3D printer dynamic flow calibration method, storage medium and 3D printer

Abstract

Disclosed in some embodiments of the present application is a 3D printer dynamic flow calibration method, a storage medium and a 3D printer. In the method, the first extrusion rate in the first printing command is compared with the preset extrusion rate amplitude to determine whether resonance effect will occur in the printing process. When it is found that resonance effect is likely to occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by using an input shaping algorithm, so that the influence of resonance effect can be avoided, printing defects can be reduced, and printing quality can be improved. The method comprises the following steps: obtaining a first printing command; comparing the first extrusion rate with the preset extrusion rate amplitude; 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 printing 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

[0002] A 3D printer is a device that can convert a digital model into a physical object. It forms the desired shape by layering consumables on the printing platform through an extruder. The printing quality and accuracy of the 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 of time, which determines the thickness and density of the printing layer. If the flow is too large or too small, it will cause printing defects such as layer gap, layer separation, stringing, bulging, sagging, etc. The inventors have found that the cause of affecting the flow of the extruder in the 3D printer is partly due to the resonance effect occurring when the extruder is running. 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 of the extruder to eliminate the influence of the resonance effect has become a technical problem to be solved by those skilled in the art. SUMMARY

[0004] The present application provides a 3D printer dynamic flow calibration method, a storage medium and a 3D printer. In the method, the first extrusion rate in the first printing command is compared with the preset extrusion rate amplitude to determine whether the resonance effect will occur during printing. When it is found that the resonance effect may occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by the input shaping algorithm. This can avoid the influence of the resonance effect, reduce printing defects, and improve printing quality.

[0005] In a first aspect, the embodiments of the present application provide a 3D printer dynamic flow calibration method. The 3D printer includes an extruder. The method includes:

[0006] Obtaining a first printing command, the first printing command including a first extrusion rate of the extruder;

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

[0008] 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 printing 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 the resonance effect occurring in the extruder;

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

[0010] In some embodiments, an acceleration sensor is arranged on the extruder, and the extruder is controlled to operate by using a motor; the method further comprises:

[0011] The motor is controlled to operate according to a preset periodic vibration frequency range, and acceleration rate data generated by the acceleration sensor on the x-axis and the y-axis when the motor operates is recorded;

[0012] According to the acceleration rate data, rate data is calculated;

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

[0014] If the number of the 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 target rate amplitude is a preset extrusion rate amplitude.

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

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

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

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

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

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

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

[0022] The maximum acceleration amplitude is determined as a target acceleration amplitude;

[0023] If the number of the second frequencies corresponding to the target acceleration amplitude is multiple and the values of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude form a resonance frequency range.

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

[0025] If the number of the second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values of the multiple second frequencies are not continuous, the next bit of the acceleration amplitude is obtained, the next bit of the acceleration amplitude is taken as the target acceleration amplitude, the step of judging whether the number of the second frequencies corresponding to the target acceleration amplitude is multiple and whether the values of the multiple second frequencies are continuous is executed, until the step of forming a resonance frequency range by the multiple second frequencies corresponding to the target acceleration amplitude is executed.

[0026] In some embodiments, the input shaping algorithm comprises an input shaping algorithm corresponding to a multiple-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 rate data according to the acceleration rate data comprises:

[0028] The acceleration rate data is filtered to obtain processed acceleration rate data;

[0029] The rate data is calculated according to the processed acceleration rate data.

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

[0031] In a second aspect, the embodiments of the present application further provide a 3D printer, comprising:

[0032] a processor; and

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

[0034] In a third aspect, the embodiments of the present application further provide a computer readable storage medium storing one or more programs, which when executed by a 3D printer comprising a plurality of application programs, cause the 3D printer to perform the 3D printer dynamic flow calibration method.

