CN105479740B - A kind of object automatic colouring device and method - Google Patents
A kind of object automatic colouring device and method Download PDFInfo
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- CN105479740B CN105479740B CN201410835006.0A CN201410835006A CN105479740B CN 105479740 B CN105479740 B CN 105479740B CN 201410835006 A CN201410835006 A CN 201410835006A CN 105479740 B CN105479740 B CN 105479740B
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Abstract
The invention discloses a kind of object automatic colouring devices, including workbench, fixing device, CNC five-axle linkage devices, nozzle, paint box and control system, wherein, fixing device includes a movable bar, rubber square is arranged in the movable bar front end, and rear end is slidably connected with a guide rail, is used for fixed model；Five degree of freedom are arranged in the CNC five-axle linkages device, are connect with nozzle by connecting rod, the movement for accurately controlling nozzle paints to object；The paint box loads CMYK pigment, and is connected respectively at nozzle by conveying pipeline.The automatic colouring device and method device of the present invention is widely applicable, easy to operate, can realize and coat the pattern color set automatically in monochromatic 3D printing external surface of objects, equally applicable for Sculpt Objects or some other object.
Description
Technical field
The present invention relates to 3 D-printing field shaping techniques, specifically, being related to a kind of object automatic colouring device and side
Method.
Background technology
It is three-dimensional（3D）Printing technique is the important component for adding formula manufacturing, and the technology is using digital model file as base
Plinth constructs object by layer-by-layer printing, is one with adhesive materials such as powdery metal, resin, wax or plastics
The integrated advanced manufacturing technology of kind.
In three-dimensional printing technology, one of them more difficult process is to carry out automatic colouring to object.Automatic colouring technology
It is that color spray is carried out to an external surface of objects, makes external surface of objects that the technology of specific pattern be presented.Traditional colouring technology packet
Include traditional manual colouring technology and traditional automatic colouring technology.
Traditional manual colouring technology is manually in body surface colored drawing, and colored drawing pattern is fairly simple, and speed is slow, and precision is not
Height, when multiple same objects are painted, the consistency of upper colored pattern can be very poor.
Traditional automatic colouring technology is to be based on general Machine-Tool Control, and nozzle only has 3 degree of freedom, is generally suitable only for surface
The object of protrusion is not appropriate for recess and curved surface, especially as the object of the surface of 3D printing complexity is unsuitable.With
The fast development for 3D printing technique proposes automatic colouring technology new requirement.
Invention content
The object of the present invention is to provide a kind of device and method of object automatic colouring, the present invention is by following technical side
Case is realized：
A kind of object automatic colouring device, including workbench, fixing device, CNC five-axle linkage devices, nozzle, pigment
Box and control system, wherein the fixing device includes a movable bar, and rubber square is arranged in the movable bar front end, after
End is slidably connected with a guide rail, is used for fixed model；Five degree of freedom are arranged in the CNC five-axle linkages device, pass through connecting rod
It is connect with nozzle, the movement for accurately controlling nozzle paints to object；The paint box loads CMYK pigment, and leads to
Conveying pipeline is crossed to be connected respectively at nozzle.
Further, the paint box include 4 units, be respectively used to dress tetra- kinds of pigment of CMYK, i.e., cyan, carmetta,
Yellow, black, four kinds of pigment are respectively connected to by conveying pipeline at 4 nozzles.
Preferably, coordinate origin is arranged in the workbench, is positioned for treating colouring object.
As preferred embodiment therein, the fixing device is arranged 6, in order marked as 1-6, wherein 1,3,5 is set as A
Group, 2,4,6 are set as B groups.
