A control method, device, and apparatus of a 3D printing device, and a storage medium

Abstract

The application provides a control method and device of a 3D printing equipment, equipment and a storage medium, and relates to the field of 3D printing. The method comprises the following steps: obtaining extrusion pressure parameters of an extrusion mechanism of the 3D printing equipment under different extrusion speeds before the 3D printing equipment prints a model; and performing calibration processing of a pressure advance coefficient based on the extrusion pressure parameters under different extrusion speeds to obtain a first pressure advance coefficient corresponding to each extrusion speed. According to the embodiment of the application, the corresponding extrusion pressure parameters are obtained by extruding printing consumables according to different extrusion speeds before the 3D printing equipment prints the model, and the automatic calibration of the pressure advance coefficient is performed based on the extrusion pressure parameters. Compared with the method of manual observation for calibration, the accuracy and efficiency of the calibration of the pressure advance coefficient are improved, and the 3D printing equipment does not need to extrude consumables on the hot bed platform, so that the hot bed space is not occupied.

Description

Technical Field

[0001] This application relates to the field of 3D printing, and in particular to a control method, apparatus, 3D printing equipment, and readable storage medium for a 3D printing device. Background Technology

[0002] During 3D printing, when the print head needs to change direction or move in a curved path, the printing filament within the extrusion mechanism experiences a certain pressure loss during its flow. This pressure loss can lead to insufficient filament supply, affecting print quality and causing problems such as extrusion head blockage and uneven material distribution. To address this issue, the flow rate of the extrusion mechanism is increased in advance based on a pressure advance coefficient to compensate for this pressure loss.

[0003] Factors such as the tension of the springs inside the extrusion mechanism, the wear of the gears, the aging of the nozzle structure due to prolonged heating, and the use of consumables from different manufacturers or different colors or batches of consumables from the same manufacturer can all affect the pressure advance factor. Therefore, it is necessary to calibrate the pressure advance factor before printing the model.

[0004] In related technologies, the calibration of the pressure advance coefficient involves printing a model on a heated bed platform and observing the performance of the printed model with the human eye or a ruler to adjust and set the pressure advance coefficient. This calibration method is time-consuming, not accurate enough, and the printed model occupies heated bed space. Summary of the Invention

[0005] In view of this, this application provides a control method, apparatus, 3D printing equipment, and readable storage medium for a 3D printing device, which solves the problems of time-consuming and inaccurate pressure advance coefficient calibration and space occupation in the related art.

[0006] In a first aspect, embodiments of this application provide a method for controlling a 3D printing device, including:

[0007] Before printing a model on a 3D printing device, the extrusion pressure parameters of the extrusion mechanism of the 3D printing device at different extrusion speeds are obtained.

[0008] The pressure advance coefficient is calibrated based on the extrusion pressure parameters at different extrusion speeds to obtain the first pressure advance coefficient corresponding to each extrusion speed.

[0009] Based on the different extrusion speeds and the first pressure advance coefficient corresponding to each extrusion speed, a correspondence between extrusion speed and pressure advance coefficient is generated. This correspondence is used to determine the target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism when the 3D printing equipment is printing a model.

[0010] Secondly, embodiments of this application provide a 3D printing device, which includes a processor and a memory. The memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, they implement the steps of the method as described in the first aspect.

[0011] Thirdly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method as described in the first aspect.

[0012] In this embodiment, before the 3D printing equipment prints the model, the extrusion mechanism of the 3D printing equipment extrudes printing filament at different extrusion speeds, and the extrusion pressure parameters of the extrusion mechanism are obtained when the printing filament is extruded at different extrusion speeds. For each extrusion speed, a pressure advance coefficient is calibrated based on the extrusion pressure parameters at the extrusion speed to obtain the pressure advance coefficient corresponding to each extrusion speed, which is also known as the first pressure advance coefficient.

[0013] In this embodiment, before the 3D printing equipment prints the model, the corresponding extrusion pressure parameters are obtained by extruding the printing consumables at different extrusion speeds, and the pressure advance coefficient is automatically calibrated based on the extrusion pressure parameters. Compared with the method of manual observation and calibration, this improves the accuracy and efficiency of the pressure advance coefficient calibration, and there is no need to extrude the consumables on the heated bed platform, so it does not occupy heated bed space.

[0014] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 One of the flowcharts illustrating a control method for a 3D printing device according to an embodiment of this application is shown.

[0017] Figure 2 A schematic diagram showing the pressure curves corresponding to different pressure advance coefficients in embodiments of this application is provided.

[0018] Figure 3 A schematic diagram illustrating the planning of extrusion flow rate, extrusion speed, and phase according to an embodiment of this application is shown;

[0019] Figure 4A second schematic flowchart of the control method for a 3D printing device according to an embodiment of this application is shown;

[0020] Figure 5 A structural block diagram of a 3D printing device according to an embodiment of this application is shown. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0022] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0023] The control method, apparatus, 3D printing equipment, and readable storage medium of the 3D printing equipment provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0024] This application provides a control method for a 3D printing device, such as... Figure 1 As shown, the method includes:

[0025] S101: Before printing a model on a 3D printing device, obtain the extrusion pressure parameters of the extrusion mechanism of the 3D printing device at different extrusion speeds.

[0026] In this step, before the 3D printer prints the model, the extrusion mechanism of the 3D printer extrudes the printing filament at different extrusion speeds, and the extrusion pressure parameters of the extrusion mechanism are obtained at each of these different speeds. Different compensation parameters can be used when extruding the printing filament at different speeds.

[0027] In one optional embodiment, the 3D printing apparatus includes a feeding device, a print head, and a heated bed platform. The feeding device supplies printing filament to the print head. The print head includes an extrusion mechanism and a nozzle structure. The extrusion mechanism is disposed between the nozzle structure and the feeding device, and supplies printing filament to the nozzle structure. The nozzle structure extrudes the molten printing filament onto the heated bed platform to form a printed model. It is understood that the print head may also exclude the extrusion mechanism, and the feeding device may include the extrusion mechanism.