[0035] In the above embodiment, the 3D printer dynamic flow calibration method, storage medium and 3D printer are provided. In the method, the first extrusion rate in the first printing command is compared with the preset extrusion rate amplitude value to determine whether the resonance effect will occur in the printing process. When it is found that the resonance effect is likely to occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by using the input shaping algorithm. In this way, the influence of the resonance effect can be avoided, the printing defects can be reduced, and the printing quality can be improved. The method comprises the following steps: obtaining a first printing command, the first printing command comprising a first extrusion rate of an extruder; comparing the first extrusion rate with a preset extrusion rate amplitude value, the preset extrusion rate amplitude value being a rate at which the extruder occurs the resonance effect; if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude value, obtaining a second extrusion rate corresponding to the preset extrusion rate amplitude value; replacing the first extrusion rate in the first printing command with the second extrusion rate; wherein the second extrusion rate is determined based on the input shaping algorithm according to the corresponding resonance frequency range and damping ratio at which the extruder occurs the resonance effect; and using the replaced first printing command to control the 3D printer to operate. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 An exemplary flow chart of a 3D printer dynamic flow calibration method according to some embodiments is shown;

[0037] Figure 2 An exemplary diagram of acceleration and time according to some embodiments is shown;

[0038] Figure 3 An exemplary diagram of a speed waveform according to some embodiments is shown;

[0039] Figure 4 An exemplary diagram of a speed spectrum according to some embodiments is shown;

[0040] Figure 5 An exemplary flow chart of another 3D printer dynamic flow calibration method according to some embodiments is shown;

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

[0042] In order to make the purpose and implementation of the present application more clear, the exemplary embodiments of the present application will be described clearly and completely in combination with the drawings of the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only some of the embodiments of the present application, but not all the embodiments.

[0043] It should be noted that the brief description of the terms in this application is only for the convenience of understanding the implementation described next, and is not intended to limit the implementation of the application. Unless otherwise stated, these terms should be understood in accordance with their ordinary and general meanings.

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

[0045] The terms "include" and "have" and any variations thereof are intended to cover but not exclusive inclusion, for example, a product or device including a series of components does not have to be limited to all components clearly listed, but can include other components not clearly listed or inherent to these products or devices.

[0046] 3D printer is a device that can convert digital model into physical object, through extruder to stack consumables on the printing platform layer by layer, forming the required shape. The printing quality and accuracy of 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 printing layer. If the flow is too large or too small, it will cause printing defects, such as layer gap, layer separation, stringing, bulging, sagging, etc. The inventor found that the reason affecting the flow of the extruder in the 3D printer is that the extruder resonates when it is running. Once the resonance effect occurs, the positioning accuracy of the extruder will be reduced, making it difficult to control the flow. Therefore, how to adjust the flow of the extruder to eliminate the influence of the resonance effect has become a technical problem to be solved by those skilled in the art.

[0047] In order to solve the above technical problems, the embodiment of the application provides a 3D printer dynamic flow calibration method, in which the first extrusion rate in the first printing command is compared with the preset extrusion rate amplitude to determine whether resonance effect will occur during printing. When it is found that resonance effect may occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by using the input shaping algorithm, so that the influence of resonance effect can be avoided, the printing defects can be reduced, and the printing quality can be improved.

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

[0049] S100, obtaining a first printing command, the first printing command including a first extrusion rate of the extruder.

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

[0051] S200, compare the first extrusion rate with a preset extrusion rate amplitude, the preset extrusion rate amplitude being an extrusion rate when the extruder has a resonance effect.

[0052] In the embodiments of the present application, the extrusion rate amplitude of the extruder when the resonance effect occurs is determined in advance, that is, the preset extrusion rate amplitude. By comparing the first extrusion rate with the preset extrusion rate amplitude, it is determined whether the extruder is likely to 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 the resonance effect is likely to occur. At this time, the first extrusion rate and the first extrusion length need to be adjusted to suppress or eliminate the resonance effect of the extruder, reduce printing defects and noise, and prolong the service life of the extruder.

