Real-time adjustment and control system and method for improving 3D printing quality

Abstract

This invention discloses a real-time adjustment control system and method for improving 3D printing quality. This application obtains the width of the widened area by the number of laser spots, thereby adjusting the Y-axis coordinate. After adjustment, the X-axis coordinate is adjusted according to the slice pattern to obtain accurate coordinates. Furthermore, the ratio of laser spot numbers is converted into an area ratio, and the seam parameters are calculated. Compensation is then applied at the seam using a compensating nozzle. These adjustments increase printing accuracy and reduce the impact of seams. Finally, the effectiveness of the layer height step adjustment is determined by measuring the distance to the sidewalls, ultimately resulting in a product with a relatively smooth top surface and sidewalls, reducing the difficulty of post-processing.

Description

Technical Field

[0001] This invention relates to additive manufacturing equipment and control methods, and more particularly to a real-time adjustment control system and method for improving 3D printing quality. Background Technology

[0002] 3D printing (3DP), also known as additive manufacturing technology [1] Additive Manufacturing Technologies (AM) is a technology that manufactures solid parts by adding materials layer by layer based on 3D CAD data.

[0003] During printing, the nozzle is used to press down the molten material to achieve a "smoothing" effect. Two issues can affect print quality. First, after setting the layer height, seams will appear on the side walls of the printed product, especially noticeable on conical products. Currently, the layer height is generally reduced layer by layer to reduce seams, but the width of the extruded material will change after adjusting the nozzle height. Therefore, using the coordinates set in the initial slice will result in deviations. Second, seams will also appear between adjacent rows during printing. If not addressed, this will create an uneven texture on the horizontal top surface. Summary of the Invention

[0004] In view of the problems mentioned in the background art, the technical problem to be solved by the present invention is to provide a real-time adjustment and control system and method for improving the quality of 3D printing.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] A real-time adjustment and control system for improving 3D printing quality includes a control unit and a feedback unit and an execution unit connected to the control unit. The control unit is a controller, and the execution unit includes:

[0007] A printhead for melting and extruding additive materials includes a print nozzle for normal printing and a compensation nozzle for compensation at seams.

[0008] A multi-axis moving mechanism, on which the print head is mounted, is used to drive the print head to move in multiple axes;

[0009] The workbench serves as a support platform for printing.

[0010] A multi-dimensional position adjustment mechanism is provided, with the worktable mounted on it. It is used to drive the worktable to rise and fall and to adjust the angle in multiple dimensions.

[0011] The feedback unit includes a first laser ranging device, a second laser ranging device, a third laser ranging device, and a fourth laser ranging device, all mounted on the print head with laser spot diameters equal to the nozzle diameter. The first, second, and fourth laser ranging devices are arranged collinearly with the two nozzles. The first laser printing device is located at the tip of the print nozzle, the fourth laser ranging device is located at the compensation nozzle, and the second and third laser ranging devices are located between the two nozzles, with the third laser ranging device offset from the second ranging device. The laser spots of the third and second ranging devices have the same tangent, and the laser spots are circular and include several uniformly distributed laser beams.

[0012] Preferably, the multi-axis moving mechanism includes a cabinet, two first guide rails extending forward and backward within the cabinet, two first sliders mounted on the two first guide rails, a first synchronous belt drive mechanism detachably and fixedly connected to the two first sliders, and a second guide rail and a second synchronous belt drive mechanism mounted on the two first sliders and extending left and right. The print head is slidably mounted on the second guide rail. Both the first synchronous belt drive mechanism and the second synchronous belt mechanism include a drive motor and a synchronous belt driven by the drive motor. The first synchronous belt drive mechanism drives the two first sliders to move forward and backward, and the second synchronous belt drive mechanism drives the print head to move left and right. The two drive motors are controlled by a controller.

[0013] As a preferred option, the multi-dimensional position adjustment mechanism includes:

[0014] The screw mechanism and the mounting platform are connected. The mounting platform is connected to the screw nut seat of the screw mechanism. The screw mechanism drives the mounting platform to move vertically up and down, and the screw mechanism is controlled by a controller.

