Five-axis printing shell part supporting structure generation method and device, equipment and medium

Abstract

The invention relates to the technical field of 3D printing, in particular to a five-axis printing shell part supporting structure generation method and device, equipment and a medium. The invention discloses a five-axis printing shell type part supporting structure generation method, which comprises the following steps of: layering a shell type part model curved surface to obtain a bottom layer curved surface slice, identifying a suspended edge to obtain a suspended boundary line, projecting to obtain a projected boundary line, and determining key boundary information, so as to generate a part supporting structure which can better fit the bottom layer shape and the suspended condition of a part; the structure is suitable for shell parts such as human skull implants, the limitation of unsupported printing is overcome, the structure is generated according to specific boundary lines, and the use amount and removal difficulty of supporting materials are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a method, device, equipment and storage medium for generating a support structure for a five-axis printed shell part. Background Art

[0002] Five-axis 3D printing technology adds two rotation axes to the traditional three-axis 3D printing to achieve non-planar printing. At present, there are two main research directions for this technology: one is to use a rotating platform to change the printing direction to achieve support-free printing. This method rotates the printed part to a self-supporting direction during the printing process and uses the printed part as support, so there is no need for additional support structures. However, support-free printing has limitations. It requires that the shape of the printed part must be suitable for a specific slicing strategy and lacks versatility. The second is to achieve conformal printing through curved surface printing, that is, the printing trajectory follows the shape of the printed part surface to improve the mechanical properties of the printed part. Although five-axis 3D printing can overcome the limitations of planar printing and use support structures more flexibly, the research on support structures in this field is still relatively lacking, and it is difficult to meet the use requirements of different types of shell parts. For example, for shell parts such as human skull implants, the mechanical properties of the printed part can be improved by conformal printing, but because there is a large area of ​​​​overhang between its edge and the bottom surface, only a small part is in contact with the printing platform, it is not suitable for support-free printing and still requires support structures. Summary of the invention

[0003] In order to solve the above-mentioned shortcomings in the prior art, the present invention proposes a method for generating a support structure for shell parts by five-axis printing.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: A method for generating a support structure for a five-axis printed shell part comprises: performing surface layering on a shell part model to obtain the bottom surface slices, thereby obtaining bottom surface slices; identifying the dangling edges of the bottom surface slices to obtain dangling boundary lines; projecting the dangling boundary lines to a preset plane coordinate system to obtain projection boundary lines; and generating a part support structure based on the projection boundary lines and the dangling boundary lines. First, the shell part model is layered to obtain the bottom surface slice, that is, the bottom surface slice. Then, the dangling edge of the bottom surface slice is identified to obtain the dangling boundary line. The dangling boundary line is then projected to the preset plane coordinate system to obtain the projection boundary line. Through this series of operations, the key boundary information related to the bottom layer of the part model is accurately determined, laying the foundation for the subsequent accurate generation of an adaptive support structure. The part support structure is generated based on the projection boundary line and the dangling boundary line. This support structure generated based on precise boundary information can better fit the actual shape and dangling situation of the bottom layer of the part. Compared with the traditional and more extensive support structure generation method, it can effectively deal with shell parts such as human skull implants, where the edges and bottom surfaces are dangling in large areas and only a small part is in contact with the printing platform, overcoming the limitation that support-free printing is not suitable for such parts. Moreover, since the part support structure is generated only based on the dangling boundary line and the projection boundary line, the amount of support material used is reduced, and the difficulty of subsequent removal is reduced.

[0005] Further, the step of identifying the dangling boundary of the underlying surface slice to obtain the dangling boundary line includes: Get all the triangular meshes on the underlying surface slices; identify all the non-shared boundary lines of the triangular meshes to obtain the dangling boundary lines. The triangular network can accurately describe the geometric features of the underlying surface slices, providing a reliable basis for dangling edge identification. The dangling boundary lines obtained by identifying all the non-shared boundary lines of the triangular meshes can be more accurate and can better guide the subsequent support structure design, which makes the support structure fit the underlying surface slices more closely, reduces the waste of support materials, reduces costs, and at the same time, improves the stability of the printing process, prevents deformation, and improves printing quality. In addition, standardized operating procedures facilitate repeated operations and ensure product consistency.