A kind of object automatic colouring method, carries out according to the following steps：
The first step：Model data is pre-processed；
Second step：Object to be painted is placed in strict accordance with the placement position of 3D data models, passes through fixing device
It is fixed；
Third walks：The movable bar of adjusting A group fixing devices and slidably device, then can be fixed on work by object to be painted
Make on platform；
4th step：A groups fixing device is fixed guide rail along Z axis together and is risen, and fixes and waits for colouring；
5th step：Control system accurately controls the movement of CNC five-axle linkage devices, and controls the ink-jet of nozzle；
6th step：B group fixing devices are treated colouring object and are fixed, and A group fixing devices are unclamped, and are playbacked；Nozzle is again
Secondary colouring, until finishing；
7th step：Object to be painted steadily is placed into workbench center, fixing device, nozzle playback by fixing device；
Further, in the first step, it includes, with image color information, being obtained according to 3D model datas to carry out pretreatment to model data
Path and colouring information subregion are divided into four and are not superimposed mutually by the color CMYK information on each position of model surface, but are wrapped
Region containing all outer surfaces, and by path and colouring information, it is uploaded to the control system of coloring means.
Wherein, it includes that the format conversion of RGB textures images, textures color space reflect to carry out pre-treatment step to model data
It penetrates, the process that nozzle path data generates.
It is preferred that in the 5th step, the CNC five-axle linkage device concurrent movements of all connection nozzles are defeated by nozzle
It send to different model areas, synchronization the same area controls a nozzle job, and switching carries out spray printing successively.
A kind of object automatic colouring device and method provided by the present invention, has the following advantages：
First：Two the automatic colouring process-type data processing of the present invention, automatic colouring processes, type data handling procedure packet
Textures image format conversion, the mapping of textures color space, the generation of nozzle path data are included, amount is the upper color control of high-precision at data
Accurate foundation is provided,
Second：Print procedure is joined according to the data for the data and nozzle ink-jet for generating nozzle mobile route using five axis of CNC
Dynamic system control nozzle movement ink-jet is completed, accurate positioning, and colouring quality is high；
Third：The automatic colouring device and method device of the present invention is widely applicable, easy to operate, can realize in monochromatic 3D
The pattern color set is coated in printing objects outer surface automatically, equally applicable for Sculpt Objects or some other object.
Description of the drawings
Attached drawing 1 is CNC five-axle linkage apparatus structure schematic diagrams；
Attached drawing 2 is fixture structure schematic diagram；
Attached drawing 3 is automatic colouring device vertical view；
Attached drawing 4 is fixing device forward sight；
Attached drawing 5 is CNC five-axle linkage ink discharge device front views；
Attached drawing 6 is model data process flowchart.
Wherein：
【Critical piece symbol description】
1, CNC five-axle linkages device；2, nozzle；3, workbench；4, fixing device.
Specific implementation mode
It is further details of to a kind of object automatic colouring device and method of the present invention with reference to the accompanying drawings and embodiments
Explanation.
The present invention is according to the three-dimensional data and surface color data of model in computer, using based on computer numerical control (CNC)
Lathe (Computer Numerical Control, CNC) five-axle linkage system control nozzle movement automatic colouring method with
Device.As shown in Figure 1, including workbench 3, fixing device 4, CNC five-axle linkages device 1, nozzle 2, paint box, conveying pipeline,
The structures such as USB interface and microprocessor structure.Wherein, the fixing device includes a movable bar, and the movable bar front end is set
Rubber square is set, rear end is slidably connected with a guide rail, is used for fixed model；Five freedom are arranged in the CNC five-axle linkages device
Degree, is connect by connecting rod with nozzle, the movement for accurately controlling nozzle paints to object；The paint box loads
CMYK pigment, and be connected respectively at nozzle by conveying pipeline.
Fixing device therein, as shown in Figure 2,3, 4：Fixing device includes preposition rubber square, movable bar, slidably
Device, fixed guide rail；The movable bar can be moved left and right together with rubber square；The slidably device can be led along fixation
Rail is moved；The preposition rubber square is contacted with object to be painted, and is needed to pressurize when fixed, is played and protect object to be painted
The effect on surface；Six fixing devices are divided into two groups, A groups（1、3、5）, B groups（2,4,6）；Have one on the workbench
Object to be painted is placed at coordinate origin by a coordinate origin mark, central point as shown in Figure 3, passes through consolidating on workbench
Determine device to fix object.Four nozzles correspond to tetra- kinds of pigment of CMYK respectively.The paint box includes 4 units, respectively
For filling tetra- kinds of pigment of CMYK, i.e. cyan, carmetta, yellow, black.4 kinds of pigment guide to 4 sprays respectively by 4 conveying pipelines
At head.Four CNC five-axle linkage devices, it is corresponding with the nozzle of four kinds of pigment respectively, control the movement locus of nozzle；It should
Device contains there are five degree of freedom, accurately controls the movement of nozzle, and the colouring of the object to be painted suitable for surface complexity.
