CN113681882A - 3D printing method and 3D printer - Google Patents
3D printing method and 3D printer Download PDFInfo
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- CN113681882A CN113681882A CN202111237387.9A CN202111237387A CN113681882A CN 113681882 A CN113681882 A CN 113681882A CN 202111237387 A CN202111237387 A CN 202111237387A CN 113681882 A CN113681882 A CN 113681882A
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- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000010146 3D printing Methods 0.000 title claims abstract description 49
- 238000007639 printing Methods 0.000 claims abstract description 316
- 238000004590 computer program Methods 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 15
- 230000003746 surface roughness Effects 0.000 abstract description 9
- 230000003044 adaptive effect Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 24
- 238000010586 diagram Methods 0.000 description 15
- 238000005520 cutting process Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 9
- 238000005485 electric heating Methods 0.000 description 7
- 238000003860 storage Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
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- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
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- 239000002994 raw material Substances 0.000 description 1
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- 230000008023 solidification Effects 0.000 description 1
- 239000012815 thermoplastic material Substances 0.000 description 1
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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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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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
- 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 3D printing method and a 3D printer, and relates to the technical field of 3D printing, wherein the 3D printing method comprises the following steps: determining current print data from a print model, the current print data including at least one of a thickness and a width of a current print unit at a current print position; determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of a target moving speed of a nozzle of the 3D printer, a target printing height of the nozzle and a target wire feeding speed of the nozzle; and controlling the 3D printer to print the current printing unit according to the control parameters. The method solves the problem of step effect in the existing 3D printing method, realizes real-time adaptive regulation and control of the cross-sectional shape and size of the fuse wire, can reduce the surface roughness of the workpiece, and improves the surface geometric quality of the workpiece.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a 3D printing method and a 3D printer.
Background
At present, 3D printing, namely additive manufacturing of Material Extrusion (ME) forming, is to heat and melt a wire Material with a constant diameter passing through a nozzle with a constant diameter to form a fuse with a constant cross-sectional shape and size, and to stack the fuse on the surface of a part, and to build up layer by layer, and finally to form the three-dimensional shape of the part (as shown in fig. 1). In order to overcome the above disadvantages, domestic and foreign related researchers have proposed a curved surface cut fused deposition modeling (CLFDM) process and a conformal curved surface layering algorithm (as shown in fig. 2), which can effectively avoid the step effect, need no support, reduce the number of layers (improve the efficiency), and improve the mechanical properties of the product.
However, in the fused deposition modeling of the curved surface cutting layer, the wire with constant diameter passing through the nozzle is heated and melted through the nozzle with constant caliber, and the fuse wire with constant cross-sectional shape and size is formed. For the plate and shell parts with uneven thickness, the thickness of the fuse wire cannot be adjusted adaptively by adopting the equal-thickness curved surface cutting layer, and the step effect cannot be avoided (as shown in figure 3); for the plate and shell parts with variable widths, the width of the fuse wire cannot be adjusted adaptively by adopting the curved surface cutting layer with the same thickness, so that the step effect of the parts in the width direction cannot be eliminated, and the edge part still has steps (as shown in fig. 4).
Therefore, for parts with uneven thickness or width, the curved surface cutting layer with the same thickness is difficult to give full play to the advantages of the curved surface cutting layer, the surface structure of the part is damaged, and the static strength and the fatigue resistance of the part are reduced.
Disclosure of Invention
The method provided by the invention solves the problem of step effect in the existing 3D printing method, realizes real-time adaptive regulation and control of the cross-sectional shape and size of the fuse wire, can keep the complete surface structure of the workpiece, reduces the surface roughness of the workpiece, improves the surface geometric quality of the workpiece, and ensures that the workpiece has good mechanical properties.
In order to achieve the above object, the present invention provides a 3D printing method applied to a 3D printer, where the 3D printing method includes the following steps:
determining current print data from a print model, the current print data including at least one of a thickness and a width of a current print unit at a current print position;
determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of a target moving speed of a nozzle of the 3D printer, a target printing height of the nozzle and a target wire feeding speed of the nozzle;
and controlling the 3D printer to print the current printing unit according to the control parameters.
Further, the step of determining control parameters of the 3D printer according to the current print data comprises:
when the current print data includes the thickness of the current print unit, taking the thickness of the current print unit as a target print height of the nozzle.
Further, the step of determining control parameters of the 3D printer according to the current print data comprises:
when the current printing data comprise the width of the current printing unit, acquiring the diameter of a printing wire and a preset wire feeding speed;
and determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing wire and the preset wire feeding speed.
Further, after the step of determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing filament material and the preset filament feeding speed, the method further includes:
when the target moving speed of the nozzle is greater than or equal to a first moving speed threshold, updating the target moving speed of the nozzle by adopting the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the first moving speed threshold value.
