Dynamic flow calibration method of 3D printer, storage medium and 3D printer

Abstract

The embodiment of the invention discloses a dynamic flow calibration method for a 3D printer, a storage medium and the 3D printer, and the method comprises the steps: determining whether a resonance effect occurs in a printing process or not by comparing a first extrusion rate in a first printing command with a preset extrusion rate amplitude; and when it is found that the resonance effect possibly occurs, the first extrusion rate in the first printing command is adjusted to be the second extrusion rate determined by using the input shaping algorithm, so that the influence of the resonance effect can be avoided, the printing defects are reduced, and the printing quality is improved. The method comprises the steps of obtaining a first printing command; comparing the first extrusion rate with a preset extrusion rate amplitude; if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, acquiring a second extrusion rate corresponding to the preset extrusion rate amplitude; replacing the first extrusion rate in the first print command with the second extrusion rate; and controlling the 3D printer to operate by using the replaced first printing command.

Description

Technical Field

[0001] The present application relates to the technical field of 3D printing, and in particular to a 3D printer dynamic flow calibration method, a storage medium and a 3D printer. Background Art

[0002] A 3D printer is a device that can transform a digital model into a physical object. It uses an extruder to stack consumables layer by layer on a printing platform to form the desired shape. The printing quality and accuracy of a 3D printer are affected by many factors, one of which is the flow control of the extruder. Flow refers to the volume of consumables extruded by the extruder per unit time, which determines the thickness and density of the printed layer. If the flow is too large or too small, it will cause printing defects such as layer gaps, layer separation, wire drawing, bulges, sagging, etc. The inventors have found that part of the reason that affects the flow of the extruder in a 3D printer is the resonance effect of the extruder during operation. Once the resonance effect occurs, the positioning accuracy of the extruder will be reduced, making it difficult to control the flow.

[0003] Therefore, how to adjust the flow rate of the extruder to eliminate the influence of the resonance effect has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] The present application provides a 3D printer dynamic flow calibration method, storage medium and 3D printer. In the method, by comparing a first extrusion rate in a first printing command with a preset extrusion rate amplitude, it is determined whether a resonance effect will occur during the printing process. When it is found that a resonance effect may occur, the first extrusion rate in the first printing command is adjusted to a second extrusion rate determined by an input shaping algorithm. In this way, the influence of the resonance effect can be avoided, printing defects can be reduced, and printing quality can be improved.

[0005] In a first aspect, an embodiment of the present application provides a 3D printer dynamic flow calibration method, wherein the 3D printer includes an extruder; the method includes:

[0006] Obtaining a first printing command, where the first printing command includes a first extrusion rate of an extruder;

[0007] Comparing the first extrusion rate with a preset extrusion rate amplitude, the preset extrusion rate amplitude being the rate when the extruder has a resonance effect;

[0008] If the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, obtain a second extrusion rate corresponding to the preset extrusion rate amplitude; use the second extrusion rate to replace the first extrusion rate in the first print command; wherein the second extrusion rate is determined based on the input shaping algorithm according to the resonance frequency range and damping ratio corresponding to the resonance effect of the extruder;

[0009] The 3D printer is controlled to run using the replaced first printing command.

[0010] In some embodiments, an acceleration sensor is provided on the extruder, and the extruder is operated by motor control; the method further comprises:

[0011] Control the motor to run within a preset periodic vibration frequency range, and record the acceleration rate data generated by the acceleration sensor on the x-axis and y-axis when the motor is running;

[0012] Calculate the velocity data based on the acceleration rate data;

[0013] According to the rate data, a first frequency and a rate amplitude corresponding to the first frequency are calculated by Fourier transform, and the maximum rate amplitude is determined as a target rate amplitude;

[0014] If the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, the target rate amplitude is determined to be a preset extrusion rate amplitude.

[0015] In some embodiments, the method further comprises:

[0016] If the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, obtain the rate amplitude of the next digit, take the rate amplitude of the next digit as the target rate amplitude, and execute the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the multiple first frequencies are continuous, until the step of determining that the target rate amplitude is the preset extrusion rate amplitude is executed.

[0017] In some embodiments, the method further comprises:

[0018] According to the acceleration rate data, a second frequency and an acceleration rate amplitude corresponding to the second frequency are calculated by Fourier transform;

[0019] According to the second frequency and the acceleration rate amplitude corresponding to the second frequency, a resonance frequency range and a damping ratio are obtained by analysis;

[0020] The resonance frequency range and the damping ratio are used as input shaping parameters, and an input shaping algorithm is used to obtain a second extrusion rate corresponding to a preset extrusion rate amplitude.

[0021] In some embodiments, the step of analyzing and obtaining the resonant frequency range according to the second frequency and the acceleration amplitude corresponding to the second frequency includes:

[0022] Determine the maximum acceleration amplitude as the target acceleration amplitude;

[0023] If there are multiple second frequencies corresponding to the target acceleration amplitude and the values ​​of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude are grouped into a resonance frequency range.

