CN115302776A - 3D printing method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a 3D printing method, device, equipment and storage medium. The method includes, when in a fast printing mode, obtaining a target trajectory instruction based on a printing instruction, determining a motion algorithm based on the target trajectory instruction, and performing 3D printing based on the motion algorithm, Get the target model. Because the present invention determines the motion algorithm through the target trajectory instruction obtained from the print instruction in the fast printing mode, and controls the speed parameter of the 3D printer according to the motion algorithm to perform 3D printing, compared with the prior art 3D printer in the motion process The method of printing at a fixed speed in the 3D printing method leads to the problem that when the printing speed is increased, the initial speed and the end speed of the stepping motor are too fast, which greatly increases the probability of printing failure. The above-mentioned 3D printing method of the present invention effectively avoids the above problem. , reducing the probability of printing failure and improving the printing effect.

Description

3D printing method, device, equipment and storage medium

technical field

The invention relates to the technical field of rapid prototyping, in particular to a 3D printing method, device, equipment and storage medium.

Background technique

Fused Deposition Modeling (FDM) 3D printers use high temperature to melt materials into fine nozzles, and then print out the required model layer by layer according to the imported 3D drawings.

At present, FDM 3D printers realize printing by driving stepping motors. The speed of stepping motors is mostly fixed at a lower speed, such as 30mm/s. FDM 3D printers use 30mm/s to print a 10cm model. About 2 hours, especially for large models with a height of 200cm, most of them will take about 40 hours, which is relatively long for users. If you simply increase the printing speed, the initial speed and end speed of the stepping motor will be too fast during the movement. , greatly increasing the probability of printing failure.

The above content is only used to assist in understanding the technical solution of the present invention, and does not mean that the above content is admitted as prior art.

Contents of the invention

The main purpose of the present invention is to provide a 3D printing method, device, equipment and storage medium, aiming to solve the problems caused by the initial speed and end speed of the stepping motor when the 3D printer in the prior art increases the printing speed during the movement process. , a technical problem that greatly increases the probability of printing failure.

In order to achieve the above object, the present invention provides a 3D printing method, said method comprising the following steps:

When in the fast printing mode, obtain the target trajectory instruction based on the printing instruction;

determining a motion algorithm based on the target trajectory instruction;

3D printing is performed based on the motion algorithm to obtain a target model.

Optionally, when in the fast printing mode, the step of obtaining the target trajectory instruction based on the printing instruction includes:

When in the fast printing mode, parse the received printing command to obtain the pre-processing printing command;

Read the target trajectory instruction in the preprocessing print instruction.

Optionally, before the step of parsing the received printing instruction and obtaining the preprocessing printing instruction when in the fast printing mode, the method further includes:

Print based on the received print command to generate a print model;

When the height of the printed model reaches a preset height, the printing mode is switched to the fast printing mode.

Optionally, the step of determining a motion algorithm based on the target trajectory instruction includes:

determining the motion trajectory in the target trajectory instruction;

When the motion track meets the preset track condition, it is determined that the motion algorithm is an S-shape motion algorithm.

Optionally, after the step of determining the motion trajectory in the target trajectory instruction, it further includes:

When the motion track does not meet the preset track condition, it is determined that the motion algorithm is a trapezoidal motion algorithm.

Optionally, the step of performing 3D printing based on the motion algorithm to obtain the target model includes:

Control the stepper motor through the S-shaped motion algorithm;

3D printing is performed based on the stepping motor to obtain a target model.

Optionally, the step of controlling the stepper motor through the S-shaped motion algorithm includes:

The pace of the stepper motor is controlled based on the preset motor parameters through the S-shaped motion algorithm, so that the stepper motor works according to the pace.

