the reducer gear modulus; generating a 3D printing path optimization logic according to the fusion feature set, the 3D printing path optimization logic comprising a printing path node coordinate sequence, a path travel speed parameter data and a printing layer thickness parameter data, the printing path node coordinate sequence being generated based on the assembly constraint data in the joint module motor reducer fusion data model; inputting the 3D printing path optimization logic into a virtual 3D printing simulation system, performing virtual printing simulation processing, generating a virtual printing simulation result, the virtual printing simulation result comprising printing part forming precision data, printing part shrinkage deformation data and motor and reducer assembly adaptability data; based on the virtual printing simulation result, adjusting the parameter data in the joint module motor reducer fusion data model to generate a joint module motor reducer fusion 3D printing implementation scheme, the joint module motor reducer fusion 3D printing implementation scheme comprising adjusted motor parameter data, adjusted reducer parameter data and final 3D printing path optimization logic; based on the joint module motor reducer fusion data model, extracting the correlation characteristics of the motor parameter data and the reducer parameter data to generate a fusion feature set, comprising: extracting the motor parameter data and the reducer parameter data from the joint module motor reducer fusion data model, and determining the specific numerical representation form of the motor output torque parameter data, the motor speed parameter data, the reducer transmission ratio parameter data and the reducer gear modulus parameter data; analyzing the mutual influence relationship between the motor output torque parameter data and the reducer transmission ratio parameter data, calculating the change of the reducer transmission ratio parameter data required to match when the motor output torque parameter data changes under the premise of meeting the joint module output torque demand, determining the matching correlation relationship between them, and generating the matching characteristics of the motor output torque and the reducer transmission ratio based on the matching correlation relationship; analyzing the mutual influence relationship between the motor speed parameter data and the reducer gear modulus parameter data, calculating the change of the reducer gear modulus parameter data required to match when the motor speed parameter data changes under the premise of meeting the joint module transmission stability and strength demand, determining the adaptation correlation relationship between them, and generating the adaptation characteristics of the motor speed and the reducer gear modulus based on the adaptation correlation relationship; Extract the coordinated variation characteristics of motor parameter data and reducer parameter data, which are used to represent the coordinated response law when the motor output torque parameter data and the reducer gear modulus parameter data change simultaneously, and the coordinated response law when the motor speed parameter data and the reducer transmission ratio parameter data change simultaneously; Integrate the matching characteristics of motor output torque and reducer transmission ratio, the adaptation characteristics of motor speed and reducer gear modulus, and the coordinated variation characteristics, remove the repeated characteristic representations, and label the parameter data sources and associated logic corresponding to each characteristic; Perform dimension unification processing on the integrated characteristics to make all characteristics have the same data representation dimension, form a fusion characteristic set containing all associated characteristics, and record the extraction process and calculation logic of each characteristic in the fusion characteristic set; The 3D printing path optimization logic generated according to the fusion characteristic set includes: Extract joint module assembly constraint data from the joint module motor-reducer fusion data model, determine the specific constraint range of the coaxial degree constraint data of the motor and the reducer, and the joint module shell assembly gap constraint data; Based on the coaxial degree constraint data of the motor and the reducer, determine the center positioning coordinates of the motor mounting hole and the reducer mounting hole in the 3D printing process, and plan the reference node coordinates of the printing path based on the center positioning coordinates; Based on the joint module shell assembly gap constraint data, determine the printing boundary coordinates of the joint module shell, and plan the boundary node coordinates of the printing path based on the printing boundary coordinates; Sort the reference node coordinates and the boundary node coordinates according to the printing order, supplement the intermediate transition node coordinates, and form a printing path node coordinate sequence, which needs to meet the requirements of the coaxial degree constraint data of the motor and the reducer and the joint module shell assembly gap constraint data; According to the structural strength and stiffness requirements corresponding to the matching characteristics of the motor output torque and the reducer transmission ratio in the fusion characteristic set, determine the printing path travel speed parameter data, so that the path travel speed is adapted to the structural performance requirements of the formed part; According to the transmission accuracy and noise requirements corresponding to the adaptation characteristics of the motor speed and the reducer gear modulus in the fusion characteristic set, determine the printing layer thickness parameter data, so that the printing layer thickness is adapted to the dimensional accuracy and surface quality requirements of the formed part; Integrate the printing path node coordinate sequence, the path travel speed parameter data, and the printing layer thickness parameter data, label the association between each parameter data and the fusion characteristic set and the joint module assembly constraint data, and form a 3D printing path optimization logic.

