Three-dimensional printing path planning method based on carbon fiber reinforced multi-branch matrix, three-dimensional printing method and system

Abstract

The present disclosure relates to the field of three-dimensional printing of carbon fiber, and in particular to a three-dimensional printing path planning method, a three-dimensional printing method, and a system based on a carbon fiber reinforced multi-branch matrix. The planning method includes: determining the joint lines of each branch part based on a multi-branch grid model; generating multi-layer contour lines of each branch part; determining the seam line between every two adjacent branch parts; generating the same number of evenly distributed equal points on the seam line between every two adjacent branch parts in multiple branch parts, and generating equal points on each layer of the contour lines of the multi-layer contour lines of each branch part; generating multiple carbon fiber printing paths corresponding to multiple carbon fiber winding layers based on multiple sets of preset offset information and the equal points on each layer of the contour lines of the multi-layer contour lines of each branch part. In this way, the three-dimensional carbon fiber printing path adopted when using a carbon fiber reinforced multi-branch matrix can be effectively determined.

Description

Technical Field

[0001] The present disclosure relates to the field of three-dimensional printing of carbon fibers, and in particular to a three-dimensional printing path planning method, a three-dimensional printing method, and a system based on a carbon fiber reinforced multi-branch matrix. Background Art

[0002] Carbon fiber, due to its excellent strength-to-weight ratio, corrosion resistance, and high-temperature stability, has become a key component of advanced composite materials. With the continuous advancement of domestic carbon fiber raw material production technology, carbon fiber precursors such as T300 and T700 have entered mass production. Due to its excellent strength-to-weight ratio, corrosion resistance, and high-temperature stability, it has been widely used in mid-to-high-end manufacturing fields such as aerospace, automotive, and wind energy. Furthermore, the rapid development of thermoplastic carbon fiber has opened up new possibilities for digital carbon fiber manufacturing, laying the foundation for its application in emerging manufacturing technologies such as 3D printing.

[0003] In recent years, the rise of 3D printing technology has effectively reduced manufacturing costs and improved production efficiency. However, most current technologies are still focused on the application of short-fiber composites. Due to the limitations of fiber length, the reinforcement effect of short fibers is far inferior to that of continuous carbon fibers. In particular, in the manufacture of high-performance structural parts, the advantages of continuous carbon fibers in structural reinforcement cannot be fully utilized. In addition, the path generation methods currently used in 3D printing mostly tend to focus on path planning methods such as straight-line round-trip filling, contour offset filling, and mixed path filling within two-dimensional plane slices. These methods are difficult to apply to the printing of carbon fiber reinforcement layers on the surface of complex multi-branched substrates (such as Y-shaped, X-shaped, cross-shaped, and other tubular substrates with multiple branches) using continuous carbon fibers in three-dimensional space. Summary of the Invention

[0004] In view of this, the present disclosure proposes a three-dimensional printing path planning method, a three-dimensional printing method and a system based on a carbon fiber reinforced multi-branch matrix, which can effectively determine the three-dimensional multi-layer carbon fiber printing path on the multi-branch matrix, and the carbon fiber reinforced layer printed according to the multi-layer three-dimensional carbon fiber printing path can greatly improve the bearing capacity of the multi-branch matrix, and the printing efficiency is higher, and more carbon fiber materials are saved.

[0005] According to one aspect of the present disclosure, a three-dimensional printing path planning method based on a carbon fiber reinforced multi-branch matrix is ​​provided, comprising: obtaining a multi-branch grid model corresponding to the multi-branch matrix to be reinforced, and determining a plurality of branch parts in the multi-branch grid model and a joint line of each branch part based on the multi-branch grid model, wherein the joint line represents the boundary line between any branch part and other branch parts; generating multi-layer contour lines of each branch part based on the joint lines of each branch part and the end edge line of each branch part; determining the seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of each branch part, wherein the joint line represents the boundary line between any branch part and other branch parts; generating multi-layer contour lines of each branch part based on the joint lines of each branch part and the end edge line of each branch part; determining the seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of each branch part, wherein the joint line represents the boundary line between any two adjacent branch parts in the plurality of branch parts; The seam line represents the partial curve connecting the two joint lines of two adjacent branch parts; the same number of evenly distributed equally divided points are generated on the seam line between every two adjacent branch parts in the multiple branch parts, and the equally divided points on each layer of the multi-layer contour line of each branch part are generated according to the equally divided points on the seam line between every two adjacent branch parts; according to the preset multiple sets of offset information and the equally divided points on each layer of the multi-layer contour line of each branch part, multiple carbon fiber printing paths corresponding to the multi-layer carbon fiber winding layer are generated, wherein a single set of offset information includes the offset of each equally divided point generated in each branch part under the single-layer carbon fiber winding layer along the line.

[0006] In one possible implementation, there is an association between the equally divided points on adjacent contour lines in any branch part, and between the equally divided points on the seam line and the equally divided points on the contour line adjacent to the seam line; wherein, the generating of multiple carbon fiber printing paths corresponding to the multiple layers of carbon fiber winding layers according to the preset multiple sets of offset information and the equally divided points on each contour line in the multiple layers of contour lines of each branch part includes: according to each set of offset information, offsetting the equally divided points generated in each branch part along the line, and obtaining an offset result corresponding to each set of offset information, the offset result including the target equally divided points after offset in each branch part; based on the association relationship between the equally divided points, connecting the target equally divided points associated on the contour lines in each branch part in each set of offset results and the target equally divided points associated on the seam line, and obtaining multiple carbon fiber printing paths corresponding to each layer of carbon fiber winding layer.

[0007] In one possible implementation, the method of determining multiple branch parts and joint lines of each branch part in the multi-branch mesh model based on the multi-branch mesh model includes: performing dynamic simulation on the end edge lines of multiple branches in the multi-branch mesh model to obtain multiple joint lines corresponding to multiple branches, wherein the dynamic simulation includes at least one of the following: collision constraints, node surface adsorption forces, length elasticity, angle elasticity, and gravitational effects; and dividing the multi-branch mesh model into multiple branch parts based on the multiple joint lines corresponding to the multiple branches, wherein each branch part includes a mesh between the joint line and the end edge line of the branch part, and the mesh between the joint line and the end edge line is a uniform triangular mesh.

[0008] In one possible implementation, the determining of the seam line between every two adjacent branch parts in the multiple branch parts based on the distance between the joint lines of each branch part includes: for the joint line of the first branch part in the multiple branch parts, determining two second branch parts adjacent to the first branch part, and constructing an objective function, wherein the objective function represents the sum of the distances between the joint line of the first branch part and the joint lines of the two second branch parts; determining two pairs of bifurcation points when the objective function appears at a minimum on the joint line of the first branch part, a pair of bifurcation points representing the position of the joint line of the first branch part relative to the joint line of any second branch part when it bifurcates, and a pair of bifurcation points corresponding to a seam line; based on the two pairs of bifurcation points on the joint line of the first branch part, interrupting the joint line of the first branch part from the two pairs of bifurcation points to obtain the seam lines between the first branch part and the two second branch parts respectively.

[0009] According to another aspect of the present disclosure, a three-dimensional printing system based on a carbon fiber reinforced multi-branch matrix is ​​provided, the three-dimensional printing system comprising: a main robotic arm, an auxiliary robotic arm, a carbon fiber print head and a matrix fixing frame; the carbon fiber print head is assembled at the end of the auxiliary robotic arm for generating carbon fiber filaments; the matrix fixing frame is used to assemble the multi-branch matrix to be reinforced at the end of the main robotic arm, the matrix fixing frame comprises a flange connector, a matrix connecting adapter and a plurality of wire collection extensions; the flange connector is used to connect the wire collection extension connected to a branch end of the multi-branch matrix to the end of the main robotic arm, the matrix connecting adapter is used to connect the wire collection extension to the branch end of the multi-branch matrix; the wire collection extension is an L-shaped rounded bend shape, and different wire collection extensions have different bending angles. The wire collection extension is used to fix the relative posture of the multi-branch matrix and the end of the main robotic arm, and to assist the carbon fiber print head in pulling out the carbon fiber filaments at the start of printing, and to undertake the winding of the carbon fiber filaments during the resetting of the main robotic arm.

[0010] In one possible implementation, each branch end of the multi-branched matrix is ​​respectively provided with multiple anchor points of depressions and / or protrusions, which are used to hook the carbon fiber filaments using the anchor points when the carbon fiber filaments are printed to any branch end; or, in the case that each branch end of the multi-branched matrix is ​​not provided with multiple anchor points of depressions and / or protrusions, the matrix fixing frame also includes: an external anchor ring, the external anchor ring includes an annular disk with multiple long hook-shaped anchor points, and the external anchor ring is nested on the matrix connection adapter, which is used to hook the carbon fiber filaments using the long hook-shaped anchor points when the carbon fiber filaments are printed to any branch end.

[0011] According to another aspect of the present disclosure, a three-dimensional printing method based on a carbon fiber reinforced multi-branch matrix is ​​provided, and the three-dimensional printing method is applied to the three-dimensional printing system, and the three-dimensional printing method includes: based on any one of the path planning methods, determining a three-dimensional printing path planning result of the multi-branch matrix to be reinforced, the three-dimensional printing path planning result including a plurality of carbon fiber printing paths corresponding to multiple carbon fiber winding layers; based on the seam lines passed by each carbon fiber printing path in the three-dimensional printing path planning result, dividing the multiple carbon fiber printing paths in the three-dimensional printing path planning result into multiple groups of paths, one group of paths includes multiple carbon fiber printing paths passing through the same seam line, and one group of paths corresponds to one printing process; and determining the printing path corresponding to each group of paths according to the normal vectors of the end edge lines of the two branch parts corresponding to each group of paths. A hardware assembly scheme for the printing process, the hardware assembly scheme including: a direction vector of the flattening direction of two branch parts corresponding to a group of paths and a type of wire-gathering extension piece to be connected to each of the two branch parts, the type of wire-gathering extension piece characterizing the bending angle of the wire-gathering extension piece; according to the hardware assembly scheme for the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths, the robot arm motion instructions for the printing process corresponding to each group of paths are determined, the robot arm motion instructions are used to control the motion posture of the main robot arm end and the auxiliary robot arm end during the printing process corresponding to the group of paths; according to the hardware assembly scheme for the printing process corresponding to each group of paths and the robot arm motion instructions, the three-dimensional printing system is controlled to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate respectively to obtain a complete carbon fiber reinforced layer on the multi-branch substrate.

[0012] In one possible implementation, the hardware assembly scheme for the printing process corresponding to each group of paths is determined based on the normal vectors of the end edge lines of the two branch parts corresponding to each group of paths, including: for any group of paths, determining the direction vectors of the flattening direction of the two branch parts in the printing process corresponding to the group of paths based on the normal vectors of the end edge lines of the two branch parts corresponding to the group of paths, and the normal vectors of the end edge lines of other branch parts except the two branch parts corresponding to the group of paths; determining the type of wire collection extension to be connected to each of the two branch parts in the printing process corresponding to the group of paths based on the angle between the direction vector of the flattening direction of the two branch parts in the printing process corresponding to the group of paths and the normal vector of the end edge lines of the two branch parts, and the similarity between the angles and the bending angles of various wire collection extensions.

[0013] In a possible implementation, the method determines the robot arm motion instructions for the printing process corresponding to each group of paths according to the hardware assembly scheme of the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths, including: for any group of paths, taking the plane where the base of the flange connector in the base fixed frame under the hardware assembly scheme of the printing process corresponding to the group of paths is located as the base plane, and converting the spatial posture of the base fixed frame under the hardware assembly scheme of the printing process corresponding to the group of paths from the base plane to the world plane, so as to obtain the target spatial posture of the base fixed frame in the printing process corresponding to the group of paths; generating uniformly distributed curve points on each carbon fiber printing path in the group of paths, and calculating the first angle between the normal vector of the first curve point on each carbon fiber printing path along the outer surface of the substrate and the vertical axis positive direction vector of the base plane as the offset phase value corresponding to the first curve point on each carbon fiber printing path; for the kth curve point on any carbon fiber printing path in the group of paths, calculating the normal vector of the kth curve point along the outer surface of the substrate and the kth curve point on the carbon fiber printing path. -1 curve branch points along the outer surface of the substrate, and the sum of the offset phase value corresponding to the k-1 curve branch point and the second angle is used as the offset phase value corresponding to the k-1 curve branch point, where k>1; multiple carbon fiber printing paths in the group of paths are sorted head to tail based on the offset phase values ​​of the two end points of each carbon fiber printing path in the group of paths to obtain a sorting result, wherein the sorting result represents the printing order of the carbon fiber printing paths in the group of paths in a head-to-tail manner; a robotic arm motion sequence for the printing process corresponding to the group of paths is determined based on the target spatial position of the substrate fixed frame during the printing process corresponding to the group of paths, the offset phase value of each curve branch point on each carbon fiber printing path in the group of paths, and the sorting result, wherein the robotic arm motion sequence includes a sequence of arrival planes of the end points of the main robotic arm and the end points of the auxiliary robotic arm during the printing process of the group of paths; and motion instructions for the main robotic arm and the auxiliary robotic arm are generated based on the robotic arm motion sequence for the printing process corresponding to the group of paths, wherein the robotic arm motion instructions include motion instructions for the main robotic arm and motion instructions for the auxiliary robotic arm.

[0014] In one possible implementation, the three-dimensional printing system is controlled to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate according to the hardware assembly scheme and the robot arm motion instructions of the printing process corresponding to each group of paths, including: when the substrate fixing frame and the multi-branch substrate are assembled onto the main robot arm according to the hardware assembly scheme of the printing process corresponding to any group of paths, the three-dimensional printing system is controlled to execute the carbon fiber printing process under the group of paths based on the robot arm motion instructions of the printing process corresponding to the group of paths until the carbon fiber printing process under each group of paths is completed; wherein, during the carbon fiber printing process under any group of paths, the motion instructions of the main robot arm are imported into the controller of the main robot arm and the motion instructions of the auxiliary robot arm are imported into the controller of the auxiliary robot arm, so that the controller of the main robot arm controls the motion posture of the main robot arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions, and the controller of the auxiliary robot arm controls the motion posture of the auxiliary robot arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions.