Further, after the step of determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing filament material and the preset filament feeding speed, the method further includes:
when the target moving speed of the nozzle is smaller than or equal to a second moving speed threshold, updating the target moving speed of the nozzle by using the second moving speed threshold, wherein the second moving speed threshold is smaller than the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the second moving speed threshold value.
Further, after the step of determining the target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire material and the first moving speed threshold, the method further includes:
and when the target wire feeding speed of the nozzle is greater than or equal to the wire feeding speed threshold, updating the target wire feeding speed of the nozzle by using the wire feeding speed threshold.
Further, the step of determining control parameters of the 3D printer according to the current print data comprises:
judging whether the current printing data is consistent with the previous printing data;
and when the current printing data is inconsistent with the previous printing data, re-determining the control parameters of the 3D printer according to the current printing data.
Further, when the thickness of the current printing unit is smaller than that of the previous printing unit, the target printing height of the nozzle is smaller than that of the nozzle when the previous printing unit prints; and/or the presence of a gas in the gas,
when the width of the current printing unit is smaller than that of the previous printing unit, the target moving speed of the nozzle is larger than the moving speed of the nozzle when the previous printing unit prints, or the target wire feeding speed of the nozzle is smaller than the wire feeding speed of the nozzle when the previous printing unit prints.
Further, before the step of determining the control parameter of the 3D printer according to the current print data, the method further includes:
when the current printing data comprises the width of the current printing unit, acquiring the outer diameter of a nozzle of the 3D printer;
and when the width of the current printing unit is larger than or equal to the outer diameter of the nozzle, taking the outer diameter of the nozzle as the width of the current printing unit.
To achieve the above object, the present invention further provides a 3D printer, where the 3D printer includes a memory, a processor, and a computer program stored in the memory and running on the processor, and the computer program, when executed by the processor, implements the steps of the 3D printing method as described above.
In order to achieve the above object, the present invention further provides a storage medium having a control program of a 3D printer stored thereon, wherein the control program of the 3D printer, when executed by a processor, implements the steps of the 3D printing method as described above.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
in the technical scheme of the invention, the control parameters of the 3D printer, including the target moving speed of the nozzle, the target printing height of the nozzle and the target wire feeding speed of the nozzle, are determined according to printing data, namely according to the thickness and the width of the printing unit, even if the printing model has a changed layer thickness or a changed path width, the control parameters of the 3D printer are matched and adapted with the control parameters, so that when the 3D printer runs according to the control parameters determined by the method, the cross-sectional shape and the size (thickness and width) of a fuse wire can be adaptively regulated and controlled in real time in the extrusion forming process of the fuse wire, thereby realizing that the thickness and the width directions keep a stepless complete wire material structure, leading the appearance of a printed product to be well in accordance with a preset printing model, effectively overcoming the step effect of the whole outer side surface of the product caused by the changed layer thickness or the changed path width, therefore, the complete surface structure of the workpiece is maintained, the surface roughness of the workpiece is reduced, the surface geometric quality of the workpiece is improved, and the workpiece is ensured to have good static strength and fatigue resistance.
Drawings
FIG. 1 is a schematic diagram of a prior art flat cut printing;
FIG. 2 is a schematic diagram of prior art curved cut-layer printing;
FIG. 3 is a schematic diagram of steps in the height direction during curved surface layer-cutting printing according to the prior art;
FIG. 4 is a schematic diagram of steps in the width direction during curved surface layer-cutting printing according to the prior art;
FIG. 5 is a schematic diagram of a 3D printer in a state of printing by the 3D printing method of the present invention;
FIG. 6 is a schematic cross-sectional view taken at A-A in FIG. 5;
fig. 7 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 8 is a schematic flow chart of a 3D printing method according to a first embodiment of the present invention;
FIG. 9 is a schematic flow chart of a 3D printing method according to a second embodiment of the invention;
fig. 10 is a detailed flowchart of step S200 in the third embodiment of the 3D printing method according to the present invention;
fig. 11 is a detailed flowchart of step S200 in the fourth embodiment of the 3D printing method according to the present invention;
fig. 12 is a detailed flowchart of step S200 in the fifth embodiment of the 3D printing method according to the present invention;
FIG. 13 is a schematic flow chart of a sixth embodiment of a 3D printing method according to the invention;
fig. 14 is a flowchart illustrating a refinement of step S200 in a seventh embodiment of the 3D printing method according to the present invention;
fig. 15 is a flowchart illustrating a tenth embodiment of a 3D printing method according to the present invention.
Detailed Description
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
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.
As shown in fig. 7, fig. 7 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a 3D printer, and can also be equipment such as a PC, an industrial computer and the like.
