CN115107139B - Planning method and device for 3D printing path of concrete template of non-standard structural member - Google Patents
Planning method and device for 3D printing path of concrete template of non-standard structural member Download PDFInfo
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- CN115107139B CN115107139B CN202210880907.6A CN202210880907A CN115107139B CN 115107139 B CN115107139 B CN 115107139B CN 202210880907 A CN202210880907 A CN 202210880907A CN 115107139 B CN115107139 B CN 115107139B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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- B28B17/0081—Process control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention provides a method and equipment for planning a 3D printing path of a concrete template of a non-standard structural member, wherein the method comprises the following steps: importing a two-dimensional model of a component to be printed, and acquiring the outline of the two-dimensional model; the component to be printed is a component with a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes; determining 4 partition points of the outline based on the outline of the two-dimensional model, wherein the 4 partition points divide the outline into 4 side boundary curves; determining a single-layer printing path of a bottom plate of a component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve; determining a single-layer printing path of a side wall of the member to be printed based on the contour of the two-dimensional model; the print path of the member to be printed is determined based on the single-layer print path of the bottom plate and the single-layer print path of the side wall. The method provided by the invention can ensure the continuity of the concrete 3D printing path and reduce path skip.
Description
Technical Field
The invention relates to the technical field of concrete 3D printing, in particular to a method and equipment for planning a 3D printing path of a concrete template of a non-standard structural member.
Background
Concrete 3D prints to be a novel civil engineering intelligence construction technology, and this technique drives the nozzle successive layer through the concrete 3D printer and extrudes concrete material, piles up shaping concrete member. The method has the advantages of no need of templates, automation, material saving, high construction speed, high design freedom and the like in the printing process, is widely concerned and used by the industry, and represents the trend of the automatic development of the building industry.
The concrete 3D printing can complete the related construction by using the data of the software modeling, can completely construct a large number of complex structures in a short time, and greatly reduces the construction time of related components. Besides, the concrete 3D printing technology can integrally build the model to be printed, and the building process of unnecessary components is omitted.
However, the existing concrete 3D printing path planning method cannot meet the requirement of concrete 3D printing of a member with a non-standard structure, and printing defects are easy to occur.
Disclosure of Invention
The embodiment of the invention provides a method and equipment for planning a 3D printing path of a concrete template of a non-standard structural member, which are used for solving the problem that the 3D printing requirement of the concrete of the non-standard structural member cannot be met at present.
In a first aspect, an embodiment of the present invention provides a method for planning a 3D printing path of a non-standard structural member concrete template, including:
importing a two-dimensional model of a component to be printed, and acquiring the outline of the two-dimensional model; the component to be printed is a component with a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes;
determining 4 partition points of the outline based on the outline of the two-dimensional model, wherein the 4 partition points divide the outline into 4 side boundary curves;
determining a single-layer printing path of a bottom plate of a component to be printed based on a preset z-shaped template path of a two-dimensional model, a preset overrun mapping function of a 4-edge boundary curve and the 4-edge boundary curve;
determining a single-layer printing path of a side wall of the component to be printed based on the outline of the two-dimensional model;
the print path of the member to be printed is determined based on the single-layer print path of the bottom plate and the single-layer print path of the side wall.
In one possible implementation manner, determining a single-layer printing path of a bottom plate of a member to be printed based on a preset zigzag template path of a two-dimensional model, a preset overrun mapping function of a 4-edge boundary curve, and the 4-edge boundary curve includes:
determining a mapping relation between each point on each boundary curve and each boundary curve based on the relation between each point on each boundary curve and each boundary curve;
and determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve.
In a possible implementation manner, determining a mapping relationship between each point on each boundary curve and each boundary curve based on a relationship between each point on each boundary curve and each boundary curve includes:
normalizing the length of a line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve of the edge to obtain the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve of the edge; the target node is any point on each boundary curve;
determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve;
wherein the content of the first and second substances,
L m (γ i ) For the mapping relationship between the target node on each boundary curve and each boundary curve,
L m (γ i )= p i m =[x i m ,y i m ]，p i m for a preset starting point of each boundary curve,p i m for any point on each boundary curve, γ i For the relative length of a line segment formed by any point on each boundary curve and the preset starting point of the boundary curve of the side, m =1,2,3,4, i =1,2,3 … n, j =2, 3 … n, and n is the number of nodes on each boundary curve.
In one possible implementation manner, determining a single-layer printing path of a bottom plate of a member to be printed based on a preset zigzag template path of a two-dimensional model, a preset overrun mapping function of a 4-edge boundary curve, and the 4-edge boundary curve includes:
and substituting all points on the preset z-shaped template path and the mapping relation between each point on each boundary curve and each boundary curve into a preset overrun mapping function to obtain the single-layer printing path of the bottom plate of the component to be printed.
