Print control method, electronic device, storage medium, and program product

Abstract

Embodiments of the present application provide a printing control method, an electronic device, a storage medium and a program product. The method comprises: determining a plurality of trajectory data according to a target program segment corresponding to a target object; determining a synthetic motion speed curve corresponding to a tool tip point of a print head according to the plurality of trajectory data, the synthetic motion speed curve being a continuous curve of the spatial synthetic motion speed of the tool tip point of the print head corresponding to the target program segment changing with time; determining a dynamic correction coefficient set corresponding to the target program segment based on the synthetic motion speed curve; and performing correction processing on a wire feeding speed reference value according to the dynamic correction coefficient set to generate a wire feeding speed set corresponding to the target program segment, so that the wire feeding amount of a wire feeding shaft of a printing device matches the molten material deposition amount. The method is used to improve the printing precision and the forming quality.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a printing control method, electronic device, storage medium, and program product. Background Technology

[0002] The internal cooling channels of aero-engine blades and the biomimetic structures on the surface of orthopedic implants in medical devices all require supportless molding through multi-angle and multi-posture printing paths.

[0003] In existing technologies, five-axis filament feeding printing systems can achieve circumferentially uniform filament melting when handling such complex structures using coaxial wire arc additive manufacturing (WAAM) technology. However, the filament feeding speed (W-axis) is usually a fixed value or a simple proportional control, and is not dynamically matched with the real-time synthetic motion speed of the five-axis linkage trajectory (X, Y, Z, A, C axes). When the printing speed changes abruptly, the filament feeding amount cannot synchronously adapt to the material requirements of the molten pool, which easily leads to uneven filament feeding, material stacking, or filament pulling, resulting in low printing accuracy and forming quality. Summary of the Invention

[0004] This application provides a printing control method, electronic device, storage medium, and program product to improve printing accuracy and forming quality.

[0005] In a first aspect, embodiments of this application provide a printing control method, including:

[0006] Based on the target program segment corresponding to the target object, multiple trajectory data are determined;

[0007] Based on the multiple trajectory data, the synthetic motion velocity curve corresponding to the printhead blade tip is determined. The synthetic motion velocity curve is a continuous curve of the spatial synthetic motion velocity of the printhead blade tip controlled by the target program segment changing with time.

[0008] Based on the synthetic motion velocity curve, determine the set of dynamic correction coefficients corresponding to the target program segment;

[0009] Based on the set of dynamic correction coefficients, the reference value of the wire feeding speed is corrected to generate the set of wire feeding speeds corresponding to the target program segment, so that the amount of wire fed by the corresponding wire feeding shaft of the printing device matches the amount of molten material deposited.

[0010] In one possible implementation, based on the synthetic motion velocity curve, the set of dynamic correction coefficients corresponding to the target program segment is determined, including:

[0011] Based on the synthesized motion velocity curve, determine the acceleration curves corresponding to the multiple trajectory data;

[0012] Based on the synthesized velocity curve and the acceleration curve, a set of dynamic correction coefficients corresponding to the multiple trajectory data is determined.

[0013] In one possible implementation, determining a set of dynamic correction coefficients corresponding to the plurality of trajectory data based on the synthesized velocity curve and the acceleration curve includes:

[0014] Align the synthetic motion velocity curve, the acceleration curve and multiple trajectory data corresponding to the target program segment according to the time axis to determine the time interval corresponding to each trajectory data;

[0015] Based on the synthetic motion velocity curve and the acceleration curve, the average acceleration value and average velocity value corresponding to each time interval are determined.

[0016] By using the correction coefficient model, based on the average acceleration and average velocity values ​​corresponding to each time interval, the dynamic correction coefficients corresponding to each trajectory data are determined to obtain the set of dynamic correction coefficients.

[0017] In one possible implementation, determining the composite motion velocity curve corresponding to the printhead tip based on the plurality of trajectory data includes:

[0018] Determine the trajectory features corresponding to each trajectory data;

[0019] The basic feed rate corresponding to each trajectory data is determined based on the basic feed rate command corresponding to each trajectory data.

[0020] Based on the trajectory characteristics corresponding to each trajectory data, the basic feed velocities corresponding to each trajectory data are integrated and processed to obtain the synthetic motion velocity curve.

[0021] In one possible implementation, the trajectory features include geometric features and connection features; based on the trajectory features corresponding to each trajectory data, the basic feed velocities corresponding to each trajectory data are integrated to obtain the synthetic motion velocity curve, including:

[0022] Based on the geometric and connection features corresponding to each trajectory data, special trajectory data are determined;

[0023] The special trajectory data and the basic feed velocities of the special trajectory data and its adjacent trajectory data are fitted to obtain the synthetic motion velocity curve.

[0024] In one possible implementation, before determining the five-axis linkage trajectory data corresponding to the linkage five-axis based on the target program segment, the method further includes:

[0025] Obtain the 3D model corresponding to the target object;

[0026] Based on the 3D model corresponding to the target object, generate multiple trajectory execution segments corresponding to the target object;

[0027] A predetermined number of trajectory execution segments from the plurality of trajectory execution segments are determined as the target program segment.

[0028] In one possible implementation, after correcting the wire feeding speed reference value according to the set of dynamic correction coefficients to generate the set of wire feeding speeds corresponding to the target program segment, the method further includes:

[0029] The set of wire feeding speeds is output to the driver of the wire feeding mechanism;

[0030] The position commands of the five-axis linkage trajectory are output to the drivers of each axis of the five-axis CNC machine tool through the six-axis motion control card;

[0031] The six-axis motion control card enables the synchronous execution of motion commands between the wire feeding mechanism and the five-axis CNC machine tool via a bus, thus completing supportless printing.

[0032] Secondly, embodiments of this application provide a printing control device, including a first determining module, a second determining module, a third determining module, and a correction processing module:

[0033] The first determining module is used to determine multiple trajectory data based on the target program segment corresponding to the target object;

[0034] The second determining module is used to determine the synthetic motion velocity curve corresponding to the printhead blade tip based on the multiple trajectory data. The synthetic motion velocity curve is a continuous curve of the spatial synthetic motion velocity of the printhead blade tip corresponding to the target program segment changing with time.

[0035] The third determining module is used to determine the set of dynamic correction coefficients corresponding to the target program segment based on the synthetic motion velocity curve.

