Simulation method, device, equipment and medium for spraying path of irregular structural parts

Abstract

The present invention discloses a simulation method, device, equipment and medium for the spraying path of an irregular structural part, which belongs to the technical field of additive manufacturing. The simulation method comprises: establishing an x-y-z three-dimensional Cartesian coordinate system for a three-dimensional model of an irregular structural part; based on the equal thickness slicing technology, according to the total height of the structural part, D and layer thickness d Solving the number of layers of structural parts N , evenly layer the structural part model, obtain the intersection of each slice and the structural part; reorder the disordered intersections of each layer, and obtain the contours of all layers of the structural part based on the ordered intersections; plan the filling path of each layer of the structural part contour from bottom to top in a raster filling manner; generate the final spraying path and import it into the industrial robot simulation software to simulate the spraying path. This method realizes the automation of the spraying path and the rapid manufacturing of irregular-shaped workpieces, and improves the safety and efficiency of manual online programming.

Description

Technical Field

[0001] The present invention relates to the technical field of additive manufacturing, and in particular to a simulation method, device, equipment and medium for irregular structural parts. Background Art

[0002] Aircraft engine turbine blades are a vital component of aircraft engines. They are subjected to extremely high temperature and high pressure environments and need to have extremely high mechanical strength and durability. The design and manufacture of turbine blades directly affect the efficiency, performance and life of the engine. The efficiency of modern aircraft engines depends largely on the innovation of turbine blade materials and cooling technology. The application of high-temperature alloys and ceramic-based composites, as well as advanced cooling channel design, enable turbine blades to work for a long time at high temperatures exceeding 1000°C.

[0003] The turbine blades of aircraft engines can be manufactured through processes such as investment casting, directional solidification and single crystal casting, powder metallurgy, laser cladding and thermal spraying. Plasma transferred arc surfacing has the advantages of low dilution rate and shallow melting depth, and is easy to mechanize and automate. Compared with other processes, the application of plasma transferred arc for additive manufacturing can accurately add materials, reduce material waste, and can complete the forming of workpieces faster without complex molds and a lot of post-processing; in addition, the process is relatively simple, and the manufactured workpieces have higher hardness and wear resistance, which can adapt to more demanding working environments. Therefore, plasma transferred arc additive manufacturing has broad prospects in the manufacture of aircraft engine turbine blades. However, since the turbine blades of aircraft engines are a complex and irregular free-form surface, a reasonable spray path is required during additive manufacturing. How to reasonably provide a spray path for aircraft engine turbine blades has become a problem that needs to be solved urgently.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The object of the present invention is to provide a method, device, equipment and medium for simulating the spraying path of irregular structural parts to solve or improve the above-mentioned technical problems.

[0006] The present invention can be implemented like this: In a first aspect, the present invention provides a method for simulating a spray path of an irregular structural part, comprising the following steps: Establish an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of irregular structural parts; Based on the equal thickness slicing technology, according to the total height of the irregular structural parts D and the thickness of each layer of irregular structural parts d Solve the total number of layers of irregular structural parts N, evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component; The disordered intersection points obtained in each layer are reordered, and the contours of all layers of the irregular structural part are obtained based on the ordered intersection points; Plan the filling path of each layer of the irregular structural part in a raster filling manner from bottom to top; The final spraying path is generated and imported into the industrial robot simulation software holding the spray gun to simulate the spraying path.

[0007] In an optional implementation, the irregular structural component model is composed of triangular facets; by intersecting a certain layer of slices with each edge of the triangular facets of the irregular structural component model, the coordinates of all intersection points of the current layer are obtained.

[0008] In an optional embodiment, the “center of mass-polar coordinate method” is used to reorder the disordered intersection points of each layer.

[0009] In an optional implementation, the "centroid-polar coordinate method" includes: solving the centroid of each layer of unordered intersections respectively, solving the vector formed by each intersection and the centroid of the current layer, and then solving the angle between each vector of the current layer and the first vector, arranging the obtained angles in ascending order, and finally obtaining ordered intersections.

[0010] In an optional embodiment, the planning of the filling path of each layer of contour includes: by n The straight line group composed of equidistant straight lines intersects with the contour lines of each layer respectively. n Depends on the distance between the two farthest intersection points on the contour M and adjacent straight line spacing m ratio.