[0053] S300, if the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, a second extrusion rate corresponding to the preset extrusion rate amplitude is obtained; the first extrusion rate in the first printing command is replaced by the second extrusion rate; wherein the second extrusion rate is determined based on an input shaping algorithm according to a corresponding resonance frequency range and a damping ratio when the extruder has a resonance effect.

[0054] In the embodiments 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 is likely to have a resonance effect when the 3D printer executes the first printing command. At this time, the first extrusion rate is replaced by the second extrusion rate corresponding to the preset extrusion rate amplitude determined in advance. The second extrusion rate is determined by using the input shaping algorithm, which can suppress or eliminate the resonance effect of the extruder. Therefore, when the extruder operates at the second extrusion rate, printing defects can be reduced, and the service life of the extruder can be prolonged. The determination method of the second extrusion rate will be described below.

[0055] S400, if the first extrusion rate is less than the preset extrusion rate amplitude, the steps of obtaining the second extrusion rate corresponding to the preset extrusion rate amplitude and replacing the first extrusion rate in the first printing command with the second extrusion rate are not performed.

[0056] In the embodiments 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 the first printing command. Therefore, the first extrusion rate does not need to be modified.

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

[0058] In the embodiments 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 embodiments of the present application can realize dynamic control and optimization of the flow, improve the printing quality and precision while ensuring that the resonance effect does not occur.

[0059] In the related art, there are mainly two methods for flow calibration of the 3D printer: one is static flow calibration, that is, before printing, the parameters such as the diameter of the consumables, the extrusion length and the wall thickness are measured, and the parameters such as the E-steps and the flow rate of the extruder are calculated and set. This static flow calibration can improve the printing precision, but it requires more manual operation and measurement tools, and cannot adapt to different printing conditions and changes in consumables, but the method in the embodiments of the present application can flexibly adapt to the flow requirements according to different printing conditions and changes in consumables, avoiding the limitations and inconvenience 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 printing command is modified. The step value of the extruder is calculated by using the replaced first extrusion rate and the modified first extrusion length when executing the first printing command, and normal printing extrusion is performed by using the step value.

[0061] The determination method of the preset extrusion rate amplitude value is introduced below.

[0062] In some embodiments, an acceleration sensor is arranged on the extruder, and the extruder runs by using a motor; before the step of comparing the first extrusion rate with the preset extrusion rate amplitude value, the method further comprises:

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

[0064] In the embodiments, the feeding and withdrawing of the consumables can be realized by using the motor of the extruder. 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 of reciprocating movement of the motor per period.

[0065] In order to determine the preset extrusion rate amplitude corresponding to the resonance effect, the extruder needs to be resonated first, and the motor can be operated at a preset periodic vibration frequency range, so that the extruder can move at different extrusion rates to make the extruder resonate, and then the preset extrusion rate amplitude when the extruder resonates can be determined.

[0066] According to the acceleration data, the speed data is calculated. In this embodiment, when the acceleration data, the initial speed and the time are known, the speed data can be calculated. Figure 3 An exemplary schematic diagram of a speed waveform provided according to some embodiments is shown.

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

[0068] In some embodiments, the way to determine the maximum speed amplitude as the target speed amplitude can be to sort the speed amplitudes corresponding to the first frequencies from large to small, and the speed amplitude ranked first is taken as the target speed amplitude.

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

[0070] In this embodiment, in order to avoid that a certain higher speed amplitude caused by environmental interference is taken as the speed amplitude when the resonance effect occurs, the first frequencies corresponding to the target speed amplitude are judged. If the number of the first frequencies corresponding to the target speed amplitude is only one, it is judged that the current target speed amplitude is caused by environmental interference. If the number of the first frequencies corresponding to the target speed 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, and the first frequencies corresponding to the target speed amplitude are 50HZ, 51HZ and 52HZ, and the values of the three first frequencies are determined to be continuous. Here, the number of the first frequencies arranged continuously is not limited.

