A control method and system for heat treatment forming of humanoid robot parts
By calculating the effects of gaps and obstructions between parts, and using heating fixtures and a vacuum furnace for heat treatment, the problem of hardness differences between the inner and outer layers of humanoid robot parts was solved, achieving both precision in heat treatment and cost reduction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HANGZHOU HONGMING INTELLIGENT EQUIP CO LTD
- Filing Date
- 2026-05-14
- Publication Date
- 2026-06-12
AI Technical Summary
During the heat treatment of humanoid robot parts, there is a significant difference in hardness between the inner and outer layers, resulting in poor precision in heat treatment forming and high costs.
By collecting the heat treatment parameters, dimensional parameters, and thermal characteristic parameters of the parts, the optimal gap is calculated using a single-part heat treatment model and a shielding model to ensure uniform heat transfer and reduce the impact of shielding. Precise heat treatment is then performed using heating fixtures and a vacuum furnace.
This improved the precision and uniformity of heat treatment for humanoid robot parts and reduced heat treatment costs.
Smart Images
Figure CN122189333A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of heat treatment of parts, and in particular to a control method and system for heat treatment forming of humanoid robot parts. Background Technology
[0002] Heat treatment forming of humanoid robot parts is a key process that determines the performance of humanoid robots. The goal is to achieve surface hardness and core toughness, low deformation, and high stability, while solving the three major contradictions of high-frequency fatigue, lightweighting, and precision fit.
[0003] Among the related technologies, the heat treatment of humanoid robot parts, especially the joint bearings and flexible wheels, is the most difficult. Operators stack batches of tiny parts in a heating fixture, and then control a material cart to transport the heating fixture to a vacuum furnace. The parts are then subjected to vacuum heating, high-pressure gas quenching, low-temperature tempering, deep cryogenic treatment, and ion nitriding in sequence, so that the humanoid robot parts are crack-free, deformation-free, have uniform hardness, stable dimensions, and long service life.
[0004] In order to reduce the cost of heat treatment of parts, the above-mentioned technologies typically involve densely stacking a large number of tiny parts in a heating fixture. When these densely stacked parts are heated in a vacuum furnace, the outer layers heat up faster than the inner layers, resulting in a significant difference in hardness between the inner and outer layers. This leads to poor precision in the heat treatment and forming of humanoid robot parts, and there is still room for improvement. Summary of the Invention
[0005] To improve the accuracy of heat treatment forming of humanoid robot parts, this application provides a control method and system for heat treatment forming of humanoid robot parts.
[0006] In a first aspect, this application provides a control method for heat treatment forming of humanoid robot parts, employing the following technical solution: A control method for heat treatment forming of humanoid robot parts, comprising: Collect heat treatment parameters, part size parameters, and part thermal property parameters of humanoid robot parts; Based on a pre-defined single-part heat treatment model, heat treatment parameters, part size parameters, and part thermal property parameters are calculated to generate the effect of heat treatment on part clearance. The part size parameters and thermal characteristic parameters are calculated based on the preset part occlusion model to generate the occlusion effect on the part gap; Compare the clearances of parts affected by heat treatment and the clearances of parts affected by shielding to determine the optimal clearances for heat-treated parts. The humanoid robot parts are placed on a pre-set heating fixture according to the optimal heat treatment part gap, and the heating fixture is then transported to a pre-set vacuum furnace for heat treatment.
[0007] Optionally, the single-part heat treatment model includes a single-part time model and a single-part gap model. The steps for calculating heat treatment parameters, part size parameters, and part thermal characteristic parameters based on the preset single-part heat treatment model to generate the influence of heat treatment on part gap include: Determine the heat treatment set temperature and the environmental monitoring temperature based on the heat treatment parameters; Determine the equivalent diameter of the part based on its dimensional parameters; The density, specific heat capacity, thermal conductivity, thermal diffusivity, and allowable temperature difference of the part are determined based on its thermal characteristic parameters. The heat treatment time of a part is generated by calculating the heat treatment set temperature, the ambient detection temperature, the equivalent diameter of the part, the thermal diffusivity of the part, and the allowable temperature difference of the part based on the single-part time model. Based on a single-part gap model, the density, specific heat capacity, thermal conductivity, allowable temperature difference, and heat treatment time of the parts are calculated to generate the effect of heat treatment on the gap of the parts.
[0008] Optionally, the expression for the single-part time model is: , In the formula, For the heat treatment time of parts, For the equivalent diameter of the part, For the thermal diffusivity of the parts, Set the temperature for heat treatment, For environmental temperature monitoring, Allowable temperature difference for parts; The expression for the single-part gap model is: , In the formula, To prevent heat treatment from affecting the clearance of parts, For the thermal conductivity of parts, For the specific heat capacity of the parts, This refers to the density of the component.