[0015] According to another aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0016] According to another aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0017] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, or a non-volatile computer-readable storage medium carrying the computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0018] According to various aspects of the present disclosure, by obtaining a multi-branch network model of a multi-branch matrix, the various branch parts in the multi-branch network model and the joint lines between the various branch parts are determined, and multi-layer contour lines of each branch part are generated, which is equivalent to splitting the multi-branch matrix according to the branches to separately determine the contour lines of each branch surface, and then by determining the seam line between every two adjacent branch parts and generating the equal division points on the seam line, and then generating the equal division points on the multi-layer contour lines of each branch part according to the equal division points on the seam line, the equal division points generated in each branch part can be evenly distributed and are mutually correlated with the equal division points on the seam line, and then based on the offset of the equal division points generated in each branch part in each set of offset information in multiple sets of offset information along the line, a complex multi-branch matrix to be printed can be effectively generated. The invention discloses a three-dimensional printing system for printing a plurality of carbon fiber winding layers of a plurality of carbon fiber winding layers, and makes each carbon fiber printing path in each carbon fiber winding layer in the generated multi-layer carbon fiber winding layer be continuously arranged between every two branches in the multi-branch matrix; and, through the high degree of freedom motion control of the dual robotic arms combined with the adaptation scheme of the matrix fixing frame and the wire collection extension piece, the three-dimensional printing system can realize the precise winding and solidification three-dimensional printing of filament carbon fiber based on the carbon fiber printing path generated by the above-mentioned path planning method; and, can utilize the three-dimensional printing system and realize the three-dimensional printing of carbon fiber groups on the multi-branch matrix of complex shape according to the three-dimensional path planning results, so that the printed carbon fiber reinforced layer greatly improves the bearing capacity of each branch of the multi-branch matrix, and can make the printing efficiency of the three-dimensional printing higher and save more carbon fiber materials.

[0019] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0021] Figure 1 A flowchart of a three-dimensional printing path planning method based on a carbon fiber reinforced multi-branch matrix according to an embodiment of the present disclosure is shown.

[0022] Figure 2 A schematic diagram showing a three-dimensional model, joint line division, and contour line distribution of a Y-shaped base according to an embodiment of the present disclosure is shown.

[0023] Figure 3 A schematic diagram showing the seam lines, equally divided point distribution, and associated equally divided point distribution of a Y-shaped base model according to an embodiment of the present disclosure is shown.

[0024] Figure 4A schematic diagram showing the distribution of carbon fiber printing paths generated by a certain set of offset information and multiple sets of offset information of a Y-shaped base model according to an embodiment of the present disclosure is shown.

[0025] Figure 5 A schematic structural diagram of a three-dimensional printing system based on a carbon fiber reinforced multi-branch matrix according to an embodiment of the present disclosure is shown.

[0026] Figure 6 A structural schematic diagram of a base fixing frame according to an embodiment of the present disclosure is shown.

[0027] Figure 7 A schematic diagram showing two substrate connection adapter designs and their connection and fixation methods with a multi-branch substrate according to an embodiment of the present disclosure is shown.

[0028] Figure 8 A schematic diagram showing three anchor point designs according to an embodiment of the present disclosure.

[0029] Figure 9 A schematic diagram showing a connection method between an external anchor ring and two base connection adapters according to an embodiment of the present disclosure.

[0030] Figure 10 A schematic diagram showing the assembly result of the external anchor ring and the base connection adapter according to an embodiment of the present disclosure.

[0031] Figure 11 A flow chart of a three-dimensional printing method based on a carbon fiber reinforced multi-branch matrix according to an embodiment of the present disclosure is shown.

[0032] Figure 12 A schematic diagram illustrating a simulated printing process of three sets of printing paths and the rotation direction of the substrate during the printing process according to an embodiment of the present disclosure.

[0033] Figure 13 A block diagram of an electronic device 1900 according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0034] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0035] As used herein, the terms "comprises," "comprising," "having," or variations thereof are open ended and include one or more stated features, integers, elements, steps, parts, or functions, but do not preclude the presence or addition of one or more other features, integers, elements, steps, parts, functions, or groups thereof.

[0036] When an element is referred to as being "connected," "coupled," "responsive" or variations thereof to another element, it can be directly connected, coupled or responsive to the other element or intervening elements may be present.

[0037] Although the terms first, second, third, etc. may be used herein to describe various elements / operations, these elements / operations should not be limited by these terms. These terms are only used to distinguish one element / operation from another element / operation. Therefore, without departing from the teachings of the present invention, the first element / operation in some embodiments may be referred to as the second element / operation in other embodiments.

[0038] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0039] In addition, numerous specific details are provided in the following detailed description to better illustrate the present disclosure. Those skilled in the art will appreciate that the present disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present disclosure.

[0040] To fully leverage the advantages of continuous carbon fiber in reinforcing the surface structure of multi-branched substrates, the presently disclosed embodiments propose a 3D printing path planning method, 3D printing method, and system based on a carbon fiber-reinforced multi-branched substrate. These methods generate a parameterized deflection path for continuous carbon fiber printing on complex multi-branched substrate surfaces. Through the collaborative operation of a multi-axis robotic arm, a dedicated carbon fiber extruder, and a substrate mounting frame, a thermoplastic carbon fiber reinforcement layer with a corresponding fiber arrangement is precisely printed on the substrate. This significantly improves printing efficiency and reinforcement effectiveness, not only enhancing the efficiency and uniformity of carbon fiber use but also significantly enhancing the strength and durability of the substrate structure. By utilizing two six-axis robotic arms (a total of 12 axes), a customized carbon fiber extruder, and a substrate mounting frame, the method and system can be precisely wound onto the substrate, providing a novel solution for the fabrication of high-performance structures. Furthermore, the deflection of the carbon fiber arrangement can be parameterized based on specific mechanical analysis to meet the mechanical performance requirements of various industries and applications. This method is particularly suitable for rapidly developing high-tech fields such as robotics, drones, and robotic arms. With its efficient path planning, precise reinforcement effects, and wide applicability, the method and system proposed in the presently disclosed embodiments possess significant industrial application value. With the continuous maturity of carbon fiber-based three-dimensional pronunciation technology and the growing market demand, the methods and systems proposed in the embodiments of the present disclosure will be widely used in multiple fields such as aerospace, automobiles, and robotics, becoming an important driving force for technological upgrading and innovative development in related industries.

[0041] The disclosed embodiments propose a three-dimensional printing path planning method, a three-dimensional printing method and a system based on a carbon fiber reinforced multi-branch matrix. The core lies in the innovative integration and printing process design of the collaborative operation of dual robotic arms and the matrix fixed frame. Through the high-degree-of-freedom motion control of the dual robotic arms and the multi-layer carbon fiber path planning, the precise winding and curing printing of filament carbon fibers can be achieved, effectively improving the overall strength and quality stability of the multi-branch matrix. It is particularly suitable for fields that require lightweight and high strength, such as structural reinforcement fields such as drone fuselages and automotive structural components, and has important industrial application value and broad market prospects. In addition, the fiber arrangement design and generation scheme on the surface of a complex matrix ensures the continuous printing of filament fibers on a complex-shaped matrix; the fiber arrangement deflection parameterized design will be beneficial to responding to the corresponding stress direction requirements based on the specific mechanical analysis of the matrix in practical applications. Printing a carbon fiber reinforcement layer on the outer surface of a multi-branch matrix according to the three-dimensional printing method can greatly improve the bearing capacity of the matrix, and can make the three-dimensional printing more efficient and save more carbon fiber materials.

[0042] The disclosed embodiments propose a three-dimensional printing path planning method, a three-dimensional printing method and a system based on a carbon fiber reinforced multi-branch matrix, which combines digital design with precise path control to achieve efficient carbon fiber reinforced printing. It is suitable for secondary reinforcement of the surface of an existing shape matrix, especially for secondary reinforcement of the surface of a multi-branch matrix. These multi-branch matrixes include but are not limited to multi-branch tubular matrixes with tubular multi-branches on the outer surface and the same or similar cross-sectional sizes. For example, the multi-branch matrix can be a multi-branched cylinder, square cylinder, cylinder, square cylinder, round tube, square tube, etc., that is, it can be any branch shape such as L-shaped, S-shaped, Y-shaped, X-shaped, cross-shaped, etc., and the disclosed embodiments do not limit this. In particular, it is possible to achieve precise continuous carbon fiber reinforced layer printing on a multi-branch matrix, thereby significantly improving the strength and durability of the multi-branch matrix, while reducing manufacturing costs.

[0043] The disclosed embodiments propose a three-dimensional printing path planning method, a three-dimensional printing method and a system based on a carbon fiber reinforced multi-branch matrix, which can complete the branch splitting of complex shapes, the extraction and offset of equal points based on the three-dimensional grid model of the multi-branch matrix surface, and form a deflection parameterized continuous carbon fiber printing path; according to the continuous carbon fiber printing path, multiple printing processes and matrix fixing frame installation schemes are determined to facilitate printing, and dual-robotic arm path planning is completed. In terms of equipment, a dual-robotic arm three-dimensional printing system is constructed. By synchronously controlling the two robotic arms, the precise execution of path planning is ensured, the accuracy and consistency of the carbon fiber reinforced layer are effectively improved, and an innovative solution is provided for the manufacture of high-performance structures; a matrix fixing frame is constructed that includes a variety of wire collection extensions, a variety of matrix end designs, and a variety of connection adapters, providing a specific fixing method for the matrix to be reinforced, and providing convenience for the three-dimensional printing system and its path planning.

[0044] The following is a detailed introduction to the three-dimensional printing path planning method, three-dimensional printing method and three-dimensional printing system based on a carbon fiber reinforced multi-branch matrix proposed in the embodiments of the present disclosure.

[0045] Figure 1 A flow chart of a three-dimensional printing path planning method based on a carbon fiber reinforced multi-branch matrix according to an embodiment of the present disclosure is shown. Figure 1 As shown, the method includes: steps S11 to S15.

[0046] In step S11, a multi-branch grid model corresponding to the multi-branch matrix to be enhanced is obtained, and based on the multi-branch grid model, multiple branch parts in the multi-branch grid model and joint lines of each branch part are determined, wherein the joint line represents the boundary line between any branch part and other branch parts.

[0047] In practical applications, the multi-branch matrix can be any physical structure on the surface of which a carbon fiber reinforcement layer is to be printed. The embodiments of the present disclosure do not impose any restrictions on the cross-sectional shape, cross-sectional size, branch shape and material of the multi-branch matrix to be reinforced.

[0048] The three-dimensional model of the multi-branched matrix can be constructed by three-dimensional model construction techniques known in the art, such as Figure 2 A three-dimensional model of a Y-shaped substrate is shown in (a), and then the surface curve of the three-dimensional model is extracted and converted into a mesh model to obtain a multi-branch mesh model of the multi-branch substrate. That is, the multi-branch mesh model of the multi-branch substrate can represent the meshed outer surface of the multi-branch substrate, wherein the three-dimensional model drawing software can be used to draw the three-dimensional model of the multi-branch substrate, or the three-dimensional scanning equipment can be used to perform a three-dimensional scan on the multi-branch substrate to obtain a three-dimensional electronic model of the multi-branch substrate, and the embodiments of the present disclosure are not limited to this.

[0049] In a possible implementation, in step S11, determining multiple branch parts and joint lines of each branch part in the multi-branch mesh model based on the multi-branch mesh model may include:

[0050] 11.1. Perform dynamic simulation on the end edge lines of multiple branches in a multi-branch mesh model to obtain multiple joint lines corresponding to the multiple branches, wherein the dynamic simulation includes at least one of the following: collision constraints, node surface adsorption forces, length elasticity, angle elasticity, and gravitational effects;

[0051] 11.2. Based on multiple joint lines corresponding to multiple branches, the multi-branch mesh model is divided into multiple branch parts, wherein each branch part includes the mesh between the joint line and the end edge line of the branch part, and the mesh between the joint line and the end edge line is a uniform triangular mesh.

[0052] The end edge line of the branch is the edge line of the end surface of the branch. It should be understood that the end edge line of each branch in the multi-branch mesh model is a polyline, which includes multiple line segments and nodes between the line segments. In practical applications, the Kangaroo plug-in in the Grasshopper environment can be used to perform a dynamic simulation process. The multi-branch mesh model can be imported into the Kangaroo plug-in, and a dynamic model can be constructed in the Kangaroo plug-in. The dynamic model is used to perform a dynamic simulation on the end edge lines of each branch part of the multi-branch mesh model to obtain the joint lines of each branch part, so as to use the joint lines to approximate the seams between the branch parts. For example, the dynamic model may include: assigning "collider" properties to multiple line segments on the terminal edge line of each branch and the nodes at both ends of each line segment (i.e., simulating collision constraints); assigning adsorption forces to multiple nodes on the terminal edge line of each branch close to the mesh surface (i.e., simulating node surface adsorption forces); assigning angular elasticity between each line segment on the terminal edge line of each branch and length elasticity of each line segment; assigning gravitational forces between all nodes on each terminal edge line and other terminal edge lines; and then the above-mentioned dynamic model can be used in the above-mentioned Kangaroo plug-in to simulate the shape and position of the assigned terminal edge line after multiple iterations (such as 5000 times) to generate joint lines corresponding to each branch. Of course, those skilled in the art can also use other tools known in the art to implement dynamic simulations and determine the joint lines corresponding to each branch, and this is not limited to the embodiments of the present disclosure. For example, Figure 2 (b) in the figure shows that the three branch parts of a Y-shaped base model correspond to three joint lines, that is, three curves at the intersections between the three branch parts of the Y-shaped base model.

[0053] After obtaining the joint lines corresponding to each branch of the multi-branch mesh model, the multi-branch mesh model can be segmented along the joint lines corresponding to each branch to obtain multiple branch parts. In each branch part, the partial mesh between each joint line and the end edge line is retained. The retained partial network can be converted into a uniform triangular mesh to obtain the mesh surface of each branch part.

[0054] In step S12 , a multi-layer contour line of each branch portion is generated based on the joint line of each branch portion and the terminal edge line of each branch portion.

[0055] Generating the multi-layer contour lines of each branch part is equivalent to layering the grid surface of each branch part. The multi-layer contour lines of each branch part can be evenly distributed to be used for subsequent generation of evenly distributed equal points within each branch part.

[0056] In practical applications, those skilled in the art can use any known contour line generation technology in the art to generate multiple layers of contour lines corresponding to the outer surface between the joint line and the terminal edge line of each branch part, which is equivalent to drawing multiple layers of contour lines on the outer surface between the joint line and the terminal edge line of each branch part. For example, multiple layers of contour lines can be generated on the outer surface between the joint line and the terminal edge line of each branch part according to the specified average layer height.

