Die clamping mechanism dynamic geometric error modeling method, system, device and storage medium

Abstract

This invention relates to a method, system, device, and storage medium for modeling dynamic geometric errors of a mold clamping mechanism. The modeling method disclosed in this invention includes the following steps: identifying key geometric and stiffness features of the mold clamping mechanism; solving for the initial static error of the moving template based on the key geometric features; using a parametric virtual prototype, taking the initial static error as the initial geometric pose of the moving template, and introducing a nonlinear contact force model and an equivalent stiffness model to construct a parametric multibody dynamics model; calculating and extracting dynamic error and mold clamping force data based on the parametric multibody dynamics model, and constructing a collaborative explicit function model of dynamic error and mold clamping force. Compared with existing technologies, the advantages of this invention are: it can evaluate the impact of nonlinear dynamic effects induced by the clearance of the kinematic pairs on error analysis, and perform collaborative analysis of motion accuracy and mechanical performance, quantifying the geometric error of the mold clamping mechanism under high-speed operation and mold-locking conditions.

Description

Technical Field

[0001] This invention relates to the field of error analysis technology, specifically to a method, system, device, and storage medium for modeling dynamic geometric errors of mold clamping mechanisms. Background Technology

[0002] As a core component of injection molding machines, the mold clamping mechanism's motion accuracy and force stability directly determine product quality and equipment lifespan. Therefore, error modeling and analysis of the mold clamping mechanism is a crucial step in improving product quality and ensuring reliable equipment operation.

[0003] Existing error modeling methods have the following limitations when dealing with the actual working conditions of mold clamping mechanisms:

[0004] (1) The dynamic effects of interstitial excitation were not considered.

[0005] Current mainstream error modeling methods are mostly based on dimensional chain calculations or small displacement screw theory, assuming that the mechanism is always in a static or quasi-static equilibrium state for analysis. These methods assume that all kinematic pairs in the mechanism are tightly connected with no clearance. For example, Chinese invention patent document CN118709313A discloses a method for modeling assembly errors of a bevel gear milling machine spindle cutter head component. This method establishes a geometric element error variation model based on small displacement screw, and combines Monte Carlo simulation and response surface methodology to simulate the randomness of tolerances in actual production. This effectively optimizes tolerance configuration to improve assembly accuracy and reduce costs.

[0006] In actual high-speed start-up, shutdown, and mold-locking operations of the mold-closing mechanism, gaps exist at each hinge point, causing severe collisions, friction, and vibrations between components. However, the aforementioned modeling method does not address the dynamic effects triggered by these gaps, making it difficult to accurately assess the precision performance of the mold-closing mechanism under the influence of such nonlinear dynamic effects.

[0007] (2) Analysis of the motion accuracy and mechanical performance of the uncoupled mechanism

[0008] In existing error analysis methods, the motion accuracy and mechanical performance of a mechanism are typically evaluated using independent models. For example, Chinese invention patent document CN112182804A discloses a sliding bearing form and position error modeling method based on SDT theory. Its SDT-based error model is geared towards the sliding bearing component level and can handle single error effects or multiple coupled error effects, but it does not consider the impact of the coupling of multiple physical quantities in motion accuracy and mechanical performance on error analysis. However, in mold clamping mechanisms, both motion accuracy and mechanical performance need to be considered simultaneously to achieve coordinated optimization design of various parameters.

[0009] In summary, existing error modeling methods do not consider the dynamic effects of gap excitation, nor do they perform synergistic analysis of motion accuracy and mechanical performance, neglecting the impact of dynamic effects and the coupling of multiple physical quantities on the design. Therefore, there is an urgent need to propose a new error modeling method to provide a more comprehensive and accurate basis for the design and optimization of mold clamping mechanisms, thereby improving the overall performance of mold clamping mechanisms. Summary of the Invention

[0010] The purpose of this invention is to provide a dynamic geometric error modeling method, system, computer equipment, and storage medium for mold clamping mechanisms. This invention can evaluate the impact of nonlinear dynamic effects induced by the clearance of kinematic pairs on error analysis, and perform synergistic analysis of motion accuracy and mechanical properties. It can accurately quantify the errors of mold clamping mechanisms under high-speed operation and mold-locking conditions.

[0011] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0012] A method for modeling dynamic geometric errors of a mold clamping mechanism includes the following steps:

[0013] Based on the initial design parameters and working conditions of the mold clamping mechanism, identify the key geometric and stiffness characteristics of the mold clamping mechanism.

[0014] Error propagation models for the guidance subsystem and the drive subsystem are constructed respectively, and the initial static error of the moving template of the mold closing mechanism is solved based on the key geometric features. ;

[0015] Build a parameterized virtual prototype, using the initial static error. The geometric initial pose of the moving template is used as the basis for constructing a parameterized multibody dynamics model by introducing a nonlinear contact force model and an equivalent stiffness model.

[0016] Multiple sets of tolerance parameter samples are generated based on the design variables in the parametric virtual prototype. The tolerance parameter samples are configured in the parametric multibody dynamics model. Dynamic error and clamping force data are calculated and extracted. A collaborative explicit function model of dynamic error and clamping force is constructed based on the response surface method.

[0017] The dynamic accuracy of the mold clamping mechanism under different tolerance parameter configurations is analyzed and evaluated using the aforementioned collaborative explicit function model, and the optimal tolerance parameter configuration is selected.

[0018] Preferably, based on the initial design parameters and operating conditions of the mold clamping mechanism, identifying the key geometric and stiffness characteristics of the mold clamping mechanism includes the following steps:

[0019] The mold closing mechanism was disassembled to identify its core components;

[0020] The key geometric features are identified based on the topological relationships of each core component, and the key stiffness features are identified based on the function and type of each core component.

[0021] Preferably, the key geometric features include one or more of the following: flatness, perpendicularity, parallelism, dimensional tolerance of hole-shaft fit, and length dimensional tolerance of the mating surfaces on the core components; the key stiffness features include the stiffness features of the positioning base, transmission rod system, drive components, and core load in the mold clamping mechanism.