[0036] The correction processing module is used to correct the wire feeding speed reference value according to the dynamic correction coefficient set, generate the wire feeding speed set corresponding to the target program segment, and make the wire feeding amount of the corresponding wire feeding shaft of the printing device match the molten material deposition amount.

[0037] In one possible implementation, the correction processing module is specifically used for:

[0038] Based on the synthesized motion velocity curve, determine the acceleration curves corresponding to the multiple trajectory data;

[0039] Based on the synthesized velocity curve and the acceleration curve, a set of dynamic correction coefficients corresponding to the multiple trajectory data is determined.

[0040] In one possible implementation, the correction processing module is specifically used for:

[0041] Align the synthetic motion velocity curve, the acceleration curve and multiple trajectory data corresponding to the target program segment according to the time axis to determine the time interval corresponding to each trajectory data;

[0042] Based on the synthetic motion velocity curve and the acceleration curve, the average acceleration value and average velocity value corresponding to each time interval are determined.

[0043] By using the correction coefficient model, based on the average acceleration and average velocity values ​​corresponding to each time interval, the dynamic correction coefficients corresponding to each trajectory data are determined to obtain the set of dynamic correction coefficients.

[0044] In one possible implementation, the second determining module is specifically used for:

[0045] Determine the trajectory features corresponding to each trajectory data;

[0046] The basic feed rate corresponding to each trajectory data is determined based on the basic feed rate command corresponding to each trajectory data.

[0047] Based on the trajectory characteristics corresponding to each trajectory data, the basic feed velocities corresponding to each trajectory data are integrated and processed to obtain the synthetic motion velocity curve.

[0048] In one possible implementation, the trajectory features include geometric features and connection features; the second determining module is specifically used for:

[0049] Based on the geometric and connection features corresponding to each trajectory data, special trajectory data are determined;

[0050] The special trajectory data and the basic feed velocities of the special trajectory data and its adjacent trajectory data are fitted to obtain the synthetic motion velocity curve.

[0051] In one possible implementation, the apparatus further includes an acquisition module, the acquisition module being configured to:

[0052] Obtain the 3D model corresponding to the target object;

[0053] Based on the 3D model corresponding to the target object, generate multiple trajectory execution segments corresponding to the target object;

[0054] A predetermined number of trajectory execution segments from the plurality of trajectory execution segments are determined as the target program segment.

[0055] In one possible implementation, the apparatus further includes a transmitting module, the transmitting module being configured to:

[0056] The set of wire feeding speeds is output to the driver of the wire feeding mechanism;

[0057] The position commands of the five-axis linkage trajectory are output to the drivers of each axis of the five-axis CNC machine tool through the six-axis motion control card;

[0058] The six-axis motion control card enables the synchronous execution of motion commands between the wire feeding mechanism and the five-axis CNC machine tool via a bus, thus completing supportless printing.

[0059] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0060] The memory stores computer-executed instructions;

[0061] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0062] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0063] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0064] The printing control method, electronic device, storage medium, and program product provided in this application can determine multiple trajectory data based on the target program segment corresponding to the target object. Based on the multiple trajectory data, a synthetic motion speed curve corresponding to the printhead blade tip is determined. Based on the synthetic motion speed curve, a set of dynamic correction coefficients corresponding to the target program segment is determined. Then, using the filament feed speed reference value as a basis, the dynamic correction coefficient set is used to correct it in real time, generating a filament feed speed set corresponding to the target program segment. This ensures that the filament feed amount of the filament feed shaft corresponding to the printing device matches the molten material deposition amount in the molten pool. By dynamically adjusting the filament feed speed of the filament feed shaft, real-time adaptation between the filament feed amount and the molten material deposition amount can be achieved, effectively eliminating problems such as uneven filament feed, stacking, or filament pulling when the printing speed changes abruptly, improving printing control accuracy, and thus improving the forming quality of the printed object. Attached Figure Description

[0065] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0066] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0067] Figure 2 A schematic diagram of the hardware architecture of a six-axis linkage system provided in this application embodiment;

[0068] Figure 3 A flowchart illustrating a printing control method provided in an embodiment of this application;

[0069] Figure 4 A flowchart illustrating a printing control method provided in an embodiment of this application;

[0070] Figure 5 A schematic diagram of the architecture of a printing control method provided in an embodiment of this application;

[0071] Figure 6 This is a schematic diagram of the structure of a printing control device provided in an embodiment of this application;

[0072] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0073] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0074] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0075] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 As shown, this application scenario includes a printing device 101 and a target object 102. The printing device 101 can achieve fully linked, supportless printing of the target object 102, and it includes a six-axis linkage system: a filament feed axis (W-axis) and five linkage axes (X, Y, Z, A, and C axes). Among them, the five linkage axes (X, Y, Z, A, and C axes) are used to control the spatial movement trajectory of the printhead cutter tip (TCP) to complete the forming of the target object 102; the filament feed axis (W-axis) is responsible for feeding filament to the printhead during the printing process, and its filament feed amount directly affects the material supply to the molten pool.

[0076] The printing device 101 can achieve supportless molding of the target object 102 through multi-angle and multi-position printing path planning. The target object 102 can cover complex curved metal parts such as the internal cooling channels of aero-engine blades and the biomimetic structure of the surface of orthopedic implants in medical devices.

[0077] Figure 2 This is a schematic diagram of the hardware architecture of a six-axis linkage system provided in an embodiment of this application. Please refer to... Figure 2 The diagram includes a core control layer, a drive execution layer, and an auxiliary control module. In the core control layer, the industrial computer communicates with the motion control card via a bus to issue commands and exchange data. In the drive execution layer, the motion control card connects to six axis drivers (X / Y / Z / A / C / W axes) via an ETHERCAT bus. Each driver controls one servo motor, achieving motion control for each axis. In the auxiliary control module, the motion control card also outputs laser control signals, connecting to a laser controller for synchronous control of the laser equipment. Multi-axis collaboration and peripheral linkage are achieved through bus and hierarchical control.