[0028] In one embodiment, the printhead further includes a strain gauge cantilever, one end of which is fixed and the other end is connected to the nozzle structure. A pressure sensing element is attached to the surface of the strain gauge cantilever, which can be a strain gauge or other device capable of detecting pressure. When the extrusion mechanism extrudes the printing filament into the nozzle structure, the extrusion force exerted by the printing filament on the nozzle structure is transmitted to the strain gauge cantilever, causing strain on the surface of the strain gauge cantilever. The pressure sensing element can measure the deformation of the strain gauge cantilever surface, thereby detecting the extrusion pressure of the extrusion mechanism.

[0029] By measuring the extrusion pressure of the extrusion mechanism when extruding printing consumables at different extrusion speeds, the extrusion pressure parameters of the extrusion mechanism at different extrusion speeds are obtained.

[0030] It should be noted that during calibration, the printhead can remain stationary in the X, Y, and Z directions, and the printhead will extrude printing filament in place. After calibration, the accumulated filament will be ejected by the ejector.

[0031] S102, calibrate the pressure advance coefficient based on the extrusion pressure parameters at different extrusion speeds to obtain the first pressure advance coefficient corresponding to each extrusion speed.

[0032] In this step, for each extrusion speed, the pressure advance coefficient is calibrated based on the extrusion pressure parameters at the extrusion speed, thereby obtaining the pressure advance coefficient corresponding to each extrusion speed, which is also the first pressure advance coefficient.

[0033] In this embodiment, before the 3D printing equipment prints the model, the corresponding extrusion pressure parameters are obtained by extruding the printing consumables at different extrusion speeds, and the pressure advance coefficient is automatically calibrated based on the extrusion pressure parameters. Compared with the method of manual observation and calibration, this improves the accuracy and efficiency of the pressure advance coefficient calibration, and there is no need to extrude the consumables on the heated bed platform, so it does not occupy heated bed space.

[0034] In one embodiment of this application, the method further includes: generating a correspondence between extrusion speed and pressure advance coefficient based on different extrusion speeds and a first pressure advance coefficient corresponding to each extrusion speed. The correspondence is used to determine the target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism when the 3D printing equipment is printing a model. The correspondence includes at least one of the following: a functional expression, a fitting curve, and a relationship table.

[0035] In this embodiment, the first pressure advance coefficient corresponding to different extrusion speeds obtained through the above steps is used to establish a correspondence between extrusion speed and pressure advance coefficient. This correspondence is the mapping relationship between extrusion speed and pressure advance coefficient, and one extrusion speed can correspond to one pressure advance coefficient.

[0036] When printing a model in a 3D printing device, the target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism can be determined based on this correspondence, and the extrusion flow rate of the extrusion mechanism can be calibrated according to the target pressure advance coefficient.

[0037] In one embodiment, the relationship between extrusion speed and pressure advance coefficient can be at least one of the following: a functional expression, a fitted curve, or a relationship table. For example, by changing the extrusion speed M times, M extrusion speeds and M first pressure advance coefficients are obtained, as shown in Table 1:

[0038] Table 1

[0039] Extrusion speed <![CDATA[V1]]> <![CDATA[V2]]> ...... <![CDATA[V M ]]> First pressure advance factor <![CDATA[K best1 ]]> <![CDATA[K best2 ]]> ...... <![CDATA[K bestM ]]>

[0040] The least squares method is used to fit the extrusion speed and the first pressure advance coefficient, resulting in a polynomial fitting equation. Here, we take the quadratic polynomial fitting equation as an example:

[0041] K best =a1×V 2 +b1×V+c1

[0042] Among them, K best is the first pressure advance coefficient, V is the extrusion speed, and a1, b1, and c1 are coefficients.

[0043] By establishing the correspondence between extrusion speed and pressure advance coefficient, the pressure advance coefficient corresponding to the current extrusion speed can be obtained quickly and accurately during actual model printing, thereby calibrating the extrusion flow of the extrusion mechanism and improving printing quality.

[0044] In one embodiment of this application, the method further includes:

[0045] When printing a model on a 3D printing device, obtain the current extrusion speed of the extrusion mechanism on the printing filament;

[0046] Based on the relationship between extrusion speed and pressure advance coefficient, determine the target pressure advance coefficient corresponding to the current extrusion speed;

[0047] Adjust the extrusion flow rate of the extrusion mechanism according to the target pressure advance coefficient.

[0048] In this embodiment, when the 3D printing equipment is printing a model, the current extrusion speed of the extrusion mechanism on the printing filament is obtained. Based on the established correspondence between extrusion speed and pressure advance coefficient, a target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism is determined, and the extrusion flow rate of the extrusion mechanism is calibrated according to the target pressure advance coefficient.

[0049] In this embodiment, before the 3D printing equipment prints the model, the pressure advance coefficient is calibrated to obtain the correspondence between the extrusion speed and the pressure advance coefficient. When the model is officially printed, a more accurate pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism can be determined based on this correspondence, thereby calibrating the extrusion flow of the extrusion mechanism, adjusting the extrusion speed in advance, avoiding the problem of insufficient supply of printing consumables, and ensuring the printing quality of the model.

[0050] In this application embodiment, extrusion flow calibration is required in the following situations:

[0051] (1) Using a different brand or type of new printing consumables; (2) Nozzle wear causing changes in friction within the nozzle; (3) Replacing the nozzle with a new one; (4) Printing consumables getting damp causing changes in viscosity; (5) Changing the maximum speed or printing temperature of the printing consumables.

[0052] In the above situations, the extrusion flow rate should be calibrated to improve print quality.

