Dot matrix structure 3D printing path planning method, system and printing method

Abstract

The application discloses a dot matrix structure 3D printing path planning method and system and a printing method. The system comprises a structure modeling module, a parameter calculation module, a coordinate determination module and a path planning module. The planning method comprises the following steps: firstly, the structure modeling module is used for parameterized modeling of a dot matrix structure unit cell, and structural characteristic parameters of a strut, a support foot and a top foot of the dot matrix unit cell are set; then, the parameter calculation module is used for calculating a cell skirt edge length, a cell height and a cell relative volume density according to geometric distribution relationships of the dot matrix unit cell and the structural characteristic parameters of the strut, the support foot and the top foot; subsequently, the coordinate determination module takes a printing starting point of the dot matrix unit cell as a printing origin, and determines geometric vertex coordinates of the dot matrix unit cell by using the cell skirt edge length and the cell height; finally, the path planning module determines a three-dimensional dot matrix printing path trajectory in combination with the geometric vertex coordinates and a dot matrix trajectory characteristic matrix.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data association from several navigation instruments, and particularly relates to a lattice structure 3D printing path planning method, system and printing method. BACKGROUND

[0002] Lightweight is the eternal pursuit of structure design and manufacturing, and lightweight and heavy load structures and materials have always been the research focus in the fields of aerospace, weapon equipment and rail transportation, etc. Three-dimensional lattice has high specific strength and specific stiffness, and is considered as one of the structures with the most potential for lightweight and high strength. Continuous fiber reinforced resin-based composite material 3D printing is a method of co-melting and co-dissolving continuous fiber filaments and resin filaments in a printing nozzle, online impregnation, and realizing integrated additive forming of complex structure parts through machine tool or robot motion trajectory design, which has the characteristics of high manufacturing efficiency and good flexibility.

[0003] However, due to the complexity of three-dimensional lattice structure and continuous fiber forming arrangement process, the related key process technology problems of forming lattice structure through composite material 3D printing technology have not been completely broken through. There is no effective trajectory design method to realize the printing of continuous trajectory of lattice structure type with four or more rods connected by a node in three-dimensional space. SUMMARY

[0004] To solve the above technical problems, the present application provides a lattice structure 3D printing path planning method, system and printing method, which can realize the forming of a single node six pillar lattice in three-dimensional space.

[0005] The technical scheme is as follows:

[0006] A lattice structure 3D printing path planning method, which is characterized by comprising:

[0007] Parameterizing modeling of a lattice structure unit cell, and setting structural characteristic parameters of the struts, legs and top legs of the lattice cell;

[0008] According to the geometric distribution relationship of the lattice cell and the structural characteristic parameters of the struts, legs and top legs, the cell skirt edge length and cell height are calculated;

[0009] Taking the printing starting point of the lattice cell as the printing origin, the geometric vertex coordinates of the lattice cell are determined by the cell skirt edge length and cell height;

[0010] The three-dimensional lattice printing path trajectory is determined by combining the geometric vertex coordinates and the lattice trajectory feature matrix.

[0011] Further, according to the strut length, strut and horizontal plane angle, leg length and top leg length, the cell skirt edge length and cell height are calculated.

[0012] Further, the point array trajectory feature matrix is set according to the multiple of the trajectory point position coordinates and the geometric vertex coordinates, and the forward and reverse directions of the trajectory.

[0013] A point array structure 3D printing path planning system, which is characterized by comprising:

[0014] A structure modeling module configured to parameterize modeling of a point array structure unit cell, and set structural feature parameters of struts, legs and top legs of the point array unit cell;

[0015] A parameter calculation module configured to calculate cell skirt edge length and cell height according to geometric distribution relationship of the point array unit cell and the structural feature parameters of the struts, legs and top legs;

[0016] A coordinate determination module configured to take a printing starting point of the point array unit cell as a printing origin, and determine geometric vertex coordinates of the point array unit cell through the cell skirt edge length and the cell height;

[0017] A path planning module configured to determine a three-dimensional point array printing path trajectory in combination with the geometric vertex coordinates and the point array trajectory feature matrix.

[0018] Further, the parameter calculation module calculates the cell skirt edge length and the cell height according to strut length, strut and horizontal plane angle, leg length and top leg length.

[0019] Further, the coordinate determination module sets the point array trajectory feature matrix according to the multiple of the trajectory point position coordinates and the geometric vertex coordinates, and the forward and reverse directions of the trajectory.