[0009] Optionally, the steps for calculating the part size parameters and thermal characteristic parameters based on a preset part occlusion model to generate the impact of occlusion on part clearance include: Determine the equivalent diameter and surface area of the part based on its dimensional parameters. Determine the allowable temperature difference and radiation angle of the part based on its thermal characteristic parameters. Determine the initial part clearance based on the equivalent diameter of the part; The surface area of the parts, the radiation angle of the parts, and the initial gap between the parts are calculated based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts. The allowable temperature difference of the parts is corrected based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference. The initial part gap is updated based on the temperature difference caused by part shading to generate the part gap affected by shading.
[0010] Optionally, the expression for the part occlusion model is: , In the formula, For the radiation shielding ratio of adjacent parts, For parts Surface area of parts For parts Surface area of parts For parts Radiation angle of the parts For parts Radiation angle of the parts This represents the initial part clearance.
[0011] Optionally, the step of correcting the allowable temperature difference of parts based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference includes: The radiation blocking ratios of adjacent parts are summed to generate the total radiation blocking ratio of the parts. The effective radiation ratio is generated based on the total radiation shielding ratio of the parts. Calculate the quotient of the allowable temperature difference of the part and the effective radiation ratio to generate the part's shielding temperature difference.
[0012] Optionally, updating the initial part gap based on the part shading temperature difference to generate the step of shading affecting the part gap includes: Determine whether the temperature difference caused by the shielding of the component meets the preset temperature difference threshold requirement for the component; If it does not meet the requirements, the initial part gap is updated according to the preset iteration gap step size, and the part surface area, part radiation angle and updated initial part gap are calculated based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts. If the conditions are met, the initial part gap will be determined as the gap between parts affected by occlusion.
[0013] Optionally, the step of placing the humanoid robot parts on a preset heating fixture according to the optimal heat treatment part clearance includes: Determine the equivalent diameter of the part based on its dimensional parameters; Calculate the sum of the optimal heat-treated part clearance and the equivalent diameter of the part to generate the part placement center distance and tooling layer spacing; The spacing on the heating fixture is adjusted according to the spacing between the fixture layers. The positioning pins on the heating fixture are raised according to the center distance of the part placement to form a positioning groove for the part, and prompt the humanoid robot part to be placed in the positioning groove.
[0014] Secondly, this application provides a control system for heat treatment forming of humanoid robot parts, which adopts the following technical solution: A control system for heat treatment forming of humanoid robot parts includes: The data acquisition module is used to acquire heat treatment parameters, part size parameters, and part thermal property parameters. A memory for storing a program for a control method of heat treatment forming of a humanoid robot part as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement a control method for heat treatment forming of humanoid robot parts as described in any of the above.
[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By calculating the heat treatment parameters, part size parameters, and part thermal characteristic parameters based on a single-part heat treatment model, the gaps between parts affected by heat treatment are obtained. By calculating the gaps between parts affected by shading based on a part shading model, the gaps between parts affected by shading are obtained. After comparing the gaps between parts affected by heat treatment and those affected by shading, a gap is selected that simultaneously meets the requirements for the temperature difference between parts during heat treatment and when adjacent parts are shading. This ensures that the heat treatment of both inner and outer layers of humanoid robot parts can be carried out effectively and uniformly, thereby improving the accuracy of heat treatment of humanoid robot parts. 2. By calculating the heat treatment set temperature, ambient detection temperature, equivalent diameter of the part, thermal diffusivity of the part, and allowable temperature difference of the part based on the single-part time model, the heat treatment time of a single part is obtained. Then, based on the single-part gap model, the density, specific heat capacity, thermal conductivity, allowable temperature difference of the part, and heat treatment time of the part are calculated to obtain the impact of heat treatment on the gap of the part. From the perspective that the heat of a single part needs to be fully transferred within a certain time, the impact of heat treatment on the gap of the part is determined, thereby improving the accuracy of the impact of heat treatment on the gap of the part. 3. By calculating the surface area of the parts, the radiation angle of the parts, and the initial gap between the parts based on the part shading model, the radiation shading ratio of adjacent parts is obtained. Then, the allowable temperature difference of the parts is corrected based on the radiation shading ratio of adjacent parts to obtain the part shading temperature difference under the initial gap. After comparing the part temperature difference threshold and the part shading temperature difference, the initial gap is updated to obtain the gap of the parts affected by shading. The gap of the parts affected by shading is determined from the perspective of the temperature difference of the parts affected by shading, thereby improving the accuracy of the gap of the parts affected by shading. Attached Figure Description
[0016] Figure 1This is a flowchart of a control method for heat treatment forming of a humanoid robot part according to an embodiment of this application.
[0017] Figure 2 In this embodiment of the application, a flowchart is generated to calculate the heat treatment parameters, part size parameters, and part thermal characteristic parameters based on a preset single-part heat treatment model, in order to generate a flowchart of the steps by which heat treatment affects the part clearance.
[0018] Figure 3 This is a flowchart of the steps in this application embodiment to calculate the part size parameters and part thermal characteristic parameters based on a preset part occlusion model in order to generate the occlusion affecting the part gap.