[0024] In some embodiments, the method further comprises:

[0025] If the number of second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values ​​of the multiple second frequencies are not continuous, obtain the next acceleration amplitude, take the next acceleration amplitude as the target acceleration amplitude, and execute the step of determining whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous, until the step of determining that the multiple second frequencies corresponding to the target acceleration amplitude constitute a resonant frequency range is executed.

[0026] In some embodiments, the input shaping algorithm includes an input shaping algorithm corresponding to a multi-zero shaper, an input shaping algorithm corresponding to a zero-rate shaper, an input shaping algorithm corresponding to a zero-rate double-zero shaper, an input shaping algorithm corresponding to a zero-rate triple-zero shaper, an input shaping algorithm corresponding to a second-order exponential shaper, or an input shaping algorithm corresponding to a third-order exponential shaper.

[0027] In some embodiments, the step of calculating the speed data based on the acceleration rate data includes:

[0028] Performing filtering processing on the acceleration rate data to obtain processed acceleration rate data;

[0029] Calculate the velocity data based on the processed acceleration rate data.

[0030] In some embodiments, the extruder includes a nozzle, and further includes: adjusting a heating temperature of the nozzle according to the replaced first extrusion rate.

[0031] In a second aspect, an embodiment of the present application further provides a 3D printer, comprising:

[0032] Processor; and

[0033] A memory is arranged to store computer executable instructions, which when executed cause a processor to perform a 3D printer dynamic flow calibration method.

[0034] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by a 3D printer including multiple application programs, the 3D printer executes a 3D printer dynamic flow calibration method.

[0035] In the above embodiment, a 3D printer dynamic flow calibration method, storage medium and 3D printer are provided. In this method, by comparing the first extrusion rate in the first print command with the preset extrusion rate amplitude, it is determined whether a resonance effect will occur during the printing process. When it is found that a resonance effect may occur, the first extrusion rate in the first print command is adjusted to a second extrusion rate determined by the input shaping algorithm, so as to avoid the influence of the resonance effect, reduce printing defects and improve the printing quality. The method includes: obtaining a first print command, the first print command includes a first extrusion rate of the extruder; comparing the first extrusion rate with the preset extrusion rate amplitude, the preset extrusion rate amplitude is the rate when the extruder has a resonance effect; if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, obtaining a second extrusion rate corresponding to the preset extrusion rate amplitude; replacing the first extrusion rate in the first print command with the second extrusion rate; wherein the second extrusion rate is determined based on the input shaping algorithm according to the resonance frequency range and damping ratio corresponding to the resonance effect of the extruder; and controlling the operation of the 3D printer using the replaced first print command. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flowchart of a 3D printer dynamic flow calibration method provided according to some embodiments is exemplarily shown;

[0037] Figure 2 A schematic diagram of acceleration and time provided according to some embodiments is exemplarily shown;

[0038] Figure 3 A schematic diagram of a speed waveform provided according to some embodiments is exemplarily shown;

[0039] Figure 4 A schematic diagram of a speed spectrum provided according to some embodiments is exemplarily shown;

[0040] Figure 5 A flowchart of another 3D printer dynamic flow calibration method provided according to some embodiments is exemplarily shown;

[0041] Figure 6 A schematic structural diagram of a 3D printer dynamic flow calibration device provided according to some embodiments is exemplarily shown. DETAILED DESCRIPTION

[0042] In order to make the purpose and implementation method of the present application clearer, the exemplary implementation method of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0043] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0044] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0045] The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0046] A 3D printer is a device that can convert a digital model into a physical object. The consumables are stacked layer by layer on the printing platform through an extruder to form the desired shape. The printing quality and accuracy of a 3D printer are affected by many factors, one of which is the flow control of the extruder. Flow refers to the volume of consumables extruded by the extruder per unit time, which determines the thickness and density of the printed layer. If the flow is too large or too small, it will cause printing defects such as layer gaps, layer separation, wire drawing, bulges, sagging, etc. The inventors have found that part of the reason that affects the flow of the extruder in a 3D printer is the resonance effect of the extruder during operation. Once the resonance effect occurs, the positioning accuracy of the extruder will be reduced, making the control of the flow difficult. Therefore, how to adjust the flow of the extruder to eliminate the influence of the resonance effect has become a technical problem that needs to be solved urgently by those skilled in the art.

[0047] In order to solve the above technical problems, an embodiment of the present application provides a 3D printer dynamic flow calibration method. In this method, by comparing the first extrusion rate in the first printing command and the preset extrusion rate amplitude, it is determined whether a resonance effect will occur during the printing process. When it is found that a resonance effect may occur, the first extrusion rate in the first printing command is adjusted to a second extrusion rate determined by an input shaping algorithm. This can avoid the influence of the resonance effect, reduce printing defects, and improve printing quality.

[0048] Figure 1 A flow chart of a 3D printer dynamic flow calibration method provided according to some embodiments is exemplarily shown, wherein the 3D printer includes an extruder; the method includes S100-S500.