[0015] The mounting platform serves as a workbench; or the workbench is rotatably mounted on the mounting platform; or the mounting platform is equipped with a multi-dimensional angle adjustment mechanism, and the workbench is mounted on the multi-dimensional angle adjustment mechanism; the mounting platform is equipped with a multi-dimensional angle adjustment mechanism, and the workbench is rotatably mounted on the multi-dimensional angle adjustment mechanism.

[0016] As a preferred option, the multi-dimensional angle adjustment mechanism includes:

[0017] The fixed platform is a square structure, and each of its four edges is equipped with a connecting rod parallel to the side of the fixed platform.

[0018] A rotary drive unit, comprising four sets, is mounted on a mounting platform;

[0019] Four bearing seats are provided, which are mounted on the mounting platform and the rotating shaft of the rotary drive device is supported by the bearing seats.

[0020] The linkage comprises four groups, each group including two first linkages, a connecting shaft mounted on the first connecting rod, and two second linkages rotatably connected to the ends of the connecting shaft via ball joint connectors. The first linkages are fixed on the rotating shaft, and the two ends of the second linkages are rotatably connected to the connecting rods in multiple dimensions via ball joint connectors.

[0021] Preferably, a mounting frame is fixedly mounted on the fixed frame, and the worktable is rotatably mounted on the mounting frame via a drive device; the drive device includes:

[0022] The mounting enclosure is fixed to the mounting bracket;

[0023] The first stepper motor is located at the bottom of the mounting box and its output shaft extends into the mounting box. The top end of the output shaft is provided with a first gear.

[0024] The drive shaft is rotatably mounted in the mounting box, with a second gear meshing with the first gear at its bottom end and a turntable at its top end;

[0025] The second motor has a self-locking function and consists of several parts. It is fixed on the turntable, and its output shaft passes through the turntable and is equipped with a third gear. The second motor uses a slip ring to connect the external power supply line and signal line to avoid tangling.

[0026] A rotating shaft rotates and is installed at the top of the mounting box. A fourth gear is provided at the bottom of the shaft to mesh with each third gear. The top of the shaft is fixedly connected to the worktable. When there are multiple second motors, the transmission ratio of the third gear and the fourth gear on each second motor is different.

[0027] The real-time adjustment and control method for improving 3D printing quality, using the aforementioned real-time adjustment and control system for improving 3D printing quality, includes the following steps:

[0028] S1, Input the model data of the printed product;

[0029] S2. Establish nozzle height coordinate standards based on model data: If the top of the model has a structure with a constant outer diameter, establish vertical coordinates with each layer having the same height; if the top has a conical structure, establish vertical coordinates with each layer gradually decreasing in height.

[0030] S3, Establishment of horizontal and vertical coordinates: Based on the vertical coordinates and layer height, the planar pattern obtained by horizontal slicing is used as the basic plane. The direction with the longest length of the basic plane is obtained and used as the direction of nozzle movement—the left and right direction. The direction perpendicular to this direction is used as the front and back direction. Several sets of initial coordinates (X1, Y1) and termination coordinates (X2, Y2) are generated in the left and right and front and back directions respectively. The initial coordinates are the coordinates at the start of printing for this line, and the termination coordinates are the coordinates at the end of printing for this line and the switch to the next line.

[0031] S4, Coordinate Adjustment: During printing, when the first line is printed, the second and third laser rangefinders illuminate the printed material, acquiring several distance values. The second laser rangefinder acquires the distance value D1 at the top of the printed material. Due to the compression of the material inside the printing nozzle, the width of the extruded material is wider than the diameter of the printing nozzle. The area widened on one side is defined as the widened area. The data measured by the third laser rangefinder covers the distance values ​​D2 of the unprinted area and D3 of the widened area. The area ratio of the circular spot is obtained by the ratio of the two data values, D2 / D3. The width W of the widened area is calculated based on the area ratio. The Y-coordinate of the next line is adjusted by doubling this width value, 2W. The same width value is used for adjustment in each subsequent line. Based on the compensated Y-coordinate and the basic surface obtained by slicing, the X-coordinate is adjusted in reverse to form a new set of operating coordinates.

