CN111251614A - Method and device for keeping printing line width constant when 3D printing speed changes - Google Patents
Method and device for keeping printing line width constant when 3D printing speed changes Download PDFInfo
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- CN111251614A CN111251614A CN202010216869.5A CN202010216869A CN111251614A CN 111251614 A CN111251614 A CN 111251614A CN 202010216869 A CN202010216869 A CN 202010216869A CN 111251614 A CN111251614 A CN 111251614A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention discloses a method and a device for keeping a printing line width constant when a 3D printing speed changes, which realize the capability of keeping the printing line width constant of a 3D printer under the condition of various printing speed changes by keeping the extrusion speed of an extrusion head of the 3D printer and the real-time feeding speed of a moving part of the 3D printer in a fixed proportion all the time. The feeding shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for driving a motion part to work, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of an extrusion head, so that the given rotating speed of the main shaft of the numerical control system and the real-time feeding speed of the feeding shaft always keep a fixed proportion. According to the invention, the material accumulation at the traditional positions where the material accumulation is easy to occur, such as corners, pause, withdrawal and the like in 3D printing, is obviously reduced, the printing quality is greatly improved, the operation is convenient, the 3D printing program is simplified, and the success rate of the 3D printing is improved.
Description
Technical Field
The invention relates to the technical field of control of 3D printing, in particular to a method and a device capable of keeping constant line width of 3D printing under the condition that various printing speeds of the 3D printing are changed.
Background
A Numerical Control System, which is a short term for a digital Control System, is a special computer System that executes a part or all of Numerical Control functions according to a Control program stored in a computer memory and is provided with an interface circuit and a servo drive device. In general, a numerical control system implements control of one or more mechanical devices by using numerical commands composed of numbers, letters, and symbols, and the control is usually mechanical quantities such as position, angle, speed, and switching quantities.
At present, a numerical control system is a motion control system commonly used for 3D printers. In the technical field of 3D printing, the existing numerical control system has a complete speed planning algorithm, can automatically control a feed shaft acceleration and deceleration curve and a speed strategy when 3D printing passes through a corner, enables 3D printing programming to be simple, and can pass through the corner at an optimized speed.
Generally, in 3D printing, at the corners of the printing track, the numerical control system will cause the motion driving motor of the 3D printer, which is responsible for adjusting the relative position of the extrusion head and the workpiece, to perform an appropriate deceleration. If the speed is not reduced, the printer vibrates due to overlarge centrifugal force of the moving part, and the vibration shortens the service life of the printer and influences the printing quality. The moving part is decelerated properly, so that the vibration can be avoided.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
at the corner of 3D printing orbit, moving part is when slowing down, because the material extrusion speed of extruding the head is unchangeable, prints the linewidth and can increase, then can form long-pending material in the corner of printing the orbit, long-pending material can make a reduction in quality of printing, leads to even that a printing is unqualified.
Disclosure of Invention
The embodiment of the application provides a method and a device for keeping a printing line width constant when a 3D printing speed changes, and solves the technical problems that in the prior art, in the corner of a 3D printing track, the printing line width is increased when a moving part decelerates, so that the material accumulation is formed at the corner of the printing track, and the technical effect that the capability of keeping the printing line width constant can be kept under the condition that various printing speeds change in 3D printing is achieved.
The embodiment of the application provides a method for keeping a printing line width constant when a 3D printing speed changes, and the method comprises the following steps: the extrusion speed of the extrusion head of the 3D printer and the real-time feeding speed of the moving part of the 3D printer are always kept in a fixed proportion.
Preferably, a feed shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for driving a motion part to work, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of an extrusion head, so that the given rotating speed of the main shaft of the numerical control system and the real-time feed speed of the feed shaft always keep a fixed proportion.
Preferably, the specific algorithm of the method is as follows:
S=P*F
wherein the content of the first and second substances,Sfor a given rotational speed of the main shaft,Pin order to set the print line width,Fthe real-time feeding speed is the feeding shaft.
