Printing control method and device applied to 3D printing equipment, 3D printing equipment and storage medium

Abstract

The invention provides a printing control method and device applied to 3D printing equipment, the 3D printing equipment and a storage medium, and the method comprises the steps that track information for a target printing layer of a to-be-printed model is obtained, and the track information comprises a contour track and a filling track; executing a printing task for the to-be-printed model based on the track information; in response to a material changing operation of switching from a first material to a second material, a target material of a first scouring amount discharged from a spray head of the 3D printing equipment is determined, the target material comprises the first material and the second material, and the first scouring amount comprises a first capacity and a second capacity; and after the material changing operation is executed and before the contour track corresponding to the second material is printed, the spray head is controlled to print the target material of the first scouring amount to the filling track corresponding to the first material. Through the printing control method, material waste can be reduced, and printing efficiency can be improved.

Description

Technical Field

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

[0002] In current single-nozzle, multi-material 3D printing systems, the material changeover process requires flushing and cleaning residual material in the extruder and nozzle, and stabilizing the internal pressure of the nozzle using a printing wiper tower to ensure print quality. However, this process consumes a large amount of material and significantly increases printing time, resulting in material waste and low printing efficiency. Summary of the Invention

[0003] This application discloses a material changing control method, apparatus, and computer equipment for 3D printing applied to 3D printing equipment, which can solve the problems of material waste and low printing efficiency.

[0004] In a first aspect, embodiments of this application provide a printing control method for a 3D printing device. The method includes: acquiring trajectory information of a target printing layer for a model to be printed, the trajectory information including a contour trajectory and an infill trajectory, the contour trajectory being used to construct the external surface of the model to be printed, and the infill trajectory being used to construct the internal frame of the model to be printed; executing a printing task for the model to be printed based on the trajectory information; in response to a material change operation from a first material to a second material, determining a first flushing amount of target material discharged from the nozzle of the 3D printing device, the target material including the first material and the second material, the first flushing amount including a first capacity and a second capacity, wherein the first capacity is the capacity of the first material remaining in the nozzle after the material change operation, and the second capacity is the capacity of the second material that needs to be additionally extruded to perform the material change operation; after performing the material change operation and before printing the contour trajectory corresponding to the second material, controlling the nozzle to print the first flushing amount of target material onto the infill trajectory corresponding to the first material.

[0005] In some possible implementations of this application, the trajectory information further includes a support trajectory, which is used to provide support for the part of the model that has been printed during the printing process. The step of controlling the nozzle to print the target material of the first flushing amount onto the filling trajectory corresponding to the first material after performing the material change operation and before printing the contour trajectory corresponding to the second material includes: controlling the nozzle to print a portion of the target material of the first flushing amount onto the filling trajectory corresponding to the first material before performing the material change operation and printing the contour trajectory corresponding to the second material, and controlling the nozzle to print the remaining target material of the first flushing amount onto the support trajectory corresponding to the first material.

[0006] In some possible embodiments of this application, before the material switching operation from the first material to the second material is performed, the first material is controlled to retract a preset distance and then cut off, and the volume of the first material remaining in the nozzle after cutting is determined as the first volume; after the material switching operation from the first material to the second material is performed, the volume of the second material that needs to be extruded when the internal cavity pressure of the nozzle reaches stability is determined as the second volume.

[0007] In some possible embodiments of this application, the method further includes: when the total amount of material used in the filling trajectory is less than the first flushing amount; determining the difference between the first flushing amount and the total amount of material used in the filling trajectory, and determining the difference as the second flushing amount; after performing the material changing operation and before printing the contour trajectory corresponding to the second material, controlling the nozzle to perform a material ejection operation, so as to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material onto the filling trajectory.

[0008] In some possible embodiments of this application, when the total amount of material used in the filling trajectory and the support trajectory is less than the first flushing amount; the difference between the total amount and the first flushing amount is determined, and the difference is determined as the second flushing amount; after performing the material change operation and before printing the contour trajectory corresponding to the second material, the nozzle is controlled to perform a material ejection operation to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material onto the filling trajectory and the support trajectory located on the same layer as the contour trajectory.

[0009] In some possible embodiments of this application, printing the remaining target material onto the fill trajectory and the support trajectory, which are located on the same layer as the contour trajectory, before printing the contour trajectory corresponding to the second material includes: printing a portion of the remaining target material onto the fill trajectory first, and then printing another portion of the target material onto the support trajectory; or, printing a portion of the remaining target material onto the support trajectory first, and then printing another portion of the target material onto the fill trajectory; or, printing the remaining target material onto the fill trajectory and the support trajectory in an alternating order.

[0010] In some possible embodiments of this application, controlling the nozzle to perform the material discharge operation includes controlling the nozzle to flush away the target material corresponding to the second flushing amount at a maximum volumetric velocity.