[0011] In an optional implementation, finding the intersection includes: using the "zero point existence theorem" to quickly determine and solve the positional relationship between the intersection points of the straight line group and the contour line, and generating the current layer filling path point matrix A:

[0012] in, ) Generate all the filling path point coordinates; Solve the second vector separately To the nth vector Each with the first vector The angle between : odd and even numbered vectors Respectively and vector 0° and 180°, otherwise reverse the waypoints and waypoints The sorted path points are used in a raster manner to generate a fill path.

[0013] In an optional embodiment, based on the generated filling path and the set quaternion, speed, and zone radius zone value of each path point, a final spraying path is generated, and the generated path is simulated in the industrial robot simulation software.

[0014] In a second aspect, the present invention provides a simulation device for a spraying path of an irregular structural part, the simulation device comprising: A coordinate system establishment module is used to establish an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of irregular structural parts; The intersection acquisition module is used to obtain the intersection points of irregular structural parts based on the equal thickness slice technology. D and the thickness of each layer of irregular structural parts d Solving the number of layers of irregular structural parts N , evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component; A contour acquisition module is used to reorder the disordered intersection points obtained in each layer, and obtain the contours of all layers of the irregular structural part based on the ordered intersection points; A filling path planning module is used to plan the filling path of each layer of the irregular structural part in a raster filling manner from bottom to top; The spraying path simulation module is used to generate the final spraying path and import it into the industrial robot simulation software to simulate the spraying path.

[0015] In a third aspect, the present invention provides a simulation device for a spray path of an irregular structural part, comprising a processor and a memory storing computer program instructions, wherein the processor implements the simulation method of any one of the aforementioned implementation modes when executing the computer program instructions.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions are executed by a processor to implement the simulation method of any one of the aforementioned implementation modes.

[0017] The beneficial effects of the present invention include: The simulation of the spraying path of the irregular structural part provided by the present invention obtains the intersection coordinates of each layer of the irregular structural part model through the equal thickness slicing technology, reorders the intersection points of each layer to obtain the contours of all layers of the irregular structural part, plans the filling path of each layer of the irregular structural part in a raster manner, and finally generates the spraying path and simulates the reliability. The method can realize the rapid manufacturing of irregular structural parts, and also realizes the rationalization and automation of the spraying path, improving the safety and operation efficiency of manual online programming. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic flow chart of a method for simulating a spraying path of an irregular structural part provided by the present invention; Figure 2 A structural block diagram of a device for simulating a spraying path of an irregular structural part provided by the present invention; Figure 3 A structural block diagram of a simulation device for a spraying path of an irregular structural part provided by the present invention; Figure 4 A schematic diagram of the intersection of a blade model and a slice in the method for simulating a spray path of an aircraft engine turbine blade based on plasma transferred arc additive manufacturing provided in Example 1; Figure 5 A schematic diagram of the contours of all layers of a blade in a method for simulating a spray path of an aero-engine turbine blade manufactured based on plasma transferred arc additive manufacturing provided in Example 1; Figure 6 A schematic diagram of the contour and fill path generated by the current layer slice in the method for simulating the spray path of an aircraft engine turbine blade based on plasma transferred arc additive manufacturing provided in Example 1; Figure 7 A schematic diagram of the outline and filling path of all layers of the slice in the method for simulating the spray path of a turbine blade of an aero-engine based on plasma transferred arc additive manufacturing provided in Example 1; Figure 8 A schematic diagram of the final spraying path of Robotstudio in the spraying path simulation method for aircraft engine turbine blades based on plasma transferred arc additive manufacturing provided in Example 1.

[0020] Icons: 600 - simulation device; 610 - coordinate system establishment module; 620 - intersection acquisition module; 630 - contour acquisition module; 640 - filling path planning module; 650 - spraying path simulation module; 701 - processor; 702 - memory; 703 - communication interface; 704 - bus. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be described clearly and completely below. If the specific conditions are not specified in the embodiments, they are carried out according to conventional conditions or conditions recommended by the manufacturer. If the manufacturer of the reagents or instruments used is not specified, they are all conventional products that can be purchased commercially.