[0053] According to Poiseuille's law, the extrusion flow rate of an extrusion mechanism is directly proportional to the pressure difference within the extrusion mechanism; the extrusion flow rate is directly proportional to the extrusion speed, therefore the extrusion speed is directly proportional to the pressure difference within the extrusion mechanism. Pressure data is collected using pressure sensors within the extrusion mechanism, and the extrusion pressure reflects the extrusion flow rate effect.

[0054]

[0055] Where Q is the extrusion flow rate, r is the radius of the conveying pipe of the printing consumable, p is the pressure difference between the two ends of the pipe; η is the dynamic viscosity coefficient of the printing consumable, L is the length of the conveying pipe, A is the cross-sectional area of ​​the printing consumable through the conveying pipe, and V is the extrusion speed.

[0056] like Figure 2As shown, when the pressure advance coefficient is small, the pressure lag is large during the acceleration and deceleration phases, resulting in insufficient extrusion flow. When the pressure advance coefficient is large, the pressure overshoot is obvious during the acceleration and deceleration phases, resulting in excessive extrusion flow. When the pressure advance coefficient is optimal, there is no lag or overshoot during the acceleration and deceleration phases, and the extrusion flow is appropriate.

[0057] Therefore, in this embodiment, a square wave form of extrusion speed is used to simulate the acceleration and deceleration stages, and a suitable pressure advance coefficient is determined based on the pressure changes during the acceleration and deceleration stages.

[0058] In one embodiment of this application, any extrusion speed includes N speed cycles, where N is a positive integer greater than or equal to 2, and each speed cycle includes a first speed and a second speed, wherein the first speed is less than the second speed.

[0059] In this embodiment, such as Figure 3 As shown, the extrusion speed of the extrusion mechanism is designed as a square wave with periodic variations. One extrusion speed consists of N speed cycles, each cycle including a first speed and a second speed. The first speed is less than the second speed; the first speed can be referred to as the low speed, and the second speed as the high speed. During one speed cycle, the extrusion mechanism switches from the first speed to the second speed.

[0060] The phase for planning extrusion speed is divided into calibration phase, non-calibration phase, high-speed phase, low-speed phase, and identification phase for high-speed to low-speed switching. Calibration-related commands are executed within the calibration phase. Due to a certain pressure lag, the identification phase is delayed for a period after the high-speed phase ends, and a higher pressure value exists within this phase. This pressure value can then be used to determine the extrusion pressure parameters.

[0061] In one embodiment of this application, for an extrusion speed:

[0062] Obtain the extrusion pressure parameters of the extrusion mechanism at the extrusion speed, including:

[0063] The extrusion pressure parameters for each speed cycle of the extrusion speed are obtained, wherein the method for obtaining the extrusion pressure parameters for any speed cycle includes: obtaining the target extrusion pressure when the extrusion mechanism switches from the first speed to the second speed, and the calibration extrusion pressure when the extrusion mechanism switches from the second speed to the first speed; and calculating the pressure difference between the target extrusion pressure and the calibration extrusion pressure.

[0064] The pressure advance coefficient is calibrated based on the extrusion pressure parameters at the extrusion speed to obtain the first pressure advance coefficient corresponding to the extrusion speed, including:

[0065] Determine the second pressure advance coefficient corresponding to the pressure difference in each speed cycle to obtain N second pressure advance coefficients;

[0066] Based on N pressure differences and the second pressure advance coefficient corresponding to each pressure difference, the first pressure advance coefficient corresponding to the extrusion speed is determined.

[0067] In this embodiment, extrusion pressure parameters are acquired for each speed cycle. These parameters may include the extrusion pressure corresponding to different speed switching processes and the pressure difference between the extrusion pressures corresponding to different speed switching processes. For any given speed cycle, the target extrusion pressure when the first speed switches to the second speed and the calibrated extrusion pressure when the second speed switches to the first speed are acquired. The difference between the target extrusion pressure and the calibrated extrusion pressure is calculated to obtain the pressure difference between the two.

[0068] It should be noted that when the extrusion mechanism accelerates, the data from the pressure sensor cannot reflect the changing trends of different pressure advance coefficients. However, when the extrusion mechanism decelerates, the data from the pressure sensor can reflect the changing trends of different pressure advance coefficients. Therefore, the pressure when switching from the first speed to the second speed is used as the target extrusion pressure, and the pressure when switching from the second speed to the first speed is used as the calibration extrusion pressure.

[0069] Furthermore, for a given speed cycle, the pressure lag and overshoot are assessed based on the pressure difference. If there is no lag or overshoot, the optimal pressure advance coefficient is determined, resulting in the second pressure advance coefficient for that speed cycle. This second pressure advance coefficient is then used as the calibration baseline for the next speed cycle. It should be noted that the calibration baseline for the first speed cycle is a preset initial pressure advance coefficient. This process yields N second pressure advance coefficients. Based on these N pressure differences and the corresponding second pressure advance coefficients, the first pressure advance coefficient for each extrusion speed is then determined.

[0070] Since there is no pressure lag or overshoot during acceleration and deceleration when the pressure advance factor is optimal, this embodiment of the application determines the optimal pressure advance factor based on the pressure difference detected during acceleration and deceleration, thus ensuring the accuracy of the pressure advance factor calibration.

[0071] In one embodiment of this application, obtaining the target extrusion pressure when the extrusion mechanism switches from a first speed to a second speed, and the calibrated extrusion pressure when the extrusion mechanism switches from the second speed to the first speed, includes:

[0072] Acquire multiple first sampling pressures when the extrusion mechanism switches from a first speed to a second speed, and determine the target extrusion pressure based on the multiple first sampling pressures;

[0073] When the extrusion mechanism switches from the second speed to the first speed, the identification phase of the extrusion speed is determined, and multiple second sampling pressures corresponding to the identification phase are acquired. Based on the multiple second sampling pressures, the calibration extrusion pressure is determined.