[0019] Figure 4 This is a flowchart of the steps in this application embodiment to correct the allowable temperature difference of parts based on the radiation shielding ratio of adjacent parts in order to generate the part shielding temperature difference.
[0020] Figure 5 This is a flowchart of the steps in this application to update the initial part gap based on the part shading temperature difference to generate the part gap affected by the shading.
[0021] Figure 6 This is a flowchart of the steps in this application embodiment for placing humanoid robot parts on a preset heating fixture according to the optimal heat treatment part gap. Detailed Implementation
[0022] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 6 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.
[0023] Reference Figure 1 This application discloses a control method for heat treatment forming of humanoid robot parts, including the following steps: Step S100: Collect the heat treatment parameters, part size parameters, and part thermal characteristic parameters of the humanoid robot parts.
[0024] Among them, humanoid robot parts refer to parts that need to be heat-treated in batches, such as joint bearings and flexible wheels. These parts are small in size but required in large quantities, so they need to be heat-treated in batches to reduce the cost of heat treatment.
[0025] Heat treatment parameters refer to the relevant parameters for heat treatment of humanoid robot parts, including the heat treatment set temperature and the environmental detection temperature. By determining the heat treatment parameters, data support is provided for subsequent analysis of the clearance required for the heat treatment of the parts.
[0026] The heat treatment set temperature refers to the set temperature value when heat treating humanoid robot parts. The specific value is determined by the material of the part and the process requirements of the part. For example, the set temperature for heat treatment of high carbon chromium bearing steel parts is 1113 Kelvin. This can be obtained by consulting the national standard document for the corresponding material. The heat treatment set temperature is a temperature boundary for the heat treatment of the part, which determines the time for the part to fully transfer heat and ensure the uniform hardness of the inner and outer layers of the part.
[0027] The ambient temperature refers to the temperature of the environment in which the vacuum furnace is located before heat treatment. Before heat treatment, the ambient temperature is obtained by taking multiple measurements in the environment of the vacuum furnace using a thermometer and calculating the average value of the measurements. The ambient temperature is another temperature boundary for the heat treatment of the parts, which determines the time for the heat to be fully transferred to the parts and ensures the uniformity of hardness between the inner and outer layers of the parts.
[0028] Part dimensional parameters refer to the dimensional parameters related to the heat treatment gap of humanoid robot parts, including the equivalent diameter and surface area of the parts. By determining the part dimensional parameters, data support is provided for subsequent analysis of the heat treatment time of the parts and the degree of occlusion between adjacent parts.
[0029] The equivalent diameter of a part refers to the spherical equivalent diameter of a humanoid robot part. If the part is a regular part, the maximum size of the part is directly measured and determined as the equivalent diameter. If the part is an irregular part, the actual volume of the part is determined by the part drawing or 3D model. The equivalent diameter is obtained by substituting the actual volume into the formula for the volume of a sphere. By determining the equivalent diameter, reference data is provided for determining the initial gap and heat treatment time, and a certain safety margin is left for the heating time.
[0030] The surface area of a part refers to the surface area of a humanoid robot part. It is obtained by directly measuring it after consulting the part manual or 3D modeling. By determining the surface area of a part, data support is provided for subsequent analysis of the degree of occlusion between adjacent parts.
[0031] The thermal characteristic parameters of a part refer to the thermal characteristic parameters of a humanoid robot part related to heat treatment, including part density, specific heat capacity, thermal conductivity, thermal diffusivity, allowable temperature difference, and radiation angle. By determining the thermal characteristic parameters of the part, data support is provided for subsequent analysis of the part's heat treatment time and the degree of shading by adjacent parts.
[0032] Part density refers to the density of humanoid robot parts, that is, the weight per unit volume. It is obtained by consulting the part material handbook and directly affects the heating rate of the parts.
[0033] The specific heat capacity of a part refers to the specific heat capacity of a humanoid robot part, that is, the amount of heat transferred per unit temperature change. It is obtained by consulting the part's material handbook and directly determines the part's heating rate.
[0034] The thermal conductivity of a component refers to the thermal conductivity of a humanoid robot component, that is, the ability of the component to conduct heat internally. It is obtained by consulting the component material handbook and directly determines the temperature difference between the inside and outside of the component and the rate of heat penetration.
[0035] The thermal diffusivity of a part refers to the rate at which heat dissipates from a humanoid robot part. It is obtained by calculating the quotient of the product of the part's thermal conductivity and density and its specific heat capacity. By determining the thermal diffusivity of a part, the shortest heat treatment time for the part is directly determined.
[0036] The allowable temperature difference of a part refers to the maximum allowable temperature difference between the core and surface of a humanoid robot part. It is determined by the heat treatment deformation and hardness uniformity of the part. Taking 8 Kelvin as an example, it is used as the threshold for judging the heat treatment uniformity of the part.
