阅读说明：本技术 一种多介质立体增材打印机的平台旋转控制方法 (Platform rotation control method of multi-medium three-dimensional additive printer ) 是由 龙梅 谈郭健 于 2019-09-30 设计创作，主要内容包括：本发明提出的一种多介质立体增材打印机的平台旋转控制方法,包括以下步骤：S1、设置转动安装在水平面上的第一平台,将打印喷头固定安装在第一平台上方；S2、将打印平台直线滑动地安装在第一平台上,打印平台的滑动轨迹所在直线经过第一平台转轴中心线；S3、获取打印喷头的喷涂点的坐标作为喷涂坐标,并获取第一平台上待喷涂的目标点的坐标作为原始坐标；S4、通过驱动第一平台转动以及打印平台滑动,将目标点从原始坐标移动到喷涂坐标。本发明中,通过第一平台转动以及打印平台滑动,使得打印喷头可相对于打印平台任意移动,从而实现打印喷头在打印平台上的任意位置的打印。本发明中,通过坐标点定义打印位置,从而实现精确到点的打印控制,有利于提高打印的精度。(The invention provides a platform rotation control method of a multi-medium three-dimensional additive printer, which comprises the following steps of: s1, arranging a first platform rotatably arranged on a horizontal plane, and fixedly arranging a printing spray head above the first platform; s2, the printing platform is installed on the first platform in a linear sliding mode, and the straight line where the sliding track of the printing platform is located passes through the center line of the rotating shaft of the first platform; s3, acquiring coordinates of a spraying point of the printing nozzle as spraying coordinates, and acquiring coordinates of a target point to be sprayed on the first platform as original coordinates; and S4, moving the target point from the original coordinate to the spraying coordinate by driving the first platform to rotate and driving the printing platform to slide. According to the invention, the printing nozzle can move freely relative to the printing platform through the rotation of the first platform and the sliding of the printing platform, so that the printing of the printing nozzle at any position on the printing platform is realized. In the invention, the printing position is defined through the coordinate points, thereby realizing the printing control accurate to the points and being beneficial to improving the printing precision.)

1. A platform rotation control method of a multi-media three-dimensional additive printer is characterized by comprising the following steps:

s1, arranging a first platform (1) rotatably installed on a horizontal plane, and fixedly installing a printing spray head above the first platform (1);

s2, the printing platform (3) is linearly and slidably installed on the first platform (1), and the straight line where the sliding track of the printing platform (3) is located passes through the central line of the rotating shaft of the first platform (1);

s3, acquiring coordinates of a spraying point of the printing nozzle as spraying coordinates, and acquiring coordinates of a target point to be sprayed on the first platform (1) as original coordinates;

and S4, moving the target point from the original coordinate to the spraying coordinate by driving the first platform (1) to rotate and driving the printing platform (3) to slide.

2. The method for controlling platform rotation of a multimedia stereo additive printer according to claim 1, wherein step S4 specifically comprises: acquiring a connecting line between a spraying coordinate and a rotating shaft central line of the first platform (1) as a first connecting line, acquiring a connecting line between an original coordinate and the rotating shaft central line of the first platform (1) as a second connecting line, respectively acquiring an included angle and a length difference between the first connecting line and the second connecting line, then driving the first platform (1) to rotate according to the included angle, and driving the printing platform (3) to slide according to the length difference.

3. The method for controlling platform rotation of a multimedia stereographic additive printer according to claim 1, wherein step S4 specifically includes the steps of:

s41, setting a spraying coordinate on a first circle coaxially arranged with a rotating shaft of the first platform (1), and setting an original coordinate on a second circle coaxially arranged with the rotating shaft of the first platform (1);

s42, taking the central line of the rotating shaft of the first platform (1) as an original point, obtaining an included angle between a spraying coordinate and an original coordinate and the length difference between the first circle radius and the second circle radius;

s43, judging whether the diameter of the first circle is larger than that of the second circle;

s44, if yes, the first platform (1) is driven to rotate according to the included angle, and then the printing platform (3) is driven to slide to the first circle;

s45, if not, firstly driving the printing platform (3) to slide to the first circle, and then driving the first platform (1) to rotate according to the included angle.

4. The method for controlling the rotation of the platform of the multi-media stereo additive printing machine according to claim 1, wherein the first platform (1) is driven to rotate by the motor (5) in step S4.

5. The method for controlling the rotation of the platform of the multi-media three-dimensional additive printing machine according to claim 4, wherein in step S1, the first platform (1) is provided with a rotating shaft (2) which penetrates through the first platform (1) and is installed by taking the central line of the rotating shaft of the first platform (1) as an axis, the rotating shaft (2) is in transmission connection with the first platform (1), the rotating shaft (2) is connected with a driving motor (5), and the motor (5) drives the rotating shaft (2) to drive the first platform (1) to rotate.

6. The method for controlling the rotation of a platform of a multimedia stereographic additive printer according to claim 5, wherein the first platform (1) is fixedly mounted on the rotating shaft (2).

