CN109927280A

CN109927280A - Method and device that gabarit order is parsed, colored 3D printer

Info

Publication number: CN109927280A
Application number: CN201711350485.7A
Authority: CN
Inventors: 刘豫章; 宗贵升; 蔡振宇
Original assignee: SHENZHEN QIHAO TECHNOLOGY Co Ltd
Current assignee: SHENZHEN QIHAO TECHNOLOGY Co Ltd
Priority date: 2017-12-15
Filing date: 2017-12-15
Publication date: 2019-06-25
Anticipated expiration: 2037-12-15
Also published as: CN109927280B

Abstract

The method and apparatus parsed the embodiment of the invention discloses a kind of pair of gabarit order and a kind of color printer, wherein, the gabarit order is GCODE instruction of indication color 3D printer during plastotype is by way of successively accumulating to gradually form target mock-up for plastotype link when each 3D printing layer outmost turns moves；The described method includes: from and the connected host computer of the colored 3D printer from obtain outer ring GCODE file corresponding with any 3D printing layer of the target mock-up, the outer ring GCODE file includes X axis coordinate data and Y axis coordinate data corresponding to outer ring with the 3D printing layer；Outer ring corresponding with the outer ring of 3D printing layer path is calculated according to the X axis coordinate data and the Y axis coordinate data.Using the present invention, the air brushing time needed for can reducing the air brushing link of colored 3D printing improves air brushing efficiency.

Description

Method and device that gabarit order is parsed, colored 3D printer

Technical field

The method and device that is parsed the present invention relates to field of computer technology more particularly to a kind of pair of gabarit order, Colored 3D printer.

Background technique

Fused glass pellet (Fused Deposition Modeling, abbreviation FDM) is called fuse deposition modeling, is one Kind does not use the forming method of laser.FDM formation system mainly includes extruder head, thread feeding mechanism, movement mechanism, heating work The parts such as room, work top.Spray head makees the linked scan of XY axis under the control of the computer, and wire rod is heated to slightly higher in the showerhead In its fusing point.Spray head sprays the material of melting in scanning motion, rapidly cools to form a machined layer, and firmly with upper one layer It links together.Scanning superposition just forms a spatial entities layer by layer in this way.

Currently, the object that FDM 3D printer on the market prints only has a kind of color or several different face The combination of color material.Coloured by the surface to monochromatic model, with realize the technology of FDM colour 3D printing still not enough at It is ripe.Currently, FDM colour 3D printing on the market, using two sets of independent mechanical structures, wherein a set of is the machine for 3D plastotype Tool structure, another set of is the mechanical structure for plane air brushing, and mating corresponding two sets of autonomous control systems are replaced respectively Formula control, to realize FDM colour 3D printing.In the above scheme, 3D plastotype and coloring air brushing the two should closely tie originally The link of conjunction is but independently opened in control process.Thus cause flexibility, the freedom degree of coloring air brushing control lower, spray It is limited to draw angle, can not freely adjust air brushing angle, in addition whole 3D printer structure is excessively huge, not compact enough, plastotype The alt time of link and coloring link is too long and coloring air brushing will appear a large amount of idle runnings and air brushing time too during the motion It is long.

Summary of the invention

Based on this, for solve traditional technology in colored 3D printer for coloring air brushing control mechanical structure be used for The mechanical structure of plastotype moves idle running larger caused air brushing time mistake during colouring air brushing caused by being completely independent Technical problem long, air brushing efficiency is too low, spy propose method and device, a kind of colour that a kind of pair of gabarit order is parsed 3D printer.

First aspect of the present invention it is proposed the method that a kind of pair of gabarit order is parsed, the gabarit order are Indication color 3D printer plastotype link by way of successively accumulating plastotype to gradually form the process of target mock-up In each 3D printing layer outmost turns movement when GCODE instruction；

The described method includes:

Any 3D printing with the target mock-up is obtained from the host computer being connected with the colored 3D printer The corresponding outer ring GCODE file of layer, the outer ring GCODE file include X axis coordinate corresponding to the outer ring with the 3D printing layer Data and Y axis coordinate data；

It is calculated according to the X axis coordinate data and the Y axis coordinate data corresponding with the outer ring of the 3D printing layer outer Enclose path.

In one of the embodiments, the method also includes:

Determine target mechanical parameter；

The colour 3D that is used to indicate that the Spraying-drawing apparatus of the colored 3D printer issues in air brushing link is acquired to beat The Spraying-drawing apparatus of print machine carries out the original X-axis air brushing motor message of air brushing, and the original X-axis air brushing motor message is described in driving The motor message of the X-axis motor movement corresponding with the air brushing link of colored 3D printer；

It is described corresponding with the outer ring of the 3D printing layer according to the X axis coordinate data and Y axis coordinate data calculating Outer ring path after further include:

The original X-axis air brushing motor message is parsed according to the target mechanical parameter, the outer ring path, it is raw At the X-axis air brushing pulse drive signal for driving the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer And the axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of the driving colored 3D printer, with The Spraying-drawing apparatus is set to do cyclic motion along the outer ring of any 3D printing layer in air brushing link to complete air brushing.

In one of the embodiments, it is described according to the target mechanical parameter, the outer ring path to the original X-axis Air brushing motor message is parsed, and X-axis corresponding with the Spraying-drawing apparatus electricity for driving the colored 3D printer is generated The y-axis motor corresponding with the Spraying-drawing apparatus of the X-axis air brushing pulse drive signal of machine and the driving colored 3D printer Axis air brushing pulse drive signal, further includes:

According to the X axis coordinate data and the Y axis coordinate data, each coordinate that the outer ring path includes is calculated Transient excursion angle value at point；

The linear speed that the ink gun for the Spraying-drawing apparatus for including according to the original X-axis air brushing motor message is moved along X-axis Degree and the transient excursion angle value being calculated, calculate the ink gun along the outer ring path and do cyclic motion mistake The X-axis modified line velocity amplitude of journey moved along X-axis and the Y-axis modified line velocity amplitude moved along Y-axis；

According to the original X-axis air brushing motor message, the X-axis modified line velocity amplitude, Y-axis modified line velocity amplitude and institute State the X-axis air brushing that target machinery parametric configuration drives the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer The axis air brushing pulse of the y-axis motor corresponding with the Spraying-drawing apparatus of pulse drive signal and the driving colored 3D printer Driving signal.

The determining target mechanical parameter in one of the embodiments, further include:

Pre-stored target mechanical parameter is read,

Or,

The mechanical dimension for obtaining the colored 3D printer according to preset mechanical parameter computational algorithm and described gets Mechanical dimension calculate the target mechanical parameter.

Obtain the duty ratio of the original X-axis air brushing motor message；

According to the duty ratio and the target mechanical parameter calculate the ink gun of the Spraying-drawing apparatus along and the colour The original X-axis air brushing linear velocity of the corresponding X-axis movement of the air brushing link of 3D printer；

According to ink gun described in the original X-axis air brushing linear velocity and the outer ring path computing along the colored 3D printing The machine and corresponding corresponding modified chi axis air brushing linear velocity of X-axis motor of air brushing link and y-axis motor corresponding with air brushing link Corresponding amendment Y-axis air brushing linear velocity；

According to the target mechanical parameter and the modified chi axis air brushing linear velocity, amendment Y-axis air brushing linear velocity construction Drive X-axis air brushing pulse drive signal and the drive of the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer Move the axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer.

In the second aspect of the present invention, the device that a kind of pair of gabarit order is parsed is proposed, the gabarit order is Indication color 3D printer plastotype link by way of successively accumulating plastotype to gradually form the process of target mock-up In each 3D printing layer outmost turns movement when GCODE instruction；

Described device includes:

Outer ring path acquiring unit, for being obtained and the target from the host computer being connected with the colored 3D printer The corresponding outer ring GCODE file of any 3D printing layer of mock-up, the outer ring GCODE file include and the 3D printing layer X axis coordinate data and Y axis coordinate data corresponding to outer ring；According to the X axis coordinate data and the Y axis coordinate data meter Calculate outer ring corresponding with the outer ring of 3D printing layer path.

Described device in one of the embodiments, further include:

Parameter measurement unit, for determining target mechanical parameter；

Original motion signal acquisition unit, the Spraying-drawing apparatus for acquiring the colored 3D printer are sent out in air brushing link The Spraying-drawing apparatus for being used to indicate the colored 3D printer out carries out the original X-axis air brushing motor message of air brushing, the original X Axis air brushing motor message is the movement letter of the X-axis motor movement corresponding with the air brushing link of the driving colored 3D printer Number；

Motor message processing unit, for being sprayed according to the target mechanical parameter, the outer ring path to the original X-axis It draws motor message to be parsed, generates the X-axis motor corresponding with the Spraying-drawing apparatus for driving the colored 3D printer X-axis air brushing pulse drive signal and the driving colored 3D printer y-axis motor corresponding with the Spraying-drawing apparatus Axis air brushing pulse drive signal, so that ring-type is done in outer ring of the Spraying-drawing apparatus in air brushing link along any 3D printing layer Movement is to complete air brushing；

Motor message output unit, for exporting the driving colored 3D printing that the motor message processing unit generates The X-axis air brushing pulse drive signal of the X-axis motor corresponding with the Spraying-drawing apparatus of machine and the driving colored 3D printer Y-axis motor corresponding with the Spraying-drawing apparatus axis air brushing pulse drive signal.

The motor message processing unit is also used to according to the X axis coordinate data and institute in one of the embodiments, Y axis coordinate data are stated, the transient excursion angle value at each coordinate points that the outer ring path includes is calculated；According to the original It linear velocity that the ink gun for the Spraying-drawing apparatus that beginning X-axis air brushing motor message includes is moved along X-axis and described is calculated Transient excursion angle value, calculate the ink gun along the outer ring path and do repairing along the X-axis that X-axis moves for cyclic motion process Main track velocity amplitude and the Y-axis modified line velocity amplitude moved along Y-axis；It is repaired according to the original X-axis air brushing motor message, the X-axis Main track velocity amplitude, Y-axis modified line velocity amplitude and the target machinery parametric configuration drive the colored 3D printer with institute State the corresponding X-axis motor of Spraying-drawing apparatus X-axis air brushing pulse drive signal and the driving colored 3D printer with it is described The axis air brushing pulse drive signal of the corresponding y-axis motor of Spraying-drawing apparatus.