[0006] Furthermore, the projecting of the suspended boundary line onto the plane coordinate system to obtain the projected boundary line includes: obtaining all three-dimensional coordinate points on the suspended boundary line to obtain a set of edge coordinate points; setting the Z component of all edge coordinate points to 0 to complete the projection of the edge coordinate points onto the plane coordinate system to obtain the projected boundary line. By obtaining three-dimensional coordinate points to form a set, the spatial form of the suspended boundary line can be accurately presented, providing an accurate data basis for subsequent processing; setting the Z component of the edge coordinate point to 0 for projection to obtain the projected boundary line, on the one hand, simplifies the difficulty of geometric analysis, and facilitates the use of plane geometry algorithms to carry out tasks such as support structure generation; on the other hand, it is conducive to unified standard processing, improving the standardization and repeatability of the process, and helping subsequent related operations to be carried out efficiently and orderly.

[0007] Furthermore, the generating of the part support structure according to the projection boundary line and the suspended boundary line comprises: Acquire the three-dimensional coordinate points on the projection boundary line to obtain the projection coordinate point set; construct a triangular topological structure based on the coordinate points in the edge coordinate point set and the coordinate points in the projection coordinate point set; construct and generate the part support structure based on the triangular topological structure. By acquiring the three-dimensional coordinate points of the projection boundary line to form a projection coordinate point set, its shape can be accurately depicted, which is convenient for subsequent collaborative processing; construct a triangular topological structure based on the coordinate points in the edge coordinate point set and the coordinate points in the projection coordinate point set, which can integrate multi-source boundary information and provide a stable geometric framework; based on this, the part support structure can be constructed to closely fit the boundary of the object to achieve precise support, and the triangle characteristics can also be used to optimize performance, effectively prevent deformation, displacement and other problems, and meet the requirements of the support structure in different scenarios.

[0008] Furthermore, the five-axis printing shell part support structure generation device includes: a bottom surface slice acquisition module, which is used to perform surface layering on the shell part model and obtain the bottom surface slice to obtain the bottom surface slice; a suspended boundary line recognition module, which is used to identify the suspended edge of the bottom surface slice to obtain the suspended boundary line; a projection boundary line acquisition module, which is used to project the suspended boundary line to a preset plane coordinate system to obtain the projection boundary line; a support structure generation module, which is used to generate a part support structure according to the projection boundary line and the suspended boundary line. The shell part model is layered to obtain the bottom surface slice, and its suspended edge is identified to obtain the suspended boundary line and projected to obtain the projection boundary line, and the key boundary information is determined to lay the foundation for generating an adaptive support structure; the part support structure generated based on this fits the bottom part situation, can cope with special parts such as human skull implants, overcomes the limitations of unsupported printing, and saves materials and is easy to remove.

[0009] Further, a five-axis printing shell part support structure generation device, the five-axis printing shell part support structure generation device comprises: a memory and at least one processor, the memory storing instructions; At least one of the processors calls the instructions in the memory so that the five-axis printing shell part support structure generation device performs each step of the five-axis printing shell part support structure generation method as described in any one of the above.

[0010] Furthermore, a computer-readable storage medium is provided, on which instructions are stored, wherein when the instructions are executed by a processor, each step of the method for generating a support structure for a five-axis printed shell part as described in any one of the above is implemented.

