Three-dimensional printing object, printing method thereof and three-dimensional printer

Abstract

The invention discloses a three-dimensional printing object, a printing method thereof and a three-dimensional printer, and the printing method of the three-dimensional printing object comprises the following steps: printing on a to-be-printed object to obtain a first basic printing layer, and capturing an actual printing track of the first basic printing layer; determining printing ink-jet data of the first color layer based on the actual printing track of the first basic printing layer; based on the printing ink-jet data of the first color layer, the first color layer is printed on the side, away from the to-be-printed object, of the first basic printing layer, and a layer-adding printing object is obtained; and taking the layer-adding printing object as a new object to be printed, and circulating the printing step of the first basic printing layer until a three-dimensional printing object is obtained through printing. Through the method, the printing ink-jet data of the first color layer can be aligned with the actual printing track of the first basic printing layer, color errors are reduced, and the color accuracy of the three-dimensional printing object is improved.

Description

Technical Field

[0001] This application is applied to the technical field of 3D printing, especially a 3D printed object, its printing method and a 3D printer. Background Art

[0002] 3D printing technology is a kind of additive manufacturing technology. With the development of 3D printing technology, the continuous maturity of 3D printing technology has promoted a great leap in related manufacturing industries.

[0003] Currently, 3D printing technology often prints 3D printed objects by alternately printing a base printing layer and a color layer in sequence, so as to take into account the shape and color of the 3D printed object.

[0004] When printing the base printing layer, due to errors in movement, shrinkage of materials, etc., there will always be a certain deviation between the size of the finally printed base printing layer and the designed size. And this deviation will cause the printing of the color layer not to align with the corresponding base printing layer, thus resulting in a large color printing error in the 3D printed object. Summary of the Invention

[0005] This application provides a 3D printed object, its printing method and a 3D printer to solve the problem of color printing error of 3D printed objects.

[0006] To solve the above technical problem, this application provides a printing method for a 3D printed object, including: printing a first base printing layer on an object to be printed, and capturing the actual printing trajectory of the first base printing layer; determining the printing inkjet data of the first color layer based on the actual printing trajectory of the first base printing layer; printing the first color layer on the side of the first base printing layer away from the object to be printed based on the printing inkjet data of the first color layer to obtain an incrementally printed object; taking the incrementally printed object as the new object to be printed, and repeatedly executing the steps of printing a first base printing layer on the object to be printed and capturing the actual printing trajectory of the first base printing layer and subsequent steps until a 3D printed object is printed.

[0007] Among them, the steps of printing a first base printing layer on an object to be printed and capturing the actual printing trajectory of the first base printing layer include: obtaining the theoretical printing trajectory of the first base printing layer, dividing the theoretical printing trajectory to generate a continuous plurality of trajectory commands; sequentially executing the continuous plurality of trajectory commands to continuously print the first base printing layer on the object to be printed; capturing in real time a plurality of printing trajectory points of the first base printing layer when executing the trajectory commands, and determining the target trajectory commands corresponding to each printing trajectory point, and taking the plurality of printing trajectory points as the actual printing trajectory of the first base printing layer.

[0008] Among them, the steps of dividing the theoretical printing trajectory to generate multiple consecutive trajectory commands include: dividing the theoretical printing trajectory to generate multiple consecutive outer wall trajectory commands, multiple inner wall trajectory commands, and multiple filling trajectory commands; the steps of sequentially executing the multiple consecutive trajectory commands to continuously print the first basic printing layer on the object to be printed include: respectively executing each outer wall trajectory command, each inner wall trajectory command, and each filling trajectory command until an outer wall layer, an inner wall layer, and a filling layer are printed on the object to be printed to obtain the first basic printing layer; the steps of capturing multiple printing trajectory points of the first basic printing layer in real time when executing the trajectory command and determining the target trajectory command corresponding to each printing trajectory point include: capturing multiple printing trajectory points of the outer wall layer in real time when executing the outer wall trajectory command and determining the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command.

[0009] Among them, the steps of dividing the theoretical printing trajectory to generate multiple consecutive outer wall trajectory commands, multiple inner wall trajectory commands, and multiple filling trajectory commands further include: setting a capture start flag in the first outer wall trajectory command among the multiple consecutive outer wall trajectory commands and setting a capture stop flag in the last outer wall trajectory command; the steps of capturing multiple printing trajectory points of the outer wall layer in real time when executing the outer wall trajectory command and determining the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command include: in response to the existence of a capture start flag in the currently executed outer wall trajectory command, capturing the printing trajectory points of the outer wall layer in real time based on a preset rule until a capture stop flag exists in the currently executed outer wall trajectory command to obtain multiple printing trajectory points and determine the target trajectory command corresponding to each printing trajectory point.

[0010] Among them, the steps of dividing the theoretical printing trajectory to generate multiple consecutive outer wall trajectory commands, multiple inner wall trajectory commands, and multiple filling trajectory commands further include: sorting the multiple consecutive outer wall trajectory commands and sequentially setting serial number flags in the sorted multiple outer wall trajectory commands; the steps of capturing multiple printing trajectory points of the outer wall layer in real time when executing the outer wall trajectory command and determining the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command further include: capturing multiple printing trajectory points of the outer wall layer and the serial number range of the outer wall trajectory command corresponding to each printing trajectory point in real time; determining the theoretical point closest to the printing trajectory point within the theoretical printing trajectory corresponding to the multiple outer wall trajectory commands within the serial number range; and determining the outer wall trajectory command corresponding to the closest theoretical point as the target trajectory command corresponding to the printing trajectory point.