As shown in fig. 7, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the 3D printer configuration shown in fig. 7 does not constitute a limitation of 3D printers, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components. For example, the 3D printer structure may further include a workbench, a five-axis (or three-axis) driving module, a filament feeding motor, a nozzle, an electric heating wire, and the like, where the five-axis driving module is installed on the workbench, and the nozzle is installed at a driving end of the five-axis driving module; the nozzle is provided with a wire inlet and a wire outlet which are communicated with the inner cavity of the nozzle, a wire inlet roller is arranged in the wire inlet, and a wire inlet motor is connected with the wire inlet roller; the electric heating wire is arranged on the side wall of the inner cavity of the nozzle. The five-axis driving module, the wire feeding motor and the electric heating wire are respectively and electrically connected with the processor 1001, the processor 1001 respectively controls the five-axis driving module, the wire feeding motor and the electric heating wire to work according to instructions, and controls the five-axis driving module to drive the nozzle to move in a five-axis coordinate system (three linear coordinates and two rotating coordinates) according to the instruction, so that the nozzle moves according to a preset material filling track, or the wire feeding motor is controlled to drive the wire feeding roller to rotate according to the instruction so as to drive wire raw materials (thermoplastic materials) to enter the inner cavity of the nozzle from the wire feeding port of the nozzle, or controlling the electric heating wire to be electrified according to the instruction, so that the electric heating wire heats and rises in temperature, the wire entering the inner cavity of the nozzle from the wire inlet of the nozzle is extruded from the wire outlet of the nozzle after being heated and melted, and the extruded material is bonded with the solidified material and is stacked layer by layer, thereby finishing the printing of the whole printing model.
As shown in fig. 7, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a control application of the 3D printer.
In the terminal shown in fig. 7, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to call a control application of the 3D printer stored in the memory 1005 and perform the following operations:
determining current print data from a print model, the current print data including at least one of a thickness and a width of a current print unit at a current print position;
determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of a target moving speed of a nozzle of the 3D printer, a target printing height of the nozzle and a target wire feeding speed of the nozzle;
and controlling the 3D printer to print the current printing unit according to the control parameters.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
when the current print data includes the thickness of the current print unit, taking the thickness of the current print unit as a target print height of the nozzle.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
when the current printing data comprise the width of the current printing unit, acquiring the diameter of a printing wire and a preset wire feeding speed;
and determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing wire and the preset wire feeding speed.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
when the target moving speed of the nozzle is greater than or equal to a first moving speed threshold, updating the target moving speed of the nozzle by adopting the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the first moving speed threshold value.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
when the target moving speed of the nozzle is smaller than or equal to a second moving speed threshold, updating the target moving speed of the nozzle by using the second moving speed threshold, wherein the second moving speed threshold is smaller than the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the second moving speed threshold value.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
and when the target wire feeding speed of the nozzle is greater than the wire feeding speed threshold value, updating the target wire feeding speed of the nozzle by adopting the wire feeding speed threshold value.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
judging whether the current printing data is consistent with the previous printing data;
and when the current printing data is inconsistent with the previous printing data, re-determining the control parameters of the 3D printer according to the current printing data.
Further, when the thickness of the current printing unit is smaller than that of the previous printing unit, the target printing height of the nozzle is smaller than that of the nozzle when the previous printing unit prints; and/or the presence of a gas in the gas,
when the width of the current printing unit is greater than that of the previous printing unit, the target moving speed of the nozzle is less than the moving speed of the nozzle when the previous printing unit prints, or the target wire feeding speed of the nozzle is greater than the wire feeding speed of the nozzle when the previous printing unit prints.
Further, the processor 1001 may call a control application of the 3D printer stored in the memory 1005, and also perform the following operations:
when the current printing data comprises the width of the current printing unit, acquiring the outer diameter of a nozzle of the 3D printer;
and when the width of the current printing unit is larger than or equal to the outer diameter of the nozzle, taking the outer diameter of the nozzle as the width of the current printing unit.
The main solution of the embodiment of the invention is as follows: determining current print data from a print model, the current print data including at least one of a thickness and a width of a current print unit at a current print position; determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of a target moving speed of a nozzle of the 3D printer, a target printing height of the nozzle and a target wire feeding speed of the nozzle; and controlling the 3D printer to print the current printing unit according to the control parameters.
In the prior art, in 3D printing, a nozzle with a constant caliber is used for heating and melting wire materials with constant diameters penetrating through the nozzle to form a fuse wire with a fixed cross section shape and size, the fuse wire is accumulated on the surface of a part and accumulated layer by layer, and finally the three-dimensional shape of the part is formed. The method has obvious step effect on the inclined surface of the part with uneven thickness or width, seriously influences the size precision and the surface roughness of the part, destroys the surface structure of the part and reduces the static strength and the fatigue resistance of the part.
The invention provides a solution, in the 3D printing method of the invention, the control parameters of the 3D printer, including the target moving speed of the nozzle, the target printing height of the nozzle and the target filament feeding speed of the nozzle, are determined according to the printing data, that is, the control parameters of the 3D printer are determined according to the thickness and width of the printing unit, even if the printing model has a changed layer thickness or a changed path width, the control parameters of the 3D printer are adapted to the printing model in a matching way, so when the 3D printer operates according to the control parameters determined by the method, the cross-sectional shape and size (thickness and width) of the fuse can be adaptively regulated in real time in the process of extruding and forming the fuse, thereby realizing that the thickness and width directions both keep a step-free complete filament structure, and leading the outline of the printed product to be well in accordance with the preset printing model, the step effect of the whole outer side surface of the workpiece caused by the changed layer thickness or the changed path width is effectively overcome, so that the complete surface structure of the workpiece is maintained, the surface roughness of the workpiece is reduced, the surface geometric quality of the workpiece is improved, and the workpiece is ensured to have good static strength and fatigue resistance.
