A multi-axis 3D printer and printing method

Abstract

The application provides a multi-axis 3D printer and a printing method, which can be applied to the technical field of 3D printing. The multi-axis 3D printer comprises a material extrusion device for outputting printing material; a multi-axis movement platform, the output end of which is connected to the material extrusion device for driving the material extrusion device to move; and a control system, which is electrically connected to the material extrusion device and the multi-axis movement platform, for extracting line section information and generating movement data of the multi-axis movement platform according to three-dimensional model data of a part to be printed, and generating three-dimensional printing data of the part to be printed based on printing process parameters, so as to control the coordinated movement between the material extrusion device and the multi-axis movement platform. The application can realize variable cross-section printing, improve printing precision, and avoid defects such as step error and feature loss in the printing process.

Description

Technical Field

[0001] This invention relates to the field of 3D printing technology, and in particular to a multi-axis 3D printer and printing method. Background Technology

[0002] 3D (3D) printing, also known as additive manufacturing, is a technology that constructs objects layer by layer using powdered metals or plastics and other bondable materials based on mathematical model files. Due to its simplicity and speed, it is widely used in aerospace, medical, construction, and biological fields. Currently, most 3D printers are three-axis structures, moving only along the x, y, and z directions, making it impossible to achieve high-precision machining of complex parts. Furthermore, current printing methods often involve fixed-section printing, which easily leads to defects such as step errors and missing features. Therefore, there are areas for improvement. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a multi-axis 3D printer and printing method to solve the problem that the existing three-axis 3D printers cannot achieve high-precision machining of complex parts.

[0004] To achieve the above and other related objectives, the present invention provides a multi-axis 3D printer, comprising:

[0005] Material extrusion device, used to output printing material;

[0006] A multi-axis motion platform, the output end of which is connected to the material extrusion device, for driving the material extrusion device to move; and

[0007] The control system is electrically connected to the material extrusion device and the multi-axis motion platform. It is used to extract line cross-sectional information and generate motion data of the multi-axis motion platform based on the three-dimensional model data of the part to be printed. It also generates three-dimensional printing data of the part to be printed based on printing process parameters, so as to control the coordinated movement between the material extrusion device and the multi-axis motion platform.

[0008] In one embodiment of the present invention, the multi-axis motion platform includes:

[0009] Frame components, including fixed frames and swing frames;

[0010] A planar moving component is connected between the fixed frame and the material extrusion device;

[0011] A vertically moving component is connected between the fixed frame and the swing frame;

[0012] A swing assembly is connected to the swing frame;

[0013] A rotating assembly, connected to the oscillating assembly; and

[0014] A printing platform is connected to the rotating assembly;

[0015] The planar moving component drives the material extrusion device to move along a plane, the vertical moving component drives the swing frame to move vertically, the swing component drives the rotating component to swing, and the rotating component drives the printing platform to rotate.

[0016] In one embodiment of the present invention, the planar movement component includes:

[0017] Multiple longitudinal guide rails are connected to the fixed frame;

[0018] Multiple longitudinal sliders, each of which is slidably connected to a longitudinal guide rail;

[0019] At least one transverse guide rail connects all of the longitudinal sliders, and the transverse guide rail is perpendicular to the longitudinal guide rail;

[0020] A transverse slider is slidably connected to the transverse guide rail, and the material extrusion device is connected to the transverse slider.

[0021] At least two planar drive motors are connected to the transverse slider and each of the longitudinal sliders via a drive belt.

[0022] In one embodiment of the present invention, the vertical movement component includes:

[0023] The first vertical moving structure is connected to one side of the swing frame;

[0024] A second vertical moving structure is connected to the other side of the swing frame; and

[0025] A timing belt is connected between the first vertical moving structure and the second vertical moving structure to enable the first vertical moving structure and the second vertical moving structure to move synchronously.

[0026] In one embodiment of the present invention, the first vertical moving structure includes:

[0027] A vertical sliding plate is connected to one side of the swing frame, and the vertical sliding plate has multiple track holes;

[0028] Multiple optical axes are connected to the fixed frame, and each optical axis passes through one of the track holes;

[0029] A lead screw and nut are fixedly connected to the vertical slide plate;

[0030] A lead screw, which mates with a lead screw nut, is parallel to the optical axis; and

[0031] A vertical drive motor, the output shaft of which is connected to one end of the lead screw.

[0032] In one embodiment of the present invention, the swing component includes:

[0033] The swing platform is connected to the swing frame.

[0034] A swing drive motor is fixedly connected to the swing platform; and

[0035] A speed reduction structure is connected between the rotation shaft of the swing platform and the output shaft of the swing drive motor.

[0036] In one embodiment of the present invention, the rotating assembly includes:

[0037] A slewing bearing, the bottom of whose outer ring is connected to the oscillating assembly;

[0038] A bracket is connected between the top of the inner ring of the rotary bearing and the printing platform;

[0039] A rotation drive motor is fixedly connected to the swing assembly, and the output shaft of the rotation drive motor is connected to the bottom of the inner ring of the slewing bearing.

[0040] In one embodiment of the present invention, the material extrusion apparatus includes:

[0041] The nozzle clamp is connected to the planar moving assembly; and

[0042] Multiple extrusion nozzles are connected to the retainer.

[0043] The present invention also provides a multi-axis 3D printing method, applied to a multi-axis 3D printer as described in any of the above-mentioned methods, the printing method comprising:

[0044] Obtain the 3D model data of the part to be printed;

[0045] The control system extracts the cross-sectional information of the lines and generates motion data for the multi-axis motion platform based on the three-dimensional model data.

[0046] Based on the motion data and the line cross-sectional information, printing process parameters are configured to generate 3D printing data for the part to be printed; and

[0047] The control system controls the multi-axis motion platform and the material extrusion device to move in a coordinated manner to perform printing based on the 3D printing data.

[0048] In one embodiment of the present invention, the step of the control system extracting line cross-sectional information and generating motion data of the multi-axis motion platform based on the three-dimensional model data includes:

[0049] Based on the 3D model data, the normal trajectory data of the extrusion nozzle in the workpiece coordinate system is generated, and the line cross-sectional information is extracted; and

[0050] The normal vector trajectory data is subjected to coordinate transformation processing to generate the motion data of the multi-axis motion platform.