[0022] The simulation method, device, equipment and medium for irregular structural parts provided by the present invention are described in detail below.

[0023] The present invention provides a method for simulating the spraying path of an irregular structural part, such as Figure 1 As shown, the following steps are included: S100: establishing an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of the irregular structural part; S200: Based on the equal thickness slicing technology, according to the total height of irregular structural parts D and the thickness of each layer of irregular structural parts d Solve the total number of layers of irregular structural parts N , evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component slice; S300: reordering the disordered intersection points obtained in each layer, and obtaining contours of all layers of the irregular structural component based on the ordered intersection points; S400: planning a filling path for each layer of the irregular structural part in a raster filling manner layer by layer from bottom to top; S500: Generate the final spray path and import it into the industrial robot simulation software holding the spray gun to simulate the spray path.

[0024] The above simulation method obtains the intersection coordinates of each layer of the irregular structural part model through equal thickness slicing technology, reorders the intersection points of each layer to obtain the contours of all layers of the irregular structural part, plans the filling path of each layer of the irregular structural part in a raster manner, and finally generates the spraying path and simulates the reliability. This method can realize the rapid manufacturing of irregular structural parts, and also realizes the rationalization and automation of the spraying path, improving the safety and operation efficiency of manual online programming.

[0025] In some optional embodiments, the three-dimensional model of the irregular structural member can be input into Matlab in the format of an STL file to establish a three-dimensional Cartesian coordinate system. In addition, it is not excluded that other software can be used to establish a three-dimensional Cartesian coordinate system.

[0026] In some optional implementations, the irregular structural component model may be composed of triangular facets; by intersecting a certain layer of slices with each edge of the triangular facets of the irregular structural component model, the coordinates of all intersection points of the current layer are obtained.

[0027] In the present invention, the coordinates of the initially obtained intersections are disordered. Therefore, the present invention reorders the disordered intersections of each layer by using the "center of mass-polar coordinate method" to obtain the contours of all layers of the irregular structural part based on the ordered intersections.

[0028] Among them, the "centroid-polar coordinate method" includes: solving the centroid of each layer of unordered intersections respectively, solving the vector formed by each intersection and the centroid of the current layer, and then solving the angle between each vector of the current layer and the first vector, arranging the obtained angles in ascending order, and finally obtaining ordered intersections.

[0029] In the present invention, the planning of the filling path of each layer of contour includes: by n The straight line group composed of equidistant straight lines intersects with the contour lines of each layer respectively. n Depends on the distance between the two farthest intersection points on the contour M and adjacent straight line spacing m ratio.

[0030] Furthermore, since there is no clear functional relationship between the contour lines, the above intersection calculation includes: using the "zero point existence theorem" to quickly determine and solve the position relationship between the intersection points of the straight line group and the contour line, and generate the current layer filling path point matrix A:

[0031] in, ) Generate all the filling path point coordinates; Solve the second vector separately To the nth vector Each with the first vector The angle between : odd and even numbered vectors Respectively and vector 0° and 180°, otherwise reverse the waypoints and waypoints The sorted path points are used in a raster manner to generate a fill path.

[0032] By acquiring the filling path for each layer according to the above method, the filling paths for all layers can be generated.

[0033] Based on the generated filling path and the set quaternion, speed, and zone radius of each path point, the final spraying path is generated, and the generated path is simulated in the industrial robot simulation software.

[0034] Among them, "quaternion" is composed of four signed values ​​(u, v, w, p), where u, v, w represent the coordinates of a point on the xy plane, the negative half axis of the y axis, and the negative half axis of the z axis respectively, and p represents the coordinates of the point on the positive half axis of the z axis.

[0035] "Speed" corresponds to the moving speed of the spray gun, which can be illustratively but not limitatively 10mm / s~1000mm / s, such as 10mm / s, 50mm / s, 100mm / s, 200mm / s, 400mm / s, 500mm / s, 600mm / s, 800mm / s or 1000mm / s, etc., or other values ​​within the range of 10mm / s~1000mm / s.

[0036] The “zone radius zone value” can be 0mm to 10mm, such as 0mm, 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm or 10mm, etc., and can also be other values ​​within the range of 0mm to 10mm. It should be noted that when the zone value is 0mm, it means that the set path point is accurately reached without taking a circular motion mode, which can prevent the spray gun from suddenly decreasing in speed when changing the motion direction.

