3D Printer and Method and Device Therefor, 3D Printing System, and Storage Medium

Abstract

A method and apparatus for a 3D printer, a 3D printer, a 3D printing system, a computer-readable storage medium, and a computer program product. The 3D printer includes a printing platform and a print head, the print head being capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane. The method includes: obtaining slice data associated with a three-dimensional model, the slice data defining a plurality of sub-models to be printed, the plurality of sub-models including a first sub-model and a second sub-model spaced apart from each other; determining a movement path of the print head based on the slice data; and generating control code according to the movement path, the control code being executable by a processor of the 3D printer to execute a printing strategy.

Description

Technical Field

[0001] The present disclosure relates to the field of 3D printing technology, and in particular, to methods and apparatuses for 3D printers, 3D printers, 3D printing systems, computer-readable storage media, and computer program products. Background Art

[0002] A 3D printer, also known as a three-dimensional printer or a stereolithography printer, is a rapid prototyping process device that typically uses digital technology to print wire materials. 3D printers are often used in the fields of mold manufacturing, industrial design, etc. to manufacture models or components. In recent years, 3D printing technology has high application prospects in jewelry, footwear, industrial design, architecture, engineering and construction (AEC), automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms, and other fields.

[0003] For the three-dimensional printing methods known in the art, first, a model is established through computer modeling software, and the model is imported into slicing software. The slicing software stratifies (slices) according to a certain thickness according to different process requirements, that is, the model is decomposed into a series of two-dimensional planes and the plane information corresponding to the two-dimensional planes. Combining the plane information decomposed from the model and the processing parameters of the 3D printer, code (gcode) recognizable by the 3D printer is generated. Finally, the 3D printer is driven by the code to process each layer orderly and stack multiple layers until a solid model is formed. Summary of the Invention

[0004] The present disclosure provides a method and apparatus for a 3D printer, a 3D printer, a 3D printing system, a computer-readable storage medium, and a computer program product.

[0005] According to some aspects of the present disclosure, a method for a 3D printer is provided. The 3D printer includes a printing platform and a print head, and the print head is capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane. The method includes: obtaining slice data associated with a three-dimensional model, the slice data defining a plurality of sub-models to be printed, the plurality of sub-models including a first sub-model and a second sub-model spaced apart from each other; determining a movement path of the print head based on the slice data; and generating control code according to the movement path, the control code being executable by a processor of the 3D printer to execute a printing strategy, the printing strategy including: causing the print head to print the Nth layer slice of the first sub-model, wherein after printing the Nth layer slice of the first sub-model, the print head is located at a first position coordinate, and N is a positive integer greater than or equal to 1; immediately following the printing of the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being a predetermined distance directly above the first position coordinate along the Z axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

[0006] According to another aspect of the present disclosure, a device for a 3D printer is further provided. The 3D printer includes a printing platform and a print head, and the print head is capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane. The device includes: a first unit configured to obtain slice data associated with a three-dimensional model, the slice data defining a plurality of sub-models to be printed, the plurality of sub-models including a first sub-model and a second sub-model spaced apart from each other; a second unit configured to determine a movement path of the print head based on the slice data; and a third unit configured to generate control code according to the movement path, the control code being executable by a processor of the 3D printer to execute a printing strategy, the printing strategy including: causing the print head to print the Nth layer slice of the first sub-model, wherein after printing the Nth layer slice of the first sub-model, the print head is located at a first position coordinate, and N is a positive integer greater than or equal to 1; immediately following the printing of the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being a predetermined distance directly above the first position coordinate along the Z axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

[0007] According to another aspect of the present disclosure, there is also provided a 3D printer, including: a printing platform and a print head, the print head being capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z-axis perpendicular to the XY plane; a processor; and a memory storing control code that can be executed by the processor to execute a printing strategy for a first sub-model and a second sub-model spaced apart from each other, the printing strategy including: causing the print head to print the Nth layer slice of the first sub-model, wherein, after the print head finishes printing the Nth layer slice of the first sub-model, it is located at a first position coordinate, and N is a positive integer greater than or equal to 1; immediately following the printing of the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being located a predetermined distance directly above the first position coordinate along the Z-axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

[0008] According to yet another aspect of the present disclosure, there is also provided a 3D printing system, including: a 3D printer; and 3D printing slicing software configured to execute the method as described above.