[0037] The radiation angle of a part refers to the angle at which a humanoid robot part is subjected to thermal radiation from a vacuum furnace, that is, the angle between the normal to the surface of the part and the line connecting the radiation. It is determined by the arrangement angle of the parts. Taking the matrix-style regular arrangement in the embodiment of this application as an example, the normal to the surface of the part and the line connecting the radiation coincide, and the angle is zero degrees, which provides data support for subsequent analysis of the degree of occlusion of adjacent parts.
[0038] Step S101: Calculate the heat treatment parameters, part size parameters, and part thermal characteristic parameters based on the preset single-part heat treatment model to generate the heat treatment effect on the part clearance.
[0039] Among them, the single-part heat treatment model refers to the model that calculates the minimum gap for the part to reach the set temperature during heat treatment. The single-part heat treatment model is constructed based on Fourier's transient thermal conduction law and the lumped parameter method, and includes a single-part time model and a single-part gap model.
[0040] The single-part time model is used to calculate the shortest time for the internal and external temperature difference of a part to reach the allowable temperature difference when the part is heat-treated in an unobstructed state. It is constructed based on the lumped parameter method, and the specific formula is as follows: .
[0041] In the formula, For the heat treatment time of parts, For the equivalent diameter of the part, For the thermal diffusivity of the parts, Set the temperature for heat treatment, For environmental temperature monitoring, Allowable temperature difference for the parts.
[0042] This formula is derived from the energy conservation differential equation using the lumped parameter method. Its core premise is that the internal thermal resistance of a component is much smaller than its surface radiative heat transfer resistance. First, the increase in heat per unit time is obtained by multiplying the differential terms of the component's density, volume, specific heat capacity, and current temperature. This increase in heat equals the heat absorbed by the component's surface radiatively per unit time, i.e., the product of the vacuum radiative heat transfer coefficient, surface area, and the difference between the set temperature and the current temperature. Equalizing these two parts yields the differential equation. Integrating this equation with the initial and current component temperatures equal to the ambient temperature, we obtain the transient temperature response formula. For a spherical equivalent component, the ratio of volume to the marked value is one-sixth of the diameter. This simplifies the transient temperature response formula to a form centered on the component's thermal diffusivity. The time for transient heat conduction of the sphere is given by the logarithmic term, which is the ratio of excess temperature. The initial excess temperature is the difference between the set temperature and the ambient temperature. When the temperature difference of the part reaches the allowable temperature, the remaining excess temperature is the allowable temperature. The time required to reach the set temperature can be calculated by the logarithmic term, and the formula is finally derived.
[0043] The single-part gap model refers to the minimum gap used to calculate the amount of heat that can be fully conducted to the interior of a part during the heat treatment time. The specific formula is as follows: .
[0044] In the formula, To prevent heat treatment from affecting the clearance of parts, For the thermal conductivity of parts, For the specific heat capacity of the parts, This refers to the density of the component.
[0045] This formula is based on Fourier's law of thermal conductivity and the principle of energy conservation for continuous heat flow. Fourier's law of thermal conductivity states that the amount of heat transferred through a unit area gap per unit time is directly proportional to the thermal conductivity and inversely proportional to the gap. That is, the heat flux density is equal to the negative of the product of thermal conductivity and the quotient of the allowable temperature difference and the gap. At the same time, the heat flux density per unit area required for a part to reach the allowable temperature difference during the heat treatment time needs to meet the heat demand of the part to rise. That is, the heat flux density is equal to the quotient of the product of density, specific heat capacity, volume and allowable temperature difference and the product of surface area and heat treatment time. After converting the quotient of volume and surface area to one-sixth of the diameter, the two heat flux density formulas are combined to obtain this formula. It reflects that only when the gap is larger than the calculated gap can the heat flux density transferred through the gap be guaranteed to allow the part to reach the allowable temperature difference during the heat treatment time.
[0046] The impact of heat treatment on part clearance refers to the minimum clearance required to ensure that the part reaches the allowable temperature difference after heat treatment. This clearance is calculated by the processing terminal based on a single-part heat treatment model, taking into account heat treatment parameters, part dimensional parameters, and part thermal characteristic parameters. Specific methods are detailed in [reference needed]. Figure 2 The steps.
[0047] Step S102: Calculate the part size parameters and part thermal characteristic parameters based on the preset part occlusion model to generate the occlusion effect on the part gap.
[0048] Among them, the part occlusion model refers to the model that calculates the degree of occlusion between adjacent parts, and the specific expression is: .
[0049] In the formula, For the radiation shielding ratio of adjacent parts, For parts Surface area of parts For parts Surface area of parts For parts Radiation angle of the parts For parts Radiation angle of the parts This represents the initial part clearance.