The embodiment of the present application further provides a device for keeping a printing line width constant when a 3D printing speed changes, which is characterized by comprising:
the real-time feeding speed measuring module of the moving part of the 3D printer is used for measuring the real-time feeding speed of the moving part of the 3D printer;
the 3D printer extrusion head extrusion speed adjusting module is used for adjusting the extrusion speed of the 3D printer extrusion head in an equal proportion along with the change of the real-time feeding speed of the 3D printer moving part;
and the 3D printer extrusion head extrusion speed adjusting module is connected with the 3D printer moving part real-time feeding speed measuring module.
Preferably, the real-time feeding speed measuring module of the moving part of the 3D printer is arranged on the moving part of the 3D printer.
Preferably, the device also comprises a numerical control system, wherein a main shaft control interface and a feed shaft control interface are arranged on the numerical control system; the spindle control interface is connected with an extrusion head motor of the 3D printer, which is in charge of material increase; the feed shaft control interface is connected with a motion driving motor of the 3D printer, and the motion driving motor is responsible for driving a motion part to work; and the 3D printer extrusion head extrusion speed adjusting module is connected with the numerical control system.
More preferably, the extrusion speed adjusting module of the 3D printer extrusion head is connected with the given rotating speed adjusting module of the main shaft, and the given rotating speed adjusting module of the main shaft adjusts the given rotating speed of the main shaft of the numerical control system in equal proportion along with the change of the real-time feeding speed of the moving part of the 3D printer.
Further, the spindle given rotating speed adjusting module is integrated with the numerical control system.
Furthermore, the spindle given rotating speed adjusting module adopts a PLC module.
And furthermore, a printing line width setting module, a feeding shaft speed setting module and a main shaft rotating speed setting module are arranged on the numerical control system, and the main shaft rotating speed setting module is connected with the main shaft given rotating speed adjusting module.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. the extrusion speed of the extrusion head of the 3D printer and the real-time feeding speed of the moving part of the 3D printer are always kept in a fixed proportion, so that the capability of keeping the printing line width constant under the condition of various printing speed changes of 3D printing is realized;
2. the task of keeping the printing line width constant is placed on the control of the motor of the extrusion head, so that the material accumulation at the traditional positions which are easy to accumulate, such as corners, pause, withdrawal and the like of 3D printing, is obviously reduced, and the printing quality is greatly improved;
3. based on the existing numerical control system, a feed shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for adjusting the relative position of the extrusion head and the workpiece, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of the extrusion head. As long as the given rotating speed of the main shaft of the numerical control system keeps a fixed proportion to the real-time feeding speed of the feeding shaft, the aim of keeping the printing line width constant under the condition of 3D printing of various printing speed changes can be achieved.
4. The device simple structure that this application provided, convenient operation carries out simple improvement based on current 3D printer and numerical control system can, has simplified 3D and has printed the procedure, has promoted the success rate that 3D printed.
Drawings
Fig. 1 is a schematic diagram of a method for keeping a printing line width constant when a 3D printing speed is changed according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an apparatus for keeping a printing line width constant when a 3D printing speed changes according to a second embodiment of the present application;
fig. 3 is a schematic diagram of a following curve of the motor rotation speed and the printing speed of the extruder in the third embodiment of the present application.
Detailed Description
The embodiment of the application provides a method for keeping a printing line width constant when a 3D printing speed changes, solves the technical problems that in the prior art, in the corner of a 3D printing track, a moving part is decelerated, the printing line width is increased, and the material accumulation is formed at the corner of the printing track, and realizes the technical effect that the 3D printing can keep the capability of keeping the printing line width constant under the condition of various printing speed changes.
In order to solve the problem of crosstalk, the technical scheme in the embodiment of the present application has the following general idea:
in the prior art, at the corner of 3D printing track, when moving part slowed down, because the material extrusion speed of extruding the head was unchangeable, then printed the linewidth and can increase for it deposits the material to form in the corner of printing the track.
One conceivable approach is to keep the printed line width constant by optimizing the printing program to pass the moving parts of the 3D printer at a relatively low fixed speed at the corners of the 3D printing track, while the extrusion head is also extruding material at a relatively low fixed extrusion speed proportionally. However, this method has the following drawbacks:
if the moving part of the 3D printer is changed at other non-preset speeds, the extrusion speed of the extrusion head cannot be changed, the line width of the 3D printer is still changed, the quality of a printed piece is reduced, and even the printed piece is unqualified.