[0009] According to yet another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions, when executed by the processor of the 3D printer as described above, implement the method as described above.

[0010] According to yet another aspect of the present disclosure, there is also provided a computer program product including computer instructions, wherein the computer instructions, when executed by the processor of the 3D printer as described above, implement the method as described above.

[0011] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In the drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0013] Figure 1 A schematic structural diagram of a 3D printer according to some exemplary embodiments of the present disclosure is shown;

[0014] Figure 2A flowchart of a method for a 3D printer according to some exemplary embodiments of the present disclosure is shown;

[0015] Figure 3 A schematic diagram of a scenario of moving to a second position coordinate along an inclined ascending path including a spiral circular arc path in the step shown in Figure 2 is shown;

[0016] Figure 4 A schematic diagram of a spiral circular arc path in the step shown in an embodiment of the present disclosure is shown; Figure 3 is shown;

[0017] Figure 5 A flowchart of a step of determining a movement path of a print head in the method shown in an embodiment of the present disclosure is shown; Figure 2 is shown;

[0018] Figure 6 A flowchart of a step of determining a center direction vector in the step shown in an embodiment of the present disclosure is shown; Figure 5 is shown;

[0019] Figure 7 A schematic diagram of a scenario of the step shown in an embodiment of the present disclosure and Figure 5 the step shown in Figure 6 is shown;

[0020] Figure 8 A schematic diagram of a scenario of moving to a second position coordinate along an inclined ascending path including a plurality of straight path segments connected end to end in the step shown in an embodiment of the present disclosure is shown; Figure 2 is shown;

[0021] Figure 9 A schematic diagram of a scenario of moving to a second position coordinate along an inclined ascending path including a plurality of straight path segments connected end to end in the step shown in an embodiment of the present disclosure is shown; and Figure 2 is shown;

[0022] Figure 10 A block diagram of a device for a 3D printer according to exemplary embodiments of the present disclosure is shown. Detailed Embodiments

[0023] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0024] In the present disclosure, unless otherwise specified, the use of terms such as "first" and "second" to describe various elements does not intend to limit the positional relationship, temporal relationship or importance relationship of these elements. Such terms are only used to distinguish one element from another. In some examples, the first element and the second element may refer to the same example of the element, while in certain cases, based on the context description, they may also refer to different examples.

[0025] The terms used in the description of various examples in the present disclosure are only for the purpose of describing specific examples and are not intended to be restrictive. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or more. In addition, the term "and / or" used in the present disclosure covers any one of the listed items and all possible combinations. As used herein, the term "A moves relative to B" includes the following various situations: (1) A remains stationary and B moves; (2) A moves and B remains stationary; or (3) both A and B move.

[0026] Before introducing the embodiments of the present disclosure in detail, a brief introduction to 3D printing slicing software in the related art is first given. Slicing software is a software that generates control codes (e.g., gcode) for controlling the processor of a 3D printer according to a digital three-dimensional model. Common slicing software on the market includes, for example, Ultimaker Cura and Prusa Slicer. These slicing software usually provide a graphical user interface, and users operate on the graphical user interface, such as loading model files, setting printing parameters, etc. Then, the slicing software slices the loaded three-dimensional model in STL, DAE or OBJ format to obtain slicing data, and converts the slicing data into a gcode code string. Generally speaking, the slicing process of slicing software includes the following steps:

[0027] Step 1: Model loading. Read in model data from the outside and convert the three-dimensional model into a combination of triangles represented by the internal data structure of the slicing software.

[0028] Step 2: Laying layers. The so-called laying layers means intersecting a three-dimensional model with an XY plane at a certain height interval to form a plurality of slices stacked on top of each other. The distance between layers is called the layer height. Laying layers is essentially a process of converting a 3D model into a series of 2D planes.