[0022] Preferably, error propagation models are constructed for the guidance subsystem and the drive subsystem respectively, and the initial static error of the moving template of the mold closing mechanism is solved based on the key geometric features. Includes the following steps:

[0023] The key geometric features are transformed into error screws based on small displacement screws. ;

[0024] Based on the error spinor Construct an error propagation model of the guidance subsystem and select function points to solve for the guidance error of the moving template. ;

[0025] Key static error analysis points are selected, and the kinematics of the drive subsystem are solved according to the nonlinear geometric constraint equations to obtain the ideal position coordinates of each key hinge.

[0026] The driving error of the dynamic template is obtained by constructing an error propagation model of the driving subsystem based on the Jacobian matrix and solving it. ;

[0027] The guidance error With the driving error The initial static error of the moving template is obtained by vector superposition. as follows:

[0028] .

[0029] Preferably, a parameterized virtual prototype is built, using the initial static error. The geometric initial pose of the moving template, and the construction of a parameterized multibody dynamics model by introducing a nonlinear contact force model and an equivalent stiffness model, include the following steps:

[0030] Construct a parametric virtual prototype based on the initial design parameters; and determine the initial static error of the moving template. The geometric initial pose is superimposed on the parameterized virtual prototype and used as the moving template;

[0031] By introducing a nonlinear contact force at the pin connection where there is a gap in the parametric virtual prototype. Construct a nonlinear contact force model; the nonlinear contact force The calculation formula, based on the Lankarani-Nikravesh contact force model, is as follows:

[0032] ;

[0033] In the formula, It represents the equivalent contact stiffness coefficient, which is related to the material and geometry; Indicates the depth of penetration in the normal direction; This indicates a non-linear exponent; Indicates the hysteresis damping coefficient; Indicates relative normal velocity;

[0034] Based on the key stiffness characteristics, an equivalent stiffness model is constructed in the parameterized virtual prototype;

[0035] A parameterized multibody dynamics model is constructed based on the aforementioned nonlinear contact force model and equivalent stiffness model.

[0036] Preferably, multiple sets of tolerance parameter samples are generated based on the design variables in the parameterized virtual prototype. These tolerance parameter samples are then configured in the parameterized multibody dynamics model. Dynamic error and clamping force data are calculated and extracted. A collaborative explicit function model of dynamic error and clamping force is constructed based on the response surface methodology, comprising the following steps:

[0037] Based on the design variables in the parametric virtual prototype, the tolerance parameter sample of the mold clamping mechanism is generated using the Latin hypercube sampling method.

[0038] Multiple sets of tolerance parameter samples are configured in the parameterized multibody dynamics model, and simulations are performed sequentially to extract dynamic error and mold clamping force data.

[0039] A cooperative explicit function model of dynamic error and clamping force is fitted and constructed based on the response surface methodology;

[0040] The cooperative explicit function model is verified, and a cooperative explicit function model that meets the accuracy requirements is output.

[0041] The present invention also provides a system for dynamic geometric error of a mold clamping mechanism, comprising:

[0042] Feature recognition module: Reads the initial design parameters and analysis conditions of the mold clamping mechanism, identifies and extracts key geometric features and key stiffness features;

[0043] Static error modeling module: Reads the key geometric features, constructs the error propagation model of the guidance subsystem and the drive subsystem, and calculates the initial static error of the moving template. ;

[0044] Dynamic co-simulation module: reads the key stiffness characteristics and the initial static error. A parameterized virtual prototype was built and a nonlinear contact force model and an equivalent stiffness model were introduced to construct a parameterized multibody dynamics model for performing co-simulation of dynamic error and clamping force.

[0045] Explicit function construction module: generates multiple sets of tolerance parameter samples, drives the parameterized multibody dynamics model to perform batch calculations, extracts dynamic error and clamping force data, and constructs and outputs a collaborative explicit function model of dynamic error and clamping force based on the response surface method.

[0046] Preferably, the dynamic co-simulation module includes:

[0047] Parametric prototype reconstruction unit: sets the design variables and tolerance ranges of components in the simulation software and mold clamping mechanism, and reads the initial static error. The simulation software is invoked and the virtual prototype parameters are configured in its dynamic environment to construct a parameterized virtual prototype;

[0048] Nonlinear contact definition unit: Set the contact model, contact stiffness and friction coefficient, and call the nonlinear contact force model built based on the contact model and configure it in the parameterized virtual prototype;

[0049] Equivalent stiffness mapping unit: reads the key stiffness features, calculates the equivalent stiffness coefficients, constructs the equivalent stiffness model, and configures it in the parameterized virtual prototype;

[0050] Collaborative Solving Unit: Reads the analysis conditions set in the feature recognition module, drives the parametric virtual prototype in the parametric prototype reconstruction unit, calls the nonlinear contact definition unit and the equivalent stiffness mapping unit to collaboratively perform simulation calculations, and synchronously outputs post-processed data.

[0051] The present invention also provides an apparatus including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0052] The present invention also provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above method.

[0053] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0054] (1) This invention forms a high-precision calculation model of the initial static error by constructing error transmission models of the guide subsystem and drive subsystem in the mold clamping mechanism, and introduces a nonlinear contact force model to simulate the collision and friction caused by the gap in the kinematic pair. This can effectively quantify the influence of nonlinear dynamic effects on error analysis and solve the problem that traditional static modeling methods cannot reflect actual dynamic performance.

[0055] (2) This invention introduces an equivalent stiffness model to construct a parameterized multibody dynamics model, realizes the collaborative simulation calculation of dynamic error and mold clamping force, and constructs a collaborative explicit function model of dynamic error and mold clamping force, which can directly quantify the comprehensive influence of tolerance on the motion accuracy and mechanical performance of the mold clamping mechanism. Attached Figure Description

[0056] Figure 1 This is a flowchart of the dynamic geometric error modeling method for the mold clamping mechanism described in Embodiment 1 of the present invention.

[0057] Figure 2 This is a structural cross-sectional view of the elbow linkage mechanism described in Embodiment 1 of the present invention.

[0058] Figure 3 This is a schematic diagram of the motion of the elbow linkage mechanism described in Embodiment 1 of the present invention.

[0059] Figure 4 This is a schematic diagram of the elbow connection gap as described in Embodiment 1 of the present invention.

[0060] Figure 5 This is a schematic diagram illustrating the construction process of the parameterized multibody dynamics model described in Embodiment 1 of the present invention.

[0061] Figure 6 This is a graph showing the fitted data of the dynamic error described in Embodiment 1 of the present invention.

