Composite material continuous fiber 3D printing cobweb structure path planning method and system

Abstract

The invention relates to the field of additive manufacturing, and discloses a path planning method and system for a composite continuous fiber 3D printing cobweb structure. Comprising the following steps: S1, designing a bionic cobweb structure based on natural cobweb structure features; s2, establishing a bionic cobweb structure model based on the cobweb structure; s3, judging whether an Euler loop in a plane exists in the graph of the cobweb structure model or not, and if the Euler loop in the plane does not exist in the cobweb structure model, planning a path in the space to obtain a printing path; s4, generating a G code based on the printing path, performing speed adjustment and path optimization, and generating a gcode file; s5, printing is executed according to the generated gcode file; through path optimization of continuous fibers, the continuous advantage of the fiber path is kept, the overall strength of the structure is improved, frequent fiber shearing in the printing process is avoided, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of additive manufacturing, and particularly to a method and system for path planning of a cobweb structure in 3D printing of composite materials with continuous fibers. Background Art

[0002] As an anisotropic material, continuous fiber reinforced composite (CFRC) has shown great potential in engineering applications due to its excellent mechanical properties and light weight characteristics; with the in-depth research, the complexity of structures has been continuously improved, and these structures are increasingly difficult to be fabricated by traditional methods (traditional die pressing, laying technology). In recent years, the rapid development of 3D printing technology has opened up a new direction for the manufacturing of CFRC structures with complex fiber paths.

[0003] The combination of 3D printing technology and computer-aided design (CAD) can achieve the rapid manufacturing of complex geometric structures, and at the same time allows the integration of multiple materials during the manufacturing process, such as resin and carbon fiber. The most common printing method is fused deposition modeling printing, in which dry carbon fiber filaments are impregnated with resin and then extruded through a print head. Since the mechanical properties of continuous fiber reinforced composites along the fiber direction are much better than those perpendicular to the fiber direction, the fiber path in the 3D printed component has a great influence on the overall performance of the component.

[0004] The 3D printing technology of continuous fiber reinforced composites makes it possible to form structures integrally; although there have been many theoretical discussions on the optimized design based on the anisotropy of composite materials at home and abroad, there are not many application examples in actual production, lacking corresponding path planning methods, and unable to give full play to the great potential of advanced forming processes and fiber reinforcement performance. For example, the current 3D printing process technology for continuous fiber reinforced composites is not yet perfect, and its path planning methods mostly adopt means such as grid contour filling, hybrid path filling, and contour offset path filling, which fail to fully exert the reinforcement effect of continuous fibers in composite materials. In order to achieve the best mechanical properties of the component, an uninterrupted printing path is pursued during the 3D printing of continuous fibers, but due to the complexity of the structure, it is often difficult to achieve an uninterrupted printing route.

[0005] For simple graphics, through simple graph theory knowledge, it is easy to find an Euler path in a plane, and then easily perform repeated printing of a single-layer path; but for complex graphics, such as the bionic cobweb structure proposed in the present invention and other structures where multiple lines intersect at one point, there is no Euler path in a plane, and the following situations will occur: First, cut the fibers on the path; Second, change the structure, which will greatly reduce the mechanical properties of the printed specimen or fail to achieve the purpose of studying a specific structure.

[0006] Therefore, a method and system for path planning of a cobweb structure in 3D printing of composite materials with continuous fibers are provided. Summary of the Invention

[0007] The purpose of the present invention is to provide a method and system for path planning of a composite continuous fiber 3D printed cobweb structure, so as to overcome the deficiencies of the prior art in cutting fibers on the path or changing the original structure when facing a structure without an Euler path.

[0008] In order to achieve the above object, the present invention provides the following technical solutions for implementation: In a first aspect, the present invention provides a method for path planning of a composite continuous fiber 3D printed cobweb structure, including the following steps: S1, designing a bionic cobweb structure based on the characteristics of the natural cobweb structure; S2, establishing a cobweb structure model based on the bionic cobweb structure; S3, determining whether there is an Euler circuit in the plane of the graph of the cobweb structure model. If there is no Euler circuit in the plane of the cobweb structure model, then plan a path in space according to the initial path of the cobweb structure to obtain a printing path; S4, generating G-code based on the printing path and performing speed adjustment and path optimization to generate a gcode file; S5, performing printing according to the generated gcode file.