[0057] In one possible implementation, the embodiment of the present disclosure further provides a method for generating contour lines based on a distance field, that is, based on the distance field between the joint lines of each branch part and the terminal edge lines of each branch part, multiple layers of contour lines of each branch part can be generated. The distance field represents the distance between each grid point in any branch part along the grid surface and the joint line and the terminal edge line of the branch part. Specifically, for any branch part, the distance field can be obtained by calculating the distance between the three-dimensional coordinates of each grid point in the branch part and the joint line and the terminal edge line of the branch part (that is, the edges at the beginning and end of the branch part) along the grid surface. For example, the distance field can be formed with the joint line as the beginning edge and the other end as the tail edge. Then, combined with the preset average layer height (that is, the distance between two adjacent contour lines), a linear interpolation method is used to generate multiple layers of contour lines corresponding to each branch part based on the average layer height and the distance between each grid point in each branch part and the two ends. The contour lines are also layered lines. It should be understood that the number of contour lines generated depends on the length between the ends of each branch part and the average floor height. The average floor height can be customized and is not limited in this embodiment of the present disclosure. Figure 2 (c) shows the multi-layer contour lines divided into three branch parts of a Y-shaped base model.

[0058] In actual applications, after generating multiple layers of contour lines, if the seam positions between the contour lines of each layer are not aligned and / or the generation directions are different, the seam positions and generation directions (i.e., the curve directions of the contour lines) between the contour lines of each layer can also be adjusted to make the seam positions between the contour lines of each layer aligned and the generation directions consistent. For example, the seam position and generation direction of the first contour line can be used as a reference to adjust the seam positions and generation methods of other contour lines. Of course, the default seam position and generation method can also be used as a reference for adjustment, and this is not limited to the embodiments of the present disclosure. Among them, the seam position is the position where the contour line is drawn from a certain point back to the point. The seam positions of the contour lines of each layer are aligned, that is, the seam positions are close (for example, the distance between the seam positions of adjacent contour lines is the shortest), or the seam positions of the contour lines of each layer are in the same plane; the contour line generation direction is the drawing direction of the contour line. For example, the contour line may be drawn from a certain point clockwise back to the point, or it may be drawn from a certain point counterclockwise back to the point. By aligning the seam positions between the contour lines of each layer and making the generation direction consistent, it is convenient to subsequently generate equally divided points on the contour lines of each layer that are aligned with each other.

[0059] In step S13 , a seam line between every two adjacent branch parts in the plurality of branch parts is determined based on the distance between the joint lines of the respective branch parts, wherein the seam line represents a portion of a curve where two joint lines of the two adjacent branch parts meet.

[0060] As mentioned above Figure 2 As shown in (b), the two joint lines of two adjacent branch parts (such as the left branch part and the right branch part) respectively have partial curves that connect with each other and partial curves that do not connect with each other. The distance between the partial curves that connect with each other is closer, while the distance between the partial curves that do not connect with each other is farther. There is a pair of bifurcation points between the connected parts and the non-connected parts. The pair of bifurcation points can indicate the bifurcation position where the distance between the two joint lines begins to increase. The partial curve between the pair of bifurcation points can be understood as the seam line between the two branch parts. For example Figure 3 (a) in the figure shows the seam line between every two adjacent branch parts in the three branch parts of the Y-shaped base model, that is, the curve connecting the joint line between every two adjacent branch parts.

[0061] In a possible implementation, in step S13, determining the seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of the branch parts may include:

[0062] 13.1. For a joint line of a first branch portion among the plurality of branch portions, determine two second branch portions adjacent to the first branch portion, and construct an objective function representing the sum of distances between the joint line of the first branch portion and the joint lines of the two second branch portions;

[0063] 13.2. Determine two pairs of bifurcation points where the objective function reaches a minimum on the joint line of the first branch. A pair of bifurcation points represents the position of the joint line of the first branch relative to the joint line of any second branch. A pair of bifurcation points corresponds to a seam line.

[0064] 13.3. Based on the two pairs of bifurcation points on the joint line of the first branch part, the joint line of the first branch part is interrupted at the two pairs of bifurcation points to obtain the seam lines between the first branch part and the two second branch parts respectively.

[0065] Among them, the first branch part is any branch part among the multiple branch parts, and the two second branch parts are two branch parts adjacent to (i.e., bordering) the first branch part among the multiple branch parts. It should be understood that for any point on the joint line corresponding to the first branch part, there is a function of the sum of the closest distances between the two other joint lines closest to it. For example, 20 equal-dividing points can be selected from the joint line corresponding to the first branch part, and the sum of the closest distances between each equal-dividing point and the two joint lines corresponding to the other two branch parts can be calculated. Then, based on the three-dimensional coordinates of each equal-dividing point on the joint line and the distances between each equal-dividing point and the other two joint lines, the sum of the closest distances between the two equal-dividing points and the other two joint lines can be calculated. The objective function is approximated by the quadratic fitting method. The objective function takes the three-dimensional coordinates of any point on the joint line corresponding to the first branch part as the independent variable and the sum of the nearest distances between any point on the joint line of the first branch part and the joint lines of the two second branch parts as the dependent variable. The point where the objective function has a minimum value on the joint line corresponding to the first branch part is also the bifurcation point on the joint line corresponding to the first branch part. Therefore, by calculating the point where the objective function has a minimum value on the joint line corresponding to the first branch part, the three-dimensional coordinates of the bifurcation point of the joint line when it bifurcates with other joint lines can be obtained.

[0066] Then, the joint lines of the first branch part can be interrupted at these bifurcation points to obtain two pairs of sutures between the first branch part and the two second branch parts (i.e., a pair of sutures connecting the joint line corresponding to the first branch part and the joint line corresponding to a certain second branch part, and a pair of sutures connecting the joint line corresponding to the first branch part and the joint line corresponding to another second branch part), wherein the pair of sutures between the first branch part and any second branch part are similar in shape and relative in position, for example, Figure 3(a) shows three pairs of seam lines between three branches in a Y-shaped matrix model. It should be understood that for the entire multi-branch mesh model, the interrupted joint lines between each pair of branches will have n pairs of seam lines with similar shapes and positions at each joint (n is the number of joints between each pair of branches in the multi-branch mesh model). The curve of any broken branch will be similar to and aligned with the broken curve of the adjacent branch, ensuring that the equally divided points of each branch are aligned at the joint.

[0067] In actual applications, since the distance between a pair of seam lines between two adjacent branch parts is usually very close, and the shapes are similar and the positions are relative, a seam line can be retained between the two adjacent branch parts, and the retained seam line can be used as a seam line shared by the two adjacent branch parts, wherein the retained seam line can be any one of the pair of seam lines between the two branch parts, or it can be the average value of a pair of seam lines between the two adjacent branch parts (that is, the average value of a pair of seam lines is taken as the seam line retained between the two adjacent branch parts), and the embodiments of the present disclosure do not limit this.

[0068] In step S14, the same number of evenly distributed equally divided points are generated on the seam line between every two adjacent branch parts in the multiple branch parts, and based on the equally divided points on the seam line between every two adjacent branch parts in the multiple branch parts, the equally divided points on each layer of contour lines in the multiple layers of contour lines of each branch part are generated, wherein the equally divided points on adjacent contour lines in any branch part and the equally divided points on the seam line and the equally divided points on the contour line adjacent to the seam line have an associated relationship.

[0069] As described above, there may be a pair of seams between two adjacent branch parts. In this case, the same number of equally distributed equally divided points can be generated on each pair of seams between the two adjacent branch parts. Then, the equally divided points with repeated positions on the pair of seams are removed (equivalent to retaining the equally divided points generated on one seam line), and the parameter values ​​of these equally divided points on the seams to which they belong are recorded. The parameter values ​​can be used to indicate the relative positions of each equally divided point on the seams to which they belong. For example, Figure 3 (b) shows the generated equally spaced points on three pairs of seam lines between three branches in a Y-shaped matrix model. These equally spaced points can be deduplicated. Alternatively, as described above, a single seam line can be retained between two adjacent branches. In this case, evenly spaced equally spaced points can be generated directly on this seam line, and the parameter values ​​of each equally spaced point on this seam line can be recorded.

[0070] It should be understood that evenly distributed equally divided points can be generated on each seam line by customizing the number of equally divided points to be generated on the seam line. For example, the number of equally divided points can be determined according to the length of the curve of the seam line. The longer the seam line, the more equally divided points there are. Alternatively, the average distance between every two equally divided points to be generated on the seam line can be customized, and evenly distributed equally divided points can be generated on each seam line based on the average distance. As long as the equally divided points generated on the seam line are evenly distributed on the seam line and the number of equally divided points generated on a pair of seams is the same, the embodiments of the present disclosure do not limit this.

[0071] Among them, according to the equal division points on the seam line between every two adjacent branch parts in multiple branch parts, the equal division points on each layer of the multi-layer contour lines of each branch part are generated, which is equivalent to using the position of the equal division points generated on the seam line as a reference to find the equal division points on the multi-layer contour lines in each branch part that are aligned with the equal division points on the seam line. Specifically, based on the parameter values ​​of the equal division points generated on the seam line between any branch part and the other two adjacent branch parts, the equal division points on the contour lines of each layer in each branch part that are aligned with the equal division points on the seam line can be found. The equal points on each layer of contour lines in the multiple layers of contour lines in each branch part are obtained, so that the multiple equal points generated on each layer of contour lines and the multiple equal points generated on the seam line can be aligned with each other, and then the equal points aligned on adjacent contour lines can be determined as mutually related equal points, and the equal points aligned on the seam line and the adjacent contour lines can be determined as mutually related equal points, thereby obtaining the correlation between the equal points on adjacent contour lines and the correlation between the equal points on the seam line and the equal points on the contour line adjacent to the seam line. For example, based on Figure 3 The equally divided points generated on the seam line shown in (b) can be obtained Figure 3 (b) shows the distribution of equally divided points generated on the contour lines of each layer in each branch part, as well as Figure 3 As shown in (c) in the figure, multiple equally divided points distributed along the line connecting the end of one branch to the end of another branch through the same equally divided point on the same seam line are aligned with each other, that is, the multiple equally divided points are mutually related equally divided points.

[0072] In step S15, multiple carbon fiber printing paths corresponding to the multiple carbon fiber winding layers are generated based on the preset multiple sets of offset information and the equally divided points on each layer of the multiple layers of the contour lines of each branch part, wherein the multiple sets of offset information correspond to the multiple carbon fiber winding layers, and the single set of offset information includes the offset of each equally divided point generated in each branch part under the single layer of carbon fiber winding layer along the line.

[0073] Among them, the offset of each equally divided point generated in each branch part along the line includes the offset of the equally divided point on the contour line along the contour line, and the offset of the equally divided point on the seam line along the seam line. Among them, the seam line corresponding to each branch part can be used as the first layer of contour lines of each branch part (of course, it can also be used as the last layer of contour lines). For the convenience of description in the following text, it can be considered that the contour lines in the branch part include the contour lines and seam lines generated in the branch part, and the equally divided points in the branch part include the contour lines in the branch part and the equally divided points on the seam line.

[0074] As described above, there is an association relationship between the equally divided points on adjacent contour lines in any branch part, and between the equally divided points on the seam line and the equally divided points on the contour line adjacent to the seam line; wherein, generating multiple carbon fiber printing paths corresponding to the multiple carbon fiber winding layers based on the preset multiple sets of offset information and the equally divided points on each contour line in the multiple layers of contour lines of each branch part includes:

[0075] 15.1. Based on each set of offset information, offset the equally divided points generated in each branch along the corresponding line to obtain an offset result corresponding to each set of offset information. The offset result includes the target equally divided points in each branch after offset;

[0076] 15.2. Based on the correlation between the equally divided points, connect the target equally divided points on the contour lines within each branch part of each set of offset results and the target equally divided points on the seam lines to obtain multiple carbon fiber printing paths corresponding to each carbon fiber winding layer.

[0077] In actual applications, the offset of each equally divided point along the line in each set of offset information can be customized, and its size can be determined by the size of the path inclination angle determined by relevant quantitative analysis and actual conditions. This embodiment of the present disclosure does not impose any restrictions on this. Exemplarily, an embodiment of the present disclosure provides a method for determining offset information. Specifically, a finite element analysis can be performed on the three-dimensional model of the multi-branch matrix to obtain a stress vector field corresponding to the multi-branch matrix. For example, M types of loads can be set for the three-dimensional model in the finite element analysis software. For example, by constraining each branch end, a downward force, an outward force on the vertical end surface, an inward force on the vertical end surface, or a torsional force can be applied to the other two branch ends. Then, the finite element analysis software is used to perform a finite element analysis on the three-dimensional model of the multi-branch matrix based on the M types of loads to obtain a stress vector field under each of the M types of loads, thereby obtaining a set of stress vectors on discrete points of the multi-branch matrix. The stress vector set can characterize the distribution of stress vectors on the multi-branch matrix under each load. It should be understood that if the stress vector set is known, the stress vector on any point on the surface of the multi-branch matrix can be known.

[0078] Then, based on the stress vector set, the M stress vectors to which each equally divided point on each contour line in each branch part is subjected can be determined (for example, if five types of loads act, each equally divided point can be subjected to five stress vectors under the five types of loads); then, by calculating the angles between the M stress vectors to which each equally divided point on each contour line is subjected and the tangent vectors of each equally divided point on the corresponding contour line, the M angle values ​​corresponding to each equally divided point on each contour line can be obtained; then, by performing statistical analysis on the angle values ​​of all equally divided points on each contour line, J offset angle values ​​that can minimize the coverage of all angle values ​​can be found, which is equivalent to clustering the N×M angle values ​​on each contour line to obtain J groups of angle values, where N is the number of equally divided points on a contour line, and the cluster center of the J group of angle values ​​can be used as are J offset angle values ​​corresponding to the contour lines of this layer, where J represents the total number of carbon fiber winding layers to be printed, or the total number of groups of offset information. This means that the offset angle values ​​of the equally divided points on the same contour line under different carbon fiber winding layers are different, but the offset angle values ​​of the equally divided points on the same contour line of the same carbon fiber winding layer are the same; and thus similar offset angle values ​​between adjacent contour lines in multiple layers of contour lines can be determined as offset angle values ​​corresponding to the same carbon fiber winding layer. Similar offset angle values ​​can be understood as similar angle directions indicated by the offset angle values, which is conducive to making the subsequently determined carbon fiber printing path continuous and smooth. Of course, the offset angle value corresponding to each contour line of each carbon fiber winding layer can also be customized, and the offset amount is determined based on the offset angle value, which is not limited in the embodiments of the present disclosure.