[0011] Secondly, embodiments of this application provide a printing control device, the device comprising: an acquisition module, configured to acquire trajectory information of a target printing layer for a model to be printed, the trajectory information including a contour trajectory and a fill trajectory, the contour trajectory being used to construct the external surface of the model to be printed, and the fill trajectory being used to construct the internal frame of the model to be printed; a processing module, configured to execute a printing task for the model to be printed based on the trajectory information; a determination module, configured to determine a first flushing amount of target material discharged from the nozzle of a 3D printing device in response to a material change operation from a first material to a second material, the target material including the first material and the second material, the first flushing amount including a first capacity and a second capacity, wherein the first capacity is the capacity of the first material remaining in the nozzle after the material change operation, and the second capacity is the capacity of the second material that needs to be additionally extruded to perform the material change operation; and a control module, configured to control the nozzle to print the first flushing amount of target material onto the fill trajectory corresponding to the first material after the material change operation and before printing the contour trajectory corresponding to the second material.

[0012] Thirdly, embodiments of this application also provide a 3D printing device, which includes a processor and a memory. When the processor executes a computer program stored in the memory, it implements the printing control method described above.

[0013] Fourthly, embodiments of this application also provide a computer-readable storage medium storing at least one instruction that, when executed by a processor, implements the printing control method as described above.

[0014] The printing control method provided in this application involves: acquiring trajectory information of the target printing layer for the model to be printed; executing a printing task for the model based on the trajectory information; determining the target material of a first flushing volume discharged from the nozzle of the 3D printing equipment in response to a material change operation from a first material to a second material; and controlling the nozzle to print the target material of the first flushing volume onto the filling trajectory corresponding to the first material after executing the material change operation and before printing the contour trajectory corresponding to the second material. This printing control method avoids material and time waste caused by flushing and printing wipers during the material change process of the 3D printing equipment, significantly improving the efficiency of multi-material 3D printing while ensuring the appearance quality of the model. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the application environment of the printing control method for 3D printing equipment provided in the embodiments of this application.

[0016] Figure 2 This is a flowchart of a printing control method for 3D printing equipment provided in an embodiment of this application.

[0017] Figure 3 This is a schematic diagram of the trajectory information provided in the embodiments of this application.

[0018] Figure 4 This is a structural diagram of the printing control device provided in the embodiments of this application.

[0019] Figure 5 This is a schematic diagram of the structure of the 3D printing equipment provided in the embodiments of this application. Detailed Implementation

[0020] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0021] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0022] To better understand the 3D printing method and related products provided in the embodiments of this application, the application scenarios of the 3D printing method of this application are described below.

[0023] Figure 1 This is a schematic diagram illustrating the application environment of the printing control method for a 3D printing equipment provided in this embodiment. The printing control method is applied to a 3D printing equipment 1, which is connected to a cartridge 2. The cartridge 2 is used to store and supply various types of printing consumables. Typically, since the number of consumable types that can be placed in a single cartridge is limited, multiple cartridges are connected to increase the variety of consumables. For example, if each cartridge can hold four colors of consumables, connecting two cartridges allows the 3D printing system to use 16 colors of consumables. The more cartridges connected, the more colors can be used. The 3D printing equipment 1 and the cartridge 2 can be connected via a USB port or a Type-C interface. The 3D printing equipment 1 determines whether to connect a cartridge based on the signal at the interface; the specific connection can be determined according to the actual situation, and this embodiment does not impose specific limitations on this.

[0024] In this embodiment, the 3D printing device 1 includes a control unit 11, a motion mechanism 12, a nozzle 13, and a material switching mechanism 14. The control unit 11 executes the printing control method provided in this application. For example, the control unit 11 may be an embedded system or a microcomputer containing a processor and memory. The control unit 11 is electrically connected to the motion mechanism 12, the nozzle 13, and the material switching mechanism 14. The motion mechanism 12 drives the nozzle 13 to move precisely under the command of the control unit 11. The nozzle 13 has a heating block and a nozzle inside, used to heat and melt solid printing filament for extrusion. The material switching mechanism 14 is connected to the control unit 11 and the filament box 2, and is used to select, unload the current filament, and load a new filament in response to the material switching command from the control unit 11. In some embodiments, the material switching mechanism 14 may include multiple feeding channels, a cutter, a drive motor, and other components.

[0025] The technical solutions of this application will be described in detail below with specific embodiments. The specific embodiments described below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0026] Figure 2 This is a schematic flowchart of a 3D printing method provided in an embodiment of this application. The method in this embodiment can be executed by a 3D printing device. Figure 2 As shown, the method in this embodiment may include: Step S201: Obtain the trajectory information of the target printing layer for the model to be printed.