[0011] Among them, the steps of capturing the printing trajectory points of the outer wall layer in real time based on preset rules include: capturing multiple printing trajectory points of the outer wall layer in real time based on a preset frequency; or capturing the current initial trajectory point of the outer wall layer based on a preset frequency; in response to the distance between the current initial trajectory point and the previous initial trajectory point being greater than or equal to a preset distance, determining the current initial trajectory point as a printing trajectory point; in response to the distance between the current initial trajectory point and the previous initial trajectory point being less than the preset distance, capturing a new current initial trajectory point of the outer wall layer again based on the preset frequency until a current initial trajectory point with a distance greater than or equal to the preset distance from the previous initial trajectory point is obtained, so as to determine the new current initial trajectory point as a printing trajectory point; or evenly dividing the continuous moving distances corresponding to multiple outer wall trajectory commands to obtain multiple set distances, and determining the outer wall trajectory commands corresponding to the dividing endpoints of each set distance as capture trajectory commands; capturing multiple printing trajectory points of the outer wall layer in real time based on the sending of the capture trajectory commands.

[0012] Among them, the steps of determining the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer include: determining the color of the nearest theoretical point in the target trajectory command corresponding to each printing trajectory point as the color of each corresponding printing trajectory point; based on the ring width of the first color layer, extending each printing trajectory point along the normal direction of the first color layer towards the inside of the three-dimensional printed object respectively to obtain multiple line segments that meet the ring width; setting the color of each line segment as the color of the corresponding printing trajectory point respectively to obtain the printing inkjet data of the first color layer.

[0013] Among them, the steps of setting the color of each line segment as the color of the corresponding printing trajectory point respectively to obtain the printing inkjet data of the first color layer include: in response to two adjacent line segments intersecting and the colors of the printing trajectory points corresponding to the two adjacent line segments being different, performing interpolation approximation on the colors of the printing trajectory points corresponding to the two adjacent line segments to obtain a blended color; determining the color of the intersecting part of the two adjacent line segments as the blended color.

[0014] To solve the above technical problems, the present application also provides a three-dimensional printed object, including a basic printing layer and a color layer that are alternately stacked in sequence, wherein the three-dimensional printed object is prepared by the printing method of the three-dimensional printed object in any one of the above.

[0015] To solve the above technical problems, the present application further provides a 3D printer for performing the printing method of a 3D printed object according to any one of the above, including: a planning mechanism for planning the theoretical printing trajectory of a basic printing layer and determining the printing inkjet data of a color layer; a control mechanism connected to the planning mechanism for controlling an execution mechanism to perform printing based on the theoretical printing trajectory of the basic printing layer and the printing inkjet data of the color layer; an execution mechanism connected to the control mechanism for performing printing; wherein, a displacement sensor is provided on the execution mechanism for capturing the actual printing trajectory of the basic printing layer and transmitting it to the planning mechanism, so that the planning mechanism determines the printing inkjet data of the color layer based on the actual printing trajectory of the basic printing layer.

[0016] To solve the above technical problems, the printing method of the 3D printed object in the present application obtains a to-be-printed object, prints a first basic printing layer on the to-be-printed object, and captures the actual printing trajectory of the first basic printing layer; determines the printing inkjet data of a first color layer based on the actual printing trajectory of the first basic printing layer; based on the printing inkjet data of the first color layer, prints the first color layer on the side of the first basic printing layer away from the to-be-printed object to obtain a layer-added printed object; takes the layer-added printed object as a new to-be-printed object, and cyclically executes the steps of printing the first basic printing layer on the to-be-printed object and capturing the actual printing trajectory of the first basic printing layer and subsequent steps until a 3D printed object is printed, thereby determining the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer, shielding the error of the printing size accuracy, enabling the printing inkjet data of the first color layer to be aligned with the actual printing trajectory of the first basic printing layer, and further reducing the color printing error. Specifically, it can reduce the situation where the ink is mis-sprayed and drops onto the outer surface of the lower layer, or the ink landing point is far from the outer edge of the upper surface of the outer wall, thereby ensuring the printing accuracy and accuracy of the color layer and improving the color accuracy of the 3D printed object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic flowchart of an embodiment of the printing method of the 3D printed object provided by the present application;

[0018] Figure 2 is a schematic flowchart of another embodiment of the printing method of the 3D printed object provided by the present application;

[0019] Figure 3 is a schematic cross-sectional structure diagram of an embodiment of a basic printing layer;

[0020] Figure 4 is a schematic cross-sectional structure diagram of an embodiment of the 3D printed object provided by the present application;

[0021] Figure 5It is a schematic structural diagram of an embodiment of a 3D printer provided by this application. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of this application will be clearly and completely described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0023] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0024] In addition, if there are descriptions such as "first" and "second" involved in the embodiments of this application, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on what can be achieved by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by this application.

[0025] Please refer to Figure 1 , Figure 1 It is a schematic flowchart of an embodiment of a printing method for a 3D printed object provided by this application.

[0026] Step S11: Print a first basic printing layer on the object to be printed, and capture the actual printing trajectory of the first basic printing layer.

[0027] The object to be printed includes the working platform of the 3D printer and the unfinished 3D printed object during the printing process. In a specific application scenario, when starting to print a 3D printed object, the working platform of the 3D printer can be used as the object to be printed. First, a first basic printing layer is printed on the working platform of the 3D printer, and then subsequent preparation is carried out. In a specific application scenario, when in the middle of the printing process of a 3D printed object, the printed but unfinished 3D printed object can be used as the object to be printed. First, a first basic printing layer is printed on the unfinished 3D printed object, and then subsequent preparation is carried out. The determination of the object to be printed is set based on the specific printing process and is not limited here.

[0028] The first basic printing layer is the basic printing layer currently being printed on the object to be printed. If, after the printing of the current first basic printing layer is completed, the printing of the next basic printing layer is still required, then the next basic printing layer is the second basic printing layer, and so on for the printing of the third basic printing layer and the fourth basic printing layer, which will not be elaborated further.