In one possible implementation, the predetermined zigzag template path is any one zigzag curve TP constructed in a unit square, TP = [ TP = 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the predefined overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤v≤1。
In one possible implementation, based on the contour of the two-dimensional model, 4 partition points of the contour are determined, and the 4 partition points divide the contour into 4-edge boundary curves, including:
the outline of the two-dimensional model is inwardly biased for a preset distance to obtain a base line of the two-dimensional model;
and 4 vertexes are randomly selected on the base line and are used as 4 partition points of the two-dimensional model, and the 4 partition points divide the base line into 4 side boundary curves.
In one possible implementation, the planning method further includes:
determining the extruding width of any node on any path based on the printing path of the component to be printed;
determining a printing speed based on the extruding width, the extruding speed and the printing layer thickness;
generating an instruction file of the component to be printed based on the printing speed and the printing path of the component to be printed;
wherein the printing speed f is:
wherein Q is the extrusion speed, w is the extrusion width, and t is the print layer thickness.
In a second aspect, an embodiment of the present invention provides a device for planning a 3D printing path of a non-standard structural member concrete formwork, including:
the outline acquisition module is used for importing a two-dimensional model of a component to be printed and acquiring the outline of the two-dimensional model; the component to be printed is a component with a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes;
the boundary curve determining module is used for determining 4 partition points of the outline based on the outline of the two-dimensional model, and the 4 partition points divide the outline into 4 edge boundary curves;
a bottom plate path determining module for determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve;
a determine sidewall path module for determining a single layer print path of a sidewall of the member to be printed based on the contour of the two-dimensional model;
a determine print path module to determine a print path of the member to be printed based on the single layer print path of the floor and the single layer print path of the sidewall.
In a possible implementation manner, the determining bottom plate path module is configured to determine a mapping relationship between each point on each boundary curve and each boundary curve based on a relationship between each point on each boundary curve and each boundary curve;
and determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve.
In a possible implementation manner, the bottom plate path determining module is configured to perform normalization processing on lengths of line segments formed by the target node on each boundary curve and the preset starting point of the edge boundary curve, so as to obtain a relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the edge boundary curve; the target node is any point on each boundary curve;
determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve;
wherein the content of the first and second substances,
L m (γ i ) For the mapping relationship between the target node on each boundary curve and each boundary curve,
L m (γ i )= p i m =[x i m ,y i m ]，p i m for a preset starting point of each boundary curve,p i m for any point on each boundary curve, γ i For the relative length of a line segment formed by any point on each boundary curve and the preset starting point of the boundary curve of the side, m =1,2,3,4, i =1,2,3 … n, j =2, 3 … n, and n is the number of nodes on each boundary curve.
In a possible implementation manner, the bottom plate path determining module is configured to substitute a mapping relationship between all points on a preset z-shaped template path and each point on each boundary curve and each boundary curve into a preset overrun mapping function to obtain a single-layer printing path of the bottom plate of the component to be printed.
In one possible implementation, the predetermined zigzag template path is any one zigzag curve TP constructed in a unit square, TP = [ TP = 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the predefined overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤v≤1。
In a possible implementation manner, a boundary curve determining module is used for offsetting the outline of the two-dimensional model inwards by a preset distance to obtain a baseline of the two-dimensional model;
and 4 vertexes are randomly selected on the base line to serve as 4 partition points of the two-dimensional model, and the 4 partition points divide the base line into 4 boundary curves.
In a possible implementation manner, the method further comprises a command generating module, configured to determine, based on a printing path of the component to be printed, an extrusion width of any node on any path;
determining a printing speed based on the extruding width, the extruding speed and the printing layer thickness;
generating an instruction file of the component to be printed based on the printing speed and the printing path of the component to be printed;
wherein the printing speed f is:
wherein Q is the extrusion speed, w is the extrusion width, and t is the print layer thickness.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the steps of the method for planning the 3D printing path of the non-standard structural member concrete formwork according to the first aspect or any one of the possible implementation manners of the first aspect.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for planning a 3D print path of a non-standard structural member concrete formwork according to the first aspect or any one of the possible implementations of the first aspect.