[0049] S100: Obtain a first printing command, where the first printing command includes a first extrusion rate of an extruder.

[0050] In the embodiment of the present application, the first printing command (such as a Gcode command) includes a first extrusion rate. Exemplarily, the first extrusion rate is 100 mm / s. The extruder can extrude the consumable material at 100 mm / s.

[0051] S200, comparing the first extrusion rate with a preset extrusion rate amplitude, where the preset extrusion rate amplitude is the extrusion rate when the extruder has a resonance effect.

[0052] In the embodiment of the present application, the extrusion rate amplitude of the extruder when the resonance effect occurs is predetermined, that is, the preset extrusion rate amplitude. By comparing the first extrusion rate and the preset extrusion rate amplitude, it is determined whether the extruder may have a resonance effect when the 3D printer executes the first printing command. If the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, it is determined that a resonance effect may occur. At this time, it is necessary to adjust the first extrusion rate and the first extrusion length to suppress or eliminate the resonance effect of the extruder, reduce printing defects and noise, and extend the life of the extruder.

[0053] S300. If the first extrusion rate is greater than or equal to a preset extrusion rate amplitude, obtain a second extrusion rate corresponding to the preset extrusion rate amplitude; use the second extrusion rate to replace the first extrusion rate in the first print command; wherein the second extrusion rate is determined based on an input shaping algorithm according to a resonance frequency range and a damping ratio corresponding to a resonance effect of the extruder.

[0054] In the embodiment of the present application, if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, it means that the extruder may have a resonance effect when the 3D printer executes according to the first print command. At this time, the first extrusion rate is replaced by a second extrusion rate corresponding to a predetermined preset extrusion rate amplitude. The second extrusion rate is determined by an input shaping algorithm, which can suppress or eliminate the resonance effect of the extruder. Therefore, when the extruder runs at the second extrusion rate, printing defects can be reduced, and the life of the extruder can also be extended. The method for determining the second extrusion rate will be described in detail below.

[0055] S400: If the first extrusion rate is less than the preset extrusion rate amplitude, the step of obtaining the second extrusion rate corresponding to the preset extrusion rate amplitude and replacing the first extrusion rate in the first print command with the second extrusion rate is not performed.

[0056] In the embodiment of the present application, if the first extrusion rate is less than the preset extrusion rate amplitude, it is determined that the extruder will not have a resonance effect when the 3D printer executes according to the first printing command, and there is no need to modify the first extrusion rate.

[0057] S500: Using the replaced first printing command, control the 3D printer to run.

[0058] In the embodiment of the present application, the 3D printer is controlled to run according to the replaced first printing command to realize the feeding and withdrawing of the extruder. The method in the embodiment of the present application can realize dynamic control and optimization of the flow rate, and improve the printing quality and accuracy while ensuring that there is no resonance effect.

[0059] In the related art, there are two main methods for flow calibration of 3D printers: one is static flow calibration, that is, by measuring parameters such as consumable diameter, extrusion length and wall thickness before printing, the extruder steps per millimeter (E-steps) and extrusion multiplier (Flow Rate) and other parameters are calculated and set. This static flow calibration can improve printing accuracy, but requires more manual operations and measurement tools, and cannot adapt to different printing conditions and consumable changes. However, the method in the embodiment of the present application can flexibly adapt to the flow requirements according to different printing conditions and consumable changes, avoiding the limitations and inconveniences of the static flow calibration method.

[0060] In some embodiments, in order to adapt to the replaced first extrusion rate, the first extrusion length in the first print command is modified. When executing the first print command, the replaced first extrusion rate and the modified first extrusion length are used to calculate the step value of the extruder, and the step value is used for normal printing extrusion.

[0061] The following describes how to determine the preset extrusion rate amplitude.

[0062] In some embodiments, an acceleration sensor is provided on the extruder, and the extruder is operated by motor control; before the step of comparing the first extrusion rate with the preset extrusion rate amplitude, the method further includes:

[0063] The motor is controlled to run within a preset periodic vibration frequency range, and the acceleration data generated by the acceleration sensor on the x-axis and y-axis when the motor is running is recorded. Figure 2 A schematic diagram of acceleration and time provided according to some embodiments is exemplarily shown.

[0064] In this embodiment, the extruder can use the motor to achieve the feeding and withdrawing of consumables. The preset periodic vibration frequency range includes a plurality of different periodic vibration frequencies, and the periodic vibration frequency refers to the number of times the motor needs to reciprocate in each cycle.

[0065] In order to determine the preset extrusion rate amplitude corresponding to the resonance effect, it is first necessary to make the extruder resonate. At this time, the motor can be operated according to the preset periodic vibration frequency range, so that the extruder can move at different extrusion rates, causing the extruder to resonate, and then the preset extrusion rate amplitude when the extruder resonates can be determined.