[0029] After determining the object to be printed, a first basic printing layer is printed on the object to be printed. In a specific application scenario, the first basic printing layer can be printed by the fused deposition modeling (FDM) technology. In a specific application scenario, the first basic printing layer can also be printed by resin 3D printing technology, powder bed fusion printing technology, material jetting (M-Jet) printing technology, plastic freeform (APF) printing technology, and so on. The printing technology is not limited here.

[0030] During the printing process of the first basic printing layer, the actual printing trajectory of the first basic printing layer is captured. In a specific application scenario, a displacement sensor can be set on the actuator of the 3D printer, so as to sense the displacement of the actuator in real time through the displacement sensor. Since the printing of the basic printing layer is specifically carried out by the actuator, the actual printing trajectory of the first basic printing layer can be obtained by sensing the displacement of the actuator. In a specific application scenario, an image recognition unit can also be set on the 3D printer. After printing the first basic printing layer, the actual printing trajectory of the first basic printing layer is photographed and recognized through the image recognition unit. The acquisition method of the actual printing trajectory is not limited here.

[0031] Step S12: Determine the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer.

[0032] When determining the printing inkjet data of the first color layer, instead of referring to the theoretical printing trajectory of the first basic printing layer, the actual printing trajectory of the first basic printing layer is considered. Thus, the error in printing size accuracy is masked by the actual printing trajectory of the first basic printing layer, enabling the printing inkjet data of the first color layer to align with the actual printing trajectory of the first basic printing layer, and further ensuring the printing accuracy of the color layer.

[0033] The first color layer is the color layer currently printed on the first basic printing layer. If, after the current first color layer is printed, the second basic printing layer still needs to be printed, then the second color layer is printed on the second basic printing layer, and so on for the third color layer and the fourth color layer, which will not be elaborated here.

[0034] Step S13: Based on the printing inkjet data of the first color layer, print the first color layer on the side of the first basic printing layer away from the object to be printed, obtaining an additive manufacturing object.

[0035] In a specific application scenario, the first color layer can be printed on one side of the first basic printing layer based on the printing inkjet data of the first color layer through a full-color inkjet stereolithography 3D printing technology. In a specific application scenario, the first color layer can also be printed through a thermosetting ink printing technology, a curing agent ink printing technology, or an ink printing technology cured by other chemical methods.

[0036] After the first color layer is printed, a basic printing layer and a color layer are added to the object to be printed, obtaining an additive manufacturing object.

[0037] Step S14: Take the additive manufacturing object as the new object to be printed, and loop through the steps of printing the first basic printing layer on the object to be printed and capturing the actual printing trajectory of the first basic printing layer and subsequent steps until a 3D printed object is obtained.

[0038] In a specific application scenario, if, after adding a basic printing layer and a color layer to the object to be printed, printing still needs to continue, then take the additive manufacturing object as the new object to be printed and loop through the above steps S11 - S13 until the additive manufacturing is completed and a 3D printed object is obtained.

[0039] In a specific application scenario, if, after adding a basic printing layer and a color layer to the object to be printed, printing is completed, then take the additive manufacturing object as the 3D printed object and end the printing.

[0040] Through the above steps, the printing method of the three-dimensional printed object in this embodiment obtains the object to be printed, prints the first basic printing layer on the object to be printed, and captures the actual printing trajectory of the first basic printing layer; determines the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer; based on the printing inkjet data of the first color layer, prints the first color layer on the side of the first basic printing layer away from the object to be printed to obtain an additive printing object; takes the additive printing object as the new object to be printed, and cyclically executes the steps of printing the first basic printing layer on the object to be printed and capturing the actual printing trajectory of the first basic printing layer and subsequent steps until the three-dimensional printed object is printed. Thus, the printing inkjet data of the first color layer is determined based on the actual printing trajectory of the first basic printing layer, shielding the error of the printing size accuracy, enabling the printing inkjet data of the first color layer to be aligned with the actual printing trajectory of the first basic printing layer, and further reducing the color printing error. Specifically, it can reduce the situation where the ink is missprayed and falls onto the outer surface of the lower layer, or the ink landing point is far from the outer edge of the upper surface of the outer wall, thereby ensuring the printing accuracy and accuracy of the color layer and improving the color accuracy of the three-dimensional printed object.

[0041] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of another embodiment of the printing method of the three-dimensional printed object provided by this application.

[0042] Step S21: Obtain the theoretical printing trajectory of the first basic printing layer, and divide the theoretical printing trajectory to generate a plurality of continuous trajectory commands.

[0043] Before starting printing, that is, before step S21, a displacement sensor can be set on the actuator of the 3D printer. Among them, the displacement sensor is a sensor that can directly measure the linear displacement amount, including but not limited to grating rulers, magnetic grating rulers, grating encoders and grating discs, magnetic grating encoders and magnetic grating discs.

[0044] Then, during the printing process, the first basic printing layer is printed on the object to be printed through the actuator of the 3D printer, and a plurality of printing trajectory points of the outer wall layer are captured in real time through the displacement sensor, and the plurality of printing trajectory points are used as the actual printing trajectory of the first basic printing layer. Among them, the number of printing trajectory points can be set based on experience or based on the capture frequency of the displacement sensor, and is not limited here.

[0045] During printing, the first basic printing layer is printed on the object to be printed, and the actual printing trajectory of the first basic printing layer is captured.

[0046] In a specific application scenario, the specific printing process of the first basic printing layer is as follows: Obtain the theoretical printing trajectory of the first basic printing layer, and divide the theoretical printing trajectory to generate a continuous plurality of trajectory commands. Among them, the theoretical printing trajectory of the first basic printing layer can be obtained by slicing the model of the three-dimensional printed object with slicing software. After obtaining the theoretical printing trajectory of the first basic printing layer, when printing with a three-dimensional printer, it is necessary to convert the theoretical printing trajectory into a trajectory command that can be recognized by the three-dimensional printer, so that the three-dimensional printer can perform printing based on the theoretical printing trajectory by executing the trajectory command. Among them, the slicing software is a computer-aided manufacturing software for three-dimensional printing, which slices the three-dimensional model according to the single-layer printing thickness of the three-dimensional printer in a planar or curved surface manner, and cuts the model into many stacked planes or curved surfaces, so as to obtain the theoretical printing trajectory.

