CN116127655A - Method and device for manufacturing buffer assembly, storage medium and electronic equipment - Google Patents
Method and device for manufacturing buffer assembly, storage medium and electronic equipment Download PDFInfo
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- CN116127655A CN116127655A CN202310407367.4A CN202310407367A CN116127655A CN 116127655 A CN116127655 A CN 116127655A CN 202310407367 A CN202310407367 A CN 202310407367A CN 116127655 A CN116127655 A CN 116127655A
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Abstract
The present specification discloses a method, an apparatus, a storage medium and an electronic device for manufacturing a buffer component, where the buffer component includes a lattice formed by a plurality of cells, a material and a cell size for manufacturing the lattice are initialized, a pre-set load, the material and the cell size are input into a pre-trained cell orientation determination model, a cell orientation required to be adopted by the buffer component is determined, whether an equivalent stress field generated by the pre-set load is uniform in the buffer component manufactured under the condition is determined, if yes, the material is used to manufacture the buffer component with the cell size and the cell orientation, and if no, the cell orientation is adjusted until the equivalent stress field is uniform. The method uses the preset load as a limiting condition to determine the material, cell orientation and cell size required for forming the buffer component, so that the buffer component is used for reducing the possibility of damaging fragile parts of the humanoid robot.
Description
Technical Field
The present disclosure relates to the field of structural design, and in particular, to a method and apparatus for manufacturing a buffer assembly, a storage medium, and an electronic device.
Background
Along with the development of intelligent robots, the intelligent robots are applied to various fields, such as floor sweeping robots, intelligent sorting robots and the like, and the humanoid robots can only walk simply until various high-difficulty actions can be completed. However, when the humanoid robot is subjected to external impact, if the humanoid robot is subjected to a strong external force, the fragile parts may be damaged by electronic control components, communication lines, a speed reduction system of a driving motor and the like, and the problem of impact of connecting threads between structural members or connection failure is solved, so that a buffer part is required to be installed for the humanoid robot.
Accordingly, the present specification provides a method for manufacturing a cushion module, which reduces the possibility of damage to fragile parts and external impacts applied to a humanoid robot.
Disclosure of Invention
The present disclosure provides a method and apparatus for manufacturing a buffer assembly, a storage medium, and an electronic device, so as to partially solve the above-mentioned problems in the prior art.
The technical scheme adopted in the specification is as follows:
the present specification provides a method for manufacturing a buffer assembly, the buffer assembly including a lattice of a plurality of cells, including:
Initializing a material and a cell size for manufacturing the lattice;
inputting a preset load, the material and the cell size into a pre-trained cell orientation determination model to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size by the material under the condition of the preset load;
judging whether an equivalent stress field of a buffer component formed by cells which are manufactured by the material and are of the cell orientation and the cell size is uniform under the condition of the preset load;
if so, manufacturing the buffer component of the cell size and the cell orientation by using the material;
if not, the cell orientation is adjusted until the equivalent stress field is uniform.
Optionally, determining whether the equivalent stress field of the buffer component formed by the cells made of the material into the cell orientation and the cell size is uniform under the condition of the preset load specifically includes:
determining an equivalent stress field of a buffer assembly formed by cells manufactured from the material into the cell orientation and the cell size under the condition of the preset load;
determining the maximum stress and the minimum stress of the equivalent stress field;
Determining a difference between the maximum stress and the minimum stress;
judging whether the difference value is smaller than a preset first threshold value or not;
if yes, the equivalent stress field is uniform;
if not, the equivalent stress field is not uniform.
Optionally, determining the maximum stress and the minimum stress of the equivalent stress field specifically includes:
determining stress of each stress point in the equivalent stress field;
removing abnormal stress points from the stress points according to the stress of the stress points;
and determining the maximum stress and the minimum stress of the equivalent stress field from the stress of each stress point after the abnormal stress point is removed.
Optionally, determining the maximum stress and the minimum stress of the equivalent stress field specifically includes:
determining a preset number of maximum stresses and a preset number of minimum stresses from the equivalent stress field;
determining the difference between the maximum stress and the minimum stress specifically comprises:
determining a first average value of the preset number of maximum stresses and a second average value of the preset number of minimum stresses to determine an average value difference value of the first average value and the second average value;
judging whether the difference value is smaller than a preset first threshold value or not specifically comprises the following steps:
And judging whether the average value difference is smaller than a preset first threshold value.