[0078] In existing technologies, five-axis filament feeding printing systems can achieve circumferentially uniform filament melting when handling such complex structures using WAAM technology. However, the filament feeding speed (W-axis) is usually a fixed value or a simple proportional control, and is not dynamically matched with the real-time synthetic motion speed of the five-axis linkage trajectory (X, Y, Z, A, C axes). When the printing speed changes abruptly, the filament feeding amount cannot synchronously adapt to the material requirements of the molten pool, which easily leads to uneven filament feeding, material stacking, or filament pulling, resulting in low printing accuracy and forming quality.

[0079] This application provides a printing control method that can determine multiple trajectory data based on the target program segment corresponding to the target object, determine the synthetic motion speed curve corresponding to the print head blade tip based on the multiple trajectory data, determine the dynamic correction coefficient set corresponding to the target program segment based on the synthetic motion speed curve, and then, based on the wire feeding speed reference value, correct it in real time through the dynamic correction coefficient set to generate the wire feeding speed set corresponding to the target program segment, so that the wire feeding amount of the wire feeding shaft corresponding to the printing device matches the molten material deposition amount of the molten pool.

[0080] The above execution process, by dynamically adjusting the wire feeding speed of the wire feeding shaft, can achieve real-time matching between the wire feeding amount and the amount of molten material deposited, effectively eliminating problems such as uneven wire feeding, stacking, or wire pulling when the printing speed changes abruptly, improving the control accuracy of printing, and thus improving the forming quality of the printed object.

[0081] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0082] Figure 3 This is a schematic flowchart illustrating a printing control method provided in an embodiment of this application. Please refer to [link / reference]. Figure 2 As shown, the method may include:

[0083] S301. Determine multiple trajectory data based on the target program segment corresponding to the target object.

[0084] The execution subject of this application embodiment can be a printing device or a printing control device installed on the printing device. The printing control device can be implemented by software or by a combination of software and hardware.

[0085] The target program segment can be a part of the G-code that controls the operation of the printer's six-axis linkage system (the wire feed axis W-axis and the linkage five axes X / Y / Z / A / C-axis) when printing the target object. G-code is the standard control code in the CNC printing field, used to define the machine tool's motion trajectory, speed, and process action instructions.

[0086] Multiple trajectory data are continuous trajectory data, which may include endpoint coordinates, trajectory type, and basic feed rate command.

[0087] The endpoint coordinates can be used to indicate the spatial pose parameters of the five axes (X, Y, Z, A, C axes); the trajectory type can be a straight line, an arc, etc.; the basic feed speed command can be an F value, which indicates the basic feed speed of the print head tool centerpoint (TCP) and is the initial reference value for motion planning.

[0088] S302. Based on multiple trajectory data, determine the composite motion velocity curve corresponding to the tip of the printhead.

[0089] The composite motion speed curve is a continuous curve showing the change of the spatial composite motion speed of the printhead blade tip corresponding to the target program segment over time. It integrates the motion information of five-axis linkage (X / Y / Z / A / C) and outputs the real-time composite speed of the blade tip.

[0090] In some embodiments, the trajectory features corresponding to each trajectory data can be determined; the basic feed rate corresponding to each trajectory data can be determined according to the basic feed rate command corresponding to each trajectory data; and the basic feed rate corresponding to each trajectory data can be integrated and processed according to the trajectory features corresponding to each trajectory data to obtain a synthetic motion speed curve.

[0091] Trajectory features can include geometric features and connection features. Geometric features are used to indicate the length, curvature (such as the radius of curvature of an arc segment), and axis linkage combination of the trajectory corresponding to the trajectory data. Connection features are used to indicate the angle (corner size) between two adjacent trajectory segments, the change in axis motion direction at the connection point, and whether there are short line segments (key areas that are prone to sudden speed changes).

[0092] The synthesized motion velocity curve can be a continuous and smooth motion velocity curve based on the time axis. The velocity between segments is smoothly connected by S-shaped acceleration and deceleration fitting, while satisfying that the velocity / acceleration / jerk of each axis does not exceed the limit and that the velocity and acceleration between segments are continuous without jumps.

[0093] In this application, the basic feed rate can be dynamically adjusted by using the trajectory characteristics corresponding to each trajectory data, which can avoid sudden acceleration changes, reduce machine tool vibration and melt pool fluctuations, and improve the reliability of printing control.

[0094] S303. Based on the synthetic motion velocity curve, determine the set of dynamic correction coefficients corresponding to the target program segment.

[0095] In some embodiments, acceleration curves corresponding to multiple trajectory data can be determined based on the synthetic motion velocity curve; and a set of dynamic correction coefficients corresponding to multiple trajectory data can be determined based on the synthetic motion velocity curve and the acceleration curve.

[0096] An acceleration curve refers to the real-time acceleration value at each time point in the composite velocity curve. For example, the real-time acceleration value at a corner could be 2 m / s².

[0097] Based on the synthetic velocity curve, the acceleration curve is extracted and used as the input parameter for the dynamic correction coefficient.

[0098] For example, during the deceleration phase at a corner (i.e., when the acceleration is negative), the dynamic correction coefficient will simultaneously reduce the wire feeding speed to prevent material accumulation; while during the acceleration phase (i.e., when the acceleration is positive), the dynamic correction coefficient will appropriately increase the wire feeding speed to compensate for possible wire pulling.

[0099] In this application, by planning acceleration changes in advance and generating corresponding dynamic correction coefficients, the influence of machine tool inertia and speed abrupt changes on the molten pool morphology is compensated, the stability of complex trajectory printing is improved, and the problems of surface defects and poor interlayer bonding caused by the mismatch between wire feed and molten pool requirements are reduced.

[0100] S304. Based on the set of dynamic correction coefficients, the baseline value of the wire feeding speed corresponding to each trajectory data is corrected to generate the set of wire feeding speeds corresponding to the target program segment, so that the wire feeding amount of the corresponding wire feeding shaft of the printing equipment matches the amount of molten material deposited.

[0101] The wire feeding speed set includes the target wire feeding speed at each processing moment corresponding to the target program segment. The target wire feeding speed is the corrected real-time wire feeding speed.

[0102] The baseline value for filament feeding speed is the initial filament feeding speed preset based on the printing process parameters. Its calculation is directly related to the filament characteristics and melt channel design parameters. The core formula is:

[0103]

[0104] in, This is the wire feeding coefficient. The base feed rate of the target program segment (i.e., the initial TCP rate corresponding to the F value in the G code). This is the baseline value for wire feeding speed.

