CN117359640A - Additive manufacturing path planning method for crossed workpiece - Google Patents

Additive manufacturing path planning method for crossed workpiece Download PDF

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Publication number
CN117359640A
CN117359640A CN202311564065.4A CN202311564065A CN117359640A CN 117359640 A CN117359640 A CN 117359640A CN 202311564065 A CN202311564065 A CN 202311564065A CN 117359640 A CN117359640 A CN 117359640A
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area
point
path
filling
lower layer
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张召远
吴玲珑
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Nanjing Iungo Technology Co ltd
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Nanjing Iungo Technology Co ltd
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    • 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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Dot-Matrix Printers And Others (AREA)

Abstract

The invention discloses a planning method for an additive manufacturing path of a cross-shaped workpiece, which belongs to the technical field of additive manufacturing and comprises the steps of obtaining a sliced polygon, determining a polygonal central line, identifying characteristics of a bifurcation area, generating a cross path and the like. The method is mainly used for planning additive manufacturing paths of cross workpieces such as cross workpieces and T-shaped cross workpieces, and the additive manufacturing is carried out through the paths planned by the method, so that frequent start and stop of a feeding mechanism at the cross position are avoided, excessive accumulation of additive manufacturing materials is not caused in the cross region, the efficiency of additive manufacturing is improved, the failure rate and the production cost of the feeding mechanism are reduced, and the service life of the feeding mechanism is prolonged.

Description

Additive manufacturing path planning method for crossed workpiece
Technical Field
The invention relates to an additive manufacturing path planning method for a cross-shaped workpiece, and belongs to the technical field of additive manufacturing.
Background
At present, in the additive manufacturing path planning method for cross-shaped workpieces (such as cross-shaped workpieces and T-shaped cross-shaped workpieces), two methods are generally adopted: one method is to make the feeding mechanism frequently start and stop at the crossing to avoid excessive accumulation of materials at the crossing path, but the frequent start and stop at the crossing can affect the efficiency of additive manufacturing and affect the service life and failure rate of the feeding mechanism; another approach is to repeatedly build up additive manufacturing material directly at the intersections, avoiding frequent start-stops, but causing some degree of additive manufacturing material over-build up at the intersections.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provide a planning method for an additive manufacturing path of a cross-shaped workpiece, avoid frequent start and stop of a feeding mechanism at a cross position, and avoid excessive accumulation of additive manufacturing materials at the cross position.
In order to solve the technical problems, the invention adopts the following technical scheme:
an additive manufacturing path planning method for a cross-shaped workpiece, comprising the steps of:
step 1, obtaining a slicing polygon Q of a workpiece, and determining a center line S of the polygon;
step 2, judging a polygonal intersection area and a polygonal non-intersection area according to the central line;
21 Determining the shortest distance d=min (dist (a, Q)) from the point a on the central line to the polygon Q, and a e S, Q e Q, wherein the point Q on the polygon Q at the shortest distance is the supporting point a;
22 For any point on the centerline, if the number of centerline segments connected at that point, n >2, then the point is set as bifurcation point b, if n=2, then the point is a common center point on the centerline, if n=1, then the point is an end point;
23 The area formed by sequentially connecting the supporting points corresponding to the bifurcation point b of the central line is a crossing area; the other areas of the polygon other than the intersecting area are non-intersecting areas; the intersection point of the polygon of the intersection area and the central line is a dividing point of the central line;
step 3, determining the printing sequence of the non-intersecting region, and printing the non-intersecting region according to the determined sequence; when the intersection area is passed in the process of printing the non-intersection area, printing the intersection area according to the generated center line of the intersection area as a filling path;
for non-crossing areas of adjacent upper and lower layers, the included angle between the central line dividing point of the area of the same layer and the connecting line of the bifurcation point b is an area included angle; i+1 represents an upper layer, i represents a lower layer;
31 First, in the lower layer region, one of the regions with the largest included angle is selected as the initial regionAnd selecting the m-th area with the smallest area included angle with the start area as the next printing area +.>Wherein m is a region sequence number, and m is more than or equal to 1;
32 Is then selected with the mth print zoneCorresponding upper mth print zone->For the next print zone;
33 If there is an unprinted area in the lower layer, selecting the printing area with the mth printing area in the lower layer areaThe unprinted area with the largest area included angle is the next m+1th printed area +.>Meanwhile, consider m+1 as m, and then go to step 32) until there is no unprinted area in the lower layer;
if there is no unprinted region in the lower layer, selecting a region in the upper layer regionPrinting is performed for the last printing area.