[0074] In this embodiment, multiple first sampling pressures are acquired when the first speed switches to the second speed. These multiple first sampling pressures can be multiple pressure values ​​collected throughout the entire process of extruding the printing consumable at the first speed, or multiple pressure values ​​within an adjacent or spaced-apart speed range before the instant the first speed switches to the second speed. After acquiring the multiple first sampling pressures, the average, median, or peak value of the multiple first sampling pressures can be used as the target extrusion pressure.

[0075] For example, after obtaining multiple initial sampling pressures, the peak pressure can be obtained using the second-order difference method and used as the target extrusion pressure. Obtaining the peak pressure using the second-order difference method improves efficiency compared to using incremental or decremental calculation methods. Furthermore, since the average or median value may be unstable under vibration or noise, taking the minimum point, i.e., the peak pressure, ensures smaller errors and improves the accuracy of subsequent calibration pressure advance coefficients.

[0076] In one embodiment, instead of sampling multiple pressures, the pressure at the minimum point of the first velocity, i.e., the pressure corresponding to the end of the first velocity, can be directly used as the target extrusion pressure.

[0077] In this embodiment of the application, when switching from the first speed to the second speed, the accurate target extrusion pressure is obtained so that the pressure advance coefficient can be accurately calibrated subsequently.

[0078] When the extrusion mechanism switches from the second speed to the first speed, the recognition phase will be delayed for a period of time after the second speed ends due to a certain pressure lag. The calibrated extrusion pressure is determined within the recognition phase.

[0079] Multiple second-sampled pressures are acquired within the identification phase. These second-sampled pressures can be multiple pressure values ​​collected throughout the entire identification phase, or multiple pressure values ​​within an adjacent or phase-interval speed range immediately after the transition from the second speed to the first speed within the identification phase. After acquiring multiple second-sampled pressures, the average, median, or peak value of these pressures can be used as the target extrusion pressure. For example, after acquiring multiple second-sampled pressures, the peak pressure can be obtained using a second-order difference method and used as the calibration extrusion pressure. Obtaining the peak pressure using the second-order difference method improves efficiency compared to using incremental or decremental calculation methods.

[0080] In one embodiment, instead of sampling multiple pressures, the pressure at the minimum point within the identified phase, i.e., the pressure corresponding to the end of the identified phase, can be used as the calibration extrusion pressure.

[0081] The embodiments of this application can accurately obtain the target extrusion pressure during the acceleration phase and the calibration extrusion pressure during the deceleration phase, ensuring the accuracy of subsequent pressure advance coefficient calibration.

[0082] In one embodiment of this application, determining the second pressure advance coefficient corresponding to the pressure difference includes:

[0083] If the absolute value of the pressure difference is less than or equal to the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is used as the second pressure advance coefficient corresponding to the pressure difference.

[0084] If the absolute value of the pressure difference is greater than the preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle is adjusted according to the pressure difference, and the adjusted pressure advance coefficient is used as the second pressure advance coefficient corresponding to the pressure difference.

[0085] In this embodiment, the absolute value of the pressure difference between the target extrusion pressure and the calibrated extrusion pressure is compared with the magnitude of a preset pressure judgment threshold. The preset pressure judgment threshold is used to determine the magnitude of the pressure difference between the target extrusion pressure and the calibrated extrusion pressure, and the preset pressure judgment threshold is greater than or equal to 0.

[0086] When the absolute value of the pressure difference is less than or equal to the preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle, i.e., the current calibration process, is used as the second pressure advance coefficient corresponding to the pressure difference of the current speed cycle. Usually, the pressure advance coefficient is optimal when the pressure difference is equal to 0. Considering that the optimal pressure advance coefficient is normally distributed, the pressure advance coefficient can also be considered optimal when the absolute value of the pressure difference is less than a smaller threshold.

[0087] When the absolute value of the pressure difference is greater than the preset pressure judgment threshold, it indicates that the pressure advance coefficient corresponding to the current speed cycle is small or large. Then, the pressure advance coefficient corresponding to the current speed cycle is adjusted according to the pressure difference, and the adjusted pressure advance coefficient is used as the second pressure advance coefficient corresponding to the pressure difference.

[0088] It should be noted that the calibration baseline value for the first speed cycle is a preset initial pressure advance coefficient. The pressure advance coefficients for all speed cycles except the first are determined based on the previous speed cycle. For example, if the absolute value of the pressure difference in the first speed cycle is less than or equal to a preset pressure threshold, the initial pressure advance coefficient for the first speed cycle is used as the second pressure advance coefficient for the pressure difference in this speed cycle. This initial pressure advance coefficient, or the second pressure advance coefficient for the pressure difference in the first speed cycle, is then used as the pressure advance coefficient for the second speed cycle. If the absolute value of the pressure difference in the second speed cycle is greater than the preset pressure threshold, the pressure advance coefficient for the second speed cycle is adjusted according to the pressure difference, and the adjusted pressure advance coefficient is used as the second pressure advance coefficient for the pressure difference in the second speed cycle. The second pressure advance coefficient for the pressure difference in the second speed cycle is used as the pressure advance coefficient for the third speed cycle, and this process is repeated for subsequent speed cycles.

[0089] In this embodiment, when the absolute value of the pressure difference is less than or equal to a preset pressure judgment threshold, the optimal pressure advance coefficient is directly determined, and when the absolute value of the pressure difference is greater than the preset pressure judgment threshold, the pressure advance coefficient is adjusted to obtain the optimal pressure advance coefficient, thus realizing the determination of the optimal pressure advance coefficient.

[0090] In one embodiment of this application, adjusting the pressure advance coefficient corresponding to the current speed cycle based on the pressure difference includes:

[0091] If the pressure difference is greater than the preset pressure judgment threshold, then reduce the pressure advance coefficient corresponding to the current speed cycle.