[0032] Preferably, based on step S4, the number of distance values ​​D1 of horizontal regions matching the preset layer height and the number of distance values ​​of downward regions below the preset layer height in the widened region are further obtained. The ratio of the two is the area ratio of the horizontal region and the downward region. The width of the downward region is calculated by the area ratio. Then, the maximum depth of the seam between the downward regions of the two lines of printing material is obtained by the first laser ranging device. The height of the compensation nozzle is set according to the maximum depth and the width of the downward region. Compensation printing is performed at the seam position. The maximum depth multiplied by half the width of the downward region is the cross-sectional area of ​​the compensation printed material. Under this cross-sectional area, 3 / 8 of the maximum depth is taken as the vertical distance between the nozzle and 1 / 2 of the maximum depth.

[0033] Preferably, after the compensation printing, the seam is illuminated by the fourth laser rangefinder to obtain the average distance value. This distance value is then subtracted from the average distance value obtained by the second laser rangefinder. If the difference between the two is less than a preset threshold, the compensation is considered effective. If the difference is greater than the preset threshold, the cross-sectional area is adjusted upwards between half the maximum depth multiplied by the width of the descending area and the maximum depth multiplied by the width of the descending area, until the compensation is effective.

[0034] Preferably, after printing, based on the inclination angle of each face of the conical structure, the multi-dimensional position adjustment mechanism is used to adjust each face to be parallel to the horizontal plane and then the printing nozzle is moved at a constant speed perpendicular to the side wall direction. The distance value is obtained by scanning with any laser rangefinder on it, and the minimum and maximum values ​​are extracted to determine the joint depth of the side wall. This depth is then compared with the preset depth. If the depth is less than the preset depth, it is considered qualified. If the depth is greater than the preset depth, the layer height of each layer of the conical structure is reduced until it is qualified.

[0035] Compared with the prior art, the present invention has the following advantages: This application obtains the width of the widened area by the number of laser spots, thereby adjusting the Y-axis coordinate. After adjustment, the X-axis coordinate is adjusted according to the pattern of the slice to obtain accurate coordinates. In addition, the ratio of the number of laser spots is converted into an area ratio, and then the parameters of the seam are calculated. Compensation is performed at the seam by a compensation nozzle. The above adjustments increase the printing accuracy and reduce the impact of the seam. Finally, the effectiveness of the layer height step adjustment is judged by measuring the distance of the side wall, resulting in a product with a relatively smooth top surface and side walls, reducing the difficulty of post-processing. Attached Figure Description

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be regarded as a limitation on the scope of the present invention. In addition, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0037] Figure 1 This is the front view of Example 1;

[0038] Figure 2 This is a perspective view of the interior of the cabinet in Example 1;

[0039] Figure 3 This is a perspective view of the interior of the cabinet in Example 1;

[0040] Figure 4 This is a perspective view of the multi-dimensional position adjustment mechanism of Embodiment 1;

[0041] Figure 5 This is a perspective view of the driving device in Example 1;

[0042] Figure 6 for Figure 3 Enlarged view of point A in the middle;

[0043] Figure 7 This is a schematic diagram illustrating the calculation principle of Example 2;

[0044] Figure 8 This is a schematic diagram of the seam compensation printing area in Example 2;

[0045] In the diagram: 10, Cabinet; 20, Printer Head; 201, Printer Nozzle; 202, Compensating Nozzle; 30, Multi-dimensional Position Adjustment Mechanism; 301, Mounting Frame; 302, Mounting Housing; 3021, First Stepper Motor; 3022, First Gear; 3023, Second Gear; 3024, Drive Shaft; 3025, Turntable; 3026, Second Motor; 3027, Third Gear; 3028, Rotating Shaft; 3029, Fourth Gear; 303, Turntable; 40, Multi-axis Moving Mechanism; 50, Lead Screw Mechanism; 01, Controller; 001, First Laser Rangefinder; 002, Second Laser Rangefinder; 003, Third Laser Rangefinder; 004, Fourth Laser Rangefinder. Detailed Implementation

