CN115771259B - Online coloring cooperative control method and system for 3D printing - Google Patents
Online coloring cooperative control method and system for 3D printing Download PDFInfo
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Abstract
The invention discloses a 3D printing online coloring cooperative control method and system, comprising the following steps: initializing the positions of a printing head and a coloring nozzle for 3D printing; when the printing head finishes printing a preset M layer, determining the coloring position of the coloring nozzle, and controlling the coloring nozzle to move to the coloring position; triggering the coloring spray head to start working when the coloring spray head moves to the coloring position; determining a first distance and a second distance based on a first infrared probe disposed on the printhead and a second infrared probe disposed on the color spray head; when the first distance and the second distance are both greater than or equal to a first preset distance threshold, controlling the printing head and the coloring nozzle to continue to work simultaneously; and when the printing head finishes printing the current printing layer, or the coloring nozzle finishes coloring the current coloring layer, and the layer number difference between the coloring layer and the printing layer is larger than or equal to a preset layer number threshold value, printing the next layer or coloring the next layer.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a 3D printing online coloring cooperative control method and system.
Background
In recent years, 3D printing technology is mature, and is applied to many fields of intelligent manufacturing successively, so that development of social productivity is greatly promoted. The 3D printing technology makes the manufacture of many complex workpieces simple and easy to process, but using 3D printing to process one workpiece often requires a long time, and then the color process must be performed, which affects the efficiency of the whole production process. The traditional color printing of printing piece is accomplished with double-end or multi-head printer colored material, and the printhead can not remove each other, and only a set of mechanical power device drives simultaneously, and the flexibility is relatively poor, and the position of coloring is inaccurate moreover.
Therefore, there is a need for a 3D printing online coloring cooperative control method.
Disclosure of Invention
The invention provides a 3D printing online coloring cooperative control method and system, which aim to solve the problem of how to cooperatively control printing and coloring.
In order to solve the above problems, according to an aspect of the present invention, there is provided an online coloring cooperative control method for 3D printing, the method including:
initializing the positions of a printing head and a coloring nozzle for 3D printing;
when the printing head finishes printing a preset M layer, determining a coloring position of a coloring nozzle, and controlling the coloring nozzle to move to the coloring position;
triggering the coloring nozzle to start working when the coloring nozzle moves to the coloring position, wherein the printing head and the coloring nozzle work together;
determining a first distance and a second distance based on a first infrared probe disposed on the printhead and a second infrared probe disposed on the color spray head;
when the first distance and the second distance are both greater than or equal to a first preset distance threshold, controlling the printing head and the coloring nozzle to continue to work simultaneously;
and when the printing head finishes printing the current printing layer, or the coloring nozzle finishes coloring the current coloring layer, and the layer number difference between the coloring layer and the printing layer is larger than or equal to a preset layer number threshold value, printing the next layer or coloring the next layer.
Preferably, wherein the method further comprises:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
Preferably, wherein the method further comprises:
determining a location point to be colored by the coloring tip, comprising:
determining a spray point position set P on a printing piece through a surface printing point set and a spray pattern of the printing piece A ＝{p 1 ,p 2 ,…,p i ,…,p n I is equal to or greater than 1 and n, and at the same time, the position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝(x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ,p′ 2 ，…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
Preferably, wherein the determining the first distance and the second distance based on a first infrared probe disposed on the print head and a second infrared probe disposed on the color spray head comprises:
and respectively carrying out analog-to-digital AD conversion on a first voltage signal detected by a first infrared probe arranged on the printing head and a second voltage signal detected by a second infrared probe arranged on the coloring spray head so as to obtain a first distance and a second distance.
Preferably, wherein the method further comprises:
when the first distance or the second distance is smaller than a first preset distance threshold, triggering the coloring nozzle to stop moving, and backing down along the Z axis until the first distance or the second distance is lower than a preset backing distance of the current printing layer, triggering the coloring nozzle to work again;
and stopping the coloring spray head to work when the layer number difference between the coloring layer and the printing layer is smaller than a preset layer number threshold value, and coloring the next layer when the layer number difference between the coloring layer and the printing layer is larger than or equal to the preset layer number threshold value.