The embodiment of the invention provides a method and equipment for planning a 3D printing path of a concrete template of a non-standard structural member. And then, determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve. Next, a single-layer printing path of a sidewall of the member to be printed is determined based on the contour of the two-dimensional model. Finally, a print path of the member to be printed is determined based on the single-layer print path of the bottom plate and the single-layer print path of the side wall. Therefore, the 3D printing path continuity of the concrete can be ensured, and the path skip is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating an implementation of a method for planning a 3D printing path of a concrete template of a non-standard structural member according to an embodiment of the present invention;
FIG. 2 is a block diagram of a method for planning a 3D printing path of a non-standard structural member concrete form according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the calculation of the width of an extrusion according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a two-dimensional model profile provided by an embodiment of the invention;
FIG. 5 is a schematic diagram of a serpentine template path provided by embodiments of the present invention;
FIG. 6 is a schematic diagram of a single-layer print path of the base plate of the member to be printed of FIG. 4 according to an embodiment of the present invention;
FIG. 7 is a schematic view of the width of the extrudate of the two-dimensional model of FIG. 4 provided by an embodiment of the present invention;
FIG. 8 is the multi-layer print path of FIG. 6;
FIG. 9 is a schematic illustration of a multi-layer print path of the sidewall of FIG. 4 provided by an embodiment of the present invention;
FIG. 10 is a print path of the member to be printed of FIG. 4 provided by an embodiment of the present invention;
FIG. 11 is a schematic diagram of an outline of another 3D printed model provided by an embodiment of the invention;
FIG. 12 is a schematic diagram of the corresponding template path of FIG. 7;
FIG. 13 is a schematic view of various print paths of the two-dimensional model of FIG. 7;
fig. 14 is a schematic structural diagram of a device for planning a 3D printing path of a concrete template of a non-standard structural member according to an embodiment of the present invention;
fig. 15 is a schematic diagram of an electronic device provided in an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following description is made by way of specific embodiments with reference to the accompanying drawings.
As described in the background, conventional printing methods cause print defects and path discontinuities when printing profiled elements. And the printing defects can reduce the mechanical property and durability of the concrete 3D printing component. The discontinuous path can cause a jump path in the printing process, and the printing efficiency is reduced.
Concrete formwork technology for concrete 3D printing is one of the mainstream application modes of concrete 3D printing, and the basic form of the concrete formwork technology comprises a bottom plate and a side wall. The bottom plate is positioned below the 3D printing component, and a plurality of layers (2~4 layers, 20-40mm thick) are filled in the solid to form a part for bearing the later-stage pouring concrete material. The side wall refers to a thin wall which is built on the bottom plate and is in the shape of the outer contour of the member, the height can be determined according to factors such as the constructability of concrete, the maximum printing height of a printer and the like, and the width can be 40mm in thickness value of a concrete protection layer or other values.
The planning of the printing path is a key element of concrete 3D printing, and the structural design drawing and the 3D printer are connected by calculating the printing path and printing parameters and generating a control instruction which can be read by the 3D printer. At present, the common concrete 3D printing planning comprises a Z-shaped path method, a contour offset method and the like, and the common control method is a constant-thickness and constant-speed printing control method. However, the above printing planning and control method has not been able to satisfy the concrete 3D printing of concrete forms for non-standard structural members for the following reasons: first, the above method cannot generate a completely filled and defect-free backplane print path, which can result in large area filling voids at locations such as path transitions, member edges, member centers, and the like. Secondly, the method cannot generate a continuous printing path, which causes problems of material overflow, insufficient material and the like when the pumping system is switched on/off, and reduces printing efficiency. Thirdly, when the path in the printing path is turned excessively, the movement of the printer is unstable. The fourth, equal-width and equal-thickness control method is not suitable for the profile structural member, and a wide strip should be extruded at a wide portion, and a narrow strip should be extruded at a narrow portion.
When the concrete template is manufactured, a large number of defects occur on the bottom plate due to the fact that the printing planning and control method is not reasonable, the mechanical property and durability of the bottom plate are reduced, and the poured concrete material leaks out. Therefore, a new path planning method is needed for the irregular member, which does not have printing defects and ensures continuous path.
In order to solve the problems in the prior art, the embodiment of the invention provides a method and equipment for planning a 3D printing path of a concrete template of a non-standard structural member. First, a method for planning a concrete 3D printing path according to an embodiment of the present invention is described below.
The execution main body of the method for planning the concrete 3D printing path may be a planning device for the concrete 3D printing path, and the planning device for the concrete 3D printing path may be an electronic device having a processor and a memory, such as a mobile electronic device or a non-mobile electronic device. The embodiments of the present invention are not particularly limited.
Referring to fig. 1, which shows a flowchart of an implementation of a method for planning a 3D printing path of a non-standard structural member concrete template provided in an embodiment of the present invention, fig. 2 is a block diagram of the method for planning a 3D printing path of a non-standard structural member concrete template provided in an embodiment of the present invention, and details are as follows:
step S110, importing a two-dimensional model of the component to be printed, and acquiring the outline of the two-dimensional model.
The member to be printed in the present application is a member of a non-standard structure, and the outline of the two-dimensional model includes at least 4 vertices.
Before path planning, two-dimensional modeling needs to be carried out on a model to be printed, namely an engineering drawing is drawn by adopting CAD, so that the boundary to be printed can be determined.