[0037] In the present invention, the industrial robot simulation software may exemplarily but not limitatively include ABB industrial robot simulation software Robotstudio, etc. In addition, it is not excluded that other industrial robot simulation software may be used.

[0038] It should be noted that the irregular structural parts involved in the present invention may include not only aircraft engine turbine blades, but also other irregularly shaped structural parts suitable for additive manufacturing, wherein additive manufacturing may include both plasma transferred arc additive manufacturing processes and other thermal spraying manufacturing processes.

[0039] In addition, the present application also provides a simulation device 600 for the spraying path of an irregular structural part, such as Figure 2 As shown, the simulation device 600 includes: A coordinate system establishment module 610 is used to establish an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of the irregular structural part; The intersection acquisition module 620 is used to obtain the intersection points of the irregular structure according to the total height of the irregular structure based on the equal thickness slicing technology. D and the thickness of each layer of irregular structural parts d Solving the number of layers of irregular structural parts N , evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component; A contour acquisition module 630 is used to reorder the disordered intersection points obtained in each layer, and obtain the contours of all layers of the irregular structural part based on the ordered intersection points; A filling path planning module 640 is used to plan a filling path for each layer of the irregular structural part in a raster filling manner layer by layer from bottom to top; The spraying path simulation module 650 is used to generate the final spraying path and import it into the industrial robot simulation software to simulate the spraying path.

[0040] The specific processes and conditions in the above steps can all refer to the simulation method of the spraying path of the irregular structural parts mentioned above, and will not be elaborated here.

[0041] In addition, the present application also provides a simulation device for the spraying path of an irregular structural part, such as Figure 3 As shown, it includes: a processor 701 and a memory 702 storing computer program instructions; When the processor 701 executes the computer program instructions, a spraying path simulation method for an irregular structural part according to any one of the aforementioned embodiments is implemented.

[0042] Specifically, the processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0043] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 702 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 702 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory.

[0044] The memory 702 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory 702 includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors 701), it is operable to perform the operations described with reference to the method according to one aspect of the present application.

[0045] The processor 701 reads and executes the computer program instructions stored in the memory 702 to achieve the simulation of the spraying path of the irregular structural part.

[0046] Furthermore, the simulation device for the spraying path of an irregular structural part may further include a communication interface 703 and a bus 704. The processor 701, the memory 702, and the communication interface 703 are connected via the bus 704 and communicate with each other.

[0047] Among them, the communication interface 703 is mainly used to realize the communication between various modules, devices and / or equipment in the embodiments of the present application.

[0048] Bus 704 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus 704 may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 704 may include one or more buses. Although the present application embodiment describes and shows a specific bus 704, the present application considers any suitable bus 704 or interconnection.

[0049] In addition, in combination with the above-mentioned spray path simulation method for irregular structural parts, the present application also provides a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor 701, the above-mentioned spray path simulation method is implemented.

[0050] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0051] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0052] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0053] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor 701 of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor 701 of a computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such processor 701 can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0054] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0055] Example 1 This embodiment provides a method for simulating the spraying path of an irregular structural part, combining Figure 1 The irregular structure is an aircraft engine turbine blade manufactured based on plasma transferred arc additive manufacturing. The simulation method includes the following steps: S100: Input the 3D model of the aircraft engine turbine blade to be manufactured into Matlab in the format of an STL file, and establish an xyz 3D Cartesian coordinate system. The size of the blade is 80mm×20mm×60mm, and the layer thickness is d Set to 1.3mm.

[0056] S200: Based on equal thickness slicing technology, according to the total height of the blade model D and the thickness of each layer of the leaf model d Solving the number of layers of the blade model N ( N =47), the leaf model is evenly layered and the intersection of each slice and the leaf is obtained.

[0057] Combination Figure 4 , taking the 30th slice as an example, it shows the intersection of the leaf model and the slice.

[0058] S300: reordering the disordered intersection points obtained in each layer by the “center of mass-polar coordinate method”, and obtaining the contours of all layers of the blade based on the ordered intersection points.