[0046] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0047] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures. Example

[0048] This embodiment mainly describes the title of the real-time adjustment and control system used to improve 3D printing quality, as follows:

[0049] like Figure 1-6 As shown, a real-time adjustment and control system for improving 3D printing quality includes a control unit, a feedback unit, and an execution unit connected to the control unit. The control unit is a controller 01, and the execution unit includes:

[0050] Printing nozzle 20, which is used for melting and extruding additive materials, includes a printing nozzle 201 for normal printing and a compensation nozzle 202 for compensation at seams;

[0051] A multi-axis moving mechanism 40 is provided, on which the print head 20 is disposed, and is used to drive the print head 20 to perform multi-axis movement;

[0052] The workbench serves as a support platform for printing.

[0053] A multi-dimensional position adjustment mechanism 30 is provided, on which the worktable is mounted. It is used to drive the worktable to rise and fall and to adjust the angle in multiple dimensions.

[0054] The feedback unit includes three laser ranging devices: a first laser ranging device 001, a second laser ranging device 002, a third laser ranging device 003, and a fourth laser ranging device 004, all with laser spot diameters equal to the diameter of the printing nozzle 201, mounted on the print head 20. The first, second, and fourth laser ranging devices are collinear with the two nozzles. The first laser ranging device 001 is located at the tip of the printing nozzle 201, and the fourth laser ranging device 004 is located at the compensation nozzle 202. The second and third laser ranging devices 002 are located between the two nozzles, with the third laser ranging device 003 offset from the second laser ranging device 002. The laser spots of the third laser ranging device 003 and the second laser ranging device 002 share the same tangent, and the laser spots are circular and comprise several uniformly distributed laser beams. The device in this solution is used in conjunction with the method in Embodiment 2.

[0055] Preferably, the multi-axis moving mechanism 40 includes a cabinet 10, two first guide rails extending forward and backward within the cabinet 10, two first sliders mounted on the two first guide rails, a first synchronous belt drive mechanism detachably and fixedly connected to the two first sliders, a second guide rail and a second synchronous belt drive mechanism mounted on the two first sliders and extending left and right, and a print head 20 slidably mounted on the second guide rail. Both the first synchronous belt drive mechanism and the second synchronous belt mechanism include a drive motor and a synchronous belt driven by the drive motor. The first synchronous belt drive mechanism drives the two first sliders to move forward and backward, and the second synchronous belt drive mechanism drives the print head 20 to move left and right. The two drive motors are controlled by a controller 01.

[0056] Preferably, the multi-dimensional position adjustment mechanism 30 includes:

[0057] The screw mechanism 50 and the mounting platform are connected to the screw nut seat of the screw mechanism 50. The screw mechanism 50 drives the mounting platform to rise and fall vertically and is controlled by the controller 01.

[0058] The mounting platform serves as a workbench; or the workbench is rotatably mounted on the mounting platform; or the mounting platform is equipped with a multi-dimensional angle adjustment mechanism, and the workbench is mounted on the multi-dimensional angle adjustment mechanism; the mounting platform is equipped with a multi-dimensional angle adjustment mechanism, and the workbench is rotatably mounted on the multi-dimensional angle adjustment mechanism.

[0059] As a preferred option, the multi-dimensional angle adjustment mechanism includes:

[0060] The fixed platform is a square structure, and each of its four edges is equipped with a connecting rod parallel to the side of the fixed platform.

[0061] A rotary drive unit, comprising four sets, is mounted on a mounting platform;

[0062] Four bearing seats are provided, which are mounted on the mounting platform and the rotating shaft of the rotary drive device is supported by the bearing seats.

