Control method, the Method of printing of 3D printers more than five printheadsTechnical field
The present invention relates to 3D printing technique field, refer to control method, the Method of printing of the 3D printer of more than a kind of five printheads especially.
Background technology
It is novel forming technique that 3D prints, and wherein filler accumulation type printing technique is the most frequently used 3D printing technique.The structure of 3D printer of the prior art is generally all divided into two-layer up and down, and upper strata is printhead and XY drive mechanism, and lower floor is article carrying platform.Its XY drive mechanism at the middle and upper levels comprises the printhead that the plane that can be formed in X-axis and Y-axis can carry out movement, and lower floor is provided with article carrying platform.The article carrying platform of 3D printer of the prior art can rise along Z-direction or decline, thus presses layer printing 3D workpiece.
When printing, filler accumulation type printing technique utilizes the printhead of heating to merge filler, by controlling printhead, the filler of molten is stacked on assigned address, thus 3D model conversation is become the 3D workpiece of entity.The maximum advantage of this molding mode is: filler cost is low, waste less, printer arrangement simply for ease of maintenaince; But shortcoming also clearly: print speed is slow.For the printer of MaMerbot, the time of filling square needs completely printing 5 centimeter square is approximately 20 minutes, and printing larger or that structure the is more complicated workpiece of volume usually needs several hours.A kind of 3D printer is had to adopt three print head structures in prior art, namely adopt two printheads be fixed together to carry out 3D printing, and these two printheads load inserts of different nature respectively, such as printhead fills major ingredient+supporting material and another printhead fills mass-tone+decoration look, to realize piling up different materials at the diverse location of model.Because these two printheads are fixed together, therefore its X-axis is almost identical with Y-axis coordinate, and all only has a printhead at any time in work, and therefore it is extremely limited to the improvement of printing effect.
Summary of the invention
The technical problem to be solved in the present invention is to provide control method, the Method of printing of the 3D printer of more than a kind of five printheads, can print the cross section of workpiece to improve print speed by the collaborative work simultaneously of multiple printhead.
In order to achieve the above object, the embodiment of the present invention proposes the control method of the 3D printer of more than a kind of five printheads, comprising:
Obtain the shape in the cross section of workpiece; Determine that the minimum spacing between two printheads is δ;
Determine number of print i, i=2k+1 (k >=2) and k is positive integer; In described cross section, determine a lead-out wire, described cross section is divided into the first subregion and the second subregion by described lead-out wire, and the area ratio of described first subregion and the second subregion is (2k-2): 3;
Centered by described lead-out wire, generate a banded nucleus conflict region, the width of the middle conflict area of described band shape is not less than δ;
In described first subregion, determine longitudinal lead-out wire that M-1 bar is parallel to each other, described first subregion is divided into longitudinal subregion of M area equation by the longitudinal lead-out wire of described M-1 bar, M=(2k-2); A laterally extending straight line is set in each longitudinal subregion described each longitudinal subregion described to be divided into the final subregion of two area equation; And the broken line that the formation one that joins end to end between described all laterally extending straight lines is laterally extending; Be the center of circle at each intersection point of described broken line and longitudinal lead-out wire, be not less thanfor the conglobate middle conflict area of radius shape; And the periphery of this circle and this broken line and longitudinal lead-out wire form 2M non conflicting subregion;
In described second subregion, determine from a starting point 0* described second subregion to be that starting point draws 3 lead-out wires so that described second subregion is divided into the identical subregion of 3N area, and angle between two lead-out wires adjacent in described 3N bar lead-out wire is equal; Using described starting point 0* as round dot,for the raw conglobate middle conflict area of radius; Described in each, the both sides of lead-out wire generate banded middle conflict area respectively, and the width of the middle conflict area of each band shape is not less thanand form non conflicting subregion between the middle conflict area of described band shape.