[0066] The velocity data is calculated based on the acceleration data. In this embodiment, when the acceleration data, the initial velocity and the time are known, the velocity data can be calculated. Figure 3 A schematic diagram of a speed waveform provided according to some embodiments is exemplarily shown.

[0067] According to the rate data, a first frequency and a rate amplitude corresponding to the first frequency are calculated by Fourier transform, and the maximum rate amplitude is determined as the target rate amplitude. Figure 4 A schematic diagram of a velocity spectrum provided according to some embodiments is exemplarily shown. The velocity spectrum includes a first frequency and a velocity amplitude corresponding to the first frequency.

[0068] In some embodiments, the maximum rate amplitude may be determined as the target rate amplitude by sorting the rate amplitudes corresponding to the first frequency from large to small and taking the rate amplitude ranked first as the target rate amplitude.

[0069] It is determined whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the values ​​of the multiple first frequencies are continuous.

[0070] In this embodiment, in order to avoid using a higher rate amplitude caused by environmental interference as the rate amplitude when the resonance effect occurs, the first frequency corresponding to the target rate amplitude is judged. If the number of first frequencies corresponding to the target rate amplitude is only one, it is judged that the current target rate amplitude is caused by environmental interference. If the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, for example, the continuous here can be understood as assuming that the statistical unit of the first frequency is 1HZ, then the first frequencies corresponding to the target rate amplitude are 50Hz, 51Hz and 52Hz, and the values ​​of the three first frequencies are determined to be continuous. Here, it is necessary to ensure that the number of first frequencies set continuously is not limited here.

[0071] If the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, the target rate amplitude is determined to be a preset extrusion rate amplitude.

[0072] In this embodiment, if the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, it is determined that the current target rate amplitude is not caused by interference such as the environment, but is caused by the resonance effect of the extruder.

[0073] In some embodiments, if the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, the rate amplitude of the next digit is obtained and the rate amplitude of the next digit is used as the target rate amplitude; the step of determining whether the first frequencies corresponding to the target rate amplitude are multiple and continuous is re-executed until the step of determining that the target rate amplitude is a preset extrusion rate amplitude is executed.

[0074] In this embodiment, when the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, it is determined that the current target rate amplitude is caused by interference such as the environment. At this time, the rate amplitude when the resonance effect occurs is continued to be found, that is, the rate amplitude ranked in the second place in numerical value order is continued to be obtained, and the rate amplitude ranked in the second place is used as the target rate amplitude, and the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the values ​​of the multiple first frequencies are continuous is re-executed. If it is multiple and continuous, the rate amplitude ranked in the second place is determined to be the preset extrusion rate amplitude. If it is still not multiple and / or not continuous, the rate amplitude ranked in the third place in numerical value order is continued to be obtained, and the rate auxiliary ranked in the third place is used as the target rate amplitude, and then the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the values ​​of the multiple first frequencies are continuous is re-executed, and so on, until it is found that the first frequencies corresponding to the target rate amplitude are multiple and the multiple first frequencies are continuous, at this time, the target rate amplitude is determined to be the preset extrusion rate amplitude.

[0075] The step of determining the preset extrusion rate amplitude may be completed before the step of comparing the first extrusion rate with the preset extrusion rate amplitude.

[0076] The preset extrusion rate amplitude can be determined by the above method. In the embodiment of the present application, only an acceleration sensor needs to be installed on the extruder, and this simple hardware device can be implemented at a low cost.

[0077] In some embodiments, Figure 5 The flowchart of another 3D printer dynamic flow calibration method provided according to some embodiments is exemplarily shown. The method further includes: S600, according to the acceleration rate data, using Fourier transform to calculate different second frequencies and acceleration rate amplitudes corresponding to the second frequencies;

[0078] S700, analyzing and obtaining a resonance frequency range and a damping ratio according to different second frequencies and acceleration rate amplitudes corresponding to the second frequencies;

[0079] S800: Using the resonance frequency range and the damping ratio as input shaping parameters and using an input shaping algorithm, a second extrusion rate corresponding to a preset extrusion rate amplitude is obtained.

[0080] In the present embodiment, acceleration data is used to calculate an acceleration spectrum through Fourier transform, and the acceleration spectrum includes a second frequency and an acceleration amplitude corresponding to the second frequency. According to the second frequency in the acceleration spectrum and the acceleration amplitude corresponding to the second frequency, a resonant frequency range and a damping ratio are obtained. Then, using the resonant frequency range and the damping ratio, according to the input shaping algorithm, the second extrusion rate corresponding to the preset extrusion rate amplitude is obtained. The above steps are actually calculated to obtain the maximum speed amplitude (i.e., the preset extrusion rate amplitude) and the rate frequency information (the second extrusion rate), which are then substituted into the input shaping algorithm. The input shaping algorithm will obtain suitable shaping data (i.e., the second extrusion rate) according to the calculation result, so as to achieve the vibration suppression under the resonant frequency. Therefore, it is possible to extrude more stably under the demand of higher extrusion flow, and ensure that the extrusion flow can be effectively controlled during high-speed printing.