Optionally, before adjusting the cell orientation, the method further comprises:
and determining that the number of times of currently adjusting the cell orientation does not reach a preset second threshold value.
Optionally, the method further comprises:
when the iteration number reaches a threshold value, adjusting the structural information of the lattice, wherein the structural information comprises materials for manufacturing the lattice and cell sizes;
re-determining the cell orientation according to the preset load and the adjusted structure information;
and judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the condition of the preset load.
Optionally, training the cell orientation determination model specifically includes:
initializing materials and cell sizes used to make the sample lattice;
acquiring the material and the label cell orientation of the cell size;
inputting a preset load, the material and the cell size into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model, and taking the cell orientation as an output cell orientation;
and training the cell orientation determination model according to the label cell orientation and the output cell orientation.
Optionally, the cushioning assembly is applied to a humanoid robot foot;
the preset load is the load of the humanoid robot in different gait.
Optionally, the cell comprises a polygon surrounded by a plurality of rods made of the material, and the ratio of the rod diameter to the side length of the cell is 1/5-1/3.
Optionally, the buffer component further includes a continuous layer, the continuous layer is disposed on the upper surface and the lower surface of the lattice, and the thickness of the continuous layer is greater than a preset thickness threshold.
The present specification provides a manufacturing apparatus of a buffer assembly including a lattice constituted by a plurality of cells, including:
an initialization module for initializing the material used for manufacturing the lattice and the cell size;
the cell orientation determining module is used for inputting a preset load, the material and the cell size into a pre-trained cell orientation determining model so as to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size by the material under the condition of the preset load;
the first judging module is used for judging whether the equivalent stress field of the buffer component formed by cells which are manufactured by the material and are of the cell orientation and the cell size is uniform under the condition of the preset load;
A first result output module for, if so, fabricating the buffer element of the cell size and the cell orientation using the material;
and the second result output module is used for adjusting the cell orientation if not, until the equivalent stress field is uniform.
Optionally, the first judging module is specifically configured to determine an equivalent stress field of the buffer component formed by cells made of the material and having the cell orientation and the cell size under the condition of the preset load; determining the maximum stress and the minimum stress of the equivalent stress field; determining a difference between the maximum stress and the minimum stress; judging whether the difference value is smaller than a preset first threshold value or not; if yes, the equivalent stress field is uniform; if not, the equivalent stress field is not uniform.
Optionally, the first judging module is specifically configured to determine each stress point in the equivalent stress field and stress of each stress point; removing abnormal stress points from the stress points according to the stress of the stress points; and determining the maximum stress and the minimum stress of the equivalent stress field from the stress of each stress point after the abnormal stress point is removed.
Optionally, the first judging module is specifically configured to determine a preset number of maximum stresses and a preset number of minimum stresses from the equivalent stress field; determining a first average value of the preset number of maximum stresses and a second average value of the preset number of minimum stresses to determine an average value difference value of the first average value and the second average value; and judging whether the average value difference is smaller than a preset first threshold value.
Optionally, before adjusting the cell orientation, the apparatus further comprises:
and the second judging module is used for determining that the number of times of currently adjusting the cell orientation does not reach a preset second threshold value.
Optionally, the apparatus further comprises:
the third judging module is used for adjusting the structural information of the dot matrix when the iteration number reaches a threshold value, wherein the structural information comprises materials for manufacturing the dot matrix and cell sizes; re-determining the cell orientation according to the preset load and the adjusted structure information; and judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the condition of the preset load.
Optionally, the apparatus further comprises:
a model training module for initializing materials and cell sizes used for manufacturing the sample lattice; acquiring the material and the label cell orientation of the cell size; inputting a preset load, the material and the cell size into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model, and taking the cell orientation as an output cell orientation; and training the cell orientation determination model according to the label cell orientation and the output cell orientation.
Optionally, the cushioning assembly is applied to a humanoid robot foot; the preset load is the load of the humanoid robot in different gait.
Optionally, the cell comprises a polygon surrounded by a plurality of rods made of the material, and the ratio of the rod diameter to the side length of the cell is 1/5-1/3.
