A 3D printing method, device, equipment and storage medium for parts

Abstract

The present invention discloses a 3D printing method, apparatus, device, and storage medium for parts, relating to the field of 3D printing technology. The method comprises the following steps: segmenting the working area of ​​multiple slice layers of a 3D model of a part to be printed to obtain corresponding multiple printing areas; for each printing area, identifying a printing mode based on the fixed-point printing range of a ground printing robot; obtaining a corresponding printing trajectory based on the printing parameters of the printing mode; and 3D printing the corresponding printing area using different printing trajectories. After splitting a large working area into small printing areas, the present invention pre-plans the printing paths for the corresponding printing areas, significantly reducing the time cost of path planning for traditional 3D printing and improving printing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of 3D printing technology, and in particular to a 3D printing method, device, equipment and storage medium for parts. Background Art

[0002] Oversized parts generally refer to parts that are very large in weight or volume, including but not limited to heavy machinery and equipment, industrial equipment, building materials, transportation vehicles, petrochemical equipment, furniture and household items, and food preparation machines.

[0003] In recent years, with the rise of 3D printing technology, demand for 3D printing of ultra-large parts has also gradually increased. 3D printing of ultra-large parts is an innovative technology that uses the principles of 3D printing to manufacture ultra-large parts. This technology is currently being widely researched and applied in various fields. For example, in the housing construction industry, ultra-large construction printers can be used to complete the one-time 3D printing of customized houses, enabling construction workers to quickly build the basic framework. Furthermore, in the field of space 3D printing, the highly automated and unmanned nature of 3D printing technology can enable the 3D printing of ultra-large structures on the surfaces of outer space planets. In the field of robotics, ultra-large 3D printing technology can achieve the integrated molding of large robot parts, thereby reducing the difficulty of robot assembly and design. However, 3D printing of ultra-large parts currently faces some challenges.

[0004] To print extra-large parts, current 3D printing methods often rely on traditional path planning methods for path planning. However, when directly applied to the 3D printing of extra-large parts, the entire printing path increases due to the large size of the parts. Traditional path planning algorithms consume a significant amount of time to find the optimal printing path, resulting in high time costs and low printing efficiency. Summary of the Invention

[0005] The present invention provides a method, device, equipment and storage medium for 3D printing of parts, which solves the problem that when traditional 3D printing methods are directly applied to the field of 3D printing of ultra-large parts, the printing path planning is difficult, the time cost is high and the printing efficiency is low.

[0006] In a first aspect, the present invention provides a method for 3D printing a part, comprising the following steps:

[0007] Segmenting a working area of ​​multiple slice layers of a 3D model of a part to be printed to obtain corresponding multiple printing areas, wherein the part is an oversized part;

[0008] For each printing area, the printing mode is identified based on the fixed-point printing range of the ground printing robot; the corresponding printing trajectory is obtained according to the printing parameters of the printing mode;

[0009] Perform 3D printing on the corresponding printing area through different printing tracks;

[0010] The step of obtaining a corresponding printing trajectory according to the printing parameters of the printing mode includes:

[0011] A plurality of points are randomly selected on the ground as initial printing key points according to the printing parameters; the printing key points are points with two-dimensional postures, and the ground printing robot moves along the plurality of printing key points;

[0012] Obtain the overlapping area of ​​the printing range corresponding to when the ground printing robot stops at adjacent initial printing key points, and establish an optimization function by minimizing the overlapping area and the number of printing key points;

[0013] Iterate the optimization function to obtain multiple optimization printing key points;

[0014] The positions of multiple optimized printing key points are evaluated in a simulation environment, and the multiple optimized printing key points are screened according to the actual printing conditions of the ground printing robot to obtain multiple printing key points; the multiple printing key points are connected to obtain corresponding printing trajectories.

[0015] Preferably, the optimization function is established by minimizing the overlap area and the number of printing key points, as shown below:

[0016]

[0017] Where N is the number of key points, S1 is the overlapped area, S2 is the area of ​​the current slice layer not covered by the printing range, and Func is the optimization function.