[0051] As described above, the multi-axis 3D printer and printing method of the present invention have the following beneficial effects: the present invention can realize variable cross-section printing, thereby improving printing accuracy and avoiding defects such as step errors and feature loss during the printing process. Attached Figure Description

[0052] Figure 1 The diagram shown is a structural schematic of a multi-axis 3D printer provided by the present invention.

[0053] Figure 2 The diagram shown is a structural schematic of the frame component 210 in one embodiment of the present invention.

[0054] Figure 3 The diagram shown is a structural schematic of a planar moving component 220 according to an embodiment of the present invention.

[0055] Figure 4 The diagram shows the arrangement of the planar transmission belt 2214 in one embodiment of the present invention.

[0056] Figure 5 The diagram shown is a structural schematic of a material extrusion device 10 according to an embodiment of the present invention.

[0057] Figure 6 The diagram shown is a structural schematic of the first vertical moving guide rail 231 in one embodiment of the present invention.

[0058] Figure 7 The diagram shown is a structural schematic of the second vertical moving guide rail 232 in one embodiment of the present invention.

[0059] Figure 8 The diagram shown is a structural schematic of the swing component 240 in one embodiment of the present invention.

[0060] Figure 9 The diagram shown is a structural schematic of the rotating component 250 in one embodiment of the present invention.

[0061] Figure 10 The diagram shown is a schematic diagram of the horizontal wiring structure 261 in one embodiment of the present invention.

[0062] Figure 11The diagram shown is a structural schematic of the longitudinal routing structure 262 in one embodiment of the present invention.

[0063] Figure 12 The diagram shown is a schematic representation of the vertical wiring structure 263 in one embodiment of the present invention.

[0064] Figure 13 The diagram shown is a flowchart of a multi-axis 3D printing method provided by the present invention.

[0065] Figure 14 The diagram shown is a flowchart of one embodiment of step S20.

[0066] Component designation explanation

[0067] 10. Material extrusion device; 101. Multifunctional extended clamp; 102. Nozzle clamp; 103. First retainer; 104. Second retainer; 105. Pneumatic extrusion head nozzle; 106. PLA extrusion head nozzle; 107. Multifunctional extended load;

[0068] 20. Multi-axis motion platform;

[0069] 210. Frame component; 211. Fixed frame; 2111. Fixed horizontal frame; 2112. Fixed vertical frame; 2113. Fixed vertical frame; 212. Swinging frame; 2121. Horizontal frame of the display table; 2122. Vertical frame of the display table; 2123. Vertical frame of the display table;

[0070] 220. Planar moving assembly; 2201. Longitudinal slide rail; 2202. Longitudinal slider; 2203. Transverse profile; 2204. Transverse slide rail; 2205. Transverse slider; 2206. Adapter block; 2207. Planar drive motor; 2208. Planar drive pulley; 2209. Planar fixed pulley; 2210. Idler pulley; 2211. Planar drive coupling; 2212. Planar drive extension shaft; 2213. Drive belt clamp; 2214. Planar drive belt;

[0071] 230. Vertical moving assembly; 231. First vertical moving guide rail; 2311. First lead screw; 2312. First optical shaft; 2313. First vertical shaft seat; 2314. First vertical sliding plate; 2315. First lead screw nut; 2316. First linear bearing; 2317. Vertical drive wheel; 2318. Vertical moving coupling; 2319. Vertical drive motor; 232. Second vertical moving guide rail; 2321. Second lead screw; 2322. Second optical shaft; 2323. Second vertical shaft seat; 2324. Second vertical sliding plate; 2325. Second lead screw nut; 2326. Second linear bearing; 2327. Vertical driven wheel; 2328. Vertical collar; 2329. Flange bearing; 23210. Bearing connecting plate;

[0072] 240. Swing assembly; 2401. Swing platform; 24011. Base plate; 24012. First side plate; 24012. Second side plate; 2402. Flange bearing; 2403. First flange coupling; 2404. Swing shaft seat; 2405. Bearing with seat; 2406. Fixed shaft of driven wheel of swing platform; 2407. Fixed shaft of swing platform; 2408. Swing collar; 2409. Swing drive motor; 2410. Swing drive wheel; 2411. Second flange coupling; 2412. Double linkage wheel; 2413. Swing driven wheel; 2414. Fixed shaft of double linkage wheel; 2415. First-stage swing transmission belt; 2416. Second-stage swing transmission belt;

[0073] 250. Rotating assembly; 2501. Slewing bearing; 2502. Rotating flange; 2503. Bracket; 2504. Leveling bolt; 2505. Leveling spring; 2506. Leveling nut; 2507. Rotating drive wheel; 2508. Rotating driven wheel; 2509. Rotating drive motor; 2510. Rotating transmission belt;

[0074] 260. External cabling assembly; 261. Horizontal cabling structure; 2611. Horizontal fixed end clamp; 2612. Horizontal cable chain; 2613. Horizontal moving end clamp; 262. Vertical cabling structure; 2621. Vertical fixed end clamp; 2622. Vertical cable chain; 2623. Vertical moving end clamp; 263. Vertical cabling structure; 2631. Vertical cable chain; 2632. Vertical moving end clamp;

[0075] 270. Printing platform;

[0076] 30. Control system. Detailed Implementation

[0077] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0078] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0079] Please see Figures 1 to 14 This invention provides a multi-axis 3D printer and printing method, which can be applied to the field of 3D printing technology, such as for high-precision machining of complex parts. This invention enables variable cross-section printing, thereby improving printing accuracy and avoiding defects such as step errors and feature loss during the printing process.

[0080] Please see Figure 1 As shown, Figure 1 The diagram shown illustrates the structure of a multi-axis 3D printer provided by this invention. This invention provides a multi-axis 3D printer, which may include a material extrusion device 10, a multi-axis motion platform 20, and a control system 30. The material extrusion device 10 may include multiple different extrusion nozzles, enabling the extrusion deposition of different processes and materials. The output end of the multi-axis motion platform 20 is connected to the material extrusion device 10, driving the material extrusion device to move. The control system 30 is electrically connected to the material extrusion device 10 and the multi-axis motion platform 20. It can control the multi-axis motion platform 20 to move along a preset trajectory, control the material extrusion device 10 to output printing material according to preset requirements, and control the coordinated movement between the multi-axis motion platform 20 and the material extrusion device 10. The control system 30 first generates motion data for the multi-axis motion platform 20 based on the three-dimensional model data of the part to be printed; then, it generates three-dimensional printing data for the part to be printed based on configured printing process parameters; finally, it controls the coordinated movement between the material extrusion device 30 and the multi-axis motion platform 20 to complete the printing process.

