Control method of three-dimensional printer, three-dimensional printer, and storage medium

Abstract

The application discloses a control method of a three-dimensional printer, a three-dimensional printer and a storage medium, relates to the printing technical field, and mainly aims to avoid the deformation of a printing model and improve the printing quality of the model.The main technical scheme of the application is as follows: the control method of the three-dimensional printer comprises the following steps: in response to a stop instruction for a moving component, the motion parameters of the moving component are acquired, the motion parameters comprise acceleration; the vibration acceleration amplitude relationship corresponding to the motion parameters is acquired, the vibration acceleration amplitude relationship is used for representing the relationship between the vibration amplitude and time after the moving component stops at the acceleration; if the distance between the coordinates corresponding to the moving component and the stop instruction is a set size, the driving assembly is controlled to compensate the reverse acceleration corresponding to the vibration acceleration to the moving component, and the set size corresponds to the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters.

Description

Technical Field

[0001] This invention relates to the field of printing technology, and more specifically, to a control method for a 3D printer, a 3D printer, and a storage medium. Background Technology

[0002] A 3D printer is a rapid prototyping device for constructing objects. It uses data model files as a basis and employs adhesive materials such as powdered metal or plastic to construct a three-dimensional model by printing layer by layer.

[0003] Currently, 3D printers typically print models by moving the printing platform and the print head. For example, patent CN112606385A discloses a 3D printer that includes a base, a support mounted on the base, a nozzle that can move along the X and Z directions and is mounted on the support, and a printing platform that can move along the Y direction and is mounted on the base. The printing model is printed by moving the nozzle and the printing platform together.

[0004] Because the printing platform is quite heavy, it has high inertia during the printing process. When the printing platform stops moving, it is prone to inertial vibration. This vibration can cause deformation at the corners of the printed model, reducing the print quality. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a control method for a 3D printer, a 3D printer, and a storage medium, the main purpose of which is to avoid deformation of the printed model and improve the printing quality of the model.

[0006] To achieve the above objectives, the present invention mainly provides the following technical solutions:

[0007] In a first aspect, embodiments of the present invention provide a control method for a 3D printer, the 3D printer including a moving part and a drive assembly drivenly connected to the moving part, the moving part including a print head and a print platform, the control method including:

[0008] In response to a stop command for the moving part, motion parameters of the moving part are acquired, the motion parameters including acceleration;

[0009] Obtain the vibration acceleration amplitude relationship corresponding to the motion parameters. The vibration acceleration amplitude relationship is used to characterize the relationship between the vibration amplitude and time after the moving part stops at the acceleration.

[0010] If the distance between the moving part and the coordinates corresponding to the stop command is a set size, the drive component is controlled to compensate the moving part with the reverse acceleration corresponding to the vibration acceleration. The set size corresponds to the maximum vibration amplitude in the relationship between the vibration acceleration amplitude and the motion parameters.

[0011] Further, controlling the drive assembly to compensate the moving component for the reverse acceleration corresponding to the acceleration includes:

[0012] Obtain the time relationship of suppressed acceleration corresponding to the motion parameters. The time relationship of suppressed acceleration is negatively correlated with the vibration acceleration in the time relationship of vibration acceleration corresponding to the motion parameters. The time relationship of vibration acceleration is used to characterize the relationship between the vibration acceleration and time after the moving part stops at the acceleration.

[0013] Based on the suppression acceleration time relationship, the magnitude and direction of the reverse acceleration compensated by the drive component for the moving part are determined;

[0014] Based on the magnitude and direction of the reverse acceleration, the drive assembly is controlled to perform motion compensation on the moving part.

[0015] Further, the reverse acceleration includes a first reverse acceleration and a second reverse acceleration, and determining the magnitude and direction of the reverse acceleration compensated by the drive assembly for the moving part based on the suppressed acceleration time relationship includes:

[0016] Based on the suppression acceleration time relationship, the first time period, the second time period, the first reverse acceleration corresponding to the first time period, and the second reverse acceleration corresponding to the second time period that the driving component needs to compensate for the moving part are determined; the direction of the first reverse acceleration is the same as the direction of the acceleration, and the direction of the second reverse acceleration is opposite to the direction of the acceleration.

[0017] Further, controlling the drive assembly to perform motion compensation on the moving component based on the magnitude and direction of the reverse acceleration includes:

[0018] The drive assembly is controlled to compensate the moving part for the first reverse acceleration during the first time period, and the drive assembly is controlled to compensate the moving part for the second reverse acceleration during the second time period.