[0027] In this embodiment, the model to be printed is a digital model corresponding to a three-dimensional solid object that needs to be manufactured using 3D printing equipment. The model to be printed can be a three-dimensional model file in formats such as STL, OBJ, and 3MF, created by the user using computer-aided design software or downloaded from the network. For example, the model to be printed can be a multi-colored chess piece model. In some embodiments, the model to be printed can be a solid model that requires internal structural filling, rather than a completely hollow or solid model. For example, a toy car shell model, whose interior needs to be filled with a mesh structure to increase strength. In some embodiments, the model to be printed can be a model composed of at least two different printing materials. For example, a model with a transparent material as the main body and colored materials for markings.

[0028] In this embodiment, the target printing layer is a specific layer that is currently being processed or planned for printing after the model to be printed has been layered by slicing software in a direction perpendicular to the printing platform. This target printing layer can be one of the layers obtained by the slicing software after layering the model to be printed according to a preset layer thickness (e.g., 0.1 mm, 0.2 mm). For example, for a model with a total height of 20 mm, if sliced ​​with a layer thickness of 0.2 mm, the 50th layer would be a target printing layer.

[0029] In this embodiment, the information of the target printing layer includes the height position of the layer in the model to be printed, all trajectory information contained within the layer, and data such as the material type and extrusion amount corresponding to the trajectory information. In some embodiments, the printing control method improved in this application can process each target printing layer sequentially, or it can process specific layers that may require material changes. The trajectory information is a set of information describing the path that the print head needs to move on the target printing layer and the actions performed on that path (such as extruding material).

[0030] In this embodiment, the trajectory information of the target printing layer includes a contour trajectory and an infill trajectory. The contour trajectory is used to construct the appearance surface of the model to be printed. For example, the contour trajectory can print the trajectory of the outer wall or internal hole boundary of the model to be printed, which determines the model's appearance shape and surface quality. In some implementations, the contour trajectory is typically generated along the outer and inner edges of the cross-section of the model to be printed in that layer, and the number of printing layers (number of turns) is determined by the set "wall thickness" parameter. For example, if the wall thickness is set to 0.8 mm and the nozzle diameter is 0.4 mm, then typically two turns of the contour trajectory need to be printed.

[0031] In some implementations, the outline trajectory requires high printing quality, ensuring continuous and precise lines, and that the material color and properties meet design requirements, as the outline trajectory is the directly visible part. For example, for a model with a red shell, the outline trajectory must be printed using red material. In some implementations, the printing order of the outline trajectory is sometimes affected by the process; for example, some slicing strategies recommend printing the inner outline first and then the outer outline, while others recommend the opposite, but the ultimate goal is always to create a smooth and robust surface.

[0032] In this embodiment, the fill trajectory is used to construct the internal framework of the model to be printed. For example, the fill trajectory can be a trajectory that fills the internal non-solid areas of the model to be printed. The main function of the fill trajectory is to provide structural support, save material, and control printing time, and it usually does not affect the final appearance of the model. In some embodiments, the fill trajectory is generated within the area defined by the contour trajectory, using a specific pattern, such as grid lines, honeycomb, triangles, etc.

[0033] In some implementations, the requirements for material color and extrusion consistency in the infill trajectory are relatively lenient, allowing for a certain degree of imperfection. This is because the infill trajectory is typically enclosed within the model or covered by the outline trajectory after printing. For example, using slightly mixed recycled materials for printing the infill is acceptable as long as it does not affect structural strength.

[0034] In some implementations, the trajectory information may also include support trajectories, which provide support for the printed portion of the model during the printing process. For example, support trajectories may provide temporary support under a suspended structure, which needs to be removed after printing, thus allowing for greater flexibility in material requirements. In some embodiments, the trajectory information may also include the material type and amount of material used corresponding to the contour trajectory. For example, as... Figure 3As shown, the trajectory information 30 corresponding to the target printing layer is a rectangle, which includes a first contour trajectory 301 and a second contour trajectory 302. The first contour trajectory 301 includes the first, second, and third sides of the rectangle, and the second contour trajectory 302 includes the fourth side of the rectangle and the other three sides of the trapezoid corresponding to the fourth side. The trajectory information 30 also includes a first fill trajectory 303 and a second fill trajectory 304. The first fill trajectory 303 includes the grid trajectory corresponding to the portion of the rectangle other than the trapezoid, and the second fill trajectory 304 includes the rhombus trajectory within the trapezoid. The trajectory information also includes a first support trajectory 305 and a second support trajectory 306. The material usage for the first contour trajectory 301 is 40g, the first fill trajectory 303 is 8g, the second contour trajectory 302 is 10g, the second fill trajectory 303 is 6g, and the first support trajectory 305 and the second support trajectory 306 are 2g each.