[0018] Preferably, the 3D model of the super-large part to be printed is sliced ​​to obtain multiple slice layers;

[0019] The height of the current slice layer is compared with the maximum printing height of the ground printing robot. If the height of the current slice layer is less than the maximum printing height of the ground printing robot, the working area of ​​the current slice layer is divided based on the geometric contour of the current slice layer, the number of ground printing robots and the fixed-point printing range of each ground printing robot to obtain multiple printing areas.

[0020] Preferably, the printing mode includes peripheral printing and intrusive printing. When the fixed-point printing range of the ground printing robot covers the corresponding printing area, peripheral printing is selected; otherwise, intrusive printing is selected.

[0021] When the intrusive printing mode is selected, the corresponding exit path must be set in the current printing area.

[0022] Preferably, if the height of the current slice layer is less than the maximum printing height of the ground printing robot, a drone printing robot or a crawling printing robot is selected for 3D printing according to the geometric shape and accuracy requirements of the slice layer.

[0023] Preferably, when a drone printing robot is selected, the current slice layer is divided into multiple working areas according to the number of drone printing robots and the printing range of the drone printing robots, and the printing parameters of the drone printing robots are configured;

[0024] When selecting the crawling printing robot, configure the crawling printing robot printing parameters;

[0025] Acquire multiple corresponding printing key points according to the printing parameters of the UAV printing robot and the crawling printing robot, and connect the multiple printing key points to obtain corresponding printing trajectories;

[0026] Perform 3D printing on the current slice layer through the corresponding printing trajectory.

[0027] Preferably, the working area of ​​the feeding robot is divided by the outline of the slice layer with the largest area.

[0028] In a second aspect, the present invention provides a 3D printing device for ultra-large parts, comprising:

[0029] A segmentation module is used to segment the working area of ​​multiple slice layers of the 3D model of the part to be printed to obtain corresponding multiple printing areas;

[0030] An acquisition module is used to identify the printing mode for each printing area based on the fixed-point printing range of the ground printing robot; and obtain the corresponding printing trajectory according to the printing parameters of the printing mode;

[0031] A printing module, used for performing 3D printing on corresponding printing areas through different printing tracks;

[0032] The step of obtaining a corresponding printing trajectory according to the printing parameters of the printing mode includes:

[0033] A plurality of points are randomly selected on the ground as initial printing key points according to the printing parameters; the printing key points are points with two-dimensional postures, and the ground printing robot moves along the plurality of printing key points;

[0034] Obtain the overlapping area of ​​the printing range corresponding to when the ground printing robot stops at adjacent initial printing key points, and establish an optimization function by minimizing the overlapping area and the number of printing key points;

[0035] Iterate the optimization function to obtain multiple optimization printing key points;

[0036] The positions of multiple optimized printing key points are evaluated in a simulation environment, and the multiple optimized printing key points are screened according to the actual printing conditions of the ground printing robot to obtain multiple printing key points; the multiple printing key points are connected to obtain corresponding printing trajectories.

[0037] In a third aspect, the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned 3D printing method for ultra-large parts when executing the program.

[0038] In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program, which implements the above-mentioned 3D printing method for ultra-large parts when executed by a processor.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention provides a method for 3D printing parts. First, the working area of ​​each slice layer is divided to obtain multiple printing areas, and the large working area is divided into small printing areas to facilitate the path planning of the printing robot. At the same time, the present invention also proposes using interconnected printing key points as the printing path of the printing robot. Based on the overlapping area of ​​the printing range corresponding to the robot at different initial printing key points, an optimization function is established by minimizing the overlapping area and the number of printing key points, and multiple printing key points are obtained according to the optimization function. The present invention proposes a new optimization function that can plan the printing path in advance, greatly reducing the time cost of path planning in traditional 3D printing and improving printing and molding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a flow chart of a 3D printing method for a part of the present invention;

[0043] Figure 2 This is a schematic diagram of the super-large parts printing process of the present invention;

[0044] Figure 3This is the collaborative printing process of the 3D printing robot engineering team of the present invention.