[0092] If the pressure difference is less than or equal to the preset pressure judgment threshold, then increase the pressure advance coefficient corresponding to the current speed cycle.

[0093] The method also includes:

[0094] The reduced or increased pressure advance factor is used as the pressure advance factor for the next speed cycle.

[0095] In this embodiment, if the absolute value of the pressure difference is greater than a preset pressure judgment threshold, the relationship between the pressure difference and the preset pressure judgment threshold is further determined. If the pressure difference is greater than the preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle is reduced by a first preset factor, for example, reduced by 1 / 2, 1 / 3, or 2 / 3 times; if the pressure difference is less than or equal to the preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle is increased by a second preset factor, for example, increased by 1 / 2, 1 / 3, or 2 / 3 times. The second preset factor may be equal to or unequal to the first preset factor.

[0096] By judging the relationship between the pressure difference and the preset pressure judgment threshold, the pressure advance coefficient is adjusted so that the adjusted pressure advance coefficient is closer to the optimal pressure advance coefficient.

[0097] In one feasible approach, if the pressure difference is greater than a preset pressure threshold, the pressure advance coefficient corresponding to the current speed cycle is decreased, and the decreased pressure advance coefficient is used as the pressure advance coefficient for the next speed cycle, i.e., the calibration baseline value for the next speed cycle. Alternatively, if the pressure difference is less than or equal to the preset pressure threshold, the pressure advance coefficient corresponding to the current speed cycle is increased, and the increased pressure advance coefficient is used as the pressure advance coefficient for the next speed cycle, i.e., the calibration baseline value for the next speed cycle. This method allows for the determination of the pressure advance coefficient for the next speed cycle, thereby enabling adjustment of the pressure advance coefficient for the next speed cycle.

[0098] In one embodiment of this application, determining the first pressure advance coefficient corresponding to the extrusion speed based on N pressure differences and the second pressure advance coefficient corresponding to each pressure difference includes:

[0099] Based on N-1 pressure differences other than the first pressure difference, and the second pressure advance coefficient corresponding to each of the N-1 pressure differences, the first pressure advance coefficient corresponding to the extrusion speed is determined.

[0100] In this embodiment, the first speed cycle is used to release the pressure inside the nozzle assembly. Since the pressure value is unstable, the pressure difference within the first speed cycle is excluded; that is, the pressure difference within the first speed cycle is not included in the calibration calculation. The first pressure advance coefficient corresponding to the extrusion speed is determined using N-1 pressure differences other than the first pressure difference, and the second pressure advance coefficient corresponding to each of the N-1 pressure differences, thereby improving accuracy.

[0101] In one embodiment of this application, the first pressure advance coefficient corresponding to the extrusion speed is determined based on N-1 pressure differences other than the first pressure difference, and the second pressure advance coefficient corresponding to each of the N-1 pressure differences, including:

[0102] Based on N-1 pressure differences and the second pressure advance coefficient corresponding to each pressure difference, a functional relationship between the pressure difference and the second pressure advance coefficient is constructed.

[0103] Based on the functional relationship, the second pressure advance coefficient corresponding to the pressure difference being 0 is used as the first pressure advance coefficient corresponding to the extrusion speed.

[0104] In this embodiment, based on N-1 pressure differences and the corresponding second pressure advance coefficient for each pressure difference, a functional relationship between the pressure difference and the second pressure advance coefficient is constructed. This functional relationship can be linear or nonlinear; for example, the least squares method or the Lagrange algorithm can be used to establish the functional relationship between the pressure difference and the second pressure advance coefficient. Based on the functional relationship, the second pressure advance coefficient corresponding to a pressure difference of 0 is calculated and used as the first pressure advance coefficient corresponding to the extrusion speed.

[0105] For example, N-1 pressure differences and N-1 second pressure advance factors are shown in Table 2:

[0106] Table 2

[0107] Pressure difference <![CDATA[△p1]]> <![CDATA[△p2]]> ...... <![CDATA[△p N-1 ]]> Second pressure advance coefficient <![CDATA[K1]]> <![CDATA[K2]]> ...... <![CDATA[K N-1 ]]>

[0108] The least squares method is used to fit the pressure difference and the second pressure advance factor to obtain a polynomial fitting equation. In this embodiment, a quadratic polynomial fitting equation can be used as an example to establish the quadratic polynomial fitting equation between the pressure difference and the second pressure advance factor:

[0109] K = a² × △p 2 +b²×△p+c²

[0110] Where K is the second pressure advance coefficient, Δp is the pressure difference, and a2, b2, and c2 are coefficients.

[0111] Calculate the pressure advance value corresponding to the pressure difference Δp being 0, and use it as the first pressure advance coefficient corresponding to the extrusion speed.

[0112] It should be noted that in actual calibration processes, to shorten calibration time and reduce the amount of calibration data, using a high-order polynomial fitting (greater than second order) can lead to abnormal fitting values ​​outside the calibration range due to the parabolic characteristics. Therefore, this embodiment uses a second-order polynomial fitting equation to avoid the aforementioned problems.

[0113] In this embodiment, the optimal pressure advance coefficient corresponding to the extrusion speed is calculated by using the functional relationship between the pressure difference and the second pressure advance coefficient, thereby realizing the automatic calibration of the pressure advance coefficient.

[0114] In one embodiment of this application, the method further includes:

[0115] If the target extrusion pressure and / or calibrated extrusion pressure are not obtained in any speed cycle of the extrusion speed, then the speed cycle sampling is confirmed to be abnormal.

[0116] If the number of abnormal speed cycles in the extrusion speed sampling exceeds the preset number, the calibration process corresponding to the extrusion speed is confirmed to have failed.