[0081] Please see Figure 1As shown, in one embodiment of the present invention, the multi-axis motion platform 20 may include a frame assembly 210, a planar movement assembly 220, a vertical movement assembly 230, a swing assembly 240, a rotation assembly 250, and a printing platform 270. The frame assembly 210 constitutes the main frame of the multi-axis motion platform and may include a fixed frame 211 and a swing frame 212. The planar movement assembly 220 may be fixedly connected to the top of the fixed frame 211. The material extrusion device 10 may be connected to the planar movement assembly 220. The vertical movement assembly 230 may be connected between the fixed frame 211 and the swing frame 212. The swing assembly 240 may be connected to the swing frame 212. The rotation assembly 250 may be connected to the swing assembly 240. The printing platform 270 may be connected to the rotation assembly 250. In this embodiment, the planar moving component 220 can drive the material extrusion device 10 to move along the plane; the vertical moving mechanism 230 can drive the swing frame 212 and the swing component 240 and the rotating component 250 connected thereto to move vertically; the swing component 240 can drive the rotating component 250 to swing; the rotating component 250 can drive the printing platform 270 and the printed parts carried on it to rotate. Therefore, the multi-axis 3D printer of the present invention can achieve motion control of a total of five axes: three moving axes (i.e., X-axis, Y-axis, Z-axis), one swing axis (i.e., A-axis), and one rotation axis (i.e., C-axis), thereby achieving arbitrary three-axis positioning and arbitrary extrusion vector orientation.

[0082] Please see Figure 2 As shown, Figure 2 The diagram shown is a structural schematic of the frame assembly 210 in one embodiment of the present invention. In one embodiment of the present invention, the frame assembly 210 may be constructed using aluminum profiles. The frame assembly 210 may include a fixed frame 211 and a swing frame 212, wherein the swing frame 212 may be located within the fixed frame 211, and the swing frame 212 may move vertically within the fixed frame 211 under the action of the vertical moving component 230.

[0083] Please see Figure 2 As shown, in one embodiment of the present invention, the fixed frame 211 may include a fixed horizontal frame 2111, a fixed vertical frame 2112, and a fixed vertical frame 2113. The fixed horizontal frame 2111, the fixed vertical frame 2112, and the fixed vertical frame 2113 are perpendicularly connected to each other and are fixedly connected by angle iron, trapezoidal nuts, and bolts.

[0084] Please see Figure 2As shown, in one embodiment of the present invention, the swing frame 212 may include a horizontal frame 2121, a vertical frame 2122, and a vertical frame 2123. The horizontal frame 2121, the vertical frame 2122, and the vertical frame 2123 are perpendicularly connected to each other and fixedly connected by angle iron, trapezoidal nuts, and bolts. The horizontal frames 2121 on both sides can be connected to the vertical moving mechanism 230 respectively. Therefore, the vertical moving mechanism 230 can drive the swing frame 212 to move vertically, thereby realizing the vertical movement of the swing assembly 240, the rotating assembly 250, and the printing platform 270 connected to the vertical moving mechanism 230, i.e., movement along the Z direction.

[0085] Please see Figure 3 As shown, Figure 3 The diagram shows a schematic of the planar moving component 220 in one embodiment of the present invention. In one embodiment, the planar moving component 220 may include a longitudinal slide rail 2201, a longitudinal slider 2202, a transverse profile 2203, a transverse slide rail 2204, a transverse slider 2205, and a connecting block 2206. The planar moving component 220 can be used to drive the material extrusion device 10 to move along a plane, i.e., in the transverse X direction and the longitudinal Y direction. To achieve precise movement in the X and Y directions, this embodiment adopts a structure design with double guide rails in the Y direction and a single guide rail in the X direction. The longitudinal slide rail 2201 can be fixedly connected to the fixed longitudinal frame 2112 by trapezoidal nuts and bolts. The longitudinal slider 2202 can pass through the longitudinal slide rail 2201, thereby enabling the longitudinal slider 2202 to move along the longitudinal slide rail 2201. The two ends of the transverse profile 2203 can be respectively connected to a longitudinal slider 2202 via the connecting block 2206, and the transverse profile 2203 is arranged perpendicularly to the longitudinal slide rail 2201. The transverse slide rail 2204 is fixedly connected to the transverse profile 2203 by trapezoidal nuts and bolts, and the transverse slide rail 2204 is arranged perpendicularly to the longitudinal slide rail 2201. The transverse slider 2205 can pass through the transverse profile 2204, thereby realizing the movement of the transverse slider 2205 along the transverse profile 2204. By controlling the movement of the transverse slider 2205 along the transverse profile 2204 and the movement of the longitudinal slider 2202 along the longitudinal slide rail 2201, the material extrusion device 10 connected to the transverse slider 2205 can be moved in the X and Y directions.