The conveying pipeline is continuously connected at nozzle along the movable bar of CNC five-axle linkage devices.The USB interface and Wei Chu
Structure is managed, the data model for receiving computer transmission accurately controls nozzle movement and nozzle ink-jet.
Embodiment 1：Model data processing procedure：
The step of model data processing, is with reference to Fig. 6.
1, textures image format conversion
Indicate that the colouring information of threedimensional model is combined by three-dimensional modeling data and textures image data in computer
Form indicates.In Computer display field, textures image mostly indicates that rgb color pattern is by red with rgb color pattern
Color（Red）, green（Green）, blue（Blue）The variation and mutual superposition of three kinds of Color Channels are various to obtain
The color of various kinds, this standard include almost all colours that human eyesight can perceive.
When print field of painting carries out multicolour pattern output, it is defeated that full color pattern is usually carried out with cmyk color pattern
Go out.CMYK is also referred to as printing color pattern, is a kind of similar with RGB by reflective color mode, CMY indicates cyan
（Cyan）, magenta（Magenta）, yellow（Yellow）Three kinds of printing ink, K are derived from a kind of galley only using tusche
Key Plate.In theory, it is only necessary to tri- kinds of ink of CMY are sufficient, they three be added together should just obtain it is black
Color.But since currently manufactured technique can't produce the ink of high-purity, the result that CMY is added is really a kind of kermesinus.
From the foregoing, the first step of model data processing seeks to image being transformed into CMYK colors from rgb color pattern
Color pattern, the color format conversion before this colouring printing is actually a kind of image format conversion and a kind of color separation
Process, common mode have gray component method of substitution（Gray Component Replacement, GCR）.
CMY can be readily available by RGB, it is as follows：
C = 1.0 - ( R / 255.0f );
M = 1.0 - ( G / 255.0f );
Y = 1.0 - ( B / 255.0f );
It reuses gray scale method of substitution and can be obtained final CMYK, formula is described as follows：
K = min（C,M,Y）；
C = C – K；
M = M – K；
Y = Y – K；
Wherein min（）Each component minimum value is sought in expression.
In the above manner, obtaining the representation under the CMYK patterns of textures image.
2, the mapping of textures color space
The second step of model data processing is that the geometry of each point by textures image color information Yu object to be painted is empty
Between information be overlapped, generate model three dimensions colouring information.Three-dimensional model outer surface colouring information is usually using color
Color textures mode realizes that colored textures are that colour 2D patterns are corresponded on each 3D points by certain mapping function, realization
The colorization of 3D models outer surface.Colouring information for the arbitrary point P (u, v) in plane pattern is C (u, v), including 3
A component：
C(u, v) = (R(u, v), G(u, v), B(u, v))
This colouring information is mapped on 3d space point P (x, y, z).It is to be based on RGB in formula, and it is same for CMYK
Sample is suitble to.Determine that mapping relations are the key that this textures processes.We can select a kind of mapping relations so that colored 2D figures
Case may map to 3D models outer surface so that 3D models outer surface has specific color pattern.The data finally obtained are
（x,y,z,R,G,B）Or（x,y,z,C,M,Y,K）, this then corresponds to the All Paths of nozzle movement and nozzle sprays the complete of pigment
Portion's color information.
3, nozzle path data generates
The third step of model data processing is to generate routing information and its corresponding color spray information.For known threedimensional model
It, only need to be raw according to threedimensional model and its outer surface color information data with the object to be painted of its outer surface color information data
It is input to automatic colouring device at corresponding nozzle path data and ink ejection data, and by the path data of generation and ink ejection data
.