In addition, in order to achieve the above purpose, the present invention also proposes a 3D printing device, which includes:

The target trajectory instruction module is used to obtain the target trajectory instruction based on the printing instruction when in the fast printing mode;

A motion algorithm determination module, configured to determine a motion algorithm based on the target trajectory instruction;

The 3D printing module is used to perform 3D printing based on the motion algorithm to obtain the target model.

In addition, in order to achieve the above object, the present invention also proposes a 3D printing device, which includes: a memory, a processor, and a 3D printing program stored in the memory and operable on the processor, the 3D The printing program is configured to implement the steps of the 3D printing method as described above.

In addition, to achieve the above object, the present invention also proposes a storage medium, on which a 3D printing program is stored, and when the 3D printing program is executed by a processor, the steps of the 3D printing method as described above are realized.

In the present invention, when in the fast printing mode, the target trajectory instruction is obtained based on the printing instruction, then the motion algorithm is determined based on the target trajectory instruction, and finally the target model is obtained by performing 3D printing based on the motion algorithm. Since the present invention determines the motion algorithm through the target trajectory command obtained from the printing command in the fast printing mode, and controls the speed parameters of the 3D printer according to the motion algorithm to perform 3D printing, compared with the prior art 3D printer in the motion process The method of printing at a fixed speed leads to the problem that when the printing speed is increased, the probability of printing failure will be greatly increased because the initial speed and end speed of the stepping motor are too fast. The above-mentioned 3D printing method of the present invention effectively avoids the above-mentioned problems , which reduces the probability of printing failure and improves the printing effect.

Description of drawings

Fig. 1 is a schematic structural diagram of a 3D printing device in a hardware operating environment involved in the solution of an embodiment of the present invention;

Fig. 2 is a schematic flow chart of the first embodiment of the 3D printing method of the present invention;

Fig. 3 is the functional block diagram of the print mainboard of the 3D printing device of the present invention;

4 is a schematic flow chart of the second embodiment of the 3D printing method of the present invention;

5 is a schematic flow chart of a third embodiment of the 3D printing method of the present invention;

Fig. 6 is a speed curve diagram of the S-shaped motion algorithm of the 3D printing method of the present invention;

Fig. 7 is a velocity curve diagram of the trapezoidal motion algorithm of the 3D printing method of the present invention;

8 is a schematic diagram of the state switching principle of the trapezoidal motion algorithm of the 3D printing method of the present invention;

Fig. 9 is a structural block diagram of the first embodiment of the 3D printing device of the present invention.

Explanation of reference numbers:

label name label name I S acceleration stage II S uniform acceleration stage III S acceleration stage IV S constant speed stage Ⅴ S deceleration stage Ⅵ S uniform deceleration stage VII S deceleration stage VIII Trapezoidal uniform deceleration stage Ⅸ trapezoidal constant velocity stage Ⅹ Trapezoidal uniform deceleration stage

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a 3D printing device in a hardware operating environment involved in an embodiment of the present invention.

As shown in FIG. 1 , the 3D printing device may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and 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 and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a limitation to the 3D printing device, and may include more or less components than shown in the illustration, or combine some components, or arrange different components.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module and a 3D printing program.

In the 3D printing device shown in Figure 1, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the 3D printing device of the present invention can be Set in a 3D printing device, the 3D printing device invokes the 3D printing program stored in the memory 1005 through the processor 1001, and executes the 3D printing method provided by the embodiment of the present invention.

An embodiment of the present invention provides a 3D printing method. Referring to FIG. 2 , FIG. 2 is a schematic flowchart of a first embodiment of the 3D printing method of the present invention.

In this embodiment, the 3D printing writing method includes the following steps:

Step S10: Obtain the target trajectory instruction based on the printing instruction when in the fast printing mode.

It should be noted that the execution subject of the method in this embodiment may be a computing service device with data processing, network communication and program running functions, such as a mobile phone, a tablet computer, a personal computer, etc., or other devices capable of realizing the same or similar functions. Electronic equipment. Here, the above-mentioned 3D printing device (printing device for short) is used to describe the 3D printing method provided in this embodiment and the following embodiments in detail.

