Optimized control and construction method for building 3D printing line accretion elimination

Abstract

The application discloses a kind of construction 3D printing line accretion elimination algorithm optimization control and construction method, comprising: establishing construction 3D printing model, conversion into slice layer;Generation construction 3D printing path;The material conveying line of building 3D printing equipment and the optimal printing path of printing head are controlled by multi-axis linkage control system;The speed optimization algorithm control of building 3D printing printing head at necessary breakpoint is controlled by multi-axis linkage control system, realizes the optimal matching speed of printing head walking speed F and acceleration a1, printing head discharge rotary speed S and acceleration a2 at breakpoint, realizes the width accurate control of line breakpoint printing line, eliminates line accretion.The method of the present application has the advantages of intelligence, efficiency and stability, is suitable for the field of building 3D printing, and can well solve the line accretion problem of traditional building 3D printing equipment at multiple turns or connections, and improve the application and promotion of building 3D printing technology.

Description

Technical Field

[0001] This invention relates to the field of architectural 3D printing technology, specifically to an algorithm optimization control and construction method for eliminating line bumps in architectural 3D printing. Background Technology

[0002] 3D printing technology for buildings is a fast, precise, and low-cost new building manufacturing technology with great development potential. However, during the 3D printing process, due to the design and construction difficulties of material delivery pipelines, line bulges often occur when the building undergoes multiple turns or connections, leading to a reduction in the building's appearance quality and mechanical properties.

[0003] Existing solutions involve improving the printing path by using smoother bends and connections. While this method can alleviate the problem of line bulges to some extent, it is technically challenging and still cannot completely eliminate the occurrence of line bulges. Summary of the Invention

[0004] The purpose of this invention is to provide an algorithm-optimized control and construction method for eliminating line burrs during the 3D printing process of buildings. This method can effectively solve the problem of line burrs that occurs in traditional 3D printing equipment during multiple turns or connections, thereby improving the effect and aesthetics of 3D printing.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An algorithm-optimized control and construction method for eliminating line defects in 3D printed architecture includes:

[0007] Step 1: Create a 3D printed architectural model and convert it into slice layers;

[0008] Step 2: Generate the architectural 3D printing path based on the sliced ​​layers;

[0009] Step 3: Control the material delivery line and optimal printing path of the 3D printing equipment through the multi-axis linkage control system to achieve smooth line transitions, reduce the number of printing breaks, and eliminate line lumps;

[0010] Step 4: Through the multi-axis linkage control system, the speed of the 3D printing head at necessary breakpoints is optimized to achieve the optimal speed matching between the printing head travel speed F and acceleration a1, and the printing head output rotation speed S and acceleration a2 at the breakpoints. This enables precise control of the width of the printed lines at the breakpoints and eliminates line lumps.

[0011] As a further aspect of the present invention, step 3 further includes the step of: using a smooth transition algorithm for broken lines to set transition areas between lines and setting motion coordinates for each axis, so that the position and speed of the axis at the joint between the conveying lines can be reasonably controlled, thereby achieving a smooth transition of the lines and avoiding broken lines and traces.

[0012] As a further aspect of the present invention, the broken line smooth transition algorithm includes the following steps:

[0013] Step 3.1: Create a transition area at the intersection of lines;

[0014] Step 3.2: Set the motion coordinates of each axis within the transition region, including position, velocity, and acceleration;

[0015] Step 3.3: Based on the motion coordinates, control the conveyor line of the building 3D printing equipment through a multi-axis linkage control system to achieve a smooth transition.

[0016] As a further aspect of the present invention, in step 4, the line breakage smooth transition algorithm includes calculating virtual nodes on the conveying line, optimizing and adjusting the nodes, and achieving smooth line transition through the control system; at necessary breakpoints, adjusting the acceleration corresponding to the starting and ending travel speed F and rotation speed S to make their speed optimally matched with the printing material output speed, reducing the output speed from being too fast or too slow during the acceleration / deceleration period, thereby ensuring optimal matching between travel speed and line width.

[0017] As a further aspect of the present invention, in step 4, the multi-axis linkage control system adjusts the matching relationship between the walking speed F and the rotation speed S to reduce S simultaneously during deceleration, thereby achieving zero material output from the print head when F = 0, thus enabling equal-width line printing.