2. The method of claim 1, wherein the method further comprises: The generation of the joint module motor-reducer fusion data model includes: Collect motor basic parameter information, which includes motor output torque basic information and motor speed basic information, convert the motor output torque basic information into structured motor output torque parameter data, and convert the motor speed basic information into structured motor speed parameter data to form motor parameter data; Collecting reducer basic parameter information, the reducer basic parameter information including reducer transmission ratio basic information, reducer gear modulus basic information, converting the reducer transmission ratio basic information into structured reducer transmission ratio parameter data, converting the reducer gear modulus basic information into structured reducer gear modulus parameter data, forming reducer parameter data; Collecting joint module assembly basic constraint information, the joint module assembly basic constraint information including motor and reducer coaxial degree basic constraint information, joint module shell assembly gap basic constraint information, converting the motor and reducer coaxial degree basic constraint information into structured motor and reducer coaxial degree constraint data, converting the joint module shell assembly gap basic constraint information into structured joint module shell assembly gap constraint data, forming joint module assembly constraint data; Establishing a correlation mapping rule of the motor parameter data, the reducer parameter data and the joint module assembly constraint data, the correlation mapping rule being used to define a matching relationship of the motor output torque parameter data and the reducer transmission ratio parameter data, an adaptation relationship of the motor speed parameter data and the reducer gear modulus parameter data, and a corresponding relationship of the motor parameter data and the motor and reducer coaxial degree constraint data; Based on the correlation mapping rule, integrating the motor parameter data, the reducer parameter data and the joint module assembly constraint data into a unified data structure, marking the correlation identifier of each parameter data, and forming a joint module motor reducer fusion data model including all parameter data and correlation relationship; Recording the source information of each parameter data in the joint module motor reducer fusion data model, the transformation logic and the generation basis of the correlation mapping rule, and forming a model construction specification document.

3. The method of claim 1, wherein the method further comprises: The analysis of the mutual influence relationship of the motor output torque parameter data and the reducer transmission ratio parameter data, the calculation of the change of the reducer transmission ratio parameter data required to match when the motor output torque parameter data changes under the premise of meeting the joint module output torque demand, the determination of the matching correlation relationship between the two, the generation of the matching feature of the motor output torque and the reducer transmission ratio based on the matching correlation relationship, including: Extracting multiple sets of motor output torque parameter data and corresponding reducer transmission ratio parameter data from the joint module motor reducer fusion data model to form a parameter data pair set, each set of parameter data in the parameter data pair set including a motor output torque parameter data value and a corresponding reducer transmission ratio parameter data value; Performing gradient change setting on the motor output torque parameter data value in the parameter data pair set to generate multiple gradient motor output torque parameter data change values; Inputting each gradient motor output torque parameter data change value into the joint module motor reducer fusion data model to simulate the response of the reducer transmission ratio parameter data when the motor output torque parameter data changes, collecting the reducer transmission ratio parameter data response value corresponding to each change value; Calculate the trend of the change of the reducer transmission ratio parameter data required to match the change of the motor output torque parameter data under each gradient to meet the joint module output performance, and obtain a plurality of sets of matching relationship data, the matching relationship data including torque change amount, transmission ratio change amount, basic parameter value, and response parameter value; Analyze the stability of the plurality of sets of matching relationship data, filter out the parameter change interval with stable matching relationship, and determine the fixed proportional association relationship between the motor output torque parameter data and the reducer transmission ratio parameter data in the parameter change interval; Based on the fixed proportional association relationship, generate a matching feature description of the motor output torque and the reducer transmission ratio, and the matching feature description includes a proportional association value, an applicable parameter change interval, and corresponding joint module assembly constraint conditions; Verify the accuracy of the matching feature description, and test the applicability of the proportional association relationship through other data sets in the parameter data set, so that the matching feature can accurately represent the mutual influence relationship between the two.