[0105] wire feed coefficient The characteristics are determined by the wire diameter, material density, and the cross-sectional shape of the target melt channel, and require calibration through process testing.

[0106] When making corrections, use the wire feed speed as a reference value. Based on this, each correction coefficient in the dynamic correction coefficient set... The adaptive wire feeding speed formula is substituted one by one to calculate the wire feeding speed command value at each moment in real time, and finally integrated to form a set of wire feeding speeds.

[0107] The formula for adaptive wire feeding speed is:

[0108]

[0109] in, This is the wire feeding coefficient. Let be the base feed rate for the trajectory data corresponding to the t-th processing time. Let be the correction factor at the t-th processing time. Let be the target wire feeding speed at the t-th processing time.

[0110] Acceleration variation curve The derived parameters, acceleration phase A positive value indicates the deceleration phase. Negative value, uniform velocity phase Approaching 0.

[0111] During the correction process, the hardware constraints of the wire feed shaft must be met simultaneously: wire feed speed. The maximum wire feeding speed of the wire feeding mechanism must not be exceeded. ), and not lower than the minimum stable wire feed speed ( If the corrected wire feeding speed exceeds the constraint range, it will be truncated according to the boundary value to ensure the stable operation of the wire feeding mechanism.

[0112] The generated set of wire feed speeds corresponds one-to-one with the time axis and trajectory segment of the target program segment. Each wire feed speed value corresponds to the melt deposition requirement at the corresponding moment (derived from the synthetic motion speed). (Determined by the state of the molten pool) Precise matching is achieved to ultimately realize a dynamic balance between the wire feed rate and the amount of molten material deposited, avoiding material accumulation or wire drawing defects.

[0113] The printing control method provided in this application can determine the synthetic motion speed curve corresponding to the printhead tip based on multiple trajectory data corresponding to the target program segment. Based on the synthetic motion speed curve, a set of dynamic correction coefficients is determined. Then, using the filament feed speed reference value as a basis, the dynamic correction coefficient set is used to correct it in real time, generating a filament feed speed set corresponding to the target program segment. This ensures that the filament feed amount of the filament feed shaft corresponding to the printing device matches the molten material deposition amount in the molten pool. By dynamically adjusting the filament feed speed of the filament feed shaft, real-time adaptation between the filament feed amount and the molten material deposition amount can be achieved, effectively eliminating problems such as uneven filament feed, stacking, or filament pulling when the printing speed changes abruptly, improving printing control accuracy, and thus improving the forming quality of the printed object.

[0114] Figure 4 This is a schematic flowchart illustrating a printing control method provided in an embodiment of this application. Please refer to [link / reference]. Figure 4 The method may include:

[0115] S401. Obtain the 3D model corresponding to the target object.

[0116] The 3D model must be a parametric model that meets industrial-grade printing precision and can support import of mainstream CAD formats (such as STL, STEP, and IGES formats, with STEP / IGES format preferred to retain accurate geometric features; for STL format, the accuracy of triangular facets must be ≤0.01mm to avoid distortion during subsequent slicing).

[0117] The 3D model needs to undergo industrial-grade preprocessing, which may include removing redundant features (such as small chamfers and irrelevant holes), repairing geometric defects (such as missing faces and misaligned edges), and optimizing the topology (to ensure that the model is closed and free of holes).

[0118] At the same time, the model's orientation needs to be adjusted according to the unsupported printing requirements of the target object, so that the normal direction of complex curved surfaces and suspended structures (such as cooling channels for aero-engine blades and biomimetic protrusions for implants) can be adapted to the five-axis linkage attitude adjustment range, thereby reducing the dependence on support structures during the printing process.

[0119] The acquisition channels may include 3D scanning and reconstruction, forward design in CAD software (such as SolidWorks, UG, CATIA), or standard design models provided by customers. After acquisition, the model needs to be imported and its integrity verified in the control software of the industrial control computer to ensure that the geometric information of the model is complete and without loss of precision, laying the foundation for subsequent slicing and generation of G-code with five-axis attitude.

[0120] S402. Based on the 3D model corresponding to the target object, generate multiple trajectory execution segments corresponding to the target object.

[0121] First, the imported 3D model is processed into slices for six-axis unsupported printing: based on the structural features of the target object (such as the curvature of complex surfaces, the overhang angle, and the wall thickness distribution), an adaptive layering strategy can be adopted. The layer thickness in complex areas (such as biomimetic structures and cooling channels) is set to 0.1~0.3mm, while the layer thickness in flat areas can be extended to 0.3~0.5mm, taking into account both printing efficiency and forming accuracy.

[0122] Meanwhile, the slicing software needs to embed a five-axis attitude planning algorithm to assign suitable X / Y / Z / A / C axis spatial poses to each layer of slicing trajectory, ensuring that the print head can avoid interference by swinging at multiple angles and achieve supportless molding.

[0123] Subsequently, based on the contour and fill path of each sliced ​​layer, continuous trajectory execution segments are generated.

[0124] Each trajectory execution segment corresponds to a complete printing path unit (such as the contour trajectory segment or the fill trajectory segment in a layer), which includes the endpoint coordinates of the segment (X / Y / Z / A / C axis pose parameters), trajectory type (straight line / circular arc / spline curve), basic feed speed command (F value), laser power matching parameters (corresponding to material type and layer thickness), and other core information.

[0125] The generated trajectory execution segments need to be arranged in the printing sequence. The total number of segments is positively correlated with the number of model layers and the path complexity of each layer. The length of each segment needs to be adapted to the interpolation cycle of the motion control card (it is recommended that the length of a single segment trajectory should not be less than 0.1mm to avoid too many short segments causing frequent speed changes). All segments need to ensure geometric continuity without breaks to provide complete trajectory data support for the selection of subsequent target program segments and motion look-ahead planning.

[0126] S403. Select a preset number of trajectory execution segments from multiple trajectory execution segments as the target program segment.

[0127] The preset number of trajectory execution segments needs to be set based on the processing capability and printing accuracy requirements of the motion look-ahead module. Typically, 50 to 200 consecutive trajectory execution segments are selected to form the target program segment to be executed.

