Swing path planning method and system for additive manufacturing and storage medium
Through the swing path planning method, the problems of incomplete molten pool coverage and local high-temperature deformation in arc additive manufacturing are solved, high-quality additive manufacturing effects are achieved, and the automatic adjustment and speed control of unequal width paths are adapted.
Patent Information
- Application Number
- CN202510789669.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-13
- Publication Date
- 2025-09-19
AI Technical Summary
In arc additive manufacturing, uneven path widths result in the molten pool width being unable to cover the entire path width, leading to insufficient penetration and easily causing local high-temperature deformation or cracking. Existing technologies are unable to effectively solve these problems.
The swing path planning method is adopted to generate a periodic swing unit path and arrange it in an equiperiodic array on a straight path to generate a continuous swing path. Combined with the tool reference system transformation and inverse mapping, automatic path adaptation and speed adjustment are achieved to generate a swing path with variable width.
It improves the quality of molded parts, avoids insufficient melting depth and cracking, reduces defects such as pores and slag inclusions, and adapts to the additive manufacturing needs of unequal width paths.
Smart Images
Figure CN120662828A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a swing path planning method, system and storage medium for additive manufacturing, and belongs to the technical field of additive manufacturing. Background Art
[0002] In arc additive manufacturing, if the path widths vary, the melt pool will not cover the entire path width, which can easily lead to insufficient penetration. An oscillating path expands the heat source laterally, increasing the melt pool width and penetration, thereby covering the entire path width while avoiding incomplete fusion. Furthermore, oscillation disperses the heat input, reducing deformation or cracking caused by localized high temperatures. Adjusting the oscillation parameters controls the melt pool flow and reduces defects such as porosity and slag inclusions. Therefore, using an oscillating path can improve the quality of finished parts and has become a hot topic of research in the industry. Summary of the Invention
[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a swing path planning method, system, computer equipment and storage medium for additive manufacturing.
[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:
[0005] A swing path planning method for additive manufacturing, comprising the following steps:
[0006] Step 1: Generate a periodic swing unit path according to the swing parameters;
[0007] Step 2: Mapping the guidance path parameters into a straight line path;
[0008] Step 3, array the swing unit paths in an equal periodic manner on the straight path to generate a continuous swing path;
[0009] Step 4: Inversely map the continuous swing path generated on the straight path into a swing path of the guiding path.
[0010] Furthermore, step 1 specifically includes the following steps:
[0011] Step 1.1, set the period of the sinusoidal swing unit to the swing unit length L, and the amplitude to half the swing unit width W;
[0012] Then, the coordinates of the five reference points of the sinusoidal oscillation unit are determined to be A(0,0,0), E(L,0,0);
[0013] Step 1.2, based on the reference points of the sinusoidal oscillation unit, define line segments parallel to the X-axis at reference points A, B, C, D, and E, and connect the line segments in sequence to generate a Zigzag oscillation unit;
[0014] In step 1.3, a V-shaped swing unit is generated by setting the Z-axis height at the endpoints of the line segments of the upper half period and the lower half period of the swing unit.
[0015] Furthermore, step 2 specifically includes the following steps:
[0016] Step 2.1 Guided Path Parameterization
[0017] Assume that the guided path consists of a series of n+1 points {p0, p1, ..., p n}Sequential structure, the Euclidean distance d between adjacent points i =||p i -p i-1 ||,i=1,2,…,n,p i 、p i-1 are any two adjacent points on the guiding path, then the cumulative arc length of each point And let the cumulative arc length of the starting point s0 = 0;
[0018] For each point p i Mapped to the X-axis coordinate s i The position of the one-dimensional point sequence {s0,s1,…,s n}; then the order of the points on the X-axis is exactly the same as the original curve, point s i With s j The distance is p on the guide path i to p j The arc length of the guidance path; r(s) represents the coordinates of the point with arc length s on the guidance path; through arc length parameterization, the guidance path is mapped to the arc length parameter s, so that s0 corresponds to the starting point p0 of the guidance path, s n Corresponding to the end point p of the guided path n , any s∈[s0,s n ] corresponds to the only point r(s) on the guided path;
[0019] Given a target arc length s, find the arc length that satisfies s. i ≤s i+1 The interval, s i 、s i+1 are points p on the guided path respectively i 、p i+1 The corresponding arc length is
[0020] Step 2.2 Tool reference system transformation
[0021] A tool reference orthogonal coordinate system {T(p), U(p), V(p)} is defined for each point p on the guidance path, where T(p) is the tangent vector at point p, V(p) is the direction of the tool end at point p as the principal normal direction, and U(p) is the secondary normal direction. According to the guidance path parameterization, the tool reference orthogonal coordinate system of the guidance path point is transformed into the spatial coordinate system {X(s), Y(s), Z(s)}.