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

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

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

[0074] In the embodiment, if the number of the first frequencies corresponding to the target rate amplitude value is not multiple and / or the values of the multiple first frequencies are not continuous, it is determined that the current target rate amplitude value is caused by the interference situation such as environment, and at this time, the rate amplitude value when the resonance effect occurs is continuously searched for, that is, the rate amplitude value ranked in the second place in the value size is continuously obtained, the rate amplitude value ranked in the second place is taken as the target rate amplitude value, and the step of determining whether the number of the first frequencies corresponding to the target rate amplitude value is multiple and the values of the multiple first frequencies are continuous is re-executed. If it is multiple and continuous, it is determined that the rate amplitude value ranked in the second place is the preset extrusion rate amplitude value. If it is still not multiple and / or not continuous, the rate amplitude value ranked in the third place in the value size is continuously obtained, the rate amplitude value ranked in the third place is taken as the target rate amplitude value, and then the step of determining whether the number of the first frequencies corresponding to the target rate amplitude value is multiple and the values of the multiple first frequencies are continuous is re-executed. In this way, until the first frequencies corresponding to the target rate amplitude value are multiple and the multiple first frequencies are continuous, the target rate amplitude value is determined as the preset extrusion rate amplitude value.

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

[0076] The preset extrusion rate amplitude value can be determined in the above manner. In the embodiment, only an acceleration sensor needs to be installed on the extruder, which can be implemented by using a simple hardware device and has low cost.

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

[0078] S700, analyze the resonance frequency range and the damping ratio according to the different second frequencies and the acceleration amplitude values corresponding to the second frequencies;

[0079] S800, obtain the second extrusion rate corresponding to the preset extrusion rate amplitude by using the input shaping algorithm with the resonance frequency range and the damping ratio as input shaping parameters.

[0080] In this embodiment, the acceleration spectrum is calculated by Fourier transform using the acceleration data, and the acceleration spectrum includes the second frequencies and the acceleration amplitude values corresponding to the second frequencies. The resonance frequency range and the damping ratio are obtained according to the second frequencies and the acceleration amplitude values corresponding to the second frequencies in the acceleration spectrum. Then, the second extrusion rate corresponding to the preset extrusion rate amplitude is obtained according to the input shaping algorithm using the resonance frequency range and the damping ratio. The above steps actually calculate the maximum speed amplitude (i.e., the preset extrusion rate amplitude) and the rate frequency information (the second extrusion rate), and then substitute them into the input shaping algorithm. The input shaping algorithm will obtain appropriate shaping data (i.e., the second extrusion rate) according to the calculation results to suppress the vibration at the resonance frequency. Therefore, the extrusion can be more stable under the demand of higher extrusion flow, and the extrusion flow can be effectively controlled during high-speed printing.

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

[0082] The maximum acceleration amplitude value is determined as the target acceleration amplitude value. In some embodiments, the method of determining the maximum acceleration amplitude value as the target acceleration amplitude value includes sorting the acceleration amplitude values corresponding to the second frequencies from large to small, and taking the acceleration amplitude value ranked first as the target acceleration amplitude value.

[0083] It is judged whether the number of the second frequencies corresponding to the target acceleration amplitude value is multiple and the values of the multiple second frequencies are continuous or not.

[0084] If the number of the second frequencies corresponding to the target acceleration amplitude value is multiple and the values of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude value form the resonance frequency range.

[0085] In the embodiment, the acceleration amplitudes are sorted, the first acceleration amplitude is obtained, and the first acceleration amplitude is taken as a target acceleration amplitude. 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 the number of second frequencies corresponding to the target acceleration amplitude is multiple and the values of the multiple second frequencies are continuous, the multiple second frequencies corresponding to the target acceleration amplitude are taken as a resonance frequency range. 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, the next acceleration amplitude is obtained, the next acceleration amplitude is taken as a 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 taking the multiple second frequencies corresponding to the target acceleration amplitude as a resonance frequency range is executed.