[0086] Please see Figure 4 As shown, Figure 4This is a schematic diagram showing the arrangement of the planar transmission belt 2214 in one embodiment of the present invention. In one embodiment of the present invention, the planar moving component 220 may further include a planar drive motor 2207, a planar drive pulley 2208, a planar fixed pulley 2209, an idler pulley 2210, a planar drive coupling 2211, a planar drive extension shaft 2212, a transmission belt clamp 2213, and a planar transmission belt 2214. The number of planar drive motors 2207 may be two, and the two planar drive motors 2207 are fixed to both ends of the fixed transverse frame 2111 via planar drive connecting plates. In this embodiment, one end of the planar drive motor 2207 is connected to a planar drive pulley 2208 via the planar drive coupling 2211; the other end of the planar drive motor 2207 is connected to the planar drive extension shaft 2212 via the planar drive coupling 2211, and a planar drive pulley 2208 is mounted on the aforementioned planar drive extension shaft 2212. Adding a planar drive extension shaft 2212 extends the motor output shaft, thus preventing interference when the planar transmission belt 2214 travels in the XOY plane. Idler pulleys 2210 can be connected to longitudinal sliders 2202, and each longitudinal slider 2202 can have two idler pulleys 2210. There can be four planar fixed pulleys 2209, each corresponding to a planar drive pulley 2208 and an idler pulley 2210. The planar fixed pulleys 2209 can be located at both ends of the fixed transverse frame 2111, on the opposite side from the planar drive pulley 2208. A transmission belt clamp 2213 can be fixed to the transverse slider 2205. There can be two planar transmission belts 2214. Each planar transmission belt 2214, after changing direction via idler pulleys 2210, planar drive pulleys 2208, and planar fixed pulleys 2209, has its two ends connected to both sides of the transmission belt clamp 2213. Therefore, when the planar drive motor 2207 is energized, its output shaft rotates, driving the planar drive pulley 2208 to rotate via the planar drive coupling 2211 and the planar drive extension shaft 2212, thereby moving the planar transmission belt 2214. In this embodiment, when the two planar drive motors 2207 work together, they can drive the transverse slider 2205 to move along the transverse profile 2204 and the longitudinal slider 2202 to move along the longitudinal slide rail 2201, thereby achieving the purpose of moving the material extrusion device 10 along the X and Y directions.

[0087] Please see Figure 5 As shown, Figure 5The diagram shows a structural schematic of a material extrusion device 10 according to an embodiment of the present invention. The material extrusion device 10 may include multiple different extrusion nozzles, enabling the extrusion deposition of different processes and materials. In one embodiment of the present invention, the material extrusion device 10 may include a multi-functional extension clamp 101, a nozzle clamp 102, a first retainer 103, a second retainer 104, a pneumatic extrusion nozzle 105, a PLA (Polylactic Acid) extrusion nozzle 106, and a multi-functional extension load 107. The multi-functional extension clamp 101 and the nozzle clamp 102 can be mounted on a transverse slider 2205, and the multi-functional extension clamp 101 and the nozzle clamp 102 can be disposed between the transverse slider 2205 and the drive belt clamp 2213, enabling them to move along with the transverse slider 2205. The multi-functional extension load 107 can be connected to the side of the multi-functional extension clamp 101. The first fixture 103 and the second fixture 104 can be connected to the printhead clamp 102. The first fixture 103 is used to fix the pneumatic extrusion nozzle 105, and the second fixture 104 is used to fix the PLA extrusion nozzle 106. Therefore, the pneumatic extrusion nozzle 105, the PLA extrusion nozzle 106, and the multi-functional extension load 107 can move with the movement of the transverse slider 2205, thereby realizing the printing function. In this embodiment, different clamps can be designed according to different extrusion nozzles mounted on the transverse slider 2205, enriching the functions of the multi-axis printer.

[0088] Please see Figure 6 , Figure 7 As shown, Figure 6 The diagram shown is a structural schematic of the first vertical moving guide rail 231 in one embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of the second vertical moving guide rail 232 in one embodiment of the present invention. In one embodiment of the present invention, to improve the vertical (i.e., Z-axis direction) movement accuracy and reduce the overall structural weight, this embodiment adopts a structure with a single motor driving dual moving guide rails. Specifically, the vertical moving component 230 may include a first vertical moving guide rail 231 and a second vertical moving guide rail 232. The first vertical moving guide rail 231 and the second vertical moving guide rail 232 can be fixed to both sides of the fixed frame 211 in the X-axis direction, respectively.

[0089] Please see Figure 6As shown, in one embodiment of the present invention, the first vertical moving guide rail 231 may include a first lead screw 2311, a first optical shaft 2312, a first vertical bearing seat 2313, a first vertical sliding plate 2314, a first lead screw nut 2315, a first linear bearing 2316, a vertical drive wheel 2317, a vertical moving coupling 2318, and a vertical drive motor 2319. The first optical shaft 2312 is fixed to the fixed vertical frame 2113 by multiple first vertical bearing seats 2313. In this embodiment, one first vertical bearing seat 2313 may be provided at the bottom and one at the top of the first optical shaft 2312. The first lead screw nut 2315 and the first linear bearing 2316 may be fixed to the first vertical sliding plate 2314 respectively. The first optical shaft 2312 may pass through the first linear bearing 2316, allowing the first vertical sliding plate 2314 to move vertically along the first optical shaft 2312. The first lead screw 2311 can be threadedly connected to the first lead screw nut 2315, and the first lead screw 2311 is arranged parallel to the first optical axis 2312. One end of the first lead screw 2311 can be connected to the vertical drive motor 2319 through the vertical movement coupling 2318. Therefore, when the vertical drive motor 2319 drives the first lead screw 2311 to rotate, the first lead screw nut 2315 can drive the first vertical slide plate 2314 to move vertically. The vertical drive wheel 2317 can be sleeved and connected to the first lead screw 2311. In this embodiment, to improve the vertical movement accuracy, multiple first optical axes 2312 can be provided; for example, two first optical axes 2312 can be symmetrically arranged about the first lead screw 2311.

[0090] Please see Figure 7As shown, in one embodiment of the present invention, the second vertical moving guide rail 232 may include a second lead screw 2321, a second optical axis 2322, a second vertical bearing seat 2323, a second vertical sliding plate 2324, a second lead screw nut 2325, a second linear bearing 2326, a vertical driven wheel 2327, a vertical collar 2328, a flange bearing 2329, and a bearing connecting plate 23210. The second optical axis 2322 is fixed to a fixed vertical frame 2113 on the other side relative to the first optical axis 2312 by multiple second vertical bearing seats 2323. In this embodiment, two second vertical bearing seats 2323 may be provided at the bottom and two at the top of the second optical axis 2322. The second lead screw nut 2325 and the second linear bearing 2326 may be fixed to the second vertical sliding plate 2324 respectively. The second optical axis 2322 can pass through the second linear bearing 2326, allowing the second vertical slide plate 2324 to move vertically along the second optical axis 2322. In this embodiment, to improve the vertical movement accuracy, multiple second optical axes 2322 can be provided, for example, two second optical axes 2322 can be symmetrically arranged about the second lead screw 2321. The second lead screw 422 can be threadedly connected to the second lead screw nut 2325, and the second lead screw 422 is arranged parallel to the second optical axis 2322. One end of the second lead screw 422 can pass through the vertical collar 2328 and the flange bearing 2329. The outer ring of the flange bearing 2329 can be interference-fitted with the bearing connecting plate 23210, that is, the bearing connecting plate 23210 fixes the flange bearing 2329 to the fixed longitudinal frame 2112. The inner ring of the flange bearing 2329 can be interference-fitted with the second lead screw 422, and the vertical collar 2328 can be sleeved on the second lead screw 422 and fixed by a set screw. In this embodiment, the vertical collar 2328 can be disposed on the top of the flange bearing 2329, thereby preventing the second lead screw 422 from sliding downwards due to gravity. The vertical driven wheel 2327 can be fixedly sleeved on the second lead screw 422, and its position can be arranged relative to the vertical driving wheel 2317. In this embodiment, the vertical driving wheel 2317 and the vertical driven wheel 2327 can be connected by a synchronous belt.