Wherein, as N=1, described starting point 0* determines by the following method:
Generating a slope isand the left and right area in described cross section can be divided into the straight line l than 1: 23; Generating a slope isand the left and right area in described cross section can be divided into the straight line l than 2: 14; Described straight line l3with straight line l4t is respectively with the intersection point of cross-sectional right side2and T1;
Generate two straight line l be parallel to each other1with straight line l2, and described straight line l1with straight line l2interface, described boundary can be divided into the subregion of three area equation; And described straight line l1with straight line l2l is respectively with the intersection point of cross-sectional left1and L2;
Determine intersection point L1with T2between the first curve, each point on described first curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical first, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1;
Determine intersection point L2with T1between the second curve, each point on described second curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical second, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1; And first fan-shapedly to overlap with the second fan-shaped limit described in this, direction towards the opposite, another limit extends;
Determine that the intersection point of described first curve and the second curve is as starting point 0*; And described first is fan-shapedly respectively three described lead-out wires with the second fan-shaped limit.
Wherein, described starting point 0* determines by the following method:
On the periphery in described cross section, any point starts to generate the first curve that runs through described cross section, each point on described first curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical first, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1;
Other any point on the periphery in described cross section generates the second curve that runs through described interface, each point on described second curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical second, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1; And first fan-shapedly to overlap with the second fan-shaped limit described in this, direction towards the opposite, another limit extends;
Determine that the intersection point of described first curve and the second curve is as starting point 0*; And described first is fan-shapedly respectively three described lead-out wires with the second fan-shaped limit.
Wherein, described starting point 0* determines by the following method: adopt the method for exhaustion to determine described starting point 0*.
Wherein, described method also comprises:
Middle conflict area along described circle generates circumscribed regular polygon using as polygonal middle conflict area, and described regular polygon has 2 × 3 × N bar limit, and summit corresponding to described regular polygon is divided into and is positioned on described lead-out wire; The parallel lines that extend along described lead-out wire both sides are drawn to form banded middle conflict area in other summits along described regular polygon.
Wherein, the periphery that the starting point of the broken line of described first subregion and terminal are respectively described cross section is positioned at the point of both sides distalmost end.
Meanwhile, the embodiment of the present invention also proposed the Method of printing of the 3D printer of more than a kind of five printheads, it is characterized in that, comprising:
Utilize as any one method front determines middle conflict area and the non conflicting subregion of the determination circle of the first subregion respectively, and the middle conflict area of the second subregion and non conflicting subregion; The middle conflict area of wherein said second subregion comprises polygonal middle conflict area and banded middle conflict area, or comprises middle conflict area, the non conflicting subregion of circular middle conflict area and band shape;
Following operation is performed for described first subregion:
Utilize the middle conflict area of multiple printhead isochronous printing circles of described 3D printer; Utilize multiple printhead isochronous printing institutes non conflicting subregion of described 3D printer;
Multiple printhead isochronous printing institutes non conflicting subregion of described 3D printer is wherein utilized to comprise:
Divided into groups by described printhead, often group has 2 printheads; Region of described non conflicting being sealed is divided into P group, and often group comprises four non conflicting subregions of a circular middle conflict area and surrounding; Two conflict subregions utilizing two printhead isochronous printings often organizing relative, and describedly often organize printhead isochronous printing, and two non conflicting subregions of two of adjacent two groups adjacent printhead prints are also oppositely arranged;
Following operation is performed for described second subregion:
The non conflicting subregion utilizing three printheads to print respectively to be in 120 ° or banded in the middle of conflict area, make described printhead move the adjacent region of rear printing towards same direction after printing; Utilize the middle conflict area of a printhead prints circle or polygonal middle conflict area;
Adopt the nucleus conflict region of one or more printhead prints band shape.
The beneficial effect of technique scheme of the present invention is as follows:
Said method can be divided into two groups by printhead, one group be the positive integer of 3 doubly, another group be the positive integer of 2 doubly, control respectively to print.Can prevent the printhead when printing from clashing, and multiple printhead can be adopted simultaneously to carry out printing to improve printing effect.
Accompanying drawing explanation
Fig. 1 has the structural representation of the movement locus plane of three printheads of the 3D printer of three printheads and the loading plane of bottom;
Fig. 2 is the position view between three printheads;
Fig. 3 is the structural representation of the minimum spacing δ between two printheads;
Fig. 4 is the schematic diagram of a specific embodiment of employing 5 printheads;
Fig. 5 is the schematic diagram of the first subregion;
Fig. 6 is the schematic diagram of the second subregion.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with accompanying drawing and instantiation.