[0086] In some embodiments, the input shaping algorithm includes a multiple-zero input shaping algorithm, a zero-velocity input shaping algorithm, a zero-velocity double-zero input shaping algorithm, a zero-velocity triple-zero input shaping algorithm, a second-order exponential input shaping algorithm, or a third-order exponential input shaping algorithm.

[0087] The multiple-zero input shaping algorithm uses multiple zero points to suppress vibration. The zero-velocity input shaping algorithm uses a zero-velocity point to suppress vibration. The zero-velocity double-zero input shaping algorithm uses two zero-velocity points and two zero points to suppress vibration. The zero-velocity triple-zero input shaping algorithm uses three zero-velocity points and three zero points to suppress vibration. The second-order exponential input shaping algorithm uses a second-order exponential function to suppress vibration. The third-order exponential input shaping algorithm uses a third-order exponential function to suppress vibration.

[0088] In some embodiments, the step of calculating the rate data according to the acceleration data includes:

[0089] The acceleration data is filtered to obtain processed acceleration data.

[0090] The rate data is calculated according to the processed acceleration data.

[0091] In the embodiment, filtering the acceleration data can achieve the purpose of noise reduction, so that the calculated rate data is more consistent with the motion of the extruder.

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

[0093] In the embodiment, the heater is arranged 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 flowability of the consumable. When the first extrusion rate is increased, the consumable needs faster flowability to meet the printing speed. Increasing the heating temperature of the nozzle can increase the flowability of the consumable, so that the consumable is more easily extruded from the nozzle. Conversely, when the first extrusion rate is reduced, reducing the heating temperature of the nozzle can slow down the flowability of the consumable.

[0094] In the above embodiment, a 3D printer dynamic flow calibration method is provided. In the method, the first extrusion rate in the first printing command is compared with the preset extrusion rate amplitude to determine whether the resonance effect will occur in the printing process. When it is found that the resonance effect is likely to occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by the input shaping algorithm, so that the influence of the resonance effect can be avoided, the printing defects can be reduced, and the printing quality can be improved. The method comprises: obtaining a first printing command, the first printing command comprising a first extrusion rate of an extruder; comparing the first extrusion rate with a preset extrusion rate amplitude, the preset extrusion rate amplitude being a rate at which the extruder occurs 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 printing command with the second extrusion rate; wherein the second extrusion rate is determined based on the input shaping algorithm according to a corresponding resonance frequency range and a damping ratio at which the extruder occurs resonance effect; and controlling the 3D printer to operate by using the first printing command after the replacement.

[0095] In the embodiment of the application, as Figure 1 and Figure 5 The embodiment provides a 3D printer dynamic flow calibration device, Figure 6 An exemplary structural diagram of a 3D printer dynamic flow calibration device according to some embodiments is shown. As Figure 6 shown, the device comprises an acquisition unit 601, a comparison unit 602, a replacement unit 603 and a control unit 604.

[0096] The acquisition unit is configured to acquire a first printing command, the first printing command comprising a first extrusion rate of an extruder.

[0097] a comparison unit configured to compare the first extrusion rate with a preset extrusion rate amplitude, the preset extrusion rate amplitude being a rate at which the resonance effect occurs in the extruder;

[0098] a replacement unit configured to, 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 corresponding resonance frequency range and a damping ratio at which the resonance effect occurs in the extruder;

[0099] a control unit configured to control the 3D printer to operate by using the first print command after the replacement.

[0100] In some embodiments, the extruder is provided with an acceleration sensor and operates by using a motor; the device further comprises:

[0101] a recording unit configured to control the motor to operate at a preset periodic vibration frequency range, and record acceleration rate data generated by the acceleration sensor on the x-axis and the y-axis when the motor operates;

[0102] a first calculation unit configured to calculate rate data according to the acceleration rate data;

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

[0104] a first determination unit configured to, if the number of the first frequencies corresponding to the target rate amplitude is a plurality and the values of the plurality of first frequencies are continuous, determine that the target rate amplitude is the preset extrusion rate amplitude.