[0011] The beneficial effects of the five-axis printing shell part support structure generation method of the present invention are: First, the shell part model is layered to obtain the bottom surface slice, that is, the bottom surface slice. Then, the dangling edge of the bottom surface slice is identified to obtain the dangling boundary line. The dangling boundary line is then projected to the preset plane coordinate system to obtain the projection boundary line. Through this series of operations, the key boundary information related to the bottom layer of the part model is accurately determined, laying the foundation for the subsequent accurate generation of an adaptive support structure. The part support structure is generated based on the projection boundary line and the dangling boundary line. This support structure generated based on precise boundary information can better fit the actual shape and dangling situation of the bottom layer of the part. Compared with the traditional and more extensive support structure generation method, it can effectively deal with shell parts such as human skull implants, where the edges and bottom surfaces are dangling in large areas and only a small part is in contact with the printing platform, overcoming the limitation that support-free printing is not suitable for such parts. Moreover, since the part support structure is generated only based on the dangling boundary line and the projection boundary line, the amount of support material used is reduced, and the difficulty of subsequent removal is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A first flow chart of a method for generating a support structure for shell parts using five-axis printing provided by an embodiment of the present invention; Figure 2 A second flow chart of the method for generating a support structure for shell parts by five-axis printing provided in an embodiment of the present invention; Figure 3 A third flow chart of the method for generating a support structure for shell parts by five-axis printing provided in an embodiment of the present invention; Figure 4A fourth flow chart of a method for generating a support structure for shell parts by five-axis printing provided in an embodiment of the present invention; Figure 5 A schematic diagram of a structure of a device for generating a support structure for shell parts printed with five axes according to an embodiment of the present invention; Figure 6 A schematic structural diagram of a five-axis printing shell part support structure generation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0013] The technical solution of the present invention will be described clearly and completely below 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 creative work are within the scope of protection of the present invention.

[0014] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0015] like Figure 1-6 As shown, the present invention proposes a method, system, device and storage medium for generating a support structure for shell parts by five-axis printing.

[0016] To solve the above technical problems, the technical solution adopted by the present invention is as follows. Figure 1 , an embodiment of a method for generating a support structure of a shell part in five-axis printing according to an embodiment of the present invention comprises: 101. Perform surface layering on the shell part model to obtain the bottom layer surface slices to obtain the bottom layer surface slices. By obtaining the bottom layer surface slices through surface layering, the complex shell part model can be divided in an orderly manner in the vertical direction, so that the subsequent processing can gradually build the printing structure of the entire part from the bottom layer; 102. Identify the overhanging edges of the underlying surface slices to obtain the overhanging boundary lines, which can clearly identify which areas of the underlying surface slices are key parts that require additional support. This allows the subsequently generated support structures to be designed around these overhanging areas in a targeted manner, avoiding the blind setting of the support structure and improving the adaptability of the support structure to the actual overhanging conditions of the parts, thereby better ensuring the stability of the parts during the printing process; 103. Project the suspended boundary line to the preset plane coordinate system to obtain the projected boundary line. This step can convert the suspended boundary information in the three-dimensional space into a plane coordinate form that is easier to calculate and process, which facilitates the subsequent accurate generation of part support structures that meet the requirements based on these features, and helps to improve the scientificity and rationality of the support structure design; 104. Generate part support structure based on projection boundary line and overhanging boundary line, so that the support structure can closely fit the actual overhanging edge of the underlying surface slice. This support structure generated based on precise boundary information can effectively reduce the use of unnecessary support materials and reduce costs. On the other hand, due to its high adaptability to the overhanging area, it can better provide stable support for parts, reduce the possibility of deformation and displacement of parts during printing, and improve printing quality. In this embodiment, the surface layering of the shell part model needs to be determined, and the layering direction needs to be determined. For the shell part model, the layering direction can usually be selected according to the main geometric features of the part or the printing requirements, such as layering along the height direction of the part. This is a common method because it can match the working mode of most printing devices. At the same time, the layering thickness parameter needs to be determined. The selection of the layering thickness needs to consider the accuracy requirements of the part and the resolution of the printing device; a series of surface slices are generated according to the determined layering direction, thickness parameters and part model; the method for identifying the dangling boundary line includes a dangling boundary line identification method based on a double triangle network, an edge detection algorithm and a method for the relationship between the surface slice and the support surface; First, the shell part model is layered to obtain the bottom surface slice, that is, the bottom surface slice. Then, the dangling edge of the bottom surface slice is identified to obtain the dangling boundary line. The dangling boundary line is then projected to the preset plane coordinate system to obtain the projection boundary line. Through this series of operations, the key boundary information related to the bottom layer of the part model is accurately determined, laying the foundation for the subsequent accurate generation of an adaptive support structure. The part support structure is generated based on the projection boundary line and the dangling boundary line. This support structure generated based on precise boundary information can better fit the actual shape and dangling situation of the bottom layer of the part. Compared with the traditional and more extensive support structure generation method, it can effectively deal with shell parts such as human skull implants, where the edges and bottom surfaces are dangling in large areas and only a small part is in contact with the printing platform, overcoming the limitation that support-free printing is not suitable for such parts. Moreover, since the part support structure is generated only based on the dangling boundary line and the projection boundary line, the amount of support material used is reduced, and the difficulty of subsequent removal is reduced.

