CN115302776A

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

Info

Publication number: CN115302776A
Application number: CN202210783929.0A
Authority: CN
Inventors: 廖继盛; 郑顺昌; 卢松柏
Original assignee: Shenzhen Shengma Youchuang Technology Co ltd
Current assignee: Shenzhen Shengma Youchuang Technology Co ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-11-08

Abstract

The invention discloses a 3D printing method, a device, equipment and a storage medium, wherein the method comprises the steps of obtaining a target track instruction based on a printing instruction when in a rapid printing mode, determining a motion algorithm based on the target track instruction, and performing 3D printing based on the motion algorithm to obtain a target model. Because the motion algorithm is determined by the target track instruction obtained from the printing instruction in the rapid printing mode, and the 3D printing is performed by controlling the speed parameter of the 3D printer according to the motion algorithm, compared with the prior art that the 3D printer performs printing at a fixed speed in the moving process, the problem that the probability of printing failure is greatly increased because the initial speed and the finishing speed of the stepping motor are too high when the printing speed is increased is solved.

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, a device, equipment and a storage medium.

Background

In a Fused Deposition Modeling (FDM) 3D printer, a material is melted at a high temperature and flows into a fine nozzle, and then a desired model is printed layer by layer from bottom to top according to an imported three-dimensional drawing.

At present, FDM 3D printer realizes printing through drive step motor, the speed that step motor adopted is mostly about fixed lower speed, for example 30mm/s, FDM 3D printer adopts the speed of 30mm/s to print about 2 hours of a 10cm model, especially the large-scale model of 200cm height, mostly all need about 40 hours, time is longer for the user, if improve printing speed alone, can be too fast because step motor initial velocity and finish speed in the motion process, greatly increased prints the probability of failing.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a 3D printing method, a device, equipment and a storage medium, and aims to solve the technical problem that when the printing speed of a 3D printer is increased in the movement process in the prior art, the probability of printing failure is greatly increased due to the fact that the initial speed and the finishing speed of a stepping motor are too high.

To achieve the above object, the present invention provides a 3D printing method, comprising the steps of:

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

determining a motion algorithm based on the target trajectory instructions;

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

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

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.

Optionally, before the step of analyzing the received print instruction and obtaining the pre-processing print instruction when the print module is in the fast printing mode, the method further includes:

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.

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

determining a motion track in the target track instruction;

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

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

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

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

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.

Optionally, the step of controlling the stepping motor by the S-shaped motion algorithm includes:

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.

Furthermore, to achieve the above object, the present invention also proposes a 3D printing 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.

Furthermore, to achieve the above object, the present invention also proposes a 3D printing apparatus, comprising: a 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 as described above.

Furthermore, to achieve the above object, the present invention also proposes a storage medium having a 3D printing program stored thereon, wherein the 3D printing program, when executed by a processor, implements the steps of the 3D printing method as described above.

When the rapid printing mode is adopted, a target track instruction is obtained based on the printing instruction, then a motion algorithm is determined based on the target track instruction, and finally 3D printing is carried out based on the motion algorithm to obtain a target model. Because the motion algorithm is determined by the target track instruction obtained from the printing instruction in the rapid printing mode, and the 3D printing is performed by controlling the speed parameter of the 3D printer according to the motion algorithm, compared with the prior art that the 3D printer performs printing at a fixed speed in the moving process, the problem that the probability of printing failure is greatly increased because the initial speed and the finishing speed of the stepping motor are too high when the printing speed is increased is solved.

Drawings

Fig. 1 is a schematic structural diagram of a 3D printing apparatus in a hardware operating environment according to an embodiment of the present invention;

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

FIG. 3 is a functional block diagram of a printing motherboard of the 3D printing apparatus of the present invention;

FIG. 4 is a flowchart illustrating a 3D printing method according to a second embodiment of the present invention;

FIG. 5 is a schematic flow chart of a 3D printing method according to a third embodiment of the invention;

FIG. 6 is a velocity profile of the S-shaped motion algorithm of the 3D printing method of the present invention;

FIG. 7 is a velocity profile of a trapezoidal motion algorithm of the 3D printing method of the present invention;