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

[0106] a first re-execution unit configured to, if the number of the first frequencies corresponding to the target rate amplitude is not a plurality and / or the values of the plurality of first frequencies are not continuous, obtain a next rate amplitude, take the next rate amplitude as the target rate amplitude, and perform the steps of determining whether the number of the first frequencies corresponding to the target rate amplitude is a plurality and whether the values of the plurality of first frequencies are continuous until the step of determining that the target rate amplitude is the preset extrusion rate amplitude is performed.

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

[0108] a third calculation unit configured to calculate a second frequency and an acceleration rate amplitude corresponding to the second frequency by using Fourier transform according to the acceleration rate data;

[0109] The analysis unit is configured to analyze the resonance frequency range and the damping ratio according to the second frequency and the acceleration amplitude corresponding to the second frequency.

[0110] The shaping unit is configured to shape the resonance frequency range and the damping ratio as input shaping parameters, and obtain the second extrusion rate corresponding to the preset extrusion rate amplitude by using an input shaping algorithm.

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

[0112] The second determination unit is configured to determine the maximum acceleration amplitude as the target acceleration amplitude.

[0113] The composition unit is configured to, if the number of the second frequencies corresponding to the target acceleration amplitude is multiple and the values of the multiple second frequencies are continuous, compose the multiple second frequencies corresponding to the target acceleration amplitude as the resonance frequency range.

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

[0115] The second re-execution unit is configured to, if the number of the second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values of the multiple second frequencies are not continuous, acquire the next acceleration amplitude, take the next acceleration amplitude as the target acceleration amplitude, execute the step of determining whether the number of the 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 composing the multiple second frequencies corresponding to the target acceleration amplitude as the resonance frequency range is executed.

[0116] In some embodiments, the first calculation unit specifically comprises:

[0117] The filtering processing unit is configured to perform filtering processing on the acceleration rate data to obtain processed acceleration rate data.

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

[0119] Embodiments of the present application also provide a 3D printer, comprising:

[0120] a processor; and

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

[0122] Embodiments of the present application also provide a computer-readable storage medium storing one or more programs that, when executed by a 3D printer comprising a plurality of application programs, cause the 3D printer to perform the 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 executed by the processor, the computer program implements the following... Figure 1 and Figure 5 The method for dynamic flow calibration of 3D printers is shown.

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

[0125] Based on the above, Figure 1 and Figure 5 Accordingly, this embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the above-described method. Figure 1 and Figure 5 The method for dynamic flow calibration of 3D printers is shown.

[0126] Based on this understanding, the technical solution of this 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 (such as a CD-ROM, USB flash drive, or portable hard drive), including several instructions to enable a 3D printer (such as a personal computer, server, or network device) to execute the methods of various implementation scenarios of this application.

[0127] Based on the above, Figure 1 and Figure 5 The method shown, and Figure 6 The illustrated embodiment of the 3D printer dynamic flow calibration device, in order to achieve the above objectives, also provides a physical device for calibrating the dynamic flow of a 3D printer. Specifically, this physical device can be a personal computer, server, smartphone, tablet computer, smartwatch, or other network device, etc. The physical 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-described... Figure 1 and Figure 5 The method shown.

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

[0129] Those skilled in the art can understand that the structure of the 3D printer dynamic flow calibration entity device provided in the embodiment does not constitute a limitation on the entity device, and can include more or fewer components, or combine certain components, or different component arrangements.

[0130] The storage medium can further include an operating system and a network communication module. The operating system is a program for managing the hardware of the entity device and the to-be-identified software resources, supporting the running of information processing programs and other to-be-identified software and / or programs. The network communication module is used to realize communication between the components in the storage medium and communication with other hardware and software in the information processing entity device.