[0091] Please see Figure 6 , Figure 7 As shown, in one embodiment of the present invention, the first vertical slide plate 2314 and the second vertical slide plate 2324 can be respectively connected to both sides of the swing frame 212, specifically to both ends of the two horizontal frames 2121 of the swing platform. Therefore, when the first lead screw 2311 rotates, the vertical driven wheel 2327 can be driven to rotate synchronously via the vertical driving wheel 2317, thereby causing the second lead screw nut 2325 to drive the second vertical slide plate 2324 to move, and the movement of the second vertical slide plate 2324 is synchronized with that of the first vertical slide plate 2314. In this way, a single motor can drive the swing frame 212 to perform precise and stable vertical movement.

[0092] Please see Figure 8 As shown, Figure 8 The diagram shown is a structural schematic of the swing assembly 240 in one embodiment of the present invention. In one embodiment of the present invention, the swing assembly 240 may include a swing platform 2401, a flange bearing 2402, a first flange coupling 2403, a swing shaft seat 2404, a seated bearing 2405, a swing platform driven wheel fixed shaft 2406, a swing platform fixed shaft 2407, a swing shaft collar 2408, a swing drive motor 2409, a swing drive wheel 2410, a second flange coupling 2411, a double linkage wheel 2412, a swing driven wheel 2413, a first-stage swing transmission belt 2415, and a second-stage swing transmission belt 2416. The swing platform 2401 may include a base plate 24011, a first side plate 24012, and a second side plate 24012, with the first side plate 24012 and the second side plate 24012 respectively vertically connected to one end of the base plate 24011. Through holes are provided on the first side plate 24012 and the second side plate 24012 respectively. The axes of the two through holes coincide and the axis is the swing rotation axis of the swing table 2401.

[0093] Please see Figure 8 As shown, in one embodiment of the present invention, a flange bearing 2402 is installed at the through hole of the first side plate 24012, and the outer ring of the flange bearing 2402 is interference-fitted with the through hole of the first side plate 24012. One end of the swing stage driven wheel fixing shaft 2406 can pass through the through hole of the first side plate 24012 and connect to the flange bearing 2402, and the swing stage driven wheel fixing shaft 2406 is interference-fitted with the inner ring of the flange bearing 2402. A swing shaft collar 2408 is fixedly connected to the end of the swing stage driven wheel fixing shaft 2406 to prevent the swing stage driven wheel fixing shaft 2406 from moving axially. The other end of the swing stage driven wheel fixing shaft 2406 can be fixed to the longitudinal frame 2122 of one side of the swing stage by means of the swing shaft seat 2404.

[0094] Please see Figure 8As shown, in one embodiment of the present invention, the first flange coupling 2403 is fixedly installed at the through hole of the second side plate 24012. One end of the swing platform fixing shaft 2407 can pass through the through hole of the second side plate 24012 and be connected. The other end of the swing platform fixing shaft 2407 can be fixed to the swing platform longitudinal frame 2122 on the other side by means of a seated bearing 2405, and the inner ring of the seated bearing 2405 is interference-fitted with the swing platform fixing shaft 2407. The seated bearing 2405 and the swing platform longitudinal frame 2122 are connected by trapezoidal nuts and bolts. The swing drive motor 2409 can be fixed to the inner side of the swing platform 2401, specifically fixed to the base plate 24011. The output shaft of the swing drive motor 2409 can pass through a preset hole on the first side plate 24012 and extend to the outer side of the swing platform 2401. The output shaft of the swing drive motor 2409 and the swing platform driven wheel fixing shaft 2406 are connected by a two-stage reduction mechanism. In the two-stage reduction structure, the swing drive wheel 2410 can be fixedly connected to the output shaft of the swing drive motor 2409. The double linkage wheel fixed shaft 2414 is fixed to the first side plate 24012 through the second flange coupling 2411, and the double linkage wheel 2412 is rotatably connected to the double linkage wheel fixed shaft 2414. The swing driven wheel 2413 can be fixed to the swing table driven wheel fixed shaft 2406 through set screws. The swing drive wheel 2410 and the double linkage wheel 2412 are connected by a first-stage swing transmission belt 2415; the double linkage wheel 2412 and the swing driven wheel 2413 are connected by a second-stage swing transmission belt 2416.

[0095] Therefore, when the swing drive motor 2409 is energized, its output shaft drives the swing drive wheel 2410 to rotate, which in turn drives the double linkage wheel 2412 to rotate via the first-stage swing transmission belt 2415. Since the double linkage wheel 2412 is not fixedly connected to the double linkage wheel fixed shaft 2414, its rotation cannot drive the double linkage wheel fixed shaft 2414 to rotate. Then, the second-stage swing transmission belt 2416 drives the swing driven wheel 2413 to rotate. Because the swing driven wheel 2413 is fixedly connected to the swing table driven wheel fixed shaft 2406, and the swing table driven wheel fixed shaft 2406 is fixedly connected to the swing shaft seat 2404 and the inner ring of the flange bearing 2402, the swing table driven wheel fixed shaft 2406... The inner rings of the swing shaft seat 2404 and flange bearing 2402 rotate accordingly. However, the swing shaft seat 2404 is fixed on the longitudinal frame 2122 of the swing platform and cannot rotate with the swing driven wheel 2413. Therefore, the outer rings of the swing platform 2401 and flange bearing 2402 swing in opposite directions. As the swing platform 2401 swings, the flange coupling 504 fixed on the second side plate 24012 swings accordingly. Since the flange coupling 504 is fixedly connected to the swing platform fixed shaft 2407 by the set screw, and the inner rings of the swing platform fixed shaft 2407 and the seated bearing 2405 are interference-fitted, the inner rings of the swing platform fixed shaft 2407 and the seated bearing 2405 swing accordingly. The base of the seated bearing 2405 is fixed to the longitudinal frame 2122 of the swing platform.