FIG. 8 is a schematic diagram of the switching of the trapezoidal motion algorithm state in the 3D printing method according to the present invention;

fig. 9 is a block diagram of the 3D printing apparatus according to the first embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				Ⅰ	S acceleration phase	Ⅱ	S stage of uniform acceleration
Ⅲ	S acceleration phase	Ⅳ	S constant velocity stage
				Ⅴ	S deceleration stage	Ⅵ	S stage of uniform deceleration
Ⅶ	S deceleration stage	Ⅷ	Trapezoidal uniform deceleration stage
				Ⅸ	Trapezoidal uniform velocity stage	Ⅹ	Trapezoidal uniform deceleration stage

The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a 3D printing apparatus in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the 3D printing apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display (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., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a 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 configuration shown in fig. 1 does not constitute a limitation of the 3D printing device and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a 3D printing program.

In the 3D printing apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the 3D printing apparatus according to the present invention may be provided in the 3D printing apparatus, and the 3D printing apparatus calls 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, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the 3D printing method according to the present invention.

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

step S10: when in the fast printing mode, a target trajectory instruction is obtained based on the print instruction.

It should be noted that the execution subject of the method of 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, and the like, or may be other electronic devices capable of implementing the same or similar functions. The 3D printing method provided in this embodiment and each of the following embodiments is specifically described with the above-described 3D printing apparatus (printing apparatus for short).

It is understood that the fast printing mode may be a mode selected when it is necessary to shorten the printing time and improve the printing efficiency. Under this mode, printing apparatus can do quick parameter processing to increase the biggest printing speed, also can increase simultaneously and extrude the ratio, avoid high-speed printing virtual material, also can increase printing temperature, avoid the consumptive material to melt the putty that leads to in time untimely, also can force to open the model fan, make the model shaping more timely.

It should be noted that the printing instruction may be a numerical control programming instruction, such as a G-code, for controlling operations of moving, feeding, starting, stopping, and the like of the 3D printer, and the instruction is generally stored in a corresponding instruction file, such as a G-code file, and each line of instructions in the file is a command that can be understood by the 3D printer.

It can be understood that the target trajectory instruction may be an instruction corresponding to a motion trajectory for controlling the three-axis movement of XYZ in the 3D printer in the print instruction, taking a G1X 3Y 7Z 9F 100 command in the G-code instruction as an example, G1 indicates that the current position is moved to a parameter-specified position in a straight line according to a specified feeding speed, X3Y 7Z 9 is a position parameter of an end point, and a G1X 3Y 7Z 9F 100 command indicates that the current position is taken as a starting point, a coordinate corresponding to X3Y 7Z 9 is taken as an important point, the straight line is moved to the end point at a set feeding speed of 100mm/min, and the moving path is the target trajectory.

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

It should be understood that the printing device can be connected with an external computer end through a USB serial port according to a main control MCU inside the printing device to obtain a printing instruction, and meanwhile, the main control MCU can also be connected with other units to realize subsequent printing operations.

For ease of understanding, the description will be made with reference to fig. 3, but this scheme is not limited thereto. Fig. 3 is a functional block diagram of a printing main board of the 3D printing apparatus of the present invention, in which the printing main board includes a main control MCU, and each heating unit and fan control unit, a stepping motor driving unit, a USB serial port unit, a power-off detection unit, an LCD touch screen, an onboard storage unit, an SD card socket, a WIFI interface unit, a temperature acquisition unit, and a limit switch, which are connected to a main control MCU interface.

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

the heating unit and the fan control unit are used for controlling the on-off and the power of the spray head and the heating unit of the hot bed to enable the temperature to reach a set value, and simultaneously used for controlling the on-off and the speed of the throat blowing pipe and the blow molding fan;

the stepping motor driving unit is used for respectively controlling the motor rotation direction, the motor enable and the motor rotation speed of the X, Y, Z, E0 and the E1 shafts;

the USB serial port unit is used for being externally connected with a computer, checking printing information and sending an instruction through a computer end;

the power-off detection unit is used for detecting the instant of instant power-off of the switching power supply, supplying power through the onboard capacitor and performing power-off treatment;

the LCD touch screen is used for interacting with a user to realize the state query of the 3D printer, local printing, printing model preview and parameter configuration;

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

the SD card seat is used for upgrading the firmware, updating the configuration parameters and the local printing model through the SD card;

the WIFI interface unit remotely controls the 3D printer to print through WIFI, and wirelessly transmits a print file;

the temperature acquisition unit is used for acquiring the temperatures of the main control device and the printing device;

the limit switch is used for triggering limit when XYZ three-axis zero-resetting is carried out, and material shortage detection is carried out under the condition of no consumable material when the material is connected or disconnected.