[0019] Furthermore, the control method further includes:

[0020] Obtain the tilt angle of the printing platform relative to the horizontal plane;

[0021] If the tilt angle is greater than a preset value, adjust the position of the printing platform relative to the horizontal plane until the tilt angle of the printing platform relative to the horizontal plane is less than or equal to the preset value.

[0022] Further, before acquiring the motion parameters of the moving part in response to a stop command for the moving part, the control method includes:

[0023] The moving parts are controlled to decelerate and move to the coordinates using multiple different motion parameters;

[0024] Obtain the vibration acceleration-time relationship of the moving part after it reaches the coordinate.

[0025] Based on the vibration acceleration-time relationship of the moving component, the suppression acceleration-time relationship is obtained. The suppression acceleration-time relationship is negatively correlated with the vibration acceleration in the vibration acceleration-time relationship corresponding to the motion parameters.

[0026] Furthermore, the motion parameters include the speed and acceleration of the printing platform;

[0027] Wherein, at least a portion of the plurality of different motion parameters have the same velocity and different accelerations; and / or

[0028] At least a portion of the multiple motion parameters have different velocities but the same acceleration.

[0029] Secondly, embodiments of the present invention provide a control device for a 3D printer, comprising:

[0030] The acquisition unit is used to acquire motion parameters of the moving component in response to a stop command for the moving component;

[0031] The acquisition unit is further configured to acquire the vibration acceleration amplitude relationship corresponding to the motion parameters, and the vibration acceleration amplitude relationship is used to characterize the relationship between the vibration amplitude and time after the moving part stops at the acceleration;

[0032] The control unit is configured to control the drive assembly to compensate the moving component for the reverse acceleration corresponding to the vibration acceleration if the distance between the moving component and the coordinates corresponding to the stop command is a set size, wherein the set size corresponds to the maximum vibration amplitude in the relationship between the vibration acceleration amplitude corresponding to the motion parameters.

[0033] Thirdly, embodiments of the present invention provide a 3D printer, including a processor and a memory, wherein the memory stores a program or input that can run on the processor, and the program or input, when executed by the processor, implements the steps of the aforementioned 3D printer control method.

[0034] Fourthly, embodiments of the present invention provide a storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the aforementioned control method for a 3D printer.

[0035] By employing the above technical solution, the present invention has at least the following beneficial effects:

[0036] The technical solution provided in this invention, in response to a stop command for a moving part, acquires the motion parameters of the moving part, including acceleration; and acquires the vibration acceleration amplitude relationship corresponding to the motion parameters, which characterizes the relationship between the vibration amplitude and time after the moving part stops with acceleration. If the distance between the moving part and the coordinates corresponding to the stop command is a set size, the drive component is controlled to compensate the moving part with a reverse acceleration corresponding to the acceleration. The set size corresponds to the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters. Specifically, since the drive component compensates the moving part with a reverse acceleration corresponding to the vibration acceleration when the distance between the moving part and the coordinates corresponding to the stop command is a set size, during the process of the moving part stopping and vibrating, the drive component can apply a driving force opposite to its vibration direction to the vibrating moving part. This driving force generated by the drive component can suppress the vibration of the moving part in the opposite direction, thereby canceling out the vibration of the moving part and allowing the printed model to form normal corners, thus improving the printing quality of the model. Attached Figure Description

[0037] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0038] Figure 1 A flowchart of a control method for a 3D printer provided in an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of the structure of a 3D printer provided in an embodiment of the present invention;

[0040] Figure 3This is a schematic diagram of the vibration acceleration-time curve and the suppression acceleration-time curve of the printing platform of a 3D printer provided in an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1-Printing platform; 2-Driver component; 3-Detection module; 4-Print head. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0044] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a control method for a 3D printer. The 3D printer includes a moving part and a driving assembly connected to the moving part. Specifically, the moving part may include a print head 4 and a printing platform 1. The driving assembly 2 is used to drive the print head 4 and the printing platform 1 to move. A detection module 3 may be installed on the printing platform 1 and the print head 4. The control method includes:

[0045] 101. In response to a stop command for a moving part, obtain the motion parameters of the moving part.