[0022] Furthermore, step 3 specifically includes the following steps:
[0023] The parameterized guide path is divided into equal intervals according to the swing length L, and then a swing path is generated according to the V-shaped swing unit in each interval. Finally, the swing path of each unit is connected into a continuous swing path.
[0024] Furthermore, step 4 specifically includes the following steps:
[0025] Map the swing path to three-dimensional space, and obtain the tangent vector T(s), binormal vector U(s) and principal normal vector V(s) of the tool reference orthogonal coordinate system at the arc length s; decompose the connected swing path d(s′) obtained in step 3 into the tool reference orthogonal coordinate system to obtain the inverse mapped swing path
[0026] p(s′)=p(s)+d T (s′)·T(s)+d U (s′)·U(s)+d V (s′)·V(s)
[0027] Among them, p(s) is the coordinate of the guide path point with arc length s, d T (s′), d U (s′) and d V (s′) are the projections of the distances of the swing path points relative to p(s) on the tool reference orthogonal coordinate system {T(s), U(s), V(s)}, where d T (s′) is the distance after coordinate system transformation, d U (s′) is the pendulum width after coordinate system transformation, d v (s′) is the pendulum height after coordinate system transformation.
[0028] Furthermore, in step 3, when the swing path is not of fixed width, the width at each point of the guide path is variable, and the steps of the variable swing width calculation method are:
[0029] Let W(p) be the width at the guide path point p, and calculate the variable pendulum width of the pendulum path by linear interpolation:
[0030]
[0031] Among them, W(p i+1 )、W(p i ) are the guiding path points p i+1 、p i The width at , s is the given target arc length.
[0032] Furthermore, the method for calculating the swing speed of the variable pendulum width comprises the following steps:
[0033] Assume that when the tool moves along the guide path of the swing length L without swinging, the uniform speed is V, then the motion time is
[0034] Assuming that the time taken for the tool to swing with a fixed width W is equal to the time taken for the tool to swing without a fixed width W, the swing path speed of the tool with a fixed width W is
[0035]
[0036] Among them, L w is the length of the swing path;
[0037] The swing speed of the variable pendulum width is
[0038] A swing path planning system for additive manufacturing, comprising the following modules:
[0039] Swing unit path generation module: used to generate a periodic swing unit path according to the swing parameters;
[0040] Guide path mapping module: used to map guide path parameters into a straight line path;
[0041] Continuous swing path generation module: used to arrange the swing unit paths in an equal periodic array on a straight path to generate a continuous swing path;
[0042] Inverse mapping module: used to inversely map the continuous swing path generated on the straight path into the swing path of the guide path.
[0043] A computer device includes a processor and a memory, wherein the memory stores a computer program, and the computer program is loaded and executed by the processor to implement the above-mentioned swing path planning method for additive manufacturing.
[0044] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned swing path planning method for additive manufacturing.
[0045] The beneficial effects achieved by the present invention are:
[0046] The swing path planning method for additive manufacturing proposed in the present invention can perform swing in two-dimensional planes and three-dimensional spaces, automatically adapt to the swing of paths of unequal widths, and adjust the swing speed according to the swing parameters. It can meet the additive swing path planning requirements of various swinging scenarios. BRIEF DESCRIPTION OF THE DRAWINGS
[0047] Figure 1 is a flow chart of a method according to an embodiment of the present invention;
[0048] Figure 2 It is a schematic diagram of a sinusoidal oscillation unit;
[0049] Figure 3 It is a schematic diagram of the Zigzag swing unit;
[0050] Figure 4 is a schematic diagram of the swing path reflection;
[0051] Figure 5 It is a schematic diagram of the variable width swing path. DETAILED DESCRIPTION
[0052] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.
[0053] Example 1
[0054] like Figure 1 As shown, the swing path planning method for additive manufacturing of the present invention includes the following steps:
[0055] Step 1: Generate a periodic swing unit path according to the swing parameters;
[0056] Step 2: Mapping the guidance path parameters into a straight line path;
[0057] Step 3: Arrange the swing unit paths in an equal periodic manner on the straight path to generate a continuous swing path;
[0058] Step 4: Inversely map the continuous swing path generated on the straight path into the swing path of the guiding path.