[0079] Then, for the x-th layer contour line of the j-th carbon fiber winding layer in the J carbon fiber winding layers (the x-th layer contour line can be the contour line arranged with the end of any branch part as the starting point), the offset of the x-th layer contour line under the j-th carbon fiber winding layer can be determined according to the offset angle value corresponding to the x-th layer contour line in the j-th carbon fiber winding layer and the average layer height; then, by accumulating the offset of the 1st layer contour line under the j-th carbon fiber winding layer to the offset of the x-th layer contour line under the j-th carbon fiber winding layer, the target offset of the x-th layer contour line under the j-th carbon fiber winding layer is obtained, and a The group offset information may include the target offset of all contour lines under the j-th carbon fiber winding layer; and then, according to the target offset of the x-th contour line under the j-th carbon fiber winding layer in the group offset information, the N equally divided points on the x-th contour line may be offset along the x-th contour line by the target offset to obtain the N target equally divided points after the offset on the x-th contour line. By analogy, the N target equally divided points on the contour lines of each layer of each branch part may be obtained after the offset. This is equivalent to offsetting the equally divided points generated in each branch part along the line according to a certain group of offset information to obtain the offset result corresponding to each group of offset information.

[0080] It should be understood that for the equally divided points within each branch portion, each equally divided point can be offset along its respective contour line according to each set of offset information, with the offset amount increasing sequentially with the number of layers, so that the offset target equally divided points spiral upward with the number of layers. The offset amount of the equally divided points on the same contour line of the same carbon fiber winding layer is the same, while the offset amount of the equally divided points on different contour lines of the same carbon fiber winding layer increases with the number of layers. However, the offset amount of the equally divided points on the same contour line of different carbon fiber winding layers is different. This facilitates the subsequent generation of an effective and evenly arranged multi-layer carbon fiber printing path. The equally divided points within each branch portion can be offset individually using the seam line of each branch portion (or the contour line at the end of the branch portion) as the first layer of contour lines, or the equally divided points within all branch portions can be offset overall using the contour line at the end of a branch portion as the first layer of contour lines. As long as the carbon fiber printing path formed by the offset lines is continuous and spirally ascending, this is not a limitation of the present embodiment.

[0081] As described above, when generating the equal-division points on each layer of contour lines through the above-mentioned step S14, the mutually associated equal-division points on adjacent contour lines in each branch part and the mutually associated equal-division points on the contour lines adjacent to the seam line (that is, the association relationship between the above-mentioned equal-division points) can be recorded. After the multiple equal-division points on each layer of contour lines in each branch part are offset through the above-mentioned step 15.1, the target equal-division points between adjacent contour lines (including seam lines) are usually no longer aligned in position. However, the target equal-division points associated between adjacent contour lines in multiple layers of contour lines in each branch part (that is, the equal-division points that are not aligned but associated, or the equal-division points that are associated with each other after the offset) are still connected according to the above-mentioned association relationship. For example, the offset target equal-division points can be connected in a spiral ascending direction to form a curve (that is, to form a carbon fiber printing path) to obtain the carbon fiber printing path corresponding to each carbon fiber winding layer. For example, Figure 4 (a) shows a distribution diagram of multiple carbon fiber printing paths corresponding to a certain carbon fiber winding layer generated after equally divided point offset is performed based on a certain set of offset information.

[0082] It should be understood that for each set of offset results, multiple carbon fiber printing paths corresponding to each carbon fiber winding layer can be obtained by connecting the associated target equally divided points. Multiple sets of offset results can generate carbon fiber printing paths corresponding to multiple carbon fiber winding layers. For example, Figure 4 (b) shows a schematic diagram of the distribution of carbon fiber printing paths corresponding to multiple carbon fiber winding layers generated based on multiple sets of offset information.

[0083] Wherein, the three-dimensional printing path planning result of the multi-branch matrix includes multiple carbon fiber printing paths corresponding to each carbon fiber winding layer in the multi-layer carbon fiber winding layer, and the three-dimensional printing path planning result is used to print a carbon fiber reinforcement layer on the multi-branch matrix, and the carbon fiber reinforcement layer is the superposition result of multiple carbon fiber winding layers. In actual applications, the three-dimensional printing path planning result corresponding to the multi-branch matrix is ​​known, and any three-dimensional printing system known in the art can be controlled to perform the printing work of printing the carbon fiber reinforcement layer on the multi-branch matrix according to the above three-dimensional printing path planning result. For example, each layer of carbon fiber winding layer can be printed out in sequence according to the carbon fiber printing path of each carbon fiber winding layer, thereby realizing the printing of the carbon fiber reinforcement layer on the matrix, and this embodiment of the present disclosure is not limited to this. Wherein, the carbon fiber involved in the embodiment of the present disclosure can be continuous carbon fiber, which can form carbon fiber filaments to generate a carbon fiber reinforcement layer, and this embodiment of the present disclosure is not limited to this.

[0084] According to the path planning method of the embodiment of the present disclosure, by obtaining a multi-branch network model of a multi-branch matrix, each branch part in the multi-branch network model and the joint lines between each branch part are determined, and multi-layer contour lines of each branch part are generated, which is equivalent to splitting the multi-branch matrix according to the branches to determine the contour lines of each branch surface respectively, and then by determining the seam line between each two adjacent branch parts and generating the equal division points on the seam line, and then generating the equal division points on the multi-layer contour lines of each branch part according to the equal division points on the seam line, the generated equal division points in each branch part can be evenly distributed and aligned with the seam line. The equally divided points on the line are interrelated. Based on the offset of the equally divided points generated in each branch part in each set of offset information of the multiple sets of offset information along the line, the carbon fiber printing path of the multi-layer carbon fiber winding layer to be printed on the complex multi-branch substrate can be effectively generated, and the carbon fiber printing paths in each carbon fiber winding layer in the generated multi-layer carbon fiber winding layer are continuously arranged between every two branches in the multi-branch substrate, and the carbon fiber reinforced layer printed according to the multi-layer carbon fiber printing path can greatly improve the bearing capacity of each branch of the multi-branch substrate, and the printing efficiency is higher, and more carbon fiber materials are saved.

[0085] Figure 5 A structural diagram of a three-dimensional printing system based on a carbon fiber reinforced multi-branch matrix according to an embodiment of the present disclosure is shown. Figure 5 As shown, the system includes: a main robotic arm 01, an auxiliary robotic arm 02, a carbon fiber printing head 03 and a base fixing frame 04;

[0086] Among them, the main robot arm 01 and the auxiliary robot arm 02 are used to cooperate with the carbon fiber print head to perform carbon fiber printing on the multi-branch matrix to be reinforced according to the movement instructions of the robot arm during the printing process determined by the three-dimensional printing method described later, that is, to complete the extrusion process of continuous carbon fibers and the coordinated movement process of the multi-branch matrix to be reinforced. It should be understood that those skilled in the art can use robots known in the art as the main robot arm 01 and the auxiliary robot arm 02. For example, the main robot arm 01 can adopt a KUKA KR6 R700 6-axis industrial robot to effectively drive the multi-branch matrix fixed on the matrix fixing frame 04; the auxiliary robot arm 02 can adopt a KUKA Agilus KR6-10 R900 6-axis industrial robot to effectively drive the carbon fiber print head 03. The dual-arm installation process can include: fixing the dual-arms in the predetermined position, connecting the cables to the control cabinet, configuring the power supply and network, installing the KUKA software and completing the initial settings to ensure the normal operation of the system; then performing base coordinate calibration, that is, adjusting the zero point position and direction of the base coordinate system of the two robotic arms in turn through the teach pendant to verify the alignment accuracy of the coordinate systems of the two robotic arms.

[0087] Among them, the carbon fiber print head 03 is assembled at the end of the auxiliary robot arm 02, and is used to produce carbon fiber filaments; the carbon fiber print head 03 can be understood as a tool head for extruding continuous carbon fiber prepreg filaments, which is installed on the auxiliary robot arm 02. In order to ensure that continuous carbon fiber can be attached and printed on the inner concave surface, fast-curing carbon fiber filament print heads can be used as much as possible, such as carbon fiber filaments with UV resin substrates and filament print heads with ultraviolet lamp curing devices. In actual applications, those skilled in the art can customize the specific structure of the carbon fiber print head 03. Of course, the carbon fiber print head 03 known in the art can also be used, as long as the functions required to be realized can be achieved, and this is not limited to the embodiments of the present disclosure. Among them, the carbon fiber print head 03 can be understood as a tool head for extruding continuous carbon fiber prepreg filaments installed on the auxiliary robot arm.

[0088] The base fixing frame 04 is used to assemble the multi-branch base 00 to be reinforced at the end of the main robot arm 01. The multi-branch base to be reinforced can be completed by 3D printing of short-cut carbon fiber materials, that is, the base product to be wound. Of course, it can also be a multi-branch tubular base of other materials, which is not limited by the embodiment of the present disclosure. The base fixing frame 04 fixes the multi-branch base 00 on the main robot arm 01 through a connecting piece. It is used to undertake the winding process of the carbon fiber extruded by the print head to ensure the precise operation of the winding process. For example, Figure 6 As shown, the base fixing frame 04 includes a flange connector 043, a base connecting adapter 042 and a plurality of wire collection extensions 041; the flange connector 043 is used to connect the wire collection extension 041 connected to a branch end of the multi-branch base 00 to the end of the main robotic arm 01, and the base connecting adapter 042 is used to connect the wire collection extension 041 to the branch end of the multi-branch base 00.

[0089] The wire collection extension piece 041 is installed at the ends of the two branches of the carbon fiber winding layer to be printed on the multi-branch base 00 and is fixed to the base via the base connection adapter 042. The wire collection extension piece 041 has an L-shaped rounded bend shape, and different wire collection extension pieces have different bending angles, including but not limited to 90°, 75°, 60°, 45°, 30°, 15°, and 0°. The cross-section of the wire collection extension piece 041 can be, for example, a cross-shape, and the cross-sectional dimensions are compatible with the base connection adapter 042 and the flange connection piece 043. The wire collection extension piece 041 mainly has the following functions: fixing the relative posture (i.e. relative position and angle) of the multi-branch matrix 00 to be reinforced and the end of the main robotic arm 01; fixing the end of the carbon fiber filament on the wire collection extension piece 041 at the beginning of printing to assist the carbon fiber print head 03 in pulling out the carbon fiber filament, that is, at the beginning of winding, one end of the carbon fiber filament needs to be pulled out from the carbon fiber print head 03 and tied to the wire collection extension piece 041 so that the carbon fiber filament winding process can be pulled out stably, and, during the resetting of the main robotic arm (for example, when the printing path exceeds the corner limit of the main robotic arm and is reset), taking over the winding of the carbon fiber filament to ensure the continuity of the printing path at the end of the multi-branch matrix 00.

[0090] The base connecting adapter 042 is used to achieve the fixation between the multi-branch base 00 and the wire collection extension 041. Figure 7 The two designs of the base connection adapter 042 in (a) and (b) and their connection and fixing methods with the multi-branch base 00 are intended to ensure that the multi-branch bases 00 with various end shapes are fixed on the base fixing frame 04. Specifically, Figure 7 The base connection adapter shown in (a) and its connection and fixing method with the multi-branch base 00 are applicable to the case where the outer surface of each branch end of the multi-branch base is provided with a screw hole support. In this case, the base connection adapter 042 includes a universal adapter 0421 and a sleeve 0422. Among them, the outer surface of the branch end of the multi-branch base 00 is provided with a screw hole support 001; then the side screw holes of the universal adapter 0421 can be aligned and adapted with the screw holes in the branch end screw hole support 001 of the multi-branch base 00 and connected with long screws. If there is a difference in distance between the two screw holes, a sleeve 0422 of corresponding length is used for compensation and fixing, that is, a long screw can be used to connect the screw hole support 001 at the branch end to the universal adapter 0421 through the sleeve 0422. This method is applicable to the case where there are no available screw holes at the branch end of most bases, and is more versatile. Figure 7The base connection adapter shown in (b) and its connection and fixing method with the multi-branch base 00 are suitable for the situation where the end faces of each branch end of the multi-branch base have screw holes. In this case, the base connection adapter 042 includes a customized adapter 0423. The screw holes on the customized adapter 0423 are aligned with the screw holes on the end faces of the branch ends of the multi-branch base 00 and can be connected with screws. This method is suitable for the situation where there are connectable screw holes on the end faces of the branch ends of the multi-branch base 00, and is easier to disassemble and post-process after filament reinforcement.

[0091] Specifically, the flange connector 043 can be used to connect one end of the wire collection extension 041 to the flange at the end of the main robotic arm 01. In other words, the flange connector 043 is used to connect the wire collection extension 041 at one end of the base fixing frame 04 to the flange at the end of the main robotic arm 01, thereby securing the base fixing frame 04, which is fixed with the multi-branched base 00, to the main robotic arm 01. The flange connector 043 can use a standardized interface to ensure reliable fit with the flange at the end of the robotic arm.

[0092] It should be understood that the embodiments of the present disclosure do not limit the connection methods between the wire collecting extension piece 041 and the flange connector 043 and the base connection adapter 042 respectively. For example, both ends of the wire collecting extension piece 041 can be provided with screw holes that are aligned and adapted to the flange connector 043 and the base connection adapter 042, so that one end of the wire collecting extension piece 041 and the flange connector 043 can be connected with screws, and the other end of the wire collecting extension piece 041 and the base connection adapter 042 can also be connected with screws. Of course, other connection methods can also be used, for example, bonding with glue, which is not limited by the embodiments of the present disclosure.

[0093] In actual applications, each branch end of the multi-branch matrix 00 can be respectively provided with multiple anchor points using depressions and / or protrusions, and these anchor points can be evenly distributed on the edge of each branch end, and are used to hook the carbon fiber filaments using the anchor points when the carbon fiber filaments are printed to any branch end, that is, the carbon fiber filaments can be fixed and ensure that the carbon fiber filaments can be pulled out stably, or in other words, it can help to ensure that the starting position of the carbon fiber filaments is fixed and the filaments are hooked and pulled out, ensuring the accuracy of the filament arrangement position of the continuous carbon fiber filaments during the winding process.

[0094] For example, the present disclosure provides Figure 8 There are three anchor point designs shown in (a), (b) and (c), where Figure 8(a) shows the anchor point design of setting a depression at the end of the branch. The generation process of multiple anchor points of the depression can include: obtaining the nearest points of all carbon fiber printing paths and the edge lines of each branch end in the original multi-branch matrix; respectively calculating the point where the nearest point moves inward by a distance d along the normal vector of its surface on the matrix surface, and the point where it moves into the matrix by a distance h along the normal of the curve of the corresponding end edge line, and the three points form a triangle; the two sides of the triangle are offset by D / 2 to form a thickness shape, and the outer surface of each branch end of the original matrix is ​​subjected to Boolean subtraction operation on these shapes to form a depression anchor point design. Figure 8 (b) shows the anchor point design of the protrusion at the end of the branch. The generation process of the multiple anchor points of the protrusion can include: obtaining the nearest points of all carbon fiber printing paths and the edge lines of each branch end in the original multi-branch matrix; each end edge line is interrupted at its nearest point and simplified into a straight line; with these straight lines as the base, and the curve normal of the corresponding end edge line toward the inner side of the three-dimensional model of the multi-branch matrix as the height direction, a rounded isosceles trapezoid with a height of h, a base angle of r, and a fillet radius of R is made; the rounded isosceles trapezoid is offset to the outside of the matrix by d to form a thickness shape, and is combined with the edge surface of each branch end of the original multi-branch matrix after Boolean addition operation to form a raised anchor point design. Figure 8 (c) shows an anchor point design with recesses and protrusions at the branch ends, i.e., both the aforementioned anchor point design for the recesses and protrusions are added to each branch end. It should be understood that the parameters associated with the recesses and protrusions in each of the aforementioned anchor points are related to the outer diameter of the end of the carbon fiber print head 03, the thickness of the multi-branched substrate 00, and the inclination angle of each carbon fiber printing path at the end. The present embodiment does not limit the specific number and size of each anchor point. For example, in the aforementioned anchor point design, h = 2 mm, d = D = 1.5 mm, R = 0.5 mm, and r = 30°.