[0009] Further, the specific process of S1 is as follows: Designing a bionic cobweb structure based on the characteristics of the natural cobweb structure to obtain a bionic cobweb structure; Performing parametric modeling based on the bionic cobweb structure to construct a cobweb structure model; The characteristics of the natural cobweb structure include two structural characteristics of the inner diameter line and the spiral line of the web. The cobweb structure includes 4 symmetric axes and 3 circumferential lines. The circumferential lines include logarithmic spiral circumferential lines, equidistant spiral circumferential lines, and equidistant circumferential lines.

[0010] Further, in S3, when planning a path in space, the positions of the starting point and the ending point are on the same height level in the vertical direction, that is, the starting point and the ending point are on the same Z-axis, and the Z-axis represents the vertical direction; there are large structures and the original structure shape is not changed; the large structures include structures with complete axes and structures with complete circumferential lines.

[0011] Further, in S3, the path planning in space includes: Selecting 2 layers of cobwebs as one cycle, setting the starting point of the spiral line of the first layer of cobweb as the starting point of the printing path, and setting the starting point of the spiral line of the second layer of cobweb as the ending point of the printing path.

[0012] Further, for the printing path, a complete printing cycle includes a circumferential line printing path and an axis printing route; Select 2 layers of spider webs as one cycle. Set the starting point of the spiral line of the first layer of spider web as the starting point of the printing path, and the starting point of the spiral line of the second layer of spider web as the ending point of the printing path; Extract the complete structure of the circumferential line, perform a complete circumferential line printing on the first layer of spider web, rise to the second layer of spider web, and complete the path by making interlayer jumps between the first layer of spider web and the second layer of spider web; Select 2 layers of spider webs as one cycle again. Set the starting point of the spiral line of the third layer of spider web as the starting point of the printing path, and the starting point of the spiral line of the fourth layer of spider web as the ending point of the printing path; Extract the complete structure of the axis line, perform a complete axis line printing on the third layer of spider web, rise to the fourth layer of spider web, and complete the path by making interlayer jumps between the third layer of spider web and the fourth layer of spider web; Furthermore, the specific process of S4 includes generating G-code for one circumferential line printing path and one axis line printing route; Based on the generated G-code, give an overall printing speed of 140 mm / min, and then reduce the speed at the turning corners and jumping points to 40 mm / min to generate a gcode file.

[0013] Furthermore, the logarithmic spiral circumferential line distribution is: , where r is the polar radius, θ is the polar angle, c is the coefficient; the equidistant spiral circumferential line distribution is , where r is the polar radius, a is the distance from the starting point to the origin, θ is the polar angle, b is the spacing between adjacent turns; the equidistant circumferential line distribution is 20 mm equidistant.

[0014] Furthermore, in S5, the execution of printing includes: transmitting the generated gcode file to the control system of the 3D printer, and controlling the print head to move and extrude materials according to the printing path.

[0015] In a second aspect, the present invention provides a path planning system for a 3D printed spider web structure of composite material continuous fibers for the above-mentioned path planning method for a 3D printed spider web structure of composite material continuous fibers, including: A construction module, which designs a bionic spider web structure based on the characteristics of the natural spider web structure; A generation module, which establishes a spider web structure model based on the bionic spider web structure; A path planning module: judge whether there is an Euler circuit in the plane of the graph of the spider web structure model. If the spider web structure model does not have an Euler circuit in the plane, then plan a path in space to obtain a printing path; Optimization acquisition module: Generate G-code based on the printing path, perform speed adjustment and path optimization, and generate a gcode file; Printing module: Execute printing according to the generated gcode file.