[0128] The preset number can be adjusted by controlling the software parameter configuration. The preset number needs to balance two major requirements: first, to ensure that the motion look-ahead module can obtain enough subsequent trajectory information to realize global velocity planning and acceleration prediction; second, to avoid data processing delays caused by too many segments, which would affect the synchronization of real-time interpolation.

[0129] The selection of the target program segment can adopt a rolling window mechanism: when the current target program segment is executed to the preset progress (such as 70%~80% of the execution is completed), the control software automatically discards the completed trajectory execution segments, and replenishes the corresponding number of new segments from the remaining trajectory execution segments, and updates them as new target program segments, so as to realize the dynamic rolling update of the target program segment during continuous printing.

[0130] It is worth noting that the pose, velocity, and process parameters in each trajectory execution segment of the target program segment are converted into a standardized data format that the motion control card can recognize. At the same time, the rationality of the connection between segments is verified (such as whether the pose angle between adjacent segments is within the allowable attitude adjustment range of the machine tool), to ensure that the trajectory data of the target program segment is complete and logically coherent.

[0131] S404. Determine multiple trajectory data based on the target program segment corresponding to the target object.

[0132] The execution process of S404 can be found in the execution process of S301, and will not be repeated here.

[0133] S405. Determine the trajectory features corresponding to each trajectory data.

[0134] It can analyze each trajectory data one by one, including trajectory length (such as straight line segment length, arc length of circular arc segment), curvature parameters (radius of curvature of circular arc segment, curvature of straight line segment is set to 0), axis linkage combination (clearly identify which axes of X / Y / Z / A / C axis participate in the motion of the trajectory segment, and whether it is multi-axis synchronous linkage), and trajectory direction (spatial direction vector).

[0135] It can analyze the connection relationship between adjacent trajectory data, including the angle between segments (the spatial angle between two adjacent trajectory segments, quantified in the range of 0° to 180°), the rate of change of axis motion direction (whether the motion direction of each participating axis is reversed and the magnitude of the reversal), the trajectory segment length level (to determine whether it is a short line segment, usually defining a trajectory segment with a length ≤ 0.5mm as a short line segment), and the smoothness of connection (whether there is an abrupt change in direction).

[0136] After extraction, feature labels are created for each trajectory data to form a trajectory feature set, which provides a basis for subsequent identification of special trajectory data and velocity fitting.

[0137] Feature labels include geometric feature labels and connection feature labels.

[0138] Geometric feature labels can include trajectory length labels (e.g., short line segment, medium line segment, long line segment), curvature attribute labels, axis linkage combination labels, trajectory type labels, and forming area labels.

[0139] The tags include: trajectory length labels, such as L≤0.5mm (short line segment), 0.5mm<L≤5mm (medium line segment), L>5mm (long line segment); curvature attribute labels, such as curvature=0 (straight line segment), curvature radius≤5mm (small curvature arc segment), 5mm<curvature radius≤20mm (medium curvature arc segment), curvature radius>20mm (large curvature arc segment); axis linkage combination labels, such as XYZ three-axis linkage, XYZ+A four-axis linkage, XYZ+A+C five-axis linkage; trajectory type labels, such as straight line trajectory, arc trajectory, spline curve trajectory; and forming area labels, such as suspended unsupported area trajectory, planar filled area trajectory, and contour boundary area trajectory.

[0140] Connectivity feature labels may include inter-segment angle labels, direction change labels, speed adaptation labels, connectivity smoothness labels, trajectory length difference labels, etc.

[0141] Among them, the labels for inter-segment angles are as follows: for example, angle ≤ 30° (sharp corner), 30° < angle ≤ 90° (obtuse corner), angle > 90° (gentle corner); the labels for direction changes are as follows: for example, single-axis direction reversal, multi-axis direction synchronous reversal, no direction reversal; the labels for speed adaptation are as follows: for example, sudden change in F value between adjacent segments (difference ≥ 50 mm / min), smooth transition of F value between adjacent segments (difference < 50 mm / min); the labels for smoothness of connection are as follows: for example, continuous smooth connection, discontinuous breakpoint connection; the labels for trajectory length difference are as follows: for example, the length difference between adjacent segments is ≥ 10 times, the length difference between adjacent segments is < 10 times.

[0142] S406. Determine the basic feed rate corresponding to each trajectory data according to the basic feed rate command corresponding to each trajectory data.

[0143] The basic feed rate of each trajectory data can be obtained based on the basic feed rate command corresponding to each trajectory data, combined with the speed coefficient preset by the printing process (matching the material type and printing accuracy level).

[0144] The base feed rate is the initial reference rate of the printhead blade tip TCP. The formula for determining the base feed rate can be found in the following formula:

[0145]

[0146] in, The base feed rate (unit: mm / min) corresponds to a single segment of trajectory data. The base feed rate command value (i.e., F value) in the G code is the original speed command generated by the slicing software based on the model layer thickness and path type; This is the printing process speed coefficient, a dimensionless parameter that needs to be set comprehensively based on material type, printing accuracy level, and characteristics of the trajectory forming area.

[0147] The process can be calibrated through process experiments. For example, the melt pool state of the same material is different at different printing layer heights, and the coefficient needs to be fine-tuned to ensure stability.

[0148] Basic feed rate The feed rate must be less than or equal to the maximum allowable feed rate when the machine tool is in five-axis linkage, and greater than or equal to the minimum feed rate that ensures the stability of the molten pool. If the calculated value exceeds the constraint range, the boundary value is directly taken as the basic feed rate of the trajectory segment.

[0149] S407. Based on the trajectory characteristics corresponding to each trajectory data, the basic feed velocities corresponding to each trajectory data are integrated and processed to obtain the synthetic motion velocity curve.

[0150] Specifically, special trajectory data are determined based on the geometric and connection features corresponding to each trajectory data; the basic feed velocities of the special trajectory data and the adjacent trajectory data on both sides are fitted to obtain the synthetic motion velocity curve.

[0151] Based on the geometric and connection characteristics of each trajectory data, special trajectory data that have a significant impact on motion stability are selected.

[0152] Load machine tool hardware constraints (maximum speed, maximum acceleration, and maximum jerk of each axis) and process constraints (the speed range allowed for molten pool stability) as boundary conditions for speed fitting.