[0096] Please see Figure 9 As shown, Figure 9The diagram shows a schematic of the rotating assembly 250 in one embodiment of the present invention. In one embodiment, the rotating assembly 250 may include a slewing bearing 2501, a rotating flange 2502, a bracket 2503, a leveling bolt 2504, a leveling spring 2505, a leveling nut 2506, a rotating drive wheel 2507, a rotating driven wheel 2508, a rotating drive motor 2509, and a rotating transmission belt 2510. The bottom of the outer ring of the slewing bearing 2501 can be fixed to the base plate 24011, and the top of the inner ring of the slewing bearing 2501 can be connected to the bracket 2503. The top of the bracket 2503 may have multiple fixing holes. The printing platform 270 is connected to the top of the bracket 2503, and the leveling function of the printing platform 270 is achieved through the cooperation of the leveling bolt 2504, the leveling spring 2505, and the leveling nut 605. A rotating flange 2502 can be connected to the bottom of the inner ring of a slewing bearing 2501, and a through hole is provided in the base plate 24011 at the corresponding position. A driven wheel 2508 can be fixedly connected to the rotating flange 2502. A drive motor 2509 can be mounted on the base plate 24011, and the output shaft of the drive motor 2509 can pass through a pre-drilled hole in the base plate 24011 and extend to the bottom of the base plate 24011. A driving wheel 2507 can be fixedly connected to the output shaft of the drive motor 2509. A drive belt 2510 connects the driving wheel 2507 and the driven wheel 2508. Therefore, when the drive motor 2509 is energized, it drives the drive wheel 2507 to rotate, which in turn drives the driven wheel 2508 to rotate via the transmission belt 2510. Since the driven wheel 2508 is fixedly connected to the rotating flange 2502 and the inner ring of the slewing bearing 2501 is fixedly connected, the rotating flange 2502 and the inner ring of the slewing bearing 2501 are driven to rotate. Since the inner ring of the slewing bearing 2501 is fixedly connected to the bracket 2503, and the leveling bolt 2504 and the leveling nut 2506 make the printing platform 270 and the bracket 2503 move synchronously, the printing platform 270 also rotates accordingly, thus realizing the function of rotating the printing platform.

[0097] Please see Figures 10 to 12 As shown, to gather the cables connecting the various components, the multi-axis motion platform 20 of the present invention also includes an external wiring assembly 260. In one embodiment of the present invention, the external wiring assembly 260 may include a horizontal wiring structure 261, a vertical wiring structure 262, and a vertical wiring structure 263.

[0098] Please see Figure 10 As shown, Figure 10This is a schematic diagram of the transverse wiring structure 261 in one embodiment of the present invention. In one embodiment, the transverse wiring structure 261 may include a transverse fixed-end clamp 2611, a transverse cable chain 2612, and a transverse moving-end clamp 2613. The transverse fixed-end clamp 2611 can be installed on a fixed transverse frame 2111. The fixed end of the transverse cable chain 2612 is connected to the transverse fixed-end clamp 2611, and the moving end of the transverse cable chain 2612 is connected to the transverse moving-end clamp 2614. The transverse moving-end clamp 2613 can be fixed on a multi-functional extension clamp 101. When the material extrusion device 10 moves transversely, the transverse moving-end clamp 2613 and the moving end of the transverse cable chain 2612 also move accordingly, ensuring that the wires inside the transverse cable chain 2612 will not become tangled or broken, thereby achieving the purpose of transverse wiring management and wire protection.

[0099] Please see Figure 11 As shown, Figure 11 This is a schematic diagram of the longitudinal wiring structure 262 in one embodiment of the present invention. In one embodiment, the longitudinal wiring structure 262 may include a longitudinal fixed-end clamp 2621, a longitudinal cable chain 2622, and a longitudinal moving-end clamp 2623. The longitudinal fixed-end clamp 2621 can be mounted on a fixed longitudinal frame 2112. The fixed end of the longitudinal cable chain 2622 is connected to the longitudinal fixed-end clamp 2621, and the moving end of the longitudinal cable chain 2622 is connected to the longitudinal moving-end clamp 2623. The longitudinal moving-end clamp 2623 can be fixed to the longitudinal slider 2202. When the material extrusion device 10 moves longitudinally, the longitudinal slider 2202, the longitudinal moving-end clamp 2623, and the moving end of the longitudinal cable chain 2622 also move accordingly, ensuring that the wires inside the longitudinal cable chain 2622 do not become tangled or broken, thereby achieving the purpose of longitudinal wiring management and wire protection.

[0100] Please see Figure 12 As shown, Figure 12 This is a schematic diagram of the vertical cable routing structure 263 in one embodiment of the present invention. In one embodiment, the vertical cable routing structure 263 may include a vertical cable chain 2631 and a vertical moving end clamp 2632. The fixed end of the vertical cable chain 2631 is connected to the fixed longitudinal frame 2112; the moving end of the vertical cable chain 2631 is connected to the vertical moving end clamp 2632. The vertical moving end clamp 2632 can be connected to the horizontal frame 2121 of the swing platform. When the swing frame 212 moves vertically, the vertical moving end clamp 2632 and the moving end of the vertical cable chain 2631 also move vertically, but the wires inside the vertical cable chain 2631 will not become tangled or broken, achieving the purpose of vertical cable management and wire protection. In this embodiment, the wires of the swing assembly 240 and the rotating assembly 250 can also be placed in the cable chain nearby.