[0047] In a specific application scenario, the trajectory command can be a Gcode command or other logical commands. Gcode is a standardized computer numerical control programming language for controlling mechanical equipment. Through slicing and conversion processing of the model of the three-dimensional printed object with slicing software, a text file integrating a plurality of Gcode trajectory commands is generated, so that the three-dimensional printer performs printing based on this text file. Among them, the trajectory command includes but is not limited to data information such as printing speed, acceleration, and theoretical printing trajectory.

[0048] In a specific application scenario, the printing of the basic printing layer can be divided into the separate printing of the outer wall layer, the inner wall layer, and the filling layer, so that the basic printing layer is formed by combining the outer wall layer, the inner wall layer, and the filling layer. Please refer to Figure 3 , Figure 3 which is a schematic cross-sectional structure diagram of an embodiment of the basic printing layer.

[0049] The basic printing layer 100 of this embodiment includes an outer wall layer 130, an inner wall layer 120, and a filling layer 110. Among them, the inner wall layer 120 is disposed around the filling layer 110 in a fitting manner, and the outer wall layer 130 is disposed around the inner wall layer 120 in a fitting manner. The outer wall layer 130 and the inner wall layer 120 jointly construct the overall shape of the basic printing layer 100, and the filling layer 110 fills the shape to improve the structural stability.

[0050] Then when generating a continuous plurality of trajectory commands, specifically, the theoretical printing trajectory can be divided to generate a continuous plurality of outer wall trajectory commands, a plurality of inner wall trajectory commands, and a plurality of filling trajectory commands, so that the execution mechanisms of the three-dimensional printer respectively execute each outer wall trajectory command, each inner wall trajectory command, and each filling trajectory command until the outer wall layer, the inner wall layer, and the filling layer are printed on the object to be printed, and the first basic printing layer is obtained.

[0051] No other motion commands, such as empty travel, retraction, backfilling, etc., are inserted within multiple outer wall trajectory commands to ensure the continuity of multiple outer wall trajectory commands.

[0052] Since the color layer is used to display the appearance color of the 3D printed object, the color layer mainly needs to be flush with the outer wall of the first basic printing layer, so as to display the corresponding color on the outer wall layer. Therefore, in this embodiment, the determination of the actual printing trajectory of the first basic printing layer is mainly to determine the actual printing trajectory of the outer wall layer of the first basic printing layer.

[0053] In a specific application scenario, in order to capture the actual printing trajectory of the outer wall layer of the first basic printing layer, when generating the outer wall trajectory command, a capture start marker can be set in the first outer wall trajectory command among multiple consecutive outer wall trajectory commands, and a capture stop marker can be set in the last outer wall trajectory command. The capture start marker and the capture stop marker are respectively used to control the start and end of trajectory capture. By setting the capture start marker and the capture stop marker in the first outer wall trajectory command and the last outer wall trajectory command among multiple consecutive outer wall trajectory commands respectively, the actual printing trajectory of the outer wall layer of the first basic printing layer can be captured.

[0054] In a specific application scenario, in order to capture the actual printing trajectory of the outer wall layer of the first basic printing layer, when generating the outer wall trajectory command, a marker parameter can also be set in each outer wall trajectory command to distinguish the outer wall trajectory command from other trajectory commands through the marker parameter.

[0055] Step S22: Sequentially execute multiple consecutive trajectory commands to continuously print the first basic printing layer on the object to be printed.

[0056] The execution mechanism can include a horizontal and vertical movement device and a printing nozzle. The horizontal and vertical movement device is used to move to the target position based on the trajectory command, and then the printing nozzle is used to print at the target position, so as to sequentially execute multiple consecutive trajectory commands to continuously print the first basic printing layer on the object to be printed.

[0057] In a specific application scenario, the execution mechanism of the 3D printer respectively executes each outer wall trajectory command, each inner wall trajectory command, and each filling trajectory command until the outer wall layer, the inner wall layer, and the filling layer are printed on the object to be printed, and the first basic printing layer is obtained.

[0058] Step S23: Real-time capture multiple printing trajectory points of the first basic printing layer when executing the trajectory command, and determine the target trajectory command corresponding to each printing trajectory point, and use the multiple printing trajectory points as the actual printing trajectory of the first basic printing layer.

[0059] Among them, the order of step S23 and step S22 has no sequence and they can be carried out simultaneously.

[0060] Multiple printing trajectory points are captured in real time by a displacement sensor when the actuator executes a trajectory command, and the target trajectory command corresponding to each printing trajectory point is determined. The multiple printing trajectory points are used as the actual printing trajectory of the first basic printing layer. Specifically, in this embodiment, multiple printing trajectory points can be captured in real time when the actuator executes the outer wall trajectory command, and the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command is determined. The multiple printing trajectory points are used as the actual printing trajectory of the outer wall of the first basic printing layer.

[0061] In a specific application scenario, when a capture start mark is set in the first outer wall trajectory command among consecutive multiple outer wall trajectory commands and a capture stop mark is set in the last outer wall trajectory command, during the printing process of the first basic printing layer, in response to the existence of the capture start mark in the currently executed outer wall trajectory command, the printing trajectory points of the outer wall layer are captured in real time based on a preset rule until the capture stop mark exists in the currently executed outer wall trajectory command, so as to obtain multiple printing trajectory points and determine the target trajectory command corresponding to each printing trajectory point. Specifically, in response to the existence of the capture start mark in the currently executed outer wall trajectory command, the current position of the displacement sensor is used as the starting printing trajectory point of the actual printing trajectory, and the subsequent outer wall trajectory commands are sequentially executed, and the printing trajectory points of the actuator are captured in real time by the displacement sensor until the capture stop mark exists in the currently executed outer wall trajectory command, and the current position of the displacement sensor is used as the terminating printing trajectory point of the actual printing trajectory, so as to obtain multiple printing trajectory points and determine the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command.