The parameter measurement unit is also used to read pre-stored target mechanical parameter in one of the embodiments, or, The mechanical dimension for obtaining the colored 3D printer, according to preset mechanical parameter computational algorithm and the mechanical ruler got It is very little to calculate the target mechanical parameter.

The motor message processing unit is also used to obtain the original X-axis air brushing campaign in one of the embodiments, The duty ratio of signal；According to the duty ratio and the target mechanical parameter calculate the ink gun of the Spraying-drawing apparatus along with it is described The original X-axis air brushing linear velocity of the corresponding X-axis movement of the air brushing link of colored 3D printer；According to the original X-axis air brushing line Ink gun described in speed and the outer ring path computing is corresponding along colour 3D printer X-axis motor corresponding with air brushing link Modified chi axis air brushing linear velocity and the corresponding amendment Y-axis air brushing linear velocity of y-axis motor corresponding with air brushing link；According to institute State colour 3D described in target mechanical parameter and the modified chi axis air brushing linear velocity, the amendment Y-axis air brushing linear velocity tectonic forcing The X-axis air brushing pulse drive signal and the driving colour 3D of the X-axis motor corresponding with the Spraying-drawing apparatus of printer are beaten The axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of print machine.

In the third aspect of the present invention, a kind of colored 3D printer, the colour 3D printer and a host computer are proposed It is connected；The colour 3D printer includes: for successively being printed in plastotype link to form the plastotype of target mock-up Device, be provided with ink gun and Spraying-drawing apparatus for carrying out air brushing to the target mock-up that is formed in the plastotype link, At least one X-axis motor, at least one y-axis motor and the device that gabarit order is parsed as previously described；

The shaping device is used for the plastotype signal of plastotype for obtaining from the host computer, and to the plastotype received Signal is parsed, and X-axis plastotype motor message corresponding with plastotype link and Y-axis plastotype motor message is obtained, to drive Motor corresponding with shaping device at least one X-axis motor and at least one y-axis motor is stated to be moved to complete plastotype mistake Journey；

The Spraying-drawing apparatus is used to obtain from the host computer and is used to indicate the ink jet signal of air brushing and is parsed, and obtains The Spraying-drawing apparatus for being used to indicate the colored 3D printer is taken to carry out the original X-axis air brushing motor message of air brushing, by described external The device that exterior feature order is parsed parses the original X-axis air brushing motor message, obtains for driving the air brushing to fill Set the Y-axis spray of the X-axis air brushing pulse drive signal and the corresponding y-axis motor of the driving Spraying-drawing apparatus of corresponding X-axis motor Pulse drive signal is drawn, it is corresponding with Spraying-drawing apparatus at least one described X-axis motor and at least one y-axis motor to drive Motor is moved, and is moved so that the ink gun does horizontal ring type along the outer ring path to complete air brushing process.

At least one is additionally provided with close to biography on the Y-axis track of the colored 3D printer in one of the embodiments, Sensor is detected for the movement mechanism to the shaping device/Spraying-drawing apparatus, is detected in the proximity sensor described For movement mechanism in the case where, the host computer sends control instruction to the Spraying-drawing apparatus/shaping device.

The y-axis motor that the X-axis number of motors that the colored 3D printer includes in one of the embodiments, is 1, includes Quantity is 1 and the X-axis motor and the y-axis motor are stepper motor；The color printer further include two-way selector and Motor driver；

The device parsed to gabarit order is also used to the to acquisite approachs alternating control instruction from host computer and goes forward side by side The obtained path control signal for being used to exchange control that parses is sent to two-way selector by row parsing；

The X-axis plastotype that the two-way selector is used to, according to the path control signal, the shaping device be issued is transported Dynamic signal and Y-axis plastotype motor message are transmitted to the motor driver, to drive the X-axis motor, y-axis motor to be transported It is dynamic, to complete plastotype process；The two-way selector is also used to according to the path control signal, by described to gabarit order The X-axis air brushing pulse drive signal and Y-axis air brushing pulse drive signal that the device parsed issues are transmitted to the motor and drive Dynamic device, to drive the X-axis motor, y-axis motor to be moved, to complete air brushing process.

In one of the embodiments, the colored 3D printer include an X-axis direct current generator and an X-axis stepper motor, One Y-axis direct current generator and a y-axis stepper motor；The color printer further includes two-way selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, Obtain the X-axis plastotype for driving the Spraying-drawing apparatus corresponding X-axis direct current generator and Y-axis direct current generator of the colored 3D printer Pulse drive signal and Y-axis plastotype pulse drive signal；

The X-axis plastotype that the two-way selector is used to, according to the path control signal, the shaping device be issued is transported Dynamic signal and Y-axis plastotype motor message are transmitted to the motor driver, to drive the X-axis stepper motor, y-axis stepper motor It is moved, to complete plastotype process；

X-axis air brushing pulse drive signal and the Y-axis spray that the device parsed to gabarit order is also used to generate It draws pulse drive signal and is sent to the X-axis direct current generator and Y-axis direct current generator, to drive the X-axis direct current generator and Y-axis straight Galvanic electricity machine is moved, to complete air brushing process.

The quantity for the X-axis motor that the colored 3D printer includes in one of the embodiments, is 1 and is X-axis stepping Motor, the colour 3D printer further includes a Y-axis direct current generator and a y-axis stepper motor；The color printer further includes Two-way selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, Obtain the X-axis air brushing for driving the Spraying-drawing apparatus corresponding X-axis stepper motor and Y-axis direct current generator of the colored 3D printer Pulse drive signal and Y-axis air brushing pulse drive signal；

The device parsed to gabarit order is also used to the Y-axis air brushing pulse drive signal of generation being sent to institute Y-axis direct current generator is stated, to drive the Y-axis direct current generator to be moved, the two-way selector is also used to according to the path Signal is controlled, the X-axis air brushing pulse drive signal that the device parsed to gabarit order issues is transmitted to the electricity Machine driver, to drive the X-axis stepper motor to be moved, to complete air brushing process.

The quantity for the y-axis motor that the colored 3D printer includes in one of the embodiments, is 1 and is Y-axis stepping Motor, the colour 3D printer further includes an X-axis direct current generator and an X-axis stepper motor；The color printer further includes Two-way selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, Obtain the X-axis air brushing pulse drive signal and the driving Y-axis for driving X-axis direct current generator corresponding with the Spraying-drawing apparatus The Y-axis air brushing pulse drive signal of stepper motor；

The device parsed to gabarit order is also used to the X-axis air brushing pulse drive signal of generation being sent to institute X-axis direct current generator is stated, to drive the X-axis direct current generator to be moved, the two-way selector is also used to according to the path Signal is controlled, the Y-axis air brushing pulse drive signal that the device parsed to gabarit order issues is transmitted to the electricity Machine driver, to drive the y-axis stepper motor to be moved, to complete air brushing process.

Implement the embodiment of the present invention, will have the following beneficial effects:

After the method and device that is parsed using above-mentioned a kind of pair of gabarit order, colored 3D printer, layer-by-layer During accumulation prints target mock-up and successively carries out coloring air brushing to target mock-up, pass through colored 3D printing The outer ring path pair that ink gun needs to pass by during mechanical dimension's parameter of machine itself and air brushing and colored 3D printer phase The original X-axis air brushing motor message for the original X-axis direct current generator that host computer even issues is handled and is parsed, and it is right therewith to generate The ink gun that can be used to control during colouring air brushing answered does the X-axis of horizontal endless movement, Y-axis air brushing pulsed drive letter Number, to drive X-axis motor corresponding with air brushing link and y-axis motor to complete air brushing process.That is, using this hair It is bright, the original motion signal of the air brushing link during colored 3D printing can be parsed, so that ink gun is spraying What is done during drawing is horizontal endless movement, reduces lost motion of the ink gun in air brushing link, reduces the air brushing time, Improve air brushing efficiency.Also, because Spraying-drawing apparatus and shaping device public X-axis motor and/or y-axis motor, decrease The mechanical dimension of 3D printer, the user experience is improved.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Wherein:

Fig. 1 is the structural schematic diagram of the device parsed in one embodiment to gabarit order；

Fig. 2 is the structural schematic diagram of the device parsed in one embodiment to gabarit order；

Fig. 3 is the flow diagram of the method parsed in one embodiment to gabarit order；

Fig. 4 is the flow diagram of the method parsed in one embodiment to gabarit order；

Fig. 5 is that the process for the pulse signal that motor message processing unit constructs X-axis and y-axis motor in one embodiment is shown It is intended to；

Fig. 6 is the connection of the device parsed in one embodiment to gabarit order and colored 3D printer other component Relation schematic diagram；

Fig. 7 is the shape and movement locus schematic diagram of the ink gun of ink-jet printer in one embodiment；

Fig. 8 is the conversion process schematic diagram of the motor message of X-axis and y-axis stepper motor in one embodiment

Fig. 9 is motor message processing unit course of work schematic diagram in one embodiment.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

To solve the colored 3D printer in traditional technology for the mechanical structure of coloring air brushing control and for plastotype Mechanical structure moves the larger caused air brushing overlong time of idle running, air brushing during colouring air brushing caused by being completely independent The too low technical problem of efficiency, in the present embodiment, spy propose the method and device that a kind of pair of gabarit order parsed, one The colored 3D printer of kind.

Specifically, in the above-mentioned method parsed to gabarit order and device, gabarit order is to refer in the present embodiment Show colored 3D printer during plastotype is by way of successively accumulating to gradually form target mock-up for plastotype link GCODE instruction in the movement of each 3D printing layer outmost turns.