[0046] The motion parameters may include the acceleration and velocity of the printing platform 1, i.e., the acceleration and velocity at which the printing platform 1 begins to decelerate until it stops; the motion parameters may also include the acceleration and velocity of the print head 4. When the drive component 2 receives a stop command and begins to control the printing platform 1 to stop, it can acquire the acceleration and velocity of the printing platform 1 at that time. When the drive component 2 receives a stop command and begins to control the print head 4 to stop, it can acquire the acceleration and velocity of the print head 4 at that time.

[0047] In this embodiment of the invention, the stop command not only includes the command to stop printing the model, but also includes the command to move to the coordinate where the printing platform 1 or print head 4 needs to move in the opposite direction during the printing process. For example, during printing, if the printing platform 1 needs to move to different coordinates, such as from coordinate a to coordinate b, and then from coordinate b to coordinate c, then during the movement from coordinate a to coordinate b, the printing platform 1 moves in the positive direction of the first direction; during the movement from coordinate b to coordinate c, the printing platform 1 moves in the negative direction of the first direction. Therefore, the printing platform 1 moves to the coordinate corresponding to point b, which is the stop command for the printing platform 1. It can be understood that only after moving from point a to point b and stopping in the first direction can it move from point b to point c. It can also be understood that due to vibration or other reasons, the printing platform 1 may not be located at point b when it stops.

[0048] A stop command refers to a moving part having a velocity of 0 in one direction. This doesn't necessarily mean the velocity is 0 in all directions, nor does it mean only a complete stop for subsequent motion. It can be understood that when the entire model is about to be printed, at the last coordinate, because the moving part has completely stopped moving, this can also be considered a stop command for the moving part.

[0049] The detection module 3 can be installed on the platform support plate of the printing platform 1 or the print head 4. The detection module 3 can include an acceleration sensor circuit board, as well as an acceleration sensor, gyroscope and wiring terminals set on the circuit board module. The acceleration sensor and gyroscope can measure the acceleration, speed and tilt angle changes of the printing platform 1 or the print head 4 during the movement of the printing platform 1 or the print head 4. At the same time, they can also measure the frequency and amplitude of vibration and jitter generated during the rapid movement of the printing platform 1 or the print head 4, and feed back the measured data to the machine motherboard.

[0050] 102. Obtain the vibration acceleration amplitude relationship corresponding to the motion parameters. The vibration acceleration amplitude relationship is used to characterize the relationship between the vibration amplitude and time after the moving part stops with acceleration.

[0051] 103. If the distance between the moving part and the coordinate corresponding to the stop command is a set size, control the drive component 2 to compensate the moving part for the reverse acceleration corresponding to the vibration acceleration. The set size corresponds to the maximum vibration amplitude in the relationship between the vibration acceleration amplitude and the motion parameters.

[0052] The kinematic parameters and the vibration acceleration amplitude are mutually corresponding.

[0053] The vibration acceleration amplitude relationship can be pre-calculated and stored, and can be directly obtained when needed; or it can be temporarily calculated based on the preset formula and the data detected by the detection module 3. Specifically, since the first few cycles of the vibration process of the moving part can be approximated as simple harmonic motion, the preset formula can be a = Acos(wt + b), where a is the acceleration, w and b are constants, and t can be automatically timed by the machine. The amplitude formula is obtained by taking the derivative of the preset formula twice, and then the acceleration detected by the detection module 3 is substituted into the amplitude formula to calculate the amplitude.

[0054] The control method for a 3D printer provided in this embodiment of the invention, in response to a stop command for a moving part, acquires motion parameters of the moving part, including acceleration; and acquires a vibration acceleration amplitude relationship corresponding to the motion parameters, which characterizes the relationship between the vibration amplitude and time after the moving part stops with acceleration. If the distance between the moving part and the coordinates corresponding to the stop command is a set size, the drive component 2 is controlled to compensate the moving part with a reverse acceleration corresponding to the acceleration. The set size corresponds to the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters. Specifically, since the drive component 2 compensates the moving part with a reverse acceleration corresponding to the vibration acceleration when the distance between the moving part and the coordinates corresponding to the stop command is a set size, during the process of the moving part stopping and vibrating, the drive component 2 can apply a driving force opposite to the vibration direction to the vibrating moving part. This driving force generated by the drive component 2 can suppress the vibration of the moving part in the opposite direction, thereby canceling out the vibration of the moving part and allowing the printed model to form normal corners, thus improving the printing quality of the model.