Step S20: a motion algorithm is determined based on the target trajectory instructions.

The movement locus in the target locus command may be a straight line or a curved line, and the length of the movement locus is recorded.

It will be appreciated that the motion algorithm may be an algorithm for controlling the operating speed of a stepper motor in a printing apparatus such that the stepper motor controls the movement of an extrusion head in the printing apparatus to effect printing, such as a trapezoidal motion algorithm.

In a specific implementation, a corresponding motion algorithm can be selected according to the target according to the track type (straight line or curve) and the track length in the command to control the stepper motor to work, so that printing is realized.

Step S30: and 3D printing is carried out based on the motion algorithm to obtain a target model.

It should be noted that the target model may be a model desired by a user, and the model data of the target model may be previously transmitted to the printing apparatus in the model data construction value print instruction file.

In specific implementation, after the printing equipment determines the motion algorithm, the stepping motor can be driven according to the motion algorithm, and then the stepping motor controls the 3D printer extrusion head to move to realize printing, so that the target model is obtained.

In the embodiment, when the rapid printing mode is adopted, the target track instruction is obtained based on the printing instruction, then the motion algorithm is determined based on the target track instruction, and finally the 3D printing is performed based on the motion algorithm to obtain the target model. In the embodiment, the motion algorithm is determined through the target track instruction acquired from the printing instruction in the rapid printing mode, and the 3D printing is performed by controlling the speed parameter of the 3D printer according to the motion algorithm, so that compared with the prior art that the 3D printer performs printing at a fixed speed in the motion process, the problem that the probability of printing failure is greatly increased due to the fact that the initial speed and the finishing speed of the stepping motor are too high when the printing speed is increased is solved.

Referring to fig. 4, fig. 4 is a flowchart illustrating a 3D printing method according to a second embodiment of the present invention. Based on the above embodiments, a second embodiment of the 3D printing method of the present invention is proposed.

In the second embodiment, before the step S10, the method further includes:

step S01: and printing based on the received printing instruction to generate a printing model.

It should be noted that, in some cases, if the height of the printing model is low, selecting the fast printing mode may cause excessive energy consumption of the device, so that a preset condition, such as a preset height, may be increased, and the fast printing mode may be selected when the condition is met, so as to improve the accuracy of selecting the printing mode and effectively utilize the energy consumption of the device.

It can be understood that the printing model can be a model which is printed by the 3D printer from bottom to top layer by layer according to a printing instruction corresponding to the imported three-dimensional drawing.

In specific implementation, after the printing device improves that the USB serial port unit receives the printing instruction, each operation command in the instruction is analyzed, and devices (such as a stepping motor, an extrusion head and the like) in the 3D printer are controlled to work according to each operation command to print, so that a printing model is generated.

Step S02: and when the height of the printing model reaches a preset height, switching the printing mode into a quick printing mode.

It should be noted that the preset height may be used to determine whether the printing model is a height exceeding a conventional standard, and may be set to be 3mm, 5mm, or the like, and may be set according to a user requirement or a 3D printer performance.

In a specific implementation, if the printing model exceeds the preset height, it indicates that the printed model requires a long time, and therefore the non-fast printing mode needs to be changed to adjust the speed of the 3D printer, so as to reduce the time required for printing and the performance loss of the 3D printer. Otherwise, if the printing model does not exceed the preset height, the printed model can be completed in a short time without changing to the fast printing mode, and on the contrary, if the printing model is changed to the fast printing mode, the energy of the printing equipment is excessive, and unnecessary loss is caused.

Whether this embodiment judges printing apparatus through predetermineeing the height and selects the quick mode of printing, highly reaches when predetermineeing the height at the model that prints, just selects the quick mode of printing, has effectively improved the accuracy nature that the mode of printing was selected, has avoided 3D printer performance loss.

Referring to fig. 5, fig. 5 is a flowchart illustrating a 3D printing method according to a third embodiment of the present invention. Based on the above embodiments, a third embodiment of the 3D printing method of the present invention is proposed.