[0020] A point array structure 3D printing method, which is characterized by comprising:

[0021] The above-mentioned point array structure 3D printing path planning method is used to plan a three-dimensional point array printing path trajectory;

[0022] A 3D printer is controlled to print according to the planned three-dimensional point array printing path trajectory.

[0023] Further, the 3D printer is controlled to print according to the planned three-dimensional point array printing path trajectory, which comprises:

[0024] A G code machine program is generated according to the three-dimensional point array printing path trajectory;

[0025] The G code machine program is transmitted to the 3D printer for printing.

[0026] Beneficial effects: the point array structure 3D printing path planning method, system and printing method of the application can realize the forming of three-dimensional space single node four pillars and above point array structure, the formed point array structure has low relative density, high integrated forming efficiency and good space utilization rate. The designed trajectory is suitable for common motion platforms such as machine tools and robots in industry, and has wide applicability. Only one composite 3D printer can realize the forming of various point array structures, without the need for special molds, low cost, simple operation and good economy. It provides an effective way for the large-area popularization and application of lightweight high-strength composite point array structure. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The flow chart of the point array structure 3D printing path planning method provided by an embodiment of the application is provided.

[0028] Figure 2 The tetrahedral point array parameterized modeling model schematic diagram provided by an embodiment of the application is provided.

[0029] Figure 3 The tetrahedral point array Cartesian coordinate model schematic diagram provided by an embodiment of the application is provided.

[0030] Figure 4 The tetrahedral point array trajectory direction and G code execution trajectory schematic diagram provided by an embodiment of the application is provided.

[0031] Figure 5 The pyramid point array parameterized modeling model schematic diagram provided by an embodiment of the application is provided.

[0032] Figure 6 The pyramid point array Cartesian coordinate model schematic diagram provided by an embodiment of the application is provided.

[0033] Figure 7 The six-pillar point array parameterized modeling model schematic diagram provided by an embodiment of the application is provided.

[0034] Figure 8 The six-pillar point array Cartesian coordinate model schematic diagram provided by an embodiment of the application is provided.

[0035] Figure 9 The relative density comparison diagram of three point array structures provided by an embodiment of the application is provided.

[0036] Figure 10 The continuous carbon fiber polylactic acid composite tetrahedral-pyramid-six-pillar point array flat compression stress-strain curve diagram formed by the trajectory design method provided by the application is provided.

[0037] Figure 11 The system block diagram of the point array structure 3D printing path planning system provided by an embodiment of the application is provided.

[0038] Figure 12 This is a flowchart of a 3D printing method provided in an embodiment of the present invention. Detailed Implementation

[0039] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0040] Example 1

[0041] like Figure 1 The flowchart shown illustrates a path planning method for 3D printing of lattice structures. This planning method includes:

[0042] Step 1: Perform parametric modeling of the lattice structure unit cell and set the structural feature parameters of the struts, legs, and top feet of the lattice cell.

[0043] Step 2: Calculate the skirt length and cell height of the cell based on the geometric distribution of the lattice cells and the structural characteristic parameters of the support rods, legs, and top feet.

[0044] Step 3: Using the printing start point of the lattice cell as the printing origin, determine the geometric vertex coordinates of the lattice cell through the side length of the cell skirt and the cell height;

[0045] Step 4: Combine the geometric vertex coordinates and the feature matrix of the dot matrix trajectory to determine the 3D dot matrix printing path trajectory.

[0046] Specifically, such as Figures 1-3 As shown, the three-dimensional dot matrix printing path trajectory of a tetrahedral dot matrix structure is planned as an example.

[0047] First, a parametric model of the tetrahedral lattice structure unit cell is performed in Cartesian coordinates, and structural feature parameters such as the struts, legs, and top feet of the tetrahedral lattice structure are set. In this embodiment, the set structural feature parameters include: strut cross-sectional width b, strut height h, strut length l, angle α between the strut and the horizontal plane, leg length a1, and top foot length a2.

[0048] Then, based on the support cross-sectional width b, support height h, support length l, the angle α between the support and the horizontal plane, support length a1, top length a2, and the geometric distribution relationship of the lattice cells, the cell height H and the cell skirt side length L are calculated.

