CN112936292A - Open-source slicing path planning robot arc additive manufacturing method - Google Patents
Open-source slicing path planning robot arc additive manufacturing method Download PDFInfo
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- CN112936292A CN112936292A CN202110331311.6A CN202110331311A CN112936292A CN 112936292 A CN112936292 A CN 112936292A CN 202110331311 A CN202110331311 A CN 202110331311A CN 112936292 A CN112936292 A CN 112936292A
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- additive manufacturing
- path planning
- robot
- slicing
- arc
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 50
- 239000000654 additive Substances 0.000 title claims abstract description 44
- 230000000996 additive effect Effects 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000003466 welding Methods 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000002457 bidirectional effect Effects 0.000 claims description 5
- 238000005065 mining Methods 0.000 claims description 3
- 239000010410 layer Substances 0.000 claims 8
- 241000984642 Cura Species 0.000 claims 1
- 239000002356 single layer Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 17
- 230000007547 defect Effects 0.000 abstract description 2
- 230000009466 transformation Effects 0.000 abstract 1
- 238000010891 electric arc Methods 0.000 description 4
- 238000007639 printing Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 208000032170 Congenital Abnormalities Diseases 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Abstract
The invention discloses an arc additive manufacturing method of an open source slicing path planning robot, and belongs to the technical field of advanced manufacturing. Aiming at the defect that the traditional arc additive manufacturing system carries out slicing and path planning based on a material reduction manufacturing G code, the method uses open source slicing and path planning software to realize the layered slicing and additive manufacturing path planning of a three-dimensional model and obtain layered slicing codes; and then reading layered slices and path planning data output by open source software through autonomous programming, and converting the data into robot control codes through coordinate transformation and code compiling to realize the arc additive manufacturing of the complex parts.
Description
Technical Field
The invention relates to an arc additive manufacturing method of an open source slicing path planning robot, and belongs to the technical field of advanced manufacturing.
Background
The electric arc additive manufacturing is an additive manufacturing method for preparing a formed piece by melting, solidifying and accumulating layer by layer according to three-dimensional model layered slice data by taking a metal welding wire as a material and an electric arc as a heat source; the core of the forming and manufacturing is to reasonably plan the motion path of the welding gun on the basis of slicing the three-dimensional model in a layered manner, so as to realize the effective control of welding parameters.
The existing robot electric arc material increase method changes a cutter feeding track into a welding gun motion track to realize material increase by modifying a numerical control machining G code. However, the numerical control processing G code is a milling cutting material manufacturing path from top to bottom, which is completely opposite to a material additive manufacturing process from bottom to top, the planning and control of the arc material additive manufacturing path are still seriously inconvenient after coordinate inversion, and the internal filling path planning has inherent defects, so that the application and development of the arc material additive system are limited.
The existing part layered slicing and additive manufacturing path planning software overcomes the congenital defect of numerical control machining G codes, but is based on a Cartesian orthogonal coordinate system, and the codes cannot be directly applied to robot control to realize robot motion trajectory control and arc additive manufacturing.
Disclosure of Invention
The invention aims to provide an open source slicing path planning robot arc additive manufacturing method, which comprises the steps of firstly, realizing layered slicing and additive manufacturing path planning of a three-dimensional model of a part by using open source software, and outputting a txt format code; then, through autonomous programming, on the basis of reading and recognizing the output layered slice and path planning data, coordinate conversion and compiling are carried out, and the coordinate conversion and the compiling are input into an industrial robot and an arc welding power supply controller, so that the control of a robot additive manufacturing path, the setting of robot motion parameters and welding parameters are realized, and the arc additive manufacturing of parts is completed, and the method specifically comprises the following steps:
(1) open source slicing and path planning: the three-dimensional model of the part uses open source slicing software Cura to perform slicing and path planning, finally obtains two-dimensional 3D printed discrete slices and path planning data, and outputs a code in a txt format; this code cannot be used directly by an industrial robot and requires coordinate conversion and compilation.