And then, importing the two-dimensional model drawn by the CAD to obtain the outline of the model, thereby facilitating subsequent path planning.
Step S120, based on the outline of the two-dimensional model, 4 partition points of the outline are determined, and the 4 partition points divide the outline into 4 edge boundary curves.
After the contour of the two-dimensional model of the member to be printed is obtained, the contour needs to be compensated and segmented.
And S1210, offsetting the outline of the two-dimensional model inwards by a preset distance to obtain a base line of the two-dimensional model.
Because the concrete printed by the concrete printing nozzle has a certain thickness, the base line of the two-dimensional model needs to be offset inwards by a partial distance on the basis of the original contour. This distance can be set according to the diameter of the printer head.
Step S1220, 4 vertexes are arbitrarily selected from the base line to serve as 4 partition points of the two-dimensional model, and the 4 partition points divide the base line into 4 side boundary curves.
And randomly selecting four vertexes from all vertexes on the base line, and forming different contour segmentation methods by selecting different vertexes to form different printing paths. A 4-sided boundary curve may constitute the closed baseline.
Step S130, determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve.
Firstly, the mapping relation between each point on each boundary curve and each boundary curve is determined based on the relation between each point on each boundary curve and each boundary curve.
And then, determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve.
The method comprises the following specific steps:
step 1310, normalizing the length of a line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve to obtain the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve; the target node is any point on each boundary curve.
Specifically, an arbitrary boundary curve L is used 1 The construction process of the expression of (A) is taken as an exampleThe description is given.
Is provided with L 1 The nodes on the two are respectively set as [ 2 ]p 1 , p 2 , p 3 ,…, p n ] T ，p i Is a boundary curveL 1 At the one of the nodes of (a) above,
p i = [x i , y i, ]。p i andL 1 starting point of (2)p 1 The lengths of the multiple sections in between are as follows:
will be provided with
Normalized to obtainp i Has a relative length of gamma i ：
Whereini= 1, 2, 3… nJ =2, 3 … n, n is the number of nodes on each boundary curve.
And then, determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve.
In particular, γ i Is a multi-segment wire
Length and L of 1 The ratio of the lengths of all the multi-segment lines of (a) to (b), by gamma i →iI.e. the usable relative length gamma i To representL 1 Arbitrary node ofL 1 (γ i )：
L 1 (γ i )= p i = [x i , y i ], i = 1, 2, …, n。
in the same way, the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve can be obtained as follows:
L m (γ i ) For the mapping relationship between the target node on each boundary curve and each boundary curve,
L m (γ i )= p i m =[x i m ,y i m ]，p i m for a preset starting point of each boundary curve,p i m at any point on each boundary curve.
Step S1320, constructing a preset print path and a preset overrun mapping function.
Specifically, the preset zigzag template path is any one zigzag curve TP constructed in a unit square, TP = [ TP = 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP.
The predefined overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤vLess than or equal to 1. Wherein P (0,0), P (1,0), P (1,1) and P (0,1) are 4 partition points respectively, and the implication of the overrun mapping function P is as follows: a two-dimensional region can be viewed as a function of the parameters u and v, and 0. Ltoreq. U.ltoreq.1, and 0. Ltoreq. V.ltoreq.1. Thus, this two-dimensional region can be considered as a unit square with a side length of 1 in the u-v parameter domain, in which any one point can correspond to one point on the two-dimensional region.
Step S1330, substituting all the points on the preset zigzag template path and the mapping relationship between each point on each boundary curve and each boundary curve into the preset overrun mapping function to obtain the single-layer printing path of the bottom plate of the member to be printed.
I.e. TP i =[ζ i ，η i ]And substituting the obtained data into a preset overrun mapping function P (u, v), and solving points on each boundary curve through relative lengths to obtain a single-layer printing path of the bottom plate of the component to be printed.
In particular, the method comprises the following steps of,
i.e. a single layer print path of the base plate of the member to be printed.
After the single-layer printing path of the bottom plate of the component to be printed is determined, the extruding width of any node on any path can be calculated according to the printing path. The schematic diagram of the calculation of the width of the extrusion as shown in fig. 3:
routingPath i Is located atPath i+1 AndPath i-1 between, the nodeQIs located atPath i In the above-mentioned manner,P 1 and withP 2 Is thatPath i-1 Two adjacent nodes are arrangedαIs a line segmentQP 1 AndPath i-1 the included angle between the two parts is formed,βis a line segmentQP 2 AndPath i-1 angle therebetween, if anyαNot less than 90 andβless than or equal to 90 (orβNot less than 90 andαless than or equal to 90), thenPath i Upper distanceQThe closest point isP 1 AndP 2 between, the nodeQAnd pathPath i A distance ofD 1 = |P 1 -Q|sinαCalculated by the same principleQAnd withPath i+1 Is a distance ofD 2= |P 2 -Q|sin（90-β）。
Route of travelPath i On the upper partQThe width of the extruded material of the dots isw=(D 1 +D 2 )/2. Thereby obtaining the extrusion width of each nodew。
Step S140 determines a single-layer printing path of the side wall of the member to be printed based on the outline of the two-dimensional model.