Optionally, the buffer component further includes a continuous layer, the continuous layer is disposed on the upper surface and the lower surface of the lattice, and the thickness of the continuous layer is greater than a preset thickness threshold.
The present specification provides a computer readable storage medium storing a computer program which when executed by a processor implements the method of manufacturing a cushioning assembly described above.
The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method of manufacturing a buffer assembly as described above when executing the program.
The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:
the method for manufacturing the buffer component provided by the specification comprises the steps of inputting initialized materials, preset loads and cell sizes into a cell orientation determining model so as to determine required cell orientations, judging whether an equivalent stress field of the buffer component formed by cells manufactured by the materials into the cell orientations and the cell sizes is uniform or not under the condition of the preset loads, manufacturing the buffer component with the cell sizes and the cell orientations by using the materials if the equivalent stress field is uniform, and adjusting the cell orientations if the equivalent stress field is not uniform until the equivalent stress field is uniform.
As can be seen from the above method, the method uses the preset load as a limiting condition, and selects the material and the cell size to obtain the required cell orientation, and uses the material to manufacture the buffer component with the cell size and the cell orientation, and the buffer component protects the bionic robot, so as to reduce the external impact to the bionic robot and the possibility of damage to fragile parts, and the method can improve the efficiency of manufacturing the buffer component.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:
FIG. 1 is a flow chart of a method of manufacturing a cushioning assembly provided herein;
FIG. 2 is a schematic diagram of a cell provided in the present specification;
FIG. 3 is a schematic view of a structure of a manufacturing apparatus for a cushioning assembly provided herein;
fig. 4 is a schematic structural diagram of an electronic device corresponding to fig. 1 provided in the present specification.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for manufacturing a cushioning component provided in the present specification, which includes the following steps:
s100: the materials and cell sizes used to make the lattice are initialized.
In one or more embodiments of the present disclosure, a cushioning material may be applied to various parts of the humanoid robot for protecting the humanoid robot. The present specification describes an example of application of the buffer assembly to a humanoid robot foot. The execution body of the present specification may be a server, or may be another electronic device having a computing function. For convenience of explanation, the method for manufacturing the damper assembly provided in the present specification will be explained below with the server alone as the main body of execution.
Fig. 2 is a schematic diagram of a cell provided in the present specification, where the buffer component includes a lattice formed by a plurality of cells shown in fig. 2, the cells include a polygon surrounded by a plurality of rods made of materials, and a ratio of a rod diameter to a rod length of the cell is 1/5-1/3.
Factors affecting the finished cushioning component mainly include the material from which the cushioning component is made, the cell size and cell orientation of the material, and in order to create a cushioning component suitable for use in the foot of the humanoid robot, the server first designs the initial configuration of the cushioning component, such as the shape of the cushioning component. The material and cell size used to make the lattice are then initialized, i.e., the material, cell size and cell shape of the material used to make the lattice are randomly selected. Because the weight of the humanoid robot is large, the buffer component can protect the humanoid robot, and the material for manufacturing the buffer component is generally a high polymer material with large elastic modulus. If the elastic modulus of the material is small, the buffer assembly made of the material is easy to deform, and may not play a role in protecting the humanoid robot.
S102: inputting a preset load, the material and the cell size into a pre-trained cell orientation determination model to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size from the material under the preset load.
Because the maximum load to be born by the buffer materials applied to different parts of the humanoid robot may be different, when the buffer assembly is applied to the feet of the humanoid robot, the server can take the load of the humanoid robot in different gait as a preset load in order to better protect the humanoid robot. The preset load comprises forward pressure and shearing force, the preset load can be decomposed into vertical force and horizontal force, the vertical force can be uniform and unchanged, the vertical force can also be changed along with the change of the horizontal position, and the direction and the magnitude of the shearing force along with the change of the load acting position can be changed. Gait may include heel strike, toe standing, etc., which is not limiting in this specification. For example, the predetermined load may be a load when the humanoid robot is performing a cargo transferring task and the humanoid robot is transferring a maximum bearable weight of cargo, and the humanoid robot gait is a heel strike.