[0062] Figures 1-6 middle:

[0063] 1. Moving template; 2. Front link; 3. Elbow; 4. Tail plate; 5. Rear link; 6. Thrust seat; 7. Green column; 8. First hinge; 9. Second hinge; 10. Third hinge; 11. Fourth hinge; 12. Fifth hinge; 13. Elbow connection clearance. Detailed Implementation

[0064] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without inventive effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this invention pertains.

[0065] Terminology Explanation:

[0066] Clamping force: The thrust applied to the moving mold plate by the clamping mechanism during the closing process. In this invention, it specifically refers to the force generated by the mechanical amplification effect of the toggle linkage mechanism, which transforms the thrust of the driving cylinder into the final output force used to overcome the deformation resistance of the mold and clamp the mold, and is used to evaluate the mechanical performance of the mechanism.

[0067] Clamping force: The maximum clamping force applied to the mold parting surface by the injection molding machine during the injection and holding pressure stage to resist the mold expansion caused by the high pressure of the melt in the mold cavity.

[0068] Small displacement screw: A mathematical tool based on screw theory, specifically designed to describe minute rigid body motions or positional changes in space. It decomposes the minute deviations of the rigid body into two vectors: a translation vector describing minute positional changes and a rotation vector describing minute attitude changes. In three-dimensional space, this error model contains three translational components and three rotational components.

[0069] The Jacobian matrix is ​​a matrix in vector calculus, composed of all first-order partial derivatives of a multivariate vector function, reflecting the function's local linearization around a point. In robotics and mechanism error analysis, it is commonly used to describe the mapping relationship between small changes in joint space and small changes in end-effector space. In this invention, it is used as the core operator for error propagation. By calculating the partial derivatives of the mechanism constraint equations with respect to dimensional and coordinate variables, a linear error propagation equation is established from "part manufacturing tolerances" to "moving template pose error".

[0070] Latin hypercube sampling: an efficient stratified Monte Carlo sampling method commonly used in computer experimental design. Unlike traditional simple random sampling, Latin hypercube sampling divides the probability distribution interval of each input variable into N equally probable sub-intervals and randomly selects one sample from each sub-interval, ensuring that the sampling points are evenly distributed in each dimension and avoiding sample clustering or omission.

[0071] Response surface methodology (RSM) is a comprehensive optimization method combining mathematical statistics and mathematical modeling. It constructs an approximate explicit mathematical function by performing regression analysis on experimental or simulation data to describe the mapping relationship between input variables and output response.

[0072] Homogeneous transformation matrix: A standard mathematical tool for describing the pose (position and orientation) of a rigid body in space. It can simultaneously contain rotational and translational transformation information within a single matrix. Through matrix multiplication, it can conveniently describe the continuous transformation relationship between the local coordinate system and the global coordinate system.

[0073] The Lankarani-Nikravesh contact force model is a nonlinear continuous contact force model. Based on Hertzian contact theory, it defines the contact force between objects as the superposition of a nonlinear elastic force and a damping force that reflects energy dissipation. In this invention, this model is specifically used to replace the ideal hinge constraint in traditional kinematics. By calculating the normal penetration depth and relative velocity between the pin and the bushing, it accurately simulates the high-frequency collision and impact effects generated by the mold clamping mechanism under conditions with clearance.

[0074] Coulomb friction model: A classic tribological model used to describe the tangential resistance generated when two contact surfaces slide relative to each other or have a tendency to slide. Its basic principle is that the magnitude of the frictional force is proportional to the normal contact force, and its direction is opposite to the direction of the relative sliding velocity. In this invention, this model is used in conjunction with the aforementioned contact force model to calculate the tangential frictional resistance of the clearance kinematic pair, thereby reproducing the frictional hysteresis and energy loss phenomena on the pin surface during high-speed start-stop of the mechanism.

[0075] Example 1

[0076] This embodiment takes the mold closing mechanism of a 1600KN hydraulic double-curved elbow injection molding machine as an example. The application condition simulated in the modeling simulation is set as the complete empty cycle action of the mold closing mechanism. The empty cycle action includes rapid mold closing, slow mold protection, high-pressure mold locking (starting momentum), and pressure release mold opening in sequence. The empty cycle action covers all states of the mold closing mechanism from free movement to stress deformation.

[0077] This embodiment provides a method for modeling dynamic geometric errors of a mold clamping mechanism, the overall process of which is as follows: Figure 1 As shown. Based on the above working conditions, the dynamic geometric error modeling method of the mold clamping mechanism is introduced, and its specific implementation steps are as follows:

[0078] S1: Based on the initial design parameters and operating conditions of the mold clamping mechanism, identify the key geometric and stiffness characteristics of the mold clamping mechanism. This step specifically includes the following steps:

[0079] S11: Disassemble the mold closing mechanism to identify its core components.

[0080] In this embodiment, the mold closing mechanism includes a base, a mold closing cylinder, a fixed template, and a toggle linkage mechanism. The structure of the toggle linkage mechanism is as follows: Figure 2 As shown, the mechanism includes a moving template 1, a front connecting rod 2, a crank 3, a tail plate 4, a rear connecting rod 5, a thrust seat 6, and a Green column 7. The simplified kinematic diagram of the crank-toggle linkage mechanism is shown below. Figure 3 As shown. The moving template 1 and the front connecting rod 2 are connected by the first hinge 8, the front connecting rod 2 and the elbow 3 are connected by the second hinge 9, the elbow 3 and the rear connecting rod 5 are connected by the third hinge 10, the rear connecting rod 5 and the thrust seat 6 are connected by the fourth hinge 11, and the elbow 3 and the tail plate 4 are connected by the fifth hinge 12.

[0081] It should be noted that this invention aims to address the impact of dynamic response caused by clearances in kinematic pairs on error analysis. Therefore, the core components of the mold clamping mechanism include the relevant parts in each kinematic pair. Taking the toggle 3 as an example, in this embodiment, the hole-shaft fit of the toggle 3 in the second hinge 9 adopts a tolerance zone of H7 / g6, and its toggle connection clearance 13 at the second hinge 9 is as follows: Figure 4 As shown. The core components include the elbow 3 and the pin at the second hinge 9.

[0082] S12: Identify the key geometric features based on the topological relationship of each core component, and identify the key stiffness features based on the function and type of each core component.