Specifically, the single-layer printing path of the side wall is the base line of the two-dimensional model, and the extrusion width is the size of the spray headD。
Step S150, determining a printing path of the member to be printed based on the single-layer printing path of the bottom plate and the single-layer printing path of the side wall.
After the single-layer printing path of the bottom plate and the single-layer printing path of the side wall of the component to be printed are obtained, the printing path of the component to be printed can be obtained according to the number of layers of the bottom plate, the number of layers of the side wall and the thickness of the layer.
Specifically, the single-layer printing path of the substrate obtained in the above step is set asPB，z= 0, willPBTranslate positively to the z-axish，2h，… n 1 hTo obtainPB 1 ，PB 2 ，… PB n1 The floor paths of the layers are counted as:PBM=[PB 1 ，PB - 2 , PB 3 ,…]wherein the superscript "-" indicates the curve reversal.
Likewise, a curve is printed according to the side wall of the bottom plate obtained in the above stepPTAnd obtaining the multilayer printing path of the side wall. Will be provided withPTTranslate positively to the z-axisn 1 h+h，n 1 h+2h，… n 1 h+n 2 hTo obtainPT 1 ，PT 2 ，… PT n2 Obtaining a multi-layer side wall printing path and countingPTM=[PT 1 ，PT 2 , PT 3 ,…, PT n2 ]。
Finally, the multi-layer bottom plate printing path and the multi-layer side wall printing path are combined to obtain a final printing pathPM=[PBM,PTM]。
In addition, based on the final printing path of the component to be printed, the material extruding width of any node on any path can be determined. The width of the extruded material isw=(D 1 +D 2 ) And/2, how to calculate is described above and will not be described in detail here.
The print speed can then be determined based on the squeeze width, the squeeze rate, and the print layer thickness.
Wherein the printing speed f is:
wherein Q is the extrusion speed, w is the extrusion width, and t is the print layer thickness.
Finally, an instruction file of the member to be printed is generated based on the printing speed and the printing path of the member to be printed.
The planning method provided by the invention comprises the steps of firstly, importing a two-dimensional model of a component to be printed, obtaining the outline of the two-dimensional model, then, determining 4 partition points of the outline based on the outline of the two-dimensional model, and dividing the outline into 4 side boundary curves by the 4 partition points. And then, determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve. Next, a single-layer printing path of a sidewall of the member to be printed is determined based on the contour of the two-dimensional model. Finally, a print path of the member to be printed is determined based on the single-layer print path of the bottom plate and the single-layer print path of the side wall. Therefore, the 3D printing path continuity of the concrete can be ensured, and the path skip is reduced.
For non-standard structural members, the method can meet the requirement of path continuity. Therefore, the skip path can be reduced, the switching times of concrete pumping is reduced, and the possibility of blockage of concrete in the printing process can be reduced. When the template path is selected to be a Z-shaped path, the method is suitable for regulation and control by matching with extrusion of concrete materials, and a continuous and defect-free printing path can be realized.
The following detailed description will be given by taking several specific models as examples:
as shown in FIG. 4, a two-dimensional model is outlined, the boundary of the model is represented by the solid line ∂ M in FIG. 4, the boundary of the model ∂ M is biased inward by a distance of S/2, resulting in the baseline ∂ M,Sis the diameter of the nozzle.
Selecting 4 partition points on the base line ∂ m, respectivelyA、B、C、D，After the model is divided, a 4-edge boundary curve L consisting of the 4 division points is formed 1 、L 2 、L 3 、L 4 。
Then, the point a is set as a boundary curve L 1 Starting point of (2), calculating L 1 Target node of (3) and L 1 Is mapped toIs represented byL 1 (u). The point D is set as a boundary curve L 2 Starting point of (2), calculating L 2 Target node of (3) and L 2 Is expressed asL 2 (u). The point A is set as a boundary curve L 3 Starting point of (2), calculating L 3 Target node of (3) and L 3 Is expressed asL 3 (v). The point B is set as a boundary curve L 4 Starting point of (2), calculating L 4 Target node of (3) and L 4 Is expressed asL 4 (v)。
The template path is constructed in a unit square region of 1 × 1, and a template path TP having a serpentine shape is shown in fig. 5, where TP = [ TP = [ ] 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the predefined overrun mapping function is P (u, v):
the printing path can be obtained by bringing the points in the template path TP into the preset overrun mapping expression, as shown in fig. 6.