It should be noted that in the present embodiment, the colored 3D printer that the above method and device are based on includes X-axis electricity Machine and y-axis motor (wherein the quantity of X-axis motor can be 1 or 2, and the quantity of y-axis motor can be 1 or 2), also, by with coloured silk The connected host computer of color 3D printer issues specific instruction to the shaping device for carrying out plastotype or air brushing in colored 3D printer Or Spraying-drawing apparatus, for example, issuing plastotype signal to shaping device or issuing air brushing signal to Spraying-drawing apparatus, so that the air brushing Send instructions under device give the corresponding motor of Spraying-drawing apparatus carry out work be completed air brushing operation.

Specifically, in the present embodiment, as shown in Figure 1, the above-mentioned device parsed to gabarit order includes original fortune Dynamic signal acquisition unit, parameter measurement unit, outer ring path acquiring unit, motor message processing unit, motor message output are single Member.

Specifically, referring to fig. 2, parameter measurement unit, for determining target mechanical parameter；

Outer ring path acquiring unit, for being obtained and the target from the host computer being connected with the colored 3D printer The corresponding outer ring GCODE file of any 3D printing layer of mock-up, the outer ring GCODE file include and the 3D printing layer X axis coordinate data and Y axis coordinate data corresponding to outer ring；According to the X axis coordinate data and the Y axis coordinate data meter Calculate outer ring corresponding with the outer ring of 3D printing layer path；

Further, in the present embodiment, the X-axis motor and/or the y-axis motor are stepper motor, wherein with modeling The corresponding X-axis motor of type device, y-axis motor are stepper motor, and X-axis motor corresponding with Spraying-drawing apparatus, y-axis motor can be equal For stepper motor (for example, sharing X-axis stepper motor and y-axis stepper motor with above-mentioned shaping device), to be also possible to one be to walk Into one, motor be direct current generator (such as X-axis and shaping device share X-axis stepper motor, Y-axis is direct current generator), can also be It is direct current generator；That is, the ink gun of the colour 3D printer does the X-axis spray of cyclic motion along the outer ring path The pulse drive signal that can be driving stepper motor in pulse drive signal and Y-axis air brushing pulse drive signal is drawn, it can also To be the pulse drive signal (being determined with specific reference to the motor of colored 3D printer) for driving direct current generator.

In one embodiment, as shown in figure 3, the above-mentioned method parsed to gabarit order includes the following steps:

Step S104: times with the target mock-up is obtained from the host computer being connected with the colored 3D printer The corresponding outer ring GCODE file of one 3D printing layer, the outer ring GCODE file include corresponding to the outer ring with the 3D printing layer X axis coordinate data and Y axis coordinate data；

Step S106: the outer ring with the 3D printing layer is calculated according to the X axis coordinate data and the Y axis coordinate data Corresponding outer ring path.

In another specific embodiment, as shown in figure 4, the above-mentioned method parsed to gabarit order includes as follows Step S101-S108:

Step S101: target mechanical parameter is determined；

Step S102: what the Spraying-drawing apparatus of the acquisition colored 3D printer issued in air brushing link is used to indicate described The Spraying-drawing apparatus of colored 3D printer carries out the original X-axis air brushing motor message of air brushing, and the original X-axis air brushing motor message is Drive the motor message of the X-axis motor movement corresponding with the air brushing link of the colored 3D printer；

Step S106: the outer ring with the 3D printing layer is calculated according to the X axis coordinate data and the Y axis coordinate data Corresponding outer ring path；

Step S108: according to the target mechanical parameter, the outer ring path to the original X-axis air brushing motor message into Row parsing generates the X-axis air brushing pulse for driving the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer The axis air brushing pulsed drive of the y-axis motor corresponding with the Spraying-drawing apparatus of driving signal and the driving colored 3D printer Signal, so that the Spraying-drawing apparatus does cyclic motion along the outer ring of any 3D printing layer in air brushing link to complete to spray It draws.

It should be noted that in the present embodiment, parameter measurement unit is during determining target mechanical parameter, parameter Measuring unit can contain sensor, which can measure target with the mechanical dimension of automatic Calibration colour 3D printer Mechanical parameter, i.e. target mechanical parameter, and the sensor can also the automatic above-mentioned target mechanical parameter of real time correction so that fortune The data conversion of dynamic signal processing unit is more acurrate；In other embodiments of the invention, parameter measurement unit can be wrapped only Containing memory, target mechanical parameter is obtained by the mechanical dimension of manual measurement colour 3D printer, and be deposited into memory In.That is, above-mentioned steps S102 can be with are as follows: read pre-stored target mechanical parameter, beaten or, obtaining the colour 3D The mechanical dimension of print machine calculates the target mechanical parameter according to preset mechanical parameter computational algorithm and the mechanical dimension. In a specific embodiment, step S108: according to the target mechanical parameter, the outer ring path to the original X-axis Air brushing motor message is parsed, and X-axis corresponding with the Spraying-drawing apparatus electricity for driving the colored 3D printer is generated The y-axis motor corresponding with the Spraying-drawing apparatus of the X-axis air brushing pulse drive signal of machine and the driving colored 3D printer Axis air brushing pulse drive signal, further includes: according to the X axis coordinate data and the Y axis coordinate data, calculate the outer ring The transient excursion angle value at each coordinate points that path includes；The institute for including according to the original X-axis air brushing motor message The linear velocity and the transient excursion angle value being calculated that the ink gun of Spraying-drawing apparatus is moved along X-axis are stated, described in calculating Ink gun does the X-axis modified line velocity amplitude of cyclic motion process moved along X-axis and the Y moved along Y-axis along the outer ring path Axis modified line velocity amplitude；Linear velocity is corrected according to the original X-axis air brushing motor message, the X-axis modified line velocity amplitude, Y-axis Value and the target machinery parametric configuration drive the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer The axis of the y-axis motor corresponding with the Spraying-drawing apparatus of X-axis air brushing pulse drive signal and the driving colored 3D printer Air brushing pulse drive signal.

Outer ring path acquiring unit of the invention, obtain each layer of outer ring of target entity model routing information be directly from GCODE file is obtained at host computer, the outer ring path GCODE is contained in the GCODE file, and the outer ring path GCODE includes entity The X, Y coordinates information of each layer of outer ring after the completion of model slice is based on this mode, of the invention to be parsed to gabarit order Device, the connection relationship with other peripheral modules of colored 3D printer can be as shown in Figure 6.In Fig. 6, host computer respectively with Spraying-drawing apparatus, shaping device, the electrical connection that gabarit order is parsed, and respectively to Spraying-drawing apparatus issue ink jet signal, to Shaping device issues plastotype signal GCODE, instructs to the sending alternating control instruction and GCODE parsed to gabarit order, Wherein ink jet signal includes air brushing instruction and color painting information, and plastotype signal GCODE includes plastotype instruction and 3D plastotype information, And host computer other control units can be replaced by single-chip microcontroller etc..The outer ring path parsed to gabarit order obtains Unit by obtaining the path outer ring GCODE directly from host computer, and then parses the path for obtaining each layer of outer ring of physical model Information.

Outer ring path acquiring unit obtains GCODE instruction from host computer, contains after the completion of being sliced in outer ring GCODE instruction The X of physical model outer ring, Y axis coordinate information, outer ring path acquiring unit instruct to obtain ink gun edge by parsing outer ring GCODE Transient excursion angle [alpha] (t) of outer ring path when carrying out air brushing to physical model, specific implementation said by following instance It is bright:

Table 1 is a part that the GCODE of certain cylindrical model is instructed.Numerical value of the leftmost side shaped like 39** is file line number； G1 is the motion command symbol of melting extrusion head in plastotype link；It is X-axis, Y-axis, E shaped like X***.***Y**.***E**.*** points (E axis is the motor for controlling feeding material dosage to axis, not within the scope of the considerations of this patent.)

1 GCODE of table instruction

In table 1, with branches all in a line "；" subsequent character is annotation.Wherein: the annotation of 3929 rows is subsequent Character " outer perimeter " shows: the road that the G1 movement instruction relevant to X-axis and Y-axis since next line is demarcated Diameter is outer ring path.

By the 0th coordinate (see 3930 rows) (x in table 1₀, y₀)=(137.021,73.627) original as angle calculation Beginning reference coordinate.

α(t₀)=α (0)=0 °

Enable | V_xp(0) | have in original X-axis in the initial velocity to moment for ink gun:

V_xc(t₀)=V_xc(0)=| V_xp(0) | cos0=| V_xp(0)|

V_yc(t₀)=V_yc(0)=| V_xp(0) | sin0=0

1st coordinate (see 3932 rows) (x₁, y₁)=(137.353,74.615) the corresponding ink gun in place transient excursion Angle value α value is as follows:

Wherein,And|V_xp(ΔL₁) | it is ink gun in original X Axis is just passed by Δ L₁When rate.

Further, it obtains:

V_xc(t₁)=| V_xp(ΔL₁)|·cosα(t₁)

V_yc(t₁)=| V_xp(ΔL₁)|·sinα(t₁)

Similarly, the 2nd coordinate (see 3933 rows) (x₂, y₂)=(137.665,75.610) place corresponds to the transient state of ink gun Deviation angle angle value α value is as follows:

Wherein:And|V_xp(ΔL₁+ΔL₂) | it is ink-jet Head is just passed by (Δ L in original X-axis₁+ΔL₂) when rate.

Further, it obtains:

V_xc(t₂)=| V_xp(ΔL₁+ΔL₂)|·cosα(t₂)

V_yc(t₂)=| V_xp(ΔL₁+ΔL₂)|·sinα(t₂)

And so on, it can be obtained in air brushing link, transient excursion angle value α (t) of the ink gun in any t moment of outer ring The velocity amplitude V that value, ink gun are moved along X-axis_xc(t) and along Y-axis the velocity amplitude V moved_yc(t)。

In above-mentioned steps S108, according to the target mechanical parameter, the outer ring path to the original X-axis air brushing campaign Signal is parsed, and the X-axis spray for driving the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer is generated Draw the axis air brushing arteries and veins of the y-axis motor corresponding with the Spraying-drawing apparatus of pulse drive signal and the driving colored 3D printer Rush driving signal, further includes: obtain the duty ratio of the original X-axis air brushing motor message；According to the duty ratio and the mesh The ink gun that mark mechanical parameter calculates the Spraying-drawing apparatus is moved along X-axis corresponding with the colour air brushing link of 3D printer Original X-axis air brushing linear velocity；According to ink gun described in the original X-axis air brushing linear velocity and the outer ring path computing along institute State the corresponding modified chi axis air brushing linear velocity of colored 3D printer X-axis motor corresponding with air brushing link and with air brushing link pair The corresponding amendment Y-axis air brushing linear velocity of the y-axis motor answered；According to the target mechanical parameter and the modified chi axis air brushing linear speed The X-axis motor corresponding with the Spraying-drawing apparatus of colour 3D printer described in degree, the amendment Y-axis air brushing linear velocity tectonic forcing X-axis air brushing pulse drive signal and the driving colored 3D printer y-axis motor corresponding with the Spraying-drawing apparatus Axis air brushing pulse drive signal.