In prior art, the movement locus of the printhead of 3D printer is a plane, these printheads movement locus plane each other just must be made to be nonoverlapping if therefore want to arrange multiple separate printhead, such as, the 3D printer being 3 printheads shown in Fig. 1.And the far-end that must make this few printhead in one plane, so just can be printed a printing surface (namely a cross section of workpiece) of workpiece by multiple printhead simultaneously, namely as shown in Figure 2.And the principle adopting the 3D printer of two printheads is the same, also there will be the problem that printhead in the course of the work clashes.
Therefore, the embodiment of the present invention print area is divided into several conflict free region, then utilizes multiple printhead to print respectively, to prevent from clashing between printhead.And after simply print area being cut into L sub-print area, be easy to when printing the problem that generation two printheads print two adjacent sub-print areas simultaneously, the seam crossing generation printhead conflict of adjacent two sub-print areas will be occurred in like this.The shape of the workpiece simultaneously printed due to 3D printer can not be identical, therefore cannot accomplish in prior art to utilize the method pre-set automatically to generate conflict free print area and control that multiple printheads of printer are collaborative to be printed together.And if the method for segmentation print area is too coarse, then can cause the lifting amplitude of printing effect little, this is also waste the one of the hardware resource of costliness.
For this situation, the embodiment of the present invention proposes a kind of three printhead 3D printer print area control methods, Method of printing, without the need to considering that the shape printing workpiece just can become multiple child print region according to number of print auto Segmentation in advance, and control the automatic Lothrus apterus of multiple printhead and print workpiece, and can much of that multiple printhead can be tried one's best to share out the work uniformly to improve printing effect.
The embodiment of the present invention proposes the control method of the 3D printer of more than a kind of five printheads for this reason, is printhead is divided into two groups, and doubly, the positive integer of a group 3 doubly for the positive integer of a group 2.Therefore the method comprises:
Obtain the shape in the cross section of workpiece; Determine that the minimum spacing between two printheads is δ;
Determine number of print i, i=2k+1 (k >=2) and k is positive integer; In described cross section, determine a lead-out wire, described cross section is divided into the first subregion and the second subregion by described lead-out wire, and the area ratio of described first subregion and the second subregion is (2k-2): 3.
After having split, respectively the first subregion and the second subregion are illustrated respectively below.
[the first subregion]
Obtain the shape of the first subregion of workpiece; Determine that the minimum spacing between two printheads is δ;
Determine number of print i, i be more than or equal to 4 even number; In described first subregion, determine longitudinal lead-out wire that K-1 bar is parallel to each other, described first subregion is divided into longitudinal subregion of K area equation by the longitudinal lead-out wire of described K-1 bar, K=Ni, and wherein N is positive integer;
A laterally extending straight line is set in each longitudinal subregion described each longitudinal subregion described to be divided into the final subregion of two area equation; And the broken line that the formation one that joins end to end between described all laterally extending straight lines is laterally extending;
Be the center of circle at each intersection point of described broken line and longitudinal lead-out wire, be not less thanfor the conglobate middle conflict area of radius shape; And the periphery of this circle and this broken line and longitudinal lead-out wire form 2K non conflicting subregion.
Wherein, the periphery that the starting point of described broken line and terminal are respectively described first subregion is positioned at the point of both sides distalmost end.
As shown in Figure 5 be the embodiment of first group of four printhead.
[the second subregion]
Obtain the shape in the cross section of workpiece; Determine that the minimum spacing between two printheads is δ;
Be that starting point draws 3N bar lead-out wire so that described cross section is divided into the identical subregion of 3N area from the starting point 0* of described cross section, and angle between two lead-out wires adjacent in described 3N bar lead-out wire is identical; Using described starting point 0* as round dot,for the raw conglobate middle conflict area of radius; Described in each, the both sides of lead-out wire generate banded middle conflict area respectively, and the width of the middle conflict area of each band shape is not less thanand form non conflicting subregion between the middle conflict area of described band shape.
Certainly, be all that cross section is divided in order to three non conflicting subregions in the embodiment below the application is further described.3N non conflicting subregion can also be divided into, N=1,2,3 during actual use ..., this technical scheme is still within the protection domain of the application.The method simultaneously splitting these non conflicting subregions is clearly general, and the fan-shaped number being only used to adopt when dividing is different with central angle, does not repeat them here.