[0081] In some embodiments, the step of analyzing and obtaining the resonant frequency range according to the second frequency and the acceleration amplitude corresponding to the second frequency includes:

[0082] Determine the maximum acceleration amplitude as the target acceleration amplitude. In some embodiments, the method for determining the maximum acceleration amplitude as the target acceleration amplitude includes sorting the acceleration amplitudes corresponding to the second frequencies from large to small, and taking the acceleration amplitude ranked first as the target acceleration amplitude.

[0083] Determine whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous;

[0084] If there are multiple second frequencies corresponding to the target acceleration amplitude and the values ​​of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude constitute a resonance frequency range.

[0085] In this embodiment, the acceleration amplitudes are sorted, the acceleration amplitude at the first position is obtained and used as the target acceleration amplitude, and it is determined whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous. If it is multiple and continuous, the multiple second frequencies corresponding to the target acceleration amplitude are combined into a resonant frequency range; if it is not multiple and / or not continuous, the next acceleration amplitude is obtained, and the next acceleration amplitude is used as the target acceleration amplitude, and the step of determining whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous is re-executed until the step of combining the multiple second frequencies corresponding to the target acceleration amplitude into a resonant frequency range is executed.

[0086] In some embodiments, the input shaping algorithm includes an input shaping algorithm corresponding to a multiple-zero shaper (Multiple-Zero Input Shaping), an input shaping algorithm corresponding to a zero-velocity shaper (Zero-Velocity input Shaping), an input shaping algorithm corresponding to a zero-velocity double-zero shaper (Zero-Velocity Double-Zero Input Shaping), an input shaping algorithm corresponding to a zero-velocity triple-zero shaper (Zero-Velocity Triple-Zero Input Shaping), an input shaping algorithm corresponding to an exponential input shaping algorithm, or an input shaping algorithm corresponding to an exponential input shaping algorithm.

[0087] Among them, the input shaping algorithm corresponding to the multi-zero shaper uses multiple zero points to suppress vibration. The input shaping algorithm corresponding to the zero-rate shaper uses a zero velocity point to suppress vibration. The input shaping algorithm corresponding to the zero-rate double-zero shaper uses two zero velocity points and two zero points to suppress vibration. The input shaping algorithm corresponding to the zero-rate triple-zero shaper uses three zero velocity points and three zero points to suppress vibration. The input shaping algorithm corresponding to the second-order exponential shaper uses a second-order exponential function to suppress vibration. The input shaping algorithm corresponding to the third-order exponential shaper uses a third-order exponential function to suppress vibration.

[0088] In some embodiments, the step of calculating the velocity data based on the acceleration data includes:

[0089] Performing filtering processing on the acceleration data to obtain processed acceleration data;

[0090] Calculate velocity data based on the processed acceleration data.

[0091] In this embodiment, filtering is performed on the acceleration data to achieve the purpose of noise reduction, so that the calculated velocity data is more consistent with the movement of the extruder.

[0092] In some embodiments, the extruder includes a nozzle, and further includes: adjusting a heating temperature of the nozzle according to the replaced first extrusion rate.

[0093] In an embodiment of the present application, a heater is disposed on the nozzle, and the heating temperature of the nozzle can be controlled by the heater. The change of the first extrusion rate directly affects the fluidity of the consumable. When the first extrusion rate increases, the consumable requires faster fluidity to meet the printing speed. Increasing the heating temperature of the nozzle can increase the fluidity of the consumable, making it easier for the consumable to be extruded from the nozzle. On the contrary, when the first extrusion rate decreases, reducing the heating temperature of the nozzle can slow down the fluidity of the consumable.

[0094] In the above embodiment, a 3D printer dynamic flow calibration method is provided, in which the first extrusion rate in the first print command is compared with the preset extrusion rate amplitude to determine whether a resonance effect will occur during the printing process. When it is found that a resonance effect may occur, the first extrusion rate in the first print command is adjusted to a second extrusion rate determined by the input shaping algorithm, so as to avoid the influence of the resonance effect, reduce printing defects, and improve the printing quality. The method includes: obtaining a first print command, the first print command includes a first extrusion rate of the extruder; comparing the first extrusion rate with the preset extrusion rate amplitude, the preset extrusion rate amplitude is the rate when the extruder has a resonance effect; if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, obtaining a second extrusion rate corresponding to the preset extrusion rate amplitude; replacing the first extrusion rate in the first print command with the second extrusion rate; wherein the second extrusion rate is determined based on the input shaping algorithm according to the resonance frequency range and damping ratio corresponding to the resonance effect of the extruder; and controlling the operation of the 3D printer using the replaced first print command.

[0095] In the embodiment of the present invention, as Figure 1 and Figure 5 The specific implementation of the method shown in the embodiment provides a 3D printer dynamic flow calibration device, Figure 6 The following is a schematic diagram showing a structure of a 3D printer dynamic flow calibration device according to some embodiments. Figure 6 As shown, the device includes an acquisition unit 601, a comparison unit 602, a replacement unit 603 and a control unit 604.