Further, when printing in the non-intersecting area and the intersecting area, if 2d is less than or equal to w, d is the shortest distance from a point on the central line to the polygon, and w is the filling width, the filling path of the printing area is a single path, otherwise, the filling path is a multi-path.
Further, for the single-pass path, the filling is performed with the center line as the filling path and with 2d as the actual filling width.
Further, for the multi-path, a straight line segment perpendicular to the center line is generated along the center line direction, and the filling is performed with the filling width w by taking the straight line segment as a filling path.
Further, in step 3, the step of generating the center line of the intersection area is:
for the upper mth printing areaDividing point p of center line i+1 A filling width w is shifted along the central line into the non-intersecting region to form a new division point +.>Its corresponding lower mth print area +.>Dividing point p of center line i A new division point is formed along the central line by shifting the filling width w by 1/2 in the non-crossing area>Two new dividing points are connected into line segmentsAs the connecting center line of the upper and lower layers, then the line segment is connected with the m+1th printing area of the lower layer +.>Is divided into (a) division pointsConnecting, and finally forming the central line of the crossing area of the upper layer and the lower layer>
Further, the fill width w ranges between the minimum fill width permitted by the fill process and the maximum fill width.
Further, the number of the straight line segments is n=l/w, L is the length of the center line of the printing area, and w is the filling width; the length of the straight line segment l=2d-w; if the start and end points of the filling path are on the same side of the central line, N is selected to be even, otherwise N is selected to be odd.
Further, in step 3, when a print area is printed and then a next print area is transited, a connection path formed between filling paths of the two print areas is a transition path, and the transition path is constructed so that the filling paths in different areas are continuous.
Further, the specific determination method of the transition path comprises the following steps:
m, m+1 th two print areas for two connected adjacent print orders of the lower layerThe transition path between two paths is that firstly two rays r are respectively established at the final and the starting points of the two paths 1 ,r 2 Wherein-> Wherein s is i Is the bifurcation point of the lower layer crossing region, < ->Two print areas of the lower layer respectively +.>Corresponding filling path,/->Fill paths respectively->Is provided with a start point and an end point of (c),fill paths respectively->Start and end of>Dividing points of the m+1 and m regions of the lower layer respectively, and the proportion coefficient t 1 ,t 2 E [0, ] and then calculate the intersection of the two rays u=r 1 ∩r 2 Line segment->Sum line segmentIs a transition path.
Further, for the upper layer mth printing areaTo the m+1th printing area of the lower layer +.>Taking s i+0.5 ＝(s i +s i+1 ) 0.5 is the interlayer bifurcation point of the intersection area of the lower layer and the upper layer, s i Is the bifurcation point s of the lower layer crossing area i+1 For the bifurcation point of the upper layer crossing region, calculating the transition point of the interlayer region as two rays r 3 ,r 4 V=r of intersection point of (2) 3 ∩r 4 ，Wherein (1)>Two printing areas of upper layer and lower layer respectively +.>Corresponding filling path,/->For filling the path->End point of->For filling the path->Starting point of->Dividing point for the m+1-th region of the lower layer,>for the division point of the upper m-th region, the proportionality coefficient t 3 ,t 4 E is [0, ] infinity, line segment->And line segment->A transition path between the two regions is constructed.
The invention has the beneficial effects that:
the invention discloses a method for planning additive manufacturing paths of crossed workpieces, which is mainly used for planning additive manufacturing paths of crossed workpieces such as crossed workpieces and T-shaped crossed workpieces, and the paths planned by the method are used for additive manufacturing, so that frequent start and stop of a feeding mechanism at a crossed position are avoided, excessive accumulation of additive manufacturing materials is not caused in a crossed region, the efficiency of additive manufacturing is improved, the failure rate and the production cost of the feeding mechanism are reduced, and the service life of the feeding mechanism is prolonged.
Drawings
FIG. 1 is a flow chart of an additive manufacturing path planning method of embodiment 1;
FIG. 2 is a schematic illustration of intersection region feature points;
FIG. 3 is a schematic diagram of a T-shaped cross single path interlayer connection;
FIG. 4 is a schematic diagram of a cross-type cross single path interlayer connection;
FIG. 5 is a schematic illustration of a T-shaped intersecting multi-path;
fig. 6 is a schematic diagram of a crisscrossed multi-path.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
In this embodiment, a method for planning an additive manufacturing path of a cross-shaped workpiece is provided, as shown in fig. 1, and specifically includes the following steps:
1. a sliced polygon Q of the workpiece is obtained, taking a cross-shaped workpiece as an example, as shown in fig. 2, and a center line S of the polygon is determined.