In one or more embodiments of the present disclosure, the server may determine the cell orientation to be used when the cell size is made from the material under a predetermined load. The pre-load, the material and the cell size are input into a pre-trained cell orientation determining model to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size by the material under the condition of the pre-load, wherein the cell orientation comprises a gradient increment method, an indexing value from 90 degrees to 0 degrees of orientation with a horizontal plane is set, and of course, the indexing value range can be determined by other methods as the cell orientation range, which is not limited in the specification.
S104: judging whether the equivalent stress field of the buffer component formed by the cells manufactured by the material into the cell orientation and the cell size is uniform under the condition of the preset load, if so, executing the step S106, otherwise, executing the step S108.
Specifically, the server determines the equivalent stress field of the buffer component formed by the cells manufactured by the material into the cell orientation and the cell size under the condition of preset load, then determines each stress point in the equivalent stress field and the stress of each stress point, and eliminates the abnormal stress point from each stress point according to the stress of each stress point, wherein the abnormal stress point can comprise a stress infinite point, a stress infinite point and the like. And then, determining the maximum stress and the minimum stress of the effect force field from the stress of each stress point after the abnormal stress point is removed. Selecting a preset number of maximum stresses and a preset number of minimum stresses from the stresses of the stress points after the abnormal stress points are eliminated, for example, selecting the first ten stresses and the last ten stresses when the stress of the stress points after the abnormal stress points are eliminated is ordered from large to small when the preset number is 10.
And determining the difference between the maximum stress and the minimum stress, namely determining a first average value of the preset number of the maximum stresses and a second average value of the preset number of the minimum stresses, so as to determine the average value difference between the first average value and the second average value. And finally, judging whether the difference value is smaller than a preset first threshold value, namely judging whether the average value difference value is smaller than the preset first threshold value.
S106: the equivalent stress field is uniform, and the buffer component with the cell size and the cell orientation is manufactured by using the material.
In addition to using the material to fabricate the lattice of cell dimensions and cell orientations, the buffer elements described above may be fabricated by providing continuous layers of predetermined thickness thresholds on the upper and lower surfaces of the lattice. Since the cell size is typically small, for ease of manufacturing the buffer assembly, no fillets are provided for the intersection lines of adjacent bars of grid layer cells in the lattice, so that the buffer assembly is manufactured using 3D (Three-Dimensional) printing.
S108: and (4) adjusting the cell orientation by the uneven equivalent stress field, and returning to the step S104.
That is, it is determined whether the equivalent stress field of the buffer element formed by the cells manufactured from the material with the adjusted cell orientation and the cell size is uniform under the condition of the preset load, and if not, the cell orientation is continuously adjusted until the equivalent stress field is uniform.
Based on the method for manufacturing the buffer component shown in fig. 1, the method takes the preset load as a limiting condition, selects the material and the cell size to obtain the required cell orientation, manufactures the buffer component with the cell size and the cell orientation by using the material, protects the bionic robot by the buffer component, reduces the external impact to the bionic robot and the possibility of damage to fragile parts, and can improve the efficiency of manufacturing the buffer component by using the method.
For step S104, before adjusting the cell orientation, the server may further determine whether the number of times of currently adjusting the cell orientation reaches a preset second threshold, if not, adjust the cell orientation, if so, adjust structural information of the lattice, where the structural information includes materials for manufacturing the lattice and cell sizes, that is, adjust materials and/or cell sizes, and, of course, adjust cell shapes. Then, the cell orientation is redetermined according to the preset load and the adjusted structural information. And then, judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the preset load condition.
In addition, the present disclosure also provides a method for training the cell orientation determination model, where the server initializes the material and the cell size used to manufacture the sample lattice when training the cell orientation determination model, and then obtains the tag cell orientation of the material and the cell size, where the tag cell orientation can be determined through a simulation experiment. Then, the preset load, the material and the cell size are input into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model as the output cell orientation. And finally, training the cell orientation determining model according to the tag cell orientation and the output cell orientation, namely determining the difference between the tag cell orientation and the output cell orientation according to the tag cell orientation and the output cell orientation, determining the loss of the cell orientation determining model according to the difference, taking the loss as a training target, and training the cell orientation determining model.