[0055] It is understandable that both the printing platform 1 and the print head 4 are moving parts, and when they stop moving, they are prone to certain inertial vibrations. This vibration can cause deformation at the corners of the printed model. Therefore, not only can the printing platform 1 be suppressed by the above-mentioned scheme when it vibrates, but the print head 4 can also be suppressed by the above-mentioned scheme when it vibrates, so as to eliminate the vibration of the print head 4.

[0056] In this embodiment of the invention, in step 103, controlling the drive component 2 to compensate the moving part for the reverse acceleration corresponding to the vibration acceleration may specifically include:

[0057] Obtain the time relationship of suppressed acceleration corresponding to the motion parameters. This time relationship of suppressed acceleration is negatively correlated with the vibration acceleration in the time relationship of vibration acceleration corresponding to the motion parameters. The time relationship of vibration acceleration is used to characterize the relationship between the vibration acceleration and time after the moving part stops with acceleration.

[0058] Based on the time relationship of the suppressed acceleration, determine the magnitude and direction of the reverse acceleration that the drive component 2 compensates for to the moving part;

[0059] Based on the magnitude and direction of the reverse acceleration, the drive component 2 is controlled to perform motion compensation on the moving parts.

[0060] In the above embodiments, since the vibration acceleration-time relationship is used to characterize the relationship between the vibration acceleration and time after the moving part stops accelerating, and the suppression acceleration-time relationship is negatively correlated with the vibration acceleration in the vibration acceleration-time relationship corresponding to the motion parameters, the control drive component 2 can compensate the moving part for the reverse acceleration determined according to the suppression acceleration-time relationship. This can apply a driving force opposite to the vibration direction to the vibrating moving part, so that the driving force generated by the drive component 2 can suppress the vibration of the moving part in the opposite direction. Thus, the vibration of the moving part and the reverse suppression motion of the drive component 2 cancel each other out, thereby eliminating the vibration of the moving part. This allows the printed model to form a normal corner, improving the printing quality of the model.

[0061] In the above embodiments, the vibration acceleration time relationship can be obtained from the obtained vibration acceleration. The suppression acceleration time relationship is negatively correlated with the vibration acceleration in the vibration acceleration time relationship. For example, if the vibration acceleration in the vibration acceleration time relationship is m, then the reverse acceleration in the suppression acceleration time relationship is -m. Therefore, by inverting the obtained vibration acceleration, the suppression acceleration time relationship can be obtained. Based on this suppression acceleration time relationship, the magnitude and direction of the reverse acceleration compensated to the moving part can be determined, thereby controlling the drive component 2 to compensate the moving part for the reverse acceleration. The suppression acceleration time relationship can also be obtained and stored in advance for direct reading during use.

[0062] In some embodiments, see Figure 3 The vibration acceleration-time relationship can be in the form of a curve, such as... Figure 3 The solid line in the figure represents the suppression of the acceleration-time relationship as a reverse curve corresponding to the vibration acceleration-time relationship, such as... Figure 3 The dashed line in the middle.

[0063] In this embodiment of the invention, the aforementioned reverse acceleration may include a first reverse acceleration and a second reverse acceleration. Based on the suppression acceleration time relationship, the magnitude and direction of the reverse acceleration compensated by the drive component 2 for the moving part are determined, specifically including:

[0064] Based on the time relationship of acceleration suppression, the first time period, the second time period, the first reverse acceleration corresponding to the first time period, and the second reverse acceleration corresponding to the second time period are determined for the driving component 2 to compensate the moving part; the direction of the first reverse acceleration is the same as the direction of acceleration, and the direction of the second reverse acceleration is opposite to the direction of acceleration.

[0065] Based on the magnitude and direction of the reverse acceleration, the drive component 2 is controlled to perform motion compensation on the moving part. Specifically, the drive component 2 is controlled to compensate the moving part with a first reverse acceleration in a first time period, and the drive component 2 is controlled to compensate the moving part with a second reverse acceleration in a second time period.