7. The platen rotation control method of a multimedia stereographic additive printer according to claim 1, wherein in step S4, the printing platen (3) is driven to slide by a cylinder (4) mounted on the first platen (1).

Technical Field

The invention relates to the technical field of printing, in particular to a platform rotation control method of a multi-medium three-dimensional additive printer.

Background

3D printing is a rapid prototyping technique, also known as additive manufacturing. Compared with the traditional manufacturing technology, the method has the advantages of realizing design and manufacture integration, reducing manufacturing cost, shortening processing period and the like, and is gradually applied to the fields of biological medical treatment, industrial design, aerospace, cultural originality and the like. To date, Fused Deposition Modeling (FDM), laser sintering (SLS), photo-curing (SLA), three-dimensional printing (DLP), and three-dimensional laser engraving have been successfully developed at home and abroad, and FDM is one of the most widely used techniques.

The basic principle of fused deposition type 3D printing is that a three-dimensional model output by computer design is decomposed into a plurality of layers of plane slices, a model forming path and a necessary supporting path of each layer are generated in printer software, then a printer nozzle melts and sprays out materials, the materials are overlapped layer by layer according to slice patterns, and finally the materials are stacked into a complete object. The existing fused deposition type 3D printing technology has two problems:

(1) the forming precision is poor: in the prior art, the two procedures of model slicing and printing are in an open-loop series connection relationship, the printing process cannot feed back and control the printing effect, and unqualified products are printed blindly;

(2) the printing efficiency is low: on one hand, each workpiece needs to be printed from zero, so that the printing time is greatly increased; on the other hand, semi-finished products generated by system faults or printing failures cannot be reused, and engineers can only adjust models and parameters and print again, so that debugging working hours and materials are consumed.

Disclosure of Invention

Based on the technical problems in the background art, the invention provides a platform rotation control method of a multi-medium three-dimensional additive printer.

The invention provides a platform rotation control method of a multi-medium three-dimensional additive printer, which comprises the following steps of:

s1, arranging a first platform rotatably arranged on a horizontal plane, and fixedly arranging a printing spray head above the first platform;

s2, the printing platform is installed on the first platform in a linear sliding mode, and the straight line where the sliding track of the printing platform is located passes through the center line of the rotating shaft of the first platform;

s3, acquiring coordinates of a spraying point of the printing nozzle as spraying coordinates, and acquiring coordinates of a target point to be sprayed on the first platform as original coordinates;

and S4, moving the target point from the original coordinate to the spraying coordinate by driving the first platform to rotate and driving the printing platform to slide.

Preferably, step S4 specifically includes: acquiring a connecting line of a spraying coordinate and a central line of a rotating shaft of the first platform as a first connecting line, acquiring a connecting line of an original coordinate and the central line of the rotating shaft of the first platform as a second connecting line, respectively acquiring an included angle and a length difference between the first connecting line and the second connecting line, then driving the first platform to rotate according to the included angle, and driving the printing platform to slide according to the length difference.

Preferably, step S4 specifically includes the following steps:

s41, setting a spraying coordinate on a first circle coaxially arranged with the first platform rotating shaft, and setting an original coordinate on a second circle coaxially arranged with the first platform rotating shaft;

s42, taking the central line of the rotating shaft of the first platform as an original point, obtaining an included angle between a spraying coordinate and an original coordinate and a length difference between the first circle radius and the second circle radius;

s43, judging whether the diameter of the first circle is larger than that of the second circle;

s44, if yes, the first platform is driven to rotate according to the included angle, and then the printing platform is driven to slide to the first circle;

and S45, if not, firstly driving the printing platform to slide to the first circle, and then driving the first platform to rotate according to the included angle.

Preferably, in step S4, the first platform is driven to rotate by a motor.

Preferably, in step S1, the first platform is provided with a rotating shaft which penetrates through the first platform and is installed on the first platform, and the rotating shaft takes the center line of the rotating shaft of the first platform as the shaft, and is in transmission connection with the first platform, and the rotating shaft is connected with a driving motor, and the motor drives the rotating shaft to drive the first platform to rotate.

Preferably, the first platform is fixedly mounted on the rotating shaft.

Preferably, in step S4, the printing platform is driven to slide by a cylinder mounted on the first platform.

According to the platform rotation control method of the multi-medium three-dimensional additive printer, through the sliding of the printing platform and the rotation of the first platform, a two-dimensional plane where the first platform is located is defined equivalently through the circumference and the radius, so that the position of any point on the printing platform can be conveniently moved through the sliding of the printing platform and the rotation of the first platform.

According to the invention, the printing nozzle can move freely relative to the printing platform through the rotation of the first platform and the sliding of the printing platform, so that the printing of the printing nozzle at any position on the printing platform is realized. In the invention, the printing position is defined through the coordinate points, thereby realizing the printing control accurate to the points and being beneficial to improving the printing precision. In addition, according to the invention, the printing position of the printing nozzle is adjusted through the movement of the printing platform, and compared with the printing nozzle, the movement of the printing platform is more stable, thereby being beneficial to improving the printing quality.