[0059] The following describes each step of the above method in detail.
[0060] Step 1: Generate a periodic swing unit path according to the swing parameters, which specifically includes the following steps:
[0061] Step 1.1 Sine Oscillation Unit
[0062] The basic shape of the swing unit is a sine wave, with a period equal to the length L of the swing unit and an amplitude equal to half the width W of the swing unit.
[0063]
[0064] Then, the coordinates of the five reference points of the sinusoidal oscillation unit are A(0,0,0), E(L,0,0), such as Figure 2 shown.
[0065] Step 1.2 Zigzag Swing Unit
[0066] According to the reference points of the sinusoidal oscillation unit, line segments parallel to the X-axis are defined at the reference points A, B, C, D, and E, and the line segments are sequentially connected in straight lines to generate a Zigzag oscillation unit.
[0067] like Figure 3 As shown, the length of the line segment defined at point B is the left length L of the swing unit L , then the coordinates of the two endpoints of the line segment are The length of the line segment defined at points A, C, and E is the length C of the swing unit. L , the coordinates of the two endpoints of the line segment at point A are A1(0,0,0), The coordinates of the two endpoints of the line segment at point C are The coordinates of the two endpoints of the line segment at point E are E2(L,0,0); the length of the line segment defined at point D is the right length R of the swing unit L , then the coordinates of the two endpoints of the line segment are in,
[0068] Connect the generated line segments in the order of A1, A2, B1, B2, C1, C2, D1, D2, E1, E2 to generate a Zigzag swing unit.
[0069] Step 1.3 V-type swing unit
[0070] By setting the Z-axis height at the endpoints of the upper and lower half-cycles of the swing unit, a V-shaped swing unit is generated. This height is the swing height H, and the coordinates of the endpoints of the line segments of the Zigzag-shaped V-shaped swing unit are A1(0,0,0), E2(L,0,0).
[0071] Step 2: Mapping the guidance path parameters into a straight line path, specifically including the following steps:
[0072] Step 2.1 Guided Path Parameterization
[0073] Assume that the guided path consists of a series of n+1 points {p0, p1, ..., p n}Sequential structure, the Euclidean distance d between adjacent points i =||p i -p i-1 ||,i=1,2,…,n,p i 、p i-1 are any two adjacent points on the guiding path, then the cumulative arc length of each point And assume that the cumulative arc length of the starting point s0 = 0.
[0074] For each point p i Mapped to the X-axis coordinate s i The position of the one-dimensional point sequence {s0,s1,…,s n}. Then the order of the points on the X-axis is exactly the same as that of the original curve, and point s i With s j The distance is p on the guide path i to p j The arc length of the guide path. r(s) represents the coordinates of the point on the guide path where the arc length is s. By parameterizing the arc length, the guide path is mapped to the arc length parameter s, so that s0 corresponds to the starting point p0 of the guide path, s n Corresponding to the end point p of the guided path n , any s∈[s0,s n ] corresponds to the only point r(s) on the guided path.
[0075] Given a target arc length s, find the arc length that satisfies s. i ≤s i+1 The interval, s i 、s i+1 are points p on the guided path respectively i 、p i+1 The corresponding arc length is
[0076] Step 2.2 Tool reference system transformation
[0077] For each point p on the guide path, define a tool reference orthogonal coordinate system {T(p), U(p), V(p)}. T(p) is the tangent vector at point p, V(p) is the orientation of the tool tip at point p, and the binormal direction is U(p) = V(p) × T(p). Based on the guide path parameterization, transform the tool reference orthogonal coordinate system of the guide path point into the spatial coordinate system {X(s), Y(s), Z(s)}. X(s) = {1, 0, 0}, Y(s) = {0, 1, 0}, and Z(s) = {0, 0, 1}.
[0078] Step 3: Arrange the swing path units in an equal periodic manner on the straight path to generate a continuous swing path, which specifically includes the following steps:
[0079] The parameterized guide path is divided into equal intervals according to the swing length L, and then a swing path is generated according to the V-shaped swing unit in each interval. Finally, the swing path of each unit is connected into a continuous swing path.