2. And judging the intersection area of the polygon according to the central line.
21 The shortest distance d=min (dist (a, Q)) from the point a on the centerline to the polygon Q is determined, and a e S, Q e Q. The point Q on the polygon Q at the shortest distance is the supporting point a, and as shown in FIG. 2, 4 supporting points are provided, respectively Q 1 、q 2 、q 3 、q 4 。
22 For any point on the centerline, if the number of centerline segments connected at that point, n >2, then that point is set to be the bifurcation point b, i.e., the T-shaped cross bifurcation point if n=3, and the cross bifurcation point if n=4. If n=2, this point is a common center point on the center line, and if n=1, this point is the end point s, e.
23 The area formed by sequentially connecting the supporting points corresponding to the bifurcation point b of the center line is a crossing area, namely a filling area in fig. 2; while other areas of the polygon are non-intersecting areas, represented by the following layers as examplesm is the region sequence number of the lower layer i, and m is more than or equal to 1. The intersection point of the intersecting region polygon contour line and the center line is the dividing point p of the center line, and as an example of fig. 2, 4 dividing points are divided, p 1 、p 2 、p 3 、p 4 。
3. Determining a printing sequence of the non-intersecting regions, and printing the non-intersecting regions according to the determined sequence; when the intersection area is passed in the process of printing the non-intersection area, printing the intersection area according to the generated center line of the intersection area as a filling path;
the non-intersecting regions of the adjacent upper and lower layers are determined to be corresponding regions if projections of the lower and upper regions overlap (when the projections overlap, polygonal contour lines of the lower and upper regions completely coincide with each other, or one region completely encloses the other region). i+1 represents an upper layer, and i represents a lower layer.
The included angle between the connection lines of the dividing points and the bifurcation points b between the areas of the same layer is the area included angleWhere j, k is the region number.
The printing order of the non-intersecting areas is:
31 First, in the lower layer region, one of the regions with the largest included angle is selected as the initial regionAnd selecting the area with the smallest included angle with the initial area as the next printing area +.>Wherein m is the region sequence number, and m is more than or equal to 1. After printing, mark two areasIs the printed area.
32 Is then selected with the lower mth print zoneCorresponding upper mth print zone->For the next printed area, the post-print mark is the printed area.
33 If there is an unprinted area in the lower layer, selecting the printing area with the mth printing area in the lower layer areaThe unprinted area with the largest included angle is the next m+1th printed area +.>The post-print mark is a printed area, while m+1 is regarded as m, and then the process goes to step 32) until there is no unprinted area in the lower layer.
If there is no unprinted region in the lower layer, selecting a region in the upper layer regionFor the last print zone.
The specific steps of generating the center line of the crossed area are as follows:
for the upper mth printing areaDividing point p of center line i+1 A filling width w is shifted along the central line into the non-intersecting region to form a new division point +.>Its corresponding lower mth print area +.>Dividing point p of center line i Edge middleThe centerline is shifted by 1/2 of the filling width w in the non-intersecting region to form a new division point +.>Two new dividing points are connected into line segmentsAs the connecting center line of the upper and lower layers, then the line segment is connected with the m+1th printing area of the lower layer +.>Path dividing pointConnecting to form the crossing center line of the upper layer and the lower layer>Wherein w is min ≤w≤w max And w is min 、w max The minimum and maximum fill widths permitted by the fill process, respectively.
The upper layer crossing center line is the center line of the upper layer crossing area and is connected with the two division points.
The specific determination steps of the filling path during the printing in the area are as follows:
if 2d is less than or equal to w, d is the shortest distance from a point on the central line to the polygon, w is the filling width, the filling path of the polygonal area is a single path, otherwise, the filling path is a multi-path.
As shown in fig. 3 and 4, the single-pass path is filled with a filling path having a center line and an actual filling width of 2 d. Taking the lower layer area as an example, two printing areas of m and m+1 in adjacent printing orderIs not equal to the filling path of (a)Corresponding endpoint->And start->For the end point with the shortest center line distance, the corresponding start point +.>And endpointIs the other end point of the center line, i.e. print area +.>Filling Path->Starting point of->Endpoint->Printing areaFilling Path->Starting point of->Endpoint->The upper layer region is the same.