Drawings

Fig. 1 is a flowchart of a method for controlling rotation of a platform of a multi-media three-dimensional additive printer according to the present invention;

FIG. 2 is a detailed flow chart of the movement of a target point from a home coordinate to a spray coordinate in one embodiment of the present invention;

fig. 3 is a diagram of a printing platform used in fig. 1.

Detailed Description

Referring to fig. 1, the method for controlling rotation of a platform of a multi-media three-dimensional additive printer provided by the invention comprises the following steps:

and S1, arranging the first platform 1 rotatably installed on the horizontal plane, and fixedly installing the printing nozzle above the first platform 1.

S2, the printing platform 3 is installed on the first platform 1 in a linear sliding mode, and the straight line of the sliding track of the printing platform 3 passes through the central line of the rotating shaft of the first platform 1.

Therefore, through the sliding of the printing platform 3 and the rotation of the first platform 1, a two-dimensional plane where the first platform 1 is located is defined equivalently through the circumference and the radius, so that the position movement of any point on the printing platform 3 is realized conveniently through the sliding of the printing platform 3 and the rotation of the first platform 1.

And S3, acquiring the coordinates of the spraying points of the printing nozzle as spraying coordinates, and acquiring the coordinates of a target point to be sprayed on the first platform 1 as original coordinates.

And S4, moving the target point from the original coordinate to the spraying coordinate by driving the first platform 1 to rotate and the printing platform 3 to slide, and realizing fixed-point printing.

In this way, in the present embodiment, the first platform 1 rotates and the printing platform 3 slides, so that the printing head can move arbitrarily relative to the printing platform 3, thereby realizing the printing of the printing head at any position on the printing platform 3. In the embodiment, the printing position is defined by the coordinate points, so that the printing control accurate to the points is realized, and the printing precision is improved. Moreover, in the embodiment, the printing position of the printing nozzle is adjusted by the movement of the printing platform 3, and compared with the printing nozzle, the movement of the printing platform 3 is more stable, which is beneficial to improving the printing quality.

Step S4 of a further embodiment of the present invention is specifically: acquiring a connecting line between the spraying coordinate and the central line of the rotating shaft of the first platform 1 as a first connecting line, acquiring a connecting line between the original coordinate and the central line of the rotating shaft of the first platform 1 as a second connecting line, respectively acquiring an included angle and a length difference between the first connecting line and the second connecting line, then driving the first platform 1 to rotate according to the included angle, and driving the printing platform 3 to slide according to the length difference. Therefore, the first connecting line and the second connecting line are both vectors, and the included angle and the length difference between the first connecting line and the second connecting line can be easily obtained according to a vector algorithm. Therefore, in the embodiment, the included angle and the length difference between the first connecting line and the second connecting line are efficiently obtained through the existing algorithm, so that the reaction efficiency of the whole control method is improved, and the printing efficiency is improved.

In a further embodiment of the present invention, step S4 specifically includes the following steps:

and S41, setting the spraying coordinates to be on a first circle coaxially arranged with the rotating shaft of the first platform 1, and setting the original coordinates to be on a second circle coaxially arranged with the rotating shaft of the first platform 1.

S42, taking the central line of the rotating shaft of the first platform 1 as an origin, obtaining an included angle between the spraying coordinate and the original coordinate and the length difference between the first circle radius and the second circle radius.

S43, judging whether the diameter of the first circle is larger than that of the second circle;

and S44, driving the first platform 1 to rotate according to the included angle, and then driving the printing platform 3 to slide to the first circle.

And S45, if not, firstly driving the printing platform 3 to slide to the first circle, and then driving the first platform 1 to rotate according to the included angle.

In this way, in the present embodiment, when the first circle is larger than the second circle, the first platform 1 is controlled to rotate first, and then the printing platform 3 is controlled to slide; when the first circle is smaller than the second circle, the printing platform 3 is firstly controlled to slide, and then the first platform 1 is controlled to rotate. Thus, in the present embodiment, the first platform 1 is always rotated when the printing platform 3 is on a smaller circle, which is beneficial to saving kinetic energy according to the moment principle.

In step S4, the first platform 1 is driven to rotate by the motor 5. In this embodiment, in step S1, the first platform 1 is provided with a rotating shaft 2 which penetrates through the first platform 1 and is installed and takes the central line of the rotating shaft of the first platform 1 as the shaft, the rotating shaft 2 is in transmission connection with the first platform 1, the rotating shaft 2 is connected with a driving motor 5, and the motor 5 drives the rotating shaft 2 to drive the first platform 1 to rotate. Specifically, in the present embodiment, the first platform 1 is fixedly attached to the rotating shaft 2.

In step S4 of the present embodiment, the printing platform 3 is driven to slide by the cylinder 4 installed on the first platform 1, and the extending direction of the output shaft of the cylinder 4 passes through the center line of the rotating shaft 2, so as to ensure that the straight line where the sliding track of the printing platform 3 is located passes through the center line of the rotating shaft of the first platform 1.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.