[0045] In the figure: 1-feeding robot, 2-first chassis, 3-feeding bin, 4-printing robot, 5-first storage bin, 6-first feeding pipe, 7-first robotic arm, 8-first print head, 9-second chassis, 10-repair robot, 11-second storage bin, 12-third chassis, 13-second robotic arm, 14-sensor module, 15-second feeding pipe, 16-second print head, 17-supply line, 18-printing parts. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] The present invention provides a 3D printing robot engineering team for manufacturing ultra-large parts, comprising: a feeding robot 1, a printing robot 4, a repair robot 10, and a dispatch center. The printing robot 4 includes robots capable of independently completing printing tasks, such as ground-based printing robots, drone-based printing robots, and crawling printing robots. The feeding robot 1 includes robots capable of providing printing consumables for printing, such as ground-based feeding robots and consumables interaction robots. The dispatch center serves as the information processing center for all of the aforementioned robots, used to schedule and assign tasks to each robot in the 3D printing robot engineering team. The dispatch center includes various information collection and processing devices, such as a data computing platform, a visual information processing center, and an ultra-wideband (UWB) base station.

[0048] The feeding robot 1 consists of a first chassis 2 and a feeding hopper 3. The first chassis 2 serves as the base of the feeding robot 1. Most of the robot's modules are mounted on this chassis 2 and can move with it. The feeding hopper 3 resupplies printing consumables to the printing robot 4 or the repair robot 10 via a supply line. The 3D printing team can use any type of consumables, enabling single-material or multi-material printing. Printing materials include concrete, polylactic acid, and ceramic slurry.

[0049] like Figure 2As shown in the figure, the printing robot 4 consists of a first material storage bin 5, a first feeding pipe 6, a second chassis 9, a first robotic arm 7 and a first print head 8. The first material storage bin 5 and the first robotic arm 7 are mounted on the second chassis 9 and can move with the second chassis 9. The first print head 8 is mounted on the first robotic arm 7 and has a diameter of not less than 1 mm. Through the movement of the first robotic arm 7, the first print head 8 can be moved along different degrees of freedom. The printing consumables in the first material storage bin 5 can be supplied to the first print head 8 through the first feeding pipe 6, thereby completing the extrusion printing of the consumables. In particular, Figure 2 The two printing robots 4 are processing printed parts 18 at different positions respectively, which shows that the printing robots can process different areas of an oversized part at the same time, thereby speeding up the efficiency of oversized part processing.

[0050] The repair robot 10 consists of a second material storage bin 11, a second feed pipe 15, a third chassis 12, a second robotic arm 13, a sensor module 14, and a second print head 16. The second material storage bin 11 and the second robotic arm 13 are mounted on the third chassis 12 and can move with the third chassis 12. The second print head 16 is mounted on the second robotic arm 13. By controlling the movement of the second robotic arm 13, the second print head 16 can be moved along different degrees of freedom. The printing consumables in the second material storage bin 11 can be supplied to the second print head 16 through the second feed pipe 15, thereby completing the extrusion printing of the consumables. The sensor module 14 is mounted on the second robotic arm 13 and has a certain degree of freedom. It can obtain local subtle defect information of oversized parts, thereby assisting the second robotic arm 13 in completing the repair work.

[0051] The dispatch center consists of a signal base station and an information processing center. The signal base station is responsible for sending and receiving communication information to the 3D printing robot engineering team, while the information processing center is the 3D printing robot engineering team's computing hub, responsible for slicing oversized parts and distributing tasks to different robots.

[0052] like Figure 3 The figure shows the schematic diagram of the macro control printing robot of the 3D printing robot engineering team, which mainly includes the decision layer, the calculation layer and the execution layer. The decision layer is deployed in Figure 2 In the dispatch center, the computing and execution layers are deployed on the printing robot. The decision layer includes full-segment motion planning and printing defect information, the computing layer includes pose calculation and defect information collection, and the execution layer includes chassis motion control and print head motion control.