It is understandable that the fast printing mode may be a mode selected when it is necessary to shorten the printing time and improve the printing efficiency. In this mode, the printing device can perform fast parameter processing to increase the maximum printing speed, and at the same time increase the extrusion ratio to avoid high-speed printing of virtual materials, and also increase the printing temperature to avoid material blocking caused by untimely melting of consumables , you can also forcibly turn on the model fan to make the model more timely.

It should be noted that the printing instruction can be a CNC programming instruction used to control the movement, feed, start and stop of the 3D printer, such as G-code, which is generally stored in a corresponding instruction file, such as G-code file, each line of instructions in the file is a command that the 3D printer can understand.

It is understandable that the target trajectory instruction can be the instruction corresponding to the motion trajectory used to control the XYZ three-axis movement of the 3D printer in the printing instruction. Take the G1 X3 Y7 Z9 F100 command in the G-code instruction as an example. G1 means that according to the specified The feed speed moves from the current position to the position specified by the parameter in a straight line. X3Y7 Z9 is the position parameter of the end point. The G1 X3 Y7Z9 F100 command means that the current position is the starting point, and the coordinates corresponding to X3 Y7 Z9 are the focus. The set feed speed is 100mm/min to move to the end point, and the moving path is the target trajectory.

In a specific implementation, the printing device can be connected to a computer through a USB serial port to receive a printing command, such as a G-code command, and obtain the command corresponding to the target trajectory of the 3D printer in the command.

It should be understood that the printing device can be connected to an external computer through a USB serial port according to its internal main control MCU to obtain printing instructions, and the main control MCU can also be connected to other units to implement subsequent printing operations.

For ease of understanding, description is made with reference to FIG. 3 , but this solution is not limited. Fig. 3 is the functional block diagram of the printing motherboard of the 3D printing device of the present invention, in the figure, the printing motherboard includes a main control MCU, and each heating unit and fan control unit connected to the interface of the main control MCU, a stepper motor drive unit, and a USB serial port unit , power failure detection unit, LCD touch screen, onboard storage unit, SD card holder, WIFI interface unit, temperature acquisition unit and limit switch.

It should be noted that the main control MCU is used to analyze the G-code to generate motion control data, all peripheral control and signal reading of the 3D printer, and data communication;

The heating unit and fan control unit are used to control the switch and power of the heating unit of the nozzle and the hot bed, so that the temperature reaches the set value, and are used to control the switch and speed of the blowing pipe and blowing model fan;

The stepper motor drive unit is used to control the motor rotation direction, motor enable and motor speed of the five axes of X, Y, Z, E0 and E1 respectively;

The USB serial port unit is used to connect to an external computer, to view printing information and send instructions through the computer;

The power-off detection unit is used to detect the moment when the switching power supply is powered off instantly, and supplies power through the on-board capacitor for power-off processing;

The LCD touch screen is used to interact with users to realize 3D printer status query, as well as local printing, print model preview and parameter configuration;

The onboard storage unit is used to store printing parameters, function setting values, printing information, and large-capacity screen UI resources of the 3D printer;

SD card holder is used to upgrade firmware, update configuration parameters and print models locally through SD card;

The WIFI interface unit remotely controls the 3D printer to print through WIFI, and transmits the printing files wirelessly;

The temperature acquisition unit is used to acquire the temperature of the main control and printing equipment;

The limit switch is used as the trigger limit when the XYZ three-axis returns to zero, and the lack of material detection when there is no consumable when the material is disconnected.

Step S20: Determine a motion algorithm based on the target trajectory instruction.

It should be noted that the motion trajectory in the target trajectory instruction can be a straight line or a curve, and the length of the motion trajectory is recorded.

It is understandable that the motion algorithm may be an algorithm used to control the working speed of the stepping motor in the printing device, so that the stepping motor controls the movement of the extrusion head in the printing device to realize printing, such as the trapezoidal motion algorithm.