[0153] The special trajectory data and 1-3 related trajectory data on each side are used as a fitting unit. The S-shaped acceleration / deceleration algorithm or B-spline curve fitting algorithm are used to smoothly adjust the basic feed rate within the unit. For example, the peak speed is appropriately reduced in the short line segment area, and the deceleration transition section is planned in advance at sharp corners to ensure continuous speed change within the unit.

[0154] The velocity curves of all fitted units are stitched together along the time axis. At the same time, the continuity of velocity transitions between adjacent units is checked. If there are velocity jumps, a second smoothing correction is performed to finally obtain the globally optimal synthetic motion velocity curve.

[0155] Among them, special trajectory data refers to trajectory data that has a critical impact on the smoothness of printing motion and the quality of forming. Specifically, it includes: ① Short line segment trajectory data (length ≤ 0.5mm, which easily leads to frequent speed starts and stops); ② Sharp corner trajectory data (angle between segments ≤ 30°, which easily causes sudden speed changes and machine tool vibration); ③ High curvature trajectory data (radius of curvature of arc segments ≤ 5mm, which needs to be adapted to low-speed smooth motion); ④ Multi-axis direction change trajectory data (the motion direction of ≥ 2 axes in adjacent trajectory segments reverses at the same time, which easily leads to motion interference); ⑤ Trajectory data corresponding to suspended structures (trajectory segments in unsupported printing areas, which need to be matched with specific speeds to ensure the stability of the molten pool).

[0156] In this application, by first identifying special trajectory data, sudden changes in speed and acceleration caused by special trajectories are avoided, thereby reducing the impact of machine tool inertia on printing accuracy.

[0157] S408. Based on the synthetic motion velocity curve, determine the acceleration curves corresponding to multiple trajectory data.

[0158] The synthetic motion velocity curve is a continuous smooth curve based on the time axis (the horizontal axis is time t, and the vertical axis is the real-time synthetic motion velocity of the printhead tip TCP).

[0159] The synthesized motion velocity curve is discretized and sampled according to the interpolation period of the motion control card (usually 1ms~10ms, e.g., 5ms) to obtain several processing moments. and the speed values ​​corresponding to each processing moment. .

[0160] The acceleration value at each time point is calculated using a numerical differentiation algorithm (such as the central difference method), and the formula is as follows:

[0161]

[0162] in, For the first Acceleration values ​​at each processing moment (unit: mm / s²). The discretized sampling interval (i.e., the interpolation period); for the boundary time nodes at the beginning and end of the curve ( and The forward or backward difference method is used to supplement the calculation to ensure that the acceleration curve has no discontinuities. For the first The speed value corresponding to each processing moment For the first The speed value corresponding to each processing moment.

[0163] Arrange the acceleration values ​​at all processing moments along the time axis to form a continuous acceleration curve. The curve needs to be labeled with key features: acceleration phase ( >0), uniform speed stage ( ≈0), deceleration phase ( <0, and record parameters such as peak acceleration and rate of change (jerk).

[0164] It is worth noting that if the calculated acceleration value exceeds the maximum acceleration constrained by the machine tool hardware (e.g., ±500 mm / s²), it is determined to be an outlier and corrected by smoothing interpolation of adjacent acceleration values ​​to avoid distortion of the correction coefficient due to outlier acceleration data.

[0165] S409. Based on the composite motion velocity curve and acceleration curve, determine the set of dynamic correction coefficients corresponding to multiple trajectory data.

[0166] Dynamic correction coefficient It compensates for the fluctuations in molten pool demand caused by changes in acceleration.

[0167] Specifically, the synthesized velocity curve, acceleration curve, and multiple trajectory data corresponding to the target program segment are aligned along the time axis, with each trajectory data corresponding to a time interval. Based on the synthesized velocity curve and acceleration curve, the real-time acceleration change sequence and real-time velocity change sequence within each time interval are obtained. Based on the real-time acceleration change sequence and real-time velocity change sequence within each time interval, the acceleration direction, absolute acceleration change characteristics, and velocity mean value corresponding to each time interval are determined. Through the correction coefficient model, based on the acceleration direction, absolute acceleration change characteristics, and velocity mean value corresponding to each time interval, the dynamic correction coefficients corresponding to each trajectory data are determined to obtain a set of dynamic correction coefficients.

[0168] The correction coefficient model is based on printing process test data, establishing a correlation model between the dynamic correction coefficient and acceleration and velocity. During the acceleration phase, as the TCP speed gradually increases, the tendency for molten pool stretching intensifies, requiring an increased filament feed to compensate for the risk of filament pulling. At this point, the dynamic correction coefficient... It is a positive value and positively correlated with the absolute value of acceleration; during the deceleration phase, the TCP speed gradually decreases, and material tends to accumulate in the molten pool. Therefore, the wire feed rate needs to be reduced to avoid accumulation. At this time, the dynamic correction coefficient... It is a negative value, and it is related to the absolute value of the acceleration (the larger the absolute value, the greater the dynamic correction coefficient). (The smaller the negative value) positive correlation; during the uniform velocity stage, the velocity and the molten pool state are stable, and the dynamic correction coefficient... Approaching 0, only retaining minute process compensation values ​​(such as ±0.01).

[0169] It is worth noting that the boundary range of the correction coefficient can be set (e.g., −0.3 ≤ ≤0.3), to avoid the wire feeding speed exceeding the stable range due to excessively large coefficients; at the same time, the correction coefficients of adjacent trajectory data are smoothed and filtered (e.g., by moving average method) to ensure The change is continuous and without jumps, preventing frequent fluctuations in wire feeding speed.

[0170] In this application, by accurately associating speed, acceleration and dynamic correction coefficient, the predictive dynamic adjustment of wire feeding speed is achieved, ensuring real-time adaptation of wire feeding amount to the needs of the molten pool.

[0171] S410. Based on the set of dynamic correction coefficients, the baseline value of the wire feeding speed is corrected to generate the set of wire feeding speeds corresponding to the target program segment.

[0172] The execution process of S401 can be found in the execution process of S304, and will not be repeated here.