[0096] An acquiring unit, configured to acquire a first printing command, wherein the first printing command includes a first extrusion rate of the extruder;

[0097] A comparison unit, used for comparing the first extrusion rate with a preset extrusion rate amplitude, where the preset extrusion rate amplitude is a rate when the extruder has a resonance effect;

[0098] A replacement unit is used to obtain a second extrusion rate corresponding to the preset extrusion rate amplitude if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude; and replace the first extrusion rate in the first print command with the second extrusion rate; wherein the second extrusion rate is determined based on the input shaping algorithm according to the resonance frequency range and the damping ratio corresponding to the resonance effect of the extruder;

[0099] The control unit is used to control the operation of the 3D printer using the replaced first printing command.

[0100] In some embodiments, an acceleration sensor is provided on the extruder, and the extruder is operated by a motor control; the device further comprises:

[0101] A recording unit, used to control the motor to operate within a preset period vibration frequency range, and to record acceleration rate data generated by the acceleration sensor on the x-axis and y-axis when the motor is running;

[0102] A first calculation unit, used for calculating speed data according to the acceleration rate data;

[0103] A second calculation unit is used to calculate the first frequency and the rate amplitude corresponding to the first frequency by Fourier transform according to the rate data, and determine the maximum rate amplitude as the target rate amplitude;

[0104] The first determining unit is configured to determine that the target rate amplitude is a preset extrusion rate amplitude if the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous.

[0105] In some embodiments, the apparatus further comprises:

[0106] The first re-execution unit is used to obtain the rate amplitude of the next digit if the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, take the rate amplitude of the next digit as the target rate amplitude, and execute the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the values ​​of the multiple first frequencies are continuous, until the step of determining that the target rate amplitude is a preset extrusion rate amplitude is executed.

[0107] In some embodiments, the apparatus further comprises:

[0108] A third calculation unit is used to calculate the second frequency and the acceleration amplitude corresponding to the second frequency by Fourier transform according to the acceleration data;

[0109] An analysis unit, configured to analyze and obtain a resonance frequency range and a damping ratio according to the second frequency and an acceleration rate amplitude corresponding to the second frequency;

[0110] The shaping unit is used for taking the resonance frequency range and the damping ratio as input shaping parameters and using the input shaping algorithm to obtain a second extrusion rate corresponding to a preset extrusion rate amplitude.

[0111] In some embodiments, the analysis unit specifically includes:

[0112] A second determining unit determines the maximum acceleration amplitude as a target acceleration amplitude;

[0113] The composition unit is used to combine the plurality of second frequencies corresponding to the target acceleration amplitude into a resonance frequency range if the number of the second frequencies corresponding to the target acceleration amplitude is multiple and the values ​​of the plurality of second frequencies are continuous.

[0114] In some embodiments, the apparatus further comprises:

[0115] A second re-execution unit is used to obtain the next acceleration amplitude if the number of second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values ​​of the multiple second frequencies are not continuous, and use the next acceleration amplitude as the target acceleration amplitude to execute the step of determining whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous, until executing the step of determining that the multiple second frequencies corresponding to the target acceleration amplitude constitute a resonant frequency range.

[0116] In some embodiments, the first computing unit specifically includes:

[0117] A filtering processing unit, used for filtering the acceleration rate data to obtain processed acceleration rate data;

[0118] The fourth calculation unit is used to calculate the speed data according to the processed acceleration rate data.

[0119] An embodiment of the present invention further provides a 3D printer, comprising:

[0120] Processor; and

[0121] A memory is arranged to store computer executable instructions, which when executed cause a processor to perform a 3D printer dynamic flow calibration method.

[0122] An embodiment of the present invention also provides a computer-readable storage medium storing one or more programs, which, when executed by a 3D printer including a plurality of application programs, enable a 3D printer dynamic flow calibration method.

[0123] In an embodiment of the present invention, a 3D printer includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the following is achieved: Figure 1 and Figure 5 The 3D printer dynamic flow calibration method shown.

[0124] It should be noted that for other corresponding descriptions of the functional units involved in the 3D printer and the 3D printer dynamic flow calibration device provided in this embodiment, reference can be made to Figure 1 and Figure 5 The corresponding descriptions in all the above contents in the specification of the present invention will not be repeated here.

[0125] Based on the above Figure 1 and Figure 5 The method shown in the embodiment also provides a storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned Figure 1 and Figure 5 The 3D printer dynamic flow calibration method shown.

[0126] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product. The software product to be identified can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a 3D printer (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0127] Based on the above Figure 1 and Figure 5 The method shown, and Figure 6 The embodiment of the 3D printer dynamic flow calibration device shown in the figure, in order to achieve the above purpose, this embodiment also provides a 3D printer dynamic flow calibration entity device, which can be a personal computer, a server, a smart phone, a tablet computer, a smart watch, or other network devices, etc., and the entity device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above Figure 1 and Figure 5 The method shown.