In a third embodiment, the step S10 may include:

step S101: and when the printer is in the fast printing mode, analyzing the received printing instruction to obtain a preprocessing printing instruction.

It should be noted that, there are many operation commands in the print instruction, and the required track instruction cannot be accurately selected, so that the required track instruction can be accurately read in an analytic manner, so as to improve the effect of obtaining the target track instruction.

In a specific implementation, when the printing device is in the fast printing mode, the obtained printing instruction may be analyzed to obtain each operation instruction in the printing instruction, taking a G-code instruction as an example, the printing device may analyze the G-code instruction to obtain each motion instruction in the G-code instruction, such as a G0/G1 linear movement instruction or a G2/G3 circular arc movement instruction, a G4 pause movement, a G20/G21 set distance unit, a G28 zeroing, and the like, where each motion instruction is a preprocessing printing instruction.

Step S102: and reading a target track instruction in the preprocessing printing instruction.

In a specific implementation, the G0/G1 instruction in the preprocessed printing instructions can be read as a target track instruction.

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

In a third embodiment, the step S20 includes:

step S201: and determining a motion track in the target track instruction.

It should be noted that, when the printing apparatus prints, if the same algorithm is used, all motion trajectories cannot be compatible, and therefore, in this embodiment, different motion algorithms may be determined according to the motion of the 3D printer.

In specific implementation, the printing device analyzes the printing instruction, reads a target in the analyzed printing instruction, and determines a motion track of the 3D printer extrusion head according to the target track instruction.

Step S202: and when the motion track meets the preset track condition, determining that the motion algorithm is an S-shaped 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 indicates that the motion trajectory is a long-distance motion trajectory, and conversely, it indicates that the motion trajectory is a short-distance motion trajectory.

It will be appreciated that the sigmoid motion algorithm is a motion algorithm with gradual acceleration.

For ease of understanding, the description will be made with reference to fig. 6, but this scheme is not limited thereto. FIG. 6 is a velocity curve diagram of the S-shaped motion algorithm of the 3D printing method, wherein the acceleration and deceleration process of the S-shaped motion algorithm is 7 stages of acceleration and deceleration processes to form an S shape, and the S-shaped curve is composed of an S acceleration stage I, an S uniform acceleration stage II, an S acceleration stage III, an S uniform velocity stage IV, an S deceleration stage V, an S uniform deceleration stage VI and a deceleration stage VII.

Furthermore, the acceleration of the work of the stepping motor is changed at any time due to the S-shaped algorithm, so that more energy consumption is generated, the requirement can be met in a long distance, and the energy consumption is excessive when the length of the motion trail is short distance and the motion trail is a curve, so that the requirement can be met by selecting the trapezoidal motion algorithm with the acceleration changing at a constant speed under the condition, and the energy consumption of the stepping motor is reasonably utilized. Therefore, in this embodiment, after the step S201, the method further includes:

step S202': and when the motion track does not accord with the preset track condition, determining the motion algorithm as a trapezoidal motion algorithm.

It will be appreciated that the trapezoidal motion algorithm is a constant rate control algorithm with constant acceleration during acceleration and deceleration.

For ease of understanding, the description will be made with reference to fig. 7, but this embodiment is not limited thereto. Fig. 7 is a velocity curve diagram of a trapezoidal motion algorithm in the 3D printing method of the present invention, in which the acceleration and deceleration process of the trapezoidal motion algorithm is three stages of acceleration and deceleration processes to form a trapezoid, and the trapezoidal curve is composed of a trapezoidal uniform acceleration stage viii, a trapezoidal uniform velocity stage ix, and a trapezoidal uniform deceleration stage x.

For ease of understanding, the description will be made with reference to fig. 8, but this embodiment is not limited thereto. Fig. 8 is a schematic diagram of a state switching principle of a trapezoidal motion algorithm in a 3D printing method according to the present invention, in which when the number of steps of a stepping motor is 1, the stepping motor directly enters a deceleration state and then comes to a stop state, when the number of steps of the stepping motor is greater than 1 and the maximum speed is reached, the stepping motor goes through a process from an acceleration state to a uniform speed state to a deceleration state to a stop state, and when the number of steps of the stepping motor is greater than 1 and the maximum speed is not reached, the stepping motor goes through a process from the acceleration state to the deceleration state to the stop state.