Based on the print path, the throw-out width can be calculated as shown in fig. 7. Based on the width of the extruded materialwThe extrusion speed Q and the printing layer thickness t, the printing speed f can be determined. Specifically, the printing speed f is:
and determining a printing path of the component to be printed according to the single-layer printing path of the bottom plate and the single-layer printing path of the side wall. Fig. 8 shows a printing path of the multilayer substrate, fig. 9 shows a printing path of the multilayer sidewall, and fig. 10 shows a final printing path.
The number of layers of the bottom plate is n1, the number of layers of the side walls is n2, and the layer thickness is h, and the single-layer printing path of the bottom plate obtained in the above step is set asPB，z= 0, willPBTranslate positively to the z-axish，2h，… n 1 hTo obtainPB 1 ，PB 2 ，… PB n1 The multilayer floor path is counted as:PBM=[PB 1 ，PB - 2 , PB 3 ,…]wherein the superscript "-" indicates the curve reversal.
Similarly, the sidewall printing path of the bottom plate obtained in the above step is the baseline ∂ m, and the curve distance is setPBHas a closest point ofP C Will be∂mLocation conversion toP C And shortening the distance D/2 at the end to obtain a curvePTWill bePTTranslate positively to the z-axisn 1 h+h，n 1 h+2h，… n 1 h+n 2 hTo obtainPT 1 ，PT 2 ，… PT n2 Obtaining a multi-layer side wall printing path and countingPTM=[PT 1 ，PT 2 , PT 3 ,…, PT n2 ]。
Finally, the multi-layer bottom plate printing path and the multi-layer side wall printing path are combined to obtain a final printing pathPM=[PBM,PTM]。
In addition, based on the final printing path of the component to be printed, the material extruding width of any node on any path can be determined. Based on the width of the extrusion, the rate of extrusion, and the thickness of the print layer, the print speed can be determined. Finally, an instruction file of the member to be printed is generated based on the printing speed and the printing path of the member to be printed.
For non-standard structural members, the method can meet the requirement of path continuity. Therefore, the skip path can be reduced, the switching frequency of concrete pumping is reduced, and the possibility of concrete blockage in the printing process can be reduced. When the template path is selected to be a Z-shaped path, the method is suitable for regulation and control by matching with extrusion of concrete materials, and a continuous and defect-free printing path can be realized.
Fig. 12 is a schematic diagram of a corresponding template path, which is a schematic diagram of another 3D printing model, and different printing paths are constructed by selecting different vertices, as shown in fig. 11, and different printing paths are formed by selecting different boundary curves, as shown in fig. 13.
The method comprises the steps of selecting four different partition points of a model to be printed, constructing expressions of different boundary curves, and finally determining the printing paths of different two-dimensional models through a preset transfinite mapping expression of a preset snake-shaped template path and a preset path to be filled.
By adopting the method provided by the invention, the requirement of path continuity can be met. The skip path is reduced, the switching times of concrete pumping is reduced, and the possibility of blockage of concrete in the printing process is reduced. The template path is selected to be a snake-shaped path, and is matched with extrusion of concrete materials for self-adaptive regulation and control, so that a continuous and defect-free printing path can be realized. As can also be seen from fig. 13, the selection method of the partition points in the module is not unique, and by selecting different boundary curves, various path plans can be implemented.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
Based on the method for planning the 3D printing path of the non-standard structural member concrete template provided by the embodiment, correspondingly, the invention further provides a specific implementation manner of the device for planning the 3D printing path of the non-standard structural member concrete template, which is applied to the method for planning the 3D printing path of the non-standard structural member concrete template. Please see the examples below.
As shown in fig. 14, there is provided an apparatus 1400 for planning a 3D printing path of a non-standard structural member concrete form, the apparatus comprising:
an outline acquisition module 1410, configured to import a two-dimensional model of a component to be printed, and acquire an outline of the two-dimensional model; the component to be printed is a component with a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes;
a determine boundary curve module 1420, configured to determine 4 partition points of the contour based on the contour of the two-dimensional model, where the 4 partition points divide the contour into 4 boundary curves;
a bottom plate path determining module 1430, configured to determine a single-layer printing path of the bottom plate of the member to be printed, based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve, and the 4-edge boundary curve;
a determine sidewall path module 1440 for determining a single-layer print path of a sidewall of a member to be printed based on the contour of the two-dimensional model;
a determine print path module 1450 determines a print path of the member to be printed based on the single layer print path of the floor and the single layer print path of the side walls.
In one possible implementation, the determine floor path module 1430 is configured to determine a mapping relationship between each point on each boundary curve and each boundary curve based on a relationship between each point on each boundary curve and each boundary curve;
and determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve.