[0173] The printing control method provided in this application can pre-read a preset number of continuous trajectory data in the target program segment, comprehensively analyze its geometric and connection features, and generate a continuous smooth synthetic motion velocity curve of the print head tip. Based on this curve, a real-time acceleration change curve is extracted through numerical differential calculation, and it, together with the velocity change information, is used as the input parameter for dynamic correction coefficients. By pre-planning velocity and acceleration changes, the comprehensive influence of machine tool inertia and velocity abrupt changes on the molten pool morphology is accurately compensated, improving the stability and forming consistency of complex trajectory printing. It effectively reduces surface defects and poor interlayer bonding caused by mismatch between wire feed and molten material deposition, and improves the unsupported printing accuracy and forming quality of complex curved metal parts.

[0174] In some embodiments, the wire feeding speed reference value is corrected according to the dynamic correction coefficient set. After generating the wire feeding speed set corresponding to the target program segment, the wire feeding speed set can be output to the driver of the wire feeding mechanism. The position command of the five-axis linkage trajectory is synchronously output to the drivers of each axis of the five-axis CNC machine tool through the six-axis motion control card. The six-axis motion control card realizes the synchronous execution of the motion commands of the wire feeding mechanism and the five-axis CNC machine tool through the bus to complete the supportless printing.

[0175] The wire feeding mechanism refers to the mechanical device that performs the wire feeding action, including a high-precision servo motor, wire feeding rollers, tension adjustment module, and hollow wire feeding tube. It accurately pushes the metal wire to the print head according to real-time wire feeding speed commands. For example, a wire feeding mechanism driven by a high-precision servo motor can achieve a wire feeding speed control accuracy of ±0.1mm / s, adapting to the dynamic material requirements of the molten pool.

[0176] A five-axis CNC machine tool refers to a machine tool device that provides three linear motion axes (X, Y, and Z) and two rotary motion axes (A and C). It adjusts the spatial orientation of the print head through multi-axis coordinated movement. For example, a five-axis CNC machine tool adjusts the orientation of the print head by combining the movements of the A-axis (oscillating around the X-axis) and the C-axis (rotating around the Z-axis), ensuring that the print head always conforms to the normal direction of complex curved surfaces, avoiding printing interference and support dependence.

[0177] Supportless printing is achieved by synchronously executing motion commands from the filament feeding mechanism (W-axis) and the five-axis CNC machine tool (X / Y / Z / A / C axes) using a six-axis motion control card. For example, in printing the internal cooling channels of aero-engine blades, the system uses a six-axis linkage interpolation algorithm to synchronously adjust the filament feeding speed (to adapt to the curvature changes of the cooling channels) and the five-axis attitude (to keep the molten pool at a stable forming angle, rather than simply in a vertical direction), ensuring that the molten pool is aligned with the normal direction of the curved surface, while avoiding suspended defects on the inner wall of the channels, ultimately completing supportless printing.

[0178] In this application, a complete six-axis fully linked supportless printing process is achieved by integrating the control of the wire feed axis (W-axis) and the five-axis linkage trajectory through a six-axis motion control card. This eliminates the problem of lag in multi-controller coordination, significantly improving printing efficiency and quality stability, especially in printing complex curved surfaces, completely eliminating dependence on support structures, and reducing material waste and post-processing costs.

[0179] In some embodiments, the printing equipment is also equipped with an infrared thermometer or pyrometer to monitor the temperature of the molten pool in real time and provide feedback for closed-loop control.

[0180] Figure 5 This is a schematic diagram illustrating the architecture of a printing control method provided in an embodiment of this application. Please refer to [link / reference]. Figure 5 After printing begins, the first step is to import the 3D model and slice it to generate G-code with five-axis attitude, providing basic trajectory instructions for printing control. Then, the G-code is read and parsed by C# / C++ host computer software, converting the code into trajectory data that can be recognized by the control module.

[0181] Next, the preprocessing stage begins: the motion look-ahead module performs velocity planning on multiple trajectory segments, generating an optimized composite velocity curve of the printhead tip. The curve and its corresponding acceleration information (look-ahead information) are then synchronized to the adaptive wire feeding module; the adaptive wire feeding module then... and real-time acceleration The wire feeding speed was calculated. Simultaneously, the six-axis linkage interpolation module calculates the position commands for the X / Y / Z / A / C / W axes based on the trajectory data. The motion control card executes the six-axis synchronous interpolation and outputs commands—on the one hand, controlling the wire feeder to... The command feeds the filament and drives the five-axis machine tool to move the print head. After the current layer is printed, the above interpolation, filament feeding, and movement steps are repeated until all layers are printed. The process ends with the printing completed.

[0182] Figure 6 This is a schematic diagram of a printing control device provided in an embodiment of this application. Please refer to... Figure 6 The printing control device 600 includes a first determining module 601, a second determining module 602, a third determining module 603, and a correction processing module 604.

[0183] The first determining module 601 is used to determine multiple trajectory data based on the target program segment corresponding to the target object;

[0184] The second determining module 602 is used to determine the synthetic motion velocity curve corresponding to the printhead blade tip based on multiple trajectory data. The synthetic motion velocity curve is a continuous curve of the spatial synthetic motion velocity of the printhead blade tip corresponding to the target program segment changing with time.

[0185] The third determining module 603 is used to determine the set of dynamic correction coefficients corresponding to the target program segment based on the synthetic motion velocity curve.

[0186] The correction processing module 604 is used to correct the wire feeding speed reference value according to the dynamic correction coefficient set, generate the wire feeding speed set corresponding to the target program segment, and make the wire feeding amount of the corresponding wire feeding shaft of the printing device match the molten material deposition amount.

[0187] In one possible implementation, the correction processing module 604 is specifically used for:

[0188] Based on the synthetic motion velocity curve, determine the acceleration curves corresponding to multiple trajectory data;

[0189] Based on the synthetic velocity and acceleration curves, a set of dynamic correction coefficients corresponding to multiple trajectory data is determined.

[0190] In one possible implementation, the correction processing module 604 is specifically used for:

[0191] Align the synthetic motion velocity curve, acceleration curve and multiple trajectory data corresponding to the target program segment according to the time axis to determine the time interval corresponding to each trajectory data;

[0192] Based on the synthetic motion velocity curve and acceleration curve, the average acceleration value and average velocity value corresponding to each time interval are determined.

[0193] By using the correction coefficient model, based on the average acceleration and average velocity values ​​corresponding to each time interval, the dynamic correction coefficients corresponding to each trajectory data are determined to obtain a set of dynamic correction coefficients.