[0029] Step 3: Component division. After laying layers, a stack of 2D planar graphics is obtained. Mark each layer of 2D planar graphics, marking the outer wall, inner wall, filling, upper and lower surfaces, support members, etc. The support members, like other components, can have an outer wall, an inner wall, filling, upper and lower surfaces.

[0030] Step Four: Path Generation. In this step, the movement path of the nozzle in different components is planned. Independent paths can be generated for each component, and the printing order of each component is determined.

[0031] Step Five: Gcode Generation. After generating the path, the movement path of the nozzle needs to be translated into gcode code that can be executed by the processor of the 3D printer.

[0032] During the 3D printing process, the print head needs to keep moving to complete the printing of multiple sub-models. After the print head finishes printing a slice of a sub-model, it needs to move above the area planned for the next sub-model on the printing platform to print the slice of the next sub-model. To avoid the nozzle of the print head colliding with the printed part of the next sub-model, generally, the print head is first raised so that the relative distance between the print head and the printing platform increases, and then the print head is horizontally moved so that the print head moves above the planned area of the next sub-model. When raising the print head vertically, the printing material in a molten state in the nozzle below the print head is likely to flow out of the nozzle under the action of gravity, resulting in the "stringing phenomenon". Then, during the horizontal movement of the print head above the planned area of the next sub-model, more "stringing phenomenon" is generated due to the horizontal movement of the print head. Since the "stringing phenomenon" affects the printing quality and forming effect, in practice, usually after printing an area, the print head is obliquely lifted in a direction at a certain angle θ to the horizontal plane to avoid the "stringing phenomenon". However, there is a problem with obliquely lifting the print head, that is, the print head may need a relatively long oblique path to lift the print head to the desired height. For example, when the angle θ is 3°, if the print head needs to be lifted by 0.5 mm, the length of the oblique path will reach 9.5 mm. If there is a warped printed part within 9.5 mm from the starting point of the movement, it is still easy to touch the printed parts in other areas, causing, for example, deformation or even collapse of the printed parts, resulting in the failure of this printing.

[0033] In view of this, the embodiments of the present disclosure provide a method and apparatus for a 3D printer, a 3D printer, a 3D printing system, a computer-readable storage medium, and a computer program product, which can alleviate, mitigate, or even eliminate the above problems.

[0034] Figure 1 The structural schematic diagram of a 3D printer 100 according to some embodiments of the present disclosure is shown. The following will refer to Figure 1 and describe the 3D printer 100 in detail.

[0035] As Figure 1As shown, the 3D printer 100 includes a processor 101, a memory 102, a print head 103, and a print platform 104.

[0036] The processor 101 drives the print head 103 to move relative to the print platform 104 along the XY plane parallel to the upper surface of the print platform and the Z axis perpendicular to the XY plane by calling and executing control code (e.g., gcode) stored in the memory 102, so as to execute the printing strategy specified by the slicing software. In an embodiment, the processor 101 is configured to control the print head 103 (and optionally, the print platform 104) to execute the printing strategy for multiple sub-models proposed in the present disclosure under the drive of the control code, so as to reduce the stringing phenomenon and avoid the print head touching other sub-models at the same time. This printing strategy will be described in detail later.

[0037] The memory 102 may store the control code generated by the slicing software for the processor 101 to call.

[0038] The print head 103 may be provided with an extrusion train or cooperate with an extrusion train to work. The extrusion train may be driven by a motor controlled by the processor 101 to perform feeding and retracting operations, so as to cooperate with the print head 103 to complete the printing task.

[0039] The print platform 104 is used to carry the object to be printed, and its upper surface is usually a flat surface for placing various printed parts obtained during the printing process.

[0040] Figure 2 The flowchart of a method 200 for a 3D printer according to some exemplary embodiments of the present disclosure is shown. For the purpose of description, the method 200 will be described with reference to Figure 1 the 3D printer 100, and the method 200 may be used for Figure 1 the 3D printer 100 shown in. The method 200 may be executed by the slicing software and may include the following steps.

[0041] In step 201, slice data associated with the three-dimensional model is obtained, and the slice data defines a plurality of sub-models to be printed, and the plurality of sub-models include a first sub-model and a second sub-model spaced apart from each other.