[0062] In a specific application scenario, when a marking parameter is set in each outer wall trajectory command, during the printing process of the first basic printing layer, in response to the existence of the marking parameter in the currently executed trajectory command, it is determined that the trajectory command is an outer wall trajectory command, and then the printing trajectory points of the actuator are captured in real time by the displacement sensor and the target trajectory command corresponding to each printing trajectory point in the outer wall trajectory command is determined.

[0063] The multiple printing trajectory points are used as the actual printing trajectory of the outer wall of the first basic printing layer. Among them, when starting to print the entire three-dimensional printed object, the displacement sensor is first zeroed to determine the absolute zero value of the displacement sensor in this printing, so as to improve the position accuracy of the displacement sensor for capturing the printing trajectory points of each layer. Among them, when changing layers during the printing of the basic printing layer, the displacement sensor is not zeroed.

[0064] When determining the target trajectory commands corresponding to each printing trajectory point, since there is a certain time difference when the 3D printer obtains the trajectory commands and executes the trajectory commands for printing, there may be a certain error in establishing the correspondence between the printing trajectory points and the trajectory commands. Therefore, in order to establish the correspondence between the printing trajectory points and the correct target trajectory commands in this embodiment, when generating a continuous plurality of outer wall trajectory commands, the continuous plurality of outer wall trajectory commands are also sorted, and serial number marks are sequentially set in the sorted plurality of outer wall trajectory commands. For example, when there are 100 continuous outer wall trajectory commands, these 100 outer wall trajectory commands can be sequentially and respectively set with serial number marks of "1, 2, 3, 4, 5... 99, 100" according to the arrangement order.

[0065] Then, during the printing process of the first basic printing layer, a plurality of printing trajectory points of the outer wall layer and the serial number range of the outer wall trajectory commands corresponding to each printing trajectory point are captured in real time by the displacement sensor; the specific size of the serial number range can be correspondingly set based on the time difference between obtaining the trajectory commands and executing the trajectory commands of the specific 3D printer. For example, for a 3D printer with a small time difference, a smaller range can be adopted for the serial number range, and for a 3D printer with a large time difference, a larger range can be adopted for the serial number range.

[0066] Within the theoretical printing trajectory corresponding to the outer wall trajectory commands within the serial number range, determine the theoretical point closest to the printing trajectory point; determine the outer wall trajectory command corresponding to the closest theoretical point as the target trajectory command corresponding to the printing trajectory point.

[0067] In a specific application scenario, first, a certain printing trajectory point (x1, y1) of the execution mechanism and the serial number range of the outer wall trajectory command corresponding to the printing trajectory point (x1, y1) are captured in real time by the displacement sensor. Assume the serial number range is 12 - 15. Then, within the theoretical printing trajectory corresponding to the 12th to 15th outer wall trajectory commands, determine the theoretical point (x2, y2) closest to the printing trajectory point. The serial number of the outer wall trajectory command corresponding to the point (x2, y2) is 13. Then, determine the target trajectory command corresponding to the printing trajectory point (x1, y1) as the 13th outer wall trajectory command.

[0068] In this embodiment, by sequentially marking the outer wall trajectory commands with serial numbers and combining the distance to double - determine the target trajectory commands corresponding to each printing trajectory point, the correspondence accuracy between the printing trajectory points and the target trajectory commands can be improved.

[0069] In a specific application scenario, the steps of capturing the printing trajectory points of the actuator in real time based on preset rules may specifically include: capturing multiple printing trajectory points of the outer wall layer in real time through a displacement sensor based on a preset frequency. The preset frequency can be set according to actual needs. For example: 10 times per second, 5 times per second, 20 times per second, etc., which are not limited herein. A fixed-period hardware timer can be started to read the readings of the displacement sensor regularly based on the preset frequency, thereby capturing the printing trajectory points in real time.

[0070] In a specific application scenario, the steps of capturing the printing trajectory points of the actuator in real time based on preset rules may specifically include: capturing the current initial trajectory point of the outer wall layer based on a preset frequency; in response to the distance between the current initial trajectory point and the previous initial trajectory point being greater than or equal to a preset distance, determining the current initial trajectory point as a printing trajectory point; in response to the distance between the current initial trajectory point and the previous initial trajectory point being less than the preset distance, capturing a new current initial trajectory point of the outer wall layer again based on the preset frequency until a current initial trajectory point with a distance greater than or equal to the preset distance from the previous initial trajectory point is obtained, so as to determine the new current initial trajectory point as a printing trajectory point. The preset distance is used to divide the distance between printing trajectory points. When the distance between two adjacent initial trajectory points is less than the preset distance, it means that the distance between these two initial trajectory points is very close, and it is difficult to reflect different amounts of information in the actual printing trajectory. Then, this initial trajectory point is not adopted to reduce the data complexity while ensuring the actual printing trajectory. In a specific application scenario, a fixed-period high-frequency hardware timer can be started to read the readings of the displacement sensor regularly according to the preset frequency. It is necessary to calculate the displacement difference of the readings of the displacement sensor relative to the readings of the displacement sensor recorded last time. If the difference is greater than or equal to the preset distance, the readings of the displacement sensor and the current time are saved to obtain the printing trajectory point, and the readings of the displacement sensor to be compared are refreshed.