[0016] Furthermore, there are conditional restrictions for the path planning module to plan paths in space, specifically including that the positions from the start to the end are at the same height level in the vertical direction, that is, the starting point and the ending point are on the same Z-axis, and the Z-axis represents the vertical direction; there are large structures and the original structural shape remains unchanged; the large structures include structures with complete axes and structures with complete perimeters.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a path planning method for 3D printing a cobweb structure of continuous fiber composite materials, which combines continuous fiber reinforced composite materials, path planning and 3D printing technology, introduces the Euler path idea into 3D printing path planning, and plans paths in space; through the path optimization of continuous fibers, the fiber paths maintain the advantage of continuity, improve the overall strength of the structure, and this planning method avoids frequent fiber shearing during the printing process, reducing the time waste caused by shearing operations; at the same time, it reduces the meaningless movement of the print head in space, that is, the idle stroke, making the movement of the print head more purposeful, greatly shortening the overall printing time and improving production efficiency.

[0018] Specifically, the present invention adopts a cobweb structure with staggered symmetric axes and perimeters. In actual printing, continuous fibers are laid along the axes and perimeters. When the component is stressed, the symmetric axes can evenly disperse the external force to the entire structure, and the perimeter structure can effectively resist radial and circumferential stresses, giving full play to the collaborative load-bearing advantage of continuous fibers, avoiding stress concentration, and significantly enhancing the overall strength of the structure, meeting the requirements for high-strength components in fields such as aerospace and automotive manufacturing.

[0019] Specifically, the present invention flexibly responds to the printing requirements of various complex structures by planning paths in space, adjusting the printing speed, etc. for structures with different complexities. Whether it is a special-shaped component with a complex curved surface or a part with a special hollow structure inside, high-quality printing can be achieved by adjusting the design and path planning, breaking through the limitations of traditional manufacturing processes in the manufacturing of complex structures.

[0020] Specifically, the present invention adjusts the speed of the generated G-code. On the premise of ensuring the printing efficiency, it reduces the speed at the corners to avoid problems such as material accumulation and wire drawing caused by too high speed, reduces the scrap rate caused by printing quality problems, and saves production costs. At the same time, the efficient printing process reduces the equipment operation time and manual intervention, further reducing the energy consumption cost and labor cost, and realizing the maximization of economic benefits. Description of the Drawings

[0021] Figure 1 It is a schematic flow chart of a path planning method for a composite continuous fiber 3D printing cobweb structure in an embodiment of the present invention.

[0022] Figure 2 It is a schematic diagram of the overall bionic cobweb structure in an embodiment of the present invention.

[0023] Figure 3 It is a schematic diagram of the complete axis structure in an embodiment of the present invention.

[0024] Figure 4 It is a schematic diagram of the complete circumferential line structure in an embodiment of the present invention.

[0025] Figure 5 It is a schematic diagram of the first circumferential line printing path in an embodiment of the present invention.

[0026] Figure 6 It is a schematic diagram of the first axis printing path in an embodiment of the present invention. Detailed Embodiments

[0027] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Refer to Figure 1 , the present invention provides a path planning method for a composite continuous fiber 3D printing cobweb structure, including the following steps: S1, designing a bionic cobweb structure based on the characteristics of the natural cobweb structure; Design a bionic cobweb structure based on the characteristics of natural cobweb structures to obtain a bionic cobweb structure; Through the observation of natural cobwebs and the cobweb-spinning paths of spiders (orb-weaving spiders), taking the two structural characteristics of the inner diameter lines of the web (major ampullate silk) and the spiral lines (flagelliform silk) as the main research objects, a bionic cobweb structure is designed, such as Figure 2 shown is an overall bionic cobweb; the bionic cobweb structure includes 4 symmetric axes and 3 circumferential lines, and the circumferential lines include logarithmic spiral circumferential lines, equidistant spiral circumferential lines, and equidistant circumferential lines; the distribution of the logarithmic spiral circumferential lines is: , where r is the polar radius, θ is the polar angle, c is the coefficient; the distribution of the equidistant spiral circumferential lines is , where r is the polar radius, a is the distance from the starting point to the origin, θ is the polar angle, b is the spacing between adjacent turns; the distribution of the equidistant circumferential lines is equidistant at 20 mm; although the 3 circumferential lines are different, the method of this invention can obtain non-breaking and non-overlapping routes.