[0053] The 3D printing robot engineering team's initialization process is designed to complete the initialization of printing operations, including the following: robot electrical system initialization, robot navigation initialization, robot vision parameter calibration, robot power configuration initialization, print plane data sampling and processing, inter-robot communication quality testing, and printing consumables preparation. The 3D printing robot engineering team's construction process is designed to complete the construction tasks of printing, including the following: print trajectory pre-planning, first-layer print pre-testing, first-layer printing, first-layer print defect detection, inter-layer defect detection and correction, and intra-layer defect detection and correction. The 3D printing robot engineering team's post-printing processing process is designed to complete the repair of printed workpieces and robot resetting, including the following: support structure removal, surface painting, robot system self-inspection, minor defect repair, and rigid support component installation.

[0054] The printing robot 4 is responsible for an unlimited number of degrees of freedom of movement of the 3D printing mechanism, including movement along the X axis, movement along the Y axis, movement along the Z axis, rotation along the X axis, rotation along the Y axis, and rotation along the Z axis.

[0055] The printing robot 4 stores different types of consumables and uses different types of printing processes to complete collaborative printing, thereby completing parallel multi-material and multi-process printing of ultra-large parts.

[0056] The feeding robot 1 replenishes consumables for the printing robot 4 in such a way that the feeding robot 1 actively completes the replenishing work for the printing robot 4 after receiving the replenishing signal from the printing robot 4 .

[0057] High-strength supports, such as construction metal, can be embedded in oversized parts to improve the overall stress response. The feeding robot 1 can serve as a drone chassis. Supplies are supplied to the high-altitude printing robot 4 or repair robot 10 by pulling consumables pipes. The printing robot 4 can adjust the print density of oversized parts, ranging from 5% to 100%.

[0058] The printing robot 4 sets a standby position during trajectory planning to interact with other robots or wait for oversized parts to be completely solidified.

[0059] The present invention provides a 3D printing method for parts, specifically a printing trajectory planning strategy and related processes for a printing robot. A dispatch center is responsible for slicing oversized parts. The dispatch center processes the 3D model file of the oversized part and slices it along a set direction at a specified layer thickness. The dispatch center is responsible for post-processing the slice file information for each layer. Specifically, the process includes the following steps:

[0060] Step 1: Divide the working area of ​​the feeding robot based on the outline of the largest layer among all the sliced ​​layers. Also, set the same exit path for the ground printing robot for each layer based on the shape of that layer. After this step, proceed to Step 2.

[0061] After the printing robot prints the slices, the plane pattern can be filled in various ways, including straight line filling, grid filling, and hexagonal filling.

[0062] The feeding robot performs feeding work based on the divided areas on each layer. Each feeding robot is responsible for feeding the printing robot within a feeding area.

[0063] Step 2: Determine whether the height H corresponding to the current slice layer exceeds H threshold (the maximum printing height of the ground printing robot), if H>H threshold , go to step 10; if H <H threshold , go to step 3.

[0064] Step 3: Based on the geometric contours of the current slice layer, the number of floor printing robots capable of printing, and the fixed-point printing range of each floor printing robot, the working area of ​​the current slice layer is segmented into multiple printing areas. After this step, proceed to Step 4.

[0065] Step 4: Complete print mode recognition within each floor printing robot's printing area. Print mode recognition includes invasive printing and peripheral printing. If invasive printing is detected, proceed to Step 5; if peripheral printing is detected, proceed to Step 6.

[0066] Peripheral printing: The path planning of the ground printing robot will not enter the interior of the part to be printed. The ground printing robot will move along the outer contour of the current slice layer and complete the printing.

[0067] Intrusive printing: When planning the path, the ground printing robot reserves an exit path from the current slice layer. The ground printing robot first enters the internal area of ​​the slice layer to complete printing, and then exits along the exit path while filling the exit path.

[0068] When the floor printing robot's printable area is large enough to cover the corresponding print area when the chassis is locked, the floor printing robot will use a peripheral printing solution to complete the production of oversized parts. When the floor printing robot's printable area cannot cover the corresponding print area, the printing robot will use an intrusive printing solution to complete the production of oversized parts.