[0018] As a further aspect of the present invention, in step 4, for breakpoints in the same layer, if they are on the same straight line, the breakpoints are set to not stop through the configuration file; if two line segments have a certain angle, the intersection of the two line segments is automatically chamfered to make the transition smooth and avoid stopping; if the breakpoint is at the breakpoint where the layers change, the print head does not stop at the breakpoint, and the blade lifting and the next printing path statement are combined into one, so that the XYZ three axes can run synchronously, thereby reducing the possibility of print head jamming and eliminating the accumulation phenomenon at that point.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects:

[0020] The construction method for eliminating line burrs in 3D building printing of the present invention has the advantages of intelligence, high efficiency and stability. It is applicable to the field of 3D building printing and can effectively solve the problem of line burrs that occur when traditional 3D building printing equipment makes multiple turns or connections, thereby improving the application and promotion of 3D building printing technology. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram illustrating the setting of transition regions between lines in the broken line smoothing transition algorithm of this invention.

[0023] Figure 2 This is a schematic diagram illustrating the setting of a transition region at the intersection of lines in the broken line smoothing transition algorithm of this invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0025] Traditional 3D printing equipment for architecture often suffers from line burrs during multiple bends or line-to-line connections, negatively impacting print quality and aesthetics. This invention provides a process control algorithm and construction method to eliminate line burrs during 3D printing. The algorithm and method effectively solve the line burr problem in 3D printing equipment during multiple bends or connections, improving print quality and aesthetics. Furthermore, the algorithm and control system are intelligent, efficient, and stable, making them suitable for the field of 3D printing for architecture.

[0026] This invention discloses a control algorithm for eliminating line lumps in architectural 3D printing. The main content is that when the architectural 3D printing equipment makes multiple turns or connections, a line break smooth transition algorithm is set up to gradually reduce the material output speed at the turn or connection point and gradually accelerate it on the next printing line segment to achieve a smooth transition of the line and avoid the problem of line lumps.

[0027] Preferably, the broken line smooth transition algorithm includes calculating "virtual nodes" on the printed line, optimizing and adjusting the nodes, and achieving a smooth transition of the line through the control system.

[0028] Preferably, the control system employs a multi-axis linkage control system to achieve more precise control and ensure the stability of smooth line transitions. Multi-axis linkage refers to simultaneous machining on multiple coordinate axes (including linear and rotary coordinates) of a single machine tool, with coordinated movements under the control of a computer numerical control (CNC) system. Multi-axis linkage machining can improve the machining accuracy, quality, and efficiency of free-form surfaces in space. Modern CNC machining is developing towards higher speed, higher precision, higher intelligence, higher flexibility, higher automation, and higher reliability, and multi-axis CNC machine tools embody this trend.

[0029] Chinese utility model patent ZL 201621135013.0 discloses a 3D printing system based on multi-axis linkage control and machine vision measurement. The system includes a frame, a worktable for placing an artificial bone scaffold, a printing device mounted above the worktable, a material conveying device for conveying printing material, an image acquisition camera, a drive mechanism for adjusting the orientation of the printing device, and a control system. The printing device, material conveying device, image acquisition device, and drive mechanism are all connected to the control system. The worktable is a six-degree-of-freedom parallel platform connected to the frame, and the drive mechanism is a six-axis robotic arm. The printing device is connected to the six-axis robotic arm. In use, the artificial bone scaffold is placed on the six-degree-of-freedom parallel platform. The position of the printing device is controlled by the six-axis robotic arm. Through the cooperation of the six-degree-of-freedom parallel platform and the six-axis robotic arm, precise control of the spatial position of the printing nozzles of the printing device is achieved, enabling the three-dimensional patterning printing of complex and fine artificial bone surfaces and porous internal surfaces.

[0030] The multi-axis linkage control system in this invention can adopt the multi-axis linkage control in the above-mentioned patent to achieve precise control of the spatial position of the printing nozzle of the printing device.