For the multipass path, as shown in fig. 5 and 6, a straight line segment l perpendicular to the center line is generated along the center line direction, and the straight line segment is used as the path for filling, and the lower layer region is used as an example, and the m and m of adjacent printing sequences are formed+1 two print areasFilling path->Corresponding endpoint +.>And start->The nearest end point of the straight line segment with the nearest two regions is the corresponding starting point +.>And endpoint->Is any end point of a straight line segment at the other end of the center line. The upper layer region is the same.
Let the number of straight line segments be n=l/w, where N min ≤N≤N max ，N min ＝L/w max ，N max ＝L/w min L is the centerline segment length. The straight line segment length l=2d-w. If the start and end points of the filling path are on the same side of the central line, N is selected to be even, otherwise N is selected to be odd. And selecting proper N values for determining filling width w for the starting and ending points of the designated paths, so that the generated straight line segments are connected end to form a continuous reciprocating straight line path.
When a region is printed and then transits to a next printed region, a connection path formed between filling paths between two regions is called a transition path, the transition path is not in the region, and the filling paths in different regions can be formed continuously by constructing the transition path. The specific determination method of the transition path comprises the following steps:
print area for adjacent print order of two connections of lower layerThe transition path between two paths is that firstly two rays r are respectively established at the final and the starting points of the two paths 1 ,r 2 Wherein-> Wherein (1)>Two print areas of the lower layer respectively +.>Corresponding filling path,/->Fill paths respectively->Start and end of>Fill paths respectively->S is the start and end of (c) i Is the bifurcation point of the lower layer crossing region, < ->Dividing points of the m+1 and m regions of the lower layer respectively, and the proportion coefficient t 1 ,t 2 E [0, ] and then calculate the intersection of the two rays u=r 1 ∩r 2 Finally, take line segment->And line segment->Is a transition path.
For upper layer printing areaTo the lower layer printing area->Taking s i+0.5 ＝(s i +s i+1 ) 0.5 is the interlayer bifurcation point of the crossing area of the lower layer i and the upper layer i +, s i+1 For the bifurcation point of the upper layer crossing area, the transition point of the interlayer area is calculated as two rays r 3 ,r 4 V=r of intersection point of (2) 3 ∩r 4 Wherein-> Wherein (1)>For filling the path->End point of->For filling the path->Is used for the starting point of (a),dividing point for the m+1-th region of the lower layer,>for the division point of the upper m-th region, the proportionality coefficient t 3 ,t 4 E is a group of E [0 ], infinity). Line segment->And line segment->A transition path between the two regions is constructed.
If the printing area is a T-shaped crossing area, no transition path exists between the two areas of the lower layer, and the transition path exists between the two printing areas of the upper layer and the lower layer as a line segmentAnd line segment->Connections, i.e. transition paths +.>If the printing area is a cross-shaped cross area, a transition path is a line segment between two lower printing areas>And line segment->Connection, i.e. transition path is line segment +>The transition path between the upper and lower printing areas is a line segment +.>Sum line segmentConnections, i.e. transition paths +.>
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (10)

1. An additive manufacturing path planning method for a cross-shaped workpiece is characterized by comprising the following steps:
step 1, obtaining a slicing polygon Q of a workpiece, and determining a center line S of the polygon;
step 2, judging a polygonal intersection area and a polygonal non-intersection area according to the central line;
21 Determining the shortest distance d=min (dist (a, Q)) from the point a on the central line to the polygon Q, and a e S, Q e Q, wherein the point Q on the polygon Q at the shortest distance is the supporting point a;
22 For any point on the centerline, if the number of centerline segments connected at that point, n >2, then the point is set as bifurcation point b, if n=2, then the point is a common center point on the centerline, if n=1, then the point is an end point;
23 The area formed by sequentially connecting the supporting points corresponding to the bifurcation point b of the central line is a crossing area; the other areas of the polygon other than the intersecting area are non-intersecting areas; the intersection point of the polygon of the intersection area and the central line is a dividing point of the central line;
step 3, determining the printing sequence of the non-intersecting region, and printing the non-intersecting region according to the determined sequence; when the intersection area is passed in the process of printing the non-intersection area, printing the intersection area according to the generated center line of the intersection area as a filling path;
for non-crossing areas of adjacent upper and lower layers, the included angle between the central line dividing point of the area of the same layer and the connecting line of the bifurcation point b is an area included angle; i+1 represents an upper layer, i represents a lower layer;
31 First, in the lower layer region, one of the regions with the largest included angle is selected as the initial regionSelecting the mth region with the smallest included angle with the initial regionFor the next print zone->Wherein m is a region sequence number, and m is more than or equal to 1;
32 Is then selected with the mth print zoneCorresponding upper mth print zone->For the next print zone;
33 If there is an unprinted area in the lower layer, selecting the printing area with the mth printing area in the lower layer areaThe unprinted area with the largest area included angle is the next m+1th printed area +.>Meanwhile, consider m+1 as m, and then go to step 32) until there is no unprinted area in the lower layer;
if there is no unprinted region in the lower layer, selecting a region in the upper layer regionPrinting is performed for the last printing area.