[0042] In one example, the combination of a plurality of sub-models (e.g., the first sub-model and the second sub-model) defined by the slice data associated with the three-dimensional model may constitute a complete three-dimensional model or a part of a complete three-dimensional model. In another example, these sub-models may also be parts from different three-dimensional models.

[0043] In step 202, based on the slice data, the movement path of the print head 103 is determined.

[0044] In step 203, control codes are generated according to the movement path.

[0045] As is known, after obtaining the three-dimensional model file, the slicing software decomposes the three-dimensional model defined by the three-dimensional model file into multiple two-dimensional layers (slicing data), and combines the information of the two-dimensional layers with the processing parameters of the 3D printer 100 to generate control codes for driving the 3D printer 100 to execute corresponding printing strategies.

[0046] Steps 202 and 203 will be further described in detail later.

[0047] According to some embodiments, the control codes can be executed by the processor 101 of the 3D printer 100 to execute the printing strategies for multiple sub-models. The processor 101 calls the control codes generated by the slicing software and stored in the memory 102, and controls the print head 103 and the printing platform 104 to print multiple sub-models (such as the first sub-model and the second sub-model) according to the printing strategies defined by the control codes. The printing strategies may include the following operations.

[0048] In step 203-1, the print head 103 prints the Nth layer slice of the first sub-model, where after printing the Nth layer slice of the first sub-model, the print head 103 is located at the first position coordinate, and N is a positive integer greater than or equal to 1.

[0049] In one example, the print head 103 first prints the first layer slice of the first sub-model. After printing the first layer slice, the print head 103 is located at the first coordinate position (X0, Y0, Z0).

[0050] To alleviate or eliminate the wire drawing problem in the related art, in step 203-2, immediately following the printing of the Nth layer slice of the first sub-model, the print head is moved relative to the printing platform along an inclined upward path to the second position coordinate, and the second position coordinate is located a predetermined distance directly above the first position coordinate along the Z axis, where the inclined upward path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane.

[0051] The predetermined acute angle causes the print head 103 to lift obliquely relative to the print platform 104 instead of vertically. Compared with the case of vertical lifting, the wire drawing phenomenon can be reduced or eliminated. In the example, the predetermined acute angle is less than or equal to 5°. It will be understood that for different printing materials and / or different heating temperatures, the predetermined acute angle may have different values. Therefore, "the predetermined acute angle is less than or equal to 5°" is exemplary rather than restrictive. Moreover, since the print head 103 moves from the first position coordinate to directly above the first position coordinate along an inclined rising path (instead of a vertical rising path), it means that the inclined rising path is a "circuitous" path, resulting in a smaller movement range of the print head 103 relative to the print platform 104 in the XY plane direction, reducing the possibility of the print head 103 colliding with other models.

[0052] Continuing with the above example, after the print head 103 finishes printing the first layer slice of the first sub-model, the print head 103 is moved relative to the print platform 104 along an inclined rising path to the second coordinate position (X0, Y0, Z0 + Zl), where the value of Zl is greater than zero. Exemplarily, the first path segment in forms an angle of 3° with the XY plane.

[0053] In step 203-3, the print head 103 is moved relative to the print platform 104 to the third position coordinate to start printing the Nth layer slice of the second sub-model.

[0054] Continuing with the above example, the print head 103 moves horizontally from the second coordinate position (X0, Y0, Z0 + Zl) relative to the print platform 104 to a coordinate position (X1, Y1, Z0 + Zl) above the planned area of the second sub-model. Then it moves vertically downward from this coordinate position to the third coordinate position (X1, Y1, Z1) to start printing the first layer slice of the second sub-model.

[0055] It can be understood that although the printing process of two sub-models is described as an example in this embodiment, the present disclosure is not limited by the number of sub-models.

[0056] According to some embodiments, the inclined rising path in step 203-2 includes a spiral circular arc path, the spiral circular arc path includes a first path segment, and the orthographic projection of the spiral circular arc path on the print platform is circular.

[0057] Figure 3 Shows a schematic diagram of scenario 300 of moving to the second position coordinate along an inclined rising path including a spiral circular arc path in step 203-2 according to an embodiment of the present disclosure. Figure 2 as shown.