[0083] First, establish a global coordinate system for the mold closing mechanism, with the center of the connection between the tail plate and the fifth hinge as the origin; the mold closing direction as the positive X-axis; the vertical upward direction as the positive Y-axis; and the right-hand rule to determine the Z-axis direction. Record the position of the fifth hinge as point A, the third hinge as point B, the second hinge as point C, the first hinge as point D, and the fourth hinge as point E.

[0084] The key geometric features include the flatness of the mating surfaces of the parts, the dimensional tolerances of the hole-shaft fit, and the length dimensional tolerances of the parts. This includes the thickness dimensional tolerance of the base top surface. TD1 Parallelism tolerance of the top surface of the base TL1 Flatness tolerance of the top surface of the base TS1 Flatness of the bottom surface of the tailgate TS2 Length of the BE section of the rear connecting rod L BE Length of front connecting rod CD section L CD Length of elbow segment AB L AB and the length of the AC segment of the elbow L AC 30mm shaft outer diameter tolerance axis30 60mm shaft outer diameter tolerance axis60 30mm hole inner diameter tolerance hole30 60mm hole inner diameter tolerance hole60 The amount of motion of the moving template along the X-axis X move wait.

[0085] In this embodiment, the dimensional tolerances for the hole-shaft fit at each hinge are set as follows:

[0086] The hole-shaft fit between the moving template and the Green column adopts an H8 / f7 clearance fit tolerance;

[0087] The thrust seat is provided with a guide hole, and the hole-shaft fit of the guide hole adopts H8 / f7 clearance fit tolerance;

[0088] The hole-shaft fit in the third hinge 10 of the elbow adopts a tolerance zone of H7 / g6;

[0089] The hole-shaft fit in the fifth hinge of the elbow adopts the tolerance zone H7 / e7;

[0090] In the fourth hinge, the rear connecting rod and the thrust seat are fitted with the pin shaft with a tolerance zone of H7 / e7.

[0091] In the first hinge, the hole-shaft fit between the front connecting rod and the moving template adopts the tolerance zone H7 / e7.

[0092] In this embodiment, the key stiffness characteristics include the stiffness characteristics of the positioning base, transmission rod system, drive components, and core load in the mold clamping mechanism. Taking the mold as an example, its elastic modulus... E 2.06×10 5 N / mm 2 MPa, effective pressure-bearing cross-sectional area A 10000mm 2 ,thickness L It is 400mm.

[0093] S2: Construct error propagation models for the guidance subsystem and the drive subsystem respectively, and solve for the initial static error of the moving template based on the key geometric features. This step specifically includes the following steps:

[0094] It should be noted that in this embodiment, the moving template is the final execution component of the mold closing mechanism; therefore, the moving template is used as the object of analysis for the geometric errors of the mold closing mechanism. The guiding subsystem mainly determines the basic pose of the moving template and includes a base, a tail plate, and a Green column. The driving subsystem is mainly responsible for motion driving and force transmission and includes a front link, a toggle, a rear link, and pins at each hinge.

[0095] S21: Based on the small displacement screw, the key geometric features are transformed into error screws. .

[0096] S22: Construct an error propagation model for the guidance subsystem and solve for the guidance error of the moving template. .

[0097] In this embodiment, the transmission path of the guiding error of the guiding subsystem is, in sequence, the base, the tail plate, and the Green Column. The guiding error of the moving template... The calculation process is as follows:

[0098] S221: Calculate the cumulative transfer matrix of the ideal pose as follows:

[0099] ;

[0100] In the formula, Indicates adjacent components ( i ) and components ( i The ideal homogeneous transformation matrix between +1) is constructed from the design dimension parameters of the parts and describes the coordinate transformation relationship under error-free conditions.

[0101] S222: Based on the error spinor ε Calculate the actual pose cumulative transfer matrix as follows:

[0102] ;

[0103] In the formula, Indicate each component ( j The error transformation matrix is ​​derived from the error spinor. ε Obtained through conversion.

[0104] S223: Calculate the cumulative error matrix as follows:

[0105] .

[0106] S224: Select specific geometric observation points on key components used to characterize the pose state of the assembly or evaluate assembly accuracy as function points for analysis, and calculate the final error of the function points. as follows:

[0107] ;

[0108] In the formula, This represents the homogeneous coordinate vector [X, Y, Z, 1] of the function point in the local coordinate system. T .

[0109] It should be noted that, unlike the usual method of using the geometric center for analysis, this embodiment selects the mating center between the moving template and the Green Columns as the function point for analysis. The final error is extracted using the mating centers of the moving template with the upper and lower Green Columns respectively. The displacement component in the vertical direction of the mold clamping mechanism is denoted as... and Take the vertical distance between the upper and lower Green pillars. The value is 530mm. The guiding error of the moving template is calculated. as follows:

[0110] ;

[0111] In the formula:

[0112] This represents the Y-axis guidance error of the moving template. ;

[0113] This indicates the rotational guidance error of the moving template. .

[0114] Furthermore, the guiding error of the moving template was calculated. The functions are expressed as follows:

[0115] ;

[0116] .

[0117] S23: Select key static error analysis points and perform kinematic solutions on the drive subsystem based on the nonlinear geometric constraint equations to obtain the ideal position coordinates of each key hinge. The specific process is as follows:

[0118] S231: Select the key static error analysis points corresponding to the critical stages of the elbow linkage mechanism from rapid mold closing to slow mold protection and high-pressure mold locking.

[0119] Preferably, in this embodiment, the center position of the thrust seat when the toggle linkage mechanism is about to straighten but has not yet self-locked is selected as the key static error analysis point. At this time, the mold closing mechanism is highly sensitive to geometric dimensional errors and can effectively capture the early amplification effect of the linkage length deviation on the moving template pose, thereby providing key initial values ​​for error prediction in the subsequent high-pressure mold closing stage.

[0120] Furthermore, in this embodiment, the key static error analysis point is the point where the center position of the thrust seat moves to 100mm along the negative X-axis, i.e., the coordinates of the key static error analysis point. Take -100mm.