In a specific implementation, according to the target, the corresponding motion algorithm can be selected according to the trajectory type (straight line or curve) and the trajectory length in the instruction to control the stepping motor to work, so as to realize printing.

Step S30: Perform 3D printing based on the motion algorithm to obtain a target model.

It should be noted that the target model may be a model required by the user, and its model data construction value printing instruction file may be transmitted to the printing device in advance.

In the specific implementation, after the printing device has determined the motion algorithm, it can drive the stepper motor according to the motion algorithm, and then the stepper motor controls the movement of the extrusion head of the 3D printer to achieve printing and obtain the target model.

In this embodiment, when in the fast printing mode, the target trajectory instruction is obtained based on the printing instruction, then the motion algorithm is determined based on the target trajectory instruction, and finally the target model is obtained by performing 3D printing based on the motion algorithm. Since this embodiment determines the motion algorithm through the target trajectory command obtained from the print command in the fast printing mode, and controls the speed parameters of the 3D printer according to the motion algorithm to perform 3D printing, compared with the prior art 3D printer in motion The method of printing at a fixed speed in the process leads to the problem that when the printing speed is increased, the probability of printing failure will be greatly increased because the initial speed and end speed of the stepping motor are too fast. The above-mentioned 3D printing method of the present invention effectively avoids the above-mentioned problems, reducing the probability of printing failure and improving the printing effect.

Referring to FIG. 4 , FIG. 4 is a schematic flowchart of a second embodiment of the 3D printing method of the present invention. Based on the above-mentioned embodiments, a second embodiment of the 3D printing method of the present invention is proposed.

In the second embodiment, before the step S10, it also includes:

Step S01: Print based on the received printing instruction, and generate a printing model.

It should be noted that in some cases, such as when the height of the printed model is low, choosing the fast printing mode will cause excess energy consumption of the equipment. Therefore, you can increase the preset conditions, such as the preset height, and select the fast printing mode when the conditions are met. mode to improve the accuracy of printing mode selection and effectively utilize the energy consumption of the device.

It is understandable that the print model may be a model that the 3D printer prints layer by layer from bottom to top according to the printing instruction corresponding to the imported 3D drawing.

In the specific implementation, after the printing device improves the USB serial port unit to receive the printing instruction, it analyzes each operation command in the instruction, and controls the internal devices (such as stepping motor, extrusion head, etc.) of the 3D printer to work and print according to each operation command, and generates Print the model.

Step S02: When the height of the printed model reaches a preset height, switch the printing mode to the fast printing mode.

It should be noted that the preset height can be used to judge whether the height of the printed model exceeds the conventional standard, and can be set to 3mm, 5mm, etc., and can be set according to user needs or 3D printer performance.

In the specific implementation, if the printed model exceeds the preset height, it indicates that the printed model will take a long time, so it is necessary to change the non-fast printing mode to adjust the speed of the 3D printer to reduce the time required for printing and the 3D printer. performance loss. Otherwise, if the printed model does not exceed the preset height, it means that the printed model can be completed in a short period of time, and there is no need to change to the fast printing mode. On the contrary, if you change to the fast printing mode at this time, it will cause excess energy in the printing device , resulting in unnecessary losses.

This embodiment judges whether the printing device selects the fast printing mode through the preset height, and only selects the fast printing mode when the height of the printed model reaches the preset height, which effectively improves the accuracy of the printing mode selection and avoids the 3D printer performance. loss.

Referring to FIG. 5 , FIG. 5 is a schematic flowchart of a third embodiment of the 3D printing method of the present invention. Based on the above-mentioned embodiments, a third embodiment of the 3D printing method of the present invention is proposed.

In the third embodiment, the step S10 may include:

Step S101: When in the fast printing mode, analyze the received printing instruction to obtain a pre-processing printing instruction.