2. The additive manufacturing path planning method for crossed workpieces according to claim 1, wherein when printing in a non-crossed area or a crossed area, if 2d is equal to or less than w, d is the shortest distance from a point on a central line to a polygon, w is a filling width, a filling path of the printed area is a single path, and otherwise, the filling path is a multi-path.
3. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 2, wherein for a single path, filling is performed with a center line as a filling path and with 2d as an actual filling width.
4. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 2, wherein for a plurality of paths, straight line segments perpendicular to a center line are generated along the center line direction, and filling is performed with a filling width w by taking the straight line segments as filling paths.
5. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 1, wherein in step 3, the step of generating a center line of the cross-shaped region comprises:
for the upper mth printing areaDividing point p of center line i+1 A filling width w is shifted along the central line into the non-intersecting region to form a new division point +.>Its corresponding lower mth print area +.>Dividing point p of center line i A new division point is formed along the central line by shifting the filling width w by 1/2 in the non-crossing area>Two new dividing points are connected into line segment +.>As the connecting center line of the upper and lower layers, then the line segment is connected with the m+1th printing area of the lower layer +.>Division points +.>Connecting, and finally forming the central line of the crossing area of the upper layer and the lower layer>
6. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 5, characterized in that the filling width w ranges between a minimum filling width and a maximum filling width permitted by the filling process.
7. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 4 or 5, wherein the number of straight line segments is n=l/w, L is the length of the center line of the printing area, and w is the filling width; the length of the straight line segment l=2d-w; if the start and end points of the filling path are on the same side of the central line, N is selected to be even, otherwise N is selected to be odd.
8. The method according to claim 1, wherein in step 3, when a print area is printed and then a transition is made to a next print area, a connection path formed between filling paths of the two print areas is a transition path, and the transition path is configured to form a continuity between filling paths in different areas.
9. The additive manufacturing path planning method for cross-shaped workpieces according to claim 8, wherein the transition path specific determination method is as follows:
m, m+1 th two print areas for two connected adjacent print orders of the lower layerTransition path, headFirstly, respectively establishing two rays r at the final and starting points of two paths 1 ,r 2 Wherein r is 1 ＝P i m e+Wherein s is i Is the bifurcation point of the lower layer crossing region, < ->Two print areas of the lower layer respectively +.>Corresponding filling path,/->Fill paths respectively->Is provided with a start point and an end point of (c),fill paths respectively->Start and end of>Dividing points of the m+1 and m regions of the lower layer respectively, and the proportion coefficient t 1 ,t 2 E [0, ] and then calculate the intersection of the two rays u=r 1 ∩r 2 Line segment->Sum line segmentIs a transition path.
10. An additive manufacturing path planning method for a cross-shaped workpiece according to claim 8, characterized in that for an upper mth print zoneTo the m+1th printing area of the lower layer +.>Taking s i+0.5 ＝(s i +s i+1 ) 0.5 is the interlayer bifurcation point of the intersection area of the lower layer and the upper layer, s i Is the bifurcation point s of the lower layer crossing area i+1 For the bifurcation point of the upper layer crossing region, calculating the transition point of the interlayer region as two rays r 3 ,r 4 V=r of intersection point of (2) 3 ∩r 4 ，Wherein (1)>Two printing areas of upper layer and lower layer respectively +.>Corresponding filling path,/->For filling the path->End point of->For filling the path->Starting point of->Dividing point for the m+1-th region of the lower layer,>for the division point of the upper m-th region, the proportionality coefficient t 3 ,t 4 E is [0, ] infinity, line segment->And line segment->A transition path between the two regions is constructed.
CN202311564065.4A 2023-11-22 2023-11-22 Additive manufacturing path planning method for crossed workpiece Pending CN117359640A (en)

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