The applicant has further switched the idea to place the task of keeping the printed linewidth constant on top of the control of the extrusion head motor in case of a change in the 3D printing speed.
Regarding the 3D printing speed planning strategy as a black box, nobody can know the printing speed at any moment in the printing process in advance, but can know and control the real-time feeding speed and the spindle speed through the parameters of a numerical control system. In the art, the printing speed refers to the speed of movement of the moving parts, which are the extrusion head and its fixture.
The feeding shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for adjusting the relative position of the extrusion head and the workpiece, and the main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of the extrusion head, so that the purpose of keeping the printing line width constant under the condition of changing of various printing speeds in 3D printing can be realized as long as the extrusion speed of the extrusion head and the real-time feeding speed of the moving part keep a fixed proportion.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
Fig. 1 is a schematic diagram of a method for keeping a printing line width constant when a 3D printing speed changes according to an embodiment of the present application, where the method for keeping the printing line width constant when the 3D printing speed changes is to keep an extrusion speed of an extrusion head of a 3D printer and a real-time feeding speed of a moving part of the 3D printer at a constant ratio all the time.
During specific operation, a feed shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for adjusting the relative position of the extrusion head and the workpiece, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of the extrusion head. Therefore, as long as the given rotating speed of the main shaft of the numerical control system and the real-time feeding speed of the feeding shaft are kept in a fixed proportion, the aim of keeping the printing line width constant under the condition of changing various printing speeds in 3D printing can be achieved.
The specific algorithm is as follows:
S=P*F
wherein the content of the first and second substances,Sfor a given rotational speed of the main shaft,Pin order to set the print line width,Fthe real-time feeding speed is the feeding shaft.
Adjusting the given rotation speed of the main shaft according to the set printing line width P and the real-time feeding speed F of the feeding shaftS。
When the printing line width is setPConstant time, real-time feed speed of feed shaftFIncreasing or decreasing, the spindle setting speedSAre proportionally increased or decreased. This allows the printed line width to remain constant throughout the 3D printing speed variation.
If the printing line width needs to be changed, only adjustment is neededPThe value of (c) is sufficient.
Example two
Fig. 2 is a schematic diagram of an apparatus for keeping a printing line width constant when a 3D printing speed changes according to an embodiment of the present application, where the apparatus for keeping a printing line width constant when a 3D printing speed changes includes:
the real-time feeding speed measuring module of the moving part of the 3D printer is used for measuring the real-time feeding speed of the moving part of the 3D printer;
the numerical control system is provided with a main shaft control interface and a feed shaft control interface; a spindle control interface of the numerical control system is connected with an extrusion head motor of the 3D printer, which is in charge of material increase, through a control line; a feed shaft control interface of the numerical control system is connected with a motion driving motor of the 3D printer, which is responsible for driving a motion part to work, through a control line;
the main shaft given rotating speed adjusting module is used for adjusting the main shaft given rotating speed of the numerical control system in an equal proportion along with the change of the real-time feeding speed of the moving part of the 3D printer; the specific algorithm is as in embodiment one;
the main shaft given rotating speed adjusting module is connected with the real-time feeding speed measuring module and the numerical control system of the moving parts of the 3D printer.
As a preferred embodiment, the real-time feeding speed measuring module of the moving part of the 3D printer is arranged on the moving part of the 3D printer, such as an extrusion head.
As a preferred embodiment, the spindle given rotating speed adjusting module is integrated with the numerical control system and is a sub-module in the numerical control system.
As a preferred embodiment, the spindle given rotating speed adjusting module adopts a PLC module.
As a preferred embodiment, the numerical control system is provided with a printing line width setting module, a feed shaft speed setting module and a main shaft rotating speed setting module. The main shaft rotating speed setting module is connected with the main shaft given rotating speed adjusting module.
EXAMPLE III
In the embodiment, a large 3D printer is used as a specific implementation object, and a germany BWO numerical control system is used for specific application.
The three cartesian axes responsible for moving the relative positions of the extrusion head and the workpiece are set to the X, Y, Z axes.