It should be noted that there are many operation commands in the print command, and it is impossible to accurately select the required trajectory command. Therefore, the required trajectory command can be accurately read through analysis to improve the effect of obtaining the target trajectory command.

In a specific implementation, when in the fast printing mode, the obtained print command can be parsed to obtain each operation command in the print command. Taking the G-code command as an example, the printing device can parse the G-code command, Obtain each motion command in the G-code command, such as G0/G1 linear movement command or G2/G3 arc movement command, G4 pause movement, G20/G21 set distance unit and G28 return to zero, etc., the above-mentioned movement commands are preset Handle print commands.

Step S102: Read the target trajectory instruction in the preprocessing printing instruction.

In a specific implementation, the G0/G1 instruction in the above-mentioned preprocessing printing instruction may be read as the target trajectory instruction.

It should be understood that, in the fast printing mode, by analyzing the received print command and reading the target track command in the preprocessed print command obtained after analysis, the effect of acquiring the target track command is effectively improved.

In the third embodiment, the step S20 includes:

Step S201: Determine the motion trajectory in the target trajectory instruction.

It should be noted that if the printing device uses the same algorithm during printing, it cannot be compatible with all motion trajectories. Therefore, in this embodiment, different motion algorithms can be determined according to the motion of the 3D printer.

In a specific implementation, the printing device parses the print command, reads the target instruction in the parsed print command, and determines the movement track of the extrusion head of the 3D printer according to the target track command.

Step S202: When the motion track meets the preset track condition, determine that the motion algorithm is an S-shape motion algorithm.

It should be noted that the preset trajectory condition may be a condition for determining the length of the motion trajectory, that is, the preset trajectory condition may be a preset length value, and when the motion trajectory reaches the preset length, it means that the motion trajectory is long-distance Motion track, on the contrary, it means that the motion track is a short-distance motion track.

It can be understood that the S-shape motion algorithm is a motion algorithm with gradual acceleration.

For ease of understanding, description is made with reference to FIG. 6 , but this solution is not limited. Fig. 6 is a speed curve diagram of the S-shaped motion algorithm of the 3D printing method of the present invention. In the figure, the acceleration and deceleration process of the S-shaped motion algorithm is a 7-stage acceleration and deceleration process, forming an S-shaped curve. Acceleration phase II, S acceleration phase III, S constant speed phase IV, S deceleration phase V, S uniform deceleration phase VI and deceleration phase VII.

Furthermore, due to the S-type algorithm, the acceleration of the stepper motor changes at any time, resulting in more energy consumption, which can meet the demand when the distance is long, but when the length of the trajectory is short and the trajectory is a curve , the energy consumption will be excessive, so in this case, the trapezoidal motion algorithm with uniform acceleration change can be used to meet the demand and make reasonable use of the energy consumption of the stepping motor. Therefore, in this embodiment, after the step S201, it also includes:

Step S202': When the motion trajectory does not meet the preset trajectory conditions, determine that the motion algorithm is a trapezoidal motion algorithm.

It can be understood that the trapezoidal motion algorithm is a uniform speed control algorithm with constant acceleration during acceleration and deceleration.

For ease of understanding, description is made with reference to FIG. 7 , but this solution is not limited. Fig. 7 is a speed curve diagram of the trapezoidal motion algorithm of the 3D printing method of the present invention. In the figure, the acceleration and deceleration process of the trapezoidal motion algorithm is a three-stage acceleration and deceleration process, forming a trapezoid. The trapezoidal curve consists of trapezoidal uniform acceleration stage VIII, trapezoidal constant velocity stage IX and The trapezoidal uniform deceleration stage X is composed.