[0071] In a specific application scenario, the steps of capturing the printing trajectory points of the actuator in real time based on preset rules may specifically include: evenly dividing the continuous moving distances corresponding to multiple outer wall trajectory commands to obtain multiple set distances, and determining the outer wall trajectory commands corresponding to the dividing endpoints of each set distance as capture trajectory commands; capturing multiple printing trajectory points of the outer wall layer in real time based on the sending of the capture trajectory commands. Since the displacement can be determined based on the outer wall trajectory commands, before printing, the continuous moving distances corresponding to multiple outer wall trajectory commands can be directly divided into multiple set distances, so as to directly capture the printing trajectory points corresponding to the outer wall trajectory commands of each set distance.

[0072] Through the above capture method, the contribution degree of each printing trajectory point to the actual printing trajectory can be improved, and thus the accuracy of the actual printing trajectory can be improved.

[0073] In a specific application scenario, after obtaining multiple printing trajectory points of the outer wall, the multiple printing trajectory points can also be smoothed and fitted to remove the printing trajectory points with large differences from other printing trajectory points, so as to reduce the influence of certain mistakes during the capture process on the actual printing trajectory.

[0074] Step S24: Determine the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer.

[0075] Determine the color of the nearest theoretical point in the target trajectory command corresponding to each printing trajectory point as the color of each corresponding printing trajectory point; based on the ring width of the first color layer, extend each printing trajectory point along the normal direction of the first color layer towards the inside of the three-dimensional printed object respectively to obtain multiple line segments that meet the ring width; set the color of each line segment as the color of the corresponding printing trajectory point to obtain the printing inkjet data of the first color layer.

[0076] That is, the position of the printing trajectory point determines the path of the printing trajectory of the first color layer, and the color of the nearest theoretical point in the corresponding target trajectory command determines the color of the printing trajectory of the first color layer.

[0077] In a specific application scenario, based on the ring width of the first color layer, extend each printing trajectory point along the normal direction of the first color layer towards the inside of the three-dimensional printed object respectively to obtain multiple line segments that meet the ring width; set the color of each line segment as the color of the corresponding printing trajectory point to obtain the printing inkjet data of the first color layer.

[0078] Since the color layer is mainly used to display the appearance color of the three-dimensional printed object, only the outer ring of the color layer can be set with color, and the inner ring is transparent or white, so as to save the usage amount of full-color ink and reduce costs. Therefore, after determining the printing trajectory points of the printing trajectory and the corresponding colors, along the normal direction of the first color layer towards the inside of the three-dimensional printed object, extend each printing trajectory point respectively to obtain multiple line segments that meet the ring width, and the color of the entire line segment is also the same as the corresponding printing trajectory point. The ring width can be specifically set according to actual needs, such as 2 mm, 3 mm, 4 mm, etc. No limitation is made here.

[0079] In a specific application scenario, in response to the intersection of two adjacent line segments and the different colors of the printing trajectory points corresponding to the two adjacent line segments, perform interpolation approximation on the colors of the printing trajectory points corresponding to the two adjacent line segments to obtain a blended color; determine the color of the intersection part of the two adjacent line segments as the blended color.

[0080] Affected by the shape of the three-dimensional printed object, when two adjacent line segments intersect and the colors of the printing trajectory points corresponding to the two adjacent line segments are different, the color of the intersection area is obtained by fusing the colors of these two line segments through interpolation approximation, so as to ensure that the color of this part matches the colors of the two adjacent line segments at the same time, and can ensure the outer wall width of the color layer, achieving the display of color through the way of transmission and ensuring the saturation of color display.

[0081] In a specific application scenario, if the distance between the inner ring points of two adjacent line segments is too close, the inner ring points of these two line segments can also be merged to reduce the complexity of the printing inkjet data of the color layer.

[0082] Step S25: Based on the printing inkjet data of the first color layer, print the first color layer on the side of the first basic printing layer away from the object to be printed, and obtain the additive manufacturing object.

[0083] In a specific application scenario, the first color layer can be printed on the side of the first basic printing layer away from the object to be printed based on the printing inkjet data of the first color layer through the full-color inkjet stereolithography three-dimensional printing technology. In a specific application scenario, the first color layer can also be printed through the thermosetting ink printing technology, the curing agent ink printing technology or other ink printing technologies cured by chemical methods.

[0084] After the first color layer is printed, a basic printing layer and a color layer are added to the object to be printed, and the additive manufacturing object is obtained.

[0085] Step S26: Take the additive manufacturing object as the new object to be printed, and loop through the steps of printing the first basic printing layer on the object to be printed and capturing the actual printing trajectory of the first basic printing layer and subsequent steps until the three-dimensional printed object is obtained.

[0086] In a specific application scenario, if it is still necessary to continue printing after adding a basic printing layer and a color layer to the object to be printed, take the additive manufacturing object as the new object to be printed, and loop through the above steps S21 - S25 until the additive manufacturing is completed and the three-dimensional printed object is obtained.

[0087] In a specific application scenario, if the printing is completed after adding a basic printing layer and a color layer to the object to be printed, take the additive manufacturing object as the three-dimensional printed object and end the printing.