[0066] In the above embodiments, the set dimension between the moving component and the coordinates corresponding to the stop command may include an early reverse suppression segment and an inertial motion segment. When the distance between the moving component and the coordinates corresponding to the stop command is the set dimension, a first period of reverse suppression begins on the moving component. During this first period, the drive component 2 compensates the moving component with a first reverse acceleration in the same direction as the acceleration of the motion parameters. When the reverse suppression path of the moving component reaches a certain amplitude, the first period ends, and the moving component enters the inertial motion segment. In the inertial motion segment, the moving component relies on inertia to move to the coordinates corresponding to the stop command, and... The distance traveled during the inertial motion segment is one amplitude. Since the moving part relies on inertia to move to the coordinate corresponding to the stop command, a rebound will occur when the moving part reaches this coordinate. Before the rebound, the moving part needs to be suppressed again in the opposite direction. This reverse suppression period is the second period. That is, during the second period, the control drive component 2 compensates the moving part with a second reverse acceleration that is opposite to the direction of the acceleration of the motion parameters to suppress the inertial rebound of the moving part, so that the moving part can eventually stop stably at the coordinate corresponding to the stop command without vibration, thereby eliminating the vibration of the moving part, making the printed model form a normal corner, and improving the printing quality of the model.

[0067] Specifically, the set size can be equal to twice the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters.

[0068] The drive assembly 2 can be any structure capable of applying driving force to the moving parts. For example, the drive assembly 2 may include a motor, telescopic cylinder, push rod, etc. connected to the printing platform 1 or the print head 4.

[0069] In this embodiment of the invention, the drive component 2 may include a motor and a transmission mechanism connected to the output shaft of the motor. The transmission mechanism is connected to the printing platform 1 or the print head 4. The drive component 2 is controlled to compensate the moving part for a first reverse acceleration in the first time period. The torque and rotation direction of the motor in the first time period can be determined based on the first reverse acceleration. By controlling the motor to run with such torque and rotation direction in the first time period, the reverse acceleration of the printing platform 1 or the print head 4 can be suppressed in the first time period, so that the printing platform 1 or the print head 4 can enter the inertial motion segment. The drive component 2 is controlled to compensate the moving part for a second reverse acceleration in the second time period. The torque and rotation direction of the motor in the second time period can be determined based on the second reverse acceleration. By controlling the motor to run with such torque and rotation direction in the second time period, the reverse acceleration of the printing platform 1 or the print head 4 can be suppressed in the second time period, so that the moving part eventually stops stably at the coordinate corresponding to the stop command without vibration.

[0070] In this embodiment of the invention, the control method of the 3D printer may further include: obtaining the tilt angle of the printing platform 1 relative to the horizontal plane; and adjusting the position of the printing platform 1 relative to the horizontal plane when the tilt angle is greater than a preset value, until the tilt angle of the printing platform 1 relative to the horizontal plane is less than or equal to the preset value.

[0071] The preset value can be the tilt angle of the printing platform 1 relative to the horizontal plane, which ensures sufficient stability during machine operation. During machine operation, the detection module 3 can detect the tilt changes and tilt angle of the printing platform 1. The control module on the motherboard compares the data fed back by the detection module 3 with the preset value to determine whether the shaking and vibration generated during machine operation are too large, and thus whether the stability of the machine placed on the table is sufficient. If the obtained tilt angle is greater than the preset value, it indicates that the machine's placement stability is insufficient, and the position of the printing platform 1 relative to the horizontal plane needs to be adjusted until the tilt angle of the printing platform 1 relative to the horizontal plane is less than or equal to the preset value. This improves the machine's operating environment, ensures machine stability, and thus guarantees the printing effect of the model.

[0072] In this embodiment of the invention, before step 101, the control method of the 3D printer may further include: controlling the moving parts to decelerate and run to the coordinates corresponding to the stop command with multiple different motion parameters;

[0073] After obtaining the coordinates corresponding to the stop command, the vibration acceleration-time relationship of the moving part is obtained;

[0074] Based on the vibration acceleration-time relationship of the moving parts, the suppression acceleration-time relationship is obtained. This suppression acceleration-time relationship is negatively correlated with the vibration acceleration in the vibration acceleration-time relationship corresponding to the motion parameters.

[0075] The motion parameters may include the speed and acceleration of the printing platform 1 and the print head 4. Moreover, the acceleration of multiple motion parameters may be different, while the speed may be the same. That is, the printing platform 1 or the print head 4 is controlled to decelerate at different accelerations and the same speed until it reaches the coordinate corresponding to the stop command. This is to obtain the vibration acceleration of the printing platform 1 or the print head 4 under different accelerations and the same speed. Based on the obtained vibration acceleration corresponding to each motion parameter, the vibration acceleration time relationship of the printing platform 1 or the print head 4 is determined. Specifically, the vibration acceleration time relationship can be a vibration acceleration time curve.