That is, motor message processing unit constructs the pulse of X-axis and y-axis motor by step as shown in Figure 5 Signal:

S1: the duty ratio of the original X-axis air brushing motor message is obtained；

S2: according to the duty ratio and the target mechanical parameter calculate the ink gun of the Spraying-drawing apparatus along and the coloured silk The original X-axis air brushing linear velocity of the corresponding X-axis movement of the air brushing link of color 3D printer；

S3: according to ink gun described in the original X-axis air brushing linear velocity and the outer ring path computing along the colour 3D The printer and corresponding corresponding modified chi axis air brushing linear velocity of X-axis motor of air brushing link and Y-axis corresponding with air brushing link The corresponding amendment Y-axis air brushing linear velocity of motor；

S4: according to the target mechanical parameter and the modified chi axis air brushing linear velocity, the amendment Y-axis air brushing linear velocity The X-axis air brushing pulse drive signal of the X-axis motor corresponding with the Spraying-drawing apparatus of colour 3D printer described in tectonic forcing with And the axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of the driving colored 3D printer.

In step S1 in original X-axis air brushing motor message direct current generator duty ratio, be calculated by the following formula and obtain:

Duty_x=Th_x/ (Th_x+Tl_x)

Wherein, Duty_x is the duty ratio of original X-axis direct current generator；Th_x is original X-axis high level in one cycle Time；Tl_x is original X-axis direct current generator low level time in one cycle.

The original X-axis air brushing linear velocity that ink gun is moved along original X-axis in step S2, is calculated by the following formula Out:

V_xp=μ_x·Duty_x

Wherein, V_xpThe original X-axis air brushing linear velocity moved for ink gun along original X-axis；μ_xFor target target machinery ginseng Number is obtained by parameter measurement unit measurement mechanical dimension；Duty_x is the duty ratio of original X-axis air brushing motor message.

Target machinery parameter μ_xMeasurement the following steps are included:

The angular velocity omega of original X-axis direct current generator is measured by code-disc₁, due to the angular velocity omega of original X-axis direct current generator₁ It is directly proportional to its duty ratio Duty, ω₁∝ Duty is to get the angular velocity omega for arriving original X-axis direct current generator₁With duty ratio Duty's Proportionality coefficient

By measuring the relationship of original X-axis air brushing direct current generator and gearing, it can measure ink gun along original X-axis The linear velocity V of movement_xpWith the angular velocity omega of direct current generator₁Proportionality coefficientThen Then

The linear velocity that ink gun is moved along X-axis and/or Y-axis in step S3, is calculated by the following formula:

V_xc=| V_xp|·cosα(t)

V_yc=| V_xp|·sinα(t)

Wherein, V_xcFor the linear velocity that ink gun is moved along X-axis, V_ycFor the linear velocity that ink gun is moved along Y-axis, α (t) the continually changing transient excursion angle of t at any time when carrying out air brushing to target mock-up along outer ring path for ink gun.

Outer ring path acquiring unit from the host computer being connected with the colored 3D printer by obtaining and the target The corresponding outer ring GCODE file of any 3D printing layer of mock-up, obtains outer ring path, and then obtain ink gun along outer ring Path carries out the transient excursion angle [alpha] (t) when air brushing to physical model.

Another part in the present embodiment proposes a kind of colored 3D printer, colored 3D printer and a host computer phase Connection, for issuing plastotype signal or ink jet signal to colored 3D printer；Specifically, as shown in fig. 6, above-mentioned colour 3D printing Machine includes for successively printing in plastotype link to form the shaping device of target mock-up, be provided with ink gun and be used for To the target mock-up that is formed in the plastotype link carry out the Spraying-drawing apparatus of air brushing, at least one X-axis motor, at least one Y-axis motor and the device that gabarit order is parsed as previously described；

The device that gabarit order is parsed of the invention, the colored 3D printing of 4 kinds of mechanical structures in compatible table 2 Machine.The 3D plastotype of 4 kinds of mechanical structure and the space coordinate name of coloring air brushing are as shown in table 2 respectively:

The 3D plastotype of the different coloring mechanical structures of table 2 and the space coordinate name of coloring air brushing

In table 2, in the colored 3D printer of 4 kinds of mechanical structure, the shaping device for 3D plastotype is sprayed with for colouring It draws Spraying-drawing apparatus and shares a set of vertical coordinate Z axis；Either mechanically, or in electrical control, the vertical fortune of the two It is dynamic all fully synchronized, that is to say, that after every plastotype for completing a 3D printing layer, then to complete the coloring of the 3D printing layer Air brushing, then carry out plastotype and the coloring air brushing of next 3D printing layer.And two sets of horizontal coordinates of 3D plastotype and coloring air brushing X, the relationship conversion of Y-axis then depends on different mechanical structure.

Wherein, for the first mechanical structure, X-axis and Y-axis that air brushing mechanical structure shares 3D plastotype, i.e. 3D plastotype are coloured X-axis, Y-axis with coloring air brushing are all mechanically shared, but in electrical control are alternately control, X-axis and Y-axis It is each equipped with stepper motor.

For second of mechanical structure, the X-axis that air brushing mechanical structure shares 3D plastotype, i.e. 3D plastotype and coloring air brushing are coloured X-axis it is mechanically shared, but be alternately control in electrical control, X-axis is configured with stepper motor.3D plastotype and The Y-axis for colouring air brushing is respectively Y1 axis and Y2 axis, and the two is completely independent, between each other without any coupled relation, Y1 axis Stepper motor and direct current generator are each configured with Y2 axis.

For the third mechanical structure, the X-axis of 3D plastotype and coloring air brushing is respectively X1 axis and X2 axis, and the two is completely solely Vertical, stepper motor and direct current generator are each configured with without any coupled relation, X1 axis and X2 axis between each other；Colour air brushing Mechanical structure shares the Y-axis of 3D plastotype, i.e. 3D plastotype and the Y-axis of coloring air brushing mechanically shares, but in electrical control On be alternately control, Y-axis be configured with stepper motor.

For the 4th kind of mechanical structure, the X-axis of 3D plastotype and coloring air brushing is respectively 1 axis of X and X-axis, and the two is completely solely Vertical, stepper motor and direct current generator are each configured with without any coupled relation, X1 axis and X2 axis between each other；3D plastotype and The Y-axis for colouring air brushing is respectively Y1 axis and Y-axis, and the two is completely independent, between each other without any coupled relation, Y1 axis and Y2 axis is each configured with stepper motor and direct current generator.

In above-mentioned 4 kinds of mechanical structure, in air brushing link, colour air brushing control program under the action of, ink gun or Target mock-up does horizontal ring type in the outer ring of target mock-up and moves along X-axis corresponding with Spraying-drawing apparatus, Y-axis, spray Black head carries out ink-jet according to ink jet signal, in the outer ring of target mock-up and surface.

It, can be by the operating mode of motor message processing unit point according to the difference for the mechanical structure that colored 3D printer uses For 4 kinds in table 3:

4 kinds of operating modes of 3 motor message processing unit of table

As shown in Table 3, motor message processing unit under mode 1 to mode 4, send out from air brushing component by input signal The original X-axis air brushing motor message of original X-axis direct current generator out, host computer are only responsible for the dress parsed to gabarit order Set the alternating control instruction for issuing plastotype and air brushing, the not responsible motion information for issuing any ink gun.The movement of ink gun is believed Breath must can just be obtained by the original X-axis air brushing motor message for the original X-axis direct current generator that parsing Spraying-drawing apparatus issues.

Wherein in mode 1, the input signal of motor message processing unit is the original X-axis direct current that Spraying-drawing apparatus issues The original X-axis air brushing motor message of machine, the motor message after parsing are the spray of corresponding with Spraying-drawing apparatus X-axis, y-axis stepper motor Pulse drive signal is drawn, is respectively used to control the movement of X-axis, y-axis stepper motor in the first mechanical structure, and then control ink-jet Head does horizontal ring type along the outmost turns of target mock-up and moves, to complete coloring air brushing.

Under mode 2, the input signal of motor message processing unit is the original X-axis direct current generator that Spraying-drawing apparatus issues Original X-axis air brushing motor message, the motor message after parsing are straight for the X-axis air brushing pulse drive signal and Y-axis of X-axis stepper motor The Y-axis air brushing pulse drive signal of galvanic electricity machine is respectively used to X-axis stepper motor and Y2 axis direct current in second of mechanical structure of control The movement of motor, and then control ink gun does horizontal ring type along the outmost turns of target mock-up and moves, to complete coloring spray It draws.

Under mode 3, the input signal of motor message processing unit is the original Y-axis direct current generator that Spraying-drawing apparatus issues Original X-axis air brushing motor message, the motor message after parsing are the X-axis air brushing pulse drive signal and Y-axis step of X-axis direct current generator Into the Y-axis air brushing pulse drive signal of motor, it is respectively used to control X2 axis direct current generator and Y-axis stepping in the third mechanical structure The movement of motor, and then control ink gun does horizontal ring type along the outmost turns of target mock-up and moves, to complete coloring spray It draws.