Concrete, determine that starting point 0* and lead-out wire are by cross section trisection very crucial technology.The embodiment of the present invention gives three kinds of schemes to determine starting point 0*.Certainly, those skilled in that art can according to oneself to the technology of the application can understanding determine corresponding method, and these methods also should within protection scope of the present invention.
Concrete, first method is a kind of method most effective in three kinds of methods, and it comprises:
Generating a slope is(angle of inclination is-60 °) and left and right for workpiece interface area is divided into the straight line l than 1: 23; Generating a slope is(angle of inclination is 60 °) and left and right for workpiece interface area is divided into the straight line l than 2: 14; Described straight line l3with straight line l4t is respectively with the intersection point of cross-sectional right side2and T1;
Generate two straight line l be parallel to each other1with straight line l2, and described straight line l1with straight line l2interface, described boundary can be divided into the subregion of three area equation; And described straight line l1with straight line l2l is respectively with the intersection point of cross-sectional left1and L2;
As shown in Figure 6, intersection point L is determined1with T2between the first curve, each point on described curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical first, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1;
Determine intersection point L2with T1between the second curve, each point on described curve meets the following conditions: the central angle that these points generate as the center of circle is separately 120 ° fan-shaped towards identical second, described cross section can be divided into left and right two parts, and the area ratio of fan-shaped interior part and fan-shaped outer part is 2: 1; And second fan-shapedly to overlap with the second fan-shaped limit described in this, direction towards the opposite, another limit extends;
Determine that the intersection point of described first curve and the second curve is as starting point 0*.
Second method comprises: adopt the method for exhaustion to determine described starting point 0*.This method efficiency is minimum.
What generate in said method is a circular middle conflict area, the middle conflict area of the band shape generated along this lead-out wire is caused to be a camber line with circular middle conflict area seam crossing like this, this just causes banded middle conflict area to be an irregular figure, can be that printhead mobile route increases when printing.Therefore described method also comprises: the middle conflict area along described circle generates circumscribed regular polygon using as polygonal middle conflict area, described regular polygon has 2 × 3 × N bar limit, and summit corresponding to described regular polygon is divided into and is positioned on described lead-out wire; The parallel lines that extend along described lead-out wire both sides are drawn to form banded middle conflict area in other summits along described regular polygon.
Concrete, can as shown in Figure 6, comprise:
As shown in Figure 6, after employing any means determines starting point 0* and three lead-out wire, outside starting point 0*, do an external regular hexagon, this regular hexagon has six drift angle A1-A6; Wherein three become drift angle A1, A3, A5 of 120 ° to lay respectively on three lead-out wires.Then extension line is done to extend to the edge in cross section along three lead-out wires respectively in orthohexagonal six limits, thus make these six extension lines form six banded middle conflict area T11, T31, T35, T25, T23, T13and three non conflicting subregion T1, T2, T3.Certain this identification means is for the ease of identifying, wherein T13and T23also a banded middle conflict area can be thought.
In order to maximize printing effect, the middle conflict area banded relative to three of one-tenth hexagonal angle first can be printed; After any one printhead prints completes, movement immediately goes to beat the non conflicting region adjacent with the middle conflict area of this band shape completed, and need not wait for that three printheads are completed banded middle conflict area just mobile.
And after three printheads are completed the middle conflict area of this band shape, not continued non conflicting region, but cross this non conflicting region and continue the mobile middle conflict area going to print unprinted band shape.Same, after any one printhead prints completes, oppositely move the non conflicting region continuing to beat its correspondence immediately.Printing effect can be maximized like this.
For shown in Fig. 6, said method is specially:
Step 1, T can be printed by printhead 111, printhead 2 prints, and printhead 3 prints T35.If printhead 1 first completes printing, continue to print T1if printhead 2 first completes printing, continue to print T2if printhead 3 first completes printing, continue to print T3.Work as T11, T23, T35all be done, enter step 2 immediately.
Step 2, now print T by printhead 113, printhead 2 prints T25, printhead 3 prints T31.If printhead 1 first completes printing, continue to print T1if printhead 2 first completes printing, continue to print T2if printhead 3 first completes printing, continue to print T3.Work as T13, T25, T31all be done, enter step 3 immediately;
Step 3, printhead 1 continue to print T1, printhead 2 continues to print T2, printhead 3 continues to print T3, until complete.