[0076] Alternatively, the acceleration of multiple motion parameters can be the same, while the speed can be different. That is, the printing platform 1 or the print head 4 can be controlled to decelerate at the same acceleration but different speeds until the coordinate corresponding to the stop command is reached. This allows the vibration acceleration of the printing platform 1 or the print head 4 to be obtained under the same acceleration and different speeds. Based on the obtained vibration acceleration corresponding to each motion parameter, the vibration acceleration time relationship of the printing platform 1 or the print head 4 can be determined. Specifically, the vibration acceleration time relationship can be a vibration acceleration time curve.

[0077] Alternatively, some motion parameters have the same acceleration but different velocities, while others have different accelerations but the same velocities. This means controlling the printing platform 1 or printhead 4 to decelerate with different accelerations and the same velocities, and with the same acceleration and different velocities, until reaching the coordinate corresponding to the stop command. This allows obtaining the vibration acceleration of the printing platform 1 or printhead 4 under the conditions of the same acceleration and different velocities, and different accelerations and the same velocities. Based on the obtained vibration acceleration corresponding to each motion parameter, the vibration acceleration-time relationship of the printing platform 1 or printhead 4 is determined. Specifically, the vibration acceleration-time relationship can be a vibration acceleration-time curve.

[0078] Then, the vibration acceleration in the obtained vibration acceleration time relationship is inverted to obtain the reverse acceleration of the suppression acceleration time relationship, and the suppression acceleration time relationship is obtained based on the obtained reverse acceleration.

[0079] It should be noted that the vibration acceleration time relationship of the printing platform 1 or the print head 4 under various motion parameters can be obtained in advance through the above method. Then, the suppression acceleration time relationship can be obtained based on the vibration acceleration time relationship and stored in the database. When the printer is used, the suppression acceleration time relationship corresponding to the motion parameters of the printing platform 1 or the print head 4 can be directly retrieved to control the drive component 2 to compensate the printing platform 1 or the print head 4 for the reverse acceleration corresponding to the vibration acceleration.

[0080] Furthermore, as Figure 1 In a specific implementation, this invention provides a control device for a 3D printer, including an acquisition unit for acquiring motion parameters of the moving part in response to a stop command for the moving part; the acquisition unit is further configured to acquire a vibration acceleration amplitude relationship corresponding to the motion parameters, the vibration acceleration amplitude relationship being used to characterize the relationship between the vibration amplitude and time of the moving part after it stops at the acceleration; and a control unit for controlling the drive component 2 to compensate the moving part with a reverse acceleration corresponding to the vibration acceleration if the distance between the moving part and the coordinates corresponding to the stop command is a set size, the set size corresponding to the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters. It is understood that the acquisition unit and the control unit can also be specifically used to perform the aforementioned steps that refine the above steps.

[0081] The control device for a 3D printer provided in this embodiment of the invention acquires motion parameters of a moving part in response to a stop command. These motion parameters include acceleration. The device also acquires a vibration acceleration amplitude relationship corresponding to the motion parameters, which characterizes the relationship between the vibration amplitude and time of the moving part after it stops with acceleration. If the distance between the moving part and the coordinates corresponding to the stop command is a set dimension, the control unit controls the drive assembly 2 to compensate the moving part with a reverse acceleration corresponding to the acceleration. The set dimension corresponds to the maximum vibration amplitude in the vibration acceleration amplitude relationship corresponding to the motion parameters. Specifically, when the distance between the moving part and the coordinates corresponding to the stop command is a set dimension, controlling the drive assembly 2 to compensate the moving part with a reverse acceleration corresponding to the vibration acceleration allows the drive assembly 2 to apply a driving force opposite to the vibration direction to the vibrating moving part during the stopping and vibration process. This driving force generated by the drive assembly 2 can suppress the vibration of the moving part in the opposite direction, thereby canceling out the vibration of the moving part and allowing the printed model to form normal corners, thus improving the printing quality of the model.

[0082] This invention also provides a 3D printer, including a processor and a memory, wherein the memory stores a program or input that can run on the processor, and the program or input, when executed by the processor, implements the steps of the aforementioned 3D printer control method.