[0101] In one embodiment of the present invention, limit switches are installed at the zero point and extreme positions to ensure that the print head and print platform return to the zero point and prevent the movement from exceeding the range of motion. In this embodiment, limit switches are installed in the X, Y, Z, and A directions of the printer. Specifically, the limit switch and limit switch fixture in the X direction can be mounted on the transverse profile 2203. When the material extrusion device 10 moves to the extreme position or the zero position, it will contact the limit switch stop plate, realizing the limit and zero functions in the X direction. The limit switch and limit switch fixture in the Y direction are mounted on the fixed longitudinal frame 2112. When the longitudinal slider 2202 moves to the extreme position or the zero position, it will contact the limit switch stop plate, realizing the limit and zero functions in the Y direction. The limit switch and limit switch fixture in the Z direction are mounted on the first lead screw 2311. When the Z-axis slide plate 314 moves to the extreme position or the zero position, it will contact the limit switch stop plate, realizing the limit and zero functions in the Z direction. The limit switch and limit switch fixture in direction A are mounted on the first vertical slide plate 2314, and the limit switch stop plate is mounted on the swing table 2401. When the swing table 2401 moves to the limit position or the zero position, the limit switch stop plate will touch the limit switch, realizing the limit and zero functions in direction A. This embodiment only provides a method for installing the limit switch; the limit switch can also be installed in other positions.

[0102] In one embodiment of the present invention, the control system 30 may include, but is not limited to, a motion control system using an Arm architecture or x86 architecture processor, which is capable of motion control along five axes: X, Y, Z, A, and C. Simultaneously, the control system 30 can perform multi-axis motion interpolation.

[0103] Please see Figure 13 As shown, Figure 13 The diagram shows a flowchart of a multi-axis 3D printing method provided by the present invention. In one embodiment of the present invention, the multi-axis 3D printing method can be applied to the aforementioned multi-axis 3D printer. The present invention improves printing accuracy through variable cross-section printing. The multi-axis 3D printing method may include the following steps:

[0104] Step S10: Obtain the 3D model data of the part to be printed;

[0105] Step S20: The control system extracts the cross-sectional information of the lines and generates motion data for the multi-axis motion platform based on the three-dimensional model data.

[0106] Step S30: Based on motion data and line cross-sectional information, configure printing process parameters to generate 3D printing data for the part to be printed; and

[0107] Step S40: The control system controls the multi-axis motion platform and the material extrusion device to move in a coordinated manner to perform printing based on the 3D printing data.

[0108] In one embodiment of the present invention, when performing step S10, it is first necessary to obtain the three-dimensional model data of the part to be printed. The three-dimensional model can be designed by common commercial or open-source CAD (Computer Aided Design) software and saved as a readable neutral format file.

[0109] Please see Figure 14 As shown, Figure 14 The diagram shown is a flowchart of one embodiment of step S20. In one embodiment of the present invention, when step S20 is executed, step S20 specifically includes the following steps:

[0110] Step S21: Based on the 3D model data, generate the normal trajectory data of the extrusion nozzle in the workpiece coordinate system, and extract the line cross-sectional information; and

[0111] Step S22: Perform coordinate transformation on the normal vector trajectory data to generate motion data for the multi-axis motion platform.

[0112] In one embodiment of the present invention, the 3D model module obtained in step S10 can first be input into commercial or open-source CAM (Computer Aided Manufacturing) software to generate the normal trajectory data of the extrusion nozzle in the workpiece coordinate system, while simultaneously recording the cross-sectional shape information of the lines. Then, the normal trajectory of the extrusion nozzle is mapped onto each motion axis of the multi-axis 3D printer to generate motion data for the multi-axis motion platform. Through kinematic modeling, the transformation between the workpiece coordinates and the machine tool coordinates is clarified, generating the trajectories of each motion axis, so that the normal pose of the extrusion nozzle moves as expected.

[0113] In this embodiment, the multi-axis 3D printer may include three translation axes (i.e., X-axis, Y-axis, and Z-axis), one oscillating axis (i.e., A-axis), and one rotation axis (i.e., C-axis), for a total of five motion axes. For the five-axis structure to which this method is applicable, a homogeneous coordinate transformation is established to construct a coordinate transformation from printer coordinates to workpiece coordinates:

[0114]

[0115] Where [x,y,z,i,j,k] are the nozzle position and extrusion axis normal in the workpiece coordinate system, respectively.

[0116] [X, Y, Z, A, C] represent the relative motion quantities of each motion axis. The inverse kinematics is then obtained to establish the mapping relationship between the nozzle position and the extrusion axis vector in the workpiece coordinate system and the motion axis, thus achieving motion control of the multi-axis printer. This coordinates the relative spatial pose motion of the printing platform and the extrusion nozzle with the material extrusion, enabling the material to be deposited line by line and layer by layer.

[0117] It should be noted that the extracted line cross-section information includes the linewidth W and line height H from the key parameters. The key process parameters affecting the line cross-section may include: nozzle height δ, nozzle inner diameter d, nozzle movement speed V, and material extrusion rate U. When the nozzle height is less than the nozzle inner diameter, the nozzle height can be considered equal to the line height δ = H. Therefore, the shape of the line cross-section can be assumed to be rectangular, elliptical, or rounded rectangle. Depending on the assumed cross-section shape, the expression for the linewidth differs and can satisfy the following formulas respectively:

[0118]

[0119]

[0120]

[0121] Considering the discrepancy between the actual and theoretical values ​​of printing process parameters, the actual and set values ​​of the printing process parameters can satisfy the following formula:

[0122] U * =U+δU

[0123] V * =V+δV

[0124] H * =H+δH

[0125] d * =d+δd

[0126] Experiments can be designed to calibrate the deviation coefficients, thereby establishing an actual line cross-section model and realizing the mapping from process parameters to the line cross-section.

[0127] In one embodiment of the present invention, when step S30 is performed, printing process parameters can be configured based on motion data and line cross-section information to generate three-dimensional printing data of the part to be printed.

[0128] In one embodiment of the present invention, unlike ordinary three-axis trajectory planning methods, the multi-axis 3D printing method provided by the present invention is a trajectory planning method with variable line cross-sections. Based on the determined line cross-section model, it can be seen that the shape of the line can be controlled by adjusting the printing process parameters. In traditional extrusion additive manufacturing, the cross-section of the line is fixed. However, in some special application scenarios, such as five-axis 3D printing of curved surfaces, a fixed line cross-section can lead to feature loss or even defects. Therefore, it is necessary to print lines with adjustable cross-section shapes to improve printing quality. In this embodiment, during trajectory planning, information on line width and line height is added to the trajectory data according to specific needs, and process parameters are adjusted based on the line cross-section information to generate variable cross-section line 3D printing data.