[0035] In this embodiment, the trajectory information is generated by the slicing software based on the geometry of the model to be printed and printing parameters (such as infill density and wall thickness). For example, the slicing software generates a series of continuous line segments or curve instructions to form a trajectory. In some implementations, the trajectory information includes the geometric coordinate sequence of the trajectory, the moving speed, extruder control instructions, etc.

[0036] Step S202: Execute the printing task for the model to be printed based on the trajectory information.

[0037] In this embodiment, after obtaining the trajectory information of the target printing layer, a printing task for the model to be printed can be executed according to this trajectory information. For example, the 3D printing equipment can be controlled to execute the printing task according to the trajectory information. In some implementations, the printing task can be executed in order from the bottom layer to the top layer. For each layer, a preset sub-task order can be followed. For example, first print the support trajectory, then print the contour trajectory, and finally print the infill trajectory. For example, for a model like... Figure 3 The trajectory information shown indicates that the printing task is as follows: first print the second contour trajectory 302, then print the second fill trajectory 303, then print the first contour trajectory 301, then print the first fill trajectory 303, and then print the first support trajectory 305 and the second support trajectory 306.

[0038] Step S203, in response to the material change operation from the first material to the second material, determines the target material of the first flush volume discharged from the nozzle of the 3D printing equipment.

[0039] In this embodiment, the material change operation is the process of stopping the use of the current material (e.g., the first material) and starting the use of a new material (e.g., the second material) during printing. This material change operation is triggered by a specific instruction inserted into the slicing software or manually initiated by the user through the printer control interface. For example, when printing a model composed of yellow and blue materials, after printing all the yellow portions, the user can manually initiate a process to switch to blue material and continue printing through the printer control interface.

[0040] In some implementations, the material changeover operation typically comprises a series of sub-actions. For example, retracting the first material, moving the nozzle to the material changeover position, unloading the material filament of the first material, loading the material filament of the second material, and pre-extruding a section of the second material to fill the feed pipe and nozzle. In some embodiments, the purpose of the material changeover operation may be to change the color, change the material type, or change to a material with special properties (such as changing from a common material to a water-soluble support material).

[0041] In this embodiment, in response to a material change operation from a first material to a second material, a target amount of material for a first flushing volume discharged from the nozzle of the 3D printing equipment is determined. This target material includes both the first and second materials. The first flushing volume includes a first capacity and a second capacity. The first capacity is the capacity of the first material remaining in the nozzle after the material change operation. This first capacity is a pre-calculated or calibrated capacity value, representing the amount of first material remaining in the nozzle heating block and the internal cavity of the nozzle after the material change operation (e.g., unloading the first material and loading the second new material), which has not been completely replaced by the second material.

[0042] In some embodiments of this application, before the material switching operation from the first material to the second material, the first material is controlled to be retracted by a preset distance and then cut off. The volume of the first material remaining in the nozzle after cutting is determined as the first capacity. For example, the first capacity can be determined by experimental calibration based on the physical parameters of the nozzle (such as the liquefaction volume, nozzle orifice diameter, and length) and material properties (such as viscosity). For example, for a specific type of nozzle, when switching from material A to material B, during the material switching operation, after the 3D printing equipment performs the retraction and cutting operation of material A, the melt volume of material A still remaining in the nozzle liquefaction and nozzle cavity is experimentally measured (or the length of its corresponding solid filament). This volume (or length) is the first capacity. For example, if the experimentally measured length of the solid filament corresponding to the remaining material A is 15 mm, the volume occupied by this 15 mm solid filament of material A after complete melting is determined as the first capacity when switching from material A to material B.

[0043] In this embodiment, the preset distance can be dynamically adjusted according to actual conditions. The preset retraction distance is related to the length of the remaining first material. The longer the preset retraction distance, the less first material remains in the nozzle, and the less the first capacity is. Therefore, after switching from the first material to the second material, less first material is available for filling or support. Thus, the preset retraction distance can be dynamically adjusted based on the material capacity required for the next filling trajectory or the material capacity required for the support trajectory, ensuring that the error between the first capacity corresponding to the remaining first material in the nozzle and the material capacity corresponding to the filling trajectory is within a preset range, or that the error between the first capacity corresponding to the remaining first material in the nozzle and the preset capacity is within a preset range. The preset capacity is equal to the sum of the material capacity corresponding to the filling trajectory and the material capacity corresponding to the support trajectory. This ensures that the first capacity corresponding to the remaining first material in the nozzle just meets the material capacity required for the filling trajectory (or the material capacity required for both the filling and support trajectories). Thus, without excess first material, there is no need to flush away excess material, saving material and improving printing efficiency.