[0083] This invention also provides a storage medium storing a program or instructions. When executed by a processor, the program or instructions implement the steps of the aforementioned 3D printer control method and achieve the same technical effect. To avoid repetition, these steps will not be repeated here. The storage medium can be a computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a 3D printer, the 3D printer comprising a moving part and a drive assembly drivenly connected to the moving part, the moving part comprising a print head and a print platform, characterized in that, The control method includes: In response to a stop command for the moving part, motion parameters of the moving part are acquired, the motion parameters including acceleration; Obtain the vibration acceleration amplitude relationship corresponding to the motion parameters. The vibration acceleration amplitude relationship is used to characterize the relationship between the vibration amplitude and time after the moving part stops at the acceleration. If the distance between the moving part and the coordinates corresponding to the stop command is a set size, the drive component is controlled to compensate the moving part with the reverse acceleration corresponding to the vibration acceleration. The set size corresponds to the maximum vibration amplitude in the relationship between the vibration acceleration amplitude and the motion parameters.

2. The control method according to claim 1, characterized in that, The control of the drive assembly to compensate the moving part for the reverse acceleration corresponding to the acceleration includes: Obtain the time relationship of suppressed acceleration corresponding to the motion parameters. The time relationship of suppressed acceleration is negatively correlated with the vibration acceleration in the time relationship of vibration acceleration corresponding to the motion parameters. The time relationship of vibration acceleration is used to characterize the relationship between the vibration acceleration and time after the moving part stops at the acceleration. Based on the suppression acceleration time relationship, the magnitude and direction of the reverse acceleration compensated by the drive component for the moving part are determined; Based on the magnitude and direction of the reverse acceleration, the drive assembly is controlled to perform motion compensation on the moving part.

3. The control method according to claim 2, characterized in that, The reverse acceleration includes a first reverse acceleration and a second reverse acceleration. Determining the magnitude and direction of the reverse acceleration compensated by the drive assembly for the moving component based on the suppression acceleration time relationship includes: Based on the suppression acceleration time relationship, the first time period, the second time period, the first reverse acceleration corresponding to the first time period, and the second reverse acceleration corresponding to the second time period that the driving component needs to compensate for the moving part are determined; the direction of the first reverse acceleration is the same as the direction of the acceleration, and the direction of the second reverse acceleration is opposite to the direction of the acceleration.

4. The control method according to claim 3, characterized in that, The step of controlling the drive assembly to perform motion compensation on the moving component based on the magnitude and direction of the reverse acceleration includes: The drive assembly is controlled to compensate the moving part for the first reverse acceleration during the first time period, and the drive assembly is controlled to compensate the moving part for the second reverse acceleration during the second time period.

5. The control method according to claim 1, characterized in that, The control method further includes: Obtain the tilt angle of the printing platform relative to the horizontal plane; If the tilt angle is greater than a preset value, adjust the position of the printing platform relative to the horizontal plane until the tilt angle of the printing platform relative to the horizontal plane is less than or equal to the preset value.

6. The control method according to claim 1, characterized in that, Before acquiring motion parameters of the moving part in response to a stop command for the moving part, the control method includes: The moving parts are controlled to decelerate and move to the coordinates using multiple different motion parameters; Obtain the vibration acceleration-time relationship of the moving part after it reaches the coordinate. Based on the vibration acceleration-time relationship of the moving component, the suppression acceleration-time relationship is obtained. The suppression acceleration-time relationship is negatively correlated with the vibration acceleration in the vibration acceleration-time relationship corresponding to the motion parameters.

7. The control method according to claim 6, characterized in that, The motion parameters include the speed and acceleration of the printing platform; Wherein, at least a portion of the plurality of different motion parameters have the same velocity and different accelerations; and / or At least a portion of the multiple motion parameters have different velocities but the same acceleration.

8. A control device for a 3D printer, characterized in that, include: The acquisition unit is used to acquire the motion parameters of the moving part in response to a stop command for the moving part; The acquisition unit is further configured to acquire the vibration acceleration amplitude relationship corresponding to the motion parameters, and the vibration acceleration amplitude relationship is used to characterize the relationship between the vibration amplitude and time after the moving part stops at the acceleration; The control unit is configured to, if the distance between the moving part and the coordinates corresponding to the stop command is a set size, control the drive component to compensate the moving part with the reverse acceleration corresponding to the vibration acceleration, wherein the set size corresponds to the maximum vibration amplitude in the relationship between the vibration acceleration amplitude and the motion parameters.

9. A three-dimensional printer, characterized in that, It includes a processor and a memory, the memory storing a program or input that can run on the processor, the program or input being executed by the processor to implement the steps of the control method for a 3D printer as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a program or instructions that, when executed by a processor, implement the steps of the control method for a 3D printer as described in any one of claims 1 to 7.

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