[0088] Through the above steps, the printing method of the three-dimensional printed object in this embodiment determines the printing inkjet data of the first color layer based on the actual printing trajectory of the first base printing layer, shields the error of the printing size accuracy, enables the printing inkjet data of the first color layer to align with the actual printing trajectory of the first base printing layer, thereby reducing the color printing error, ensuring the printing accuracy and accuracy of the color layer, and improving the color accuracy of the three-dimensional printed object. And the displacement sensor is used to capture multiple printing trajectory points of the outer wall layer in real time to improve the accuracy of the actual printing trajectory. In this embodiment, a capture start mark and a capture stop mark or mark parameters are also set in the outer wall trajectory command to distinguish the outer wall trajectory command from other trajectory commands through the mark parameters, so that the displacement sensor can accurately sense multiple printing trajectory points corresponding to the outer wall trajectory command, thereby improving the capture accuracy of the actual movement trajectory of the outer wall. And by sequentially setting serial number marks in multiple sorted outer wall trajectory commands, when capturing the actual movement trajectory of the outer wall, the serial number range of the outer wall trajectory command corresponding to each printing trajectory point can be obtained, and then within the theoretical printing trajectories corresponding to multiple outer wall trajectory commands within the serial number range, the theoretical point closest to the printing trajectory point is determined; the outer wall trajectory command corresponding to the closest theoretical point is determined as the target trajectory command corresponding to the printing trajectory point, so as to double-determine the target trajectory command corresponding to the printing trajectory point based on the serial number and distance of the outer wall trajectory command, and then use the closest theoretical point of the target trajectory command to determine the color, so as to improve the correspondence accuracy between the printing trajectory point and the target trajectory command, thereby ensuring the printing accuracy of the color layer and the color accuracy, and improving the color accuracy of the three-dimensional printed object.

[0089] Please refer to Figure 4 , Figure 4 which is a schematic cross-sectional structure diagram of an embodiment of the three-dimensional printed object provided by this application. The structure of this embodiment is only for illustration and is not limited. In actual printing, the three-dimensional printed object can have a structure of any shape.

[0090] The three-dimensional printed object 200 in this embodiment includes a base printing layer 210 and a color layer 220 that are alternately stacked in sequence. The base printing layer 210 is used to support the shape of the entire three-dimensional printed object 200, and the color layer 220 is used to transmit the appearance color of the three-dimensional printed object 200.

[0091] Among them, the three-dimensional printed object 200 is prepared by the printing method of the three-dimensional printed object in any of the above embodiments. Therefore, the printing trajectory of the color layer 220 of the three-dimensional printed object 200 in this embodiment can be aligned with the actual printing trajectory of the base printing layer 210, thereby reducing color printing errors. Specifically, it can reduce the situation where the ink is missprayed and drops onto the outer surface of the lower layer, or the ink drop point is far from the outer edge of the upper surface of the outer wall, thus ensuring the printing accuracy and accuracy of the color layer 220 and improving the color accuracy of the three-dimensional printed object 200.

[0092] In some embodiments, the base printing layer 210 can be a transparent printing layer to transmit the color of the color layer 220 and ensure the appearance color of the three-dimensional printed object 200. The transparency of the base printing layer 210 can be above 70%, specifically including but not limited to 70%, 75%, 80%, 85%, 90%, 95% or 99%, etc.

[0093] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an embodiment of a three-dimensional printer provided by this application.

[0094] The three-dimensional printer 300 in this embodiment is used to execute the printing method of the three-dimensional printed object in any of the above embodiments, including: a planning mechanism 310, a control mechanism 320, and an execution mechanism 330. The planning mechanism 310 is used to plan the theoretical printing trajectory of the base printing layer and determine the printing inkjet data of the color layer; the control mechanism 320 is connected to the planning mechanism 310 and is used to control the execution mechanism 330 to perform printing based on the theoretical printing trajectory of the base printing layer and the printing inkjet data of the color layer; the execution mechanism 330 is connected to the control mechanism 320 and is used to perform printing.

[0095] Among them, a displacement sensor 331 is arranged on the execution mechanism 330, which is used to capture the actual printing trajectory of the base printing layer and transmit it to the planning mechanism 310 through the control mechanism 320, so that the planning mechanism 310 determines the printing inkjet data of the color layer based on the actual printing trajectory of the base printing layer.

[0096] The three-dimensional printer in this embodiment can print a three-dimensional printed object in which the printing inkjet data of the color layer is aligned with the actual printing trajectory of the base printing layer, thereby reducing color printing errors, ensuring the printing accuracy and accuracy of the color layer, and improving the color accuracy of the three-dimensional printed object.

[0097] The above are only the implementation manners of this application, and do not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of this application by the same token.

Claims

1. A printing method for a three-dimensional printed object, characterized in that, The printing method of the three-dimensional printed object includes: Printing a first basic printing layer on the object to be printed, and capturing the actual printing trajectory of the first basic printing layer; Determining the printing inkjet data of the first color layer based on the actual printing trajectory of the first basic printing layer; Printing the first color layer on the side of the first basic printing layer away from the object to be printed based on the printing inkjet data of the first color layer to obtain an additive printing object; Taking the additive printing object as a new object to be printed, and cyclically executing the steps of printing a first basic printing layer on the object to be printed and capturing the actual printing trajectory of the first basic printing layer and subsequent steps until a three-dimensional printed object is obtained.

2. The printing method of the three-dimensional printed object according to claim 1, characterized in that The step of printing a first basic printing layer on the object to be printed and capturing the actual printing trajectory of the first basic printing layer includes: Obtaining the theoretical printing trajectory of the first basic printing layer, and dividing the theoretical printing trajectory to generate a plurality of continuous trajectory commands; Sequentially executing a plurality of continuous trajectory commands to continuously print the first basic printing layer on the object to be printed; Real-time capturing a plurality of printing trajectory points of the first basic printing layer when executing the trajectory commands, and determining the target trajectory commands corresponding to the respective printing trajectory points, and taking the plurality of printing trajectory points as the actual printing trajectory of the first basic printing layer.

3. The printing method of the three-dimensional printed object according to claim 2, wherein, The step of dividing the theoretical printing trajectory to generate a plurality of continuous outer wall trajectory commands, a plurality of inner wall trajectory commands, and a plurality of filling trajectory commands includes: Dividing the theoretical printing trajectory to generate a plurality of continuous outer wall trajectory commands, a plurality of inner wall trajectory commands, and a plurality of filling trajectory commands; The step of sequentially executing a plurality of continuous trajectory commands to continuously print the first basic printing layer on the object to be printed includes: Respectively executing each of the outer wall trajectory commands, each of the inner wall trajectory commands, and each of the filling trajectory commands until an outer wall layer, an inner wall layer, and a filling layer are printed on the object to be printed to obtain the first basic printing layer; The step of real-time capturing a plurality of printing trajectory points of the first basic printing layer when executing the trajectory commands, and determining the target trajectory commands corresponding to the respective printing trajectory points includes: Real-time capturing a plurality of printing trajectory points of the outer wall layer when executing the outer wall trajectory commands, and determining the target trajectory commands corresponding to the respective printing trajectory points in the outer wall trajectory commands.