[0044] The second capacity refers to the additional volume of second material that needs to be extruded to perform the material change operation. This second capacity is the buffer capacity of the second material pre-pushd into the nozzle, located behind the first material, during the material change operation to ensure a stable and clean extrusion flow of the second material at the nozzle exit after the first capacity (the remaining first material) has been used for filling printing. For example, this second capacity can be determined through experimental calibration or model calculation based on the physical parameters of the nozzle (such as the complete path volume from the feed pipe to the nozzle, the cavity pressure stability requirements after material switching) and the characteristics of the second material (such as rheological properties, compatibility with the first material). For example, for a specific nozzle model, during the material change process from material A to material B, after the 3D printing equipment performs the loading and pre-feeding of material B, the minimum volume (or the corresponding length of its solid filament) of material B that needs to be pre-push into the nozzle and located behind the residual material A to ensure the stability of the extruder in the 3D printing equipment and to connect with subsequent printing is determined through experiments or calculations. This volume (or length) is the second capacity. For example, the experiment measured that the length of the solid filament of material B corresponding to the minimum buffer volume was 10 mm. The volume occupied by this 10 mm material B filament after melting was determined as the second capacity when switching from material A to material B.

[0045] It should be noted that when the nozzle can push the second material evenly, or the outline size of the second material sprayed by the nozzle is consistent, or the density of the second material sprayed by the nozzle is roughly consistent, or the color of the second material sprayed by the nozzle is uniform, it indicates that the internal cavity pressure of the nozzle has reached stability.

[0046] In some implementations, the first flushing amount can be an empirical value or a constant stored in the printer or slicing software configuration file. In other implementations, the first flushing amount may not be a fixed value, but rather dynamically calculated based on factors such as the compatibility between the new and old materials, color contrast, etc. For example, the first flushing amount can be determined based on the liquefaction volume of the nozzle and the color contrast between the first and second materials. Specifically, a first sub-flushing amount is determined based on the liquefaction volume and a preset base flushing coefficient; a second sub-flushing amount is determined based on the color contrast and a preset color influence factor; and the first flushing amount is determined based on the first and second sub-flushing amounts. The higher the color contrast, the larger the first flushing amount.

[0047] Step S204: Before performing the material change operation and printing the contour trajectory corresponding to the second material, control the nozzle to print the target material of the first flushing amount onto the filling trajectory corresponding to the first material.

[0048] In this embodiment, to avoid wasting material, before performing the material change operation and printing the contour trajectory corresponding to the second material, the nozzle is controlled to print the target material of the first flush volume onto the filling trajectory corresponding to the first material. For example, when the 3D printing equipment performs a material change operation from the first material (e.g., red) to the second material (e.g., blue), it first retracts the red filament, unloads the red filament, loads the blue filament, and pushes the blue filament into the feed tube. At this time, a portion of the molten red material in the heating block and nozzle cavity at the front end of the nozzle cannot be immediately and completely replaced. To ensure stable printing of the subsequent blue material, a portion of the blue material needs to be extruded to stabilize the cavity pressure in the extruder, thus ensuring the subsequent printing effect. However, to avoid wasting the target material of the first flush volume, the nozzle can be controlled to print the target material of the first flush volume onto the filling trajectory corresponding to the first material.

[0049] In some embodiments of this application, the trajectory information further includes a support trajectory, which provides support for the already printed portion of the model during the printing process. Controlling the nozzle to print the target material of the first flush amount onto the infill trajectory corresponding to the first material before performing the material change operation and printing the contour trajectory corresponding to the second material includes: controlling the nozzle to print a portion of the target material of the first flush amount onto the infill trajectory corresponding to the first material before performing the material change operation and printing the contour trajectory corresponding to the second material, and controlling the nozzle to print the remaining target material of the first flush amount onto the support trajectory corresponding to the first material.

[0050] For example, when switching from material A to material B, the total volume of the first flushing is determined to be V1, where V1 = 20 cubic millimeters. Simultaneously, the volume of material V2 required for the filling trajectory corresponding to material A in the current printing layer is obtained, where V2 = 8 cubic millimeters; and the volume of material V3 required for the support trajectory corresponding to material A is obtained, where V3 = 12 cubic millimeters. Therefore, the printhead can be controlled to first print 8 cubic millimeters of target material onto the filling trajectory corresponding to material A, and then print 12 cubic millimeters of target material onto the support trajectory corresponding to material A. In this way, the first flushing material is fully utilized for the filling and support trajectories of the model to be printed, thus completely avoiding the waste of material and time caused by printing wipe towers or direct flushing.