[0017] See also Figure 2 The second embodiment of the method for generating a support structure of a shell part in five-axis printing according to the present invention includes: 201. Get all the triangle meshes on the underlying surface slice; 202. Identify all non-shared boundary lines of the triangular meshes to obtain dangling boundary lines.

[0018] In this embodiment, the identification of boundary support lines can also be carried out through edge detection algorithms and the relationship between surface slices and support surfaces; the edge detection algorithm will identify the boundaries of these suspended parts according to the geometric features of the surface, such as curvature changes, normal vector mutations, etc., and these boundary points are connected to form suspended boundary lines; in 3D printing scenarios, the support surface is usually a printing platform or a printed underlying structure surface. For the underlying surface slices, its relative position relationship with the support surface is the key to identifying suspended edges. The geometric analysis tool is used to check the distance between each part of the underlying surface slice and the support surface. If the distance between a part and the support surface is greater than a set threshold (this threshold can be determined based on the characteristics of the printing material, printing accuracy requirements, etc., for example, for some high-precision printing, the threshold can be set to 0.1-0.2 mm, and when the distance is greater than this value, it is considered to be in a suspended state), it is preliminarily determined that the part may be a suspended part, thereby obtaining a suspended boundary line.

[0019] The triangular network can accurately describe the geometric features of the underlying surface slices, providing a reliable basis for the identification of dangling edges. The dangling boundary lines obtained by identifying the non-shared boundary lines of all triangular meshes can be more accurate and can better guide the subsequent support structure design. This makes the support structure fit more closely with the underlying surface slices, reduces the waste of support materials, reduces costs, and at the same time, improves the stability of the printing process, prevents deformation, and improves printing quality. In addition, standardized operating procedures facilitate repeated operations and ensure product consistency.

[0020] See also Figure 3 The third embodiment of the method for generating a support structure of a shell part in five-axis printing according to the present invention includes: 301. Obtain all three-dimensional coordinate points on the suspended boundary line to obtain a set of edge coordinate points. These three-dimensional coordinate points accurately record the specific direction of the suspended edge in three-dimensional space, provide a detailed and accurate data basis for subsequent further processing and analysis, and help to accurately grasp the geometric characteristics of the suspended part of the underlying surface slice; 302. Set the Z components of all edge coordinate points to 0 to complete the projection of the edge coordinate points on the plane coordinate system and obtain the projection boundary line. The projection boundary line obtained by projecting the edge coordinate points onto the plane coordinate system can more conveniently use various plane geometry algorithms and tools in the plane coordinate system to perform operations such as distance calculation and shape fitting, which is conducive to more efficient generation of adaptive support structures.

[0021] In this embodiment, by acquiring three-dimensional coordinate points to form a set, the spatial form of the suspended boundary line can be accurately presented, providing an accurate data basis for subsequent processing; the Z component of the edge coordinate point is set to 0 for projection to obtain the projected boundary line, which simplifies the difficulty of geometric analysis on the one hand, and facilitates the use of plane geometry algorithms to carry out tasks such as support structure generation; on the other hand, it is conducive to unified standard processing, improves the standardization and repeatability of the process, and helps to carry out subsequent related operations efficiently and orderly.

[0022] See also Figure 4 , the fourth embodiment of the method for generating a support structure of a shell-like part in five-axis printing according to the embodiment of the present invention includes: Acquire the three-dimensional coordinate points on the projection boundary line to obtain the projection coordinate point set, which can fully and meticulously depict the specific shape and position of the projection boundary line in three-dimensional space in a digital and accurate form; 402. Construct a triangular topological structure based on the coordinate points in the edge coordinate point set and the coordinate points in the projection coordinate point set. Use the coordinate points in the edge coordinate point set and the projection coordinate point set to construct a triangular topological structure, which can effectively integrate the boundary information of different levels represented by the suspended boundary line and the projection boundary line. This integration allows the final generated triangular topological structure to integrate two aspects of geometric features, including both the actual situation of the suspended part (reflected by the edge coordinate point set) and the relevant information after projection onto the plane (reflected by the projection coordinate point set), thereby making the triangular topological structure more comprehensive and representative; By constructing and generating a part support structure based on a triangular topological structure, the density, height and other parameters of the part support structure can be reasonably adjusted to further improve the bearing capacity and adaptability of the part support structure and meet the requirements for the part support structure in different application scenarios.