[0128] The physical device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0129] Those skilled in the art will appreciate that the 3D printer dynamic flow calibration physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different component arrangements.

[0130] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware of the physical device and the software resources to be identified, and supports the operation of the information processing program and other software and / or programs to be identified. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0131] The present application also provides the following embodiments:

[0132] Embodiment 1: A 3D printer dynamic flow calibration method, the 3D printer includes an extruder; the method includes:

[0133] Obtaining a first printing command, where the first printing command includes a first extrusion rate of the extruder;

[0134] comparing the first extrusion rate with a preset extrusion rate amplitude, wherein the preset extrusion rate amplitude is a rate when the extruder has a resonance effect;

[0135] If the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, obtain a second extrusion rate corresponding to the preset extrusion rate amplitude; use the second extrusion rate to replace the first extrusion rate in the first print command; wherein the second extrusion rate is determined based on the input shaping algorithm according to the resonance frequency range and damping ratio corresponding to the resonance effect of the extruder;

[0136] The 3D printer is controlled to run using the replaced first printing command.

[0137] Embodiment 2: According to the 3D printer dynamic flow calibration method of embodiment 1, an acceleration sensor is provided on the extruder, and the extruder is operated by a motor control; the method further comprises:

[0138] Control the motor to run within a preset periodic vibration frequency range, and record the acceleration rate data generated by the acceleration sensor on the x-axis and y-axis when the motor is running;

[0139] Calculate the velocity data based on the acceleration rate data;

[0140] According to the rate data, a first frequency and a rate amplitude corresponding to the first frequency are calculated by Fourier transform, and the maximum rate amplitude is determined as a target rate amplitude;

[0141] If the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, the target rate amplitude is determined to be a preset extrusion rate amplitude.

[0142] Embodiment 3: The 3D printer dynamic flow calibration method according to embodiment 2 further includes:

[0143] If the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, obtain the rate amplitude of the next digit, take the rate amplitude of the next digit as the target rate amplitude, and execute the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the multiple first frequencies are continuous, until the step of determining that the target rate amplitude is the preset extrusion rate amplitude is executed.

[0144] Embodiment 4: According to the 3D printer dynamic flow calibration method of embodiment 2, the method further includes:

[0145] According to the acceleration rate data, a second frequency and an acceleration rate amplitude corresponding to the second frequency are calculated by Fourier transform;

[0146] According to the second frequency and the acceleration rate amplitude corresponding to the second frequency, a resonance frequency range and a damping ratio are obtained by analysis;

[0147] The resonance frequency range and the damping ratio are used as input shaping parameters, and an input shaping algorithm is used to obtain a second extrusion rate corresponding to a preset extrusion rate amplitude.

[0148] Embodiment 5: According to the 3D printer dynamic flow calibration method of embodiment 4,

[0149] The step of analyzing and obtaining the resonance frequency range according to the second frequency and the acceleration amplitude corresponding to the second frequency comprises:

[0150] Determine the maximum acceleration amplitude as the target acceleration amplitude;

[0151] If there are multiple second frequencies corresponding to the target acceleration amplitude and the values ​​of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude are grouped into a resonance frequency range.

[0152] Embodiment 6: The 3D printer dynamic flow calibration method according to embodiment 5 further includes:

[0153] If the number of second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values ​​of the multiple second frequencies are not continuous, obtain the next acceleration amplitude, take the next acceleration amplitude as the target acceleration amplitude, and execute the step of determining whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous, until the step of determining that the multiple second frequencies corresponding to the target acceleration amplitude constitute a resonant frequency range is executed.

[0154] Embodiment 7, according to the 3D printer dynamic flow calibration method of embodiment 4, the input shaping algorithm includes the input shaping algorithm corresponding to the multi-zero shaper, the input shaping algorithm corresponding to the zero-rate shaper, the input shaping algorithm corresponding to the zero-rate double-zero shaper, the input shaping algorithm corresponding to the zero-rate triple-zero shaper, the input shaping algorithm corresponding to the second-order exponential shaper or the input shaping algorithm corresponding to the third-order exponential shaper.

[0155] Embodiment 8: According to the 3D printer dynamic flow calibration method of embodiment 2, the step of calculating the rate data according to the acceleration rate data includes:

[0156] Performing filtering processing on the acceleration rate data to obtain processed acceleration rate data;

[0157] Calculate the velocity data based on the processed acceleration rate data.

[0158] Embodiment 9: According to the 3D printer dynamic flow calibration method of embodiment 1, the extruder includes a nozzle, and further includes: adjusting the temperature of the nozzle according to the first extrusion rate after replacement

[0159] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform, or by hardware. By comparing the first extrusion rate in the first print command and the preset extrusion rate amplitude, it is determined whether a resonance effect will occur during the printing process. When it is found that a resonance effect may occur, the first extrusion rate in the first print command is adjusted to a second extrusion rate determined by an input shaping algorithm. This can avoid the influence of the resonance effect, reduce printing defects, and improve printing quality. The above serial numbers of this application are only for description and do not represent the advantages and disadvantages of the implementation scenarios. The above discloses only several specific implementation scenarios of the present application, but the present application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the scope of protection of the present application.