In particular, the server can determine the optimal cell orientation, i.e., tag cell orientation, for the material and the cell size through simulation experiments. The server performs simulation single pull experiments on sample lattices of different materials and different cell sizes, applies three orthogonal unidirectional tensile forces to the sample lattices respectively, and obtains material properties such as elastic modulus, yield strength and the like of the material when cell orientations are different according to stress strain curves in the three orthogonal directions according to displacement and tensile force of the sample lattices. That is, finite element calculations can be performed on a small volume of lattice structure by a powerful computer to determine the relationship between different cell orientations and the material properties of the material, where the lattice structure contains a number of cells that is not less than a preset number of cells. Determining a tag cell orientation based on the material, the cell size, and the relationship. Because the calculation amount of finite element calculation is large, the optimal cell orientation is determined by training a cell orientation determination model, namely, the relationship between different cell orientations and the material properties of the material is determined by training the cell orientation determination model.
The server can not only determine whether the cell orientation determination model is trained through the iteration number or the loss size of the cell orientation determination model, but also divide the relationship into a training set and a testing set, wherein the training set is used for training the cell orientation determination model, and the testing set is used for testing the cell orientation determination model. If the error of the predicted result output by the cell orientation determining model is not greater than a preset error threshold during the test, the training of the cell orientation determining model is completed, for example, the predicted error of the elastic modulus of the material in three orthogonal directions output by the cell orientation determining model is not greater than 10%, and the training of the cell orientation determining model is completed.
The foregoing is a method implemented by one or more embodiments of the present disclosure, and based on the same concept, the present disclosure further provides a manufacturing apparatus of a corresponding buffer assembly, where the buffer assembly includes a lattice formed by a plurality of cells, as shown in fig. 3.
Fig. 3 is a schematic view of a manufacturing apparatus for a cushioning assembly provided in the present specification, including:
an initialization module 400 for initializing the materials and cell sizes used to fabricate the lattice;
a cell orientation determining module 402, configured to input a preset load, the material, and the cell size into a pre-trained cell orientation determining model, so as to determine a cell orientation that needs to be adopted when the buffer component is manufactured into the cell size from the material under the preset load;
A first judging module 404, configured to judge whether an equivalent stress field of the buffer assembly formed by the cells made of the material and having the cell orientation and the cell size is uniform under the condition of the preset load;
a first result output module 406 for, if so, fabricating the buffer element of the cell size and the cell orientation from the material;
and a second result output module 408, configured to adjust the cell orientation until the equivalent stress field is uniform if not.
Optionally, the first determining module 404 is specifically configured to determine an equivalent stress field of the buffer assembly formed by the cells made of the material with the cell orientation and the cell size under the condition of the preset load; determining the maximum stress and the minimum stress of the equivalent stress field; determining a difference between the maximum stress and the minimum stress; judging whether the difference value is smaller than a preset first threshold value or not; if yes, the equivalent stress field is uniform; if not, the equivalent stress field is not uniform.
Optionally, the first determining module 404 is specifically configured to determine each stress point in the equivalent stress field and stress of each stress point; removing abnormal stress points from the stress points according to the stress of the stress points; and determining the maximum stress and the minimum stress of the equivalent stress field from the stress of each stress point after the abnormal stress point is removed.
Optionally, the first determining module 404 is specifically configured to determine a preset number of maximum stresses and a preset number of minimum stresses from the equivalent stress field; determining a first average value of the preset number of maximum stresses and a second average value of the preset number of minimum stresses to determine an average value difference value of the first average value and the second average value; and judging whether the average value difference is smaller than a preset first threshold value.
Optionally, before adjusting the cell orientation, the apparatus further comprises:
a second determining module 410, configured to determine that the number of times of currently adjusting the cell orientation does not reach a preset second threshold.
Optionally, the apparatus further comprises:
a third judging module 412, configured to adjust structural information of the lattice when the iteration number reaches a threshold, where the structural information includes a material for manufacturing the lattice and a cell size; re-determining the cell orientation according to the preset load and the adjusted structure information; and judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the condition of the preset load.
Optionally, the apparatus further comprises:
a model training module 414 for initializing the materials and cell sizes used to make the sample lattice; acquiring the material and the label cell orientation of the cell size; inputting a preset load, the material and the cell size into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model, and taking the cell orientation as an output cell orientation; and training the cell orientation determination model according to the label cell orientation and the output cell orientation.