[0050] This formula is based on Lambert's law and angle coefficients in radiative heat transfer. Lambert's law states that the directional radiation intensity of a diffuse surface is independent of direction, and the radiant energy emitted per unit area of a surface follows a cosine law in different spatial directions, that is, it is proportional to the cosine of the angle between the surface and the radiation direction. The angle coefficient is defined as the proportion of the total diffuse radiant energy emitted by one surface that is directly projected onto another surface; it is a dimensionless parameter that is only related to geometric features. This formula calculates the angle coefficients between all infinitesimal surfaces of two parts, and then integrates over the two complete surfaces to obtain the total angle coefficient, which represents the degree of radiation obstruction between adjacent parts.
[0051] The shading effect on component clearance refers to the minimum clearance between adjacent components when the temperature difference between components reaches the allowable temperature difference. This clearance is calculated by the processing terminal based on the component shading model, taking into account the component's dimensional and thermal characteristics. For specific methods, please refer to [link / reference needed]. Figure 3 The steps.
[0052] Step S103: Compare the clearance of parts affected by heat treatment and the clearance of parts affected by shielding to determine the optimal clearance of heat-treated parts.
[0053] The optimal heat treatment part gap refers to the part gap that satisfies sufficient heat transfer and no excessive radiation shielding. The processing terminal selects the maximum value between the part gap affected by heat treatment and the part gap affected by shielding as the optimal heat treatment part gap. This ensures that the core-to-surface temperature difference of the part meets the requirements after heat treatment, meets the requirements for part hardness and deformation, minimizes the part gap, maximizes the number of heat treatments, and thus reduces the heat treatment cost.
[0054] Step S104: Place the humanoid robot parts on the preset heating fixture according to the optimal heat treatment part gap, and transport the heating fixture to the preset vacuum furnace for heat treatment.
[0055] In this process, after determining the optimal gap between heat-treated parts, the processing terminal controls the heating fixture to adjust accordingly and prompts personnel to place the humanoid robot parts onto the heating fixture. This ensures that the humanoid robot parts are arranged on the heating fixture with a gap that allows for sufficient heat transfer and minimizes radiation shielding, while maximizing the number of parts that can be heat-treated and reducing heat treatment costs. Specific methods are described in [reference needed]. Figure 6 After the filling is completed, the control cart will transport the heating fixture into the vacuum furnace, where heat treatment will be carried out according to the set process steps.
[0056] Heating fixtures are fixtures used to load parts for batch heat treatment. Heating fixtures can be set up in multiple layers, and the spacing between different layers can be adjusted by a lead screw structure. On the same layer, there are several densely arranged ejector pins. The actuator lifts up different ejector pins to form positioning grooves. The parts are placed in the positioning grooves to achieve gap control.
[0057] A vacuum furnace is a device for heat-treating parts. It is used to heat-treat parts in a vacuum environment. By removing the gas inside the vacuum furnace, an impurity-free environment is created, so that the surface of the heat-treated parts remains bright.
[0058] Reference Figure 2 The single-part heat treatment model includes a single-part time model and a single-part gap model. Based on the preset single-part heat treatment model, heat treatment parameters, part size parameters, and part thermal property parameters are calculated to generate the steps that affect the part gap during heat treatment. Step S200: Determine the heat treatment set temperature and the ambient detection temperature based on the heat treatment parameters.
[0059] In this step, the heat treatment set temperature and the environmental detection temperature are consistent with the heat treatment set temperature and the environmental detection temperature disclosed in step S100, and are obtained by the processing terminal from the dataset corresponding to the heat treatment parameters according to the usage requirements.
[0060] Step S201: Determine the equivalent diameter of the part based on the part's dimensional parameters.
[0061] In this step, the equivalent diameter of the part is consistent with the equivalent diameter of the part disclosed in step S100, and is obtained by the processing terminal from the dataset corresponding to the part size parameters according to the usage requirements.
[0062] Step S202: Determine the part density, specific heat capacity, thermal conductivity, thermal diffusivity, and allowable temperature difference based on the part's thermal characteristic parameters.
[0063] In this step, the part density, specific heat capacity, thermal conductivity, thermal diffusivity, and allowable temperature difference are consistent with those disclosed in step S100. They are obtained by the processing terminal from the dataset corresponding to the part's thermal characteristic parameters according to the usage requirements.
[0064] Step S203: Calculate the heat treatment set temperature, ambient detection temperature, equivalent diameter of the part, thermal diffusivity of the part, and allowable temperature difference of the part based on the single part time model to generate the heat treatment time of the part.
[0065] Among them, the heat treatment time of a part refers to the shortest time required for the temperature difference of a single part to reach the allowable temperature difference in an unobstructed state. It is calculated by the processing terminal by substituting the heat treatment set temperature, the ambient detection temperature, the equivalent diameter of the part, the thermal diffusivity of the part, and the allowable temperature difference of the part into the single part time model. By determining the heat treatment time of the part, it is ensured that the part is completely austenitized within this time, thereby improving the uniformity of the heat treatment of the part.
