CN-116373290-B - Additive manufacturing method, apparatus, device, and computer-readable storage medium

CN116373290BCN 116373290 BCN116373290 BCN 116373290BCN-116373290-B

Abstract

The application provides an additive manufacturing method, a device, equipment and a computer readable storage medium, wherein the method comprises the steps of obtaining a pose conversion relation of a coordinate system of a printing substrate relative to a coordinate system of a mechanical arm base, wherein the mechanical arm base is used for fixing a multi-axis mechanical arm; the method comprises the steps of obtaining a three-dimensional filling path of a target structure, converting the three-dimensional filling path into a machine motion track according to a pose conversion relation of a coordinate system of a printing substrate relative to a coordinate system of a mechanical arm base, and driving an end printing tool positioned at the end of the multi-axis mechanical arm to print a target material on the printing substrate according to the machine motion track by using the multi-axis mechanical arm. The application can be used to make structures having non-planar fiber rows.

Inventors

ZHANG GUOQUAN
XIONG YI
WANG YAOHUI
CHEN ZIWEN
XU XUGUANG
Ruan Kaicheng

Assignees

南方科技大学

Dates

Publication Date: 20260508
Application Date: 20230421

Claims (14)

1. An additive manufacturing method, comprising: Acquiring a pose conversion relation of a coordinate system of a printing substrate relative to a coordinate system of a mechanical arm base, wherein the mechanical arm base is used for fixing a multi-axis mechanical arm; Acquiring a three-dimensional filling path of a target structure; converting the three-dimensional filling path into a machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base; driving an end printing tool positioned at the end of the multi-axis mechanical arm to print a target material on the printing substrate by using the multi-axis mechanical arm according to the movement track of the machine; the three-dimensional fill path includes a first print path representation including three-dimensional coordinates of a plurality of discrete path points in a coordinate system of the print substrate and a normal vector; The converting the three-dimensional filling path into a machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base comprises the following steps: Acquiring a pose conversion relation of a coordinate system of a terminal printing tool relative to a coordinate system of a mechanical arm base of the multi-axis mechanical arm; Converting the first printing path representation into a second printing path representation under the coordinate system of the end printing tool according to the pose conversion relation of the coordinate system of the end printing tool relative to the coordinate system of the mechanical arm base; And converting the second printing path representation into a machine motion track under the coordinate system of the mechanical arm base according to the pose conversion relation of the coordinate system of the printing base relative to the coordinate system of the mechanical arm base.
2. The method of claim 1, wherein the converting the first print path representation into a second print path representation under the coordinate system of the end print tool according to the pose conversion relationship of the coordinate system of the end print tool relative to the coordinate system of the robotic arm base, comprises: And constructing the pose of the ith discrete path point in the coordinate system of the end printing tool by taking the ith discrete path point in the first printing path representation as an origin and taking the unitized normal vector as a Z axis of the coordinate system of the end printing tool, wherein the second printing path representation comprises the pose of each discrete path point in the coordinate system of the end printing tool.
3. The method of claim 1, wherein the target material comprises a continuous fiber reinforced composite.
4. A method according to claim 3, wherein the target material comprises fibers and a resin, the method further comprising: acquiring section parameters and printing speed of a single-pass printing sample; Determining the feed rate of the fibers and the feed rate of the resin according to the section parameters and the printing speed; The method for printing target materials on the printing substrate by using the multi-axis mechanical arm to drive an end printing tool positioned on the end of the multi-axis mechanical arm comprises the following steps: printing a target material on the print substrate according to the feed rate of the fibers and the feed rate of the resin.
5. The method of claim 4, further comprising obtaining a fiber correction factor, correcting the fiber feed rate based on the fiber correction factor, The method for printing target materials on the printing substrate by utilizing the multi-axis mechanical arm to drive an end printing tool positioned at the end of the multi-axis mechanical arm comprises the steps of printing the fibers according to the modified fiber feeding rate; and/or the number of the groups of groups, The method further includes obtaining a resin correction coefficient, correcting the resin feed rate based on the resin correction coefficient, The method for printing target materials on the printing substrate by utilizing the multi-axis mechanical arm to drive an end printing tool positioned on the end of the multi-axis mechanical arm comprises the step of printing the resin according to the modified resin feeding rate.
6. The method of claim 5, wherein the fiber feed rate after correction is less than or equal to the fiber feed rate before correction, and the resin feed rate after correction is greater than or equal to the resin feed rate before correction.
7. The method according to any one of claims 1 to 6, further comprising, before the acquiring the pose conversion relation of the coordinate system of the print substrate with respect to the coordinate system of the robot base: acquiring a first pose conversion relation, wherein the first pose conversion relation is a pose conversion relation of a coordinate system of a tail end printing tool relative to a coordinate system of the tail end of a mechanical arm; acquiring a second pose conversion relationship, wherein the second pose conversion relationship is a pose conversion relationship of a coordinate system of the tail end of the mechanical arm relative to a coordinate system of the mechanical arm base; determining the pose conversion relation of the coordinate system of the tail end printing tool relative to the coordinate system of the mechanical arm base according to the first pose conversion relation and the second pose conversion relation; And determining the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base according to the pose conversion relation of the coordinate system of the terminal printing tool relative to the coordinate system of the mechanical arm base.