[0095] Taking into account that the base ends of some multi-branch bases are not suitable for setting the anchor points of the above-mentioned protrusions and / or depressions, therefore, optionally, when the multiple anchor points of the depressions and / or protrusions are not set at the branch ends of the multi-branch base 00, the base fixing frame 04 may also include: an external anchor ring, the external anchor ring includes an annular disk with multiple long hook-shaped anchor points, the external anchor ring can be nested on the base connection adapter 042, and is used to hook the carbon fiber filaments with the long hook-shaped anchor points when the carbon fiber filaments are printed to any branch end. The top height of the long hook-shaped anchor point can be slightly higher than the base surface by 1~2mm, and the number of long groove-shaped anchor points can be dense enough to be suitable for carbon fiber printing paths at any density. For example, based on the above Figure 7 The two types of base connection adapters 042 shown in FIG. 1 are provided. When the base fixing frame 04 includes an external anchor ring 0424, Figure 9As shown in (a) in FIG. 1 , the external anchor ring 0424 is designed to be directly nested on the outside of the universal adapter 0421 and is easy to disassemble. The external anchor ring 0424 is provided with a plurality of long hook-shaped anchor points; or Figure 9 As shown in (b), the external anchor ring 0424 can be designed to be directly nested on the outside of the customized adapter 0423, which is easy to disassemble. The external anchor ring 0424 is provided with multiple long hook-shaped anchor points; thus, Figure 10 The assembly result of the external anchor ring 0424 and the base connection adapter 042 is shown as follows: Figure 10 As shown, the multiple long hook-shaped anchor points on the external anchor ring 0424 can hook the carbon fiber filaments to fix the carbon fiber filaments and ensure that the carbon fiber filaments can be pulled out stably, that is, it can help to ensure that the starting position of the carbon fiber filaments is fixed and hooked to pull out the filaments, thereby helping to ensure the accuracy of the filament arrangement position of the continuous carbon fiber filaments during the winding process.

[0096] In actual application, the installation process of the carbon fiber print head 03 may include: switching to the main robotic arm 01 through the teach pendant, adjusting the posture of the main robotic arm so that its A6 axis returns to zero, installing the substrate fixing frame 04 with the substrate fixed to the end of the main robotic arm, installing the carbon fiber print head 03 on the auxiliary robotic arm, and adjusting the direction of the carbon fiber print head 03 so that it is as downward as possible to facilitate subsequent winding operations.

[0097] In practice, the measurement and calibration process for the carbon fiber print head 03 involves precisely calibrating the carbon fiber print head 03's tool center point (TCP) using the robotic arm teach pendant using the XYZ four-point method to ensure its actual position is consistent with the theoretical model. Specifically, using the teach pendant, select "Tool Head / Base Coordinate Management" and add the tool head (i.e., carbon fiber print head 03) to the auxiliary robotic arm. Select the XYZ four-point method under "Measurement." Align the tool head with the reference points from four directions and save the measured point data. Fine-tune the tool head TCP position based on the measurement results to ensure that its actual position is consistent with the theoretical model. Save the calibrated tool head information to the auxiliary robotic arm's controller to provide accurate reference data for subsequent path planning.

[0098] In actual applications, the assembly and installation process of a certain installation form of the base fixing frame 04 may include: assembling the base fixing frame 04 and other auxiliary connecting parts according to the design scheme of the base fixing frame 04 (such as the type of wire extension parts, the type of base connection adapter parts, etc.); enabling the teach pendant and switching to T1 mode, selecting the main robot arm for manual control, adjusting the posture of the main robot arm, returning the A6 axis to zero, and fixing the base fixing frame 04 to the end flange of the main robot arm in a specified initial posture (for example, the initial posture with the bend corner of the base fixed by the base fixing frame 04 facing downward).

[0099] In practice, the measurement and calibration process for a specific mounting configuration of the base frame 04 can include: using the robotic arm teach pendant, precisely calibrating the TCP of the carbon fiber print head 03 using the XYZ four-point method, with a defined point at the far end of the base frame 04 as the TCP point, to ensure the precise relative positioning of the fiber arrangement path and the substrate to be reinforced. Specifically, using the teach pendant, select "Tool Head / Base Coordinate Management" and add a tool head (i.e., base frame 04) to the auxiliary robotic arm. Select the XYZ four-point method under "Measurement," then align the tool head with the reference points from four directions and save the measurement point data. Recording the XYZ information of the TCP point provides accurate reference data for subsequent path planning. The calibrated tool head information does not need to be saved to the robotic arm controller.

[0100] According to the three-dimensional printing system of the embodiment of the present disclosure, it is possible to improve the degree of freedom of three-dimensional printing operations by utilizing a system of dual robotic arms collaborating. The design of the connecting adapter and the wire collection extension of the base fixing frame enables the fixed adaptation and convenient rotation of the multi-branch base; the concave and convex anchor point design of the end branches of the multi-branch base improves the precise positioning of the fiber filaments on the base, so that the multi-branch base can be disassembled and multi-branch printed after reinforcement; the group printing process of multiple installation methods and the adaptation scheme of the base fixing frame improve the feasibility of carbon fiber reinforced three-dimensional printing on the surface of a complex-shaped base, and, through the high-degree-of-freedom motion control of the dual robotic arms combined with the adaptation scheme of the base fixing frame and the wire collection extension, the three-dimensional printing system can achieve precise winding and solidification three-dimensional printing of filament carbon fiber based on the carbon fiber printing path generated by the above-mentioned path planning method.

[0101] Based on the three-dimensional printing path planning method and three-dimensional printing system proposed in the above embodiments of the present disclosure, Figure 11 A flow chart of a three-dimensional printing method based on a carbon fiber reinforced multi-branched matrix according to an embodiment of the present disclosure is shown. The three-dimensional printing method is applied to the three-dimensional printing system. The overall process of the printing method is to divide the carbon fiber printing path corresponding to the multi-branched matrix surface into multiple printing processes according to the number of seam lines. Each part of the carbon fiber printing path is adjusted to an approximately flat state through the matrix fixing frame, and then the end of the robot arm is controlled to rotate and cooperate with the carbon fiber print head to complete the extrusion. Figure 11 As shown, the three-dimensional printing method includes: steps S21 to S25.

[0102] In step S21, based on the three-dimensional printing path planning method, the three-dimensional printing path planning results of the multi-branch matrix to be reinforced are determined, and the three-dimensional printing path planning results include multiple carbon fiber printing paths corresponding to multiple layers of carbon fiber winding layers; this step can adopt the implementation method of the above-mentioned steps S11 to step S15 to determine the three-dimensional printing path planning results of the multi-branch matrix, which will not be repeated here.

[0103] In step S22, based on the seam lines passed by each carbon fiber printing path in the 3D printing path planning result, the multiple carbon fiber printing paths in the 3D printing path planning result are divided into multiple groups of paths, where one group of paths includes multiple carbon fiber printing paths passing through the same seam line, and one group of paths corresponds to one printing process.

[0104] It should be understood that when connecting lines to generate a carbon fiber printing path, for any seam line between any two branch parts, a curve with equal points at both ends on the seam line can be found and connected at the seam line to generate a continuous carbon fiber printing path from one branch part to another. Therefore, according to the position of the seam line passed by the carbon fiber printing path, all carbon fiber printing paths in the 3D printing path planning results can be divided into multiple groups. If there are several non-connected seams, they are divided into several groups of paths. The path grouping results will ensure that each group is assigned between two adjacent branch parts. Then, according to the path grouping results, the entire carbon fiber printing work can be split into multiple printing processes, and one printing process is used to complete the carbon fiber printing of each carbon fiber printing path in a group of paths.

[0105] In step S23, the hardware assembly scheme of the printing process corresponding to each group of paths is determined based on the normal vectors of the end edge lines of the two branch parts corresponding to each group of paths. The hardware assembly scheme includes: the direction vectors of the flattening directions of the two branch parts corresponding to a group of paths and the types of wire-gathering extensions to be connected to each of the two branch parts, and the types of wire-gathering extensions characterize the bending angles of the wire-gathering extensions.

[0106] In one possible implementation, step S23, determining the hardware assembly solution for the printing process corresponding to each group of paths based on the normal vectors of the end edge lines of the two branch portions corresponding to each group of paths, may include:

[0107] 23.1. For any set of paths, determine the direction vectors of the inverted flattening directions of the two branch portions corresponding to the set of paths during the printing process based on the normal vectors of the end edge lines of the two branch portions corresponding to the set of paths, as well as the normal vectors of the end edge lines of the branch portions other than the two branch portions corresponding to the set of paths;

[0108] 23.2. Determine the type of wire-gathering extension piece to be connected to each of the two branch parts in the printing process corresponding to the group of paths based on the angles between the direction vectors of the flattening directions of the two branch parts in the printing process corresponding to the group of paths and the normal vectors of the end edge lines of the two branch parts, and the similarity between the angles and the bending angles of various wire-gathering extension pieces.

[0109] As described above, based on multiple groups of paths, each group of paths will correspond to a printing process from one branch to another. For each printing process and its corresponding group of paths, the edge lines of the two branch ends of the two branch parts in the corresponding multi-branch mesh model can be found, and the normal vectors of the end edge lines of each branch part can be calculated. Furthermore, in step 23.1, for any printing process, the present invention provides a method for determining the inverted direction of the two branch parts in the printing process to ensure that the two branches of the printing process are as flat as possible and the other branches are as perpendicular to the inverted direction as possible, so as to ensure that there is no collision between the carbon fiber print head and the multi-branch matrix during the printing process. Specifically, if the multi-branch matrix has two branches, the inverted direction of the two branch parts is the tangent vector of the line connecting the midpoints of the two end edge lines of the two branch parts. If the multi-branch matrix has three or more branches, then for each printing process Pi, the curve normal vectors of the two branch end edge lines corresponding to the printing process Pi are v1 and v2, and the curve normal vectors of the other branch end edge lines are expressed as v'1,...,v' m` (m`=m-2), m represents the total number of branches of the multi-branch matrix, and m` represents the number of branches remaining in the multi-branch matrix except for the two branches corresponding to a certain printing process Pi. = 1 or v'1,…,v' m` When the two branches are collinear with each other (i.e., the normal vectors of the end edge lines of the other branch parts except the two branch parts corresponding to a certain set of paths are collinear with each other), the direction vector z of the inverted flat direction corresponding to the printing process Pi can be taken. i To make z i , v1 and v2 are coplanar and z i with v' j z when the vectors are perpendicular i , v' j for v'1,…,v' m` The normal vector of the edge line at the end of the j-th branch in . When m`>1 and v'1,…,v' m` When the two branches are not collinear but coplanar (i.e., the normal vectors of the end edge lines of the other branch parts except the two branch parts corresponding to a certain set of paths are not collinear but coplanar), the direction vector z of the inverted flat direction corresponding to the printing process Pi is i Can be: the normal vector of the edge line at the end of other branches (ie v'1, ..., v'm` ) is the normal vector of the plane. When m`>1 and v'1,…,v' m` When the normal vectors of the end edge lines of the branch parts other than the two branch parts corresponding to a certain set of paths are not collinear or coplanar, the direction vector z of the inverted flat direction corresponding to the printing process Pi is i Can be: the normal vector of the edge line at the end of other branches (ie v'1, ..., v' m` ). Wherein, the normal vector of the end edge line can be a unit normal vector, and the direction vector of the inverted plane direction can also be a unit direction vector.

[0110] It should be understood that the methods of determining the direction vectors of the inverted direction of the two branch parts under each of the above printing processes are some possible implementation methods proposed in the embodiments of the present disclosure. In fact, under the guidance of the embodiments of the present disclosure, those skilled in the art can use any method in the field to determine the direction vectors of the inverted direction of the two branch parts under each printing process. For example, manual measurement calibration or modeling can also be used, and the embodiments of the present disclosure do not limit this.

[0111] In step 23.2, the angle between the direction vectors of the two branch parts in the inverted flat direction and the normal vectors of the end edge lines of the two branch parts in each group of paths corresponding to the printing process can be calculated. For example, the direction vector z in the inverted flat direction is calculated. i The angle between the normal vector v1 of the edge line at the end of a branch, and the calculation of z i The angle between the edge line normal vector v2 of the other branch end is calculated, and then the similarity (such as cosine similarity, etc.) between the two angles and each bending angle in a variety of bending angles (for example, including but not limited to 90°, 75°, 60°, 45°, 30°, 15°, 0°) is calculated to obtain the bending angle closest to each angle (that is, the highest similarity). The wire collection extension piece at the bending angle closest to each angle is selected as the wire collection extension piece to be connected to the branch end of the branch part corresponding to each angle. Therefore, in the corresponding printing process, the base connection adapter and the corresponding wire collection extension piece can be installed in sequence on the branch ends of the two branch parts corresponding to the printing process, wherein the end direction of the wire collection extension piece installed on the branch end is consistent with the direction vector z of the inverted flat direction. i Similarly, by installing a flange connector at the other end of the wire collection extension, the base is fixed to the end of the main robotic arm. Each group of printing processes can form its own corresponding hardware assembly solution.

[0112] Step S24: Determine the robot arm motion instructions for the printing process corresponding to each group of paths based on the hardware assembly scheme for the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths. The robot arm motion instructions are used to control the motion postures of the main robot arm end and the auxiliary robot arm end during the printing process corresponding to the group of paths.