[0058] Refer to Figure 3In the example, the print head 103 includes nozzles 103-1 disposed at the end of the print head. The 3D printer further includes a sliding rod 303, and the print head 103 is sleeved on the sliding rod 303 to move relative to the printing platform 104 in the XY plane parallel to the upper surface of the printing platform 104, and the sliding rod 303 drives the print head 103 to move relative to the printing platform 104 along the Z axis perpendicular to the XY plane. The first sub-model 301 and the second sub-model 302 are placed on the printing platform 104.

[0059] Reference Figure 3 On the left half, the print head 103 has completed printing a certain slice of the first sub-model 301. At this time, the nozzle 103-1 is located at point A, and the position coordinates are (X0, Y0, Z0). Then, under the combined drive of the sliding rod 303 and the print head 103, the print head 103 rises along the spiral arc path 304, and the nozzle 103-1 moves to Figure 3 Point B shown in the right half, and the position coordinates are (X0, Y0, Z0+Zl).

[0060] Figure 4 shows a schematic diagram of the spiral arc path 304 according to an embodiment of the present disclosure in Figure 3 shown.

[0061] In Figure 4 , the spiral arc path 304 includes a first path segment starting from point A of the print head 103, and the first path segment forms a predetermined acute angle 401 with the XY plane. It should be understood that for a spiral line, this predetermined acute angle refers to the helix angle, that is, the angle formed by the spiral line after unfolding and the XY plane.

[0062] After completing the printing of the previous area, the distance between the print head 103 and the printing platform 104 along the Z axis is increased through the spiral arc path. Through such a preset path, not only can the outflow of the molten wire material be reduced, reducing the "stringing phenomenon", but also since the movement range of the print head 103 in the XY plane direction relative to the printing platform 104 is small, the possibility of the print head 103 colliding with other models is reduced. In addition, the spiral arc path also reduces the number of accelerations and decelerations during the movement of the print head 103, avoiding the molten wire remaining in the print head 103 from dripping from the nozzle due to the inertial forces of acceleration and deceleration.

[0063] Figure 5 shows the flowchart of step 202 for determining the movement path of the print head 103 in the method 200 according to an embodiment of the present disclosure in Figure 2 shown. As Figure 5 shown, step 202 includes the following operations.

[0064] For the spiral arc path:

[0065] In step 501, determine the center direction vector of the circle in the XY plane with respect to the first position coordinate.

[0066] In step 502, obtain a predetermined acute angle and a predetermined distance from the slice data, and calculate the radius of the circle according to the predetermined acute angle and the predetermined distance.

[0067] In step 503, calculate the coordinates of the center of the circle in the XY plane with respect to the first position according to the center direction vector and the radius.

[0068] Figure 6 shows a flowchart of step 501 according to an embodiment of the present disclosure. As Figure 5 shown, step 501 includes the following operations. Figure 6 shown, step 501 includes the following operations.

[0069] In step 601, obtain the third position coordinate from the slice data.

[0070] In step 602, determine the direction vector of the third position coordinate with respect to the first position coordinate in the XY plane.

[0071] In step 603, rotate the direction vector 90 degrees clockwise or counterclockwise around the Z axis to obtain the center direction vector.

[0072] Figure 7 shows a schematic diagram of a scenario 700 for determining the center position according to an embodiment of the present disclosure. The following will be combined with Figure 7 illustrate an example process for determining the center position.

[0073] As Figure 7 shown, the print head 103 is located at point A (X0, Y0, Z0) when finishing printing the first sub-model 301, and the print head 103 is located at point C (X1, Y1, Z1) when about to start printing the second sub-model 302.

[0074] First, determine the center direction vector of the center D of the circle in the XY plane with respect to the first position coordinate (point A) (corresponding to Figure 5 the step 501 shown). This may include the following operations.

[0075] · Obtain the position coordinate of point C from the slice data (corresponding to Figure 6 the step 601 shown).

[0076] · Determine the direction vector of point C (X1, Y1, Z1) with respect to point A (X0, Y0, Z0) in the XY plane (corresponding to Figure 6 the step 602 shown).