According to another aspect of the present invention, there is provided a 3D printing online coloring cooperative control system, the system comprising:
an initialization setting unit for initializing the positions of the printing head and the coloring nozzle for 3D printing;
a movement control unit for determining a coloring position of a coloring head when the printing head finishes printing a preset M layer, and controlling the coloring head to move to the coloring position;
the triggering unit is used for triggering the coloring nozzle to start working when the coloring nozzle moves to the coloring position, and the printing head and the coloring nozzle work together;
a computing unit for determining a first distance and a second distance based on a first infrared probe disposed on the print head and a second infrared probe disposed on the color spray head;
the control unit is used for controlling the printing head and the coloring nozzle to continuously and simultaneously work when the first distance and the second distance are larger than or equal to a first preset distance threshold value;
and the conversion unit is used for printing the next layer or coloring the next layer when the printing head finishes printing the current printing layer or the coloring nozzle finishes coloring the current coloring layer and the layer number difference between the coloring layer and the printing layer is larger than or equal to a preset layer number threshold value.
Preferably, the mobile control unit is further configured to:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
Preferably, wherein the system further comprises:
a coloring position point determining unit for determining a position point to be colored by the coloring head, comprising:
determining a spray point position set P on a printing piece through a surface printing point set and a spray pattern of the printing piece A ＝{p 1 ,p 2 ,…,p i ,…,p n I is greater than or equal to 1 and less than or equal to n, at the same timePosition (x) of the print start of the print 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝(x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
Preferably, wherein the calculating unit determines the first distance and the second distance based on a first infrared probe provided on the print head and a second infrared probe provided on the coloring nozzle, comprises:
and respectively carrying out analog-to-digital AD conversion on a first voltage signal detected by a first infrared probe arranged on the printing head and a second voltage signal detected by a second infrared probe arranged on the coloring spray head so as to obtain a first distance and a second distance.
Preferably, wherein the system further comprises:
the control unit is used for triggering the coloring nozzle to stop moving when the first distance or the second distance is smaller than a first preset distance threshold value, and downwards retreating along the Z axis until the first distance or the second distance is lower than a preset retreating distance of the current printing layer, and triggering the coloring nozzle to work again;
and the conversion unit is used for stopping the coloring spray head to work when the layer number difference between the coloring layer and the printing layer is smaller than a preset layer number threshold value, and coloring the next layer when the layer number difference between the coloring layer and the printing layer is larger than or equal to the preset layer number threshold value.
The invention provides a 3D printing online coloring cooperative control method and system, comprising the following steps: initializing the positions of a printing head and a coloring nozzle for 3D printing; when the printing head finishes printing a preset M layer, determining a coloring position of a coloring nozzle, and controlling the coloring nozzle to move to the coloring position; triggering the coloring nozzle to start working when the coloring nozzle moves to the coloring position, wherein the printing head and the coloring nozzle work together; determining a first distance and a second distance based on a first infrared probe disposed on the printhead and a second infrared probe disposed on the color spray head; when the first distance and the second distance are both greater than or equal to a first preset distance threshold, controlling the printing head and the coloring nozzle to continue to work simultaneously; and when the printing head finishes printing the current printing layer, or the coloring nozzle finishes coloring the current coloring layer, and the layer number difference between the coloring layer and the printing layer is larger than or equal to a preset layer number threshold value, printing the next layer or coloring the next layer. According to the invention, the distance measurement function of the infrared sensor is used for avoiding damage caused by collision of the two printing heads, and the normal printing of the printing part is kept through the cooperative function of controlling the two printing heads, so that the normal coloring of the coloring mechanical device is realized, the printing and coloring integration of the printing part is completed, the printing time is saved, and the printing efficiency is improved.
Drawings
Exemplary embodiments of the present invention may be more completely understood in consideration of the following drawings:
FIG. 1 is a hardware architecture diagram of a 3D printing and rendering all-in-one machine according to an embodiment of the present invention;
FIG. 2 is a flow chart of a 3D printing online color collaborative control method 200 according to an embodiment of the present invention;
FIG. 3 is a flowchart of a 3D printing online coloring cooperative control according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a 3D printing on-line coloring cooperative control system 400 according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the examples described herein, which are provided to fully and completely disclose the present invention and fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, like elements/components are referred to by like reference numerals.
Unless otherwise indicated, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. In addition, it will be understood that terms defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
In order to solve the problem of low production efficiency of long 3D printing and coloring processing time, the invention provides an online coloring cooperative control device for 3D printing, which is characterized in that a printing head and a motion control mechanical device are added, namely, the printing head of a printer and a mechanical power device with coloring not interfering with each other are used for controlling the printing head to print and the coloring nozzle to color respectively, an infrared detection sensor is added between the printing head and the coloring nozzle, and the damage caused by the collision of the two printing heads is avoided through the distance measurement function of the infrared sensor. In addition, the cooperative function of a plurality of printing head controls is added, so that the printing piece can be kept to print normally, and the coloring mechanical device can color normally.