[0030] S2. Construct a cobweb structure model based on the bionic cobweb structure; construct a cobweb structure model through CAD software. The maximum axis diameter of the whole structure is 80 mm, the height is 40 mm, and the wall thickness is 3 mm.

[0031] S3. Determine whether there is an Euler circuit in the plane of the graph of the cobweb structure model. If there is no Euler circuit in the plane of the cobweb structure model, plan a path in space to obtain a printing path; Import the constructed cobweb structure model into a path planning program, and determine whether there is an Euler circuit in the plane of the graph of the input cobweb structure model. This path planning program is a Python script and uses a mathematical algorithm. First, determine whether there is an Euler path in the graph. If there is an Euler path, directly give the existing Euler path. If there is no Euler path in the plane, then turn to find a path in space; there are specific conditions for planning a path in space, including that the positions of the starting point and the ending point are on the same height level in the vertical direction, that is, the starting point and the ending point are on the same Z-axis, and the Z-axis represents the vertical direction; there are large structures and the original structural shape is not changed; the large structures include structures with complete axes and structures with complete circumferential lines.

[0032] The present invention proposes to plan a path in space, that is, regarding two or more layers as a cyclic unit for path planning, jumping between layers to achieve a continuous path without breaks and non-overlapping printing paths on the same plane; in order to achieve cycling, the starting point and the ending point of each path need to be on the same Z-axis (i.e., the x coordinate and the y coordinate are the same). Two types of paths are designed based on the circumferential line and the axial line; also considering that both the circumferential line and the axial line play important roles in the structure, the circumferential line and the axial line alternating path is used as the cyclic unit (a total of four layers) to ensure the uniform distribution of the circumferential line and the axial line; the repeated paths within the layer are eliminated through the interweaving and jumping between layers, and the interlayer adhesion is increased.

[0033] The specific path planning is as follows: Select two-layer cobwebs as one cycle, set the starting point of the spiral line of the first-layer cobweb as the starting point of the printing path, and set the starting point of the spiral line of the second-layer cobweb as the ending point of the printing path. A complete printing cycle of the printing path includes one circumferential line printing path as Figure 4 shown, and one axial line printing route as Figure 5 shown; Select two-layer cobwebs as one cycle, set the starting point of the spiral line of the first-layer cobweb as the starting point of the printing path (-2.94, 5.75, 0), and set the starting point of the spiral line of the second-layer cobweb as the ending point of the printing path (-2.94, 5.75, 0.15); Extract the complete structure of the circumferential line, as Figure 3 shown, perform a complete circumferential line printing on the first-layer cobweb. At this time, the print head moves along the set circumferential line path, the print head rises to the second-layer cobweb, and the path is completed by jumping between the first-layer cobweb and the second-layer cobweb; Select two-layer cobwebs as one cycle again, set the starting point of the spiral line of the third-layer cobweb as the starting point of the printing path, and set the starting point of the spiral line of the fourth-layer cobweb as the ending point of the printing path; Extract the complete structure of the axial line, as Figure 4 shown, perform a complete axial line printing on the third-layer cobweb. The print head moves along 4 symmetric axial lines for printing. After completion, it rises to the fourth-layer cobweb, and the path is completed by jumping between the third-layer cobweb and the fourth-layer cobweb; through the above operations, a complete printing path is obtained.

[0034] A complete printing cycle ensures the uniform distribution of the complete circumferential line and radial line in the printed component. It should be noted that the circumferential line refers to the spiral lines in the bionic cobweb structure one by one, and the axial line refers to the symmetric radial lines in the bionic cobweb structure.

[0035] It should be noted that in Figure 5 and Figure 6 , A represents the starting point and B represents the ending point.

[0036] S4. Generate G-code based on the printing path, perform speed adjustment and path optimization, and generate a gcode file. After determining the printing path, during the actual printing process, the printing speed should also be adjusted according to the printing situation. Since the interlayer jump distance is short, a variable-speed printing strategy is adopted. The printing speed is reduced at the jump to ensure the accurate placement of the fibers. Specifically, a overall printing speed of 140 mm / min is given based on the generated G-code, and the speed at the corners and jumps is reduced to 40 mm / min to generate the gcode file.