[0117] The method also includes: if the calibration process corresponding to the extrusion speed fails, then the default pressure advance factor is used as the first pressure advance factor corresponding to the extrusion speed.

[0118] In this embodiment, if the target extrusion pressure and / or calibrated extrusion pressure are not obtained in any speed cycle of the extrusion speed, it is determined that a sampling anomaly has occurred in the current speed cycle. The number of speed cycles with sampling anomalies is recorded. If this number is greater than a preset number, that is, if the number of sets of obtained pressure difference and second pressure advance coefficient is less than a certain number, it is determined that the calibration process corresponding to that extrusion speed has failed.

[0119] In one embodiment, if the calibration process corresponding to the extrusion speed is confirmed to have failed, the default pressure advance factor in the slice file is used as the first pressure advance factor corresponding to the extrusion speed. In the event of calibration failure, a first pressure advance factor is set for the extrusion speed to ensure that the optimal pressure advance factor is obtained for each extrusion speed during model printing, thereby improving model printing quality.

[0120] In one embodiment of this application, after determining the second pressure advance coefficient corresponding to the pressure difference, the method further includes: if the calibration process corresponding to the extrusion speed is successful, then based on the preset pressure advance coefficient range, the first pressure advance coefficient corresponding to the determined extrusion speed is subjected to a limiting process.

[0121] In this embodiment, if the calibration is successful, the first pressure advance coefficient is limited based on a pre-set pressure advance coefficient range. For example, the pre-set pressure advance coefficient range is 0 to 0.1, that is, the upper limit is 0.1 and the lower limit is 0. If the first pressure advance coefficient is greater than the upper limit, it is set to equal the upper limit; if the first pressure advance coefficient is less than or equal to the upper limit but greater than or equal to the lower limit, its value is not changed; if the first pressure advance coefficient is less than the upper limit, it is set to equal the lower limit.

[0122] By using the above method, the first pressure advance coefficient is kept within the preset pressure advance coefficient range, thus ensuring the rationality of the first pressure advance coefficient.

[0123] In one embodiment of this application, such as Figure 4As shown, before calibration begins, the pressure advance coefficient range (Kmin, Kmax) is set, the initial pressure advance coefficient Kinit is set, the pressure judgment threshold Coef is set, the low-speed corner speed or minimum extrusion speed Vlow is set, and the initial extrusion speed Vinit is set. Calibration is performed at N different pressure advance coefficients under M different extrusion speeds. The pressure advance coefficient is also called the K value.

[0124] The calibration process begins by switching the extrusion speed of the extrusion mechanism from low to high. The extrusion pressure corresponding to the minimum speed point during the low-speed-to-high-speed transition is taken as the target value TargetPress. Then, the extrusion mechanism switches from high to low, and the extrusion pressure corresponding to the minimum value point in the identified phase is taken as the calibration value CaliPress. The pressure difference ΔP is obtained by subtracting the target value TargetPress from the calibration value CaliPress.

[0125] △P = TargetPress - CaliPress

[0126] If the absolute value of ΔP is less than or equal to the pressure judgment threshold Coef, then the K value is the optimal value, and the extrusion speed is changed to continue calibration.

[0127] If the absolute value of ΔP is greater than the pressure judgment threshold Coef, then the K value is further determined using a bisection method. If ΔP is greater than the pressure judgment threshold Coef, then the K value is reduced by half and used as the K value for the next cycle calibration; if ΔP is less than the pressure judgment threshold Coef, then the K value is increased by half and used as the K value for the next cycle calibration.

[0128] With the extrusion speed remaining constant, N calibrations are performed to obtain N pressure differences and N pressure advance coefficients, which are also known as the second pressure advance coefficients mentioned above.

[0129] The least squares method is used to fit the pressure difference and pressure advance coefficient, resulting in a polynomial fitting equation. Here, we take a quadratic polynomial fitting equation as an example:

[0130] K = a² × △p 2 +b²×△p+c²

[0131] Where K is the pressure advance coefficient, Δp is the pressure difference, and a2, b2, and c2 are coefficients.

[0132] When the pressure difference Δp at the fitting point is 0, the optimal pressure advance coefficient K corresponding to this extrusion speed is obtained. best .

[0133] By changing the extrusion speed M times and repeating the above operation, we can obtain M extrusion speeds and M optimal pressure advance coefficients K. best This is the first pressure advance coefficient mentioned above.

[0134] The least squares method is used to fit the extrusion speed and the optimal pressure advance coefficient to obtain a polynomial fitting equation. Here, we take the second-order polynomial fitting equation as an example.

[0135] K best =a1×V 2 +b1×V+c1

[0136] Among them, K best is the optimal pressure advance coefficient, V is the extrusion speed, and a1, b1, and c1 are coefficients.

[0137] During the actual model printing process, the optimal pressure advance coefficient is obtained based on the set current extrusion speed, thereby adjusting the extrusion flow rate.

[0138] In this embodiment, pre-printing calibration does not require filament extrusion on the heated bed printing platform, thus saving heated bed space. Compared to calibration methods that rely on visual observation of the printed model, this reduces the time cost of human intervention. Furthermore, this embodiment combines the bisection method and the least squares fitting method, shortening the calibration time and enhancing the stability and noise resistance of the calibration results.

[0139] This application also provides a 3D printing device, such as... Figure 5 As shown, the 3D printing device 500 includes a processor 501 and a memory 502. The memory 502 stores a program or instruction that can run on the processor 501. When the program or instruction is executed by the processor 501, it implements the various steps of the control method embodiment of the 3D printing device described above and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0140] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 502 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 502 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0141] Processor 501 may include one or more processing units; optionally, processor 501 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 501.

[0142] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the control method embodiment of the 3D printing device described above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0143] This application also provides the following embodiments:

[0144] Example 1: A control method for a 3D printing device, comprising:

[0145] Before printing a model on a 3D printing device, the extrusion pressure parameters of the extrusion mechanism of the 3D printing device at different extrusion speeds are obtained.