[0131] The application also provides the following embodiments:

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

[0133] obtaining a first printing command, the first printing command comprising a first extrusion rate of the extruder;

[0134] comparing the first extrusion rate with a preset extrusion rate amplitude, the preset extrusion rate amplitude being a rate at which the extruder generates a resonance effect;

[0135] 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 printing 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 the resonance effect of the extruder;

[0136] controlling the 3D printer to run by using the replaced first printing command.

[0137] Embodiment 2: The 3D printer dynamic flow calibration method according to Embodiment 1, the extruder being provided with an acceleration sensor and controlled to run by using a motor; the method further comprising:

[0138] controlling the motor to run at a 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 runs;

[0139] calculating the rate data according to the acceleration rate data;

[0140] calculating a first frequency and a rate amplitude corresponding to the first frequency by using a Fourier transform according to the rate data, and determining a maximum rate amplitude as a target rate amplitude;

[0141] if the number of the first frequencies corresponding to the target rate amplitude is multiple and the values of the multiple first frequencies are continuous, determining that the target rate amplitude is a preset extrusion rate amplitude.

[0142] Embodiment 3, the 3D printer dynamic flow calibration method according to Embodiment 2, further comprising:

[0143] if the number of the first frequencies corresponding to the target rate amplitude is not multiple and / or the values of the multiple first frequencies are not continuous, obtaining a next rate amplitude, taking the next rate amplitude as the target rate amplitude, executing the step of determining whether the number of the first frequencies corresponding to the target rate amplitude is multiple and 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, the 3D printer dynamic flow calibration method according to Embodiment 2, the method further comprising:

[0145] calculating a second frequency and an acceleration amplitude corresponding to the second frequency by using a Fourier transform according to the acceleration rate data;

[0146] analyzing a resonance frequency range and a damping ratio according to the second frequency and the acceleration amplitude corresponding to the second frequency;

[0147] taking the resonance frequency range and the damping ratio as input shaping parameters, and obtaining a second extrusion rate corresponding to the preset extrusion rate amplitude by using an input shaping algorithm.

[0148] Embodiment 5, the 3D printer dynamic flow calibration method according to Embodiment 4,

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

[0150] determining a maximum acceleration amplitude as a target acceleration amplitude;

[0151] if the number of the second frequencies corresponding to the target acceleration amplitude is multiple and the values of the multiple second frequencies are continuous, composing a resonance frequency range by using the multiple second frequencies corresponding to the target acceleration amplitude.

[0152] Embodiment 6, the 3D printer dynamic flow calibration method according to Embodiment 5, further comprising:

[0153] If the number of the second frequencies corresponding to the target acceleration amplitude is not multiple and / or the values of the multiple second frequencies are not continuous, the next bit of the acceleration amplitude is obtained, the next bit of the acceleration amplitude is taken as the target acceleration amplitude, the step of judging whether the number of the second frequencies corresponding to the target acceleration amplitude is multiple and the values of the multiple second frequencies are continuous is executed, and the step of executing the multiple second frequencies corresponding to the target acceleration amplitude to form the resonance frequency range is executed until the step of executing the multiple second frequencies corresponding to the target acceleration amplitude to form the resonance frequency range is executed.

[0154] Embodiment 7, the 3D printer dynamic flow calibration method according to Embodiment 4, the input shaping algorithm includes an input shaping algorithm corresponding to a multiple 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.

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

[0156] The acceleration rate data is filtered to obtain processed acceleration rate data;

[0157] According to the processed acceleration rate data, the rate data is calculated.

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

[0159] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware platform, or by hardware. By comparing the first extrusion rate in the first printing command with the preset extrusion rate amplitude, it is determined whether resonance effect will occur in the printing process. When it is found that resonance effect may occur, the first extrusion rate in the first printing command is adjusted to the second extrusion rate determined by the input shaping algorithm, which can avoid the influence of resonance effect, reduce printing defects, and improve printing quality. The above application number is only for description, and does not represent the advantages and disadvantages of the implementation scene. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited to this. Any changes that can be thought of by those skilled in the art should fall within the protection scope of the present application.