The present invention provides a first embodiment of a 3D printing method, referring to fig. 8, in the first embodiment of the present invention, the 3D printing method includes the following steps:
s100, determining current printing data according to a printing model, wherein the current printing data comprises at least one of the thickness and the width of a current printing unit at a current printing position;
specifically, the 3D printer mainly adopts a layered processing method for printing and molding. Before printing, the printing model needs to be preprocessed, that is, each printing cut layer of the printing model and the printing path of each layer are obtained by analyzing and calculating the printing model. Further, the variable-thickness layering algorithm can be used for obtaining the unequal-thickness slicing results of the printing model, and the widening degree path planning algorithm is used for obtaining the widening degree path of each layer. Compared with the planar layer-cutting printing, the curved surface layer-cutting printing can avoid the step effect to a certain extent, does not need to be supported, reduces the layering quantity (improves the efficiency), and simultaneously improves the mechanical property of a workpiece, so that the curved surface layer-cutting printing can be preferably selected.
Each printing layer can be divided into a plurality of printing units connected in sequence along each printing path according to the printing progress division of unit time, and if the unit time is limited to be a time point, a real-time control state can be achieved. The printing unit at the current printing position is the current printing unit, the printing unit at the previous printing position is the previous printing unit, and so on. It is easily understood that the current printing position and the previous printing position are relatively time-wise and continuously advanced, and after the current printing unit finishes printing, the current printing position is changed to the previous printing position, and the latter printing position is changed to the current printing position. For clarity, the following description is made with the current printing time point as the viewing angle. Through printing the current printing unit in real time at the current printing position, after the total printing duration is accumulated, the printing forming of the whole 3D model can be realized.
Here, the thickness and width of the printing unit refer to the thickness and width of the cross section of the printing unit (equivalent to the fuse) at the same printing position. The thickness of the printing units at different printing positions may be the same or different, and likewise, the width of the printing units at different printing positions may be the same or different, which is not limited in the present invention. It should be understood that, here, determining the current print data according to the print model refers to determining data that changes in the current print data, and if the data does not change, the data is obtained before, and the determination does not need to be repeated, so that the method includes three cases: if the current printing unit only has the thickness change, the thickness of the current printing unit needs to be determined again; if the current printing unit only has a width change, the width of the current printing unit needs to be determined again at the moment; if the thickness and the width of the current printing unit are changed simultaneously, the thickness and the width of the current printing unit need to be determined again.
S200, determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of target moving speed of a nozzle of the 3D printer, target printing height of the nozzle and target wire feeding speed of the nozzle;
it is understood that the target moving speed of the nozzle, the target printing height of the nozzle, and the target filament feeding speed of the nozzle are all relative to the current printing position. Wherein at least one of a target moving speed of the nozzle, a target printing height of the nozzle, and a target wire feeding speed of the nozzle may be determined according to current printing data (including a thickness and/or a width of a current printing unit) of a current printing position. It should be understood that, here, determining the control parameter of the 3D printer according to the current print data means determining a parameter that changes in the control parameter, and if the parameter is not changed, the 3D printer may operate according to the previous parameter without repeated determination, so the manner of determining the control parameter may be determining any one, any two combinations, or any three combinations of the target moving speed of the nozzle, the target printing height of the nozzle, and the target filament feeding speed of the nozzle. And after the control parameters of the 3D printer are determined, controlling the 3D printer to operate according to the set control parameters, and finishing printing the planned printing data. It can be understood that when the control parameters determined according to the above scheme are operated, that is, the current position is printed according to the determined target moving speed of the nozzle, the target printing height of the nozzle and the target wire feeding speed of the nozzle, the cross-sectional shape of the fuse wire formed at the current position is matched with the current printing data (the thickness and the width of the current printing unit). The moving speed of the nozzle and the printing height of the nozzle are controlled by a five-axis driving module, and the wire feeding speed of the nozzle is controlled by a wire feeding motor. In the printing process, the five-axis driving module controls the nozzle to be perpendicular to the printing surface all the time, so that the interference between the nozzle and the printing surface cannot occur in the printing process.
And S300, controlling the 3D printer to print the current printing unit according to the control parameters.