[0113] It should be understood that, by knowing the hardware assembly scheme of the printing process corresponding to each set of paths and the multiple carbon fiber printing paths in each set of paths, the motion posture data of the main robotic arm and the auxiliary robotic arm during the printing process can be calculated, or the arrival plane sequence of the end of the main robotic arm and the end of the auxiliary robotic arm during the three-dimensional printing process according to the hardware assembly scheme and the set of paths can be determined. The embodiments of the present disclosure do not limit the derivation process of the arrival plane sequence of the main and auxiliary robotic arms. For example, those skilled in the art can use any algorithm or software known in the art to determine the motion poses of the main and auxiliary robotic arms during the printing process based on a hardware assembly scheme corresponding to a set of paths and each carbon fiber printing path in the set of paths, and then generate motion instructions. For example, the Grasshopper plug-in KUKA-PRC can be used to simulate the motion of the two robotic arms and output motion instructions based on a hardware assembly scheme corresponding to a set of paths and each carbon fiber printing path in the set of paths. That is, based on a hardware assembly scheme corresponding to a set of paths, combined with robotic arm information (i.e., the models of the two robotic arms), base coordinate information (i.e., the relative poses of the two robotic arms), tool head information (i.e., the TCP position of the carbon fiber print head 03 after calibration), and a set of paths, the motion process of the two robotic arms performing 3D printing according to the set of paths can be simulated to obtain the arrival plane sequence of the main and auxiliary robotic arms during the printing process, and then generate motion instructions. The motion instructions can be used to control the motion poses of the robotic arms during the printing process.

[0114] In one possible implementation, step S24, determining the robot arm motion instructions for the printing process corresponding to each group of paths based on the hardware assembly solution for the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths, may include:

[0115] 24.1. For any set of paths, use the plane of the flange connector base in the base frame under the hardware assembly scheme for the printing process corresponding to that set of paths as the base plane. Transform the spatial pose of the base frame under the hardware assembly scheme for the printing process corresponding to that set of paths from the base plane to the world plane to obtain the target spatial pose of the base frame during the printing process corresponding to that set of paths.

[0116] 24.2. Generate uniformly distributed curve points on each carbon fiber printing path in the set of paths, and calculate the first angle between the normal vector of the first curve point on each carbon fiber printing path along the outer surface of the substrate and the positive axis direction of the base plane as the offset phase value corresponding to the first curve point on each carbon fiber printing path;

[0117] 24.3. For the kth curve point on any carbon fiber printing path in the set of paths, calculate the second angle between the normal vector of the kth curve point along the outer surface of the substrate and the normal vector of the k-1th curve point on the carbon fiber printing path along the outer surface of the substrate, and use the sum of the offset phase value corresponding to the k-1th curve point and the second angle as the offset phase value corresponding to the kth curve point, where k>1;

[0118] 24.4. Sort the plurality of carbon fiber printing paths in the group of paths by end-to-end order based on the offset phase values ​​of the end points of each carbon fiber printing path in the group of paths to obtain a sorting result, wherein the sorting result represents the printing order of the carbon fiber printing paths in the group of paths when connected end-to-end;

[0119] 24.5. Determine the robot arm motion sequence for the printing process corresponding to the path group based on the target spatial position of the substrate fixed frame during the printing process corresponding to the path group, the offset phase value of each curve point on each carbon fiber printing path in the path group, and the sorting result. The robot arm motion sequence includes the arrival plane sequence of the main robot arm end and the auxiliary robot arm end during the printing process of the path group;

[0120] 24.6. Generate motion instructions for the main robotic arm and motion instructions for the auxiliary robotic arm during the printing process of the group of paths according to the robotic arm motion sequence of the printing process corresponding to the group of paths, wherein the robotic arm motion instructions include motion instructions for the main robotic arm and motion instructions for the auxiliary robotic arm.

[0121] In step 24.1, it can be understood that according to the hardware assembly scheme of the printing process corresponding to the group of paths, the base plane corresponding to the printing process is set on the base plane of the flange connector, and the base plane can be customized, for example. z Axis horizontal, xThe axis is facing upward, and this embodiment of the present disclosure does not limit this. The base plane can also be understood as a base coordinate system constructed with the base of the flange connector (equivalent to the flange at the end of the main robot arm) as the origin. Then, based on the mapping relationship between the base coordinate system and the world coordinate system, the spatial posture (i.e., spatial position and direction) of the base fixed frame under the hardware assembly scheme of the printing process corresponding to this group of paths can be converted from the base plane to the world plane (the world plane can immediately be a global world coordinate system). It should be understood that those skilled in the art can pre-calibrate the mapping relationship between the base coordinate system and the world coordinate system, and then can realize the conversion of the spatial posture of the base fixed frame based on the mapping relationship, and this embodiment of the present disclosure does not limit this.

[0122] In step 24.2, for example, for a carbon fiber printing path of a certain group of paths, the carbon fiber printing path can be evenly divided into w curve points according to an approximate distance d (such as d=1mm). P iqk (r=1,2,..,w), w is the number of points, P iqk At this time, it represents the kth curve point on the qth carbon fiber printing path in the i-th group of paths. Then, the offset phase value of the first curve point on each carbon fiber printing path of the qth carbon fiber printing path in the i-th group of paths is calculated as the normal vector n of the first curve point along the outer surface of the substrate. iq1 The first angle between the direction vector and the vertical axis positive direction of the base plane (i.e., the positive direction of the axis in the vertical direction, such as the positive direction of the x-axis mentioned above) is used as the offset phase value corresponding to the first curve point on the q-th carbon fiber printing path; then, in step 24.3, the normal vector n of the k-th curve point on the q-th carbon fiber printing path in the i-th group of paths along the outer surface of the substrate can be calculated. iqk The normal vector n along the outer surface of the substrate at the k-1th curve point on the qth carbon fiber printing path iq(k-1) The second angle between iqk Represents n iqk With n iq(k-1) The angle between them is -180°<∆a iqk <180°, then when k>1, the offset phase value a corresponding to the k-th curve point iqk Equal to the offset phase value a corresponding to the k-1th curve point iq(k-1) and the second angle ∆a iqk The sum of, that is, a iqk = a iq(k-1) + ∆a iqkAmong them, the offset phase value can represent the rotation angle of the substrate when the carbon fiber filament is wound on the contour line position of each layer, that is, it represents the rotation angle of the A6 axis of the main robot arm, so that the rotation angle of the substrate during the printing process of the carbon fiber print head according to each carbon fiber printing path can be obtained. Due to the angular limit of the A6 axis of the robot arm, the offset phase value of each curve point on each carbon fiber printing path can be distributed between (-355,355). If it exceeds this range, the offset phase value a corresponding to the entire carbon fiber printing path iqk The entire extruder can be offset in a 360-degree cycle until it reaches this range. This means that the main robotic arm will drive the multi-branch matrix to rotate one circle and reset, so the carbon fiber extrusion head needs to be kept above both ends to ensure that the continuous fiber is wound around the wire-collecting extension pieces at both ends during the reset period.

[0123] In actual applications, due to the installation errors between the various components in the base fixed frame, the errors in the bending angles of the wire collection extensions, etc., the base fixed frame installed on the end of the main robotic arm may have a large error between the position of the far end of the base fixed frame (that is, the end of the wire collection extension at the farthest end of the inverted square downward) and the ideal position. Therefore, after generating curve points evenly distributed on each carbon fiber printing path in each group of paths, the position coordinates of the curve points can be corrected based on the aforementioned base fixed frame 04 measurement and calibration method. Specifically, for a certain group of paths corresponding to the printing process and the corresponding hardware assembly scheme, the position coordinates of each curve point generated in the group of paths can be converted from a plane with the world plane origin to the ideal TCP position (the ideal TCP position can be the theoretically calculated TCP position) as the normal to a plane with the world plane origin to the measured TCP position (that is, the TCP position actually measured after the base fixed frame is actually assembled according to the hardware assembly scheme) as the normal, so that the subsequently determined robotic arm arrival plane is more in line with the robotic arm arrival plane during the actual printing process, which is conducive to achieving accurate carbon fiber three-dimensional printing.

[0124] In step 24.4, the carbon fiber printing paths in a group of paths can be cross-sorted. Specifically, to ensure that the carbon fiber printing paths generate wrapped prestress at the end, for each carbon fiber printing path in each group of paths, they can be sorted in sequence from beginning to end according to the offset phase value of the endpoint with the principle of far-end priority. The corresponding curve points and offset phase values ​​of the carbon fiber printing paths with reversed beginnings and ends are reversed. For example, a carbon fiber printing path can be randomly selected from a group of paths as the first carbon fiber printing path to be printed in the group of paths and the head end (i.e., the printing start end) and tail end (i.e., the printing end end) of the first carbon fiber printing path to be printed can be set. Then, according to the offset phase value of the tail end end of the first carbon fiber printing path, the first carbon fiber printing path to be printed can be selected. Take the other endpoint with the largest difference in offset phase value from the tail endpoint and the carbon fiber printing path where the other endpoint is located as the second carbon fiber printing path to be printed, and take the other endpoint with the largest difference in offset phase value as the starting end of the second carbon fiber printing path to be printed. Then, according to the offset phase value of the tail endpoint of the second carbon fiber printing path to be printed, select the third carbon fiber printing path to be printed and determine the starting end of the third carbon fiber printing path to be printed. And so on, until the sorting of each carbon fiber printing path in the group of paths is completed, so as to execute the carbon fiber printing of the path according to the sorting result. In this way, the carbon fiber printing process of each group of paths is made more stable and the printed carbon fiber winding layer is closely fitted to the surface of the substrate.

[0125] In step 24.5, the initial arrival plane (i.e., initial posture) of the end of the main robot 01 during the printing process corresponding to each set of paths can be determined based on the relative posture and working range between the two robots. For example, the initial arrival plane can be z Axis horizontal, x The axis is upward, and then, for each curve point on each carbon fiber printing path in the group of paths, the corresponding arrival plane of the main robot arm 01 is the negative offset phase value (i.e. -a) of each curve point rotated from the initial arrival plane. iqk ) obtain the arrival plane of the main robot arm 01 at each curve point, and then combine the printing order corresponding to each carbon fiber printing path in each group of paths to obtain the arrival plane sequence (that is, the motion posture sequence) of the main robot arm 01 in the process of executing each group of path printing. Then, according to each arrival plane in the arrival plane sequence of the main robot arm, the base fixed frame under the target spatial posture of the base fixed frame in the printing process corresponding to each group of paths and the relative posture between the two robots can be combined to obtain the corresponding arrival point of the carbon fiber print head 03, that is, the arrival plane sequence of the end of the auxiliary robot arm 02, wherein the positive direction of the z-axis in the plane direction of the arrival plane of the auxiliary robot arm 02 is the normal vector n along the outer surface of the base at each curve point in the above step 24.2. iqk, in the plane direction x The positive direction of the axis can be obtained from the actual working environment, relative position and working range of the robot arm. In other words, in this way, the arrival plane of the main robot arm end and the auxiliary robot arm end during the printing process corresponding to each carbon fiber printing path can be obtained.

[0126] The method for determining the arrival planes of the two robotic arms in the process of switching from one carbon fiber printing path to another carbon fiber printing path may include: knowing the sorting results of each group of paths, and thus knowing the printing order of the carbon fiber printing paths in each group of paths. Then, for the process from the tail end A of one carbon fiber printing path to the head end B of the next carbon fiber printing path in a group of paths, in order to avoid collision between the carbon fiber print head and the substrate, the carbon fiber print head can be docked above the filament collection extension piece and the end of the substrate fixed frame can be stably rotated to adjust the phase to the next carbon fiber printing path facing the carbon fiber print head to perform carbon fiber printing of the next carbon fiber printing path. Specifically, for the process from the tail end A of one carbon fiber printing path to the head end B of the next carbon fiber printing path in a group of paths, plane interpolation can be performed between the main robotic arm arrival plane corresponding to point A and the main robotic arm arrival plane corresponding to point B within the limit range of the main robotic arm to obtain multiple arrival planes of the main robotic arm from the tail end A of one carbon fiber printing path to the head end B of the next carbon fiber printing path, so as to ensure that the terminal substrate fixed frame rotates stably to wind the carbon fiber filament and adjust the phase to the next carbon fiber printing path. At the same time, the carbon fiber print head can be docked at a stop position offset a certain distance upward from the origin of the plane of the end of the wire collection extension piece near the beginning and end ends (i.e., point A and point B) of the two carbon fiber printing paths connected end to end. Based on this, the arrival plane of the auxiliary robot arm during the docking process of the carbon fiber print head can be determined with the stop position as the origin and in the normal upward direction. In summary, based on the arrival planes of the main robot arm end and the auxiliary robot arm end corresponding to each carbon fiber printing path in each group of paths determined above and the arrival planes of the two robots in the process of switching from one carbon fiber printing path to another in the group of paths, the arrival plane sequence of the main robot arm end in the printing process corresponding to the group of paths and the arrival plane sequence of the auxiliary robot arm 02 end in the printing process corresponding to the group of paths can be obtained.

[0127] In step 24.6, the robot arm motion sequence corresponding to each group of paths in the printing process (that is, the arrival plane sequence of the end of the main robot arm and the end of the auxiliary robot arm) is known, and the motion instructions of the main robot arm and the motion instructions of the auxiliary robot arm during the printing process of this group of paths can be generated; the embodiment of the present disclosure does not limit the conversion method from the robot arm motion sequence to the robot arm motion instructions. For example, in the KUKA|prc plug-in, the Synchronize Robots component of ROBOTEAM can be used to add a "Sync MOVE" command to each motion command of the main robot arm and the auxiliary robot arm one by one, so that the two robots move synchronously at each point, that is, the motion commands of the main robot arm and the auxiliary robot arm are synchronized to ensure that the two robots move in unison at each point. Among them, you can also enter the robot arm information, base coordinate information, tool head information, robot arm initial speed (for example, it can be set to 0.25m / s), project name and save path and other data in the "KUKA|prc CORE" component, and perform motion simulation (that is, simulation of the robot arm motion sequence) in ROBOTEAM mode to generate motion instructions for the two robot arms during the printing process; it should be understood that by applying the above motion simulation method to each set of paths, the motion posture of the two robot arms during the printing process of each set of paths can be simulated, thereby generating motion instructions.

[0128] For example, Figure 12 The motion simulation achieved by (a) to (c) in Figure 12 (a) can represent the printing process of the simulated first group of paths and the rotation direction of the substrate during the printing process. Figure 12 (b) can represent the printing process of the simulated second group of paths and the rotation direction of the substrate during the printing process. Figure 12 (c) represents the simulated printing process of the third path group and the rotation direction of the substrate during this printing process. By simulating the printing process of each of the above printing processes, the corresponding motion code (i.e., motion instructions) can be derived. Then, in step S25, based on the motion instructions of the main and auxiliary robotic arms during the printing process, the 3D printing system can be controlled to execute the printing of the carbon fiber reinforced layer on the multi-branch substrate.