Claims

1. A method for dynamic flow calibration of a 3D printer, characterized in that, The 3D printer includes an extruder; the method includes: Obtain a first print command, wherein the first print command includes a first extrusion rate of the extruder; Compare the first extrusion rate with the preset extrusion rate amplitude, where the preset extrusion rate amplitude is the rate at which the extruder exhibits a resonance effect; If the first extrusion rate is greater than or equal to the preset extrusion rate amplitude, a second extrusion rate corresponding to the preset extrusion rate amplitude is obtained; the second extrusion rate is used to replace the first extrusion rate in the first printing command; wherein, the second extrusion rate is determined based on the resonant frequency range and damping ratio corresponding to the resonant effect of the extruder based on the input shaping algorithm; The 3D printer is controlled to operate using the replaced first print command.

2. The 3D printer dynamic flow calibration method according to claim 1, characterized in that, The extruder is equipped with an acceleration sensor, and the extruder is controlled by a motor; the method further includes: The motor is controlled to operate within a preset periodic vibration frequency range, and the acceleration data generated by the accelerometer on the x-axis and y-axis during the operation of the motor are recorded. Calculate the speed data based on the acceleration rate data; Based on the rate data, a first frequency and the rate amplitude corresponding to the first frequency are calculated using Fourier transform, and the maximum rate amplitude is determined as the target rate amplitude. If there are multiple first frequencies corresponding to the target rate amplitude and the values ​​of the multiple first frequencies are consecutive, then the target rate amplitude is determined to be a preset extrusion rate amplitude.

3. The dynamic flow calibration method for 3D printers 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 consecutive, then obtain the rate amplitude of the next bit, take the rate amplitude of the next bit 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 consecutive, until the step of determining that the target rate amplitude is a preset extrusion rate amplitude is executed.

4. The 3D printer dynamic flow calibration method according to claim 2, characterized in that, The method further includes: Based on the acceleration data, the second frequency and the acceleration amplitude corresponding to the second frequency are calculated using Fourier transform. Based on the second frequency and the acceleration amplitude corresponding to the second frequency, the resonant frequency range and damping ratio are obtained through analysis. Using the resonant frequency range and damping ratio as input shaping parameters, and employing an input shaping algorithm, a second extrusion rate corresponding to the preset extrusion rate amplitude is obtained.

5. The 3D printer dynamic flow calibration method according to claim 4, characterized in that, The steps for analyzing and obtaining the resonant frequency range based on the second frequency and the acceleration amplitude corresponding to the second frequency include: The maximum acceleration amplitude is determined 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 consecutive, then the multiple second frequencies corresponding to the target acceleration amplitude are combined to form a resonant 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 consecutive, then 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 consecutive, until the step of forming a resonant frequency range with the multiple second frequencies corresponding to the target acceleration amplitude is executed.

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

8. The dynamic flow calibration method for 3D printers according to claim 2, characterized in that, The step of calculating the rate data based on the acceleration rate data includes: The acceleration rate data is filtered to obtain processed acceleration rate data; Based on the processed acceleration data, calculate the rate data.

9. The dynamic flow calibration method for a 3D printer according to claim 1, characterized in that, The extruder includes a nozzle; the heating temperature of the nozzle is adjusted according to the replaced first extrusion rate.

10. A 3D printer, comprising: processor; as well as A memory configured to store computer-executable instructions, characterized in that, when executed, the executable instructions cause the processor to perform the dynamic flow calibration method for a 3D printer according to any one of claims 1-9.

11. 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 that includes multiple applications, the 3D printer performs the 3D printer dynamic flow calibration method according to any one of claims 1-9.

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