[0066] Step S204: Calculate the part density, specific heat capacity, thermal conductivity, allowable temperature difference, and heat treatment time based on the single part gap model to generate the impact of heat treatment on the part gap.
[0067] In this step, the impact of heat treatment on the part gap is consistent with that in step S101. The gap is calculated by the processing terminal by substituting the part density, specific heat capacity, thermal conductivity, allowable temperature difference, and heat treatment time into the single part gap model.
[0068] Reference Figure 3 The steps for calculating the part size parameters and thermal characteristic parameters based on a preset part occlusion model to generate the impact of occlusion on part gaps include: Step S300: Determine the equivalent diameter and surface area of the part based on the part's dimensional parameters.
[0069] In this step, the equivalent diameter and surface area of the part are consistent with those disclosed in step S100, and are obtained by the processing terminal from the dataset corresponding to the part size parameters according to the usage requirements.
[0070] Step S301: Determine the allowable temperature difference and radiation angle of the part based on the part's thermal characteristic parameters.
[0071] In this step, the allowable temperature difference and radiation angle of the part are consistent with those disclosed in step S100, and are obtained by the processing terminal from the dataset corresponding to the thermal characteristic parameters of the part according to the usage requirements.
[0072] Step S302: Determine the initial part clearance based on the equivalent diameter of the part.
[0073] The initial part gap refers to the initial gap for calculating the radiation shielding degree of the part. It is obtained by the processing terminal calculating one-tenth of the equivalent diameter of the part. The radiation shielding degree of the part is calculated from the smaller gap to ensure that the final calculated gap is the minimum gap that will not affect the temperature difference due to the radiation shielding degree of the part.
[0074] Step S303: Calculate the surface area of the parts, the radiation angle of the parts, and the initial gap between the parts based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts.
[0075] Among them, the radiation shielding ratio of adjacent parts refers to the shielding ratio of radiation by adjacent parts. It is obtained by the processing terminal after substituting the surface area of the parts, the radiation angle of the parts and the initial gap between the parts into the part shielding model for calculation. By determining the radiation shielding ratio of adjacent parts, we can analyze whether the temperature difference of the parts meets the requirements under the initial gap.
[0076] Step S304: Correct the allowable temperature difference of the parts based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference.
[0077] Among them, the component shading temperature difference refers to the temperature difference of the components after heat treatment, given the initial component gap. It is obtained by the processing terminal after correcting for the allowable temperature difference based on the radiation shading ratio of adjacent components. For specific methods, please refer to [reference needed]. Figure 4 The steps involve determining the temperature difference caused by the shielding of the parts, providing data support for subsequent determination of whether the initial gap between the parts can meet the temperature difference requirements.
[0078] Step S305: Update the initial part gap based on the part shading temperature difference to generate the part gap affected by shading.
[0079] In this step, the shading-affected part gap is consistent with the shading-affected part gap in step S102. It is obtained by updating the initial part gap based on the part shading temperature difference by the processing terminal. The specific method is as follows: Figure 5 The steps.
[0080] Reference Figure 4The steps for correcting the allowable temperature difference of parts based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference include: Step S400: Sum the radiation blocking ratios of adjacent parts to generate the total radiation blocking ratio of the parts.
[0081] The total radiation shielding ratio of a component refers to the degree of shielding of radiation by all adjacent components. It is obtained by the processing terminal by calculating the sum of the radiation shielding ratios of adjacent components. The larger the total radiation shielding ratio of a component, the more radiation area the component receives and the worse the heat transfer.
[0082] Step S401: Generate the effective radiation ratio based on the total radiation shielding ratio of the part.
[0083] The effective radiation ratio refers to the effective area ratio of the part surface that receives radiation. It is obtained by the difference between the processing terminal's calculation 1 and the part's total radiation shielding ratio. By determining the effective radiation ratio, the size of the radiation area received by the part is reflected.
[0084] Step S402: Calculate the quotient of the allowable temperature difference of the part and the effective radiation ratio to generate the part's shielding temperature difference.
[0085] In this step, the component shading temperature difference is the same as that in step S304. It is obtained by the processing terminal by calculating the quotient of the allowable temperature difference of the component and the effective radiation ratio. In the unshaded state, the effective radiation ratio is 1, so the component shading temperature difference is the allowable temperature difference of the component. In the shaded state, the effective radiation ratio decreases, and the component shading temperature difference increases proportionally.
[0086] Reference Figure 5 The steps for updating the initial part gap based on the temperature difference caused by part shading to generate the part gap affected by shading include: Step S500: Determine whether the temperature difference caused by the component shielding meets the preset temperature difference threshold requirement for the component.
[0087] Among them, the part temperature difference threshold refers to the temperature difference threshold that determines whether the internal and external temperature difference of the part meets the process requirements. The part temperature difference threshold is 1.1 to 1.3 times the allowable temperature difference of the part. The requirement for the part temperature difference threshold is that it should not be greater than the part temperature difference threshold.