Because the control parameters of the 3D printer are determined according to the printing data, namely the thickness and the width of the printing unit, even if the printing model has a changed layer thickness or a changed path width, the control parameters of the 3D printer are matched and adapted with the thickness and the width, when the 3D printer runs according to the control parameters determined by the method, the sectional shape and the size (thickness and width) of the fuse wire can be adaptively regulated and controlled in real time in the extrusion forming process of the fuse wire, so that the stepless complete wire material structure in the thickness direction and the width direction is realized, the appearance of the printed workpiece can well accord with the preset printing model, the step effect of the whole outer side surface of the workpiece caused by the changed layer thickness or the changed path width is effectively overcome, the complete surface structure of the workpiece is maintained, and the surface roughness of the workpiece is reduced, the surface geometric quality of the finished piece is improved, and the finished piece is ensured to have good static strength and fatigue resistance.
Further, based on the first embodiment, a second embodiment of the 3D printing method of the present invention is provided, referring to fig. 9, in the second embodiment of the present invention, the step S200 includes:
s210, when the current printing data comprise the thickness of the current printing unit, taking the thickness of the current printing unit as the target printing height of the nozzle.
From the volume of the feed material being equal to the volume of the discharge material, the following equation is obtained:
w×h×v=(πd2) f/4; wherein,
w is the instantaneous fuse cross-sectional width (mm);
h is the instantaneous fuse section height (mm);
v is the instantaneous nozzle movement speed (mm/s);
d is the diameter (mm) of the printing wire;
f is the instantaneous wire feed speed (mm/s).
Referring to fig. 5 to 6, fig. 5 and 6 are schematic views illustrating a 3D printer in a state when the 3D printing method of the present invention is used for printing, in which the nozzle 10 moves in a horizontal direction a in fig. 5, and the nozzle 10 moves in a horizontal direction b in fig. 6, and the direction b is perpendicular to the direction a. When the 3D printer prints, the printing wire 21 enters the nozzle 10 from the upper part, the fuse wire 22 is formed in the nozzle 10 through the heating of the nozzle 10, the fuse wire 22 is extruded from the lower part of the nozzle 10 and is attached to a printing surface, and the solidified wire 23 is formed after the solidification after the cooling.
In this embodiment, the variation of the layer thickness at different printing positions can be achieved by means of nozzle squeezing. When printing, the instantaneous printing height between the nozzle and the printing surface (namely the molded surface of the product) is equal to the instantaneous layer thickness of the printing unit, namely the instantaneous height of the section of the extruded part of the fuse wire, namely the layer thickness is controlled by controlling the height of the nozzle, and the height of the nozzle is controlled by a five-axis driving module.
In combination with the above formula, it will be understood that the moving speed of the nozzle and the feeding speed of the printing filament material should be considered together to ensure that the instantaneous height of the cross section of the extruded portion of the fuse wire can reach the instantaneous layer thickness of the printing unit. Specifically, if the thickness of the printing unit becomes larger, the target printing height of the nozzle becomes larger, and at this time, under the condition that the width of the printing unit is fixed, the moving speed of the nozzle can be appropriately reduced and/or the wire feeding speed of the printing wire material can be increased, so as to ensure that the fuse wire can fill the space between the nozzle and the printing surface; conversely, if the thickness of the printing unit becomes smaller, the target printing height of the nozzle becomes smaller, and if the width of the printing unit is fixed, the moving speed of the nozzle is increased and/or the feeding speed of the printing filament material is decreased appropriately. In this way, the cross-sectional height of the fuse can be adaptively adjusted according to the thickness of the printing unit, thereby adapting to different thicknesses of the printing unit.
Therefore, when the 3D printer prints according to the target printing height of the nozzle determined by the thickness of the current printing unit, the cross-section height of the fuse wire can be controlled in real time, and the cross-section height of the formed fuse wire is matched with the thickness of the printing unit in the printing data, so that the step effect of the workpiece in the height direction is eliminated, the complete surface structure of the workpiece is maintained, the surface roughness of the workpiece is reduced, the surface geometric quality of the workpiece is improved, and the workpiece is guaranteed to have good mechanical properties.
Further, based on the first or second embodiment, a third embodiment of the 3D printing method of the present invention is provided, referring to fig. 10, in the third embodiment of the present invention, the step S200 includes:
s211, when the current printing data comprise the width of the current printing unit, acquiring the diameter of a printing wire and a preset wire feeding speed;
s212, determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing wire and the preset wire feeding speed.
In this embodiment, as shown in fig. 5 and 6, on the premise that the current printing height of the nozzle is determined, the instantaneous overflow amount of the fuse in the moving process of the nozzle determines the width of the point, when the instantaneous overflow amount of the fuse is greater than zero, the fuse overflows from the inner diameter of the nozzle to the outer diameter direction of the nozzle, and the width of the fuse can be adjusted by changing the overflow amount. Wherein, the instantaneous overflow amount of the fuse wire can be adjusted by adjusting the moving speed of the nozzle and the wire feeding speed of the printing wire material. Specifically, if the width of the printing unit becomes large, in the case where the thickness of the printing unit is fixed (i.e., the target printing height of the nozzle is fixed), the moving speed of the nozzle is appropriately reduced and/or the feeding speed of the printing filament material is increased; conversely, if the width of the printing unit is reduced, with the thickness of the printing unit fixed (i.e. the target print height of the nozzle fixed), the speed of movement of the nozzle is increased and/or the speed of advancement of the printed filament material is reduced as appropriate. In this way, the overflowing amount of the fuse wire is changed and adjusted between the inner diameter and the outer diameter of the nozzle, so that the cross-sectional width of the fuse wire can be adaptively adjusted according to the width of the printing unit, and the fuse wire is adaptive to different widths of the printing unit. Of course, if the width and height of the printing unit are changed simultaneously, the moving speed of the nozzle and the feeding speed of the printing silk material are determined according to the formula.