[0121] S232: The ideal coordinate positions of each hinge are obtained by solving the geometric constraint equations. The process is as follows:

[0122] S2321: Based on the coordinates of all intermediate moving hinge points and key static error analysis points in the crank-connecting rod mechanism, define the ideal coordinate positions used to describe the ideal geometric state of the crank-connecting rod mechanism. as follows:

[0123] ;

[0124] In the formula: , These represent the coordinates of the third hinge in the X and Y directions, respectively. , These represent the coordinates of the second hinge in the X and Y directions, respectively. This represents the coordinate of the first hinge in the X direction.

[0125] S2322: Establish a set of nonlinear geometric constraint equations for the constraints of each component of the crank-connecting rod mechanism. Taking the constraints in the connecting rod as an example, the nonlinear geometric constraint equations are as follows:

[0126] .

[0127] S2323: Solve the aforementioned nonlinear geometric constraint equations. Based on the lengths of each link and the coordinates of the fifth hinge ( , ) and key static error analysis points The ideal coordinate positions of each hinge are obtained by solving the problem, as follows: X B = -172.9968mm; Y B = 316.0462mm; X C = -249.4272mm; Y C = 261.9805mm; X D = -573.8578mm.

[0128] S24: Construct the error propagation model of the driving subsystem and solve for the driving error. The specific process is as follows:

[0129] S241: Based on all geometric parameters with manufacturing tolerances and input position variables in the crank-connecting rod mechanism, define the input error vector in the drive error propagation. as follows:

[0130] .

[0131] S242: Define the response error vector during the drive error propagation process based on the coordinate changes of all intermediate moving hinge points and the final output components. as follows:

[0132] .

[0133] In the formula: , These represent the intermediate moving hinge points ( i Positional deviations in the X and Y directions; This indicates the current positional deviation of the thrust seat.

[0134] S243: Take the total differential of the nonlinear geometric constraint equations and establish the linear error equations using the Jacobian matrix as follows:

[0135] ;

[0136] In the formula: Represents the response error vector The partial derivative matrix is ​​used to reflect the structural constraints of the mechanism; Represents the input error vector The partial derivative matrix is ​​used to reflect the effect of size changes.

[0137] The ideal coordinate position obtained in step S232 Substituting the above partial derivative matrix and In the process, the response error vector is solved by matrix inverse operation. .

[0138] S244: Based on the response error vector Calculate the driving error of the moving template as follows:

[0139] ;

[0140] In the formula: This represents the translational error of the moving template in the X direction; This indicates the rotational error of the moving template around the Z-axis.

[0141] S25: The guiding error With the driving error The initial static error of the moving template is obtained by vector superposition. as follows:

[0142] ;

[0143] In the formula, This represents the total error in the X direction of the moving template. This represents the total error in the Y direction of the moving template. This represents the total error of the moving template rotating in the plane.

[0144] S3: Construct a parametric multibody dynamics model. This step is as follows: Figure 5 As shown, the specific process is as follows:

[0145] S31: Construct a parametric virtual prototype based on the initial design parameters; adjust the initial static error of the moving template. The geometric initial pose is superimposed on the parameterized virtual prototype and used as the moving template.

[0146] In this embodiment, a parametric virtual prototype of the mold clamping mechanism is constructed using multibody dynamics software such as ADAMS. The design variables of the parametric virtual prototype are the initial design parameters of the mold clamping mechanism, including the dimensions and tolerances of each key component.

[0147] S32: Construct a nonlinear contact force model. The specific process is as follows:

[0148] S321: Introduce nonlinear contact force at the pin connection with gaps in the parametric virtual prototype. The nonlinear contact force The contact force model, constructed using the Lankarani-Nikravesh model, has the following formula:

[0149] ;

[0150] In the formula, It represents the equivalent contact stiffness coefficient, which is related to the material and geometry; Indicates the depth of penetration in the normal direction; This indicates a non-linear exponent; Indicates the hysteresis damping coefficient; This indicates the relative normal velocity.

[0151] The advantage of this setup is that, compared to the usual method of setting ideal constraints at the pin connection, it introduces nonlinear contact forces. It can simulate the collision and friction effects induced by the gap in the kinematic pair.

[0152] In this embodiment, the equivalent contact stiffness coefficient is determined based on the material properties of the pin and bushing. Set to 1.0×10 5 N / mm; Based on the Hertzian contact theory between metals, the nonlinear exponent Set to 1.5; set the penetration depth threshold required for the damping force to increase from zero to its maximum value to 0.01 mm to prevent numerical calculation oscillations.

[0153] S322: Based on nonlinear contact force Calculation of tangential friction force using the Coulomb friction model as follows:

[0154] ;

[0155] In the formula, Indicates the coefficient of kinetic friction; It is a symbolic function; This indicates the relative tangential velocity.

[0156] In this embodiment, the coefficient of kinetic friction We set it to 0.1 to simulate the real frictional hysteresis effect.

[0157] S33: Construct an equivalent stiffness model based on the key stiffness characteristics of the mold clamping mechanism. Specifically, an elastic block is set in the parametric virtual prototype as the equivalent stiffness model representing the mold, used to simulate the stress and deformation characteristics of the mold under high pressure during mold clamping. The physical properties of the elastic block are simulated using spring-damping force elements in ADAMS software, and the model is based on the mold's elastic modulus. Effective bearing cross-sectional area in the mold closing direction and thickness Set its equivalent mold stiffness along the mold closing direction. as follows:

[0158] .

[0159] S34: Construct a parameterized multibody dynamics model based on the aforementioned nonlinear contact force model and equivalent stiffness model.

[0160] S4: Construct a cooperative explicit function for dynamic error and clamping force. This step specifically includes the following steps:

[0161] S41: Tolerance parameter samples are generated within the upper and lower tolerance limits of the key geometric features of the mold clamping mechanism based on the Latin hypercube sampling method. Compared with traditional random Monte Carlo sampling, the Latin hypercube sampling method avoids sample clustering or omission, improving the model fitting accuracy. Some tolerance parameter samples of the mold clamping mechanism are shown in Table 1.