[0063] The linkage comprises four groups, each group including two first linkages, a connecting shaft mounted on the first connecting rod, and two second linkages rotatably connected to the ends of the connecting shaft via ball joint connectors. The first linkages are fixed on the rotating shaft, and the two ends of the second linkages are rotatably connected to the connecting rods in multiple dimensions via ball joint connectors.

[0064] Preferably, a mounting bracket 301 is fixedly mounted on the fixed frame, and the worktable is rotatably mounted on the mounting bracket 301 via a drive device; the drive device includes:

[0065] The mounting housing 302 is fixed to the mounting bracket 301;

[0066] The first stepper motor 3021 is located at the bottom of the mounting housing 302 and its output shaft extends into the mounting housing 302. The top end of its output shaft is provided with a first gear 3022.

[0067] The drive shaft 3024 is rotatably mounted in the mounting housing 302, with a second gear 3023 at its bottom end that meshes with the first gear 3022, and a turntable 3025 at its top end.

[0068] The second motor 3026 has a self-locking function. It includes several motors and is fixed on the turntable 3025. Its output shaft passes through the turntable 3025 and is equipped with a third gear 3027. The second motor 3026 uses a slip ring to connect the power supply line and signal line to avoid tangling.

[0069] A rotating shaft 3028 rotatably extends through the top of the mounting housing 302. Its bottom has a fourth gear 3029 that meshes with each of the third gears 3027. Its top is fixedly connected to the worktable. When multiple second motors 3026 are used, the transmission ratios of the third gear 3027 and the fourth gear 3029 on each second motor 3026 are different. This design achieves the rotation of the worktable, and the above mechanism improves the rotational accuracy. Specifically, it uses a first stepper motor 3021 and second motors 3026 to drive them to rotate in opposite directions. Example

[0070] This embodiment mainly describes the title of the real-time adjustment and control method for improving 3D printing quality, as follows:

[0071] The real-time adjustment and control method for improving 3D printing quality, using the real-time adjustment and control system for improving 3D printing quality described in Example 1, includes the following steps:

[0072] S1, Input the model data of the printed product;

[0073] S2. Establish nozzle height coordinate standards based on model data: If the top of the model has a structure with a constant outer diameter, establish vertical coordinates with each layer having the same height; if the top has a conical structure, establish vertical coordinates with each layer gradually decreasing in height.

[0074] S3, Establishment of horizontal and vertical coordinates: Based on the vertical coordinates and layer height, the planar pattern obtained by horizontal slicing is used as the basic plane. The direction with the longest length of the basic plane is obtained and used as the direction of nozzle movement—the left and right direction. The direction perpendicular to this direction is used as the front and back direction. Several sets of initial coordinates (X1, Y1) and termination coordinates (X2, Y2) are generated in the left and right and front and back directions respectively. The initial coordinates are the coordinates at the start of printing for this line, and the termination coordinates are the coordinates at the end of printing for this line and the switch to the next line.

[0075] S4, Coordinate Adjustment: During printing, when the first line is printed, the second and third laser rangefinders illuminate the printed material, acquiring several distance values. The second laser rangefinder acquires the distance value D1 at the top of the printed material. Due to the compression of the material inside the printing nozzle, the width of the extruded material is wider than the diameter of the printing nozzle. The area widened on one side is defined as the widened area. The data measured by the third laser rangefinder covers the distance values ​​D2 of the unprinted area and D3 of the widened area. The area ratio of the circular spot is obtained by the ratio of the two data values, D2 / D3. The width W of the widened area is calculated based on the area ratio. The Y-coordinate of the next line is adjusted by doubling this width value, 2W. The same width value is used for adjustment in each subsequent line. Based on the compensated Y-coordinate and the basic surface obtained by slicing, the X-coordinate is adjusted in reverse to form a new set of operating coordinates.