The invention realizes cooperative control printing based on the hardware architecture of the 3D printing and coloring integrated machine shown in fig. 1. In the invention, a computer is connected with a 3D printer control board A and a coloring control board B, then the 3D printer control board A controls the printing head A to move by controlling a 3D printing mechanical control device, and the coloring control board B controls the coloring spray head B to freely move on the outer surface of a printing piece by controlling a coloring mechanical device. Then, the infrared probe mounted on the print head a and the infrared probe mounted on the coloring head B detect the distance therebetween, and return the detection results to the 3D printer control board a and the coloring control board B, the print head a prints in the printing area, and the coloring head B colors the 3D print in the coloring area. By carrying out regional processing on the printing of each layer of the 3D model and then planning the travelling path of the printing head between the regions, the overall efficiency of 3D printing is improved.
In the invention, the storage device uses a common data storage disk, and can store the established 3D model data, the Gcode code, the parameter threshold value and the like. The computing device is a commonly used computing module (such as a CPU) for performing various computations in the method.
Fig. 2 is a flowchart of a 3D printing online coloring cooperative control method 200 according to an embodiment of the present invention. As shown in fig. 2, according to the 3D printing on-line coloring cooperative control method provided by the embodiment of the invention, damage caused by collision of two printing heads is avoided through the ranging function of the infrared sensor, normal printing of a printing part is kept through the cooperative function of controlling the two printing heads, and the coloring mechanical device is used for normally coloring, so that printing and coloring integration of the printing part are completed, printing time is saved, and printing efficiency is improved. The 3D printing online coloring cooperative control method 200 provided by the embodiment of the invention starts from step 201, and in step 201, the positions of a printing head and a coloring nozzle for 3D printing are initialized.
In the present invention, at the time of initialization, the computer initializes the printer control board and the mechanical structures a and B, and the print head a returns to the initial coordinate position (x A0 ,y A0 ,z A0 ) The coloring nozzle B returns to the corresponding initialization position (x B0 ,y B0 ,z B0 ) The difference between the two bits in each axial direction is [ alpha, beta, gamma ]]。
In step 202, when the print head completes printing of a preset M layer, determining a coloring position of a coloring nozzle, and controlling the coloring nozzle to move to the coloring position.
Preferably, wherein the method further comprises:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
Referring to fig. 3, in the present invention, when printing is started, it is first required to determine whether the 3D printing has printed the set threshold M layer, if yes, the coloring nozzle B starts to find the coloring position; if not, the coloring head B continues to wait at the initial position. When printing of the preset M layer has been completed, and the coloring head B starts to move, it is necessary to determine whether the distance between the 3D print head a and the coloring head B is greater than a threshold? If yes, executing the next step, otherwise, controlling the coloring nozzle B to stop moving and back, and continuing printing by the 3D printing head so as to prevent the printing head from colliding with the coloring nozzle.
Specifically, the method comprises the following steps:
step 2-1: the current 3D printing progress, i.e. the number of printing layers M, is read from the control board a and is calculated to be m.gtoreq.m? The method comprises the steps of carrying out a first treatment on the surface of the
Step 2-2: when M < M, the coloring nozzle B is at the initial position (x B0 ,y B0 ,z B0 ) Continuing waiting; when M is more than or equal to M, the coloring nozzle B starts to search the coloring position;
step 2-3: when the coloring jet B starts to move, the distance between the printing head a and the coloring jet B is calculated, namely:
wherein x is A ，y A And z A The positions of the print head A in the X, Y and Z axis directions are respectively, and likewise, X B ，y B And z B The positions of the coloring nozzle B in the X, Y and Z axis directions are respectively;
step 2-4: judging if i is greater than the safe distance L? If yes, the printing head A continues to print, and the coloring nozzle continues to move; if not, the printing head A continues to print, records the current position of the coloring nozzle B, and controls the coloring nozzle B to move downwards along the Z-axis direction for a certain distance.
In step 203, when the coloring nozzle moves to the coloring position, the coloring nozzle is triggered to start working, and the printing head and the coloring nozzle work together.