[0129] The generation of the printing trajectory requires solving the inverse kinematic transformation based on the previous kinematic transformation, thereby converting the trajectory in the workpiece coordinate system into motion in the machine tool coordinate system.

[0130]

[0131] The method for adjusting process parameters using line width and line height information is as follows:

[0132] W = f(U,V,H,d)

[0133] Normally, d is a fixed value during the printing process. When the line width needs to be adjusted, only the extrusion rate or the moving rate needs to be adjusted. When the line width and line height need to be adjusted at the same time, it is necessary to ensure that the equation W2=f(U2,V2,H2,d) holds true.

[0134] In summary, this invention provides a multi-axis 3D printer and printing method, applicable to the field of 3D printing technology. This invention enables variable cross-section printing, with the extrusion nozzle outputting lines of variable cross-section, improving printing accuracy and avoiding defects such as step errors and feature loss during the printing process.

[0135] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A multi-axis 3D printer, characterized by, include: Material extrusion device, used to output printing material; A multi-axis motion platform, the output end of which is connected to the material extrusion device, for driving the material extrusion device to move; as well as The control system is electrically connected to the material extrusion device and the multi-axis motion platform to extract line cross-section information and generate motion data of the multi-axis motion platform based on the three-dimensional model data of the part to be printed, and to generate three-dimensional printing data of the part to be printed based on printing process parameters, so as to control the coordinated movement between the material extrusion device and the multi-axis motion platform. The control system is further configured to generate normal trajectory data of the extrusion nozzle in the workpiece coordinate system based on the three-dimensional model data, and extract line cross-sectional information, wherein the line cross-sectional information includes line width data and line height data; and The normal vector trajectory data is subjected to coordinate transformation processing to generate the motion data of the multi-axis motion platform; The control system is also used to configure printing process parameters based on a preset line cross-section model, according to the motion data and the line width and line height data in the line cross-section information, in order to control the shape of the line. The printing process parameters include nozzle height, nozzle inner diameter, nozzle moving speed and material extrusion rate. The line cross-section model represents the mapping relationship between the process parameters and the line cross-section.

2. The multi-axis 3D printer of claim 1, wherein, The multi-axis motion platform includes: Frame components, including fixed frames and swing frames; A planar moving component is connected between the fixed frame and the material extrusion device; A vertically moving component is connected between the fixed frame and the swing frame; A swing assembly is connected to the swing frame; A rotating assembly, connected to the oscillating assembly; and A printing platform is connected to the rotating assembly; The planar moving component drives the material extrusion device to move along a plane, the vertical moving component drives the swing frame to move vertically, the swing component drives the rotating component to swing, and the rotating component drives the printing platform to rotate.

3. The multi-axis 3D printer according to claim 2, characterized in that, The planar motion component includes: Multiple longitudinal guide rails are connected to the fixed frame; Multiple longitudinal sliders, each of which is slidably connected to a longitudinal guide rail; At least one transverse guide rail connects all of the longitudinal sliders, and the transverse guide rail is perpendicular to the longitudinal guide rail; A transverse slider is slidably connected to the transverse guide rail, and the material extrusion device is connected to the transverse slider. At least two planar drive motors are connected to the transverse slider and each of the longitudinal sliders via a drive belt.

4. The multi-axis 3D printer according to claim 2, characterized in that, The vertical movement component includes: The first vertical moving structure is connected to one side of the swing frame; A second vertical moving structure is connected to the other side of the swing frame; and A timing belt is connected between the first vertical moving structure and the second vertical moving structure to enable the first vertical moving structure and the second vertical moving structure to move synchronously.

5. The multi-axis 3D printer according to claim 4, characterized in that, The first vertical moving structure includes: A vertical sliding plate is connected to one side of the swing frame, and the vertical sliding plate has multiple track holes; Multiple optical axes are connected to the fixed frame, and each optical axis passes through one of the track holes; A lead screw and nut are fixedly connected to the vertical slide plate; A lead screw, which mates with a lead screw nut, is parallel to the optical axis; and A vertical drive motor, the output shaft of which is connected to one end of the lead screw.

6. The multi-axis 3D printer according to claim 2, characterized in that, The swing component includes: The swing platform is connected to the swing frame. A swing drive motor is fixedly connected to the swing platform; and A speed reduction structure is connected between the rotation shaft of the swing platform and the output shaft of the swing drive motor.

7. The multi-axis 3D printer according to claim 2, characterized in that, The rotating assembly includes: A slewing bearing, the bottom of whose outer ring is connected to the oscillating assembly; A bracket is connected between the top of the inner ring of the rotary bearing and the printing platform; A rotation drive motor is fixedly connected to the swing assembly, and the output shaft of the rotation drive motor is connected to the bottom of the inner ring of the slewing bearing.

8. The multi-axis 3D printer according to claim 2, characterized in that, The material extrusion apparatus includes: The nozzle clamp is connected to the planar moving assembly; and Multiple extrusion nozzles are connected to the nozzle holder.

9. A multi-axis 3D printing method, characterized in that, The printing method, applied to a multi-axis 3D printer as described in any one of claims 1 to 8, comprises: Obtain the 3D model data of the part to be printed; The control system extracts the line cross-section information and generates motion data for the multi-axis motion platform based on the three-dimensional model data. The line cross-section information includes line width data and line height data. Based on a preset line cross-section model, and according to the motion data and the line width and line height data in the line cross-section information, printing process parameters are configured to control the shape of the lines and generate 3D printing data of the part to be printed. The printing process parameters include nozzle height, nozzle inner diameter, nozzle movement speed, and material extrusion rate. The line cross-section model represents the mapping relationship between the process parameters and the line cross-section. The control system controls the multi-axis motion platform and the material extrusion device to move in a coordinated manner to perform printing based on the 3D printing data; The step of the control system extracting line cross-sectional information and generating motion data of the multi-axis motion platform based on the three-dimensional model data includes: Based on the 3D model data, the normal trajectory data of the extrusion nozzle in the workpiece coordinate system is generated, and the line cross-sectional information is extracted; and The normal vector trajectory data is subjected to coordinate transformation processing to generate the motion data of the multi-axis motion platform.

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