[0051] In some embodiments of this application, the material changing process may switch between different printing layers of the model to be printed, for example, between the nth layer and the (n+1th)th layer, where n is a positive integer; it may also be performed on the same layer of the model to be printed. For example, if the outline trajectory of the second material is located on the (n+1th)th layer of the model to be printed, and the infill trajectory corresponding to the first material is located on the nth layer of the model to be printed, after performing the material changing operation and before printing the outline trajectory located on the (n+1th)th layer, the printhead is controlled to print the target material of the first flush amount onto the infill trajectory corresponding to the first material located on the nth layer. As another example, if the outline trajectory of the second material is located on the nth layer of the model to be printed, and the infill trajectory corresponding to the first material is also located on the nth layer of the model to be printed, after performing the material changing operation and before printing the outline trajectory located on the nth layer, the printhead is controlled to print the target material of the first flush amount onto the infill trajectory corresponding to the first material located on the nth layer.

[0052] In some embodiments of this application, if the total amount of material used in the infill trajectory corresponding to the first material is less than the first flushing amount, then after controlling the nozzle to print the target material of the first flushing amount to the infill trajectory corresponding to the first material, there will still be excess material. To ensure the printing effect, the 3D printing control method further includes: determining the difference between the first flushing amount and the total amount of material used in the infill trajectory, and determining the difference as the second flushing amount; after performing the material change operation and before printing the contour trajectory corresponding to the second material, controlling the nozzle to perform a material ejection operation, so as to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material to the infill trajectory.

[0053] For example, if the volume of the target material corresponding to the first flush volume is greater than the total material volume required for the infill trajectory corresponding to that first material, the printhead will still have some target material remaining after printing the required volume of target material for the infill trajectory. To ensure the purity and stability of the material when printing the outline subsequently, this remaining target material (i.e., the second flush volume) needs to be flushed away as waste material during the ejection operation. For example, if the infill trajectory corresponding to the first material requires 10 cubic millimeters of material, and the first flush volume is 15 cubic millimeters, then after printing the first 10 cubic millimeters of target material to the infill trajectory, the remaining 5 cubic millimeters of target material (the second flush volume) needs to be extruded by the printhead at maximum speed to the waste area or wiper before printing the outline trajectory, thereby avoiding wasting time on subsequent outline trajectory printing and ensuring the printing quality of the outline trajectory.

[0054] In other embodiments of this application, the printing control method further includes: when the total amount of material used in the filling trajectory and the support trajectory is less than the first flushing amount; determining the difference between the total amount and the first flushing amount, and determining the difference as the second flushing amount; after performing the material change operation and before printing the contour trajectory corresponding to the second material, controlling the nozzle to perform a material ejection operation to first flush away the target material corresponding to the second flushing amount; before printing the contour trajectory corresponding to the second material, printing the remaining target material onto the filling trajectory and the support trajectory located on the same layer as the contour trajectory.

[0055] For example, when switching from material A to material B, the first flushing amount V1 is determined to be 25 cubic millimeters. Simultaneously, the material volume V2 required for the filling trajectory corresponding to material A in the current printed layer is determined to be 8 cubic millimeters, and the material volume V3 required for the support trajectory is determined to be 10 cubic millimeters, for a total usage of 18 cubic millimeters. Since the total usage (18 cubic millimeters) is less than the first flushing amount (25 cubic millimeters), the difference (e.g., the second flushing amount) is calculated as V4 = V1 - (V2 + V3) = 7 cubic millimeters.

[0056] At this point, after the material change operation is completed, the nozzle is first controlled to perform a material ejection operation, extruding the target material corresponding to the second flushing volume (7 cubic millimeters) as waste material into the waste trough for flushing. Then, the remaining 18 cubic millimeters of target material is printed onto the filling trajectory (e.g., 8 cubic millimeters) and support trajectory (e.g., 10 cubic millimeters) corresponding to the first material A, according to its required volume. Finally, the contour trajectory corresponding to the second material B is printed. This method fully utilizes the flushing material for functional printing while ensuring the purity and quality of subsequent contour printing by pre-flushing away excess material. In this embodiment, controlling the nozzle to perform the material ejection operation includes controlling the nozzle to flush away the target material corresponding to the second flushing volume at maximum volumetric speed.

[0057] In this embodiment of the application, printing the remaining target material onto the fill trajectory and support trajectory located on the same layer as the contour trajectory before printing the contour trajectory of the second material includes: printing a portion of the remaining target material onto the fill trajectory first, and then printing another portion of the target material onto the support trajectory; or, printing a portion of the remaining target material onto the support trajectory first, and then printing another portion of the target material onto the fill trajectory; or, printing the remaining target material onto the fill trajectory and support trajectory in an alternating order.

[0058] Figure 4 This is a structural diagram of the printing control device provided in an embodiment of this application. The printing control device 400 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the printing control device 400 may be stored in the memory of a computer device and executed by at least one processor to perform (see details). Figure 2 (Description) Print control function.