[0023] In this embodiment, a triangular mesh generation algorithm can be used to construct a triangular topological structure, wherein the triangular mesh generation algorithm can be a triangulation algorithm, a frontier advancement method, a quadtree / octree-based mesh generation algorithm, a finite element mesh generation algorithm, etc. For example, all coordinate points in the edge coordinate point set and the projection coordinate point set are provided as input data to the selected triangulation algorithm, and the triangular mesh generation algorithm will gradually connect these points to form a triangle based on the geometric relationship such as the distance and relative position between the points. The part support structure construction process is the part support structure printing process, and the part support structure printing width is 0.5 mm to 1.5 mm, which can reduce material consumption and facilitate removal. (The specific value can be adjusted according to the actual situation, and this is only an example.) By obtaining the three-dimensional coordinate points of the projection boundary line to form a projection coordinate point set, its shape can be accurately characterized, which is convenient for subsequent collaborative processing; constructing a triangular topological structure based on the coordinate points in the edge coordinate point set and the coordinate points in the projection coordinate point set can integrate multi-source boundary information and provide a stable geometric framework; constructing a part support structure based on this can closely fit the boundary of the object to achieve precise support, and can also use the characteristics of the triangle to optimize performance, effectively prevent deformation, displacement and other problems, and meet the requirements of support structures in different scenarios.

[0024] The above describes the method for generating a support structure of a shell-like part by five-axis printing in an embodiment of the present invention. The following describes the device for generating a support structure of a shell-like part by five-axis printing in an embodiment of the present invention. Figure 5In one embodiment of the present invention, a five-axis printing shell part support structure generation device includes: The bottom surface slice acquisition module 1 is used to perform surface layering on the shell part model and obtain the bottom surface slices to obtain bottom surface slices; A dangling boundary line recognition module 2 is used to identify the dangling edge of the bottom surface slice to obtain the dangling boundary line; The projection boundary line acquisition module 3 is used to project the suspended boundary line to a preset plane coordinate system to obtain the projection boundary line; The support structure generation module 4 is used to generate a part support structure according to the projection boundary line and the suspended boundary line.

[0025] In this embodiment, the shell-type part model is sliced ​​by surface stratification to obtain underlying surface slices, and its suspended edges are identified to obtain suspended boundary lines and projected to obtain projection boundary lines, and key boundary information is determined to lay the foundation for generating an adaptive support structure; the part support structure generated in this way fits the underlying conditions of the part, can cope with special parts such as human skull implants, overcome the limitations of unsupported printing, save materials, and is easy to remove.

[0026] Figure 6 1 is a schematic diagram of the structure of a five-axis printing shell part support structure generation device provided by an embodiment of the present invention. The five-axis printing shell part support structure generation device 100 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 110 (for example, one or more processors) and a memory 120, and one or more storage media 130 (for example, one or more mass storage devices) storing application programs 133 or data 132. Among them, the memory 120 and the storage medium 130 can be short-term storage or permanent storage. The program stored in the storage medium 130 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the five-axis printing shell part support structure generation device 100. Furthermore, the processor 110 can be configured to communicate with the storage medium 130, and execute a series of instruction operations in the storage medium 130 on the five-axis printing shell part support structure generation device 100 to implement the steps of the five-axis printing shell part support structure generation method provided by the above-mentioned method embodiments.

[0027] The five-axis printing shell part support structure generating device 100 may also include one or more power supplies 140, one or more wired or wireless network interfaces 150, one or more input and output interfaces 160, and / or one or more operating systems 131, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It can be understood by those skilled in the art that Figure 6 The structure of the five-axis printing shell-like parts support structure generation device shown does not constitute a limitation of the five-axis printing shell-like parts support structure generation device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0028] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of a method for generating a support structure for a five-axis printed shell part.