(2) Coordinate picking and data chain generation and code compilation: reading discrete slices and path planning data txt files output by open source slicing software by using text mining programming, picking up two-dimensional coordinate points, and expanding the coordinate points to three dimensions by setting a Z axis on the basis that original data are the two-dimensional coordinate points; and sequentially arranging the three-dimensional coordinate points to manufacture a bidirectional circular linked list, obtaining additive manufacturing path codes which can be identified by the robot, and finally realizing coordinate conversion and robot control code compiling.
(3) And inputting the compiled codes into the industrial robot and the arc welding power supply controller to realize the control of the motion track, the motion parameters and the welding parameters of the industrial robot.
The specific processes of coordinate picking, data chain generation and code compiling in the step (2) of the invention are as follows:
when the current layer number is less than or equal to the set total layer number, entering an inlet of the current layer, setting an arc starting command, picking up two-dimensional coordinate points, expanding the coordinate points to three dimensions by setting a Z axis on the basis that original data are the two-dimensional coordinate points, sequentially arranging the three-dimensional coordinate points to manufacture a bidirectional circular linked list, obtaining additive manufacturing path codes and process parameters which can be identified by a robot, setting an arc extinguishing command, writing in Rapid codes, entering the next layer, and continuously repeating the process;
and when the current layer number is larger than the set total layer number, closing and storing the written file, importing the file into a robot controller, and controlling the robot to move and the welding machine to operate.
The industrial robot is set in a manual mode, an automatic mode and a manual and automatic mode, and convenience is provided for the operation and process optimization of the electric arc additive manufacturing process; the manual mode realizes accumulation forming of input part software parameters, and the industrial robot stops running and returns to a safety position after accumulation of one layer is finished, so that the manual mode is used for quality evaluation and welding gun position optimization of the current layer of the formed piece. After receiving the trigger instruction, the next layer of arc forming can be carried out; in the automatic mode, after the software sets complete parameters, the path code is directly read and the arc additive process is started until the printing is finished; the manual and automatic mixed mode can be suspended after the layer is accumulated under the condition of complete parameters, and the arc material increase process is continued after a trigger instruction is received until the current layer printing is finished.
The invention has the beneficial effects that:
the invention solves the congenital defects existing in the existing arc additive manufacturing method by using numerical control cutting processing G codes, and realizes additive manufacturing path planning from bottom to top; the independent programming based on text extraction realizes the identification reading and coordinate conversion and compiling of open source slicing and path data, provides an open human-machine interaction and robot and welding power supply control platform, and provides and realizes a new method for independent intellectual property arc additive manufacturing.
Drawings
FIG. 1 is a flow chart of an arc additive manufacturing method for an open source slicing path planning robot;
fig. 2 is an arc additive manufacturing complex part completed in example 1.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the scope of the present invention is not limited to the examples.
Examples
In the embodiment, an ABB IRB1410 industrial robot and a controller, a Fronius CMT TPS3200 welding power supply, a VR1550 wire feeding mechanism, a workbench and an argon protection gas path with the purity of 99.99% are used for building an arc additive manufacturing hardware platform.
An arc additive manufacturing method of an open-source slicing path planning robot specifically comprises the following steps:
(1) open source slicing and path planning: the three-dimensional model of the part uses open source slicing software Cura to perform slicing and path planning, finally obtains two-dimensional 3D printed discrete slices and path planning data, and outputs a code in a txt format; this code cannot be used directly by an industrial robot and requires coordinate conversion and compilation.
(2) Coordinate picking and data chain generation and code compilation: reading discrete slices and path planning data txt files output by open source slicing software by using text mining programming, picking up two-dimensional coordinate points, and expanding the coordinate points to three dimensions by setting a Z axis on the basis that original data are the two-dimensional coordinate points; and sequentially arranging the three-dimensional coordinate points to manufacture a bidirectional circular linked list, obtaining additive manufacturing path codes which can be identified by the robot, and finally realizing coordinate conversion and robot control code compiling.