[0076] Preferably, based on step S4, the number of distance values ​​D1 of horizontal regions matching the preset layer height and the number of distance values ​​of downward regions below the preset layer height in the widened region are further obtained. The ratio of the two is the area ratio of the horizontal region and the downward region. The width of the downward region is calculated by the area ratio. Then, the maximum depth of the seam between the downward regions of the two lines of printing material is obtained by the first laser ranging device. The height of the compensation nozzle is set according to the maximum depth and the width of the downward region. Compensation printing is performed at the seam position. The maximum depth multiplied by half the width of the downward region is the cross-sectional area of ​​the compensation printed material. Under this cross-sectional area, 3 / 8 of the maximum depth is taken as the vertical distance between the nozzle and 1 / 2 of the maximum depth.

[0077] Preferably, after the compensation printing, the seam is illuminated by the fourth laser rangefinder to obtain the average distance value. This distance value is then subtracted from the average distance value obtained by the second laser rangefinder. If the difference between the two is less than a preset threshold, the compensation is considered effective. If the difference is greater than the preset threshold, the cross-sectional area is adjusted upwards between half the maximum depth multiplied by the width of the descending area and the maximum depth multiplied by the width of the descending area, until the compensation is effective.

[0078] Preferably, after printing, based on the inclination angle of each face of the conical structure, the multi-dimensional position adjustment mechanism is used to adjust each face to be parallel to the horizontal plane and then the printing nozzle is moved at a constant speed perpendicular to the side wall direction. The distance value is obtained by scanning with any laser rangefinder on it, and the minimum and maximum values ​​are extracted to determine the joint depth of the side wall. This depth is then compared with the preset depth. If the depth is less than the preset depth, it is considered qualified. If the depth is greater than the preset depth, the layer height of each layer of the conical structure is reduced until it is qualified.

[0079] like Figure 7-8 As shown, the following method is used to calculate W. Let the radius of the circular light spot be R, and the area ratio on both sides of the dividing line be A / B. First, connect the two intersection points of the dividing line and the edge of the circular light spot with the center of the circle to obtain a sector containing the left side of the dividing line. The ratio of the area of ​​the left side of the dividing line minus the area of ​​the triangle on the right side of the dividing line to the area of ​​the remaining sector minus the area of ​​that triangle is A / B. The area of ​​the triangle is calculated using the area formula, where one right-angled side is represented by the product of a trigonometric function and the radius, while the other right-angled side is the unknown to be calculated. The areas of the two sectors are calculated using the central angle and the radius. Thus, the calculation formula contains the central angle. The length of the other right-angled side is one of the two unknowns, while the central angle can be obtained through the area ratio A / B. In other words, there is only one unknown in the end, namely the length of the other right-angled side. The required width of the widened area is obtained by subtracting this length from the spot radius. In addition, when the widened area has a horizontal area and a downward area, the same method is used, but with one more calculation, the width of the horizontal area and the downward area can be obtained. Specifically, the horizontal area and the downward area are treated as a whole and the width is calculated using the above method. Then, the width of the horizontal area W1 is calculated by treating the downward area and its right side area as a whole. The width of the downward area W2 is obtained by subtracting the two widths.

[0080] In the description of this invention, it should be noted that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