[0069] Floor printing robots can employ various printing strategies, including but not limited to fixed-point printing and mobile printing. Fixed-point printing involves moving the print head while maintaining the chassis locked at the critical printing point. Mobile printing involves simultaneously moving the chassis and print head to complete printing within the working range.

[0070] Step 5: Set basic printing parameters for invasive printing, such as the robot's rotation radius, area expansion coefficient, the limit on the number of key printing points, and the random seed coefficient for segmentation. Specifically, a ground printing robot exit path must be reserved in the same area on each layer. Printing within this exit path will not be completed during invasive printing. Once this exit path is completed, proceed to Step 7.

[0071] Step 6: Set the basic printing parameters for peripheral printing. After completing this step, proceed to Step 7.

[0072] Step 7: Based on the basic printing parameters for invasive and peripheral printing, complete the process of determining and selecting key printing points. For invasive printing, add key printing points for the exit path. After this step, proceed to Step 8.

[0073] The motion trajectory of the chassis of each ground printing robot during the printing process is composed of several points with two-dimensional poses (x, y, θ) connected in sequence. These points are called printing key points.

[0074] Step 8: Use the trajectory optimization algorithm and simulation platform to calculate the printing trajectory that can connect several printing key points in step 7. After this step is completed, proceed to step 9.

[0075] According to the printing parameters, multiple points are randomly selected on the ground as the initial printing key points.

[0076] Obtain the overlapping area of ​​the printing range corresponding to when the ground printing robot stops at adjacent initial printing key points; establish an optimization function based on the overlapping area:

[0077]

[0078] Where N is the number of key points, S1 is the overlapped area, S2 is the area of ​​the current slice layer not covered by the printing range, and Func is the optimization function.

[0079] Solve the minimum value of Func, that is, print the process of key point pose gradually converging to the optimal pose.

[0080] Evaluate the positions of multiple printing key points in a simulation environment and select them based on the robot's actual printing conditions.

[0081] The printing trajectory optimization solution refers to planning the two-dimensional posture (x, y, θ) of each printing key point of the ground printing robot and the order in which the ground printing robot reaches the printing key points, so that the printing robot can use the least printing key points to complete the 3D printing of each layer of the plane after slicing of super-large parts.

[0082] Step 9: The ground printing robot completes the 3D printing task within the divided printing area based on the printing key points obtained in Step 7 and the printing trajectory obtained in Step 8. After this step is completed, proceed to Step 15.

[0083] Step 10: Based on the geometry and precision requirements of the slice layer, select between a drone printing robot and a crawler printing robot. If the drone printing robot is selected, proceed to Step 11; if the crawler printing robot is selected, proceed to Step 14. If the slice layer contains a large number of thin-walled shell structures, select the crawler printing robot. Otherwise, select the drone printing robot.

[0084] Step 11: Configure the basic parameters of the drone printing robot and the drone feeding method. After completing this step, proceed to Step 12.

[0085] Step 12: Complete the segmentation of the drone aerial printing work area. Divide the slice layer into several work areas based on the number of drone printing robots and the printing range of the drone printing robots. After this step is completed, proceed to Step 13.

[0086] Step 13: Each drone printing robot completes the solution, optimization, and selection of printing key points within the work area. The selected printing key points are then connected using the drone printing robot's printing trajectory. After this step is completed, proceed to Step 15.

[0087] Step 14: Configure the basic parameters of the crawling printing robot. After completing this step, proceed to step 15.

[0088] Step 15: Send the print command to the corresponding printing robot and wait for the layer to be printed. If the layer is printed, jump to step 2 to determine the printing key points and printing trajectory.

[0089] The above method can complete the molding of the main structure of the super-large part, but due to factors such as positioning accuracy, slicing form and material extrusion, defects will appear in the local part of the super-large part. These defects are mainly repaired by the repair robot. The working modes of the repair robot include: real-time monitoring repair mode, interruption reception repair mode and post-processing repair mode. The real-time monitoring repair mode means that after the printing robot completes the printing of a layer of super-large parts, the repair robot searches for defects and repairs them along the printing trajectory of the printing robot. The interruption reception repair mode means that the repair robot receives the interrupt signal from the scheduling platform (the scheduling platform learns about the occurrence of defects from other information sources) and completes the maintenance work according to the defect location sent by the scheduling platform. The post-processing repair mode means that after the printing robot completes the manufacturing of the main structure of the super-large part, the repair robot completes the maintenance work on the minor defects of the super-large part along the preset trajectory.