In a possible implementation manner, the bottom plate path determining module 1430 is configured to perform normalization processing on the length of a line segment formed by the target node on each boundary curve and the preset starting point of the edge boundary curve, so as to obtain the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the edge boundary curve; the target node is any point on each boundary curve;
determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve;
wherein the content of the first and second substances,
L m (γ i ) For the mapping relationship between the target node on each boundary curve and each boundary curve,
L m (γ i )= p i m =[x i m ,y i m ]，p i m for a preset starting point of each boundary curve,p i m for any point on each boundary curve, γ i The relative length of a line segment formed by any point on each boundary curve and a preset starting point of the boundary curve is m =1,2,3,4, i =1,2,3 … n, j =2, 3 … n, and n is the number of nodes on each boundary curve.
In one possible implementation, the bottom plate path determining module 1430 is configured to substitute mapping relationships between all points on the preset z-shaped template path and each point on each boundary curve and each boundary curve into a preset overrun mapping function to obtain a single-layer printing path of the bottom plate of the component to be printed.
In one possible implementation, the predetermined zigzag template path is any one zigzag curve TP constructed in a unit square, TP = [ TP = 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the predefined overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤v≤1。
In a possible implementation manner, the boundary curve determining module 1420 is configured to bias the outline of the two-dimensional model inward by a preset distance to obtain a baseline of the two-dimensional model;
and 4 vertexes are randomly selected on the base line and are used as 4 partition points of the two-dimensional model, and the 4 partition points divide the base line into 4 side boundary curves.
In a possible implementation manner, the method further includes a generation instruction module, configured to determine, based on a printing path of the component to be printed, an extrusion width of any node on any path;
determining a printing speed based on the extruding width, the extruding speed and the printing layer thickness;
generating an instruction file of the component to be printed based on the printing speed and the printing path of the component to be printed;
wherein the printing speed f is:
wherein Q is the extrusion speed, w is the extrusion width, and t is the print layer thickness.
Fig. 15 is a schematic diagram of an electronic device provided in an embodiment of the present invention. As shown in fig. 15, the electronic apparatus 15 of this embodiment includes: a processor 150, a memory 151 and a computer program 152 stored in said memory 151 and executable on said processor 150. The processor 150, when executing the computer program 152, implements the steps in each of the above embodiments of the method for planning a concrete 3D printing path, such as the steps 110 to 150 shown in fig. 1. Alternatively, the processor 150, when executing the computer program 152, implements the functions of the modules in the above-described device embodiments, such as the functions of the modules 1410 to 1450 shown in fig. 14.
Illustratively, the computer program 152 may be partitioned into one or more modules that are stored in the memory 151 and executed by the processor 150 to implement the present invention. The one or more modules may be a series of computer program instruction segments capable of performing certain functions that are used to describe the execution of the computer program 152 on the electronic device 15. For example, the computer program 152 may be partitioned into modules 1410 through 1450 shown in fig. 14.
The electronic device 15 may include, but is not limited to, a processor 150 and a memory 151. Those skilled in the art will appreciate that fig. 15 is merely an example of an electronic device 15, and does not constitute a limitation of the electronic device 15, and may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 150 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 151 may be an internal storage unit of the electronic device 15, such as a hard disk or a memory of the electronic device 15. The memory 151 may also be an external storage device of the electronic device 15, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the electronic device 15. Further, the memory 151 may also include both an internal storage unit and an external storage device of the electronic device 15. The memory 151 is used to store the computer program and other programs and data required by the electronic device. The memory 151 may also be used to temporarily store data that has been output or is to be output.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other ways. For example, the above-described apparatus/electronic device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the method of the embodiments described above can be implemented by a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the method for planning the 3D printing path of the concrete template of each non-standard structural member described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A planning method for a 3D printing path of a concrete template of a non-standard structural member is characterized by comprising the following steps:
importing a two-dimensional model of a component to be printed, and acquiring the outline of the two-dimensional model; wherein the component to be printed is a component of a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes;
based on the outline of the two-dimensional model, 4 partition points of the outline are determined, and the 4 partition points divide the outline into 4 side boundary curves;
determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve and the 4-edge boundary curve; determining the mapping relation between each point on each boundary curve and each boundary curve based on the relation between each point on each boundary curve and each boundary curve; determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve;
determining a single-layer printing path of a sidewall of the member to be printed based on the contour of the two-dimensional model;
determining a print path of the member to be printed based on a single layer print path of the floor and a single layer print path of the sidewall;
wherein, the determining the mapping relationship between each point on each boundary curve and each boundary curve based on the relationship between each point on each boundary curve and each boundary curve includes: normalizing the length of a line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve of the edge to obtain the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the boundary curve of the edge; the target node is any point on each boundary curve; determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve;
the preset zigzag template path is any one zigzag curve TP constructed in a unit square, TP = [ ] 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the preset overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤v≤1。
2. The method of claim 1, wherein the relative length of the line segment formed by any point on each border curve and the predetermined starting point of the border curve is γ i ，
L m (γ i ) For the mapping relationship between the target node on each boundary curve and each boundary curve,
L m (γ i )= p i m =[x i m , y i m ]，p i m for each predetermined starting point of the boundary curvep i m For any point on each boundary curve, m =1,2,3,4, i =1,2,3 … n, j =2, 3 … n, n is the number of nodes on each boundary curve.