It is similar with the generation path in 3D printing technique to generate path, is to be carried out according to slice, i.e., threedimensional model is carried out
Slicing delamination processing obtains each layer outer surface path and its color information data, and by outer surface path data in space
Middle carry out subregion divides four regions not being superimposed, corresponding four nozzles, four nozzles of synchronization are respectively in four differences
Region color spray, carry out region switching after having sprayed, ensure each region synchronization only there are one nozzle.
Embodiment 2, the operation principle of five-axle linkage CNC:
Automatic colouring process is the routing information and nozzle color spray information according to generation, uses CNC five-axle linkage system controls
The process of nozzle movement ink-jet processed.
Computer digital control machine tool (Computer Numerical Control, CNC) is a kind of equipped with program control
The automated machine tool of system processed.The control system can be handled logically with journey as defined in control coding or other symbolic instructions
Sequence, and decoded, to make lathe make corresponding action.Compared with machine tool, CNC has following features：Machining accuracy
Height has stable processing quality；It can carry out the linkage of multi-coordinate, the part of energy machining shape complexity；When processing part change,
It is general only to need to change numerical control program, the Operational preparation time can be saved；The precision of lathe itself is high, rigid big.
CNC five-axle linkage systems, as shown in Figure 5：There are five degree of freedom, respectively：Around z-axis rotation angle θ, the radius of gyration
R, θ and r control nozzle move in a circle around z-axis；Along z-axis lifting amount h, control nozzle moves up and down, with rotary motion phase
Superposition, to realize that nozzle does the movement of pommel horse shape track；The left and right angle of inclination beta of nozzle and the front and back inclination alpha of nozzle, control nozzle more
For careful movement.
Embodiment 3, object automatic colouring process：
First, model data is pre-processed；The format that pretreatment includes RGB textures images is carried out to model data to turn
It changes, the process of the mapping of textures color space, the generation of nozzle path data.It is obtained with image color information according to 3D model datas
Path and colouring information subregion are divided into four and are not superimposed mutually by the color CMYK information on each position of model surface, but are wrapped
Region containing all outer surfaces, and by path and colouring information, it is uploaded to the control system of coloring means.
Second step：Object to be painted is placed in strict accordance with the placement position of 3D data models, passes through fixing device
It is fixed；Third walks：Object to be painted, then can be fixed on by the movable bar of adjusting A group fixing devices and slidably device
On workbench；4th step：A groups fixing device is fixed guide rail along Z axis together and is risen, and fixes and waits for colouring；5th step：Control
System accurately controls the movement of CNC five-axle linkage devices, and controls the ink-jet of nozzle；The CNC five-axle linkages of all connection nozzles
Nozzle is delivered to different model areas by device concurrent movement, and synchronization the same area controls a nozzle job, and successively
Switching carries out spray printing.6th step：B group fixing devices are treated colouring object and are fixed, and A group fixing devices are unclamped, and are playbacked；Spray
Head is painted again, until finishing；7th step：Object to be painted steadily is placed into workbench center, fixed dress by fixing device
It sets, nozzle playback.
Above-mentioned print procedure preferably may also include the cleaning to nozzle, and at regular intervals, nozzle is cleaned,
When cleaning, nozzle first playbacks at cleaning, and cleaning device sprays cleaning solution and cleaned automatically.The cleaning of four nozzles is to be staggered
Time.When some nozzle use finishes, need automatic homing at cleaning, initial position is arrived in then playback.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the those of ordinary skill in domain is made in the essential scope of the present invention, should also belong to this hair
Bright protection domain.
Claims (7)
1. a kind of object automatic colouring device, it is characterised in that：Including workbench, fixing device, CNC five-axle linkage devices,
Nozzle, paint box and control system, wherein
The fixing device includes a movable bar, and rubber square is arranged in the movable bar front end, and rear end is slided with a guide rail
Connection is used for fixed model；
The fixing device is arranged 6, and in order marked as 1-6, wherein 1,3,5 is set as A groups, 2,4,6 are set as B groups；
Five degree of freedom are arranged in the CNC five-axle linkages device, are connect with nozzle by connecting rod, for accurately controlling nozzle
Movement, paints to object；
The paint box loads CMYK pigment, and is connected respectively at nozzle by conveying pipeline.