[0088] By processing the terminal to determine whether the temperature difference between the parts and the shielding is not greater than the temperature difference threshold of the parts, it is determined whether the parts are arranged with the initial part gap and then subjected to heat treatment, and whether the temperature difference between the inside and outside of the parts after heat treatment meets the requirements of hardness and deformation.
[0089] Step S501: If it does not meet the requirements, the initial part gap is updated according to the preset iteration gap step size, and the surface area of the part, the radiation angle of the part and the updated initial part gap are calculated based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts.
[0090] If the processing terminal determines that the temperature difference between the parts being shaded is greater than the temperature difference threshold of the parts, then the parts are arranged on the surface with the initial part gap and then heat-treated. The temperature difference between the inside and outside of the parts is large, and the hardness and deformation of the parts are affected, which does not meet the usage requirements. Therefore, the initial part gap is updated according to the iteration gap step size, and the surface area of the parts, the radiation angle of the parts and the updated initial part gap are calculated based on the part shading model to obtain the radiation shading ratio of adjacent parts, and then the iteration loop is performed.
[0091] The iteration gap step size refers to the adjustment step size of the gap, taking 0.1 mm as an example.
[0092] Step S502: If the condition is met, the initial part gap is determined as the part gap affected by the occlusion.
[0093] If the processing terminal determines that the temperature difference caused by the shading of the parts is not greater than the temperature difference threshold of the parts, then the parts are arranged on the surface with the initial part gap and then heat-treated. The temperature difference between the inside and outside of the parts is small, so the initial part gap is determined as the part gap affected by the shading.
[0094] Reference Figure 6 The steps of placing the humanoid robot parts onto a pre-set heating fixture according to the optimal heat treatment part clearance include: Step S600: Determine the equivalent diameter of the part based on the part's dimensional parameters.
[0095] In this step, the equivalent diameter of the part is consistent with the equivalent diameter of the part disclosed in step S100, and is obtained by the processing terminal from the dataset corresponding to the part size parameters according to the usage requirements.
[0096] Step S601: Calculate the sum of the optimal heat-treated part clearance and the equivalent diameter of the part to generate the part placement center distance and tooling layer spacing.
[0097] Among them, the center distance of the part placement refers to the distance between the centers of the parts when the parts are placed on the heating fixture. It is obtained by the sum of the optimal heat treatment part gap and the equivalent diameter of the parts calculated by the processing terminal.
[0098] The tooling layer spacing refers to the distance between adjacent layers on the heating tooling, which is obtained by calculating the optimal heat treatment part gap and the equivalent diameter of the part from the processing terminal.
[0099] Step S602: Adjust the spacing on the heating fixture according to the spacing between the fixture layers.
[0100] In this process, after determining the spacing between tooling layers, the processing terminal controls the drive mechanism to drive the lead screw mechanism to adjust the spacing between different layers of the heating tooling according to the tooling layer spacing. After the adjustment is completed, the positions of different layers are locked to ensure that the parts can meet the standards after heat treatment under the degree of vertical obstruction.
[0101] Step S603: Control the positioning pins on the heating fixture to rise according to the center distance of the part placement to form a positioning groove for the part placement, and prompt the humanoid robot part to be placed in the positioning groove.
[0102] After determining the center distance of the part placement, the processing terminal finds the corresponding ejector pin number in the correspondence between the spacing and the ejector pin number according to the center distance of the part placement. Then, it controls the actuator to lift the ejector pin corresponding to the ejector pin number at the set height, so that a positioning groove for the part is formed between the ejector pins. This prompts the personnel to place the humanoid robot part in the positioning groove, ensuring the accuracy of the spacing between the humanoid robot parts.
[0103] Based on the same inventive concept, embodiments of this application provide a control system for heat treatment forming of humanoid robot parts, including: The data acquisition module is used to acquire heat treatment parameters, part size parameters, and part thermal property parameters. A memory used to store a program for a control method of heat treatment forming of humanoid robot parts; The processor and memory can load and execute programs to implement a control method for the heat treatment forming of humanoid robot parts.
[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0105] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a control method for heat treatment forming of humanoid robot parts.
[0106] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.
[0107] Based on the same inventive concept, this application provides an intelligent terminal, including a memory and a processor. The memory stores a computer program that can be loaded and executed by the processor to control a method for heat treatment forming of humanoid robot parts.
[0108] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0109] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.
Claims
1. A control method for heat treatment forming of humanoid robot parts, characterized in that, include: Collect heat treatment parameters, part size parameters, and part thermal property parameters of humanoid robot parts; Based on a pre-defined single-part heat treatment model, heat treatment parameters, part size parameters, and part thermal property parameters are calculated to generate the effect of heat treatment on part clearance. The part size parameters and thermal characteristic parameters are calculated based on the preset part occlusion model to generate the occlusion effect on the part gap; Compare the clearances of parts affected by heat treatment and the clearances of parts affected by shielding to determine the optimal clearances for heat-treated parts. The humanoid robot parts are placed on a pre-set heating fixture according to the optimal heat treatment part gap, and the heating fixture is then transported to a pre-set vacuum furnace for heat treatment.