[0090] Example 1

[0091] The super-large part used in this case has a size of 100m*100m*2m, and is manufactured using the method of the present invention, which specifically includes the following steps:

[0092] (1) The size of super-large parts is 100m*100m*2m. In practical applications, the manufacturing error of super-large parts is allowed to be 1%.

[0093] (2) The 3D printing robot engineering team is divided into four parts, including feeding robots, printing robots, repair robots and dispatching centers.

[0094] (3) According to the size and error requirements of the oversized parts determined in step (1), reasonably arrange the model and quantity of each robot in step (2).

[0095] (4) Input the information of each robot required in step (3) into the scheduling center to complete the slicing and printing task allocation for super-large parts.

[0096] (5) Execute the 3D printing robot engineering team initialization process, the 3D printing robot engineering team construction process and the 3D printing robot engineering team printing post-processing process in sequence.

[0097] Example 2

[0098] The super-large part used in this case has a size of 100m*100m*10m. The method of the present invention is used to complete trajectory planning and area division, which specifically includes the following steps:

[0099] (6) The 3D model of the ultra-large part is input into the dispatching center, the layer thickness is set to 1 mm, and approximately 10,000 2D slice images are generated after slicing along the Z axis.

[0100] (7) Select the slice with the largest area from all the two-dimensional slice images, and complete the feeding area division and exit path selection of the feeding robot based on the slice.

[0101] (8) Starting from the first layer, the slice information is processed layer by layer from bottom to top.

[0102] (9) Send the key points and printing trajectory of the first layer to the relevant robot, wait for the current layer to be printed, increase the number of layers by one, re-judge the height and loop through step (8).

[0103] Based on the same concept, the present invention also provides a 3D printing device for ultra-large parts, including a segmentation module, an acquisition module and a printing module.

[0104] The segmentation module is used to segment the working area of ​​multiple slice layers of the 3D model of the part to be printed to obtain corresponding multiple printing areas, and the part is an ultra-large part.

[0105] The acquisition module is used to identify the printing mode for each printing area based on the fixed-point printing range of the ground printing robot; and obtain the corresponding printing trajectory according to the printing parameters of the printing mode.

[0106] The printing module is used to perform 3D printing on the corresponding printing area through different printing tracks.

[0107] Get the corresponding printing trajectory according to the printing parameters of the printing mode, including:

[0108] According to the printing parameters, multiple points are randomly selected on the ground as initial printing key points; the printing key points are points with two-dimensional postures, and the ground printing robot moves along the multiple printing key points.

[0109] The overlapping area of ​​the printing range corresponding to when the ground printing robot stays at adjacent initial printing key points is obtained, and an optimization function is established by minimizing the overlapping area and the number of printing key points.

[0110] Iterate the optimization function to obtain multiple optimization printing key points.

[0111] The positions of multiple optimized printing key points are evaluated in a simulation environment, and the multiple optimized printing key points are screened according to the actual printing conditions of the ground printing robot to obtain multiple printing key points; the multiple printing key points are connected to obtain corresponding printing trajectories.

[0112] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned 3D printing method for ultra-large parts is implemented.

[0113] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned 3D printing method for ultra-large parts is implemented.