[0037] S5. Execute printing according to the generated gcode file. Transfer the generated gcode file to the control system of the 3D printer, and control the print head to move and extrude materials along the printing path; through the 3D printer, print the formed component according to the generated gcode file.

[0038] On the other hand, the present invention also provides a path planning system for 3D printing a cobweb structure of continuous fibers of a composite material, which is used for the above-mentioned path planning method for 3D printing a cobweb structure of continuous fibers of a composite material, and includes: A construction module, which designs a bionic cobweb structure based on the characteristics of the natural cobweb structure. Utilize the two structural characteristics of the inner diameter lines and spiral lines in the natural cobweb structure, combined with the structure parameters set by the user, such as the number of axis lines and the number of circumferential coils; perform cobweb structure design through parametric modeling software. For example, design a cobweb structure with 4 symmetric axis lines and 3 circumferential lines, and the circumferential line type can be selected from logarithmic spiral circumferential lines, equidistant spiral circumferential lines or equidistant circumferential lines.

[0039] A generation module, which establishes a cobweb structure model based on the bionic cobweb structure; after completing the design of the bionic cobweb structure, construct the designed bionic cobweb structure through CAD software to obtain the cobweb structure model.

[0040] A path planning module: Determine whether there is an Euler circuit in the plane of the cobweb structure model. If there is no Euler circuit in the plane of the cobweb structure model, plan a path in space according to the initial path of the cobweb structure to obtain the printing path. An optimization and acquisition module: Generate G-code based on the printing path generated by the path planning module, adjust the speed parameters in the G-code, and optimize the path at the same time to improve the printing efficiency and quality, and generate a gcode file. A printing module: Execute printing according to the generated gcode file to complete the printing task of the cobweb structure.

[0041] In some preferred embodiments of the present invention, the condition limitations for the path planning module to plan a path in space specifically include that the positions from the start to the end are at the same height level in the vertical direction, that is, the start point and the end point are on the same Z-axis, and the Z-axis represents the vertical direction; during the continuous fiber printing process, keeping the start point and the end point at the same Z-axis height can avoid additional stress concentration caused by height differences and ensure the flatness and stability of each layer of fiber laying. When the print head completes a path cycle at the same Z-axis height, the head and tail of the fiber are more naturally connected, and there will be no fiber stretching or relaxation phenomena caused by height jumps. There are large structures without changing the original structural shape; the large structures include structures with complete axes and structures with complete perimeters. The axis is the main load-bearing skeleton of the cobweb structure, and its integrity directly affects the load-bearing capacity of the structure. Ensuring the integrity of the axis structure in path planning allows continuous fibers to be continuously laid along the predetermined axis direction, enabling efficient transmission of external forces when stressed and avoiding load transmission failure caused by axis interruption. The perimeter structure plays a role in stabilizing and strengthening. Maintaining the integrity of the perimeter helps resist radial and circumferential stresses and ensures the stability of the structure in a complex stress environment.

[0042] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A path planning method for 3D printing a cobweb structure with continuous fibers of a composite material, characterized in that, It includes the following steps: S1. Design a bionic cobweb structure based on the characteristics of natural cobweb structures; S2. Establish a cobweb structure model based on the bionic cobweb structure; S3. Determine whether there is an Euler circuit in the plane of the cobweb structure model. If there is no Euler circuit in the plane of the cobweb structure model, plan a path in space to obtain a printing path; S4. Generate G-code based on the printing path and perform speed adjustment and path optimization to generate a gcode file; S5. Execute printing according to the generated gcode file.

2. The path planning method for 3D printing a bionic cobweb structure with continuous fibers of a composite material according to claim 1, wherein, The specific process of S1 is as follows: Design a bionic cobweb structure based on the characteristics of natural cobweb structures to obtain a bionic cobweb structure; Perform parametric modeling based on the bionic cobweb structure to construct a cobweb structure model; The characteristics of the natural cobweb structure include two structural characteristics: inner diameter lines and spiral lines. The cobweb structure includes 4 symmetric axes and 3 circumferential lines. The circumferential lines include logarithmic spiral circumferential lines, equidistant spiral circumferential lines, and equidistant circumferential lines.