As an implementation mode, a fixed value is given to the wire feeding speed of the printing wire material in advance according to the performance and the actual requirement of the equipment, namely the preset wire feeding speed is given, and the real-time change control of the height and the width of the cross section of the fuse wire is realized only by adjusting the moving speed of the nozzle in the printing process. Understandably, according to the above formula; w × h × v = (π d)2) f/4, the thickness of the current printing unit is equal to the height of the section of the instantaneous fuse wire, the width of the current printing unit is equal to the width of the section of the instantaneous fuse wire, and the diameter of the printing wire material is determined when the material is selected, so that when the preset wire feeding speed is determined, the target moving speed of the nozzle can be determined according to the formula. Therefore, when the 3D printer prints according to the target printing height of the nozzle, the preset wire feeding speed and the target moving speed of the nozzle determined by the method, the sectional shape and the size of the fuse wire can be controlled in real time, so that the sectional height and the width of the formed fuse wire are matched with the thickness and the width of the printing unit in the printing data, the step effect of the workpiece in the height and width directions is eliminated, the complete surface structure of the workpiece is maintained, the surface roughness of the workpiece is reduced, the surface geometric quality of the workpiece is improved, and the workpiece is ensured to have good mechanical properties.
Further, based on the third embodiment, a fourth embodiment of the 3D printing method of the present invention is provided, referring to fig. 11, in the fourth embodiment of the present invention, after step S212, the method further includes:
s213, when the target moving speed of the nozzle is greater than or equal to a first moving speed threshold, updating the target moving speed of the nozzle by adopting the first moving speed threshold;
s214, determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the first moving speed threshold.
In this embodiment, in consideration of the practical situation, the moving speed of the nozzle is limited to a certain extent, because the five-axis driving module (including the motor and some mechanical components which need to move) drives the nozzle to move, and has a certain mass (inertia), and the adjustment range of the moving speed of the nozzle is limited, then, when the moving speed of the nozzle is adjusted to the limit value, the filament feeding speed of the nozzle (the frequency of the filament feeding motor is adjusted) can be properly adjusted to make up for the limitation of the adjustment range of the moving speed of the nozzle. The determination of the target yarn feeding speed of the nozzle can also be calculated by referring to the above formula, that is, the target yarn feeding speed of the nozzle is reversely calculated by using the limit value of the moving speed of the nozzle as a determination value. It should be noted that, in general, when controlling the printer to print, the feeding speed of the nozzle may be kept unchanged, that is, the feeding speed is controlled according to the preset feeding speed, and the cross-sectional size of the filament is adjusted by adjusting the moving speed of the nozzle, so as to help to keep the filament melted uniformly and improve the forming quality of the product.
Further, based on the fourth embodiment, a fifth embodiment of the 3D printing method of the present invention is provided, referring to fig. 12, in the fifth embodiment of the present invention, after the step S212, the method further includes:
s215, when the target moving speed of the nozzle is smaller than or equal to a second moving speed threshold, updating the target moving speed of the nozzle by using the second moving speed threshold, wherein the second moving speed threshold is smaller than the first moving speed threshold;
s216, determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the second moving speed threshold.
In this embodiment, since the adjustment range of the nozzle moving speed is limited, and includes an upper limit value (i.e., a first moving speed threshold) and a lower limit value (i.e., a second moving speed threshold), when determining the target moving speed of the nozzle, the calculated nozzle moving speed needs to be compared with the first moving speed threshold and the second moving speed threshold, when the calculated nozzle moving speed reaches the first moving speed threshold or the second moving speed threshold, the first moving speed threshold or the second moving speed threshold is adopted to determine the target moving speed of the nozzle, and then the filament feeding speed of the nozzle is adjusted to compensate and adjust the cross-sectional shape and size of the fuse. Therefore, the adjustable range of the section width of the fuse wire can be expanded, and the application range of the 3D printer is favorably expanded.
Further, based on the fourth embodiment, a sixth embodiment of the 3D printing method according to the present invention is provided, referring to fig. 13, in the sixth embodiment of the present invention, after step S214, the method further includes:
and S217, when the target wire feeding speed of the nozzle is greater than or equal to the wire feeding speed threshold, updating the target wire feeding speed of the nozzle by using the wire feeding speed threshold.