4. The method of claim 1, wherein the method further comprises: Based on the coaxial constraint data of the motor and the reducer, the center positioning coordinates of the motor mounting hole and the reducer mounting hole in the 3D printing process are determined, and the reference node coordinates of the printing path are planned based on the center positioning coordinates, including: Extract the coaxial constraint data of the motor and the reducer from the joint module motor-reducer fusion data model, determine the allowable deviation range of the motor mounting hole center and the reducer mounting hole center, and the direction parameter of the coaxial reference axis; Based on the direction parameter of the coaxial reference axis, the reference axis coordinates in the 3D printing coordinate system are determined, and the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center are determined based on the allowable deviation range of the motor mounting hole and the reducer mounting hole; Combine the size deviation factors in the 3D printing process to compensate and adjust the theoretical positioning coordinates of the motor mounting hole center and the reducer mounting hole center, generate the actual positioning coordinates of the motor mounting hole center and the reducer mounting hole center, and the compensation and adjustment need to be based on historical 3D printing size deviation data; Take the actual positioning coordinates of the motor mounting hole center and the reducer mounting hole center as the core reference point coordinates of the printing path, and set auxiliary reference point coordinates around the core reference point coordinates at a predetermined interval; Arrange the core reference point coordinates and the auxiliary reference point coordinates in printing order to form a reference node coordinate sequence of the printing path; Check whether the reference node coordinate sequence meets the coaxial constraint data of the motor and the reducer, so that all the printing positions corresponding to the reference node coordinates can meet the coaxial requirements of the motor and the reducer; Record the determination process of the reference node coordinates, including the calculation logic of the theoretical positioning coordinates, the basis for compensation and adjustment, and the setting rules of the auxiliary reference points, to form a reference node coordinate planning specification document.

5. The method of claim 1, wherein the method further comprises: The 3D printing path optimization logic is input into a virtual 3D printing simulation system, a virtual printing simulation process is performed, and a virtual printing simulation result is generated, including: Obtaining the input data format requirement of the virtual 3D printing simulation system, converting the printing path node coordinate sequence, path travel speed parameter data and printing layer thickness parameter data in the 3D printing path optimization logic into simulation input data conforming to the system input format; Importing the simulation input data into the virtual 3D printing simulation system, setting the basic simulation parameters of the simulation system, wherein the basic simulation parameters include printing material attribute parameters, printing environment temperature parameters and printing environment humidity parameters, and the printing material attribute parameters need to be adapted to the parameter data in the joint module motor-reducer fusion data model; Starting the virtual 3D printing simulation system, performing virtual printing simulation processing, and collecting forming process data of the printed part in real time during the simulation process, wherein the forming process data includes printing layer accumulation data, printed part size change data and printed part stress distribution data; Extracting printed part forming precision data from the forming process data, wherein the printed part forming precision data is used to represent the deviation of the actual size of the printed part from the designed size in the joint module motor-reducer fusion data model; Extracting printed part shrinkage and deformation data from the forming process data, wherein the printed part shrinkage and deformation data is used to represent the size shrinkage and deformation trend of the printed part during the cooling process, and needs to be compared and analyzed with the preset printed part shrinkage and deformation standard range; Based on the printed part forming precision data and the printed part shrinkage and deformation data, simulating the assembly process of the motor and the reducer, analyzing the coaxiality deviation of the motor mounting hole and the reducer mounting hole, and the assembly gap deviation of the joint module shell and the internal components, and generating motor and reducer assembly adaptability data; Integrating the printed part forming precision data, the printed part shrinkage and deformation data, and the motor and reducer assembly adaptability data, labeling the collection time nodes and simulation calculation basis of each data, and forming a virtual printing simulation result.