[0080] Step 4: Inversely map the continuous swing path generated on the straight path into the swing path of the guiding path, such as Figure 4 As shown, the specific steps include:
[0081] Map the swing path to three-dimensional space, and obtain the tangent vector T(s), binormal vector U(s) and principal normal vector V(s) of the tool reference orthogonal coordinate system at the arc length s. Decompose the connected swing path d(s′) obtained in step 3 into the tool reference orthogonal coordinate system.
[0082] p(s′)=p(s)+d T (s′)·T(s)+d U (s′)·U(s)+d V (s′)·V(s)
[0083] Among them, p(s′) is the swing path point after inverse mapping, p(s) is the coordinate of the guide path point with arc length s, and d T (s′), d U (s′) and d V (s′) are the projections of the distances of the swing path points relative to p(s) on the tool reference orthogonal coordinate system {T(s), U(s), V(s)}, d T (s′) is the distance after coordinate system transformation, d U (s′) is the pendulum width after coordinate system transformation, d V (s′) is the pendulum height after coordinate system transformation. The final position diagram of the variable width swing path, the guide path, and the swing path boundary is shown in the figure below. Figure 5 shown.
[0084] Example 2
[0085] On the basis of Example 1, in this embodiment, if the swing path is not of fixed width, the width at each point of the guide path is variable, and a variable swing width calculation method is provided in this embodiment.
[0086] Let W(p) be the width at the guide path point p, and the variable pendulum width calculation of the swing path is realized by linear interpolation
[0087]
[0088] Among them, W(p i+1 )、W(p i ) are points p i+1 、p i The width of the place.
[0089] The rest of the scheme is the same as Example 1.
[0090] Example 3
[0091] Based on Example 2, this example provides a method for calculating the swing speed of a variable pendulum width.
[0092] If the tool moves along a guide path with a swing length of L without swinging and the speed of the uniform motion is V, the motion time is
[0093] Assuming that the time taken for the tool to swing with a fixed width W is equal to the time taken for the tool to swing without a fixed width W, the speed of the swing path with a fixed width W is
[0094]
[0095] Among them, L w is the length of the swing path.
[0096] The swing speed of the variable pendulum width is
[0097] The rest of the scheme is the same as Example 2.
[0098] Example 4
[0099] This embodiment discloses a swing path planning system for additive manufacturing, including the following modules:
[0100] Swing unit path generation module: used to generate a periodic swing unit path according to the swing parameters;
[0101] Guide path mapping module: used to map guide path parameters into a straight line path;
[0102] Continuous swing path generation module: used to arrange the swing unit paths in an equal periodic array on a straight path to generate a continuous swing path;
[0103] Inverse mapping module: used to inversely map the continuous swing path generated on the straight path into the swing path of the guide path.
[0104] Example 5
[0105] This embodiment discloses a computer device, which includes a processor and a memory. The memory stores a computer program, and the computer program is loaded and executed by the processor to implement the swing path planning method for additive manufacturing described in Example 1.
[0106] Example 6
[0107] This embodiment discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the swing path planning method for additive manufacturing as described in Example 1 is implemented.
[0108] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
[0109] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0110] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.
[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.
[0112] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
Claims
1. A swing path planning method for additive manufacturing, characterized in that: The following steps are involved: Step 1: Generate a periodic swing unit path according to the swing parameters; Step 2: Mapping the guidance path parameters into a straight line path; Step 3, array the swing unit paths in an equal periodic manner on the straight path to generate a continuous swing path; Step 4: Inversely map the continuous swing path generated on the straight path into a swing path of the guiding path.
2. The swing path planning method for additive manufacturing according to claim 1, characterized in that: Step 1 specifically includes the following steps: Step 1.1, set the period of the sinusoidal swing unit to the swing unit length L, and the amplitude to half the swing unit width W; Then, the coordinates of the five reference points of the sinusoidal oscillation unit are determined to be A(0,0,0), E(L,0,0); Step 1.2, based on the reference points of the sinusoidal oscillation unit, define line segments parallel to the X-axis at reference points A, B, C, D, and E, and connect the line segments in sequence to generate a Zigzag oscillation unit; In step 1.3, a V-shaped swing unit is generated by setting the Z-axis height at the endpoints of the line segments of the upper half period and the lower half period of the swing unit.