[0031] This invention discloses a construction method for eliminating line defects in 3D printed buildings. The main steps include: first, performing 3D modeling to determine the building design; then, determining the printing path and the transport route; next, setting a smooth transition algorithm for broken lines and a multi-axis linkage control system based on the printing path and the transport route; and finally, printing the building.

[0032] Specifically, the present invention provides a construction method for eliminating blemishes in 3D printed architectural lines, comprising the following steps:

[0033] Step 1: Create a 3D printed model of the building and convert it into slice layers.

[0034] Step 2: Generate the architectural 3D printing path based on the slice layer.

[0035] Step 3: Control the material delivery line and optimal printing path of the 3D printing equipment through the multi-axis linkage control system to achieve smooth line transitions, reduce the number of printing breaks, and eliminate line lumps.

[0036] In step 3, the innovation of this invention lies in employing a novel smooth transition algorithm for broken lines. A transition region is set between lines, and the motion coordinates of each axis are configured. This allows for reasonable control of the position and speed of the axes at the joints between conveyor lines, achieving a smooth transition of the lines and avoiding broken lines and visible marks. (See reference...) Figure 1 As shown.

[0037] Specifically, the broken line smooth transition algorithm includes the following steps:

[0038] Step 3.1: Create a transition area at the intersection of lines (e.g., Figure 2 The lines shown are chamfered at their intersections to achieve a smooth transition, eliminate jerks, and remove lumps.

[0039] Step 3.2: Set the motion coordinates of each axis within the transition region, including position and velocity;

[0040] Step 3.3: Based on the motion coordinates, control the conveyor line of the building 3D printing equipment through a multi-axis linkage control system to achieve a smooth transition.

[0041] Step 4: The multi-axis linkage control system optimizes the speed of the 3D printer head at necessary breakpoints using a speed optimization algorithm. This achieves optimal speed matching between the print head's travel speed F and acceleration a1, and between the print head's output rotation speed S and acceleration a2 at the breakpoints. This ensures precise control of the printed line width at the breakpoints and eliminates line buildup. The line break smoothing transition algorithm includes calculating "virtual nodes" on the conveyor line, optimizing and adjusting these nodes, and achieving a smooth line transition through the control system.

[0042] The existing process stops the travel speed F and printhead rotation speed S when reaching the end of the previous line segment. Due to the large and heavy size of the equipment, visible vibration occurs on the Z-axis during acceleration and deceleration. Simultaneously, because the material is fluid, when S stops, inertia causes a certain amount of printing material to continue flowing out, resulting in lumps at the initial line break point. This lump phenomenon is reduced when the material is more viscous. In step 4, the multi-axis linkage control system can adjust the matching relationship between the travel speed F and rotation speed S, achieving a corresponding reduction in S during deceleration. This ensures that when F=0, the printhead output is also 0, achieving uniform line width printing.

[0043] The current situation is that there are lumps at both the starting and ending points of the printing process, especially at the ending point. The acceleration of the travel speed F and the output rotation speed S are relatively large. This is because the material can be newly formed and discharged instantly when F and S are started. There is a slight accumulation at the discharge port, which indicates that the acceleration of the rotating shaft is greater and the time required to start to the required speed is shorter. Since we can reduce the acceleration a2 of S while keeping the acceleration of F unchanged, the acceleration time of S will be longer and less material will be discharged, thereby reducing the line width.

[0044] At the end point, because S decelerates faster, the deceleration process of F occurs earlier than that of S. Also, since the printing material is a fluid with some flow inertia, the material accumulation at the end point is more severe than at the beginning. Similarly, if we reduce the acceleration of S, its deceleration time will increase. The S-axis starts decelerating before the F-axis, thereby reducing the output speed and output volume, and decreasing the line width. This causes the moment of its inertial output to overlap with the deceleration process of F. When F decelerates to 0, the S-axis also completely stops outputting material.

[0045] Furthermore, in step 4, for breakpoints within the same layer, if they are on the same straight line, the breakpoints are set to not stop through the configuration file; if two line segments have a certain angle, the intersection of the two line segments is automatically chamfered to make the transition smooth and avoid pauses; if the breakpoint is at the point where layers change, the print head can also be kept running at the breakpoint, and the blade lifting and the next printing path statement can be combined into one, so that the XYZ three axes can run synchronously, thereby reducing the possibility of print head jamming and eliminating the accumulation phenomenon at that point.