For ease of understanding, description is made with reference to FIG. 8 , but this solution is not limited. Fig. 8 is the principle diagram of state switching of the trapezoidal motion algorithm of the 3D printing method of the present invention. In the figure, when the number of steps of the stepping motor is 1, the stepping motor directly enters the deceleration state and then stops, and when the number of steps of the stepping motor is greater than 1, and will increase to the maximum speed, the stepper motor will go through the process of acceleration state to constant speed state to deceleration state to stop state. The motor will go through the process from acceleration state to deceleration state to stop state.

It should be noted that, based on the above figure 7, the trapezoidal motion algorithm is easy to implement because of its fixed acceleration and deceleration values. When the motion trajectory is a curve and short distance, the required speed is small, and the curve point of speed change can be ignored, which can produce Better printing effect.

It is understandable that, based on the above Figures 6 and 7, when the trajectory is long distance, the required speed is relatively large, and the inflection point of the speed change curve cannot be ignored, for example, the trend in the trapezoidal uniform acceleration stage VIII suddenly becomes a trapezoidal constant velocity In stage Ⅸ, there will be a large impact force and noise due to inertia, which will cause the stepper motor to fail or stall, which will eventually lead to wrong layers of the printed model and printing failure. The acceleration and deceleration process of the S-shaped motion algorithm avoids this problem very well. For example, when the S deceleration phase III changes to the S constant speed phase IV, the phase changes of the speed curve are well connected, and the change has a greater impact on the stepping motor. big impact.

In the third embodiment, step S30 includes:

Step S301: Control the stepper motor through the S-shape motion algorithm.

In a specific implementation, the printing device may drive the stepper motor according to the above-mentioned S-shaped motion algorithm according to the above-mentioned S-shaped speed curve.

Further, in order to improve the working efficiency of the stepping motor, the step S301 includes:

The pace of the stepping motor is controlled based on the preset motor parameters through the S-type motion algorithm, so that the stepping motor works according to the pace.

It should be noted that the preset motor parameters may be related parameters for controlling the operation of the stepping motor, such as the working speed parameter and the working time parameter of the stepping motor.

It can be understood that the speed parameter can include the start speed and end speed of the stepping motor (maximum speed, corresponding to the speed in the constant speed phase of the new S curve), and the time parameter can be the duration of the stepping motor working.

In a specific implementation, the printing device can determine the start speed and end speed of the S-shaped motion algorithm based on the above speed parameters and time parameters to determine the S curve, thereby controlling the step speed of the stepping motor at each time point to make the step The feed motor works according to this pace.

It should be understood that the printing device increases the speed parameter and the time parameter to determine the speed curve of the S-shape motion algorithm, and controls the step speed of the stepping motor according to the curve, so as to effectively improve the working efficiency of the stepping motor.

Step S302: Perform 3D printing based on the stepping motor to obtain a target model.

In a specific implementation, the stepper motor works at the above pace to control the movement of the extrusion head of the 3D printer to achieve printing and obtain the target model.

In this embodiment, the target model is obtained by controlling the stepper motor to print according to the S-shaped motion algorithm when the motion trajectory meets the preset conditions. Since the S-shaped motion algorithm can be applied to situations with high speeds, and the acceleration of the S-shaped motion algorithm It is in the form of gradual change, which eliminates the sudden change of acceleration, so that the machine runs more smoothly, avoids the stepping motor from losing steps or stalling due to the high printing speed, greatly reduces the probability of misalignment, and realizes the fast printing function.

In addition, an embodiment of the present invention also proposes a storage medium, on which a 3D printing program is stored, and when the 3D printing program is executed by a processor, the steps of the above-mentioned 3D printing method are realized.

Referring to FIG. 9 , FIG. 9 is a structural block diagram of the first embodiment of the 3D printing device of the present invention.

As shown in Figure 9, the 3D printing device proposed by the embodiment of the present invention includes:

A target trajectory instruction module 501, configured to obtain a target trajectory instruction based on the printing instruction when in the fast printing mode;

A motion algorithm determining module 502, configured to determine a motion algorithm based on the target trajectory instruction;

The target model printing module 503 is configured to perform 3D printing based on the motion algorithm to obtain the target model.