8. The method of claim 7, wherein prior to obtaining the pose conversion relationship of the coordinate system of the print substrate relative to the coordinate system of the robot base, further comprising: And storing the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base.
9. The method of claim 7, wherein the obtaining the first pose conversion relationship comprises: The multi-axis mechanical arm drives the tail end printing tool to sequentially contact with the same reference point on the printing substrate at least twice in different postures; acquiring a pose conversion relation of a coordinate system of the tail end of the mechanical arm relative to a coordinate system of the mechanical arm base when the mechanical arm is contacted each time; And calculating a position vector of the coordinate system of the end printing tool relative to the coordinate system of the tail end of the mechanical arm according to the pose conversion relation of the coordinate system of the tail end of the mechanical arm relative to the base of the mechanical arm in the at least two contacts.
10. The method of claim 7, wherein the obtaining the first pose conversion relationship comprises: Determining three characteristic points on the end printing tool and the position relation of any two characteristic points in the three characteristic points in a coordinate system of the end printing tool, wherein the three characteristic points are not on the same straight line; The multi-axis mechanical arm drives the tail end printing tool, so that the three characteristic points on the tail end printing tool are sequentially contacted with corresponding preset reference points on the printing substrate; Respectively acquiring the pose conversion relation of the tail end of the mechanical arm relative to the mechanical arm base when each characteristic point of the tail end printing tool contacts with the corresponding preset reference point; According to the position relation of any two of the three feature points in the coordinate system of the tail end printing tool and the pose conversion relation of the tail end of the mechanical arm relative to the base of the mechanical arm when each feature point of the tail end printing tool contacts with the corresponding preset reference point, calculating a rotation matrix of the coordinate system of the tail end printing tool relative to the coordinate system of the tail end of the mechanical arm.
11. The method of claim 7, wherein the obtaining the pose conversion relationship of the coordinate system of the print substrate with respect to the coordinate system of the robot base according to the pose of the coordinate system of the end print tool with respect to the coordinate system of the robot base comprises: Determining three characteristic points on the printing substrate and the position relation of any two characteristic points in the three characteristic points in a coordinate system of the printing substrate, wherein the three characteristic points are not on the same straight line; The multi-axis mechanical arm drives the tail end printing tool to be respectively contacted with the three characteristic points; Respectively acquiring the pose conversion relation of the tail end of the mechanical arm relative to the mechanical arm base when the tail end printing tool contacts each characteristic point; and determining the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base according to the position relation of any two of the three feature points in the coordinate system of the printing substrate and the pose conversion relation of the mechanical arm end relative to the mechanical arm base when the end printing tool is contacted with each feature point.
12. An additive manufacturing apparatus, comprising: The first acquisition module is used for acquiring the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base, and the mechanical arm base is used for fixing the multi-axis mechanical arm; the second acquisition module is used for acquiring a three-dimensional filling path of the target structure; The conversion module is used for converting the three-dimensional filling path into a machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base; The printing module is used for driving an end printing tool positioned at the end of the multi-axis mechanical arm to print a target material on the printing substrate by using the multi-axis mechanical arm according to the movement track of the machine; the three-dimensional fill path includes a first print path representation including three-dimensional coordinates of a plurality of discrete path points in a coordinate system of the print substrate and a normal vector; The conversion module is used for converting the three-dimensional filling path into a machine motion track when executing the step of converting the three-dimensional filling path into the machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base: Acquiring a pose conversion relation of a coordinate system of a terminal printing tool relative to a coordinate system of a mechanical arm base of the multi-axis mechanical arm; Converting the first printing path representation into a second printing path representation under the coordinate system of the end printing tool according to the pose conversion relation of the coordinate system of the end printing tool relative to the coordinate system of the mechanical arm base; And converting the second printing path representation into a machine motion track under the coordinate system of the mechanical arm base according to the pose conversion relation of the coordinate system of the printing base relative to the coordinate system of the mechanical arm base.
13. An additive manufacturing apparatus comprising a memory and a processor, the memory having executable code stored thereon which when processed by the processor causes the processor to perform the method of any of claims 1 to 11.
14. A computer readable storage medium, characterized in that executable code is stored, which when executed by a processor of an additive manufacturing apparatus, causes the additive manufacturing apparatus to perform the method of any one of claims 1 to 11.