Under mode 4, the input signal of motor message processing unit is the original Y-axis direct current generator that Spraying-drawing apparatus issues Original X-axis air brushing motor message, the motor message after parsing are the X-axis air brushing pulse drive signal and Y of X-axis direct current generator The Y-axis air brushing pulse drive signal of axis direct current generator is respectively used to X2 axis direct current generator and Y2 in the 4th kind of mechanical structure of control The movement of axis direct current generator, and then control ink gun does horizontal ring type along the outmost turns of target mock-up and moves, to complete Colour air brushing.

In the present embodiment, in plastotype link, plastotype instruction is issued from host computer to shaping device, is executed to shaping device There is a minimum time Δ t1 between plastotype instruction；Similarly, in air brushing link, air brushing is issued from host computer to Spraying-drawing apparatus Instruction, executing between air brushing instruction to Spraying-drawing apparatus has a minimum time Δ t2.In order to shorten 3D plastotype and coloring air brushing it Between time interval, setting proximity sensor sensor1 and connects there are two proximity sensor on the Y-axis track of the present embodiment Nearly sensor sensor2 (contactless).When print platform is close proximity to sensor sensor1, host computer can shift to an earlier date to Shaping device issues plastotype instruction, so as to shorten time Δ t1；Similarly, when print platform is close proximity to sensor sensor2 When, host computer, which can shift to an earlier date to Spraying-drawing apparatus, issues air brushing instruction, so as to shorten time Δ t2, so as to shorten 3D plastotype with Time interval between color air brushing.

That is, at least one proximity sensor is additionally provided on Y-axis track, for the fortune to the shaping device Motivation structure is detected, the proximity sensor detect the movement mechanism close in the case where, the host computer is sent Control instruction gives the shaping device/Spraying-drawing apparatus.

It is illustrated one by one for the corresponding colored 3D printer of above-mentioned 4 kinds of mechanical structure separately below.

Embodiment 1

In the present embodiment, the mechanical structure of colored 3D printer is the first mechanical structure, by coloured silk in the prior art The core apparatus (Spraying-drawing apparatus) of color ink-jet printer is installed in the rack of FDM colour 3D printer, and is given up and served as X-axis The frame of supporting ink well of movement mechanism.As shown in table 1, coloring air brushing mechanical structure is total for the space coordinate name of its 3D plastotype and coloring air brushing With the X-axis and Y-axis of 3D plastotype, i.e. 3D plastotype and X-axis, the Y-axis of coloring air brushing is all mechanically shared, but in electric-controlled It is alternately control in system, X-axis and Y-axis are each equipped with stepper motor.

The colored 3D printer of the present embodiment, in the air brushing stage, ink gun or target mock-up are along X-axis or Y-axis Horizontal ring type movement is done, to complete coloring air brushing.When i-th (i=1,2,3 ... ..., n) layer of target mock-up is in 3D plastotype Under the action of controlling program, melting extrusion head or target mock-up are movable along both x and y axes after completing 3D plastotype, 3D modeling Type control program then will transfer the control to X-axis and Y-axis to coloring air brushing control program, thus target mock-up I-th layer colour air brushing control program under the action of, ink gun or target mock-up are movable along both x and y axes, carry out Colour air brushing.After the completion of i-th layer of coloring air brushing, then with above-mentioned same mode carry out (i+1) layer 3D plastotype and Color air brushing.And so on, until the plastotype of the last layer of entire target mock-up and coloring air brushing are all completed.

Transfer control above is realized by two-way selector MUX, of the invention to parse to gabarit order Device, as shown in fig. 6, issue the path control signal for exchanging control according to the alternating control instruction received, and Two-way selector MUX is sent it to, which includes high level signal and low level signal, when the path clustering When signal is low level, the X-axis that shaping device issues and Y-axis motor message are transferred to stepper motor and driven by two-way selector MUX Dynamic device, and then under the action of 3D plastotype controls program, drive melting extrusion head or plastotype model to be movable along both x and y axes Complete the 3D plastotype to target mock-up i-th (i=1,2,3 ... ..., n) layer；When the path control signal is high level, Two-way selector MUX drives the pulse signal transmission of X-axis and y-axis stepper motor after parsing to the stepper motor of X-axis and Y-axis Device, and then under the action of colouring air brushing control program, drive ink gun to do horizontal endless fortune along the outer ring of target mock-up It is dynamic, coloring air brushing is carried out to i-th layer of target mock-up.

The colored 3D printer of the present embodiment is in air brushing link, the motor message in device that is parsed to gabarit order The operating mode of processing unit is mode 1, as shown in table 3.In mode 1, original motion signal acquisition unit acquisition air brushing dress The original X-axis air brushing motor message for setting the original X-axis direct current generator of sending, the motor message after parsing are corresponding with air brushing link X-axis, y-axis stepper motor X-axis air brushing pulse drive signal and Y-axis air brushing pulse drive signal, be respectively used to control first The movement of X-axis, y-axis stepper motor in kind mechanical structure, and then control ink gun and do water along the outmost turns of target mock-up Flat ring formula movement, to complete coloring air brushing.

The structure of ink gun 1 colored and monochromatic two covering devices as shown in fig. 7, be made of.Wherein color inkjet device includes Three ink-jet region compositions of CMY (green, pinkish red, yellow)；Single-colour ink-jetting device only includes K (black) ink-jet region.Four ink-jet areas Domain is parallel to each other and should be vertical with air brushing motion profile always, to realize colour mixture during the motion.Ink-jet printer is original Parallel sweep during, as shown in fig. 7, when ink gun along original X-axis with speed V_xpWhen movement, lateral air brushing campaign is formed Track 2, four ink-jet regions are parallel to each other and vertical with air brushing motion profile 2 always, during the motion can be real well Existing colour mixture；But work as ink gun along original Y-axis with speed V_ypWhen movement, longitudinal movement track 3 is formed, motion profile 3 is always It is parallel with the region CMYK of ink gun, therefore do not generate mixed color effect.

Therefore, it carries out when motor message is synchronous to be converted without the concern for ink gun along movement velocity, that is, V of original Y-axis_yp, only It need to consider movement velocity V of the ink gun along original X-axis_xp, therefore, as shown in figure 8, the movement of X-axis and y-axis stepper motor is believed Number conversion process the following steps are included:

Step S21: the duty ratio Duty_x of original X-axis direct current generator is calculated.

According to the original X-axis air brushing motor message of original X-axis direct current generator, the duty of original X-axis direct current generator is calculated Compare Duty_x.As shown in figure 9, original motion signal pickup assembly is that optocoupler A and optocoupler B respectively will be original by two-way optocoupler All high-voltage digital transient state pwm pulses of A, B pin of X-axis direct current generator over the ground are converted into can be by being realized based on digital logic gate The identification of motor message synchronous processing circuit signal content is identical and the PWM count word arteries and veins of the identical 3.3V of phase Punching.Motor message synchronization processing apparatus according to internal high frequency clock sampling, calculate high level in a DC PWM period when Between Th_x and low level time Tl_x, the duty ratio Duty_x of original X-axis direct current generator is calculated by following formula,

Duty_x=Th_x/ (Th_x+Tl_x)

S22: it by the duty ratio and target mechanical parameter of original X-axis direct current generator, is calculated straight in original X-axis Under the driving of galvanic electricity machine, original X-axis air brushing linear velocity that ink gun is moved along original X-axis.

The original X-axis air brushing linear velocity V that ink gun moves under the driving of original X-axis direct current generator along original X-axis_xp, It is calculated by the following formula and obtains:

V_xp=μ_x·Duty_x

Wherein, μ_xFor target mechanical parameter, obtained particular by parameter measuring apparatus measurement mechanical dimension.Measurement Mode is as follows:

The angular velocity omega of original X-axis direct current generator is measured by code-disc₁, due to the angular velocity omega of original X-axis direct current generator₁ It is directly proportional to its duty ratio Duty_x, ω₁∝ Duty_x is to get the angular velocity omega for arriving original X-axis direct current generator₁With its duty ratio The proportionality coefficient of Duty_x

By measuring the relationship of original X-axis direct current generator and gearing, it can measure ink gun and moved along original X-axis Original X-axis air brushing linear velocity V_xpWith the angular velocity omega of direct current generator₁Proportionality coefficientSuch as: if this is straight Galvanic electricity machine and radius are r₁Gear Q1 it is coaxial, and the outer edge of gear Q1 and radius are r₂Gear Q2 it is engaged, gear Q2 It is again r with radius₃Belt traction wheel it is coaxial, then can release: V_xp=(r₁·r₃/r₂)ω₁, i.e., in such cases

Through the above steps, the original X-axis air brushing linear velocity V that ink gun is moved along original X-axis is obtained_xp,Then

S23: in conjunction with the original X-axis air brushing linear speed that is moved along original X-axis of routing information and ink gun of each layer of outer ring Spend V_xp, calculate after synchronizing conversion under the driving of X-axis and y-axis stepper motor, ink gun is along the colored 3D printer and spray It draws the corresponding modified chi axis air brushing linear velocity of the corresponding X-axis motor of link and y-axis motor corresponding with air brushing link is corresponding Correct Y-axis air brushing linear velocity.

In addition, since ink-jet printer is during original parallel sweep, as shown in fig. 7, the movement of original X-axis is always It is vertical with the region CMYK of ink gun, no matter X-axis motor forward motion or counter motion, the angle of colour mixture component is 90 °. As long as making the i.e. negligible X-axis motor V of corresponding compensation in the ink-jet source file (source picture) of host computer_xpThe direction of motion.Cause This above-mentioned V_xpTake absolute value.

The colored 3D printer of the present embodiment, the device therein parsed to gabarit order enable to coloring air brushing Mechanical structure shares the X-axis and Y-axis of 3D plastotype, the original X-axis air brushing campaign for the original X-axis direct current generator that air brushing component is issued Signal is parsed, and the driving coloured silk that ink gun does cyclic motion along target mock-up outer ring can be controlled by being translated into The X-axis air brushing pulse drive signal and the driving colour of the X-axis motor corresponding with the Spraying-drawing apparatus of color 3D printer The axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of 3D printer drives X and y-axis stepper motor Rotation, and then ink gun is driven to do cyclic motion to complete coloring air brushing, to eliminate coloring along target mock-up outer ring The overall volume of 3D printer is further reduced, further significantly reduces 3D by air brushing mechanical structure X-axis and Y-axis The overall volume of printer.