[0059] In this embodiment, the printing control device 400 can be divided into multiple functional modules according to the functions it performs. These functional modules may include: an acquisition module 401, a processing module 402, a determination module 403, and a control module 404. The term "module" in this application refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, stored in memory. In this embodiment, the printing control device 400 can be used to implement, for example... Figure 2 The text processing method shown. For example... Figure 4 As shown, the printing control device 400 is used in 3D printing equipment (such as...) Figure 1 In the 3D printing equipment shown, the printing control device 400 includes: The acquisition module 401 is used to acquire trajectory information of the target printing layer of the model to be printed. The trajectory information includes contour trajectory and fill trajectory. The contour trajectory is used to construct the appearance surface of the model to be printed, and the fill trajectory is used to construct the internal frame of the model to be printed. The processing module 402 is used to execute a printing task for the model to be printed based on the trajectory information; The determining module 403 is used to determine the target material of a first flushing volume discharged from the nozzle of the 3D printing device in response to a material change operation from a first material to a second material. The target material includes the first material and the second material. The first flushing volume includes a first capacity and a second capacity. The first capacity is the capacity of the first material remaining in the nozzle after the material change operation is performed. The second capacity is the capacity of the second material that needs to be extruded additionally to perform the material change operation. The control module 404 is used to control the nozzle to print the target material of the first flushing amount onto the filling trajectory corresponding to the first material after the material change operation is performed and before the contour trajectory corresponding to the second material is printed.

[0060] The control module 404 is also used to control the nozzle to print a portion of the first flushing amount of target material onto the filling trajectory corresponding to the first material before performing the material changing operation and before printing the contour trajectory corresponding to the second material, and to control the nozzle to print the remaining first flushing amount of target material onto the support trajectory corresponding to the first material.

[0061] The control module 404 is further configured to, when the total amount of material used in the filling trajectory is less than the first flushing amount, determine the difference between the first flushing amount and the total amount of material used in the filling trajectory, and determine the difference as the second flushing amount; after performing the material changing operation and before printing the contour trajectory corresponding to the second material, control the nozzle to perform a material ejection operation, so as to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material onto the filling trajectory.

[0062] The control module 404 is further configured to: determine the difference between the total amount of material used in the filling trajectory and the support trajectory when the total amount of material used in the filling trajectory and the support trajectory is less than the first flushing amount; determine the difference as the second flushing amount; and after performing the material changing operation and before printing the contour trajectory corresponding to the second material, control the nozzle to perform a material ejection operation to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material to the filling trajectory and the support trajectory located on the same layer as the contour trajectory.

[0063] The control module 404 is also configured to print the remaining portion of the target material onto the filling trajectory first, and then print another portion of the target material onto the support trajectory; or, print the remaining portion of the target material onto the support trajectory first, and then print another portion of the target material onto the filling trajectory; or, print the remaining target material onto the filling trajectory and the support trajectory in an alternating order.

[0064] Figure 5 This is a schematic diagram of the structure of the 3D printing equipment provided in the embodiments of this application. For example... Figure 5 As shown, the 3D printing device 1 can be an additive manufacturing device that performs fused deposition modeling (FDM) technology; specifically, it can be a single-nozzle multi-material 3D printer. Each 3D printing device 1 may include a communication module 10, a control unit 11, an input / output (I / O) interface 12, and a bus 13. The control unit 11 includes a memory 110 and a processor 111. The processor 111 is coupled to the communication module 10, the memory 110, and the I / O interface 12 via the bus 13.

[0065] The communication module 10 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR).

[0066] Memory 110 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 111 and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data. The RAM may include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0067] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 111. Non-volatile memory can include disk storage devices and flash memory.

[0068] The memory 110 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 111. The one or more computer programs include multiple instructions that, when executed by the processor 111, enable a printing control method to be executed on the 3D printing device 1.

[0069] In other embodiments, the 3D printing device 1 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the 3D printing device 1.

[0070] Processor 111 may include one or more processing units, such as: application processor (AP), modem processor, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0071] Processor 111 provides computing and control capabilities, for example, processor 111 is used to execute computer programs stored in memory 110.

[0072] I / O interface 12 is used to provide a channel for user input or output. For example, I / O interface 12 can be used to connect various input and output devices, such as mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0073] Bus 13 is used at least to provide a channel for communication between the communication module 10, control unit 11, and I / O interface 12 in the 3D printing equipment 1.

[0074] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the 3D printing device 1. In other embodiments of this application, the 3D printing device 1 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0075] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to the methods in the above embodiments of this application.

[0076] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device.

[0077] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, etc.; and the data storage area may store data created based on the use of the electronic device, etc.