6. The method of claim 5, wherein the method further comprises: The printed part shrinkage and deformation data is extracted from the forming process data, including: Filtering the size change data of the printed part cooling stage from the forming process data, wherein the cooling stage size change data includes length size data, width size data and height size data of the printed part at different cooling time points; Calculating the difference between the size data at each cooling time point and the initial size data when the printing is completed, to obtain size shrinkage data at each time point, wherein the size shrinkage data includes length shrinkage data, width shrinkage data and height shrinkage data; Analyzing the change law of the size shrinkage data with the cooling time, determining the change rate of the size shrinkage and the stable time point, and generating a deformation trend description of the printed part based on the change law and the stable time point; Obtaining the preset printed part shrinkage and deformation standard range, wherein the printed part shrinkage and deformation standard range includes length direction shrinkage and deformation standard range, width direction shrinkage and deformation standard range, and height direction shrinkage and deformation standard range, and the printed part shrinkage and deformation standard range needs to be determined based on the assembly constraint data in the joint module motor-reducer fusion data model; Comparing the size shrinkage data of the printed part with the printed part shrinkage and deformation standard range, identifying the size shrinkage data and the corresponding cooling time point that exceeds the printed part shrinkage standard range; The size shrinkage data exceeding the standard range of the printed part shrinkage, the corresponding cooling time point and the deformation trend description of the printed part are integrated to form the printed part shrinkage deformation data, and the data source in the comparison process and the standard range basis are recorded and compared.

7. The method of claim 1, wherein the method further comprises: The parameter data in the joint module motor and reducer fusion data model is adjusted based on the virtual printing simulation result, and a joint module motor and reducer fusion 3D printing implementation scheme is generated, which includes: The printing precision data in the virtual printing simulation result is analyzed, the parts with forming precision deviation are identified, and the corresponding size deviation value is identified. The correlation between the deviation part and the parameter data in the joint module motor and reducer fusion data model is determined, and the motor parameter data or the reducer parameter data that needs to be adjusted is determined; The printed part shrinkage deformation data in the virtual printing simulation result is analyzed, the size shrinkage data exceeding the standard range of the printed part shrinkage deformation is identified, and the correlation between the shrinkage deformation deviation and the parameter data in the 3D printing path optimization logic is determined. The printing path node coordinate sequence, the path travel speed parameter data or the printing layer thickness parameter data that needs to be adjusted are determined; The motor and reducer assembly adaptability data in the virtual printing simulation result is analyzed, the items with assembly adaptability deviation and the corresponding deviation value are identified, the items with assembly adaptability deviation include coaxiality deviation and assembly gap deviation, and the correlation between the deviation items and the assembly constraint data in the joint module motor and reducer fusion data model is determined; Based on the forming precision deviation analysis result, the corresponding motor parameter data or reducer parameter data in the joint module motor and reducer fusion data model is adjusted, and the adjusted motor parameter data or adjusted reducer parameter data is generated, so that the adjusted data can reduce the forming precision deviation. Based on the shrinkage deformation deviation analysis result, the corresponding parameter data in the 3D printing path optimization logic is adjusted, and the adjusted printing path node coordinate sequence, the adjusted path travel speed parameter data or the adjusted printing layer thickness parameter data is generated, so that the adjusted data can make the shrinkage deformation conform to the printed part shrinkage deformation standard range. Based on the assembly adaptability deviation analysis result, the corresponding assembly constraint data in the joint module motor and reducer fusion data model is adjusted, so that the adjusted assembly constraint data can improve the assembly adaptability of the motor and the reducer. The adjusted motor parameter data, the adjusted reducer parameter data and the adjusted assembly constraint data are integrated into the adjusted joint module motor and reducer fusion data model, and the adjusted 3D printing path parameter data is integrated into the final 3D printing path optimization logic. The parameter data in the adjusted joint module motor and reducer fusion data model and the final 3D printing path optimization logic are integrated to form a joint module motor and reducer fusion 3D printing implementation scheme containing all the adjusted data and logic.

8. A joint module motor reducer fusion system combined with 3D printing, characterized in that, It includes: a processor; a machine readable storage medium for storing machine executable instructions of the processor; wherein the processor is configured to execute the machine executable instructions to perform the joint module motor and reducer fusion method combined with 3D printing according to any one of claims 1 to 7.

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