[0029] During the printing process, the part support structure is first completely printed using plane printing technology to support the boundaries of the shell parts, and then the part support structure is printed to obtain the underlying surface slice structure. The underlying surface slices are printed on the specially generated part support structure, which can fully utilize the stable foundation provided by the part support structure to ensure the shape accuracy and position accuracy of the underlying surface slices during printing. This helps to lay a good foundation for the subsequent printing of other surface slices, ensuring that the entire part printing structure has high quality from the bottom up, and making the printing process more orderly and controllable; Print on the part support structure to get the underlying surface slice structure. Here are the unfolding steps for printing the underlying surface slice structure: Generate circular paths, tangent vectors, tangential printing tracks and printing platform rotation angles according to the suspended boundary lines; the circular paths can be used to perform specific circumferential printing operations around the suspended parts to ensure that the periphery of the suspended area is effectively formed; the tangential printing tracks carefully plan the laying routes of each layer of material to ensure the continuity and accuracy of printing; the determination of the printing platform rotation angle enables the print head or printing platform to operate at a suitable angle to improve printing accuracy; Generate a nozzle direction control instruction according to the tangent vector; Generate a printing platform rotation instruction according to the printing platform rotation angle; Generate tangential printing instructions according to the circular path, the tangent vector, the tangential printing trajectory and the rotation angle of the printing platform; The function of the nozzle direction control instruction is to control the direction of the nozzle at the path point, that is, the printing direction at the path point; The function of the printing platform rotation command is to control the printing platform to rotate to the printing platform rotation angle obtained by calculation; The function of the tangential printing instruction is to control the relevant printing mechanism to print the bottom surface slice using the tangential printing method described above; The underlying curved surface slice structure is generated according to the tangential printing instruction, and the printing operation is performed according to the nozzle direction control instruction, the printing platform rotation instruction and the tangential printing instruction. The underlying curved surface slice structure can be constructed strictly according to the pre-planned path, angle and action sequence. This makes the shape, size and connection relationship between the underlying curved surface slices accurately meet the design requirements.

[0030] By generating relevant paths and angles based on the suspended boundary lines, the printing trajectory can be accurately planned; then, the printing platform rotation instructions and nozzle direction control instructions generated thereby can achieve precise control of the printing action and improve coordination; finally, the underlying surface slicing structure is generated based on the nozzle direction control instructions, printing platform rotation instructions and tangential printing instructions, which can not only ensure its accurate molding, but also lay a good foundation for subsequent part printing, effectively improving the quality and continuity of the entire printing.

[0031] Calculating the distance from the edge coordinate point to the plane coordinate system to obtain the geodesic distance helps to accurately grasp the relative relationship between the layout of the suspended boundary line in space and the plane coordinate system, thus laying the foundation for more reasonable planning of circular paths and other operations; Determine the center point based on geodesic distance; Take any coordinate point on the suspended boundary line as the starting point and the center point as the path center to generate an equidistant circular path; Obtain all path points on all circular paths to obtain a set of path points; the circular paths can be further refined into units that can be analyzed and processed separately, so that more detailed geometric attribute calculations such as normal vectors and tangent vectors can be performed for each path point later; Identify the triangular mesh where the path point is located according to the path point; Calculate the average normal vector of the three vertices of the triangle mesh; this average value can represent the path point An average normal vector feature of the triangular mesh, which integrates the normal vector information of the three vertices of the triangle, makes the determination of the normal vector of the path point more representative and scientific, and provides a reasonable basis for the accurate calculation of tangent vectors and other operations; The average value of the normal vector is used as the normal vector of the path point; the normal vector determines the basis for the subsequent calculation of the tangent vector, as well as the relative relationship between the nozzle and the printing surface during the printing process, ensuring that the printing material can be sprayed onto the printing surface at the correct angle, improving the accuracy of printing and molding quality; the normal vector calculation formula includes: ,in, is the normal vector at the path point, , and are the normal vectors of the three vertices of the triangle network; The tangent vector of the path point is calculated through the normal vector. By accurately obtaining the tangent vector, the direction of the printing path can be determined more accurately, so that the printing path is more in line with the actual shape of the suspended boundary line, and the printing accuracy and continuity are improved. The tangent vector calculation formula includes: , in the formula, is the normal vector at the path point, are the coordinates of the center of the bounding box of the underlying surface slice, is the coordinate of the path point, is the calculated tangent vector; Rotate the tangent vector to align with the Z-axis direction, and calculate the printing platform rotation angle; the platform rotation angle obtained in this way can ensure that the printing platform and the nozzle cooperate more tacitly, so that the printing material can be sprayed onto the printing surface at the best angle, reducing printing defects caused by inappropriate angles and improving printing quality; A tangential printing trajectory is generated according to the rotation trajectory of the tangent vector, so that the generated tangential printing trajectory can closely follow the rotation of the tangent vector.