[0146] The pressure advance coefficient is calibrated based on the extrusion pressure parameters at different extrusion speeds to obtain the first pressure advance coefficient corresponding to each extrusion speed.

[0147] Example 2, based on Example 1, further includes:

[0148] Based on different extrusion speeds and the first pressure advance coefficient corresponding to each extrusion speed, a correspondence between extrusion speed and pressure advance coefficient is generated. The correspondence is used to determine the target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism when the 3D printing equipment prints the model. The correspondence includes at least one of the following: a functional expression, a fitted curve, and a relationship table.

[0149] Example 3, based on Example 2, further includes:

[0150] When the 3D printing equipment prints a model, the current extrusion speed of the extrusion mechanism on the printing consumable is obtained;

[0151] Based on the correspondence between extrusion speed and pressure advance coefficient, the target pressure advance coefficient corresponding to the current extrusion speed is determined;

[0152] The extrusion flow rate of the extrusion mechanism is adjusted according to the target pressure advance coefficient.

[0153] Example 4, based on Example 1, any of the extrusion speeds includes N speed cycles, where N is a positive integer greater than or equal to 2, and each speed cycle includes a first speed and a second speed, where the first speed is less than the second speed; for one of the extrusion speeds:

[0154] Obtaining the extrusion pressure parameters of the extrusion mechanism at the extrusion speed includes:

[0155] The extrusion pressure parameter for each speed cycle of the extrusion speed is obtained, wherein the method for obtaining the extrusion pressure parameter for any speed cycle includes: obtaining the target extrusion pressure when the extrusion mechanism switches from the first speed to the second speed, and the calibration extrusion pressure when the extrusion mechanism switches from the second speed to the first speed; and calculating the pressure difference between the target extrusion pressure and the calibration extrusion pressure.

[0156] Based on the extrusion pressure parameters at the extrusion speed, a pressure advance coefficient is calibrated to obtain a first pressure advance coefficient corresponding to the extrusion speed, including:

[0157] Determine the second pressure advance coefficient corresponding to the pressure difference in each speed cycle to obtain N second pressure advance coefficients;

[0158] Based on the N pressure differences and the second pressure advance coefficient corresponding to each pressure difference, the first pressure advance coefficient corresponding to the extrusion speed is determined.

[0159] Example 5, based on Example 4, includes obtaining the target extrusion pressure when the extrusion mechanism switches from the first speed to the second speed, and the calibration extrusion pressure when the extrusion mechanism switches from the second speed to the first speed, comprising:

[0160] Acquire multiple first sampling pressures when the extrusion mechanism switches from the first speed to the second speed, and determine the target extrusion pressure based on the multiple first sampling pressures;

[0161] When the extrusion mechanism switches from the second speed to the first speed, the identification phase of the extrusion speed is determined, and multiple second sampling pressures corresponding to the identification phase are obtained. Based on the multiple second sampling pressures, the calibration extrusion pressure is determined.

[0162] Example 6, based on Example 4, determines the second pressure advance coefficient corresponding to the pressure difference, including:

[0163] If the absolute value of the pressure difference is less than or equal to the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is used as the second pressure advance coefficient corresponding to the pressure difference.

[0164] If the absolute value of the pressure difference is greater than the preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle is adjusted according to the pressure difference, and the adjusted pressure advance coefficient is used as the second pressure advance coefficient corresponding to the pressure difference.

[0165] Example 7, based on Example 6, further includes adjusting the pressure advance coefficient corresponding to the current speed cycle according to the pressure difference, including:

[0166] If the pressure difference is greater than the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is reduced.

[0167] If the pressure difference is less than or equal to the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is increased.

[0168] The method also includes:

[0169] The reduced or increased pressure advance factor is used as the pressure advance factor for the next speed cycle.

[0170] Example 8, based on Example 4, involves determining the first pressure advance coefficient corresponding to the extrusion speed based on N pressure differences and the second pressure advance coefficient corresponding to each pressure difference, including:

[0171] Based on N-1 pressure differences other than the first pressure difference, and the second pressure advance coefficient corresponding to each of the N-1 pressure differences, the first pressure advance coefficient corresponding to the extrusion speed is determined.

[0172] Example 9, based on Example 8, involves determining the first pressure advance coefficient corresponding to the extrusion speed based on N-1 pressure differences other than the first pressure difference, and the second pressure advance coefficient corresponding to each of the N-1 pressure differences, including:

[0173] Based on N-1 pressure differences and the second pressure advance coefficient corresponding to each pressure difference, a functional relationship between the pressure difference and the second pressure advance coefficient is constructed.

[0174] Based on the aforementioned functional relationship, the second pressure advance coefficient corresponding to the pressure difference being 0 is used as the first pressure advance coefficient corresponding to the extrusion speed.

[0175] Example 10, based on Example 4, further includes:

[0176] If the target extrusion pressure and / or the calibrated extrusion pressure are not obtained in any of the speed cycles of the extrusion speed, then the speed cycle sampling is confirmed to be abnormal.

[0177] If the number of abnormal speed cycles in the sampling of the extrusion speed is greater than a preset number, then the calibration process corresponding to the extrusion speed is confirmed to have failed.

[0178] The method further includes:

[0179] If the calibration process corresponding to the extrusion speed fails, the default pressure advance factor will be used as the first pressure advance factor corresponding to the extrusion speed.

[0180] Example 11, based on Example 10, after determining the second pressure advance coefficient corresponding to the pressure difference, the method further includes:

[0181] If the calibration process corresponding to the extrusion speed is successful, then the first pressure advance coefficient corresponding to the determined extrusion speed is limited based on the preset pressure advance coefficient range.