[0049] In this embodiment, the side length L of the cell skirt of the tetrahedral lattice structure is calculated using the following formula:

[0050]

[0051] The cell height H of the tetrahedral lattice structure is calculated using the following formula:

[0052] H = lsinα;

[0053] After that, taking the printing starting point of the dot matrix cell as the printing origin (0, 0, 0), the geometric vertex coordinates (i, j, k) of the tetrahedron dot matrix cell are determined according to the cell skirt edge length and the cell height, i, j, k respectively corresponding to the unit dimension of the coordinates in the X, Y, Z directions.

[0054]

[0055]

[0056] k = H = l sin a;

[0057] Finally, the three-dimensional dot matrix printing path trajectory corresponding to the dot matrix structure unit cell is determined in combination with the geometric vertex coordinates (i, j, k) of the dot matrix cell and the dot matrix trajectory feature matrix corresponding to the dot matrix structure unit cell.

[0058] In the present embodiment, a 3xn dot matrix trajectory feature matrix connected in point-line sequence can be established according to the set printing sequence. Wherein, the position coordinates and the multiple of the corresponding matrix unit dimension are marked by using the numerical information of each row of the matrix, the positive and negative directions of the trajectory are represented by using the positive and negative signs of the numbers, a plurality of printing trajectory steps are combined by using the column information of the matrix, and the number of columns reflects the number of printing steps of the designed matrix cell. The dot matrix trajectory feature matrix corresponding to the established dot matrix structure unit is:

[0059]

[0060] The three-dimensional dot matrix printing path trajectory corresponding to the dot matrix structure unit cell is determined as:

[0061]

[0062] For example, the three-dimensional dot matrix printing path trajectory of a regular tetrahedron dot matrix structure with a strut section width of 5 mm, a strut height of 3 mm, a strut length of 20 mm, a strut and horizontal plane included angle of 30°, and a foot and top foot length of 3 mm and 2 mm, respectively. The vertex geometric coordinates of the regular tetrahedron dot matrix cell are calculated to be (19.3, 11.2, 10) by using the above calculation formula, and the regular tetrahedron dot matrix printing trajectory matrix determined therefrom is:

[0063]

[0064] It should be understood that the lower the relative density of the cell of the dot matrix structure, the higher the level of lightweight of the dot matrix structure, the higher the space utilization rate, and the better the lightweight design of the structure. In the present embodiment, the following calculation formula can be used to calculate the relative volume density of the tetrahedron dot matrix structure corresponding to different strut and horizontal plane included angles The calculation results are as follows: Figure 9As shown in the following table:

[0065]

[0066] Example Two

[0067] As shown in the following table: Figure 5 , Figure 6 The three-dimensional lattice printing path trajectory of the lattice structure of the pyramid is taken as an example.

[0068] The following calculation formula is used to calculate the cell skirt length L of the lattice structure of the pyramid:

[0069]

[0070] The following calculation formula is used to calculate the cell height H of the lattice structure of the pyramid:

[0071] H = lsina;

[0072] The following calculation formula is used to calculate the geometric vertex coordinates (i, j, k) of the lattice cell of the pyramid:

[0073]

[0074]

[0075] k = H = lsina

[0076] The same lattice trajectory feature matrix setting method as in Example One is used, and the pyramid lattice trajectory feature matrix set is:

[0077]

[0078] The pyramid lattice structure has a strut section width of 5 mm, a height of 3 mm, a length of 20 mm, a strut and horizontal plane angle of 45°, and a foot length of 3 mm and a top foot length of 2 mm. The vertex geometric coordinates of the pyramid lattice cell are calculated using the above calculation formula as (17.3, 17.3, 10), and the lattice printing trajectory matrix of the pyramid lattice structure planned thereby is:

[0079]

[0080] In this embodiment, the following calculation formula can be used to calculate the relative volume density of the cell of the pyramid lattice structure corresponding to different strut and horizontal plane angles: The calculation results are shown in the following table: Figure 9

[0081]

[0082] Example Three

[0083] ​As Figure 7 , Figure 8 shown, taking the planning of the three-dimensional lattice printing path trajectory of a six-strut lattice structure as an example.