In this embodiment, considering that the wire feeding speed of the nozzle is limited, the wire feeding speed of the nozzle can only be adjusted within a certain range because the wire feeding speed is too fast and the wire is not melted (the electric heating wire has power limitation). Therefore, when the target wire feeding speed of the nozzle is determined, when the calculated wire feeding speed of the nozzle reaches a limit value (namely a wire feeding speed threshold value), the wire feeding speed threshold value is determined as the target wire feeding speed of the nozzle to control the 3D printer to operate, so that the wire material is fully melted, and the instability of the structure of a workpiece is avoided.
Further, based on the first embodiment, a seventh embodiment of the 3D printing method of the present invention is provided, referring to fig. 14, in the seventh embodiment of the present invention, the step S200 includes:
s220, judging whether the current printing data is consistent with the previous printing data;
s221, when the current printing data is inconsistent with the previous printing data, re-determining the control parameters of the 3D printer according to the current printing data.
In this embodiment, when determining the control parameter of the 3D printer according to the current print data, it may be compared whether the current print data is the same as the previous print data: when the current printing data is consistent with the previous printing data, the height and the width of the cross section of the fuse wire are not changed, so that the control parameters determined according to the previous printing data can be directly adopted, the control parameters do not need to be adjusted, the calculation amount can be reduced, and the calculation efficiency is improved; when the current printing data is inconsistent with the previous printing data, the control parameters of the 3D printer need to be determined again according to the current printing data so as to control the height and the width of the cross section of the fuse wire in real time, eliminate the step effect of the workpiece in the height and width directions and keep the complete surface structure of the workpiece.
Further, on the basis of the seventh embodiment, there is provided an eighth embodiment of the 3D printing method according to the present invention, in which when the thickness of the current printing unit is smaller than that of the previous printing unit, the target printing height of the nozzles is smaller than the printing height of the nozzles when the previous printing unit prints.
In this embodiment, the variation of the layer thickness at different printing positions can be achieved by means of nozzle squeezing. During printing, the instantaneous printing height between the nozzle and the printing surface (i.e. the surface on which the object has been formed) should be equal to the instantaneous layer thickness of the printing unit, i.e. to the instantaneous height of the cross-section of the extruded portion of the fuse, i.e. the layer thickness is controlled by controlling the nozzle height. Specifically, when the thickness of the current printing unit is equal to that of the previous printing unit, the printing height of the nozzle determined by the previous printing unit is directly adopted without adjustment; when the thickness of the current printing unit is smaller than that of the previous printing unit, the printing height of the nozzle needs to be adjusted to be increased; when the thickness of the current printing unit is greater than that of the previous printing unit, the printing height of the nozzle needs to be adjusted to be reduced. Therefore, the cross section height of the formed fuse wire can be matched with the thickness of the printing unit in the printing data, so that the step effect of the workpiece in the height direction is eliminated, the complete surface structure of the workpiece is kept, the surface roughness of the workpiece is reduced, the surface geometric quality of the workpiece is improved, and the workpiece is guaranteed to have good mechanical property.
Further, based on the seventh embodiment, a ninth embodiment of the 3D printing method according to the present invention is provided, and in the ninth embodiment of the present invention, when the width of the current printing unit is smaller than the width of the previous printing unit, the target moving speed of the nozzle is greater than the moving speed of the nozzle when the previous printing unit prints, or the target wire feeding speed of the nozzle is less than the wire feeding speed of the nozzle when the previous printing unit prints.
In this embodiment, the width of the cross section of the fuse can be adjusted by adjusting the target moving speed of the nozzle or the target filament feeding speed of the nozzle. Specifically, on the premise that the printing height of the nozzle is determined, when the width of the current printing unit is equal to the width of the previous printing unit, the moving speed of the nozzle determined by the previous printing unit is directly adopted without adjustment; when the width of the current printing unit is larger than that of the previous printing unit, the moving speed of the nozzle needs to be adjusted to be reduced; when the width of the current printing unit is smaller than that of the previous printing unit, the moving speed of the nozzle needs to be adjusted to be increased. Or when the width of the current printing unit is equal to that of the previous printing unit, the wire feeding speed of the nozzle determined by the previous printing unit is directly adopted without adjustment; when the width of the current printing unit is larger than that of the previous printing unit, the wire feeding speed of the nozzle needs to be adjusted to be increased; when the width of the current printing unit is smaller than that of the previous printing unit, the wire feeding speed of the nozzle needs to be adjusted to be reduced.
Further, based on the first to ninth embodiments, a tenth embodiment of the 3D printing method of the present invention is provided, referring to fig. 15, in the tenth embodiment of the present invention, before the step S200, the method further includes:
s400, when the current printing data comprise the width of the current printing unit, acquiring the outer diameter of a nozzle of the 3D printer;
and S410, when the width of the current printing unit is larger than or equal to the outer diameter of the nozzle, taking the outer diameter of the nozzle as the width of the current printing unit.