3. The swing path planning method for additive manufacturing according to claim 1, characterized in that: Step 2 specifically includes the following steps: Step 2.1 Guided Path Parameterization Assume that the guided path consists of a series of n+1 points {p0, p1, ..., p n }Sequential structure, the Euclidean distance d between adjacent points i =||p i -p i-1 ||,i=1,2,…,n,p i 、p i-1 are any two adjacent points on the guiding path, then the cumulative arc length of each point And let the cumulative arc length of the starting point s0 = 0; For each point p i Mapped to the X-axis coordinate s i The position of the one-dimensional point sequence {s0,s1,…,s n }; then the order of the points on the X-axis is exactly the same as the original curve, point s i With s j The distance is p on the guide path i to p j The arc length of the guidance path; r(s) represents the coordinates of the point with arc length s on the guidance path; through arc length parameterization, the guidance path is mapped to the arc length parameter s, so that s0 corresponds to the starting point p0 of the guidance path, s n Corresponding to the end point p of the guided path n , any s∈[s0,s n ] corresponds to the only point r(s) on the guided path; Given a target arc length s, find the arc length that satisfies s. i ≤s i+1 The interval, s i 、s i+1 are points p on the guided path respectively i 、p i+1 The corresponding arc length is Step 2.2 Tool reference system transformation A tool reference orthogonal coordinate system {T(p), U(p), V(p)} is defined for each point p on the guidance path, where T(p) is the tangent vector at point p, V(p) is the direction of the tool end at point p as the principal normal direction, and U(p) is the secondary normal direction. According to the guidance path parameterization, the tool reference orthogonal coordinate system of the guidance path point is transformed into the spatial coordinate system {X(s), Y(s), Z(s)}.
4. The swing path planning method for additive manufacturing according to claim 1, characterized in that: Step 3 specifically includes the following steps: The parameterized guide path is divided into equal intervals according to the swing length L, and then a swing path is generated according to the V-shaped swing unit in each interval. Finally, the swing path of each unit is connected into a continuous swing path.
5. The swing path planning method for additive manufacturing according to claim 1, characterized in that: Step 4 specifically includes the following steps: Map the swing path to three-dimensional space, and obtain the tangent vector T(s), binormal vector U(s) and principal normal vector V(s) of the tool reference orthogonal coordinate system at the arc length s; decompose the connected swing path d(s′) obtained in step 3 into the tool reference orthogonal coordinate system to obtain the inverse mapped swing path p(s′)=p(s)+d T (s′)·T(s)+d U (s′)·U(s)+d V (s′)·V(s) Among them, p(s) is the coordinate of the guide path point with arc length s, d T (s′), d U (s′) and d V (s′) are the projections of the distances of the swing path points relative to p(s) on the tool reference orthogonal coordinate system {T(s), U(s), V(s)}, where d T (s′) is the distance after coordinate system transformation, d U (s′) is the pendulum width after coordinate system transformation, d V (s′) is the pendulum height after coordinate system transformation.
6. A swing path planning method for additive manufacturing according to claim 1 or 3, characterized in that: In step 3, when the swing path is not of fixed width, the width at each point of the guide path is variable, and the steps for calculating the variable swing width are: Let W(p) be the width at the guide path point p, and calculate the variable pendulum width of the pendulum path by linear interpolation: Among them, W(p i+1 )、W(p i ) are the guiding path points p i+1 、p i The width at , s is the given target arc length.
7. The swing path planning method for additive manufacturing according to claim 6, characterized in that: The method for calculating the swing speed of the variable pendulum width comprises the following steps: Assume that when the tool moves along the guide path of the swing length L without swinging, the uniform speed is V, then the motion time is Assuming that the time taken for the tool to swing with a fixed width W is equal to the time taken for the tool to swing without a fixed width W, the swing path speed of the tool with a fixed width W is Among them, L w is the length of the swing path; The swing speed of the variable pendulum width is 8. A swing path planning system for additive manufacturing, characterized in that: Includes the following modules: Swing unit path generation module: used to generate a periodic swing unit path according to the swing parameters; Guide path mapping module: used to map guide path parameters into a straight line path; Continuous swing path generation module: used to arrange the swing unit paths in an equal periodic array on a straight path to generate a continuous swing path; Inverse mapping module: used to inversely map the continuous swing path generated on the straight path into the swing path of the guide path.
9. A computer device, characterized in that: The computer device includes a processor and a memory, wherein a computer program is stored in the memory, and the computer program is loaded and executed by the processor to implement the swing path planning method for additive manufacturing according to any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the swing path planning method for additive manufacturing according to any one of claims 1 to 7 is implemented.