[0032] By calculating the geodetic distance to determine the center point, the key reference for path planning can be found; the circular path points can be refined for subsequent analysis and processing, and the normal vector, tangent vector, etc. can be obtained through the triangle network model and related calculations to accurately grasp the geometric characteristics of each point; the platform rotation angle obtained in this way is adapted to the printing platform angle, which can effectively improve the printing accuracy, quality and continuity, and ensure the smooth progress of printing.

[0033] The present invention and its embodiments are described above, which is not restrictive. What is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual content is not limited to this. In short, if ordinary technicians in this field are inspired by it and do not deviate from the purpose of the invention, they can creatively design structural methods and embodiments similar to the technical scheme, which should all fall within the scope of protection of the present invention.

Claims

1. A method for generating a support structure for shell parts by five-axis printing, characterized in that: include: Perform surface layering on the shell part model, obtain the bottom layer surface slices, and obtain the bottom layer surface slices; Identify the dangling edges of the underlying surface slices to obtain dangling boundary lines; Projecting the suspended boundary line onto a preset plane coordinate system to obtain a projected boundary line; Generate part support structure based on projection boundary lines and hanging boundary lines.

2. The five-axis printing shell part support structure generation method according to claim 1, characterized in that: The step of identifying the dangling boundary of the underlying surface slice to obtain the dangling boundary line includes: Get all the triangle meshes on the underlying surface slice; Identify all non-shared boundary lines of the triangle mesh to obtain dangling boundary lines.

3. The five-axis printing shell part support structure generation method according to claim 1, characterized in that: The projecting of the suspended boundary line to a plane coordinate system to obtain a projected boundary line comprises: Obtain all three-dimensional coordinate points on the suspended boundary line to obtain an edge coordinate point set; The Z components of all edge coordinate points are set to 0 to complete the projection of the edge coordinate points on the plane coordinate system and obtain the projected boundary line.

4. The five-axis printing shell part support structure generation method according to claim 3, characterized in that: The step of generating a part support structure according to the projection boundary line and the suspended boundary line comprises: Obtain the three-dimensional coordinate points on the projection boundary line to obtain a projection coordinate point set; Constructing a triangle topology structure according to the coordinate points in the edge coordinate point set and the coordinate points in the projection coordinate point set; Generate part support structures based on triangle topology.

5. A five-axis printing shell parts support structure generation device, characterized in that: include: The bottom surface slice acquisition module is used to perform surface layering on the shell part model and obtain the bottom surface slices to obtain bottom surface slices; A dangling boundary line recognition module is used to identify the dangling edges of the underlying surface slices to obtain dangling boundary lines; A projection boundary line acquisition module is used to project the suspended boundary line to a preset plane coordinate system to obtain the projection boundary line; The support structure generation module is used to generate a part support structure according to the projection boundary line and the suspended boundary line.

6. Five-axis printing shell parts support structure generation equipment, characterized in that: The five-axis printing shell part support structure generation device comprises: a memory and at least one processor, wherein the memory stores instructions; At least one of the processors calls the instructions in the memory so that the five-axis printing shell part support structure generation device performs each step of the five-axis printing shell part support structure generation method as described in any one of claims 1-4.

7. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the method for generating a five-axis printing shell part support structure as described in any one of claims 1 to 4 are implemented.

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