Preferably, wherein the method further comprises:
determining a location point to be colored by the coloring tip, comprising:
determining a spray point position set P on a printing piece through a surface printing point set and a spray pattern of the printing piece A ＝{p 1 ,p 2 ,…,p i ,…,p n I is equal to or greater than 1 and n, and at the same time, the position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝(x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
In the invention, the control board B controls the coloring spray head B to move and starts to search the spraying position; the spray pattern is converted into a Gcode code through a corresponding rule, and then the coloring points of the coloring spray head B on the printing piece are controlled to be drawn through the Gcode code, and the rule is calculated as follows: a. firstly, a spray point position set P on a printed piece is obtained in a computer through a surface print point set and a spray pattern of the printed piece A ＝{p 1 ,p 2 ,…,p i ,…,p n 1.ltoreq.i.ltoreq.n, where p i ＝(x i ,y i ,z i ) For the spatial coordinate points to be passed by the print head, the print start position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the b. And calculating a conversion relation between the position to be sprayed on the printing piece and the coloring nozzle B, namely controlling the movement position of the coloring nozzle B by a control board, wherein the zero position of the coloring nozzle is inconsistent with the zero position of the space for printing, so that space conversion is required. Setting a pattern spray point position set P' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n is more than or equal to n, wherein the coloring nozzle is used for spraying the point p' i The calculation formula is as follows:
x 'in the above' i 、y′ i And z' i Respectively coloring the position points to be colored of the coloring nozzle B, wherein alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is between the zero point of the coloring nozzle and the zero point of the printing headDifference in the Z-axis direction.
In step 204, a first distance and a second distance are determined based on a first infrared probe disposed on the printhead and a second infrared probe disposed on the color printhead.
Preferably, wherein the determining the first distance and the second distance based on a first infrared probe disposed on the print head and a second infrared probe disposed on the color spray head comprises:
and respectively carrying out analog-to-digital AD conversion on a first voltage signal detected by a first infrared probe arranged on the printing head and a second voltage signal detected by a second infrared probe arranged on the coloring spray head so as to obtain a first distance and a second distance.
In step 205, when the first distance and the second distance are both greater than or equal to a first preset distance threshold, the print head and the coloring nozzle are controlled to continue to work simultaneously.
Preferably, wherein the method further comprises:
and triggering the coloring spray head to stop moving when the first distance or the second distance is smaller than a first preset distance threshold value, and backing down along the Z axis until the coloring spray head is backing to be lower than a preset backing distance of the current printing layer, and triggering the coloring spray head to work again.
In the present invention, when the printer head and the coloring head start to operate simultaneously, the infrared probes mounted on the printer head a and the coloring head B start to detect the distance between the printer head and the coloring head in real time, and determine the operation modes of the printer head and the coloring head based on the distance between the two heads.
Specifically, when the print head a and the coloring-head B move simultaneously, the control board a and the control board B read the voltage signals v of the infrared sensors mounted on the print head a and the coloring-head B by AD conversion AD And v BD And determining a digital signal D representing the distance based on the voltage signal A And D B . Then, judging whether the detection signal of the infrared sensor meets D A Delta and D are less than or equal to B And delta is not more than. If the color is satisfied, the coloring nozzle B stops moving and retreats downwards along the Z axis until returningWhen the current printing layer is retracted to be lower than the preset retraction distance, triggering the coloring nozzle to work again, and enabling the 3D printing head to continue printing at the moment without stopping working; if not, the print head and the coloring head continue to operate, and printing and coloring continue to be performed.
In step 206, when the print head finishes printing the current printing layer, or the coloring nozzle finishes coloring the current coloring layer, and the difference between the number of layers of the coloring layer and the printing layer is greater than or equal to a preset number of layers threshold, printing the next layer or coloring the next layer is performed.
Preferably, wherein the method further comprises:
and stopping the coloring spray head to work when the layer number difference between the coloring layer and the printing layer is smaller than a preset layer number threshold value, and coloring the next layer when the layer number difference between the coloring layer and the printing layer is larger than or equal to the preset layer number threshold value.
In the present invention, as shown in fig. 3, the print head a and the color jet B continue to operate simultaneously, and it is judged whether the current layer of the print head a or the color jet B is completed, that is, whether the Z-axis command in Gcode is executed. If the control is completed, the control panel A and the control panel B respectively execute the next step of the respective control, and if the control is not completed, the printing or coloring is continued.