[0084] The following calculation formula is used to calculate the cell skirt edge length L of the six-strut lattice structure:

[0085]

[0086] The following calculation formula is used to calculate the cell height H of the six-strut lattice structure:

[0087] H = lsinα

[0088] The following calculation formula is used to calculate the geometric vertex coordinates (i, j, k) of the six-strut lattice cell:

[0089]

[0090]

[0091] k = H = lsinα

[0092] Using the same lattice trajectory feature matrix setting method as in Example 1, the six-strut lattice trajectory feature matrix set is:

[0093]

[0094] The six-strut lattice structure with a strut section width of 5 mm, a height of 3 mm, a length of 20 mm, a strut and horizontal plane angle of 60°, and a foot and top foot length of 3 mm and 2 mm respectively, the vertex geometric coordinates of the six-strut lattice cell are calculated as (7.5, 13, 17.3), and the lattice printing trajectory matrix of the six-strut lattice structure planned thereby is:

[0095]

[0096] In this embodiment, the following calculation formula can be used to calculate the relative volume density of the cell of the six-strut lattice structure corresponding to different strut and horizontal plane angles The calculation results are shown in Figure 9 :

[0097]

[0098] It should be understood that by changing the values of the vertex coordinates (i, j, k), the forming trajectories of the same type but different size lattice structures can be generated; by changing the trajectory feature matrix of the lattice, the forming trajectories of the same size but different types of lattice structures can be generated.

[0099] As Figure 11A system block diagram of a lattice structure 3D printing path planning system is shown, and the planning system comprises:

[0100] A structure modeling module configured to perform parameterized modeling on the lattice structure unit cell, and set structural characteristic parameters of the strut, the leg and the top leg of the lattice cell;

[0101] A parameter calculation module configured to calculate the cell skirt edge length and the cell height according to the geometric distribution relationship of the lattice cell and the structural characteristic parameters of the strut, the leg and the top leg;

[0102] A coordinate determination module configured to take the printing starting point of the lattice cell as the printing origin, and determine the geometric vertex coordinates of the lattice cell through the cell skirt edge length and the cell height;

[0103] A path planning module configured to determine the three-dimensional lattice printing path trajectory in combination with the geometric vertex coordinates and the lattice trajectory feature matrix.

[0104] Specifically, the planning system is composed of a structure modeling module, a parameter calculation module, a coordinate determination module and a path planning module. The structure modeling module can perform parameterized modeling on the lattice structure unit cell in the Cartesian coordinate, and set structural characteristic parameters of the unit cell strut, leg, top leg and skirt. The parameter calculation module can use a calculation formula corresponding to the lattice structure, and calculate the cell skirt edge length and the cell height of the lattice cell according to the structural characteristic parameters set by the lattice structure, such as the strut section width b, the strut height h, the strut length l, the strut and horizontal plane angle α, the leg length a1 and the top leg length a2.

[0105] The coordinate determination module can calculate the geometric vertex coordinates (i, j, k) of the lattice cell according to the cell skirt edge length and the cell height of the lattice cell calculated by the parameter calculation module.

[0106] The path planning module can determine the three-dimensional lattice printing path trajectory matrix corresponding to the lattice structure in combination with the lattice trajectory feature matrix corresponding to the lattice structure and the geometric vertex coordinates (i, j, k) of the lattice cell calculated by the coordinate determination module. The three-dimensional lattice printing path trajectory matrix is as follows:

[0107]

[0108] In this embodiment, optionally, the parameter calculation module calculates the cell skirt edge length and the cell height according to the strut length, the strut and horizontal plane angle, the leg length and the top leg length.

[0109] Specifically, the parameter calculation module can calculate the cell skirt edge length L of the tetrahedral lattice structure by the following calculation method:

[0110]

[0111] The parameter calculation module can calculate the cell skirt edge length L of the pyramid type lattice by the following calculation method:

[0112]

[0113] The parameter calculation module can calculate the cell skirt edge length L of the six-pillar lattice by the following calculation method:

[0114]

[0115] The parameter calculation module calculates the cell height H of the tetrahedral lattice structure, the six-pillar lattice structure and the pyramid type lattice structure by the following calculation method:

[0116] H = l sin α;

[0117] The parameter calculation module calculates the relative volume density of the cell of the tetrahedral lattice structure by the following calculation method

[0118]

[0119] The parameter calculation module can calculate the relative volume density of the cell of the pyramid type lattice structure by the following calculation method

[0120]

[0121] The parameter calculation module calculates the relative volume density of the cell of the six-pillar lattice structure by the following calculation method

[0122]

[0123] In this embodiment, optionally, the coordinate determination module sets the lattice trajectory feature matrix according to the multiple of the trajectory point position coordinates and the geometric vertex coordinates, and the forward and reverse directions of the trajectory. The lattice trajectory feature matrix is as follows:

[0124]

[0125] The set lattice trajectory feature matrix corresponding to the regular tetrahedral lattice structure, the pyramid type lattice structure and the six-pillar lattice structure is respectively:

[0126]

[0127]

[0128]

[0129] As Figure 12 shown in the flow chart of the dot matrix structure 3D printing method, the printing method comprises:

[0130] Step S1, parameterize modeling of the dot matrix structure unit cell, set the structural characteristic parameters of the strut, support and top foot of the dot matrix unit cell;

[0131] Step S2, according to the geometric distribution relationship of the dot matrix unit cell, and the structural characteristic parameters of the strut, support and top foot, calculate the cell skirt edge length and cell height;

[0132] Step S3, taking the printing starting point of the dot matrix unit cell as the printing origin, determine the geometric vertex coordinates of the dot matrix unit cell through the cell skirt edge length and cell height;

[0133] Step S4, determine the three-dimensional dot matrix printing path trajectory in combination with the geometric vertex coordinates and the dot matrix trajectory characteristic matrix;

[0134] Step S5, control the 3D printer to print according to the planned three-dimensional dot matrix printing path trajectory.

[0135] Specifically, first, the dot matrix structure unit cell can be parameterized modeled in Cartesian coordinates, and the structural characteristic parameters of the unit cell strut, support, top foot and skirt are set.

[0136] Then, the dot matrix unit cell skirt edge length and cell height can be calculated by using the calculation formula corresponding to the dot matrix structure according to the structural characteristic parameters set by the dot matrix structure, such as strut section width b, strut height h, strut length l, strut and horizontal plane angle α, support length a1, top foot length a2.

[0137] Then, the geometric vertex coordinates (i, j, k) of the dot matrix unit cell can be calculated by using the preset calculation method according to the calculated dot matrix unit cell skirt edge length and cell height.

[0138] Then, the three-dimensional dot matrix printing path trajectory matrix corresponding to the dot matrix structure can be determined in combination with the dot matrix trajectory characteristic matrix corresponding to the dot matrix structure and the calculated geometric vertex coordinates (i, j, k) of the dot matrix unit cell.

[0139]

[0140] Finally, the 3D printer is controlled to print according to the planned three-dimensional dot matrix printing path trajectory.

[0141] In this embodiment, the 3D printer is controlled to print according to the planned three-dimensional dot matrix printing path trajectory, which comprises:

[0142] According to the three-dimensional dot matrix printing path trajectory, a G code machine program is generated;

[0143] The G code machine program is transmitted to a 3D printer for printing.

[0144] Specifically, when the 3D printer is controlled to print, first, the planned three-dimensional dot matrix printing path trajectory matrix can be converted into a G code program that can be directly executed by the 3D printer. And the generated G code program is input into the 3D printer execution mechanism, and whether the trajectory interferes is detected by the G code trajectory visualization software, and the next step is operated after there is no mechanical equipment running interference problem.

[0145] The G code program converted from the three-dimensional dot matrix printing path trajectory matrix corresponding to the above-mentioned planned regular tetrahedron dot matrix structure, pyramid type dot matrix structure and six pillar dot matrix structure is respectively:

[0146] Regular tetrahedron dot matrix structure:

[0147] Pyramid type dot matrix structure:

[0148] Six pillar dot matrix structure:

[0149] Next, the printing program is run, the printing composite material filament is extruded from the nozzle, the dot matrix leg with a length of a1 is printed on the printing substrate, and then the printing nozzle is stopped at the path turning corner point for 3-5 seconds, and the resin is solidified under the action of external cold wind;

[0150] After passing through the path turning corner point, the printing nozzle is swung clockwise by an angle of 0-10°, so that the printing slender nozzle and the uplink printing path direction have an included angle less than 30°, the uplink leg of the dot matrix is printed, and the printing leg is stopped at the path corner point for 3-5 seconds, waiting for the printed leg to complete the preliminary cooling and solidification and have a certain rigidity;

[0151] Then, the printing nozzle angle is adjusted to the vertical state, the dot matrix top leg with a length of a2 is printed, and the printing is stopped at the path corner point for 3-5 seconds, waiting for the top leg to be solidified and have a certain rigidity after printing is completed;

[0152] Then, the printing nozzle is swung counterclockwise by an angle of 0-10°, so that the printing slender nozzle and the downlink printing path direction have an included angle less than 30°, the downlink leg of the dot matrix is printed, and the printing leg is stopped at the path corner point for 3-5 seconds, waiting for the printed leg to complete the preliminary cooling and solidification and have a certain rigidity, and then the printing nozzle is adjusted to complete the printing of the leg;

[0153] The above steps are repeated, and the dot matrix trajectory G code program is run, so that the forming of the continuous fiber composite dot matrix is completed. Finally, the whole printed dot matrix structure is placed into a hot press tank, and is secondarily cured under the condition of a set pressure and temperature, so that the forming of the dot matrix structure is completed.