[0114] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0115] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A 3D printing method for parts, characterized in that: The following steps are involved: Segmenting a working area of ​​multiple slice layers of a 3D model of a part to be printed to obtain corresponding multiple printing areas, wherein the part is an oversized part; For each printing area, the printing mode is identified based on the fixed-point printing range of the ground printing robot; Obtain the corresponding printing trajectory according to the printing parameters of the printing mode; Perform 3D printing on the corresponding printing area through different printing tracks; The step of obtaining a corresponding printing trajectory according to the printing parameters of the printing mode includes: A plurality of points are randomly selected on the ground as initial printing key points according to the printing parameters; the printing key points are points with two-dimensional postures, and the ground printing robot moves along the plurality of printing key points; Obtain the overlapping area of ​​the printing range corresponding to when the ground printing robot stops at adjacent initial printing key points, and establish an optimization function by minimizing the overlapping area and the number of initial printing key points; Iterate the optimization function to obtain multiple optimization printing key points; The positions of multiple optimized printing key points are evaluated in a simulation environment, and the multiple optimized printing key points are screened according to the actual printing conditions of the ground printing robot to obtain multiple printing key points; the multiple printing key points are connected to obtain corresponding printing trajectories.

2. A 3D printing method for a part according to claim 1, characterized in that: The optimization function is established by minimizing the overlap area and the number of initial printing key points, as shown below: ； Where, N is the initial number of printing key points, is the overlapping area, It is the area of ​​the current slice layer that is not covered by the printing range. is the optimization function.

3. The 3D printing method of a part according to claim 1, wherein: Slice the 3D model of the super-large part to be printed to obtain multiple slice layers; The height of the current slice layer is compared with the maximum printing height of the ground printing robot. If the height of the current slice layer is less than the maximum printing height of the ground printing robot, the working area of ​​the current slice layer is divided based on the geometric contour of the current slice layer, the number of ground printing robots and the fixed-point printing range of each ground printing robot to obtain multiple printing areas.

4. The 3D printing method of a part according to claim 1, wherein: The printing mode includes peripheral printing and intrusive printing. When the fixed-point printing range of the ground printing robot covers the corresponding printing area, peripheral printing is selected; Otherwise, select Intrusive Print; When the intrusive printing mode is selected, the corresponding exit path must be set in the current printing area.

5. The 3D printing method of a part according to claim 3, wherein: If the height of the current slice layer is greater than the maximum printing height of the ground printing robot, a drone printing robot or a crawling printing robot is selected for 3D printing based on the geometric shape and accuracy requirements of the slice layer.

6. A 3D printing method for a part according to claim 5, characterized in that: When a drone printing robot is selected, the current slice layer is divided into multiple working areas according to the number of drone printing robots and the printing range of the drone printing robots, and the printing parameters of the drone printing robots are configured; When selecting the crawling printing robot, configure the crawling printing robot printing parameters; Acquire multiple corresponding printing key points according to the printing parameters of the UAV printing robot and the crawling printing robot, and connect the multiple printing key points to obtain corresponding printing trajectories; Perform 3D printing on the current slice layer through the corresponding printing trajectory.

7. The 3D printing method of a part according to claim 1, wherein: The working area of ​​the feeding robot is divided by the outline of the slice layer with the largest area.

8. A 3D printing device for super-large parts, characterized in that: include: a segmentation module for segmenting a working area of ​​multiple slice layers of a 3D model of a part to be printed to obtain corresponding multiple printing areas, wherein the part is an oversized part; An acquisition module, configured to identify a printing mode for each printing area based on a fixed-point printing range of the ground printing robot; Obtain the corresponding printing trajectory according to the printing parameters of the printing mode; A printing module, used for performing 3D printing on corresponding printing areas through different printing tracks; The step of obtaining a corresponding printing trajectory according to the printing parameters of the printing mode includes: A plurality of points are randomly selected on the ground as initial printing key points according to the printing parameters; the printing key points are points with two-dimensional postures, and the ground printing robot moves along the plurality of printing key points; Obtain the overlapping area of ​​the printing range corresponding to when the ground printing robot stops at adjacent initial printing key points, and establish an optimization function by minimizing the overlapping area and the number of initial printing key points; Iterate the optimization function to obtain multiple optimization printing key points; The positions of multiple optimized printing key points are evaluated in a simulation environment, and the multiple optimized printing key points are screened according to the actual printing conditions of the ground printing robot to obtain multiple printing key points; the multiple printing key points are connected to obtain corresponding printing trajectories.

9. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the 3D printing method for ultra-large parts according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by the processor, the 3D printing method for ultra-large parts according to any one of claims 1 to 7 is implemented.

Images