[0059] Combination Figure 5 , taking the 30th slice as an example, the contours of all layers of the leaf are obtained.

[0060] S400: planning a filling path for each layer of the blade contour layer by layer in a raster filling manner from bottom to top.

[0061] Taking the 30th slice as an example, the distance between the two farthest intersection points on the contour is M 59.285mm, adjacent straight line spacing m 1.2mm, the number of straight lines n The value is 49.

[0062] Combination Figure 6 , which shows the outline and fill path generated by slicing the current layer.

[0063] S500: Generate the outline and fill path of all layers of the blade (such as Figure 7As shown in the figure), the spray gun is sprayed perpendicular to the substrate, the spray angle of each path point is 90°, that is, the quaternion of each path point in the ABB industrial robot is [0,0,1,0], the movement speed of the spray gun is 100mm / s, and the zone radius zone=1mm. The final spray path is generated and the obtained spray path is imported into the ABB industrial robot simulation software Robotstudio holding the spray gun to simulate the spray path (as shown in the figure). Figure 8 as shown).

[0064] Example 2 This embodiment provides a method for simulating a spray path of an irregular structural part, wherein the irregular structural part is a cylindrical gear of an automobile gearbox manufactured based on plasma transferred arc additive manufacturing. The simulation method comprises the following steps: S100: Input the 3D model of the automobile gearbox cylindrical gear to be manufactured into Matlab in the format of an STL file, and establish an xyz 3D Cartesian coordinate system. The size of the cylindrical gear is 93.844mm×93.444mm×86mm, and the layer thickness is d Set to 0.5mm.

[0065] S200: Based on the equal thickness slice technology, according to the total height of the cylindrical gear model D and the thickness of each layer of the cylindrical gear model d Solving the Number of Layers of a Cylindrical Gear Model N ( N =172), the cylindrical gear model is evenly layered and the intersection of each slice and the cylindrical gear is obtained.

[0066] S300: The disordered intersection points obtained in each layer are reordered by the “center of mass-polar coordinate method”, and the contours of all layers of the cylindrical gear are obtained based on the ordered intersection points.

[0067] S400: Plan the filling path for each contour of the cylindrical gear layer by layer in a raster filling manner from bottom to top.

[0068] Taking the 25th slice as an example, the distance between the two farthest intersection points on the contour is M 93.844mm, adjacent straight line spacing m 0.9mm, the number of straight lines n The value is 104.

[0069] S500: Generate the contour and filling path of all layers of the cylindrical gear, spray the spray gun perpendicular to the substrate, and the spray angle of each path point is 90°, that is, the quaternion of each path point in the ABB industrial robot is [0,0,1,0]. The movement speed of the spray gun is 10mm / s, and the zone radius zone=1mm. The final spray path is generated and the obtained spray path is imported into the ABB industrial robot simulation software Robotstudio holding the spray gun to simulate the spray path.

[0070] Example 3 This embodiment provides a method for simulating a spray path of an irregular structural part, wherein the irregular structural part is an aero-engine turbine blade manufactured based on supersonic flame spraying. The simulation method comprises the following steps: S100: Input the 3D model of the aircraft engine turbine blade to be manufactured into Matlab in the format of an STL file, and establish an xyz 3D Cartesian coordinate system. The size of the blade is 120 mm × 30 mm × 90 mm, and the layer thickness is d Set to 0.8mm.

[0071] S200: Based on equal thickness slicing technology, according to the total height of the blade model D and the thickness of each layer of the leaf model d Solving the number of layers of the blade model N ( N =113), the leaf model is evenly layered and the intersection of each slice and the leaf is obtained.

[0072] S300: reordering the disordered intersection points obtained in each layer by the “center of mass-polar coordinate method”, and obtaining the contours of all layers of the blade based on the ordered intersection points.

[0073] S400: planning a filling path for each layer of the blade contour layer by layer in a raster filling manner from bottom to top.

[0074] Taking the 83rd slice as an example, the distance between the two farthest intersection points on the contour is M 87.622mm, adjacent straight line spacing m 1.3mm, the number of straight lines n The value is 67.