[0162] Table 1. Sample data of tolerance parameters

[0163] ID <![CDATA[ L BE ]]> <![CDATA[ L CD ]]> <![CDATA[ L AB ]]> <![CDATA[ L AC ]]> hole30 hole60 axis30 axis60 1 126.7097639 416.9706142 172.9821529 255.0134032 15.0289933 30.05052178 14.99252971 29.98890806 2 126.7039434 416.9849073 172.9800961 254.9962631 15.03736946 30.04993157 14.99385119 29.9922891 3 126.681159 416.9966023 173.0116714 255.0178714 15.0279076 30.0444597 14.99223682 29.98943981 4 126.7089034 416.9681356 172.9899112 255.0109712 15.03182832 30.05094673 14.99216485 29.99363101 5 126.6828169 417.0122847 173.0123891 254.9704184 15.03013695 30.0489926 14.99526281 29.98562846 6 126.704936 416.9935709 172.978788 254.97667 15.0291643 30.04322223 14.99581002 29.99252551 7 126.6924372 416.9601192 173.006537 255.0061893 15.03205164 30.05207835 14.99481011 29.98906952 8 126.6891227 417.0245591 172.9951887 255.0262877 15.03049798 30.04846295 14.99473918 29.98835654 9 126.6736948 417.0217064 172.9799766 254.9816371 15.02827659 30.04789064 14.99422457 29.98813836 … … … … … … … … … 50 126.6833477 417.0004048 172.9940098 255.0079802 15.02879429 30.04620878 14.99181121 29.98754455

[0164] S42: Perform simulation based on a parametric multibody dynamics model and extract dynamic error and clamping force data.

[0165] S421: Modify the parameters of the parameterized multibody dynamics model in batches according to the tolerance parameter sample data generated in step S41, and run the opening and closing simulation.

[0166] S422: Extract the raw data of key performance indicators from each simulation.

[0167] In this embodiment, the raw data includes the position of the mold closing surface and the mold closing force. The data.

[0168] Preferably, in this embodiment, the method for obtaining the mold parting surface position data is as follows:

[0169] Four key feature points arranged in a rectangular pattern are selected on the mating surface of the moving template and the fixed template, and denoted as follows: P 1 、P 2 、P 3 and P 4 These correspond to the four corner points of the moving template, and the three-dimensional spatial coordinate data of these four key feature points at the moment of template locking termination are extracted as follows:

[0170] .

[0171] In this embodiment, the clamping force This is the contact reaction force of the elastic sample block when the mold closing mechanism terminates.

[0172] S423: Perform spatial geometric analysis and processing on the mold parting surface position data to calculate the total parallelism error data of the moving template for each simulation. The calculation formula is as follows:

[0173] .

[0174] S43: Fit and construct a cooperative explicit function model of dynamic error and clamping force based on the response surface methodology.

[0175] Based on the input tolerance parameters and output in each simulation and The following is a collaborative explicit function model of dynamic error and clamping force constructed using a multinomial regression model based on the response surface methodology:

[0176] Cooperative explicit function of total parallelism error of moving template as follows:

[0177] ;

[0178] Cooperative explicit function of clamping force as follows:

[0179] .

[0180] The collaborative explicit function model of dynamic error and clamping force is used to reflect the mapping relationship between different tolerance combinations and dynamic error and clamping force. This model can directly and quantitatively evaluate the comprehensive impact of different key geometric features using different tolerances on the dynamic geometric accuracy and clamping force stability of the clamping mechanism, and can achieve the comprehensive optimal matching of design parameters.

[0181] S44: Verify and output the cooperative explicit function model of dynamic error and clamping force that meets the accuracy requirements. The specific process is as follows:

[0182] S441: Test points are extracted using cross-validation, and the predicted values ​​from the response surface methodology model are used. The actual value obtained from ADAMS software simulation Compare and calculate the coefficient of determination. as follows:

[0183] .

[0184] S442: Determine whether the dynamic template trajectory predicted by the collaborative explicit function of dynamic error and clamping force highly overlaps with the actual trajectory obtained from the ADAMS software simulation. If yes, it indicates that it meets the model accuracy requirements; if not, return to step S41 to increase the number of samples in the Latin hypercube sampling or return to step S43 to increase the order of the polynomial in the response surface method until it meets the model accuracy requirements.

[0185] Preferably, in this embodiment, the preset model accuracy is 0.95. If the value is ≥ 0.95, the model accuracy is considered met, and the explicit function is directly output as the final model. The fitted data for dynamic error are as follows: Figure 6 As shown in the figure, the horizontal axis represents the moving position of the thrust seat, and the vertical axis represents the actual position of the moving template.

[0186] S443: After successful verification, the expressions for the final collaborative explicit function model of dynamic error and clamping force in this embodiment are output as follows:

[0187] ;

[0188] .

[0189] S5: The dynamic accuracy of the mold clamping mechanism under different tolerance parameter configurations is analyzed and evaluated through the collaborative explicit function model, and the optimal tolerance parameter configuration is selected.

[0190] Example 2

[0191] This embodiment provides a system for dynamic geometric error of a mold clamping mechanism, used to implement the method described in Embodiment 1.

[0192] This embodiment deploys the system on an Alibaba Cloud server cluster. The modules interact and synchronize their states through data interfaces (such as the co-simulation interface between MATLAB and MSC.Adams) and intermediate files (.cmd scripts, .res result files). The system mainly includes the following four core modules: feature recognition module, static error modeling module, dynamic co-simulation module, and explicit function construction module.

[0193] In this embodiment, the feature recognition module is responsible for parsing structural information from the digital model (such as a CAD model) of the mold-closing mechanism, identifying key geometric and physical features, and providing basic input for subsequent modeling. The feature recognition module is configured as follows:

[0194] Parameter parsing unit: Connects to the digital model database and reads the digital model of the mold clamping mechanism, sets the analysis conditions, parses the topology of the mold clamping mechanism, and outputs the design parameters of the core components. In this embodiment, the core components include the moving template, front connecting rod, toggle, tail plate, rear connecting rod, thrust seat, and Green column, etc.

[0195] Geometric feature extraction unit: Reads the design parameters of core components from the parameter parsing unit, extracts and outputs key geometric features that affect motion accuracy, as well as related parameter symbols.

[0196] Stiffness Feature Definition Unit: Reads the analysis conditions and determines the actual mold-closing conditions, matches the key flexible components in the mold-closing mechanism under these conditions, and extracts and outputs the key stiffness features of the mold-closing mechanism. In this embodiment, the key stiffness features include the geometric boundaries and material properties of the elastic sample block used to simulate the compressive deformation characteristics of the mold.