[0078] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0079] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0080] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0081] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A printing control method applied to a 3D printing device, characterized in that, The method includes: Obtain trajectory information for the target printing layer of the model to be printed. The trajectory information includes contour trajectory and fill trajectory. The contour trajectory is used to construct the appearance surface of the model to be printed, and the fill trajectory is used to construct the internal framework of the model to be printed. The printing task for the model to be printed is executed based on the trajectory information; In response to a material change operation from a first material to a second material, a target material for a first flush volume discharged from the nozzle of the 3D printing equipment is determined. The target material includes the first material and the second material. The first flush volume includes a first capacity and a second capacity. The first capacity is the capacity of the first material remaining in the nozzle after the material change operation is performed, and the second capacity is the capacity of the second material that needs to be additionally extruded to perform the material change operation. After performing the material change operation and before printing the contour trajectory corresponding to the second material, the nozzle is controlled to print the target material of the first flushing amount onto the filling trajectory corresponding to the first material.

2. The printing control method according to claim 1, characterized in that, The trajectory information also includes a support trajectory, which provides support for the already printed portion of the model during the printing process. The step of controlling the nozzle to print the target material of the first flushing volume onto the filling trajectory corresponding to the first material after performing the material change operation and before printing the contour trajectory corresponding to the second material includes: Before performing the material change operation and printing the contour trajectory corresponding to the second material, the nozzle is controlled to print a portion of the first flushing amount of target material onto the filling trajectory corresponding to the first material, and the nozzle is controlled to print the remaining first flushing amount of target material onto the support trajectory corresponding to the first material.

3. The printing control method according to claim 1, characterized in that, Before the material switching operation from the first material to the second material is initiated, the first material is controlled to retract a preset distance and then cut off, and the volume of the first material remaining in the nozzle after cutting off is determined as the first volume; after the material switching operation from the first material to the second material is initiated, the volume of the second material that needs to be extruded when the internal cavity pressure of the nozzle reaches stability is determined as the second volume.

4. The printing control method according to claim 1, characterized in that, The method further includes: When the total amount of material used in the filling trajectory is less than the first flushing amount; The difference between the first flushing amount and the total amount of material used in the filling trajectory is determined, and the difference is determined as the second flushing amount; After performing the material change operation and before printing the contour trajectory corresponding to the second material, the nozzle is controlled to perform a material ejection operation to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material onto the filling trajectory.

5. The printing control method according to claim 2, characterized in that, The method includes: When the total amount of material used in the filling trajectory and the supporting trajectory is less than the first flushing amount; Determine the difference between the total amount used and the first flushing amount, and define the difference as the second flushing amount; After performing the material change operation and before printing the contour trajectory corresponding to the second material, the nozzle is controlled to perform a material ejection operation to first flush away the target material corresponding to the second flushing amount, and then print the remaining target material onto the filling trajectory and the support trajectory located on the same layer as the contour trajectory.

6. The printing control method according to claim 5, characterized in that, Before printing the contour trajectory corresponding to the second material, printing the remaining target material onto the fill trajectory and the support trajectory, which are located on the same layer as the contour trajectory, includes: The remaining portion of the target material is first printed onto the filling trajectory, and then the other portion of the target material is printed onto the support trajectory; Alternatively, the remaining portion of the target material can be printed onto the support trajectory first, and then the other portion of the target material can be printed onto the filling trajectory; Alternatively, the remaining target material can be printed onto the fill trajectory and the support trajectory in an alternating order.

7. The printing control method according to claim 4 or 5, characterized in that, Controlling the nozzle to perform the dispensing operation includes: The nozzle is controlled to flush away the target material corresponding to the second flushing volume at the maximum volume velocity.

8. A printing control device, characterized in that, The device includes: The acquisition module is used to acquire trajectory information of the target printing layer of the model to be printed. The trajectory information includes contour trajectory and fill trajectory. The contour trajectory is used to construct the appearance surface of the model to be printed, and the fill trajectory is used to construct the internal frame of the model to be printed. The processing module is used to execute a printing task for the model to be printed based on the trajectory information; A determination module is configured to, in response to a material change operation from a first material to a second material, determine a target material for a first flush volume discharged from the nozzle of a 3D printing device. The target material includes the first material and the second material. The first flush volume includes a first capacity and a second capacity. The first capacity is the capacity of the first material remaining in the nozzle after the material change operation is performed, and the second capacity is the capacity of the second material that needs to be additionally extruded to perform the material change operation. The control module is used to control the nozzle to print the target material of the first flushing amount onto the filling trajectory corresponding to the first material after the material change operation is performed and before the contour trajectory corresponding to the second material is printed.

9. A 3D printing device, characterized in that, The 3D printing device includes a processor and a memory, wherein the processor executes a computer program stored in the memory to implement the printing control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, which, when executed by a processor, implements the printing control method as described in any one of claims 1 to 7.

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