Claims

1. A real-time adjustment and control system for improving 3D printing quality, characterized in that, It includes a control unit and a feedback unit and an execution unit connected to the control unit. The control unit is a controller, and the execution unit includes: A printhead for melting and extruding additive materials includes a print nozzle for normal printing and a compensation nozzle for compensation at seams. A multi-axis moving mechanism, on which the print head is mounted, is used to drive the print head to move in multiple axes; The workbench, which serves as a support platform for printing; A multi-dimensional position adjustment mechanism is provided, with the worktable mounted on it. It is used to drive the worktable to rise and fall and to adjust the angle in multiple dimensions. The feedback unit includes a first laser rangefinder, a second laser rangefinder, a third laser rangefinder, and a fourth laser rangefinder, all mounted on the print head, wherein the laser spot diameter of the first, second, and third laser rangefinders is equal to the diameter of the print nozzle. The first, second, and fourth laser ranging devices are arranged collinearly with the two nozzles. The first laser ranging device is located at the head end of the printing nozzle, the fourth laser ranging device is located at the tail side of the compensation nozzle, the second and third laser ranging devices are located between the two nozzles and the third laser ranging device is staggered with the second laser ranging device, and the laser spots of the third laser ranging device and the second laser ranging device have the same tangent. The laser spots are circular and include several uniformly distributed laser beams. The controller is configured to: During the printing process, the printed material is irradiated by a second laser ranging device and a third laser ranging device. The distance value D1 of the top of the printed material is obtained by the second laser ranging device. Due to the extrusion of the material in the printing nozzle, the width of the extruded material is wider than the diameter of the printing nozzle. The area that is widened on one side is defined as the widened area. The area ratio of the unprinted area to the widened area in the spot of the third laser ranging device is determined. The width W of the widened area is calculated based on the area ratio. The Y coordinate of the next row is adjusted by increasing the width value 2W by two times based on this width. The maximum depth of the seam between the two lines of printing material in the descending area is obtained by the first laser rangefinder. The height of the compensation nozzle is set according to the maximum depth and the width of the descending area, and compensation printing is performed at the seam position. After the compensation printing, the seam is illuminated by the fourth laser ranging device to obtain the average distance value. This distance value is then subtracted from the average distance value obtained by the second laser ranging device. If the difference between the two is less than a preset threshold, the compensation is considered effective. If the difference is greater than the preset threshold, the compensation parameter is adjusted upwards until the compensation is effective.

2. The real-time adjustment and control system for improving 3D printing quality according to claim 1, characterized in that, The multi-axis moving mechanism includes a cabinet, two first slide rails extending forward and backward within the cabinet, two first sliders mounted on the two first slide rails, a first synchronous belt drive mechanism detachably and fixedly connected to the two first sliders, a second guide rail and a second synchronous belt drive mechanism mounted on the two first sliders and extending left and right. The print head is slidably mounted on the second guide rail. Both the first and second synchronous belt drive mechanisms include a drive motor and a synchronous belt driven by the drive motor. The first synchronous belt drive mechanism drives the two first sliders to move forward and backward, and the second synchronous belt drive mechanism drives the print head to move left and right. The two drive motors are controlled by a controller.

3. The real-time adjustment and control system for improving 3D printing quality according to claim 1, characterized in that, The multi-dimensional position adjustment mechanism includes a lead screw mechanism and a mounting platform; The mounting platform is fixedly connected to the lead screw nut seat of the lead screw mechanism, the lead screw mechanism is used to drive the mounting platform to move vertically up and down, and the lead screw mechanism is controlled by the controller; The mounting platform is equipped with a multi-dimensional angle adjustment mechanism, and the workbench is mounted on the multi-dimensional angle adjustment mechanism. The multi-dimensional angle adjustment mechanism is used to drive the workbench to perform multi-dimensional angle adjustment.

4. The real-time adjustment and control system for improving 3D printing quality according to claim 3, characterized in that, The multi-dimensional angle adjustment mechanism includes: The fixed platform is a square structure, and each of its four edges is equipped with a connecting rod parallel to the side of the fixed platform. A rotary drive unit, comprising four sets, is mounted on a mounting platform; Four bearing seats are provided, which are mounted on the mounting platform and the rotating shaft of the rotary drive device is supported by the bearing seats. The linkage comprises four groups, each group including two first linkages, a connecting shaft mounted on the first linkage, and two second linkages rotatably connected to the ends of the connecting shaft via ball joint connectors. The first linkages are fixed on the rotating shaft, and the two ends of the second linkages are rotatably connected to the connecting rods in multiple dimensions via ball joint connectors. A mounting bracket is fixedly mounted on the fixed frame, and the worktable is rotatably mounted on the mounting bracket via a drive device; the drive device includes: The mounting enclosure is fixed to the mounting bracket; The first stepper motor is located at the bottom of the mounting box and its output shaft extends into the mounting box. The top end of the output shaft is provided with a first gear. The drive shaft is rotatably mounted in the mounting box, with a second gear meshing with the first gear at its bottom end and a turntable at its top end; The second motor has a self-locking function and consists of several parts, which are fixed on the turntable, and its output shaft passes through the turntable and is equipped with a third gear. A rotating shaft rotates and is installed at the top of the mounting box. A fourth gear is provided at the bottom of the shaft to mesh with each third gear. The top of the shaft is fixedly connected to the worktable. When there are multiple second motors, the transmission ratio of the third gear and the fourth gear on each second motor is different.