[0077] Refer to the formula The vector V1 is calculated.

[0078] · Rotate the vector V1 counterclockwise by 90 degrees about the Z-axis (corresponding to Figure 6 step 603 shown).

[0079] Reference formula The vector V2 in the direction of the center of the circle is obtained.

[0080] It can be understood that in other embodiments, the vector V1 can also be rotated clockwise by 90 degrees about the Z-axis, which is not limited herein.

[0081] Then, after obtaining the vector V2 in the direction of the center of the circle of the circle center D relative to the first position coordinate in the XY plane, it is also necessary to determine the radius of the circle (corresponding to Figure 5 step 502 shown). This may include the following operations.

[0082] Read a predetermined acute angle (e.g., Figure 4 the spiral lift angle 401 shown) and a predetermined distance (e.g., Figure 3 the height difference Zl in the Z-axis direction between point B (X0, Y0, Z0 + Zl) and point A (X0, Y0, Z0) shown).

[0083] · Reference formula The radius R of the circle is calculated.

[0084] Finally, after obtaining the radius R of the circle and the vector V2 in the direction of the center of the circle of the first position coordinate in the XY plane, calculate the coordinates of the center of the circle (corresponding to Figure 5 step 503 shown)

[0085] · Reference formula The coordinates of the center of the circle D are obtained.

[0086] According to the position of the center of the spiral arc and the predetermined lift height, the spiral arc path from Figure 3 point A shown to point B can be determined.

[0087] As Figure 7 shown, the print head 103 starts from point A and moves counterclockwise along the spiral arc path for one week and then reaches point B (points A and B coincide on the XY plane). When moving to point B, the direction of the velocity of the print head 103 (the tangent of the circle) is exactly the same as the direction of the vector V1 from point A (X0, Y0, Z0) to point C (X1, Y1, Z1). This means that it is possible to avoid the print head 103 changing its moving direction during the movement and the resulting deceleration and acceleration. Thus, it is possible to avoid the molten wire material remaining on the print head 103 from dripping due to the inertia of acceleration or deceleration, and further reduce the occurrence of the "wire drawing phenomenon".

[0088] According to some embodiments, generating control codes based on a movement path includes: generating control codes corresponding to a spiral arc path according to a predetermined distance and the coordinates of the center of a circle.

[0089] In one example, slicing software can generate gcode in the following form:

[0090]

[0091] where f is the idle running speed of the print head 103 (i.e., the moving speed without extruding the wire material).

[0092] According to some embodiments, the inclined ascending path includes a plurality of straight path segments connected end to end, and the plurality of straight path segments includes a first path segment.

[0093] Figure 8 shows a schematic diagram of a scenario 800 of moving to a second position coordinate along an inclined ascending path including a plurality of straight path segments connected end to end in step 203-2 according to an embodiment of the present disclosure. In this example, the orthographic projection of the plurality of straight path segments on the printing platform 104 is a polygon. Figure 2

[0094] Figure 8 Referring to , the print head 103 has completed the sliced printing of the first sub-model 301. At this time, the nozzle 103-1 has moved from point A (X0, Y0, Z0) to point B (X0, Y0, Z0 + Zl) relative to the printing platform 104 along a plurality of straight path segments 305 connected end to end. The first path segment forms a predetermined acute angle 801 (e.g., 4°) with the XY plane to reduce the "wire drawing phenomenon" generated when the print head 103 rises relative to the printing platform 104.

[0095] Figure 9 Figure 2

[0096] shows a schematic diagram of a scenario 900 of moving to a second position coordinate along an inclined ascending path including a plurality of straight path segments connected end to end in step 203-2 according to an embodiment of the present disclosure. In this example, the orthographic projection of the plurality of straight path segments on the printing platform 104 is a straight line. Figure 9 Referring to , the print head 103 has completed the sliced printing of the first sub-model 301. At this time, the nozzle 103-1 has moved from point A (X0, Y0, Z0) to point B (X0, Y0, Z0 + Zl) relative to the printing platform 104 along a plurality of straight path segments 306 connected end to end. The first path segment forms a predetermined acute angle 901 (e.g., 4°) with the XY plane to reduce the "wire drawing phenomenon" generated when the print head 103 rises relative to the printing platform 104.