Claims

1. A 3D printer dynamic flow calibration method, characterized in that: The 3D printer includes an extruder; the method includes: Acquire a first printing command, wherein the first printing command includes a first extrusion rate of the extruder; comparing the first extrusion rate with a preset extrusion rate amplitude, wherein the preset extrusion rate amplitude is a rate when the extruder has a resonance effect; If the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, obtain a second extrusion rate corresponding to the preset extrusion rate amplitude; and replace the first extrusion rate in the first print command with the second extrusion rate; wherein the second extrusion rate is determined based on an input shaping algorithm according to a resonance frequency range and a damping ratio corresponding to a resonance effect of the extruder; The replaced first printing command is used to control the operation of the 3D printer.

2. The 3D printer dynamic flow calibration method according to claim 1, characterized in that: The extruder is provided with an acceleration sensor, and the extruder is operated by a motor control; the method further comprises: Controlling the motor to operate within the preset periodic vibration frequency range, and recording acceleration rate data generated by the acceleration sensor on the x-axis and y-axis when the motor is running; Calculating velocity data according to the acceleration rate data; According to the rate data, a first frequency and a rate amplitude corresponding to the first frequency are calculated by Fourier transform, and a maximum rate amplitude is determined as a target rate amplitude; If the number of first frequencies corresponding to the target rate amplitude is multiple and the values ​​of the multiple first frequencies are continuous, the target rate amplitude is determined to be a preset extrusion rate amplitude.

3. The 3D printer dynamic flow calibration method according to claim 2, characterized in that: Also includes: If the number of first frequencies corresponding to the target rate amplitude is not multiple and / or the values ​​of the multiple first frequencies are not continuous, obtain the rate amplitude of the next digit, take the rate amplitude of the next digit as the target rate amplitude, and execute the step of determining whether the number of first frequencies corresponding to the target rate amplitude is multiple and whether the multiple first frequencies are continuous, until executing the step of determining that the target rate amplitude is the preset extrusion rate amplitude.

4. The 3D printer dynamic flow calibration method according to claim 2, characterized in that: The method further comprises: According to the acceleration rate data, a second frequency and an acceleration rate amplitude corresponding to the second frequency are calculated by Fourier transform; Analyze and obtain a resonance frequency range and a damping ratio according to the second frequency and the acceleration rate amplitude corresponding to the second frequency; The resonant frequency range and the damping ratio are used as input shaping parameters, and an input shaping algorithm is used to obtain a second extrusion rate corresponding to the preset extrusion rate amplitude.

5. The 3D printer dynamic flow calibration method according to claim 4, characterized in that: The step of analyzing and obtaining a resonance frequency range according to the second frequency and the acceleration amplitude corresponding to the second frequency comprises: Determine the maximum acceleration amplitude as the target acceleration amplitude; If there are multiple second frequencies corresponding to the target acceleration amplitude and the values ​​of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude are grouped into a resonance frequency range.

6. The 3D printer dynamic flow calibration method according to claim 5, characterized in that: Also includes: If the number of second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values ​​of the multiple second frequencies are not continuous, obtain the next acceleration amplitude, take the next acceleration amplitude as the target acceleration amplitude, and execute the step of determining whether the number of second frequencies corresponding to the target acceleration amplitude is multiple and whether the values ​​of the multiple second frequencies are continuous, until executing the step of determining that the multiple second frequencies corresponding to the target acceleration amplitude constitute a resonant frequency range.

7. The 3D printer dynamic flow calibration method according to claim 4, characterized in that: The input shaping algorithm includes an input shaping algorithm corresponding to a multi-zero shaper, an input shaping algorithm corresponding to a zero-rate shaper, an input shaping algorithm corresponding to a zero-rate double-zero shaper, an input shaping algorithm corresponding to a zero-rate triple-zero shaper, an input shaping algorithm corresponding to a second-order exponential shaper, or an input shaping algorithm corresponding to a third-order exponential shaper.

8. The 3D printer dynamic flow calibration method according to claim 2, characterized in that: The step of calculating the speed data according to the acceleration rate data comprises: Performing filtering processing on the acceleration rate data to obtain processed acceleration rate data; The velocity data is calculated based on the processed acceleration rate data.

9. A 3D printer, comprising: processor; as well as A memory arranged to store computer executable instructions, characterized in that when the executable instructions are executed, the processor executes the 3D printer dynamic flow calibration method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing one or more programs, characterized in that: When the one or more programs are executed by a 3D printer comprising a plurality of application programs, the 3D printer executes the 3D printer dynamic flow calibration method according to any one of claims 1 to 8.

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