5. A real-time adjustment and control method for improving 3D printing quality, comprising the real-time adjustment and control system for improving 3D printing quality as described in any one of claims 1-4, characterized in that, Includes the following steps: S1, Input the model data of the printed product; S2. Establish nozzle height coordinate standards based on model data: If the top of the model has a structure with a constant outer diameter, establish vertical coordinates with each layer having the same height; if the top has a conical structure, establish vertical coordinates with each layer gradually decreasing in height. S3, Establishment of horizontal and vertical coordinates: Based on the vertical coordinates and layer height, the planar pattern obtained by horizontal slicing is used as the basic plane. The direction with the longest length of the basic plane is obtained and used as the direction of nozzle movement—the left and right direction. The direction perpendicular to this direction is used as the front and back direction. Several sets of initial coordinates (X1, Y1) and termination coordinates (X2, Y2) are generated in the left and right and front and back directions respectively. The initial coordinates are the coordinates at the start of printing for this line, and the termination coordinates are the coordinates at the end of printing for this line and the switch to the next line. S4, Coordinate Adjustment: During printing, a second laser ranging device and a third laser ranging device are used to irradiate the printed material; the second laser ranging device is used to obtain the distance value D1 of the top of the printed material; due to the extrusion of the material in the printing nozzle, the width of the extruded material is wider than the diameter of the printing nozzle, and the area widened on one side is defined as the widened area; the area ratio of the unprinted area to the widened area within the spot of the third laser ranging device is determined, and the width W of the widened area is calculated based on the area ratio; the coordinates of the next row are adjusted by increasing the width value 2W by two times based on the width W; the same width value is used to adjust each subsequent row, and the X coordinate is adjusted in reverse according to the compensated Y coordinate and the basic surface obtained by slicing, forming a new set of operating coordinates; S5, Seam Compensation: Further obtain the number of distance values ​​of the horizontal area matching the preset layer height and the number of distance values ​​of the downward area below the preset layer height in the widened area. The ratio of the two is the area ratio of the horizontal area and the downward area. The width of the downward area is calculated by the area ratio. Then, the first laser rangefinder is used to obtain the maximum depth of the seam between the downward areas of the two lines of printing material. The height of the compensation nozzle is set according to the maximum depth and the width of the downward area. Compensation printing is performed at the seam position. The maximum depth multiplied by half the width of the downward area is the cross-sectional area of ​​the material to be compensated. Under this cross-sectional area, the vertical distance between the bottom of the compensation nozzle and the position on the side wall of the seam with a depth of half the maximum depth is controlled to be 3 / 8 of the maximum depth. S6, Compensation Verification: After compensation printing, the seam is illuminated by the fourth laser ranging device to obtain the average distance value. This distance value is then subtracted from the average distance value obtained by the second laser ranging device. If the difference between the two is less than a preset threshold, the compensation is considered effective. If the difference is greater than the preset threshold, the compensation parameter is adjusted upwards until the compensation is effective.

6. The real-time adjustment and control method for improving 3D printing quality according to claim 5, characterized in that, After printing, based on the inclination angle of each face of the conical structure, the multi-dimensional position adjustment mechanism adjusts each face to be parallel to the horizontal plane and then moves the printing nozzle at a constant speed perpendicular to the side wall. The laser rangefinder on it scans and obtains distance values, extracts the minimum and maximum values, determines the joint depth of the side wall, and compares it with the preset depth. If the depth is less than the preset depth, it is considered qualified. If the depth is greater than the preset depth, the layer height of each layer of the conical structure is reduced until it is qualified.

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