[0182] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0183] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A control method for a 3D printing device, characterized in that, include: Before printing a model on a 3D printing device, the extrusion pressure parameters of the extrusion mechanism of the 3D printing device at different extrusion speeds are obtained. The pressure advance coefficient is calibrated based on the extrusion pressure parameters at different extrusion speeds to obtain the first pressure advance coefficient corresponding to each extrusion speed. Any of the extrusion speeds comprises N speed cycles, where N is a positive integer greater than or equal to 2, and each speed cycle comprises a first speed and a second speed, wherein the first speed is less than the second speed; for one of the extrusion speeds: Obtaining the extrusion pressure parameters of the extrusion mechanism at the extrusion speed includes: The extrusion pressure parameter for each speed cycle of the extrusion speed is obtained, wherein the method for obtaining the extrusion pressure parameter for any speed cycle includes: obtaining the target extrusion pressure when the extrusion mechanism switches from the first speed to the second speed, and the calibration extrusion pressure when the extrusion mechanism switches from the second speed to the first speed; and calculating the pressure difference between the target extrusion pressure and the calibration extrusion pressure. Based on the extrusion pressure parameters at the extrusion speed, a pressure advance coefficient is calibrated to obtain a first pressure advance coefficient corresponding to the extrusion speed, including: Determine the second pressure advance coefficient corresponding to the pressure difference in each speed cycle to obtain N second pressure advance coefficients; Based on the N pressure differences and the second pressure advance coefficient corresponding to each pressure difference, the first pressure advance coefficient corresponding to the extrusion speed is determined.

2. The method according to claim 1, characterized in that, The method further includes: Based on different extrusion speeds and the first pressure advance coefficient corresponding to each extrusion speed, a correspondence between extrusion speed and pressure advance coefficient is generated. The correspondence is used to determine the target pressure advance coefficient corresponding to the current extrusion speed of the extrusion mechanism when the 3D printing equipment prints the model. The correspondence includes at least one of the following: a functional expression, a fitted curve, and a relationship table.

3. The method according to claim 2, characterized in that, The method further includes: When the 3D printing equipment prints a model, the current extrusion speed of the extrusion mechanism on the printing consumable is obtained; Based on the correspondence between extrusion speed and pressure advance coefficient, the target pressure advance coefficient corresponding to the current extrusion speed is determined; The extrusion flow rate of the extrusion mechanism is adjusted according to the target pressure advance coefficient.

4. The method according to claim 1, characterized in that, The step of obtaining the target extrusion pressure when the extrusion mechanism switches from the first speed to the second speed, and the calibrated extrusion pressure when the extrusion mechanism switches from the second speed to the first speed, includes: Acquire multiple first sampling pressures when the extrusion mechanism switches from the first speed to the second speed, and determine the target extrusion pressure based on the multiple first sampling pressures; When the extrusion mechanism switches from the second speed to the first speed, the identification phase of the extrusion speed is determined, and multiple second sampling pressures corresponding to the identification phase are obtained. Based on the multiple second sampling pressures, the calibration extrusion pressure is determined.

5. The method according to claim 1, characterized in that, Determining the second pressure advance coefficient corresponding to the pressure difference includes: If the absolute value of the pressure difference is less than or equal to the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is used as the second pressure advance coefficient corresponding to the pressure difference. If the absolute value of the pressure difference is greater than a preset pressure judgment threshold, the pressure advance coefficient corresponding to the current speed cycle is adjusted according to the pressure difference, and the adjusted pressure advance coefficient is used as the second pressure advance coefficient corresponding to the pressure difference; wherein, adjusting the pressure advance coefficient corresponding to the current speed cycle according to the pressure difference includes: If the pressure difference is greater than the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is reduced. If the pressure difference is less than or equal to the preset pressure judgment threshold, then the pressure advance coefficient corresponding to the current speed cycle is increased. The method further includes: The reduced or increased pressure advance factor is used as the pressure advance factor for the next speed cycle.

6. The method according to claim 1, characterized in that, The step of determining the first pressure advance coefficient corresponding to the extrusion speed based on N pressure differences and the second pressure advance coefficient corresponding to each pressure difference includes: Based on N-1 pressure differences other than the first pressure difference, and a second pressure advance coefficient corresponding to each of the N-1 pressure differences, a first pressure advance coefficient corresponding to the extrusion speed is determined; wherein, determining the first pressure advance coefficient corresponding to the extrusion speed based on N-1 pressure differences other than the first pressure difference, and a second pressure advance coefficient corresponding to each of the N-1 pressure differences, includes: Based on N-1 pressure differences and the second pressure advance coefficient corresponding to each pressure difference, a functional relationship between the pressure difference and the second pressure advance coefficient is constructed. Based on the aforementioned functional relationship, the second pressure advance coefficient corresponding to the pressure difference being 0 is used as the first pressure advance coefficient corresponding to the extrusion speed.

7. The method according to claim 1, characterized in that, The method further includes: If the target extrusion pressure and / or the calibrated extrusion pressure are not obtained in any of the speed cycles of the extrusion speed, then the speed cycle sampling is confirmed to be abnormal. If the number of abnormal speed cycles in the sampling of the extrusion speed is greater than a preset number, then the calibration process corresponding to the extrusion speed is confirmed to have failed. The method further includes: If the calibration process corresponding to the extrusion speed fails, the default pressure advance factor will be used as the first pressure advance factor corresponding to the extrusion speed. After determining the second pressure advance factor corresponding to the pressure difference, the method further includes: If the calibration process corresponding to the extrusion speed is successful, then the first pressure advance coefficient corresponding to the determined extrusion speed is limited based on the preset pressure advance coefficient range.

8. A 3D printing device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the steps of the control method for the 3D printing equipment as described in any one of claims 1 to 7.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the control method for the 3D printing equipment as described in any one of claims 1 to 7.

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