If the printing of the current layer is finished, executing the next step of continuing the normal 3D printing of the next layer; otherwise, continuing to finish the printing of the current layer. Also, for the control board of the coloring nozzle B, it is determined whether the coloring of the current coloring layer is completed and the difference between the number of layers of the coloring layer and the number of layers of the printing layer is greater than or equal to a preset threshold value M'. If the coloring of the current layer is finished and the layer number difference between the coloring layer and the printing layer is more than or equal to a preset layer number threshold value M', executing the next step, and when the next layer exists, printing the next layer; otherwise, if the difference between the number of the coloring layers and the number of the printing layers is smaller than the preset number of layers threshold M ', waiting for the printing head A to finish the task of the current layer and continuing to work when the difference between the number of the coloring layers and the number of the printing layers is smaller than the threshold M'.
In the invention, when the next layer printing is skipped, whether all layers are printed is judged, if yes, the printing head A is retracted to a safe position, and 3D printing is finished; if not, executing the next layer printing.
In the present invention, it is also necessary to determine whether the task of the coloring head B is completed. I.e. whether P 'is completed' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n And spraying all the positions of points in the range of 1.ltoreq.i.ltoreq.n. If yes, the coloring nozzle is retracted to a safe position, spraying coloring is finished, and printing and processing of the whole printing piece are finished at the moment; if not, the coloring is continued to be completed.
According to the invention, by adding a printing head and a motion control mechanical device, namely a printing head of a printer and a mechanical power device with coloring not interfering with each other, the two sets of mechanical power devices respectively control the printing head to print and the coloring nozzle to color, and an infrared sensor detection sensor is added between the printing head and the coloring nozzle, so that the damage caused by collision of the two printing heads is avoided through the ranging function of the infrared sensor. In addition, the cooperative function of the control of the two printing heads is added, so that the printing piece is kept to print normally, and the coloring mechanical device colors normally. The method cooperatively controls the 3D printing and coloring mechanical movement device to complete printing and coloring integration of the printing piece, can improve the 3D printing processing efficiency, and has important significance for 3D printing optimization design.
Fig. 4 is a schematic structural diagram of a 3D printing on-line coloring cooperative control system 400 according to an embodiment of the present invention. As shown in fig. 4, the 3D printing online coloring cooperative control system 400 provided by the embodiment of the present invention includes: an initialization setting unit 401, a movement control unit 402, a triggering unit 403, a calculation unit 404, a control unit 405, and a conversion unit 406.
Preferably, the initialization setting unit 401 is configured to perform initialization setting on positions of the print head and the coloring nozzle for 3D printing.
Preferably, the movement control unit 402 is configured to determine a coloring position of the coloring head when the printing head finishes printing a preset M layer, and control the coloring head to move to the coloring position.
Preferably, the mobile control unit 402 is further configured to:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
Preferably, the triggering unit 403 is configured to trigger the coloring nozzle to start working when the coloring nozzle moves to the coloring position, and the print head and the coloring nozzle work together.
Preferably, the computing unit 404 is configured to determine the first distance and the second distance based on a first infrared probe disposed on the print head and a second infrared probe disposed on the color spray head.
Preferably, wherein the calculating unit 404 determines the first distance and the second distance based on a first infrared probe disposed on the print head and a second infrared probe disposed on the color spray head, includes:
and respectively carrying out analog-to-digital AD conversion on a first voltage signal detected by a first infrared probe arranged on the printing head and a second voltage signal detected by a second infrared probe arranged on the coloring spray head so as to obtain a first distance and a second distance.
Preferably, the control unit 405 is configured to control the print head and the coloring nozzle to continue to operate simultaneously when the first distance and the second distance are both greater than or equal to a first preset distance threshold.
Preferably, the converting unit 406 is configured to perform printing of a next layer or perform coloring of the next layer when the print head finishes printing of a current printing layer, or the coloring nozzle finishes coloring of a current coloring layer and a difference between the number of layers of the coloring layer and the printing layer is greater than or equal to a preset threshold of the number of layers.
Preferably, wherein the system further comprises:
a coloring position point determining unit for determining a position point to be colored by the coloring head, comprising:
determining a spray point position set P on a printing piece through a surface printing point set and a spray pattern of the printing piece A ＝{p 1 ,p 2 ,…,p i ,…,p n I is equal to or greater than 1 and n, and at the same time, the position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝(x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ，p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
Preferably, wherein the system further comprises:
the control unit is used for triggering the coloring nozzle to stop moving when the first distance or the second distance is smaller than a first preset distance threshold value, and downwards retreating along the Z axis until the first distance or the second distance is lower than a preset retreating distance of the current printing layer, and triggering the coloring nozzle to work again;
and the conversion unit is used for stopping the coloring spray head to work when the layer number difference between the coloring layer and the printing layer is smaller than a preset layer number threshold value, and coloring the next layer when the layer number difference between the coloring layer and the printing layer is larger than or equal to the preset layer number threshold value.