3. A method for path planning of a cobweb structure in continuous fiber 3D printing of a composite material according to claim 1, characterized in that, When planning a path in space in S3, the positions of the starting point and the ending point are on the same height level in the vertical direction, that is, the starting point and the ending point are on the same Z-axis, and the Z-axis represents the vertical direction; There are large structures without changing the original structural shape; the large structures include structures with complete axes and structures with complete circumferential lines.

4. A method for path planning of a continuous fiber 3D printed cobweb structure of a composite material according to claim 3, characterized in that, In S3, the path planning in space includes: Select 2 layers of cobwebs as one cycle, set the starting point of the spiral line of the first layer of cobweb as the starting point of the printing path, and set the starting point of the spiral line of the second layer of cobweb as the ending point.

5. A method for path planning of a composite material continuous fiber 3D printed cobweb structure according to claim 4, characterized in that, For the printing path, a complete printing cycle includes a circumferential line printing path and an axis printing route; Select 2 layers of cobwebs as one cycle, set the starting point of the spiral line of the first layer of cobweb as the starting point of the printing path, and set the starting point of the spiral line of the second layer of cobweb as the ending point; Extract the structure with a complete circumferential line, perform a complete circumferential line printing on the first layer of cobweb, rise to the second layer of cobweb, and complete the path by making an interlayer jump between the first layer of cobweb and the second layer of cobweb; Select 2 layers of cobwebs as one cycle again, set the starting point of the spiral line of the third layer of cobweb as the starting point of the printing path, and set the starting point of the spiral line of the fourth layer of cobweb as the ending point; Extract the structure with a complete axis, perform a complete axis printing on the third layer of cobweb, rise to the fourth layer of cobweb, and complete the path by making an interlayer jump between the third layer of cobweb and the fourth layer of cobweb.

6. A method for path planning of a composite material continuous fiber 3D printed cobweb structure according to claim 5, characterized in that The specific process of S4 includes generating G-code for a circumferential line printing path and an axis printing route; Based on the generated G-code, give an overall printing speed of 140 mm / min, and then reduce the speed at the turning points and jumping points to 40 mm / min to generate a gcode file.

7. A method for path planning of a composite material continuous fiber 3D printed cobweb structure according to claim 2, characterized in that, The logarithmic spiral circumferential distribution is as follows: , where r is the polar radius, θ is the polar angle, c is the coefficient; equidistant The spiral circumferential distribution is , where r is the polar radius, a is the distance from the starting point to the origin, θ is the polar angle, b is the spacing between adjacent turns; The equidistant circumferential lines are distributed at an interval of 20 mm.

8. A method for path planning of a composite material continuous fiber 3D printed spider web structure according to claim 1, characterized in that, In S5, the printing process includes: transmitting the generated gcode file to the control system of the 3D printer, and controlling the print head to move and extrude materials according to the printing path.

9. A path planning system for 3D printing a cobweb structure with continuous fibers of a composite material, which is used for the path planning method of 3D printing a cobweb structure with continuous fibers of a composite material according to any one of claims 1-8, characterized in that, It includes: A construction module that designs a bionic cobweb structure based on the characteristics of natural cobweb structures; A generation module that establishes a cobweb structure model based on the bionic cobweb structure; Path planning module: Determine whether there is an Euler circuit in the plane of the cobweb structure model. If there is no Euler circuit in the plane of the cobweb structure model, plan a path in space to obtain the printing path; Optimization acquisition module: Generate G-code based on the printing path, perform speed adjustment and path optimization, and generate a gcode file; Printing module: Execute printing according to the generated gcode file.

10. A continuous fiber 3D printing cobweb structure path planning system for a composite material according to claim 9, characterized in that, There are conditional restrictions on the path planning module to plan a path in space. Specifically, the positions from the start to the end are at the same height level in the vertical direction, that is, the starting point and the ending point are on the same Z-axis, and the Z-axis represents the vertical direction; There are large structures and the original structural shape remains unchanged; the large structures include structures with complete axes and structures with complete perimeters.

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