2. a kind of object automatic colouring device according to claim 1, it is characterised in that：The paint box includes 4 lists
Member, is respectively used to dress tetra- kinds of pigment of CMYK, i.e. cyan, carmetta, yellow, black, four kinds of pigment is distinguished by conveying pipeline
It is connected at 4 nozzles.
3. a kind of object automatic colouring device according to claim 1, it is characterised in that：Coordinate is arranged in the workbench
Origin is positioned for treating colouring object.
4. a kind of object automatic colouring method, it is characterised in that：It carries out according to the following steps：
The first step：Model data is pre-processed；
Second step：Object to be painted is placed in strict accordance with the placement position of 3D data models, is carried out by fixing device
It is fixed；
Third walks：The movable bar of adjusting A group fixing devices and slidably device, then can be fixed on work by object to be painted and put down
On platform；
4th step：A groups fixing device is fixed guide rail along Z axis together and is risen, and fixes and waits for colouring；
5th step：Control system accurately controls the movement of CNC five-axle linkage devices, and controls the ink-jet of nozzle；
6th step：B group fixing devices are treated colouring object and are fixed, and A group fixing devices are unclamped, and are playbacked；Nozzle again on
Color, until finishing；
7th step：Object to be painted steadily is placed into workbench center, fixing device, nozzle playback by fixing device.
5. a kind of object automatic colouring method according to claim 4, it is characterised in that：In the first step, to model data
It includes, with image color information, obtaining the color CMYK on each position of model surface according to 3D model datas to carry out pretreatment
Path and colouring information subregion are divided into four and are not superimposed mutually, but include the region of all outer surfaces by information, and by path
With colouring information, it is uploaded to the control system of coloring means.
6. a kind of object automatic colouring method according to claim 5, it includes RGB to carry out pre-treatment step to model data
The process that the format conversion of textures image, the mapping of textures color space, nozzle path data generate.
7. a kind of object automatic colouring method according to claim 5, it is characterised in that in the 5th step, all connection nozzles
CNC five-axle linkage device concurrent movements, nozzle is delivered to different model areas, synchronization the same area controls a spray
Head work, and switching carries out spray printing successively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107116786B (en) * | 2017-04-26 | 2019-10-18 | 浙江大学 | Five axis three-dimension curved surface color printing systems of one kind and method |
| CN107696707B (en) * | 2017-07-07 | 2023-07-25 | 江苏科思机电工程有限公司 | Spray printing method and device for color patterns on workpiece |
| CN107351373B (en) * | 2017-07-24 | 2018-05-29 | 西安科技大学 | A kind of method of the colored 3D printing of compatible monochromatic 3D printing |
| CN108381905B (en) * | 2018-03-21 | 2020-03-06 | 北京印刷学院 | 3D printing color presentation method and device based on octree error diffusion |
| CN110756363B (en) * | 2019-11-08 | 2020-08-28 | 南京溧水高新创业投资管理有限公司 | Coloring device for engraving |
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| US6652256B2 (en) * | 2000-10-27 | 2003-11-25 | Dorsey D. Coe | Three-dimensional model colorization during model construction from computer aided design data |
| CN1116959C (en) * | 2001-03-15 | 2003-08-06 | 四川大学 | New-type mixed-coupled five-freedom virtual shaft machine tool |
| CN102476295A (en) * | 2010-11-22 | 2012-05-30 | 大连创达技术交易市场有限公司 | Novel five-axis linkage parallel-serial numerical control machine tool |
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| CN1410224A (en) * | 2001-09-27 | 2003-04-16 | 四川大学 | Two dimension moving three dimension rotating virtual shaft machine tool |
| CN102173211A (en) * | 2010-12-28 | 2011-09-07 | 石毅 | Five-axle linkage control three-dimensional printing device |
| CN203901726U (en) * | 2014-03-26 | 2014-10-29 | 朱兴建 | Drive mechanism of 3D (three-dimensional) printer |
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