Description

Additive manufacturing method, apparatus, device, and computer-readable storage medium Technical Field The present application relates to the field of experimental equipment, and in particular, to an additive manufacturing method, apparatus, device, and computer readable storage medium. Background Additive manufacturing techniques are based on layered manufacturing principles, and, starting from a digital model, manufacture of three-dimensional solid parts is achieved through a layer-by-layer accumulation rather than removal process, and according to the forming process, the forming process can be divided into fused deposition modeling (Fused Deposition Modeling, FDM), stereolithography (Stereolithography, SLA), powder bed fusion (Powder Bed Fusion, coordinate system of P-arm base), and the like. More and more research is beginning to explore the possibilities of composite additive manufacturing. The composite material realizes complementation of the performances of different material components through the design of two or more material components, thereby obtaining more excellent performances. In particular, the composite material which takes resin as a matrix and continuous fiber as a reinforcement has excellent mechanical property and light weight, so that the composite material has wide application in advanced manufacturing fields such as aerospace, automobiles, ships and the like. Based on the idea of combining the advantages of composite and additive manufacturing techniques, continuous Fiber-Reinforced Polymer Additive Manufacturing (CFRP-AM) has been proposed by the learner. Meanwhile, CFRP-AM technology can selectively deposit continuous fiber reinforced composite materials with spatial distribution, and the manufactured parts of the CFRP-AM technology are often light and high in strength, and are widely focused in industry. The CFRP-AM technique can be classified into a material extrusion type (Material Extrusion, MEX), a directed energy Deposition type (DED), a lamination bonding type (LAMINATED OBJECTIVE MANUFACTURING, LOM), and the like according to molding processes. CFRP-AM technology has very broad application prospects, but many challenges remain because it has short time to appear and involves many disciplines such as digital modeling, electromechanical control, material science, etc. For example, existing CFRP-AM fabrication equipment based on three degree of freedom motion platforms are not suitable for fabricating complex engineering structures with non-planar fiber lay-ups. Disclosure of Invention The present application provides an additive manufacturing method, apparatus, device and computer readable storage medium that can be used to manufacture structures having non-planar fiber layups. In a first aspect, the present application provides an additive manufacturing method comprising: Acquiring a pose conversion relation of a coordinate system of a printing substrate relative to a coordinate system of a mechanical arm base, wherein the mechanical arm base is used for fixing a multi-axis mechanical arm; Acquiring a three-dimensional filling path of a target structure; converting the three-dimensional filling path into a machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base; And driving an end printing tool positioned at the end of the multi-axis mechanical arm to print a target material on the printing substrate by using the multi-axis mechanical arm according to the movement track of the machine. Optionally, the three-dimensional fill path comprises a first print path representation comprising three-dimensional coordinates of a plurality of discrete path points in a coordinate system of the print substrate and a normal vector; The converting the three-dimensional filling path into a machine motion track according to the pose conversion relation of the coordinate system of the printing substrate relative to the coordinate system of the mechanical arm base comprises the following steps: Acquiring a pose conversion relation of a coordinate system of a terminal printing tool relative to a coordinate system of a mechanical arm base of the multi-axis mechanical arm; Converting the first printing path representation into a second printing path representation under the coordinate system of the end printing tool according to the pose conversion relation of the coordinate system of the end printing tool relative to the coordinate system of the mechanical arm base; And converting the second printing path representation into a machine motion track under the coordinate system of the mechanical arm base according to the pose conversion relation of the coordinate system of the printing base relative to the coordinate system of the mechanical arm base. Optionally, the converting the first print path representation into a second print path representation under the coordinate system