4. The printing method of a three-dimensional printed object according to claim 3, characterized in that, The step of dividing the theoretical printing trajectory to generate a plurality of continuous outer wall trajectory commands, a plurality of inner wall trajectory commands, and a plurality of filling trajectory commands includes: Setting a capture start mark in the first outer wall trajectory command among a plurality of continuous outer wall trajectory commands and setting a capture stop mark in the last outer wall trajectory command; The step of real-time capturing a plurality of printing trajectory points of the outer wall layer when executing the outer wall trajectory commands, and determining the target trajectory commands corresponding to the respective printing trajectory points in the outer wall trajectory commands includes: In response to the presence of a capture start marker in the currently executed outer wall trajectory command, the printing trajectory points of the outer wall layer are captured in real time based on a preset rule until a capture stop marker exists in the currently executed outer wall trajectory command, so as to obtain a plurality of the printing trajectory points and determine the target trajectory command corresponding to each of the printing trajectory points.

5. The printing method of the three-dimensional printed object according to claim 4, characterized in that, The step of dividing the theoretical printing trajectory to generate a plurality of continuous outer wall trajectory commands, a plurality of inner wall trajectory commands, and a plurality of filling trajectory commands further includes: Sorting the plurality of continuous outer wall trajectory commands and sequentially setting serial number markers in the sorted outer wall trajectory commands; The step of capturing in real time a plurality of printing trajectory points of the outer wall layer when executing the outer wall trajectory command and determining the target trajectory command corresponding to each of the printing trajectory points in the outer wall trajectory command further includes: Capturing in real time a plurality of printing trajectory points of the outer wall layer and the serial number range of the outer wall trajectory command corresponding to each of the printing trajectory points; Determining the theoretical point closest to the printing trajectory point within the theoretical printing trajectory corresponding to the outer wall trajectory commands within the serial number range; Determining the outer wall trajectory command corresponding to the closest theoretical point as the target trajectory command corresponding to the printing trajectory point.

6. The printing method of a three-dimensional printed object according to claim 4 or 5, characterized in that, The step of capturing the printing trajectory points of the outer wall layer in real time based on a preset rule includes: Capturing in real time a plurality of printing trajectory points of the outer wall layer based on a preset frequency; or Capturing the current initial trajectory point of the outer wall layer based on a preset frequency; in response to the distance between the current initial trajectory point and the previous initial trajectory point being greater than or equal to a preset distance, determining the current initial trajectory point as the printing trajectory point; in response to the distance between the current initial trajectory point and the previous initial trajectory point being less than the preset distance, capturing a new current initial trajectory point of the outer wall layer again based on the preset frequency until a current initial trajectory point with a distance greater than or equal to the preset distance from the previous initial trajectory point is obtained, so as to determine the new current initial trajectory point as the printing trajectory point; or Uniformly dividing the continuous moving distances corresponding to the plurality of outer wall trajectory commands to obtain multiple set distances, and determining the outer wall trajectory commands corresponding to the dividing endpoints of each of the set distances as capture trajectory commands; capturing in real time a plurality of printing trajectory points of the outer wall layer based on the sending of the capture trajectory commands.

7. The printing method of a three-dimensional printed object according to claim 5, characterized in that, The step of determining the printing inkjet data of the first color layer based on the actual printing trajectory of the first base printing layer includes: Determining the color of the closest theoretical point in the target trajectory command corresponding to each of the printing trajectory points as the color of each of the corresponding printing trajectory points; Based on the ring width of the first color layer, respectively extending each of the printing trajectory points along the normal direction of the first color layer towards the inside of the three-dimensional printed object to obtain multiple line segments that meet the ring width; Setting the colors of each of the line segments to the colors of the corresponding printing trajectory points respectively to obtain the printing inkjet data of the first color layer.

8. The printing method of the three-dimensional printed object according to claim 7, characterized in that, The step of setting the colors of each of the line segments to the colors of the corresponding printing trajectory points respectively to obtain the printing inkjet data of the first color layer includes: In response to the intersection of two adjacent line segments and the different colors of the printing trajectory points corresponding to the two adjacent line segments, interpolate and approximate the colors of the printing trajectory points corresponding to the two adjacent line segments to obtain a fused color; Determine the color of the intersection part of the two adjacent line segments as the fused color.

9. A three-dimensional printed object, characterized in that, The three-dimensional printed object includes a base printing layer and a color layer that are alternately stacked in sequence, wherein the three-dimensional printed object is prepared by the printing method of the three-dimensional printed object according to any one of claims 1-8 above.

10. A three-dimensional printer, characterized in that, The three-dimensional printer is used to execute the printing method of the three-dimensional printed object according to any one of claims 1-8 above, and includes: A planning mechanism for planning the theoretical printing trajectory of the base printing layer and determining the printing inkjet data of the color layer; A control mechanism, connected to the planning mechanism, for controlling the execution mechanism to perform printing based on the theoretical printing trajectory of the base printing layer and the printing inkjet data of the color layer; An execution mechanism, connected to the control mechanism, for performing printing; Wherein, a displacement sensor is arranged on the execution mechanism for capturing the actual printing trajectory of the base printing layer and transmitting it to the planning mechanism, so that the planning mechanism determines the printing inkjet data of the color layer based on the actual printing trajectory of the base printing layer.

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