Optionally, the cushioning assembly is applied to a humanoid robot foot; the preset load is the load of the humanoid robot in different gait.
Optionally, the cell comprises a polygon surrounded by a plurality of rods made of the material, and the ratio of the rod diameter to the side length of the cell is 1/5-1/3.
Optionally, the buffer component further includes a continuous layer, the continuous layer is disposed on the upper surface and the lower surface of the lattice, and the thickness of the continuous layer is greater than a preset thickness threshold.
The present specification also provides a computer readable storage medium storing a computer program operable to perform a method of manufacturing a cushioning assembly as provided in fig. 1, described above.
The present specification also provides a schematic structural diagram of an electronic device corresponding to fig. 1 shown in fig. 4. At the hardware level, as shown in fig. 4, the electronic device includes a processor, an internal bus, a network interface, a memory, and a nonvolatile storage, and may of course include hardware required by other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs to implement the method for manufacturing the buffer assembly described in fig. 1.
Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (20)
1. A method of manufacturing a buffer assembly, the buffer assembly comprising a lattice of cells, the method comprising:
initializing a material and a cell size for manufacturing the lattice;
inputting a preset load, the material and the cell size into a pre-trained cell orientation determination model to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size by the material under the condition of the preset load;
judging whether an equivalent stress field of a buffer component formed by cells which are manufactured by the material and are of the cell orientation and the cell size is uniform under the condition of the preset load;
if so, manufacturing the buffer component of the cell size and the cell orientation by using the material;
if not, the cell orientation is adjusted until the equivalent stress field is uniform.
2. The method of claim 1, wherein determining whether an equivalent stress field of a buffer element formed of cells made of said material having said cell orientation and said cell size is uniform under said predetermined load condition comprises:
determining an equivalent stress field of a buffer assembly formed by cells manufactured from the material into the cell orientation and the cell size under the condition of the preset load;
Determining the maximum stress and the minimum stress of the equivalent stress field;
determining a difference between the maximum stress and the minimum stress;
judging whether the difference value is smaller than a preset first threshold value or not;
if yes, the equivalent stress field is uniform;
if not, the equivalent stress field is not uniform.
3. The method of claim 2, wherein determining the maximum stress and the minimum stress of the equivalent stress field comprises:
determining stress of each stress point in the equivalent stress field;
removing abnormal stress points from the stress points according to the stress of the stress points;
and determining the maximum stress and the minimum stress of the equivalent stress field from the stress of each stress point after the abnormal stress point is removed.
4. The method according to claim 2, wherein determining the maximum stress and the minimum stress of the equivalent stress field comprises:
determining a preset number of maximum stresses and a preset number of minimum stresses from the equivalent stress field;
determining the difference between the maximum stress and the minimum stress specifically comprises:
determining a first average value of the preset number of maximum stresses and a second average value of the preset number of minimum stresses to determine an average value difference value of the first average value and the second average value;
Judging whether the difference value is smaller than a preset first threshold value or not specifically comprises the following steps:
and judging whether the average value difference is smaller than a preset first threshold value.
5. The method of claim 1, wherein prior to adjusting the cell orientation, the method further comprises:
and determining that the number of times of currently adjusting the cell orientation does not reach a preset second threshold value.
6. The method of claim 5, wherein the method further comprises:
when the iteration number reaches a threshold value, adjusting the structural information of the lattice, wherein the structural information comprises materials for manufacturing the lattice and cell sizes;
re-determining the cell orientation according to the preset load and the adjusted structure information;
and judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the condition of the preset load.
7. The method according to claim 1, wherein training the cell orientation determination model comprises:
initializing materials and cell sizes used to make the sample lattice;
acquiring the material and the label cell orientation of the cell size;
inputting a preset load, the material and the cell size into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model, and taking the cell orientation as an output cell orientation;
And training the cell orientation determination model according to the label cell orientation and the output cell orientation.
8. The method of claim 1, wherein the cushioning assembly is applied to a humanoid robot foot;
the preset load is the load of the humanoid robot in different gait.
9. The method of claim 1, wherein the cell comprises a polygon surrounded by a plurality of rods of the material, and wherein the ratio of the rod diameter to the side length of the cell is 1/5-1/3.