Be equipped with in the large-scale 3D printer: in an X-Y-Z three-dimensional coordinate system, an X-axis motion driving motor for driving the extrusion head to move in the X direction, a Y-axis motion driving motor for driving the extrusion head to move in the Y direction, a Z-axis motion driving motor for driving the extrusion head to move in the Z direction and an extrusion head motor for material increase are arranged.
The German BWO numerical control system is provided with: in an X-Y-Z three-dimensional coordinate system, an X-direction feed shaft control interface, a Y-direction feed shaft control interface, a Z-direction feed shaft control interface and a main shaft control interface. The numerical control system is also provided with a printing line width setting module, a feeding shaft speed setting module and a main shaft rotating speed setting module.
And connecting the X-direction feeding shaft control interface with an X-axis motion driving motor, connecting the Y-direction feeding shaft control interface with a Y-axis motion driving motor, connecting the Z-direction feeding shaft control interface with a Z-axis motion driving motor, and connecting the main shaft control interface with an extrusion head motor by using a control line.
The real-time feeding speed measuring module of the moving part of the 3D printer is arranged on an extrusion head or an extrusion head mounting frame of the 3D printer, and in the embodiment, a speed sensor is adopted.
A spindle set rotation speed adjusting module is arranged in the BWO numerical control system, and in this embodiment, the spindle set rotation speed adjusting module adopts a PLC module.
The spindle given rotating speed adjusting module is connected with the real-time feeding speed measuring module of the moving part of the 3D printer and the spindle rotating speed setting module in the BWO numerical control system. And setting a program in the PLC module to enable the rotation speed multiplying power of the main shaft to change in equal proportion with the feeding speed of the currently working feeding shaft, wherein a specific algorithm is as in the first embodiment.
The following curve of the measured extruder motor speed versus the printing speed is shown in fig. 3. As can be seen from the graph 3, the rotating speed of the motor of the extruder changes in proportion with the printing speed, although the adjustment of the rotating speed of the main shaft has certain hysteresis compared with the change of the printing speed, the position of 3D printing corners, pause, pumpback and the like where materials are easy to accumulate is obviously acted, accumulated materials are obviously reduced, the printing line width is always kept consistent, and the printing quality is greatly improved.
With the optimization of the technology, the application effect of the method can be better if the mechanical response speed of the extrusion head can be further improved.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages:
1. the extrusion speed of the extrusion head of the 3D printer and the real-time feeding speed of the moving part of the 3D printer are always kept in a fixed proportion, so that the 3D printing line width can be always kept consistent;
2. the task of keeping the printing line width constant is placed on the control of the motor of the extrusion head, so that the material accumulation at the traditional positions which are easy to accumulate, such as corners, pause, withdrawal and the like of 3D printing, is obviously reduced, and the printing quality is greatly improved;
3. based on the existing numerical control system, a feed shaft of the numerical control system controls a motion driving motor of the 3D printer, which is responsible for adjusting the relative position of the extrusion head and the workpiece, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer, which is responsible for adjusting the extrusion speed of the extrusion head. As long as the given rotating speed of the main shaft of the numerical control system keeps a fixed proportion to the real-time feeding speed of the feeding shaft, the aim of keeping the printing line width constant under the condition of 3D printing of various printing speed changes can be achieved.
4. The device provided by the application is simple in structure and convenient to operate, and can be simply improved based on the existing 3D printer and a numerical control system thereof; the method provided by the application has excellent performance, simplifies the 3D printing program and improves the success rate of 3D printing.
While the foregoing is directed to the preferred embodiment of the present application, and not to the limiting thereof in any way and any way, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Those skilled in the art can make various changes, modifications and equivalent arrangements to those skilled in the art without departing from the spirit and scope of the present application; moreover, any equivalent alterations, modifications and variations of the above-described embodiments according to the spirit and techniques of this application are intended to be within the scope of the claims of this application.
Claims (10)
1. A method for keeping a printing line width constant when a 3D printing speed changes is characterized in that the extrusion speed of an extrusion head of a 3D printer and the real-time feeding speed of a moving part of the 3D printer are always kept in a fixed proportion.