[0046] When a 3D printing machine makes multiple turns or connections, a smooth transition algorithm is set up to gradually reduce the output speed of the print head at the turn or connection point and gradually accelerate it on the next printing line to achieve a smooth transition of the lines and avoid the problem of line accumulation.

[0047] The control algorithm and construction method for eliminating line burrs in 3D building printing described in this invention have advantages such as intelligence, high efficiency and stability. They are applicable to the field of 3D building printing and can effectively solve the problem of line burrs that occurs when traditional 3D building printing equipment makes multiple turns or connections, thereby improving the application and promotion of 3D building printing technology.

[0048] Additionally, printing path programs can use simulation algorithms to model the layer-by-layer printing process to detect and optimize the location and size of build-ups. For example, the finite element method can be used to simulate the flow and deposition of material to predict and adjust the amount and shape of material deposited at different surface locations, thereby eliminating build-ups and other defects.

[0049] In summary, printing path programs can eliminate lumps in 3D architectural printing through optimization and simulation algorithms. This requires a deep understanding of the building's geometry and material properties, and a combination of optimization and simulation algorithms to improve printing quality and efficiency.

[0050] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. An algorithm-optimized control and construction method for eliminating line defects in 3D architectural printing, characterized in that, include: Step 1: Create a 3D printed architectural model and convert it into slice layers; Step 2: Generate the architectural 3D printing path based on the sliced ​​layers; Step 3: Control the material delivery line and optimal printing path of the 3D printing equipment through the multi-axis linkage control system to achieve smooth line transitions, reduce the number of printing breaks, and eliminate line lumps; Step 4: Through a multi-axis linkage control system, the speed of the 3D printing head at necessary breakpoints is optimized using an algorithm to achieve optimal speed matching between the print head's travel speed F and acceleration a1, and between the print head's output rotation speed S and acceleration a2 at the breakpoints. This enables precise control of the printed line width at the breakpoints and eliminates line bulges. Step 3 also includes the following step: using a line break smooth transition algorithm to set transition areas between lines and setting the motion coordinates of each axis. This allows for reasonable control of the position and speed of the axes at the joints between the conveyor lines, achieving smooth line transitions and avoiding line breaks and marks. In step 4, the smooth transition algorithm for broken lines includes calculating virtual nodes on the conveyor line, optimizing and adjusting the nodes, and achieving a smooth transition of lines through the control system. At necessary breakpoints, the acceleration corresponding to the starting and ending travel speed F and rotation speed S is adjusted to optimally match the speed with the printing material output speed, reducing the output speed from being too fast or too slow during acceleration / deceleration periods, thereby ensuring optimal matching between travel speed and line width. In step 4, the multi-axis linkage control system achieves deceleration by adjusting the matching relationship between travel speed F and rotation speed S. Simultaneously, S is reduced accordingly, so that when F=0, the printhead output is also 0, achieving equal line width printing; in step 4, for breakpoints in the same layer, if they are on the same straight line, the breakpoints are set to not stop through the configuration file; when two line segments have a certain angle, the intersection of the two line segments is automatically chamfered to make the transition smooth and avoid stopping; if the breakpoint is at the breakpoint where the layers change, the printhead does not stop at the breakpoint, and the blade lifting and the next printing path statement are combined into one, so that the XYZ three axes run synchronously, thereby reducing the possibility of printhead jamming and eliminating the accumulation phenomenon at that point; When there are multiple turns or connections, by setting a smooth transition algorithm for broken lines, the print head output speed is gradually reduced at the turn or connection point and gradually accelerated on the next printing line, so as to achieve a smooth transition of lines and avoid the problem of line accumulation.

2. The algorithm optimization control and construction method for eliminating line defects in 3D architectural printing as described in claim 1, characterized in that, The broken line smooth transition algorithm includes the following steps: Step 3.1: Create a transition area at the intersection of lines; Step 3.2: Set the motion coordinates of each axis within the transition region, including position, velocity, and acceleration; Step 3.3: Based on the motion coordinates, control the conveyor line of the building 3D printing equipment through a multi-axis linkage control system to achieve a smooth transition.

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