(3) Determining a material adding path and logically judging the start and stop of a welding machine: and according to the additive path code after conversion and compilation, establishing a printing layer area, controlling the start and stop of a welding machine, determining the inlet and outlet of the printing layer, and ensuring the consistency of the processing path after program conversion.
(4) Setting process parameters and an additive mode: on the basis of the material increase path establishment, the robot motion parameters and the welding power supply parameters are set through autonomous programming, and the material increase manufacturing quality control is realized.
And the autonomous programming software system performs coordinate conversion and code compilation on the additive path output by the source slicing software, and then inputs the additive path into the industrial robot and the arc welding power supply controller to realize the additive manufacturing path control of the robot and the setting of the motion parameters and the welding parameters of the robot.
On the basis of the material increase path establishment, the robot motion parameters and the welding power supply parameters are set through autonomous programming, and the material increase manufacturing quality control is realized.
(5) Human-computer interaction: and the autonomous programming software is used for inputting codes into the industrial robot and the arc welding power supply controller, so that the position and the running state of the welding torch are controlled, and the running parameters and information are displayed on the terminal layer by layer in real time, so that the safety and the controllability of the additive manufacturing process are ensured.
The open source slicing and path planning of the embodiment are completed by using open source slicing software Cura, a two-dimensional 3D printing path is obtained, and a code in a txt format is output; coordinate picking, data chain generation, code compiling, material increase path determination, welding machine start-stop logic judgment, process parameter and material increase mode setting, and man-machine interaction are realized by using Python autonomous programming, and finally, the finished arc material increase manufacturing complex part is shown in FIG. 2, wherein (a) is a part three-dimensional model; (b) is a formed part.
Claims (4)
1. An open source slicing path planning robot arc additive manufacturing method is characterized by comprising the following steps:
(1) open source slicing and path planning: the three-dimensional model of the part uses open source slicing software to perform slicing and path planning, finally obtains two-dimensional 3D printed discrete slices and path planning data, and outputs a code in a txt format;
(2) coordinate picking and data chain generation and code compilation: reading discrete slices and path planning data txt files output by open source slicing software by using text mining programming, picking up two-dimensional coordinate points, expanding the coordinate points to three dimensions by setting a Z axis on the basis that original data are the two-dimensional coordinate points, making a bidirectional circular linked list, obtaining additive manufacturing path codes which can be identified by a robot, and finally realizing coordinate conversion and robot control code compiling;
(3) and inputting the compiled codes into the industrial robot and the arc welding power supply controller to realize the control of the motion track, the motion parameters and the welding parameters of the industrial robot.
2. The open-source slicing path planning robot arc additive manufacturing method according to claim 1, wherein: the open source slicing software used by the system was Cura.
3. The open-source slicing path planning robot arc additive manufacturing method according to claim 1, wherein: the specific processes of coordinate picking, data chain generation and code compiling in the step (2) are as follows:
when the current layer number is less than or equal to the set total layer number, entering an inlet of the current layer, setting an arc starting command, picking up two-dimensional coordinate points, expanding the coordinate points to three dimensions by setting a Z axis on the basis that original data are the two-dimensional coordinate points, sequentially arranging the three-dimensional coordinate points to manufacture a bidirectional circular linked list, obtaining additive manufacturing path codes and process parameters which can be identified by a robot, setting an arc extinguishing command, writing in Rapid codes, entering the next layer, and continuously repeating the process;
and when the current layer number is larger than the set total layer number, closing and storing the written file, importing the file into a robot controller, and controlling the robot to move and the welding machine to operate.
4. The open-source slicing path planning robot arc additive manufacturing method according to claim 1, wherein: and (3) the industrial robot provides 3 different additive manufacturing modes of manual operation, automatic operation and manual operation and automatic operation, and single-layer, automatic multi-layer and manual multi-layer arc additive manufacturing are respectively realized.
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