Embodiment 2

In the present embodiment, the mechanical structure of colored 3D printer is second of mechanical structure, by existing color jet-ink The Spraying-drawing apparatus that direct current generator can be matched in printer is installed in the rack of FDM colour 3D printer, and is given up and served as X-axis The frame of supporting ink well of movement mechanism.As shown in table 2, coloring air brushing mechanical structure is total for the space coordinate name of its 3D plastotype and coloring air brushing With the X-axis of 3D plastotype, i.e., 3D plastotype and the X-axis of coloring air brushing mechanically share, but in electrical control are alternating Control, X-axis is configured with stepper motor.3D plastotype and the Y-axis of coloring air brushing are respectively Y1 axis and Y2 axis, and the two is to be completely independent , stepper motor and direct current generator are each configured with without any coupled relation, Y1 axis and Y2 axis between each other.

As shown in table 2, the present embodiment 2 difference from example 1 is that, 3D plastotype and coloring air brushing are mechanically only X-axis is shared.When target mock-up the i-th (i=1,2,3 ... ..., n) layer 3D plastotype control program under the action of, melt Melt after extruder head or target mock-up move along X-axis and Y1 axis and complete 3D plastotype, 3D plastotype controls program then will be Coloring air brushing control program is transferred to the control of X-axis to, so that i-th layer of target mock-up controls journey in coloring air brushing Under the action of sequence, ink gun or target mock-up are moved along X-axis and Y2 axis, carry out coloring air brushing.When i-th layer of coloring After the completion of air brushing, then carry out the 3D plastotype of (i+1) layer with above-mentioned same mode and colour air brushing ... and so on, until The plastotype of the last layer of entire target mock-up and coloring air brushing are all completed.

Transfer control above, it is same as Example 1, it is all to be realized by two-way selector MUX, it is no longer superfluous herein It states.

Operating mode to the device that gabarit order is parsed is mode 2, as shown in table 3.Under mode 2, original fortune The motor message for the original X-axis direct current generator that dynamic signal acquisition unit acquisition Spraying-drawing apparatus issues, the motor message after parsing are X The pulse signal of shaft step motor and the pulse signal of Y-axis direct current generator are respectively used to X-axis step in second of mechanical structure of control Into the movement of motor and Y2 axis direct current generator, and then controls ink gun and do horizontal ring type fortune along the outmost turns of target mock-up It is dynamic, to complete coloring air brushing.

The colored 3D printer of the present embodiment, the pulse signal of the pulse signal and Y-axis direct current generator of X-axis stepper motor In conversion process, three steps of front are same as Example 1, and details are not described herein, except that the 4th step, that is, obtaining ink-jet Head corrects linear velocity along the X-axis that X-axis moves in instantaneous offsets angle value α (t) value and ink gun of any t moment of outer ring Value V_xc(t) and along Y-axis the Y-axis modified line velocity amplitude V moved_yc(t) after, how by the modified line velocity amplitude V that moves_xcAnd V_ycKnot The pulse signal that relevant mechanical parameter constructs X-axis stepper motor and Y2 axis direct current generator is closed, is different with embodiment 1, This will be described in detail below:

(1) by X-axis modified line velocity amplitude V_xcCombining target mechanical parameter constructs the pulse signal of X-axis stepper motor, should The pulse signal of stepper motor includes the rotation period pulse signal and rotation direction pulse signal of stepper motor.Due to the line of motion Speed | V_xc| the angular velocity of satellite motion ω with X-axis stepper motor_xcDirectly proportional, this makes it possible to obtain the movement angle of X-axis stepper motor speed Degree, the periodic pulse signal of stepper motor can be calculated according to the angular speed, thus can construct the rotation week of X-axis stepper motor Phase pulse signal STEP_X_C.And speed V_xcSign and X-axis stepper motor direction pulse signal DIRECTION_X_C Low and high level it is corresponding, thus can construct the rotation direction signal DIRECTION_X_C of X-axis stepper motor.

As shown in figure 9, acquiring the pulse signal of original X-axis direct current generator by optocoupler A and optocoupler B two-way optocoupler, and lead to The processing of the device parsed to gabarit order is crossed, can be respectively the STEP pin building step of X-axis stepper motor driver The rotation direction signal of stepper motor is constructed into rotation period signal, the DIRECTION pin of motor, and then drives the step of X-axis It is rotated into motor.

(2) by movement linear velocity V_ycThe pulse signal of Y2 axis direct current generator is constructed in conjunction with relevant mechanical parameter, this is straight The pulse signal of galvanic electricity machine includes the duty cycle signals and rotation direction pulse signal of direct current generator.Due to moving linear velocity | V_yc| Directly proportional to the duty ratio Duty_y of Y-axis direct current generator, this makes it possible to obtain the duty cycle signals of Y2 axis direct current generator.

According to movement linear velocity V_ycSign construct the direction pulse signal of Y2 axis direct current generator, detailed process are as follows: As shown in figure 9, optocoupler C and optocoupler D will not collect signal simultaneously, as linear velocity V_ycSymbol be timing, optocoupler C can acquire The C pin that High-voltage PWM converter signal is transmitted to Y2 axis direct current generator is zoomed into the signal of 3.3v PWM, and by the signal, at this time Y2 The rotation direction of axis direct current generator is forward direction；As linear velocity V_ycSymbol when being negative, optocoupler D can collect the letter of 3.3v PWM Number, and the signal is zoomed into the D pin that High-voltage PWM converter signal is transmitted to Y2 axis direct current generator, Y2 axis direct current generator turns at this time Dynamic direction is forward direction.So according to movement linear velocity V_ycSign, constructed the direction pulse signal of Y2 axis direct current generator.

And, it can be driven according to the pulse signal of the pulse signal of the above-mentioned X-axis stepper motor constructed and Y2 axis direct current generator Dynamic X-axis stepper motor and the rotation of Y2 axis direct current generator, and then control ink gun and do cyclic annular fortune along the outer ring of target mock-up It is dynamic, to complete coloring air brushing.

The colored 3D printer of the present embodiment, the device therein parsed to gabarit order enable to coloring air brushing Mechanical structure shares the X-axis of 3D plastotype, and the script that Spraying-drawing apparatus issues is adapted to the original X-axis direct current generator of direct current generator Motor message is parsed, and the pulse signal that can be adapted to stepper motor is translated into, so as to control ink gun or Target mock-up moves completion coloring air brushing along the shared X-axis of machinery, so that coloring air brushing mechanical structure X-axis is eliminated, Reduce the overall volume of 3D printer.

Embodiment 3

In the present embodiment, the mechanical structure of colored 3D printer is the third mechanical structure, 3D plastotype and coloring spray As shown in table 2, the X-axis of 3D plastotype and coloring air brushing is respectively X1 axis and X2 axis for the space coordinate name drawn, and the two is completely solely Vertical, stepper motor and direct current generator are each configured with without any coupled relation, X1 axis and X2 axis between each other；Colour air brushing Mechanical structure shares the Y-axis of 3D plastotype, i.e. 3D plastotype and the Y-axis of coloring air brushing mechanically shares, but in electrical control On be alternately control, Y-axis be configured with stepper motor.The spray of direct current generator will can be matched in existing color inkjet printer It draws device to be installed in the rack of FDM colour 3D printer, and remains the frame of supporting ink well for serving as X2 shaft movement mechanism.

The colored 3D printer of the present embodiment, firstly, under the action of 3D plastotype controls program, melting extrusion head or modeling After pattern type moves completion to the 3D plastotype of target mock-up i-th (i=1,2,3 ... ..., n) layer along X1 axis and Y-axis, 3D Control to Y-axis is then transferred to coloring air brushing control program by plastotype control program, to control program in coloring air brushing Under the action of, ink gun or target mock-up are moved along X2 axis and Y-axis, are carried out to i-th layer of target mock-up Color air brushing.(i+1) layer is carried out to target mock-up after the completion of i-th layer of coloring air brushing, then with above-mentioned same mode 3D plastotype and coloring air brushing ... and so on, plastotype and coloring air brushing until the last layer of entire target mock-up All complete.

Transfer control above, it is identical as embodiment 1 and embodiment 2, it is all to be realized by two-way selector MUX, Details are not described herein.

The operating mode of motor message processing unit in the device parsed to gabarit order is mode 3, such as 3 institute of table Show.Under mode 3, original motion signal acquisition unit acquires the original X-axis spray for the original X-axis direct current generator that Spraying-drawing apparatus issues Motor message is drawn, the motor message after parsing is the X-axis air brushing pulse drive signal of X-axis direct current generator and the Y of y-axis stepper motor Axis air brushing pulse drive signal is respectively used to control the fortune of X2 axis direct current generator and y-axis stepper motor in the third mechanical structure It is dynamic, and then control ink gun does horizontal ring type along the outmost turns of target mock-up and moves, to complete coloring air brushing.

The colored 3D printer of the present embodiment, the pulse signal of X2 axis direct current generator and the pulse signal of y-axis stepper motor Conversion process in, three steps of front are same as Example 1, and details are not described herein, except that the 4th step, that is, sprayed The modified chi axis air brushing that black head is moved in transient excursion angle value α (t) value and ink gun of any t moment of outer ring along X-axis Linear velocity V_xc(t) and along Y-axis the amendment Y-axis air brushing linear velocity V moved_yc(t) after, how by V_xcAnd V_ycIn conjunction with relevant machinery Parametric configuration goes out the pulse signal of X2 axis direct current generator and y-axis stepper motor, is different with embodiment 1, embodiment 2, below This will be described in detail:

By V_xcThe pulse signal of X2 axis direct current generator, the pulse letter of the direct current generator are constructed in conjunction with relevant mechanical parameter Number include direct current generator duty cycle signals and rotation direction pulse signal.Due to moving linear velocity | V_xc| with X-axis direct current generator Duty ratio Duty_x it is directly proportional, this makes it possible to obtain the duty cycle signals of X2 axis direct current generator.