In this embodiment, since it is difficult to control the fuse width to be larger than the outer diameter of the nozzle, the maximum width of the printing unit should be limited to be smaller than or equal to the outer diameter of the nozzle. Therefore, in the planned current printing data, when the width of the current printing unit is greater than the outer diameter of the nozzle, the width of the current printing unit needs to be adjusted, that is, the outer diameter of the nozzle is taken as the width of the current printing unit, and on the premise of this, the moving speed of the nozzle or the filament feeding speed of the nozzle is determined, so that the effective control of the fuse process is ensured, and the surface quality of the product is ensured.
To achieve the above object, the present invention further provides a 3D printer, where the 3D printer includes a memory, a processor, and a computer program stored in the memory and running on the processor, and the computer program, when executed by the processor, implements the steps of the 3D printing method as described above.
In order to achieve the above object, the present invention further provides a storage medium having a control program of a 3D printer stored thereon, wherein the control program of the 3D printer, when executed by a processor, implements the steps of the 3D printing method as described above.
Since the system described in the embodiment of the present invention is a system used for implementing the method in the embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the system based on the method described in the embodiment of the present invention, and thus the detailed description is omitted here. All systems adopted by the method of the embodiment of the invention belong to the protection scope of the invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a controller of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the controller of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the invention
With clear spirit and scope. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A3D printing method is applied to a 3D printer, and the 3D printing method comprises the following steps:
determining current print data from a print model, the current print data including at least one of a thickness and a width of a current print unit at a current print position;
determining control parameters of the 3D printer according to the current printing data, wherein the control parameters comprise at least one of a target moving speed of a nozzle of the 3D printer, a target printing height of the nozzle and a target wire feeding speed of the nozzle;
and controlling the 3D printer to print the current printing unit according to the control parameters.
2. The 3D printing method according to claim 1, wherein the step of determining control parameters of the 3D printer from the current print data comprises:
when the current print data includes the thickness of the current print unit, taking the thickness of the current print unit as a target print height of the nozzle.
3. 3D printing method according to claim 1 or 2, wherein the step of determining control parameters of the 3D printer from the current print data comprises:
when the current printing data comprise the width of the current printing unit, acquiring the diameter of a printing wire and a preset wire feeding speed;
and determining the target moving speed of the nozzle according to the current printing data, the diameter of the printing wire and the preset wire feeding speed.
4. The 3D printing method as claimed in claim 3, wherein after the step of determining the target moving speed of the nozzle based on the current print data, the diameter of the print filament and the preset filament feeding speed, further comprising:
when the target moving speed of the nozzle is greater than or equal to a first moving speed threshold, updating the target moving speed of the nozzle by adopting the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the first moving speed threshold value.
5. The 3D printing method as claimed in claim 4, wherein after the step of determining the target moving speed of the nozzle based on the current print data, the diameter of the print filament and the preset filament feeding speed, further comprising:
when the target moving speed of the nozzle is smaller than or equal to a second moving speed threshold, updating the target moving speed of the nozzle by using the second moving speed threshold, wherein the second moving speed threshold is smaller than the first moving speed threshold;
and determining a target wire feeding speed of the nozzle according to the current printing data, the diameter of the printing wire and the second moving speed threshold value.
6. The 3D printing method as claimed in claim 4, wherein after the step of determining a target feed speed of the nozzle from the current print data, the diameter of the print filament and the first movement speed threshold, further comprising:
and when the target wire feeding speed of the nozzle is greater than or equal to the wire feeding speed threshold, updating the target wire feeding speed of the nozzle by using the wire feeding speed threshold.
7. The 3D printing method according to claim 1, wherein the step of determining control parameters of the 3D printer from the current print data comprises:
judging whether the current printing data is consistent with the previous printing data;
and when the current printing data is inconsistent with the previous printing data, re-determining the control parameters of the 3D printer according to the current printing data.
8. The 3D printing method of claim 7, wherein when the thickness of the current printing unit is less than the thickness of a previous printing unit, the target printing height of the nozzles is less than the printing height of the nozzles when the previous printing unit prints; and/or the presence of a gas in the gas,
when the width of the current printing unit is smaller than that of the previous printing unit, the target moving speed of the nozzle is larger than the moving speed of the nozzle when the previous printing unit prints, or the target wire feeding speed of the nozzle is smaller than the wire feeding speed of the nozzle when the previous printing unit prints.
9. The 3D printing method according to claim 1, wherein the step of determining control parameters of the 3D printer based on the current print data is preceded by the step of:
when the current printing data comprises the width of the current printing unit, acquiring the outer diameter of a nozzle of the 3D printer;
and when the width of the current printing unit is larger than or equal to the outer diameter of the nozzle, taking the outer diameter of the nozzle as the width of the current printing unit.
10. A 3D printer, characterized in that the 3D printer comprises a memory, a processor and a computer program stored on the memory and running on the processor, which computer program, when executed by the processor, realizes the steps of the 3D printing method according to any one of claims 1 to 9.
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