It should be noted that, based on fig. 7, the trapezoidal motion algorithm is simple to implement because the acceleration and deceleration values are fixed, and when the motion trajectory is a curve and a short distance, the required speed is low, the curve break point of the speed change can be ignored, and a good printing effect can be produced.

It can be understood that, based on the above fig. 6 and fig. 7, when the movement track is a long distance, the required speed is large, the curve break point of the speed change cannot be ignored, for example, when the trend of the trapezoidal uniform acceleration stage viii suddenly changes into the trapezoidal uniform velocity stage ix, a large impact force and noise are generated due to inertia, so that the stepping motor is lost or locked, and finally, the printing model is staggered, and the printing fails. The acceleration and deceleration process of the S-shaped motion algorithm well avoids the problem, and if the S deceleration stage III is changed into the S uniform velocity stage IV, the connection of the stage change of the speed curve is good, and the change has great influence on the stepping motor.

In the third embodiment, the step S30 includes:

step S301: and controlling the stepping motor through the S-shaped motion algorithm.

In a particular implementation, the printing device may drive the stepper motor according to the S-shaped velocity profile according to the S-shaped motion algorithm.

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

It should be noted that the preset motor parameter may be a relevant parameter for controlling the operation of the stepping motor, such as an operating speed parameter and an operating time parameter of the stepping motor.

It will be appreciated that the speed parameter may include the starting and ending speeds (maximum speed, corresponding to the speed of the uniform speed phase of the S new curve) of the stepper motor and the time parameter may be the duration of operation of the stepper motor.

In a specific implementation, the printing apparatus may determine a start speed and an end speed of the S-shaped motion algorithm based on the speed parameter and the time parameter to determine the S-curve, thereby controlling a step speed of each time point of the stepping motor so that the stepping motor operates according to the step speed.

It should be understood that the printing device improves the speed parameter and the time parameter to determine the speed curve of the S-shaped motion algorithm, and controls the step speed of the stepping motor by the curve, thereby effectively improving the working efficiency of the stepping motor.

Step S302: and 3D printing is carried out based on the stepping motor to obtain a target model.

In specific implementation, the stepping motor works at the above step speed to control the movement of the extrusion head of the 3D printer, so as to realize printing and obtain the target model.

According to the method and the device, when the motion trail accords with the preset condition, the stepping motor is controlled to print according to the S-shaped motion algorithm to obtain the target model, the S-shaped motion algorithm is applicable to the situation with high speed, and the acceleration of the S-shaped motion algorithm is in a gradual change form, so that the condition of acceleration sudden change is eliminated, the machine runs more smoothly, the stepping motor is prevented from missing steps or blocking rotation at high printing speed, the layer error probability is greatly reduced, and the rapid printing function is realized.

Furthermore, an embodiment of the present invention further provides a storage medium, where a 3D printing program is stored on the storage medium, and the 3D printing program, when executed by a processor, implements the steps of the 3D printing method as described above.

Referring to fig. 9, fig. 9 is a block diagram illustrating a configuration of a 3D printing apparatus according to a first embodiment of the present invention.

As shown in fig. 9, a 3D printing apparatus according to an embodiment of the present invention includes:

a target track instruction module 501, configured to obtain a target track instruction based on a print instruction when the apparatus is in the fast print mode;

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

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

In the embodiment, when the rapid printing mode is adopted, the target track instruction is obtained based on the printing instruction, then the motion algorithm is determined based on the target track instruction, and finally the 3D printing is carried out based on the motion algorithm, so that the target model is obtained. In the embodiment, the motion algorithm is determined through the target track instruction acquired from the printing instruction in the rapid printing mode, and the 3D printing is performed by controlling the speed parameter of the 3D printer according to the motion algorithm, so that compared with the prior art that the 3D printer performs printing at a fixed speed in the motion process, the problem that the probability of printing failure is greatly increased due to the fact that the initial speed and the finishing speed of the stepping motor are too high when the printing speed is increased is solved.

Other embodiments or specific implementation manners of the 3D printing apparatus of the present invention may refer to the above method embodiments, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.

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

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., a rom/ram, a magnetic disk, an optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

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;

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:

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:

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;

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:

8. A3D printing apparatus, the apparatus comprising:

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.