[0129] In actual applications, after obtaining motion instructions for the two robotic arms, the motion instruction files can be input into the controllers of the two robotic arms. For example, a USB flash drive containing the motion instruction files can be inserted into the USB port of the robotic arm controller. In "Administrator Mode," the motion instruction files for the two robotic arms can be copied to the corresponding robotic arm controllers. In the interactive interface of the robotic arm, the required motion instruction files for the two robotic arms can be selected in turn to prepare for subsequent operations.

[0130] In step S25, according to the hardware assembly scheme and the robot arm motion instructions of the printing process corresponding to each group of paths, the three-dimensional printing system is controlled to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate respectively to obtain a complete carbon fiber reinforced layer on the multi-branch substrate.

[0131] In actual applications, after obtaining the motion instructions of the two robotic arms corresponding to the printing process of each set of paths, the motion instruction files can be input into the controllers of the two robotic arms. For example, the USB flash drive carrying the motion instruction files can be inserted into the USB interface of the robotic arm controller, and in "administrator mode", the motion instruction files of the two robotic arms can be copied to the corresponding robotic arm controllers respectively. In the interactive interface of the robotic arm, the motion instruction files required by the two robotic arms are selected in turn to prepare for subsequent operations. Therefore, in the above-mentioned three-dimensional printing system, the controller in the main robotic arm 01 is used to control the motion posture of the main robotic arm during the printing process according to the motion instructions of the main robotic arm during the printing process determined by the above-mentioned printing method; the controller in the auxiliary robotic arm 02 is used to control the motion posture of the auxiliary robotic arm during the printing process according to the motion instructions of the auxiliary robotic arm during the printing process determined by the above-mentioned printing method. Thereby, the printing work of printing a carbon fiber reinforced layer on a substrate is realized by using a three-dimensional printing system.

[0132] Among them, according to the hardware assembly scheme and robotic arm motion instructions of the printing process corresponding to each group of paths, controlling the three-dimensional printing system to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate respectively can include: when the substrate fixing frame and the multi-branch substrate are assembled onto the main robotic arm according to the hardware assembly scheme of the printing process corresponding to any group of paths, based on the robotic arm motion instructions of the printing process corresponding to the group of paths, controlling the three-dimensional printing system to execute the carbon fiber printing process under the group of paths until the carbon fiber printing process under each group of paths is completed; wherein, during the carbon fiber printing process under any group of paths, the motion instructions of the main robotic arm are imported into the controller of the main robotic arm and the motion instructions of the auxiliary robotic arm are imported into the controller of the auxiliary robotic arm, so that the controller of the main robotic arm controls the motion posture of the main robotic arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions, and the controller of the auxiliary robotic arm controls the motion posture of the auxiliary robotic arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions.

[0133] Specifically, for the carbon fiber printing process corresponding to any group of paths, the substrate fixing frame with a multi-branch substrate is installed at the end of the main robotic arm according to the hardware assembly plan of the printing process corresponding to the group of paths, and then the motion code is sent to the controllers of the main robotic arm and the auxiliary robotic arm, the printing parameters of the appropriate carbon fiber print head are adjusted, and the robotic arm position is ready, and then the extrusion motor of the carbon fiber print head is started, and the robotic arm movement is started at the same time, so that the two robotic arms synchronously print a continuous carbon fiber reinforced layer step by step along the surface of the substrate; after completing the printing process of a group of paths, the carbon fiber filaments extruded by the carbon fiber print head are disconnected, and the filament collection extension of the substrate fixing frame is disassembled, and the filament collection extension under another group of paths is replaced and installed and fixed to the flange at the end of the branch of the main arm, and then the printing process corresponding to the next group of paths is executed until all printing processes are completed to obtain a complete carbon fiber reinforced layer on the multi-branch substrate.

[0134] In practice, after completing the printing of all paths, the carbon fiber filaments at the ends of each branch of the multi-branch substrate can be cut off, and the substrate connection adapter of the substrate fixing frame can be separated from the substrate. If there are screw hole brackets on the multi-branch substrate, these can be cut and polished to form the finished substrate with the carbon fiber reinforcement layer printed on it.

[0135] Before printing begins, the carbon fiber filament can be pulled out from the carbon fiber print head and fixed to a nearby wire collection extension to ensure smooth extrusion and precise winding of the carbon fibers of the filament during printing. Then, the carbon fiber print head can be started, and the two robotic arms can be started to move at the same time, so that the two robotic arms can synchronously print a continuous carbon fiber reinforcement layer step by step along the surface of the substrate. After the printing of the carbon fiber reinforcement layer is completed, the printed carbon fiber reinforcement layer can also be post-processed, such as surface grinding, polishing, painting, etc., which is not limited in the embodiments of the present disclosure.

[0136] In actual applications, the speed at which the carbon fiber print head produces carbon fiber filaments and the extrusion speed of the resin matrix (resin extrusion barrel motor speed) can be adjusted according to the stability requirements of 3D printing, as well as the movement speed of the two robotic arms. For example, the ratio of the movement speeds of the two robotic arms can be set to 10%, and the extrusion speed of the resin matrix (resin extrusion barrel motor speed) can be set to 5.00m / min to ensure the accuracy and stability of the printing process. The teach pendant can also be used in T1 mode to move the two robotic arms to a safe position. After switching to Auto mode, the movement of the two robotic arms can be adjusted separately so that the actual position of the robotic arms is exactly the same as the set position, preparing for positioning for printing.

[0137] According to the three-dimensional printing method of the embodiment of the present disclosure, it is possible to utilize a three-dimensional printing system and realize carbon fiber group three-dimensional printing on a multi-branched matrix with a complex shape according to the three-dimensional path planning results, so that the printed carbon fiber reinforced layer greatly improves the bearing capacity of the matrix, and can make the three-dimensional printing more efficient and accurate, and also save more carbon fiber materials.

[0138] It should be noted that the above-mentioned three-dimensional path planning method and three-dimensional printing method proposed in the embodiments of the present disclosure can be deployed on various terminal devices through software or hardware modification. The terminal device involved in the embodiments of the present disclosure may refer to a device with a wireless connection function and / or a wired connection function. The wireless connection function means that it can be connected to other devices through wireless connection methods such as wifi and Bluetooth. The terminal device involved in the embodiments of the present disclosure can also communicate with other devices through a wired connection function. The terminal device involved in the embodiments of the present disclosure can be a touch screen, a non-touch screen, or a screenless terminal. The touch screen terminal device can be controlled by clicking, sliding, etc. on the display screen with a finger or a stylus. The non-touch screen device can be connected to an input device such as a mouse, keyboard, touch panel, etc., and the terminal device can be controlled by the input device. For example, a device without a screen can be a Bluetooth speaker without a screen. For example, the terminal device of the present application can include but is not limited to user equipment (UE), mobile devices, mobile terminals, handheld devices, tablet computers, laptops, PDAs, computing devices, etc.

[0139] The above-mentioned three-dimensional path planning method and three-dimensional printing method of the embodiment of the present disclosure can also be deployed on a server, and a rendering engine can be deployed on the server. The server can be located in the cloud or locally, and can be a physical device or a virtual device, such as a virtual machine, a container, etc., with a wireless communication function, wherein the wireless communication function can be set in the chip (system) or other parts or components of the server. It can refer to a device with a wireless connection function, and the wireless connection function means that it can be connected to other servers or terminal devices through wireless connection methods such as Wi-Fi and Bluetooth. The server involved in the embodiment of the present disclosure can also have the function of communicating with a wired connection. For example, the server of the embodiment of the present disclosure can be located in the cloud, communicate with the terminal device, receive the three-dimensional model of the substrate sent by the terminal device, and use the three-dimensional path printing method deployed on the server to determine the three-dimensional printing path planning result corresponding to the substrate based on the above-mentioned three-dimensional model, and return it to the terminal device, so as to use the three-dimensional printing method deployed on the terminal device based on the three-dimensional printing path planning result corresponding to the substrate to control the three-dimensional printing system to perform the printing of the carbon fiber reinforced layer on the substrate.

[0140] Based on the three-dimensional printing path planning method provided in the above embodiment of the present disclosure, the embodiment of the present disclosure further provides a three-dimensional printing path planning device, which may include:

[0141] a joint line determination module, configured to obtain a multi-branch mesh model corresponding to the multi-branch matrix to be enhanced, and determine, based on the multi-branch mesh model, a plurality of branch parts in the multi-branch mesh model and a joint line of each branch part, wherein the joint line represents a boundary between any branch part and other branch parts;

[0142] An isoline generation module, for generating multi-layer isolines of each branch part based on the joint lines of each branch part and the end edge lines of each branch part;

[0143] a seam line determining module, configured to determine a seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of the respective branch parts, wherein the seam line represents a portion of a curve where two joint lines of the two adjacent branch parts meet;

[0144] an equally divided point generating module, configured to generate the same number of equally divided points evenly distributed on the seam line between every two adjacent branch parts in the plurality of branch parts, and to generate equally divided points on each layer of the multi-layered contour lines of each branch part based on the equally divided points on the seam line between every two adjacent branch parts;

[0145] A path generation module is used to generate multiple carbon fiber printing paths corresponding to multiple layers of carbon fiber winding layers based on multiple sets of preset offset information and the equally divided points on each layer of contour lines in each layer of contour lines of each branch part, wherein a single set of offset information includes the offset of each equally divided point generated in each branch part under the single layer of carbon fiber winding layer along the line on which it is located.

[0146] In one possible implementation, there is an association between the equally divided points on adjacent contour lines in any branch part, and between the equally divided points on the seam line and the equally divided points on the contour line adjacent to the seam line; wherein, the generating of multiple carbon fiber printing paths corresponding to the multiple layers of carbon fiber winding layers according to the preset multiple sets of offset information and the equally divided points on each contour line in the multiple layers of contour lines of each branch part includes: according to each set of offset information, offsetting the equally divided points generated in each branch part along the line, and obtaining an offset result corresponding to each set of offset information, the offset result including the target equally divided points after offset in each branch part; based on the association relationship between the equally divided points, connecting the target equally divided points associated on the contour lines in each branch part in each set of offset results and the target equally divided points associated on the seam line, and obtaining multiple carbon fiber printing paths corresponding to each layer of carbon fiber winding layer.

[0147] In one possible implementation, the method of determining each branch part and the joint line of each branch part in the multi-branch mesh model based on the multi-branch mesh model includes: performing dynamic simulation on the end edge lines of multiple branches in the multi-branch mesh model to obtain multiple joint lines corresponding to multiple branches, wherein the dynamic simulation includes at least one of the following: collision constraint, node surface adsorption force, length elasticity, angle elasticity and gravitational effect; based on the multiple joint lines corresponding to the multiple branches, dividing the multi-branch mesh model into multiple branch parts, wherein each branch part includes a mesh between the joint line and the end edge line of the branch part and the mesh between the joint line and the end edge line is a uniform triangular mesh.

[0148] In one possible implementation, the determining of the seam line between every two adjacent branch parts in the multiple branch parts based on the distance between the joint lines of each branch part includes: for the joint line of the first branch part in the multiple branch parts, determining two second branch parts adjacent to the first branch part, and constructing an objective function, wherein the objective function represents the sum of the distances between the joint line of the first branch part and the joint lines of the two second branch parts; determining two pairs of bifurcation points when the objective function appears at a minimum on the joint line of the first branch part, a pair of bifurcation points representing the position of the joint line of the first branch part relative to the joint line of any second branch part when it bifurcates, and a pair of bifurcation points corresponding to a seam line; based on the two pairs of bifurcation points on the joint line of the first branch part, interrupting the joint line of the first branch part from the two pairs of bifurcation points to obtain the seam lines between the first branch part and the two second branch parts respectively.

[0149] Based on the three-dimensional printing method provided in the above embodiment of the present disclosure, the present disclosure further provides a three-dimensional printing device, which can be applied to the above three-dimensional printing system. The device may include:

[0150] a path determination module, configured to determine, based on the three-dimensional path planning device, a three-dimensional printing path planning result for the multi-branched matrix to be reinforced, wherein the three-dimensional printing path planning result includes a plurality of carbon fiber printing paths corresponding to the plurality of carbon fiber winding layers;

[0151] a path division module, configured to divide the plurality of carbon fiber printing paths in the three-dimensional printing path planning result into a plurality of groups of paths based on the seam lines passed by each carbon fiber printing path in the three-dimensional printing path planning result, wherein a group of paths includes multiple carbon fiber printing paths passing through the same seam line, and a group of paths corresponds to one printing process;

[0152] a scheme determination module, configured to determine a hardware assembly scheme for a printing process corresponding to each set of paths based on normal vectors of the end edge lines of the two branch portions corresponding to each set of paths, the hardware assembly scheme comprising: direction vectors of the inverted flattening directions of the two branch portions corresponding to a set of paths and the type of wire-collecting extension member to be connected to each of the two branch portions, the wire-collecting extension member type representing a bending angle of the wire-collecting extension member;

[0153] An instruction determination module is used to determine the robot arm motion instructions for the printing process corresponding to each group of paths based on the hardware assembly scheme of the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths. The robot arm motion instructions are used to control the motion posture of the main robot arm end and the auxiliary robot arm end during the printing process corresponding to the group of paths;

[0154] The control module is used to control the three-dimensional printing system to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate according to the hardware assembly scheme and the robot arm motion instructions of the printing process corresponding to each group of paths, so as to obtain a complete carbon fiber reinforced layer on the multi-branch substrate.

[0155] In one possible implementation, the hardware assembly scheme for the printing process corresponding to each group of paths is determined based on the normal vectors of the end edge lines of the two branch parts corresponding to each group of paths, including: for any group of paths, determining the direction vectors of the flattening direction of the two branch parts in the printing process corresponding to the group of paths based on the normal vectors of the end edge lines of the two branch parts corresponding to the group of paths, and the normal vectors of the end edge lines of other branch parts except the two branch parts corresponding to the group of paths; determining the type of wire collection extension to be connected to each of the two branch parts in the printing process corresponding to the group of paths based on the angle between the direction vector of the flattening direction of the two branch parts in the printing process corresponding to the group of paths and the normal vector of the end edge lines of the two branch parts, and the similarity between the angles and the bending angles of various wire collection extensions.