[0097] Figure 10 FIG. 2 shows a block diagram of an apparatus 1000 for a 3D printer according to an exemplary embodiment of the present disclosure. The 3D printer includes a printing platform and a print head, and the print head is capable of moving relative to the printing platform in an XY plane parallel to the upper surface of the printing platform and along a Z-axis perpendicular to the XY plane. As Figure 10 shown, the apparatus 1000 includes a first unit 1001, a second unit 1002, and a third unit 1003.

[0098] The first unit 1001 is configured to obtain slice data associated with a three-dimensional model, and the slice data defines a plurality of sub-models to be printed, and the plurality of sub-models includes a first sub-model and a second sub-model spaced apart from each other.

[0099] The second unit 1002 is configured to determine a movement path of the print head based on the slice data.

[0100] The third unit 1003 is configured to generate control code according to the movement path, and the control code can be executed by a processor of the 3D printer to execute a printing strategy, and the printing strategy includes: causing the print head to print an Nth layer slice of the first sub-model, where, after the print head prints the Nth layer slice of the first sub-model, it is located at a first position coordinate, and N is a positive integer greater than or equal to 1; immediately following the printing of the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, and the second position coordinate is located at a predetermined distance directly above the first position coordinate along the Z-axis, where the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

[0101] It should be understood that Figure 10 each unit of the apparatus 1000 shown in Figure 1-9 can correspond to each step in the method embodiment described with reference to

[0102] Although specific functions have been discussed above with reference to specific units, it should be noted that the functions of each of the units discussed herein can be divided into multiple units, and / or at least some of the functions of multiple units can be combined into a single unit. The actions performed by a specific unit discussed herein include the specific unit itself performing the action, or alternatively the specific unit invoking or otherwise accessing another component or unit that performs the action (or performs the action in combination with the specific unit). Thus, a specific unit that performs an action can include the specific unit itself that performs the action and / or another unit that the specific unit invokes or otherwise accesses and that performs the action.

[0103] According to an embodiment of the present disclosure, a 3D printing system is further provided, including a 3D printer and 3D printing software slicing, wherein the 3D printing slicing software is configured to implement the steps of method 200 described in any of the above embodiments. For the sake of brevity, the details of method 200 will not be repeated.

[0104] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium is further provided, on which computer instructions are stored, wherein when the computer instructions are executed by a processor, the steps of method 200 described in any of the above embodiments are implemented. For the sake of brevity, the details of method 200 will not be repeated.

[0105] According to an embodiment of the present disclosure, a computer program product is further provided, including computer instructions, wherein when the computer instructions are executed by a processor, the steps of the method described in any of the above embodiments are implemented. For the sake of brevity, the details of method 200 will not be repeated.

[0106] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and no limitation is imposed herein.

[0107] It should be understood that in this specification, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship or dimensions based on the orientation or positional relationship or dimensions shown in the drawings. The use of these terms is only for the convenience of description and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation on the protection scope of the present disclosure.

[0108] In addition, the terms "first", "second", "third", etc. are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless otherwise specifically and clearly defined.

[0109] In the present disclosure, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0110] In the present disclosure, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and diagonally above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and diagonally below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0111] This specification provides many different embodiments or examples that can be used to implement the present disclosure. It should be understood that these different embodiments or examples are entirely exemplary and are not used to limit the protection scope of the present disclosure in any way. Based on the disclosed content of the specification of the present disclosure, those skilled in the art can conceive of various changes or substitutions, and these should all be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope defined by the appended claims.