10. The method of claim 1, wherein the cushioning assembly further comprises a continuous layer disposed on the upper and lower surfaces of the lattice, and wherein the thickness of the continuous layer is greater than a predetermined thickness threshold.
11. A device for manufacturing a buffer assembly, wherein the buffer assembly comprises a lattice of cells, comprising:
an initialization module for initializing the material used for manufacturing the lattice and the cell size;
the cell orientation determining module is used for inputting a preset load, the material and the cell size into a pre-trained cell orientation determining model so as to determine the cell orientation required to be adopted when the buffer component is manufactured into the cell size by the material under the condition of the preset load;
The first judging module is used for judging whether the equivalent stress field of the buffer component formed by cells which are manufactured by the material and are of the cell orientation and the cell size is uniform under the condition of the preset load;
a first result output module for, if so, fabricating the buffer element of the cell size and the cell orientation using the material;
and the second result output module is used for adjusting the cell orientation if not, until the equivalent stress field is uniform.
12. The apparatus of claim 11, wherein the first determining module is specifically configured to determine an equivalent stress field of a buffer assembly of cells of the material manufactured to the cell orientation and the cell size under the predetermined load condition; determining the maximum stress and the minimum stress of the equivalent stress field; determining a difference between the maximum stress and the minimum stress; judging whether the difference value is smaller than a preset first threshold value or not; if yes, the equivalent stress field is uniform; if not, the equivalent stress field is not uniform.
13. The apparatus of claim 12, wherein the first determination module is specifically configured to determine stress points and stress of stress points in the equivalent stress field; removing abnormal stress points from the stress points according to the stress of the stress points; and determining the maximum stress and the minimum stress of the equivalent stress field from the stress of each stress point after the abnormal stress point is removed.
14. The apparatus of claim 12, wherein the first determination module is specifically configured to determine a preset number of maximum stresses and a preset number of minimum stresses from the equivalent stress field; determining a first average value of the preset number of maximum stresses and a second average value of the preset number of minimum stresses to determine an average value difference value of the first average value and the second average value; and judging whether the average value difference is smaller than a preset first threshold value.
15. The apparatus of claim 11, wherein prior to adjusting the cell orientation, the apparatus further comprises:
and the second judging module is used for determining that the number of times of currently adjusting the cell orientation does not reach a preset second threshold value.
16. The apparatus of claim 15, wherein the apparatus further comprises:
the third judging module is used for adjusting the structural information of the dot matrix when the iteration number reaches a threshold value, wherein the structural information comprises materials for manufacturing the dot matrix and cell sizes; re-determining the cell orientation according to the preset load and the adjusted structure information; and judging whether the equivalent stress field of the buffer component manufactured according to the adjusted structural information and the redetermined cell orientation is uniform under the condition of the preset load.
17. The apparatus of claim 11, wherein the apparatus further comprises:
a model training module for initializing materials and cell sizes used for manufacturing the sample lattice; acquiring the material and the label cell orientation of the cell size; inputting a preset load, the material and the cell size into a cell orientation determining model to determine the cell orientation output by the cell orientation determining model, and taking the cell orientation as an output cell orientation; and training the cell orientation determination model according to the label cell orientation and the output cell orientation.
18. The apparatus of claim 11, wherein the cushioning assembly is applied to a humanoid robot foot; the preset load is the load of the humanoid robot in different gait.
19. A computer readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-10.
20. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of the preceding claims 1-10 when executing the program.
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| CN202310407367.4A CN116127655B (en) | 2023-04-17 | 2023-04-17 | Method and device for manufacturing buffer assembly, storage medium and electronic equipment |
| PCT/CN2023/115533 WO2024078165A1 (en) | 2023-04-17 | 2023-08-29 | Buffer assembly manufacturing method and apparatus, and storage medium and electronic device |
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| CN202310407367.4A CN116127655B (en) | 2023-04-17 | 2023-04-17 | Method and device for manufacturing buffer assembly, storage medium and electronic equipment |
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| WO2024078165A1 (en) * | 2023-04-17 | 2024-04-18 | 之江实验室 | Buffer assembly manufacturing method and apparatus, and storage medium and electronic device |
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