[0156] In a possible implementation, the method determines the robot arm motion instructions for the printing process corresponding to each group of paths according to the hardware assembly scheme of the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths, including: for any group of paths, taking the plane where the base of the flange connector in the base fixed frame under the hardware assembly scheme of the printing process corresponding to the group of paths is located as the base plane, and converting the spatial posture of the base fixed frame under the hardware assembly scheme of the printing process corresponding to the group of paths from the base plane to the world plane, so as to obtain the target spatial posture of the base fixed frame in the printing process corresponding to the group of paths; generating uniformly distributed curve points on each carbon fiber printing path in the group of paths, and calculating the first angle between the normal vector of the first curve point on each carbon fiber printing path along the outer surface of the substrate and the vertical axis positive direction vector of the base plane as the offset phase value corresponding to the first curve point on each carbon fiber printing path; for the kth curve point on any carbon fiber printing path in the group of paths, calculating the normal vector of the kth curve point along the outer surface of the substrate and the kth curve point on the carbon fiber printing path. -1 curve branch points along the outer surface of the substrate, and the sum of the offset phase value corresponding to the k-1 curve branch point and the second angle is used as the offset phase value corresponding to the k-1 curve branch point, where k>1; multiple carbon fiber printing paths in the group of paths are sorted head to tail based on the offset phase values ​​of the two end points of each carbon fiber printing path in the group of paths to obtain a sorting result, wherein the sorting result represents the printing order of the carbon fiber printing paths in the group of paths in a head-to-tail manner; a robotic arm motion sequence for the printing process corresponding to the group of paths is determined based on the target spatial position of the substrate fixed frame during the printing process corresponding to the group of paths, the offset phase value of each curve branch point on each carbon fiber printing path in the group of paths, and the sorting result, wherein the robotic arm motion sequence includes a sequence of arrival planes of the end points of the main robotic arm and the end points of the auxiliary robotic arm during the printing process of the group of paths; and motion instructions for the main robotic arm and the auxiliary robotic arm are generated based on the robotic arm motion sequence for the printing process corresponding to the group of paths, wherein the robotic arm motion instructions include motion instructions for the main robotic arm and motion instructions for the auxiliary robotic arm.

[0157] In one possible implementation, the three-dimensional printing system is controlled to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate according to the hardware assembly scheme and the robot arm motion instructions of the printing process corresponding to each group of paths, including: when the substrate fixing frame and the multi-branch substrate are assembled onto the main robot arm according to the hardware assembly scheme of the printing process corresponding to any group of paths, the three-dimensional printing system is controlled to execute the carbon fiber printing process under the group of paths based on the robot arm motion instructions of the printing process corresponding to the group of paths until the carbon fiber printing process under each group of paths is completed; wherein, during the carbon fiber printing process under any group of paths, the motion instructions of the main robot arm are imported into the controller of the main robot arm and the motion instructions of the auxiliary robot arm are imported into the controller of the auxiliary robot arm, so that the controller of the main robot arm controls the motion posture of the main robot arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions, and the controller of the auxiliary robot arm controls the motion posture of the auxiliary robot arm in the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions.

[0158] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0159] An embodiment of the present disclosure further provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0160] An embodiment of the present disclosure further provides a non-volatile computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0161] An embodiment of the present disclosure further provides a computer program product, including a computer program, or a non-volatile computer-readable storage medium carrying the computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0162] Figure 13 FIG1 shows a block diagram of an electronic device 1900 according to an embodiment of the present disclosure. For example, the electronic device 1900 can be provided as a server or a terminal device. Figure 13The electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions executable by the processing component 1922, such as an application. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute the instructions to perform the above-described method.

[0163] The electronic device 1900 may further include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input / output interface 1958 (I / O interface). The electronic device 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server 2003. TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM or similar.

[0164] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions that can be executed by the processing component 1922 of the electronic device 1900 to perform the above method.

[0165] A computer-readable storage medium can be a tangible device that can hold and store programs / instructions used by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or raised structure within a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted via wires.

[0166] The computer programs (or computer-readable program instructions) described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage medium in the respective computing / processing device for storage.

[0167] The computer program (or computer program instructions) used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, the state information of the computer-readable program instructions is used to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), so that the electronic circuit can execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0168] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0169] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0170] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0171] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the prescribed logical function. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the prescribed function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0172] While various embodiments of the present disclosure have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A three-dimensional printing path planning method based on a carbon fiber reinforced multi-branch matrix, characterized in that: include: Obtaining a multi-branch grid model corresponding to the multi-branch matrix to be enhanced, and determining, based on the multi-branch grid model, a plurality of branch parts in the multi-branch grid model and a joint line of each branch part, wherein the joint line represents a boundary between any branch part and other branch parts; Based on the joint lines of each branch part and the end edge lines of each branch part, a multi-layer contour line of each branch part is generated; determining a seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of the respective branch parts, wherein the seam line represents a portion of a curve where two joint lines of the two adjacent branch parts meet; Generating the same number of equally divided points that are evenly distributed on the seam line between every two adjacent branch parts in the plurality of branch parts, and generating equally divided points on each layer of the multi-layer contour lines of each branch part based on the equally divided points on the seam line between every two adjacent branch parts; Generate multiple carbon fiber printing paths corresponding to the multiple carbon fiber winding layers based on multiple sets of preset offset information and the equally divided points on each layer of the multiple layers of the contour lines of each branch portion, wherein a single set of offset information includes the offset of each equally divided point generated in each branch portion under the single carbon fiber winding layer along the line on which it lies; There is an association relationship between the equally divided points on adjacent contour lines in any branch part and between the equally divided points on the seam line and the equally divided points on the contour line adjacent to the seam line; wherein, generating multiple carbon fiber printing paths corresponding to the multiple carbon fiber winding layers according to the preset multiple sets of offset information and the equally divided points on each contour line in the multiple layers of contour lines of each branch part includes: According to each set of offset information, the equally divided points generated in each branch part are offset along the line, and the offset result corresponding to each set of offset information is obtained, and the offset result includes the target equally divided points in each branch part after offset; Based on the correlation between the equally divided points, the target equally divided points associated on the contour lines of each branch part in each set of offset results and the target equally divided points associated on the seam lines are connected to obtain multiple carbon fiber printing paths corresponding to each carbon fiber winding layer.

2. The method according to claim 1, characterized in that The determining, based on the multi-branch mesh model, a plurality of branch parts and joint lines of each branch part in the multi-branch mesh model includes: A plurality of joint lines corresponding to the plurality of branches are obtained by performing a dynamic simulation on the end edge lines of the plurality of branches in the multi-branch mesh model, wherein the dynamic simulation includes at least one of the following: collision constraint, node surface adsorption force, length elasticity, angle elasticity, and gravitational effect; Based on multiple joint lines corresponding to multiple branches, the multi-branch mesh model is divided into multiple branch parts, wherein each branch part includes a mesh between the joint line and the end edge line of the branch part, and the mesh between the joint line and the end edge line is a uniform triangular mesh.

3. The method according to claim 1 or 2, characterized in that The step of determining a seam line between every two adjacent branch parts in the plurality of branch parts based on the distance between the joint lines of the branch parts comprises: For a joint line of a first branch part among the plurality of branch parts, determining two second branch parts adjacent to the first branch part, and constructing an objective function, wherein the objective function represents the sum of distances between the joint line of the first branch part and the joint lines of the two second branch parts; determining two pairs of bifurcation points where the objective function has a minimum value on the joint line of the first branch portion, wherein a pair of bifurcation points represents a position of the joint line of the first branch portion relative to a joint line of any second branch portion when bifurcated, and a pair of bifurcation points corresponds to a seam line; Based on the two pairs of bifurcation points on the joint line of the first branch portion, the joint line of the first branch portion is interrupted at the two pairs of bifurcation points to obtain seam lines between the first branch portion and the two second branch portions respectively.

4. A three-dimensional printing method based on a carbon fiber reinforced multi-branch matrix, characterized in that: The three-dimensional printing method is applied to a three-dimensional printing system, which includes: a main robotic arm, an auxiliary robotic arm, a carbon fiber print head and a substrate fixing frame; the carbon fiber print head is assembled at the end of the auxiliary robotic arm to produce carbon fiber filaments; the substrate fixing frame is used to assemble the multi-branched substrate to be reinforced at the end of the main robotic arm, and the substrate fixing frame includes a flange connector, a substrate connecting adapter and a plurality of wire collection extensions; the flange connector is used to connect the wire collection extension connected to one branch end of the multi-branched substrate to the end of the main robotic arm, and the substrate connecting adapter is used to connect the wire collection extension to the branch end of the multi-branched substrate; the wire collection extension is an L-shaped rounded bend shape, and different wire collection extensions have different bending angles. The wire collection extension is used to fix the relative posture of the multi-branched substrate and the end of the main robotic arm, and to assist the carbon fiber print head in pulling out the carbon fiber filaments at the start of printing, and to undertake the winding of the carbon fiber filaments during the resetting of the main robotic arm; Wherein, the three-dimensional printing method includes: Determine, based on the path planning method according to any one of claims 1 to 3, a three-dimensional printing path planning result for the multi-branched matrix to be reinforced, wherein the three-dimensional printing path planning result includes multiple carbon fiber printing paths corresponding to multiple carbon fiber winding layers; Based on the seam lines passed by each carbon fiber printing path in the three-dimensional printing path planning result, the plurality of carbon fiber printing paths in the three-dimensional printing path planning result are divided into a plurality of groups of paths, where a group of paths includes a plurality of carbon fiber printing paths passing through the same seam line, and a group of paths corresponds to one printing process; Determining a hardware assembly solution for the printing process corresponding to each set of paths based on the normal vectors of the end edge lines of the two branch portions corresponding to each set of paths, the hardware assembly solution including: direction vectors of the flattening directions of the two branch portions corresponding to a set of paths and the type of wire-gathering extension piece to be connected to each of the two branch portions, the wire-gathering extension piece type representing the bending angle of the wire-gathering extension piece; Determine, based on the hardware assembly scheme of the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths, the robot arm motion instructions for the printing process corresponding to each group of paths, wherein the robot arm motion instructions are used to control the motion posture of the main robot arm end and the auxiliary robot arm end during the printing process corresponding to the group of paths; According to the hardware assembly scheme and the robot arm motion instructions of the printing process corresponding to each group of paths, the three-dimensional printing system is controlled to execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate respectively to obtain a complete carbon fiber reinforced layer on the multi-branch substrate.

5. The method according to claim 4, characterized in that The method of determining a hardware assembly solution for a printing process corresponding to each group of paths based on the normal vectors of the end edge lines of the two branch parts corresponding to each group of paths includes: For any set of paths, determine the direction vectors of the inverted flattening directions of the two branch parts corresponding to the set of paths during the printing process based on the normal vectors of the end edge lines of the two branch parts corresponding to the set of paths, and the normal vectors of the end edge lines of other branch parts except the two branch parts corresponding to the set of paths; According to the angle between the direction vector of the flattening direction of the two branch parts in the printing process corresponding to this group of paths and the normal vector of the end edge line of the two branch parts, and the similarity between the bending angles of various wire-gathering extension parts, the type of wire-gathering extension parts to be connected to each of the two branch parts in the printing process corresponding to this group of paths is determined.

6. The method according to claim 4 or 5, characterized in that The method of determining the robot arm motion instructions for the printing process corresponding to each group of paths according to the hardware assembly scheme of the printing process corresponding to each group of paths and the multiple carbon fiber printing paths in each group of paths includes: For any set of paths, the plane where the flange connector base of the base fixed frame is located in the hardware assembly scheme of the printing process corresponding to this set of paths is used as the base plane, and the spatial pose of the base fixed frame in the hardware assembly scheme of the printing process corresponding to this set of paths is converted from the base plane to the world plane to obtain the target spatial pose of the base fixed frame in the printing process corresponding to this set of paths; Generating evenly distributed curve points on each carbon fiber printing path in the group of paths, and calculating a first angle between a normal vector of the first curve point on each carbon fiber printing path along the outer surface of the substrate and a positive direction vector of the vertical axis of the base plane as an offset phase value corresponding to the first curve point on each carbon fiber printing path; For the kth curve point on any carbon fiber printing path in the group of paths, calculate the second angle between the normal vector of the kth curve point along the outer surface of the substrate and the normal vector of the k-1th curve point on the carbon fiber printing path along the outer surface of the substrate, and use the sum of the offset phase value corresponding to the k-1th curve point and the second angle as the offset phase value corresponding to the kth curve point, where k>1; sorting the plurality of carbon fiber printing paths in the group of paths from beginning to end according to the offset phase values ​​of the two end points of each carbon fiber printing path in the group of paths to obtain a sorting result, wherein the sorting result represents a printing order of the carbon fiber printing paths in the group of paths when connected end to end; Determine, based on the target spatial position of the substrate fixed frame during the printing process corresponding to the group of paths, the offset phase value of each curve point on each carbon fiber printing path in the group of paths, and the sorting result, a robotic arm motion sequence for the printing process corresponding to the group of paths, wherein the robotic arm motion sequence includes a sequence of arrival planes of the main robotic arm end and the auxiliary robotic arm end during the printing process of the group of paths; According to the robot arm motion sequence of the printing process corresponding to the group of paths, the motion instructions of the main robot arm and the motion instructions of the auxiliary robot arm in the printing process of the group of paths are generated, and the robot arm motion instructions include the motion instructions of the main robot arm and the motion instructions of the auxiliary robot arm.

7. The method according to claim 6, characterized in that According to the hardware assembly scheme and the robot arm motion instructions for the printing process corresponding to each group of paths, controlling the three-dimensional printing system to respectively execute the carbon fiber printing process corresponding to each group of paths on the multi-branch substrate includes: When the base fixing frame and the multi-branch base are assembled onto the main robotic arm according to the hardware assembly scheme corresponding to any group of paths in the printing process, the three-dimensional printing system is controlled to execute the carbon fiber printing process under the group of paths based on the robotic arm motion instructions corresponding to the printing process of the group of paths until the carbon fiber printing process under each group of paths is completed; Among them, during the carbon fiber printing process under any group of paths, the motion instructions of the main robotic arm are imported into the controller of the main robotic arm and the motion instructions of the auxiliary robotic arm are imported into the controller of the auxiliary robotic arm, so that the controller of the main robotic arm controls the motion posture of the main robotic arm during the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions, and the controller of the auxiliary robotic arm controls the motion posture of the auxiliary robotic arm during the carbon fiber printing process corresponding to the group of paths according to the imported motion instructions.

8. The method according to claim 4, characterized in that The ends of each branch of the multi-branched matrix are respectively provided with multiple anchor points of depressions and / or protrusions, which are used to hook the carbon fiber filaments using the anchor points when the carbon fiber filaments are printed to any branch end; or, In the case that multiple anchor points of recessed bodies and / or protruding bodies are not set at the ends of each branch of the multi-branched base, the base fixing frame also includes: an external anchor ring, the external anchor ring includes an annular disk with multiple long hook-shaped anchor points, and the external anchor ring is nested on the base connection adapter, and is used to hook the carbon fiber filament using the long hook-shaped anchor points when the carbon fiber filament is printed to any branch end.

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