Meanwhile, also proposed the Method of printing of the 3D printer of more than a kind of five printheads, it is characterized in that, comprising:
Utilize as any one method front determines middle conflict area and the non conflicting subregion of the determination circle of the first subregion respectively, and the middle conflict area of the second subregion and non conflicting subregion; The middle conflict area of wherein said second subregion comprises polygonal middle conflict area and banded middle conflict area, or comprises middle conflict area, the non conflicting subregion of circular middle conflict area and band shape;
Following operation is performed for described first subregion:
Utilize the middle conflict area of multiple printhead isochronous printing circles of described 3D printer; Utilize multiple printhead isochronous printing institutes non conflicting subregion of described 3D printer;
Multiple printhead isochronous printing institutes non conflicting subregion of described 3D printer is wherein utilized to comprise:
Divided into groups by described printhead, often group has 2 printheads; Region of described non conflicting being sealed is divided into P group, and often group comprises four non conflicting subregions of a circular middle conflict area and surrounding; Two conflict subregions utilizing two printhead isochronous printings often organizing relative, and describedly often organize printhead isochronous printing, and two non conflicting subregions of two of adjacent two groups adjacent printhead prints are also oppositely arranged;
Following operation is performed for described second subregion:
The non conflicting subregion utilizing three printheads to print respectively to be in 120 ° or banded in the middle of conflict area, make described printhead move the adjacent region of rear printing towards same direction after printing; Utilize the middle conflict area of a printhead prints circle or polygonal middle conflict area;
Adopt the nucleus conflict region of one or more printhead prints band shape.And the nucleus conflict region of band shape can be cut into multiple fritter prints respectively.
As shown in Figure 4 be the situation of seven printheads, printhead has been divided into one group 4 one group 3.
For the region of four printheads, can as shown in Figure 5, comprise:
Determine leftmost some A on cross section0and rightmost some Ak;
Constantly utilize dichotomy, make the straight line I that k-1 bar is parallel with the Y-axis in cross section1, I2, I3; The region in order to four area equation is divided in cross section by these three straight lines.Then from A0region, one, left side divided equally horizontal line for P1 and P2, this horizontal line and straight line l for playing strokes and dots one1intersect at an A1; And then by A1the horizontal line being divided into P3 and P4 on the left of in the of second is divided equally, this horizontal line and straight line l for playing strokes and dots one1intersect at an A2.By that analogy, until sign in Ak.Now by cross section cutting in order to 8 areas want wait region.Then at A1, A2, A3for a circle is respectively done in the center of circle, this radius of a circle is not less than
Then four printheads are divided into two groups, first group is responsible for printing P1, P2, P3, P4, the center of circle be A1circle; Second group is responsible for printing P5, P6, P7, P8, the center of circle be A3circle.Want isochronous printing relative two subregions that conflict when printing, and described M group printhead isochronous printing, and two non conflicting subregions of two of adjacent two groups adjacent printhead prints are also oppositely arranged.That is, the printhead of first group first can print the relative non conflicting subregion of P1 with P4 these two, then second group of printhead just needs first to print P5 and P8.Can certainly first group first print P2 and P3, second group of isochronous printing P6 and P7.
And at printing A1, A2, A3three bowlders, with any three of four printheads, restriction can not made to this.And first can print circular middle conflict area, also can first print non conflicting subregion.
For the second subregion of the printhead of three as shown in Figure 6, adopt following methods:
Step 1, T can be printed by printhead 111, printhead 2 prints, and printhead 3 prints T35.If printhead 1 first completes printing, continue to print T1if printhead 2 first completes printing, continue to print T2if printhead 3 first completes printing, continue to print T3.Work as T11, T23, T35all be done, enter step 2 immediately.
Step 2, now print T by printhead 113, printhead 2 prints T25, printhead 3 prints T31.If printhead 1 first completes printing, continue to print T1if printhead 2 first completes printing, continue to print T2if printhead 3 first completes printing, continue to print T3.Work as T13, T25, T31all be done, enter step 3 immediately;
Step 3, printhead 1 continue to print T1, printhead 2 continues to print T2, printhead 3 continues to print T3, until complete.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.