[0154] The flat compression stress-strain curve of the continuous carbon fiber polylactic acid composite tetrahedron, pyramid and six-pillar dot matrix printed by the printing method is as shown in the following table. Figure 12

[0155] Finally, it should be noted that the above description is only for the preferred embodiments of the present application, and those skilled in the art can make various similar representations under the inspiration of the present application without departing from the purpose and claims of the present application, and such changes fall within the protection scope of the present application.​

Claims

1. A dot-matrix structure 3D printing path planning method, characterized in that, The method comprises the following steps: Parameterized modeling of the lattice structure unit cell is performed, and structural characteristic parameters of the strut, the support leg and the top leg of the lattice cell are set; According to the geometric distribution relationship of the lattice cell and the structural characteristic parameters of the strut, the support leg and the top leg, the cell skirt edge length and the cell height are calculated; The printing origin point of the lattice cell is taken as the printing origin point, and the geometric vertex coordinates of the lattice cell are determined through the cell skirt edge length and the cell height; According to the multiple of the position coordinates of the trajectory points and the geometric vertex coordinates and the positive and negative directions of the trajectory, a lattice trajectory feature matrix is set; The geometric vertex coordinates are converted into a diagonal matrix, and the three-dimensional lattice printing path trajectory is determined by combining the diagonal matrix of the geometric vertex coordinates and the lattice trajectory feature matrix; A 3×n lattice trajectory feature matrix connected in point-line sequence is established according to the set printing sequence, wherein the position coordinates and the multiple of the corresponding matrix unit dimension are marked by using the numerical information of each row of the matrix, the positive and negative directions of the trajectory are represented by using the numerical signs, and a plurality of printing trajectory steps are combined by using the column information, and the number of columns reflects the number of printing steps of the formed matrix unit cell design.

2. The method of claim 1, wherein, The cell skirt edge length and the cell height are calculated according to the strut length, the strut angle with the horizontal plane, the support leg length and the top leg length.

3. A dot-matrix structure 3D printing path planning system, characterized in that, The method comprises the following steps: The structure modeling module is configured to perform parameterized modeling of the lattice structure unit cell, and set the structural characteristic parameters of the strut, the support leg and the top leg of the lattice cell; The parameter calculation module is configured to calculate the cell skirt edge length and the cell height according to the geometric distribution relationship of the lattice cell and the structural characteristic parameters of the strut, the support leg and the top leg; The coordinate determination module is configured to take the printing origin point of the lattice cell as the printing origin point, and determine the geometric vertex coordinates of the lattice cell through the cell skirt edge length and the cell height; The coordinate determination module sets a lattice trajectory feature matrix according to the multiple of the position coordinates of the trajectory points and the geometric vertex coordinates and the positive and negative directions of the trajectory; The path planning module is configured to determine the three-dimensional lattice printing path trajectory by combining the geometric vertex coordinates and the lattice trajectory feature matrix; A 3×n lattice trajectory feature matrix connected in point-line sequence is established according to the set printing sequence, wherein the position coordinates and the multiple of the corresponding matrix unit dimension are marked by using the numerical information of each row of the matrix, the positive and negative directions of the trajectory are represented by using the numerical signs, and a plurality of printing trajectory steps are combined by using the column information, and the number of columns reflects the number of printing steps of the formed matrix unit cell design.

4. The lattice structure 3D printing path planning system of claim 3, wherein, The parameter calculation module calculates the cell skirt edge length and the cell height according to the strut length, the strut angle with the horizontal plane, the support leg length and the top leg length.

5. A dot-matrix 3D printing method, characterized by, The method comprises the following steps: The lattice structure 3D printing path planning method according to any one of claims 1-3 is adopted to plan the three-dimensional lattice printing path trajectory; The 3D printer is controlled to print according to the planned three-dimensional lattice printing path trajectory.

6. The method of claim 5, wherein, The 3D printer is controlled to print according to the planned three-dimensional lattice printing path trajectory, which comprises the following steps: A G code machine program is generated according to the three-dimensional lattice printing path trajectory; The G code machine program is transmitted to the 3D printer for printing.

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