According to movement linear velocity V_xcSign construct the direction pulse signal of X2 axis direct current generator, detailed process are as follows:

As shown in figure 9, working as linear velocity V_xcSymbol be timing, optocoupler C can collect the signal of 3.3v PWM, and should Signal zooms into the C pin that High-voltage PWM converter signal is transmitted to X2 axis direct current generator, and the rotation direction of X2 axis direct current generator is positive at this time To；As linear velocity V_xcSymbol when being negative, optocoupler D can collect the signal of 3.3v PWM, and the signal is zoomed into high pressure Pwm signal is transmitted to the D pin of X2 axis direct current generator, and the rotation direction of X2 axis direct current generator is forward direction at this time.So according to fortune Moving-wire speed V_xcSign, constructed the direction pulse signal of X2 axis direct current generator.

By movement linear velocity V_ycThe pulse signal of y-axis stepper motor is constructed in conjunction with relevant mechanical parameter.Due to movement Linear velocity | V_yc| the angular velocity of satellite motion ω with y-axis stepper motor_ycIt is directly proportional (its proportionality coefficient with above forSpecifically take The measurement method of value is similar, and which is not described herein again), this makes it possible to obtain the angular velocity of satellite motion of y-axis stepper motor, according to the angular speed The rotation period pulse signal STEP_Y_C of y-axis stepper motor can be constructed.And speed V_ycSign and y-axis stepper motor Direction pulse signal DIRECTION_Y_C low and high level it is corresponding, therefore the rotation direction of y-axis stepper motor can be constructed Signal DIRECTION_Y_C.

As shown in figure 9, acquiring the pulse signal of original Y-axis direct current generator by optocoupler A and optocoupler B two-way optocoupler, and lead to Processing of the motor message processing unit Jing Guo above-mentioned steps is crossed, can be respectively the STEP pin structure of y-axis stepper motor driver The rotation period signal of stepper motor, the rotation direction signal of DIRECTION pin building stepper motor are built, and then drives Y-axis Stepper motor rotation.

And, it can be driven according to the pulse signal of the pulse signal of the above-mentioned X2 axis direct current generator constructed and y-axis stepper motor Dynamic X2 axis direct current generator and y-axis stepper motor rotation, and then control ink gun and do cyclic annular fortune along the outer ring of target mock-up It is dynamic, to complete coloring air brushing.

The colored 3D printer of the present embodiment, the device therein parsed to gabarit order enable to coloring air brushing Mechanical structure shares the Y-axis of 3D plastotype, and the original motion signal that the script that Spraying-drawing apparatus issues adapts to direct current generator is carried out Parsing, is translated into the pulse signal that can be adapted to stepper motor, so as to control ink gun or target mock-up Completion coloring air brushing is moved along the shared Y-axis of machinery significantly to reduce to eliminate the Y-axis of coloring air brushing mechanical structure The overall volume of 3D printer.

Embodiment 4

In the present embodiment, the space coordinate name of the mechanical structure of colored 3D printer, 3D plastotype and coloring air brushing As shown in table 2,3D plastotype and the X-axis of coloring air brushing are respectively X1 axis and X2 axis, and the two is completely independent, and is not had between each other Any coupled relation, X1 axis and X2 axis are each configured with stepper motor and direct current generator；The Y-axis difference of 3D plastotype and coloring air brushing For Y1 axis and Y2 axis, the two is completely independent, and is each configured with step without any coupled relation, Y1 axis and Y2 axis between each other Into motor and direct current generator.The Spraying-drawing apparatus that direct current generator can be matched in existing color inkjet printer is installed at FDM coloured silk In the rack of color 3D printer.

The colored 3D printer of the present embodiment, firstly, under the action of 3D plastotype controls program, melting extrusion head or modeling After pattern type moves completion to the 3D plastotype of target mock-up i-th (i=1,2,3 ... ..., n) layer along X1 axis and Y1 axis, 3D Control to Y1 axis is then transferred to coloring air brushing control program by plastotype control program, to control program in coloring air brushing Under the action of, ink gun or target mock-up are moved along X2 axis and Y2 axis, are carried out to i-th layer of target mock-up Color air brushing.(i+1) layer is carried out to target mock-up after the completion of i-th layer of coloring air brushing, then with above-mentioned same mode 3D plastotype and coloring air brushing ... and so on, plastotype and coloring air brushing until the last layer of entire target mock-up All complete.

Transfer control above, it is identical as embodiment 1-3, it is all to be realized by two-way selector MUX, herein no longer It repeats.

The operating mode of motor message processing unit in the device parsed to gabarit order is mode 4, such as 3 institute of table Show.Under mode 4, original motion signal acquisition unit acquires the original X-axis spray for the original X-axis direct current generator that Spraying-drawing apparatus issues Motor message is drawn, the motor message after parsing is the X-axis air brushing pulse drive signal of X-axis direct current generator and the Y of Y-axis direct current generator Axis air brushing pulse drive signal is respectively used to the fortune of X2 axis direct current generator and Y2 axis direct current generator in the 4th kind of mechanical structure of control It is dynamic, and then control ink gun does horizontal ring type along the outmost turns of target mock-up and moves, to complete coloring air brushing.

The colored 3D printer of the present embodiment, the X-axis air brushing pulse drive signal and Y2 axis direct current of X2 axis direct current generator In the conversion process of the Y-axis air brushing pulse drive signal of motor, the former is same as Example 3, and the latter is same as Example 2, That is the Y-axis air brushing pulse for constructing the X-axis air brushing pulse drive signal and Y2 axis direct current generator of X2 axis direct current generator is driven After dynamic signal, 2 axis direct current generator of X and Y2 axis direct current generator can be driven to rotate, and then control ink gun along target natural pattern Cyclic motion is done in the outer ring of type, to complete coloring air brushing.

The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.

Claims

1. the method that a kind of pair of gabarit order is parsed, which is characterized in that the gabarit order is indication color 3D printer In each 3D printing during plastotype is by way of successively accumulating to gradually form target mock-up for plastotype link GCODE instruction when layer outmost turns movement；

The described method includes:

It is right with any 3D printing layer of the target mock-up to obtain from the host computer being connected with the colored 3D printer The outer ring GCODE file answered, the outer ring GCODE file include X axis coordinate data corresponding to the outer ring with the 3D printing layer With Y axis coordinate data；

Outer ring corresponding with the outer ring of 3D printing floor road is calculated according to the X axis coordinate data and the Y axis coordinate data Diameter.

2. the method according to claim 1, wherein the method also includes:

Determine target mechanical parameter；

Acquire that the Spraying-drawing apparatus of the colored 3D printer issues in air brushing link is used to indicate the colored 3D printer Spraying-drawing apparatus carry out the original X-axis air brushing motor message of air brushing, the original X-axis air brushing motor message is to drive the colour The motor message of the X-axis motor movement corresponding with the air brushing link of 3D printer；

It is described to be calculated outside corresponding with the outer ring of the 3D printing layer according to the X axis coordinate data and the Y axis coordinate data It encloses after path further include:

The original X-axis air brushing motor message is parsed according to the target mechanical parameter, the outer ring path, generates and uses In the X-axis motor corresponding with the Spraying-drawing apparatus for driving the colored 3D printer X-axis air brushing pulse drive signal and The axis air brushing pulse drive signal for driving the y-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer, so that institute It states outer ring of the Spraying-drawing apparatus in air brushing link along any 3D printing layer and does cyclic motion to complete air brushing.

3. method according to claim 1 or 2, which is characterized in that described according to the target mechanical parameter, the outer ring Path parses the original X-axis air brushing motor message, generates for driving the colored 3D printer with the spray Draw the corresponding X-axis motor of device X-axis air brushing pulse drive signal and the driving colored 3D printer with the air brushing The axis air brushing pulse drive signal of the corresponding y-axis motor of device, further includes:

According to the X axis coordinate data and the Y axis coordinate data, calculate at each coordinate points that the outer ring path includes Transient excursion angle value；

Linear velocity that the ink gun for the Spraying-drawing apparatus for including according to the original X-axis air brushing motor message is moved along X-axis, with And the transient excursion angle value being calculated, calculate the edge that the ink gun does cyclic motion process along the outer ring path The X-axis modified line velocity amplitude of X-axis movement and the Y-axis modified line velocity amplitude moved along Y-axis；

According to the original X-axis air brushing motor message, the X-axis modified line velocity amplitude, Y-axis modified line velocity amplitude and the mesh Mark the X-axis air brushing pulse of the X-axis motor corresponding with the Spraying-drawing apparatus of colour 3D printer described in mechanical parameter tectonic forcing The axis air brushing pulsed drive of the y-axis motor corresponding with the Spraying-drawing apparatus of driving signal and the driving colored 3D printer Signal.

4. according to the method described in claim 2, it is characterized in that, the determining target mechanical parameter further include:

Pre-stored target mechanical parameter is read,

Or,

The mechanical dimension for obtaining the colored 3D printer, according to preset mechanical parameter computational algorithm and the machine got Tool size calculates the target mechanical parameter.

5. according to the method described in claim 2, it is characterized in that, described according to the target mechanical parameter, the outer ring road Diameter parses the original X-axis air brushing motor message, generates for driving the colored 3D printer with the air brushing The X-axis air brushing pulse drive signal of the corresponding X-axis motor of device and the driving colored 3D printer are filled with the air brushing Set the axis air brushing pulse drive signal of corresponding y-axis motor, further includes:

Obtain the duty ratio of the original X-axis air brushing motor message；

It is beaten according to the ink gun edge that the duty ratio and the target mechanical parameter calculate the Spraying-drawing apparatus with the colour 3D The original X-axis air brushing linear velocity of the corresponding X-axis movement of the air brushing link of print machine；

According to ink gun described in the original X-axis air brushing linear velocity and the outer ring path computing along the colored 3D printer with The corresponding modified chi axis air brushing linear velocity of the corresponding X-axis motor of air brushing link and y-axis motor corresponding with air brushing link are corresponding Amendment Y-axis air brushing linear velocity；

According to the target mechanical parameter and the modified chi axis air brushing linear velocity, the amendment Y-axis air brushing linear velocity tectonic forcing The X-axis air brushing pulse drive signal of the X-axis motor corresponding with the Spraying-drawing apparatus of the colour 3D printer and driving institute State the axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of colored 3D printer.