2. The method for keeping the printing line width constant when the 3D printing speed is changed as claimed in claim 1, wherein a feed shaft of the numerical control system controls a motion driving motor of the 3D printer which is responsible for driving a motion part to work, and a main shaft of the numerical control system controls an extrusion head motor of the 3D printer which is responsible for adjusting the extrusion speed of the extrusion head, so that the given rotating speed of the main shaft of the numerical control system and the real-time feed speed of the feed shaft are always kept in a fixed proportion.
3. The method for keeping the printing line width constant when the 3D printing speed is changed according to claim 2, wherein the specific algorithm is as follows:
S=P*F
wherein the content of the first and second substances,Sfor a given rotational speed of the main shaft,Pin order to set the print line width,Fthe real-time feeding speed is the feeding shaft.
4. An apparatus for maintaining a printing line width constant when a 3D printing speed is changed, comprising:
the real-time feeding speed measuring module of the moving part of the 3D printer is used for measuring the real-time feeding speed of the moving part of the 3D printer;
the 3D printer extrusion head extrusion speed adjusting module is used for adjusting the extrusion speed of the 3D printer extrusion head in an equal proportion along with the change of the real-time feeding speed of the 3D printer moving part;
and the 3D printer extrusion head extrusion speed adjusting module is connected with the 3D printer moving part real-time feeding speed measuring module.
5. The apparatus for maintaining a printing line width constant when a 3D printing speed is changed according to claim 4, wherein the real-time feeding speed measuring module of the moving part of the 3D printer is provided on the moving part of the 3D printer.
6. The apparatus for maintaining a constant print linewidth during a 3D printing speed variation as recited in claim 4, further comprising a numerical control system, said numerical control system having a spindle control interface and a feed axis control interface; the spindle control interface is connected with an extrusion head motor of the 3D printer, which is in charge of material increase; the feed shaft control interface is connected with a motion driving motor of the 3D printer, and the motion driving motor is responsible for driving a motion part to work; and the 3D printer extrusion head extrusion speed adjusting module is connected with the numerical control system.
7. The apparatus for maintaining the printing line width constant when the 3D printing speed is changed according to claim 6, wherein the extrusion speed adjusting module of the 3D printer extrusion head adopts a main shaft given rotating speed adjusting module, and the main shaft given rotating speed adjusting module adjusts the main shaft given rotating speed of the numerical control system in an equal proportion along with the change of the real-time feeding speed of the moving part of the 3D printer.
8. The apparatus for maintaining a constant print linewidth during 3D printing speed variations of claim 7, wherein the spindle set speed adjustment module is integrated with the numerical control system.
9. The apparatus for maintaining a constant printing line width when a 3D printing speed is varied according to claim 8, wherein the spindle set rotation speed adjusting module employs a PLC module.
10. The apparatus for maintaining a constant printing line width during a 3D printing speed variation according to claim 6, wherein the numerical control system is provided with a printing line width setting module, a feed shaft speed setting module and a spindle rotation speed setting module, and the spindle rotation speed setting module is connected to the spindle set rotation speed adjusting module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010216869.5A CN111251614A (en) | 2020-03-25 | 2020-03-25 | Method and device for keeping printing line width constant when 3D printing speed changes |
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| CN202010216869.5A CN111251614A (en) | 2020-03-25 | 2020-03-25 | Method and device for keeping printing line width constant when 3D printing speed changes |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379079A (en) * | 2022-01-14 | 2022-04-22 | 杭州捷诺飞生物科技股份有限公司 | Control method and device for 3D printing and electronic equipment |
| CN115056487A (en) * | 2022-05-23 | 2022-09-16 | 合肥工业大学 | Silica gel 3D printer and construction method of extrusion delay error function thereof |
-
2020
- 2020-03-25 CN CN202010216869.5A patent/CN111251614A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379079A (en) * | 2022-01-14 | 2022-04-22 | 杭州捷诺飞生物科技股份有限公司 | Control method and device for 3D printing and electronic equipment |
| CN114379079B (en) * | 2022-01-14 | 2023-11-24 | 杭州捷诺飞生物科技股份有限公司 | Control method and device for 3D printing and electronic equipment |
| CN115056487A (en) * | 2022-05-23 | 2022-09-16 | 合肥工业大学 | Silica gel 3D printer and construction method of extrusion delay error function thereof |
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