[0197] In this embodiment, the static error modeling module, based on the kinematics theory of multibody systems, calculates the initial static pose error of the moving template caused by manufacturing tolerances. The static error modeling module is configured as follows:

[0198] Guiding Error Calculation Unit: This unit sets up an error theory, reads key geometric features from the geometric feature extraction unit, calculates and outputs the guiding error of the moving template using a model constructed based on the error theory. In this embodiment, the error theory is the small displacement spinor.

[0199] The driving error calculation unit: Sets the analysis points and kinematics solver, and calculates and outputs the ideal kinematic coordinates of the driving subsystem based on the nonlinear geometric constraint equations of the driving subsystem. The output ideal kinematic coordinates of the driving subsystem include the ideal coordinate positions of each key hinge. It also calculates and outputs the driving error of the moving template through a linear error equation established based on the Jacobian matrix. .

[0200] Static overlay unit: Sets the overlay method and reads the guidance error of the moving template in the guidance error calculation unit. And the driving error of the moving template in the driving error calculation unit The system then performs calculations on the guiding error and driving error using a function constructed based on the superposition method, and outputs the initial static error of the moving template. The various display functions in the document.

[0201] In this embodiment, the dynamic co-simulation module integrates a multibody dynamics engine to construct a parameterized virtual prototype to achieve coupled calculation of motion accuracy and force stability. The dynamic co-simulation module is configured as follows:

[0202] Parametric prototype reconstruction unit: sets the design variables and tolerance ranges of components in the simulation software and mold clamping mechanism, and reads the initial static error. The simulation software is invoked, and the parameters of the virtual prototype are configured in its dynamic environment to construct a parameterized virtual prototype of the mold closing mechanism.

[0203] Nonlinear contact definition unit: This unit reads the set contact model, contact stiffness, and friction coefficient, and calls the nonlinear contact force model built based on the contact model, configuring it in the virtual prototype to simulate the collision and friction effects induced by gaps in the kinematic pair. In this embodiment, the contact model is the Lankarani-Nikravesh contact force model.

[0204] Equivalent stiffness mapping unit: Read the key stiffness features in the stiffness feature definition unit, calculate the equivalent stiffness coefficient, construct the equivalent stiffness model and configure it in the virtual prototype.

[0205] Collaborative Solving Unit: Reads the analysis conditions set by the feature recognition module, drives the parameterized virtual prototype of the mold closing mechanism in the parameterized prototype reconstruction unit, and calls the nonlinear contact force model of the nonlinear contact definition unit and the equivalent stiffness model of the equivalent stiffness mapping unit to collaboratively execute the full-stroke simulation calculation under the analysis conditions, and synchronously outputs post-processed data.

[0206] In this embodiment, the explicit function construction module utilizes mathematical statistics methods to construct a mathematical surrogate model that replaces dynamics simulation. The explicit function construction module is configured as follows:

[0207] Experimental Design Sampling Unit: This unit sets the sampling method and sample size, reads the design variables and tolerance ranges of components in the mold-closing mechanism from the dynamic co-simulation module, and generates and outputs a sample dataset using a function constructed based on the sampling method. In this embodiment, the sampling method is the Latin hypercube sampling algorithm.

[0208] Batch simulation driving unit: Traverses the sample dataset, drives the dynamic co-simulation module to perform batch calculations, extracts and outputs the mold closing surface position and mold closing force data. The mold closing force data is the contact reaction force data of the equivalent stiffness model when the mold closing mechanism terminates.

[0209] Spatial data processing unit: Reads the post-processed data and extracts the three-dimensional spatial coordinate data of key feature points in the mold mating surface position data, and calculates the total parallelism error data. Preferably, in this embodiment, the key feature points are four points distributed in a rectangle on the mold mating surface of the moving template and the fixed template, and the total parallelism error data of the moving template is calculated based on spatial plane fitting and range calculation methods.

[0210] Model Fitting and Validation Unit: This unit sets a fitting method, reads the clamping force and total parallelism error data, and constructs a collaborative explicit function model of dynamic error and clamping force based on the fitting method. The model accuracy is evaluated using cross-validation until a collaborative explicit function model of dynamic error and clamping force that meets the preset model accuracy is constructed. In this embodiment, the fitting method is set to the response surface methodology.

[0211] Example 3

[0212] This embodiment provides an apparatus including a memory and a processor. The memory stores a computer program configured to be executed by the processor. The computer program includes instructions for performing the method in Embodiment 1.

[0213] It should be noted that the method of this embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this embodiment, and the multiple devices will interact with each other to complete the method described.

[0214] Example 4

[0215] This embodiment provides a storage medium including a computer program / instructions, which, when executed by a processor, implements the dynamic geometric error modeling method for the mold closing mechanism as described in Embodiment 1.

[0216] In summary, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method of modeling dynamic geometric errors of a clamping mechanism, characterized in that, Includes the following steps: Based on the initial design parameters and working conditions of the mold clamping mechanism, identify the key geometric and stiffness characteristics of the mold clamping mechanism. Error transfer models of the guiding subsystem and the driving subsystem are respectively constructed, and initial static errors of the dynamic die plate of the die set mechanism are solved based on the key geometric features ; Build a parameterized virtual prototype, using the initial static error. The initial geometric pose of the moving template is used as the basis for constructing a parameterized multibody dynamics model by introducing a nonlinear contact force model and an equivalent stiffness model. The step of introducing the nonlinear contact force model and the equivalent stiffness model to construct the parameterized multibody dynamics model includes: introducing a nonlinear contact force at the pin connection where a gap exists in the parameterized virtual prototype. A nonlinear contact force model is constructed; based on the key stiffness characteristics, an equivalent stiffness model is constructed in the parameterized virtual prototype; an elastic block is set in the parameterized virtual prototype as an equivalent stiffness model representing the mold; Multiple sets of tolerance parameter samples are generated based on the design variables in the parametric virtual prototype. These tolerance parameter samples are then configured in the parametric multibody dynamics model. Dynamic error and clamping force data are calculated and extracted. A model containing a collaborative explicit function of dynamic error and a collaborative explicit function of clamping force is constructed using the response surface methodology. This model reflects the mapping relationship between different tolerance combinations and dynamic error, as well as between different tolerance combinations and clamping force. The dynamic accuracy of the clamping mechanism under different tolerance parameter configurations is evaluated by model analysis that includes a dynamic error collaborative explicit function and a clamping force collaborative explicit function, and the optimal tolerance parameter configuration is selected.