3. The planning method of claim 1, wherein the determining a single-layer printing path of the backplane of the member to be printed based on the preset zigzag template path of the two-dimensional model, the preset overrun mapping function of the 4-sided boundary curve, and the 4-sided boundary curve comprises:
and substituting the mapping relation between all the points on the preset z-shaped template path and each point on each boundary curve and each boundary curve into the preset overrun mapping function to obtain the single-layer printing path of the bottom plate of the component to be printed.
4. The planning method according to claim 1, wherein the determining of the 4 partitioning points of the contour based on the contour of the two-dimensional model, and the dividing of the 4 partitioning points into 4-sided boundary curves, includes:
the outline of the two-dimensional model is inwardly biased for a preset distance to obtain a base line of the two-dimensional model;
and randomly selecting 4 vertexes on the base line as 4 partition points of the two-dimensional model, wherein the 4 partition points divide the base line into 4 side boundary curves.
5. The planning method of claim 1, wherein the planning method further comprises:
determining the extruding width of any node on any path based on the printing path of the component to be printed;
determining a printing speed based on the extruding width, the extruding speed and the printing layer thickness;
generating an instruction file of the component to be printed based on the printing speed and the printing path of the component to be printed;
wherein the printing speed f is:
wherein Q is the extrusion speed, w is the extrusion width, and t is the print layer thickness.
6. A planning device for a 3D printing path of a non-standard structural member concrete template is characterized by comprising:
the contour acquisition module is used for importing a two-dimensional model of a component to be printed and acquiring a contour of the two-dimensional model; wherein the component to be printed is a component of a non-standard structure, and the outline of the two-dimensional model at least comprises 4 vertexes;
a boundary curve determining module, configured to determine 4 partition points of the contour based on the contour of the two-dimensional model, where the 4 partition points divide the contour into 4 boundary curves;
a bottom plate path determining module, configured to determine a single-layer printing path of the bottom plate of the member to be printed, based on a preset zigzag template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curve, and the 4-edge boundary curve; the method is specifically used for determining the mapping relation between each point on each boundary curve and each boundary curve based on the relation between each point on each boundary curve and each boundary curve; determining a single-layer printing path of the bottom plate of the component to be printed based on a preset z-shaped template path of the two-dimensional model, a preset overrun mapping function of the 4-edge boundary curves and a mapping relation between each point on each boundary curve and each boundary curve;
a determine sidewall path module to determine a single layer print path of a sidewall of the member to be printed based on the contour of the two-dimensional model;
a determine print path module to determine a print path of the member to be printed based on a single layer print path of the floor and a single layer print path of the sidewall;
the device comprises a bottom plate path determining module, a side boundary curve generating module and a bottom plate path determining module, wherein the bottom plate path determining module is also used for carrying out normalization processing on the length of a line segment formed by a target node on each boundary curve and a preset starting point of the side boundary curve to obtain the relative length of the line segment formed by the target node on each boundary curve and the preset starting point of the side boundary curve; the target node is any point on each boundary curve; determining the mapping relation between the target node on each boundary curve and each boundary curve based on the relative length of a line segment formed by the target node on each boundary curve and a preset starting point of the boundary curve;
the preset zigzag template path is any one zigzag curve TP constructed in a unit square, and TP = [ TP ] 1 ,TP 2 ,TP 3 ,…,TPn]，TP i =[ζ i ，η i ]，TP i Is the ith point on TP;
the preset overrun mapping function is P (u, v):
wherein L is 1 (u)、L 2 (u)、L 3 (v) And L 4 (v) Are respectively points on 4 side boundary curves, i is a positive integer and is not more than 0u≤1，0≤v≤1。
7. An electronic device comprising a memory for storing a computer program and a processor for calling and executing the computer program stored in the memory to perform a method of planning a 3D print path of a non-standard structural member concrete form according to any one of claims 1 to 5.
8. A computer-readable storage medium, storing a computer program, wherein the computer program, when executed by a processor, implements the steps of a method for 3D printing a path for non-standard structural member concrete forms according to any one of claims 1 to 5.
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