2. The control method for heat treatment forming of humanoid robot parts according to claim 1, characterized in that, The single-part heat treatment model includes a single-part time model and a single-part gap model. Based on the preset single-part heat treatment model, heat treatment parameters, part size parameters, and part thermal characteristic parameters are calculated to generate the steps that affect the part gap during heat treatment. Determine the heat treatment set temperature and the environmental monitoring temperature based on the heat treatment parameters; Determine the equivalent diameter of the part based on its dimensional parameters; The density, specific heat capacity, thermal conductivity, thermal diffusivity, and allowable temperature difference of the part are determined based on its thermal characteristic parameters. The heat treatment time of a part is generated by calculating the heat treatment set temperature, the ambient detection temperature, the equivalent diameter of the part, the thermal diffusivity of the part, and the allowable temperature difference of the part based on the single-part time model. Based on a single-part gap model, the density, specific heat capacity, thermal conductivity, allowable temperature difference, and heat treatment time of the parts are calculated to generate the effect of heat treatment on the gap of the parts.
3. The control method for heat treatment forming of humanoid robot parts according to claim 2, characterized in that, The expression for the single-part time model is: ， In the formula, For the heat treatment time of parts, For the equivalent diameter of the part, For the thermal diffusivity of the parts, Set the temperature for heat treatment, For environmental temperature monitoring, Allowable temperature difference for parts; The expression for the single-part gap model is: ， In the formula, To prevent heat treatment from affecting the clearance of parts, For the thermal conductivity of parts, For the specific heat capacity of the parts, This refers to the density of the component.
4. The control method for heat treatment forming of humanoid robot parts according to claim 1, characterized in that, The steps for calculating the part size parameters and thermal property parameters based on the preset part occlusion model to generate the impact of occlusion on part gaps include: Determine the equivalent diameter and surface area of the part based on its dimensional parameters. Determine the allowable temperature difference and radiation angle of the part based on its thermal characteristic parameters. Determine the initial part clearance based on the equivalent diameter of the part; The surface area of the parts, the radiation angle of the parts, and the initial gap between the parts are calculated based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts. The allowable temperature difference of the parts is corrected based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference. The initial part gap is updated based on the temperature difference caused by part shading to generate the part gap affected by shading.
5. The control method for heat treatment forming of humanoid robot parts according to claim 4, characterized in that, The expression for the part occlusion model is: ， In the formula, For the radiation shielding ratio of adjacent parts, For parts Surface area of parts For parts Surface area of parts For parts Radiation angle of the parts For parts Radiation angle of the parts This represents the initial part clearance.
6. The control method for heat treatment forming of humanoid robot parts according to claim 4, characterized in that, The steps for correcting the allowable temperature difference of parts based on the radiation shielding ratio of adjacent parts to generate the part shielding temperature difference include: The radiation blocking ratios of adjacent parts are summed to generate the total radiation blocking ratio of the parts. The effective radiation ratio is generated based on the total radiation shielding ratio of the parts. Calculate the quotient of the allowable temperature difference of the part and the effective radiation ratio to generate the part's shielding temperature difference.
7. The control method for heat treatment forming of humanoid robot parts according to claim 4, characterized in that, The steps for updating the initial part gap based on the temperature difference caused by part shading to generate the part gap due to shading include: Determine whether the temperature difference caused by the shielding of the component meets the preset temperature difference threshold requirement for the component; If it does not meet the requirements, the initial part gap is updated according to the preset iteration gap step size, and the part surface area, part radiation angle and updated initial part gap are calculated based on the part occlusion model to generate the radiation occlusion ratio of adjacent parts. If the conditions are met, the initial part gap will be determined as the gap between parts affected by occlusion.
8. The control method for heat treatment forming of humanoid robot parts according to claim 1, characterized in that, The steps of placing the humanoid robot parts onto the preset heating fixture according to the optimal heat treatment part clearance include: Determine the equivalent diameter of the part based on its dimensional parameters; Calculate the sum of the optimal heat-treated part clearance and the equivalent diameter of the part to generate the part placement center distance and tooling layer spacing; The spacing on the heating fixture is adjusted according to the spacing between the fixture layers. The positioning pins on the heating fixture are raised according to the center distance of the part placement to form a positioning groove for the part, and prompt the humanoid robot part to be placed in the positioning groove.
9. A control system for heat treatment forming of humanoid robot parts, characterized in that, include: The data acquisition module is used to acquire heat treatment parameters, part size parameters, and part thermal property parameters. A memory for storing a program for a control method of heat treatment forming of a humanoid robot part as described in any one of claims 1 to 8; The processor and the program in the memory can be loaded and executed by the processor to implement the control method for heat treatment forming of humanoid robot parts as described in any one of claims 1 to 8.