2. The modeling method according to claim 1, characterized in that, Based on the initial design parameters and operating conditions of the mold clamping mechanism, the key geometric and stiffness characteristics of the mold clamping mechanism are identified through the following steps: The mold closing mechanism was disassembled to identify its core components; The key geometric features are identified based on the topological relationships of each core component, and the key stiffness features are identified based on the function and type of each core component.

3. The modeling method according to claim 2, characterized in that, The key geometric features include one or more of the following: flatness, perpendicularity, parallelism, dimensional tolerance of hole-shaft fit, and length dimensional tolerance of the mating surfaces on the core components; the key stiffness features include the stiffness features of the positioning base, transmission rod system, drive components, and core load in the mold clamping mechanism.

4. The modeling method according to claim 1, characterized in that, Error propagation models for the guidance subsystem and the drive subsystem are constructed respectively, and the initial static error of the moving template of the mold closing mechanism is solved based on the key geometric features. Includes the following steps: The key geometric features are transformed into error screws based on small displacement screws. ; Based on the error spinor Construct an error propagation model of the guidance subsystem and select function points to solve for the guidance error of the moving template. ; Key static error analysis points are selected, and the kinematics of the drive subsystem are solved according to the nonlinear geometric constraint equations to obtain the ideal position coordinates of each key hinge. The driving error of the dynamic template is obtained by constructing an error propagation model of the driving subsystem based on the Jacobian matrix and solving it. ; The guidance error With the driving error The initial static error of the moving template is obtained by vector superposition. as follows: 。 5. The modeling method according to claim 1, characterized in that, Build a parameterized virtual prototype, using the initial static error. The geometric initial pose of the moving template, and the construction of a parameterized multibody dynamics model by introducing a nonlinear contact force model and an equivalent stiffness model, include the following steps: Construct a parametric virtual prototype based on the initial design parameters; and determine the initial static error of the moving template. The geometric initial pose is superimposed on the parameterized virtual prototype and used as the moving template; By introducing a nonlinear contact force at the pin connection where there is a gap in the parametric virtual prototype. Construct a nonlinear contact force model; the nonlinear contact force The calculation formula, based on the Lankarani-Nikravesh contact force model, is as follows: ； In the formula, It represents the equivalent contact stiffness coefficient, which is related to the material and geometry; Indicates the depth of penetration in the normal direction; This indicates a non-linear exponent; Indicates the hysteresis damping coefficient; Indicates relative normal velocity; Based on the key stiffness characteristics, an equivalent stiffness model is constructed in the parameterized virtual prototype; A parameterized multibody dynamics model is constructed based on the aforementioned nonlinear contact force model and equivalent stiffness model.

6. The modeling method according to claim 1, characterized in that, Multiple sets of tolerance parameter samples are generated based on the design variables in the parametric virtual prototype. These tolerance parameter samples are then configured in the parametric multibody dynamics model. Dynamic error and clamping force data are calculated and extracted. A model containing a collaborative explicit function of dynamic error and a collaborative explicit function of clamping force is constructed using the response surface methodology, comprising the following steps: Based on the design variables in the parametric virtual prototype, the tolerance parameter sample of the mold clamping mechanism is generated using the Latin hypercube sampling method. Multiple sets of tolerance parameter samples are configured in the parameterized multibody dynamics model, and simulations are performed sequentially to extract dynamic error and mold clamping force data. A model containing a dynamic error co-explicit function and a clamping force co-explicit function is fitted and constructed based on the response surface methodology. The model containing the dynamic error collaborative explicit function and the clamping force collaborative explicit function is verified, and a model containing the dynamic error collaborative explicit function and the clamping force collaborative explicit function that meets the accuracy requirements is output.

7. A modeling system for dynamic geometric errors of a mold clamping mechanism, characterized in that, include: Feature recognition module: Reads the initial design parameters and analysis conditions of the mold clamping mechanism, identifies and extracts key geometric features and key stiffness features; Static error modeling module: Reads the key geometric features, constructs the error propagation model of the guidance subsystem and the drive subsystem, and calculates the initial static error of the moving template. ; Dynamic co-simulation module: reads the key stiffness characteristics and the initial static error. A parameterized virtual prototype was constructed, and a nonlinear contact force model and an equivalent stiffness model were introduced. A parameterized multibody dynamics model was then built to perform co-simulation of dynamic errors and clamping forces. The nonlinear contact force model and equivalent stiffness model were introduced by introducing nonlinear contact forces at the pin connections with gaps in the parameterized virtual prototype. Construct a nonlinear contact force model; based on the key stiffness characteristics, construct an equivalent stiffness model in the parameterized virtual prototype; Explicit function construction module: generates multiple sets of tolerance parameter samples, drives the parameterized multibody dynamics model to perform batch calculations, extracts dynamic error and clamping force data, constructs and outputs a model containing a dynamic error collaborative explicit function and a clamping force collaborative explicit function based on the response surface methodology; the model containing the dynamic error collaborative explicit function and the clamping force collaborative explicit function is used to reflect the mapping relationship between different tolerance combinations and dynamic errors, as well as between different tolerance combinations and clamping forces.

8. The modeling system according to claim 7, characterized in that, The dynamic co-simulation module includes: Parametric prototype reconstruction unit: sets the design variables and tolerance ranges of components in the simulation software and mold clamping mechanism, and reads the initial static error. The simulation software is invoked and the virtual prototype parameters are configured in its dynamic environment to construct a parameterized virtual prototype; Nonlinear contact definition unit: Set the contact model, contact stiffness and friction coefficient, and call the nonlinear contact force model built based on the contact model and configure it in the parameterized virtual prototype; Equivalent stiffness mapping unit: reads the key stiffness features, calculates the equivalent stiffness coefficients, constructs the equivalent stiffness model, and configures it in the parameterized virtual prototype; Collaborative Solving Unit: Reads the analysis conditions set in the feature recognition module, drives the parametric virtual prototype in the parametric prototype reconstruction unit, calls the nonlinear contact definition unit and the equivalent stiffness mapping unit to collaboratively perform simulation calculations, and synchronously outputs post-processed data.

9. An apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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