In this embodiment, when in the fast printing mode, the target trajectory instruction is obtained based on the printing instruction, then the motion algorithm is determined based on the target trajectory instruction, and finally the target model is obtained by performing 3D printing based on the motion algorithm. Since this embodiment determines the motion algorithm through the target trajectory command obtained from the print command in the fast printing mode, and controls the speed parameters of the 3D printer according to the motion algorithm to perform 3D printing, compared with the prior art 3D printer in motion The method of printing at a fixed speed in the process leads to the problem that when the printing speed is increased, the probability of printing failure will be greatly increased because the initial speed and end speed of the stepping motor are too fast. The above-mentioned 3D printing method of the present invention effectively avoids the above-mentioned problems, reducing the probability of printing failure and improving the printing effect.

For other embodiments or specific implementations of the 3D printing device of the present invention, reference may be made to the above-mentioned method embodiments, which will not be repeated here.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of software products in essence or in other words, the part that contributes to the prior art, and the computer software products are stored in a storage medium (such as read-only memory/random access memory, magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, air conditioner, or network equipment, etc.) execute the methods described in various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims (10)

1. A3D printing method, characterized in that the 3D printing method comprises the following steps:

when the printing device is in a fast printing mode, obtaining a target track instruction based on a printing instruction;

determining a motion algorithm based on the target track instruction;

and 3D printing is carried out based on the motion algorithm to obtain a target model.

2. The 3D printing method according to claim 1, wherein the step of obtaining the target trajectory instructions based on the printing instructions while in the fast printing mode comprises:

when the printer is in a quick printing mode, analyzing the received printing instruction to obtain a preprocessing printing instruction;

and reading a target track instruction in the preprocessing printing instruction.

3. The 3D printing method according to claim 2, wherein before the step of parsing the received print command to obtain the pre-processing print command while in the fast printing mode, the method further comprises:

printing based on the received printing instruction to generate a printing model;

and when the height of the printing model reaches a preset height, switching the printing mode into a quick printing mode.

4. The 3D printing method of claim 1, wherein the step of determining a motion algorithm based on the target trajectory instructions comprises:

determining a motion track in the target track instruction;

and when the motion track meets the preset track condition, determining that the motion algorithm is an S-shaped motion algorithm.

5. The 3D printing method according to claim 4, wherein the step of determining the motion trajectory in the target trajectory instructions is followed by further comprising:

and when the motion track does not accord with the preset track condition, determining the motion algorithm as a trapezoidal motion algorithm.

6. The 3D printing method according to claim 4, wherein the step of performing 3D printing based on the motion algorithm to obtain the target model comprises:

controlling a stepping motor through the S-shaped motion algorithm;

and 3D printing is carried out based on the stepping motor to obtain a target model.

7. The 3D printing method as claimed in claim 6, wherein the step of controlling the stepper motor through the S-shaped motion algorithm comprises:

and controlling the step speed of the stepping motor based on preset motor parameters through the S-shaped motion algorithm so that the stepping motor works according to the step speed.

8. A3D printing apparatus, the apparatus comprising:

the target track instruction module is used for obtaining a target track instruction based on the printing instruction when the printing module is in the fast printing mode;

the motion algorithm determining module is used for determining a motion algorithm based on the target track instruction;

and the 3D printing module is used for performing 3D printing based on the motion algorithm to obtain a target model.

9. A3D printing apparatus, characterized in that the apparatus comprises: memory, a processor and a 3D printing program stored on the memory and executable on the processor, the 3D printing program being configured to implement the steps of the 3D printing method according to any of claims 1 to 7.

10. A storage medium, characterized in that the storage medium has stored thereon a 3D printing program, which 3D printing program, when executed by a processor, implements the steps of the 3D printing method according to any one of claims 1 to 7.

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