6. the device that a kind of pair of gabarit order is parsed, which is characterized in that the gabarit order is indication color 3D printer In each 3D printing during plastotype is by way of successively accumulating to gradually form target mock-up for plastotype link GCODE instruction when layer outmost turns movement；

Described device includes:

Outer ring path acquiring unit, it is in kind with the target for being obtained from the host computer being connected with the colored 3D printer The corresponding outer ring GCODE file of any 3D printing layer of model, the outer ring GCODE file include the outer ring with the 3D printing layer Corresponding X axis coordinate data and Y axis coordinate data；According to the X axis coordinate data and the Y axis coordinate data calculate with The corresponding outer ring path in the outer ring of the 3D printing layer.

7. device according to claim 6, which is characterized in that described device further include:

Parameter measurement unit, for determining target mechanical parameter；

Original motion signal acquisition unit, what the Spraying-drawing apparatus for acquiring the colored 3D printer issued in air brushing link The Spraying-drawing apparatus for being used to indicate the colored 3D printer carries out the original X-axis air brushing motor message of air brushing, the original X-axis spray Draw the motor message for the X-axis motor movement corresponding with the air brushing link that motor message is the driving colored 3D printer；

Motor message processing unit, for being transported according to the target mechanical parameter, the outer ring path to the original X-axis air brushing Dynamic signal is parsed, and the X-axis for driving the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer is generated The axis air brushing of the y-axis motor corresponding with the Spraying-drawing apparatus of air brushing pulse drive signal and the driving colored 3D printer Pulse drive signal so that the Spraying-drawing apparatus in air brushing link along the outer ring of any 3D printing layer do cyclic motion with Complete air brushing；

Motor message output unit, for exporting the driving colored 3D printer that the motor message processing unit generates The X-axis air brushing pulse drive signal of X-axis motor corresponding with the Spraying-drawing apparatus and the driving colored 3D printer with The axis air brushing pulse drive signal of the corresponding y-axis motor of the Spraying-drawing apparatus.

8. device according to claim 6 or 7, which is characterized in that the motor message processing unit is also used to according to institute X axis coordinate data and the Y axis coordinate data are stated, the transient excursion at each coordinate points that the outer ring path includes is calculated Angle value；The linear speed that the ink gun for the Spraying-drawing apparatus for including according to the original X-axis air brushing motor message is moved along X-axis Degree and the transient excursion angle value being calculated, calculate the ink gun along the outer ring path and do cyclic motion mistake The X-axis modified line velocity amplitude of journey moved along X-axis and the Y-axis modified line velocity amplitude moved along Y-axis；It is sprayed according to the original X-axis Draw motor message, the X-axis modified line velocity amplitude, Y-axis modified line velocity amplitude and target machinery parametric configuration driving institute It states described in X-axis air brushing pulse drive signal and the driving of the X-axis motor corresponding with the Spraying-drawing apparatus of colored 3D printer The axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of colored 3D printer.

9. device according to claim 7, which is characterized in that the parameter measurement unit is also used to read pre-stored mesh Mechanical parameter is marked, or, obtain the mechanical dimension of the colored 3D printer, according to preset mechanical parameter computational algorithm and described The mechanical dimension got calculates the target mechanical parameter.

10. device according to claim 7, which is characterized in that the motor message processing unit is also used to obtain described The duty ratio of original X-axis air brushing motor message；The Spraying-drawing apparatus is calculated according to the duty ratio and the target mechanical parameter The original X-axis air brushing linear velocity that is moved along X-axis corresponding with the colored air brushing link of 3D printer of ink gun；According to institute Ink gun described in original X-axis air brushing linear velocity and the outer ring path computing is stated along the colored 3D printer and air brushing link pair The corresponding modified chi axis air brushing linear velocity of the X-axis motor answered and the corresponding amendment Y-axis spray of y-axis motor corresponding with air brushing link Line drawing speed；According to the target mechanical parameter and the modified chi axis air brushing linear velocity, the amendment Y-axis air brushing linear velocity structure Make the X-axis air brushing pulse drive signal for driving the X-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer and Drive the axis air brushing pulse drive signal of the y-axis motor corresponding with the Spraying-drawing apparatus of the colored 3D printer.

11. a kind of colour 3D printer, which is characterized in that the colour 3D printer is connected with a host computer；The colour 3D printer includes: for successively printing in plastotype link to form the shaping device of target mock-up, be provided with ink-jet Head and Spraying-drawing apparatus for carrying out air brushing to the target mock-up that is formed in the plastotype link, at least one X-axis motor, At least one y-axis motor and the device that gabarit order is parsed as described in claim 6 to 10；

The shaping device is used for the plastotype signal of plastotype for obtaining from the host computer, and to the plastotype signal received Parsed, obtain X-axis plastotype motor message corresponding with plastotype link and Y-axis plastotype motor message, to drive it is described extremely Motor corresponding with shaping device is moved to complete plastotype process in a few X-axis motor and at least one y-axis motor；

The Spraying-drawing apparatus is used to obtain from the host computer and is used to indicate the ink jet signal of air brushing and is parsed, and obtains and uses In the original X-axis air brushing motor message for the Spraying-drawing apparatus progress air brushing for indicating the colored 3D printer, gabarit is ordered by described It enables the device parsed to parse the original X-axis air brushing motor message, obtains for driving the Spraying-drawing apparatus pair The X-axis air brushing pulse drive signal for the X-axis motor answered and the Y-axis air brushing arteries and veins of the corresponding y-axis motor of the driving Spraying-drawing apparatus Driving signal is rushed, to drive motor corresponding with Spraying-drawing apparatus at least one described X-axis motor and at least one y-axis motor It is moved, is moved so that the ink gun does horizontal ring type along the outer ring path to complete air brushing process.

12. colour 3D printer according to claim 11, which is characterized in that the Y-axis track of the colour 3D printer On be additionally provided at least one proximity sensor, detected for the movement mechanism to the shaping device/Spraying-drawing apparatus, The proximity sensor detects the movement mechanism in the case where, and the host computer sends control instruction to the air brushing Device/shaping device.

13. colour 3D printer according to claim 11, which is characterized in that the X-axis that the colour 3D printer includes The y-axis motor quantity that number of motors is 1, includes is 1 and the X-axis motor and the y-axis motor are stepper motor；The coloured silk Color printer further includes two-way selector and motor driver；

The device parsed to gabarit order is also used to the to acquisite approachs alternating control instruction from host computer and solves The obtained path control signal for being used to exchange control that parses is sent to two-way selector by analysis；

The X-axis plastotype movement letter that the two-way selector is used to, according to the path control signal, the shaping device be issued Number and Y-axis plastotype motor message be transmitted to the motor driver, to drive the X-axis motor, y-axis motor to be moved, from And complete plastotype process；The two-way selector is also used to carry out gabarit order for described according to the path control signal The X-axis air brushing pulse drive signal and Y-axis air brushing pulse drive signal that the device of parsing issues are transmitted to the motor driver, To drive the X-axis motor, y-axis motor to be moved, to complete air brushing process.

14. colour 3D printer according to claim 11, which is characterized in that the colour 3D printer includes an X-axis Direct current generator and an X-axis stepper motor, a Y-axis direct current generator and a y-axis stepper motor；The color printer further includes two-way Selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, obtains For driving the colored corresponding X-axis direct current generator of Spraying-drawing apparatus of 3D printer and the X-axis plastotype pulse of Y-axis direct current generator Driving signal and Y-axis plastotype pulse drive signal；

The X-axis plastotype movement letter that the two-way selector is used to, according to the path control signal, the shaping device be issued Number and Y-axis plastotype motor message be transmitted to the motor driver, with drive the X-axis stepper motor, y-axis stepper motor carry out Movement, to complete plastotype process；

The X-axis air brushing pulse drive signal and Y-axis air brushing arteries and veins that the device parsed to gabarit order is also used to generate It rushes driving signal and is sent to the X-axis direct current generator and Y-axis direct current generator, to drive the X-axis direct current generator and Y-axis direct current Machine is moved, to complete air brushing process.

15. colour 3D printer according to claim 11, which is characterized in that the X-axis that the colour 3D printer includes The quantity of motor is 1 and is X-axis stepper motor, and the colour 3D printer further includes a Y-axis direct current generator and a Y-axis stepping Motor；The color printer further includes two-way selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, obtains For driving the colored corresponding X-axis stepper motor of Spraying-drawing apparatus of 3D printer and the X-axis air brushing pulse of Y-axis direct current generator Driving signal and Y-axis air brushing pulse drive signal；

The device parsed to gabarit order is also used to the Y-axis air brushing pulse drive signal of generation being sent to the Y Axis direct current generator, to drive the Y-axis direct current generator to be moved, the two-way selector is also used to according to the path clustering The X-axis air brushing pulse drive signal that the device parsed to gabarit order issues is transmitted to the motor and driven by signal Dynamic device, to drive the X-axis stepper motor to be moved, to complete air brushing process.

16. colour 3D printer according to claim 11, which is characterized in that the Y-axis that the colour 3D printer includes The quantity of motor is 1 and is y-axis stepper motor, and the colour 3D printer further includes an X-axis direct current generator and an X-axis stepping Motor；The color printer further includes two-way selector and motor driver；

The device parsed to gabarit order is also used to parse the original X-axis air brushing motor message, obtains For driving X-axis air brushing pulse drive signal and the driving Y-axis stepping of X-axis direct current generator corresponding with the Spraying-drawing apparatus The Y-axis air brushing pulse drive signal of motor；

The device parsed to gabarit order is also used to the X-axis air brushing pulse drive signal of generation being sent to the X Axis direct current generator, to drive the X-axis direct current generator to be moved, the two-way selector is also used to according to the path clustering The Y-axis air brushing pulse drive signal that the device parsed to gabarit order issues is transmitted to the motor and driven by signal Dynamic device, to drive the y-axis stepper motor to be moved, to complete air brushing process.