[0194] In one possible implementation, the second determining module 602 is specifically used for:

[0195] Determine the trajectory features corresponding to each trajectory data;

[0196] Determine the basic feed rate corresponding to each trajectory data based on the basic feed rate command corresponding to each trajectory data.

[0197] Based on the trajectory characteristics corresponding to each trajectory data, the basic feed velocities corresponding to each trajectory data are integrated and processed to obtain the synthetic motion velocity curve.

[0198] In one possible implementation, the trajectory features include geometric features and connection features; the second determining module 602 is specifically used for:

[0199] Based on the geometric and connection features corresponding to each trajectory data, special trajectory data are determined;

[0200] By fitting the special trajectory data and the basic feed velocities of the special trajectory data and its adjacent trajectory data on both sides, a synthetic motion velocity curve is obtained.

[0201] In one possible implementation, the apparatus further includes an acquisition module, which is used to:

[0202] Obtain the 3D model corresponding to the target object;

[0203] Based on the 3D model of the target object, generate multiple trajectory execution segments corresponding to the target object;

[0204] A predetermined number of trajectory execution segments from multiple trajectory execution segments are selected as the target program segments.

[0205] In one possible implementation, the apparatus further includes a transmitting module, which is used to:

[0206] The wire feeding speed is output to the driver of the wire feeding mechanism;

[0207] The position commands of the five-axis linkage trajectory are output to the drivers of each axis of the five-axis CNC machine tool through the six-axis motion control card;

[0208] The six-axis motion control card enables the synchronous execution of motion commands between the wire feeding mechanism and the five-axis CNC machine tool via a bus, thus completing supportless printing.

[0209] The printing control device provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be described again here.

[0210] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Please refer to... Figure 7 The electronic device 700 may include a processor 701 and a memory 702. Exemplarily, the processor 701 and the memory 702 are interconnected via a bus 703.

[0211] Memory 702 stores instructions executed by the computer;

[0212] The processor 701 executes computer execution instructions stored in the memory 702, causing the processor 701 to perform the printing control method as shown in the above method embodiment.

[0213] Accordingly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the printing control method of the above-described method embodiments.

[0214] Accordingly, embodiments of this application may also provide a computer program product, including a computer program, which, when executed by a processor, can implement the printing control method shown in the above method embodiments.

[0215] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0216] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0217] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0218] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0219] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0220] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0221] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0222] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0223] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A print control method characterized by, The method comprises the following steps: determining a plurality of trajectory data according to a target program segment corresponding to a target object; determining trajectory characteristics corresponding to each trajectory data; determining a basic feeding speed corresponding to each trajectory data according to a basic feeding speed instruction corresponding to each trajectory data; integrating the basic feeding speed corresponding to each trajectory data according to the trajectory characteristics corresponding to each trajectory data to obtain a synthesized motion speed curve, which is a continuous curve of the space synthesized motion speed of the target program segment corresponding to the control of the print head tool tip point changing with time; determining an acceleration curve corresponding to the plurality of trajectory data based on the synthesized motion speed curve; aligning the synthesized motion speed curve, the acceleration curve and the plurality of trajectory data corresponding to the target program segment on the time axis to determine a time interval corresponding to each trajectory data; obtaining an acceleration real-time change sequence and a speed real-time change sequence in each time interval based on the synthesized motion speed curve and the acceleration curve; determining an acceleration direction, an acceleration absolute value change characteristic and a speed average value corresponding to each time interval based on the acceleration real-time change sequence and the speed real-time change sequence in each time interval; determining a dynamic correction coefficient corresponding to each trajectory data based on the acceleration direction, the acceleration absolute value change characteristic and the speed average value corresponding to each time interval through a correction coefficient model to obtain a dynamic correction coefficient set; correcting a wire feeding speed reference value corresponding to each trajectory data according to the dynamic correction coefficient set to generate a wire feeding speed set corresponding to the target program segment, so that the wire feeding amount of the wire feeding shaft of the printing equipment matches the molten material deposition amount; The formula involved in the correction process is: wherein, is a wire feed factor, is a base feed speed of the trajectory data corresponding to the tth machining moment, is a correction factor of the tth machining moment, is a target wire feed speed of the tth machining moment, is a wire feed speed reference value, is an acceleration change curve derived parameter, acceleration phase is a positive value, deceleration phase is a negative value.

2. The method of claim 1, wherein, the trajectory characteristics include geometric characteristics and connection characteristics; the integrating the basic feeding speed corresponding to each trajectory data according to the trajectory characteristics corresponding to each trajectory data to obtain a synthesized motion speed curve comprises: determining special trajectory data according to the geometric characteristics and the connection characteristics corresponding to each trajectory data; fitting the special trajectory data and the basic feeding speeds of the special trajectory data and its two adjacent trajectory data to obtain the synthesized motion speed curve.

3. The method of claim 1, wherein, Before determining the five-axis linkage trajectory data corresponding to the linkage five-axis according to the target program segment, the method further comprises the following steps: obtaining a three-dimensional model corresponding to the target object; generating a plurality of trajectory execution segments corresponding to the target object according to the three-dimensional model corresponding to the target object; determining a preset number of trajectory execution segments in the plurality of trajectory execution segments as the target program segment.

4. The method of claim 1, wherein, After the correcting the wire feeding speed reference value according to the dynamic correction coefficient set to generate the wire feeding speed set corresponding to the target program segment, the method further comprises the following steps: outputting the wire feeding speed set to a driver of a wire feeding mechanism; outputting a position instruction of the five-axis linkage trajectory to each axis driver of a five-axis numerical control machine tool through a six-axis motion control card; the six-axis motion control card realizes the synchronous execution of the wire feeding mechanism and the motion instruction of the five-axis numerical control machine tool through a bus to complete the support-free printing.

5. An electronic device, comprising: The method comprises the following steps: a processor, and a memory connected to the processor in communication; the memory stores computer-executed instructions; the processor executes the computer-executed instructions stored in the memory to implement the method according to any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executed instructions, and the computer-executed instructions are executed by the processor to implement the method according to any one of claims 1 to 4.

7. A computer program product, characterised in that, The computer program is executed by the processor to implement the method according to any one of claims 1 to 4.

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