Method for generating a path for wire arc additive manufacturing
A method for generating a path for wire arc additive manufacturing is provided in this disclosure, which relates to the technical field of additive manufacturing, and includes following steps: generating a model in which a three-dimensional model is established according to angle constraint of the wire arc additive manufacturing; layering the model in which the three-dimensional model is layered along a height direction; selecting discrete points in which a plurality of discrete points are selected according to curve curvature for different layers of the model; obtaining coordinates of the discrete points; determining a printing direction; obtaining coordinates of the discrete points and corresponding printing directions; and generating a control program. The method according to the disclosure is simple, has a wide application range, can satisfy printing of complex shapes, and can serve to well form for structures with maximum printing inclination of 60 degrees, thus improving forming effect of printing.
1 . A method for generating a path for wire arc additive manufacturing (WAAM), comprising following steps:
S 1 , generating a model in which a three-dimensional model is established according to angle constraint of the wire arc additive manufacturing;
S 2 , layering the model in which the three-dimensional model is layered along a height direction;
S 3 , selecting discrete points in which a plurality of discrete points are selected according to curve curvature for different layers of the model;
S 4 , obtaining coordinates of the discrete points in which a tangent of the curve at one of the discrete points is set as an X axis, and a normal at the one of the discrete points to a curved surface is set as a Y axis, the X axis and the Y axis constituting a point plane, and a normal direction of the point plane is set as a Z axis;
S 5 , determining a printing direction in which a reverse direction of a vector c obtained by adding a unit vector a of the Z axis in step S 4 to a unit vector b of a world-coordinate Z 0 axis is determined as the printing direction of an arc welding tool head;
S 6 , sequentially obtaining coordinates of the selected plurality of discrete points and corresponding printing directions according to the steps S 3 and S 4 ; and
S 7 , writing a motion instruction according to robot grammar rules, and adding an arc welding start instruction before the motion instruction and adding an arc welding stop instruction after the motion instruction so as to generate a control program;
wherein the control program is configured to be stored on a non-transitory computer readable medium and the control program is executed by a processor of a WAAM printer to produce a product according to the three-dimensional model of S 1 ;
the WAAM printer comprises a printing robotic arm; and
the printing robotic arm comprises the arc welding tool head.
2 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein a direction offset coefficient n is set according to complexity of a structure of the three-dimensional model in step S 5 , the printing direction of the arc welding tool head is a reverse direction of a vector c obtained by adding the unit vector a of the Z axis in step S 4 to a product of the unit vector b of the world-coordinate Z 0 axis multiplied by the direction offset coefficient n (i.e. {right arrow over (a)}+n*{right arrow over (b)}={right arrow over (c)}), and the more complex the structure of the three-dimensional model is, the greater a value of the direction offset coefficient n is.
3 . The method for generating the path for wire arc additive manufacturing according to claim 2 , wherein the direction offset coefficient n ranges from 0.1 to 1.
4 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein the three-dimensional model in step S 1 is a triangular mesh model.
5 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein a thickness of each of the layers in layering in the step S 2 ranges from 0.5 to 3.5 mm.
6 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein in the step S 3 , arc welding starting points of different layers are randomly determined.
7 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein the greater the curve curvature in step S 3 , the smaller a distance between selected discrete points, and the distance between the discrete points is from 1 to 3 mm.
8 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein the motion instruction of step S 7 is written according to the coordinates of the discrete points and the corresponding printing directions.
9 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein the method is applied to metal 3D printing manufacturing.
10 . The method for generating the path for wire arc additive manufacturing according to claim 1 , wherein the method is implemented by a 3D computer graphics and computer-aided design (CAD) application software.