The 3D printing online coloring cooperative control system 400 according to the embodiment of the present invention corresponds to the 3D printing online coloring cooperative control method 200 according to another embodiment of the present invention, and is not described herein.
The invention has been described with reference to a few embodiments. However, as is well known to those skilled in the art, other embodiments than the above disclosed invention are equally possible within the scope of the invention, as defined by the appended patent claims.
Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise therein. All references to "a/an/the [ means, component, etc. ]" are to be interpreted openly as referring to at least one instance of said means, component, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor 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 processor 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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (4)
1. An online coloring cooperative control method for 3D printing, which is characterized by comprising the following steps:
initializing the positions of a printing head and a coloring nozzle for 3D printing;
when the printing head finishes printing a preset M layer, determining a coloring position of a coloring nozzle, and controlling the coloring nozzle to move to the coloring position;
triggering the coloring nozzle to start working when the coloring nozzle moves to the coloring position, wherein the printing head and the coloring nozzle work together;
when the printing head finishes printing the current printing layer or the coloring nozzle finishes coloring the current coloring layer and the layer number difference between the coloring layer and the printing layer is more than or equal to a preset layer number threshold value, printing the next layer or coloring the next layer;
wherein the method further comprises:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
2. The method according to claim 1, wherein the method further comprises:
determining a location point to be colored by the coloring tip, comprising:
determining the spraying point position on the printing piece through the surface printing point set and the spraying pattern of the printing pieceSet P A ＝{p 1 ,p 2 ,…,p i ,…,p n I is equal to or greater than 1 and n, and at the same time, the position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝(x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
3. An online coloring cooperative control system for 3D printing, the system comprising:
an initialization setting unit for initializing the positions of the printing head and the coloring nozzle for 3D printing;
a movement control unit for determining a coloring position of a coloring head when the printing head finishes printing a preset M layer, and controlling the coloring head to move to the coloring position;
the triggering unit is used for triggering the coloring nozzle to start working when the coloring nozzle moves to the coloring position, and the printing head and the coloring nozzle work together;
the conversion unit is used for printing the next layer or coloring the next layer when the printing head finishes printing the current printing layer or the coloring nozzle finishes coloring the current coloring layer and the layer number difference between the coloring layer and the printing layer is larger than or equal to a preset layer number threshold value;
wherein, the mobile control unit is further used for:
calculating a third distance between the printing head and the coloring nozzle based on the current running position information of the coloring nozzle and the current printing position information of the printing head in the moving process;
judging whether the third distance is larger than or equal to a second preset distance threshold value; if the third distance is greater than or equal to a second preset distance threshold, the coloring nozzle is controlled to continue to move; otherwise, if the third distance is smaller than a second preset distance threshold, recording the current running position of the coloring nozzle, controlling the coloring nozzle to move downwards along the Z-axis direction according to the third preset distance threshold until the third distance is larger than or equal to the second preset distance threshold, controlling the coloring nozzle to move to the current running position and continue to move until the coloring nozzle stops moving to the coloring position.
4. A system according to claim 3, wherein the system further comprises:
a coloring position point determining unit for determining a position point to be colored by the coloring head, comprising:
determining a spray point position set P on a printing piece through a surface printing point set and a spray pattern of the printing piece A ＝{p 1 ,p 2 ,…,p i ,…,p n I is equal to or greater than 1 and n, and at the same time, the position (x 0 ,y 0 ,z 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein p is i ＝（x i ,y i ,z i ) A spatial coordinate point to be passed by the print head;
calculating a conversion relation between a position to be sprayed on a printing piece and a coloring nozzle B, and determining a position point to be colored by the coloring nozzle based on the conversion relation;
wherein, the pattern spraying point position set P 'is set' B ＝{p′ 1 ,p′ 2 ,…,p′ i ,…,p′ n I is more than or equal to 1 and n, and the position point p 'to be colored by the coloring nozzle is' i The calculation formula of (2) is as follows:
wherein x' i 、y′ i And z' i The position coordinates of the position points to be colored by the coloring nozzle are respectively, and alpha is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the X-axis direction; beta is the difference between the zero point of the coloring nozzle and the zero point of the printing head in the Y-axis direction; gamma is the difference in the Z-axis direction between the zero point of the color jet and the zero point of the print head.
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