[0075] S500: Generate the contour and filling path of all layers of the blade, spray the spray gun perpendicular to the substrate, and the spray angle of each path point is 90°, that is, the quaternion of each path point in the ABB industrial robot is [0,0,1,0]. The movement speed of the spray gun is 50mm / s, and the zone radius zone=1.5mm. The final spray path is generated and the obtained spray path is imported into the ABB industrial robot simulation software Robotstudio holding the spray gun to simulate the spray path.

[0076] In summary, the method provided by the present invention can effectively generate the spray path of irregular structural parts corresponding to the additive manufacturing method, quickly and accurately realize the additive manufacturing of irregular structural parts, and at the same time realize the automation of the spray path, thereby improving the safety and operating efficiency of manual online programming.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for simulating a spray path of an irregular structural part, characterized in that: The following steps are involved: Establish an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of irregular structural parts; Based on the equal thickness slicing technology, according to the total height of the irregular structural parts D and the thickness of each layer of irregular structural parts d Solve the total number of layers of irregular structural parts N , evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component; The disordered intersection points obtained in each layer are reordered, and the contours of all layers of the irregular structural part are obtained based on the ordered intersection points; Plan the filling path of each layer of the irregular structural part in a raster filling manner from bottom to top; Generate the final spraying path and import it into the industrial robot simulation software to simulate the spraying path.

2. The simulation method according to claim 1, characterized in that: The irregular structural component model is composed of triangular facets; by intersecting a certain layer of slices with each edge of the triangular facets of the irregular structural component model, the coordinates of all intersection points of the current layer are obtained.

3. The simulation method according to claim 2, characterized in that: The "centroid-polar coordinate method" is used to reorder the disordered intersection points of each layer.

4. The simulation method according to claim 3, characterized in that: The "centroid-polar coordinate method" includes: solving the centroid of each layer of disordered intersections respectively, solving the vector formed by each intersection and the centroid of the current layer, and then solving the angle between each vector of the current layer and the first vector, arranging the obtained angles in increasing order, and finally obtaining ordered intersections.

5. The simulation method according to claim 1, characterized in that: The planning of the filling path of each layer of contour includes: by n The straight line group composed of equidistant straight lines intersects with the contour lines of each layer respectively. n Depends on the distance between the two farthest intersection points on the contour M and adjacent straight line spacing m ratio.

6. The simulation method according to claim 5, characterized in that: The intersection calculation includes: using the "zero point existence theorem" to quickly determine and solve the positional relationship between the intersection points of the straight line group and the contour line, and generate the current layer filling path point matrix A: in, Refers to the current layer n- 1 Fill path points generated by a straight line and contour line a ( x 1, y 1) and fill path points b ( x 2, y 2) Generate all the filling path point coordinates; Solve the second vector separately To n Strip Vector Each with the first vector The angle between : odd and even numbered vectors Respectively and vector 0° and 180°, otherwise reverse the waypoints and waypoints The sorted path points are used in a raster manner to generate a fill path.

7. The simulation method according to claim 1, characterized in that: Based on the generated filling path and the set quaternion, speed, and zone radius of each path point, the final spraying path is generated, and the generated path is simulated in the industrial robot simulation software.

8. A device for simulating the spraying path of an irregular structural part, characterized in that: The simulation device comprises: A coordinate system establishment module is used to establish an xyz three-dimensional Cartesian coordinate system for the three-dimensional model of irregular structural parts; The intersection acquisition module is used to obtain the intersection points of irregular structural parts based on the equal thickness slice technology. D and the thickness of each layer of irregular structural parts d Solving the number of layers of irregular structural parts N , evenly layer the irregular structural component model, and obtain the intersection of each slice and the irregular structural component; A contour acquisition module is used to reorder the disordered intersection points obtained in each layer, and obtain the contours of all layers of the irregular structural part based on the ordered intersection points; A filling path planning module is used to plan the filling path of each layer of the irregular structural part in a raster filling manner from bottom to top; The spraying path simulation module is used to generate the final spraying path and import it into the industrial robot simulation software to simulate the spraying path.

9. A simulation device for the spraying path of an irregular structural part, characterized in that: It comprises a processor and a memory storing computer program instructions, and when the memory executes the computer program instructions, it implements the simulation method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the simulation method according to any one of claims 1 to 7.

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