Claims

1. A method for a 3D printer, the 3D printer including a printing platform and a print head, the print head being capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane, the method comprising: Obtaining slice data associated with a three-dimensional model, the slice data defining a plurality of sub-models to be printed, the plurality of sub-models including a first sub-model and a second sub-model spaced apart from each other; Based on the slice data, determining a movement path of the print head; And Generating control code according to the movement path, the control code being executable by a processor of the 3D printer to execute a printing strategy for printing along the movement path, the printing strategy including: Causing the print head to print an Nth layer slice of the first sub-model, wherein, after the print head finishes printing the Nth layer slice of the first sub-model, it is located at a first position coordinate, and N is a positive integer greater than or equal to 1; After the print head finishes printing the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being located a predetermined distance directly above the first position coordinate along the Z axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and Causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

2. The method according to claim 1, wherein The inclined ascending path includes a spiral circular arc path, the spiral circular arc path including the first path segment, the positive projection of the spiral circular arc path on the printing platform being circular, and wherein determining the movement path of the print head includes: Determining the direction of the center of the circle relative to the first position coordinate in the XY plane; Calculating the radius of the circle according to the predetermined acute angle and the predetermined distance; and Calculating the coordinates of the center of the circle relative to the first position in the XY plane according to the direction of the center of the circle relative to the first position coordinate in the XY plane and the radius; Generating the spiral circular arc path according to the predetermined distance and the coordinates of the center of the circle.

3. The method according to claim 2, wherein, Determining the direction of the center of the circle relative to the first position coordinate in the XY plane includes: Obtaining the third position coordinate from the slice data; Determining a direction vector of the third position coordinate relative to the first position coordinate in the XY plane; and Rotating the direction vector 90 degrees clockwise or counterclockwise around the Z axis to obtain the direction of the center of the circle relative to the first position coordinate in the XY plane.

4. The method according to claim 1, wherein The inclined ascending path includes a plurality of straight path segments connected end to end, the plurality of straight path segments including the first path segment, the positive projection of the plurality of straight path segments on the printing platform being a polygon, or Among them, the inclined ascending path includes a plurality of straight path segments connected end to end, the plurality of straight path segments include the first path segment, and the orthographic projection of the plurality of straight path segments on the printing platform is a straight line.

5. A device for a 3D printer, the 3D printer including a printing platform and a print head, the print head being capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane, the device including: A first unit configured to obtain slice data associated with a three-dimensional model, the slice data defining a plurality of sub-models to be printed, the plurality of sub-models including a first sub-model and a second sub-model spaced apart from each other; A second unit configured to determine a movement path of the print head based on the slice data; And A third unit configured to generate control code according to the movement path, the control code being executable by a processor of the 3D printer to execute a printing strategy of printing along the movement path, the printing strategy including: Causing the print head to print the Nth layer slice of the first sub-model, wherein, after the print head finishes printing the Nth layer slice of the first sub-model, it is located at a first position coordinate, and N is a positive integer greater than or equal to 1; After the print head finishes printing the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being located at a predetermined distance directly above the first position coordinate along the Z axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and Causing the print head to move relative to the printing platform to a third position coordinate to start printing the Nth layer slice of the second sub-model.

6. A 3D printer, including: A printing platform and a print head, the print head being capable of moving relative to the printing platform along an XY plane parallel to the upper surface of the printing platform and a Z axis perpendicular to the XY plane; A processor; And A memory storing control code, the control code being executable by the processor to execute a printing strategy of printing along a movement path for a first sub-model and a second sub-model spaced apart from each other, the printing strategy including: Causing the print head to print the Nth layer slice of the first sub-model, wherein, after the print head finishes printing the Nth layer slice of the first sub-model, it is located at a first position coordinate, and N is a positive integer greater than or equal to 1; After the print head finishes printing the Nth layer slice of the first sub-model, causing the print head to move relative to the printing platform along an inclined ascending path to a second position coordinate, the second position coordinate being located at a predetermined distance directly above the first position coordinate along the Z axis, wherein the inclined ascending path includes a first path segment starting from the first position coordinate, and the first path segment forms a predetermined acute angle with the XY plane; and Move the print head to a third position coordinate relative to the printing platform to start printing the Nth layer slice of the second sub-model.

7. A 3D printing system, comprising: A 3D printer; And 3D printing slicing software configured to perform the method according to any one of claims 1-4.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions, when executed by a processor, implement the method according to any one of claims 1-4.

9. A computer program product comprising computer instructions, wherein, The computer instructions, when executed by a processor, implement the method according to any one of claims 1-4.

Images