TWI723740B

TWI723740B - Device and method for three-dimensional printing

Info

Publication number: TWI723740B
Application number: TW109101176A
Authority: TW
Inventors: 楊裕傑
Original assignee: 三緯國際立體列印科技股份有限公司; 金寶電子工業股份有限公司
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2021-04-01
Also published as: TW202126471A

Abstract

A device and a method for three-dimensional printing are provided. The method includes: determining that when a first control command corresponding to a first print head among a plurality of control commands and a second control command corresponding to a second print head among the plurality of control commands are executed simultaneously, a first bracket and a second bracket collides or not. If yes, suspending execution of the first control command to stop the printing operation performed by the first print head, and executing the second control command to cause the second print head to perform the printing operation according to the second control command.

Description

立體列印裝置與方法Three-dimensional printing device and method

本發明是有關於一種立體列印裝置與方法，且特別是有關於一種應用於多列印頭的立體列印裝置與方法。 The present invention relates to a three-dimensional printing device and method, and more particularly to a three-dimensional printing device and method applied to multiple print heads.

隨著科技的進步，立體列印技術日趨成熟，進一步來說，立體列印技術能透過疊加的方式迅速地將數位立體模型實體化，不僅能簡化製作程序與提高製作效率，也能避免材料與成本的耗費，相較於傳統的減法加工而言，立體列印技術更具競爭優勢。 With the advancement of science and technology, 3D printing technology has become more and more mature. Furthermore, 3D printing technology can quickly materialize digital 3D models through superimposition, which not only simplifies the production process and improves production efficiency, but also avoids materials and materials. Compared with traditional subtractive processing, three-dimensional printing technology has more competitive advantages in terms of cost.

美國專利號US9623607提出一種具有多個列印頭的立體列印裝置。然而，如何避免在多個列印頭同時列印的過程中彼此不相互干擾，是本領域技術人員所欲解決的問題之一。 US Patent No. US9623607 proposes a three-dimensional printing device with multiple printing heads. However, how to avoid interfering with each other during the simultaneous printing of multiple print heads is one of the problems that those skilled in the art want to solve.

本發明提供一種立體列印裝置與方法可以讓具有多個列印頭的立體列印裝置在列印的過程中避免多個列印頭的碰撞，並且有效地提升使用多個列印頭進行列印的效率。 The present invention provides a three-dimensional printing device and method that can prevent a three-dimensional printing device with multiple print heads from colliding with multiple print heads during the printing process, and And effectively improve the efficiency of printing with multiple print heads.

本發明提出一種立體列印裝置，包括：第一列印頭、第二列印頭與處理器。第一列印頭滑設於一第一支架以使得所述第一列印頭沿著一第一軸方向移動。所述第一支架滑設於一第一導引架以使得所述第一支架沿著一第二軸方向移動。第二列印頭滑設於一第二支架以使得所述第二列印頭沿著所述第一軸方向移動。所述第二支架滑設於一第二導引架以使得所述第二支架沿著所述第二軸方向移動。處理器用以執行多個控制指令以控制所述第一列印頭與所述第二列印頭移動並執行一列印操作。其中在執行所述列印操作的運作中，所述處理器判斷當同時執行所述多個控制指令中對應於所述第一列印頭的一第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第二控制指令時，所述第一支架與所述第二支架是否發生碰撞。當所述第一支架與所述第二支架發生碰撞時，所述處理器暫停執行所述第一控制指令以停止所述第一列印頭所執行的所述列印操作，並執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 The present invention provides a three-dimensional printing device, including: a first printing head, a second printing head, and a processor. The first print head is slidably disposed on a first support so that the first print head moves along a first axis direction. The first support is slidably disposed on a first guide frame so that the first support moves along a second axis direction. The second print head is slidably disposed on a second bracket so that the second print head moves along the first axis direction. The second bracket is slidably disposed on a second guide bracket so that the second bracket moves along the second axis direction. The processor is used for executing a plurality of control commands to control the movement of the first print head and the second print head and perform a printing operation. Wherein during the operation of executing the printing operation, the processor determines that when a first control command corresponding to the first print head among the plurality of control commands is executed simultaneously, and among the plurality of control commands Corresponding to a second control command of the second print head, whether the first support and the second support collide. When the first support and the second support collide, the processor suspends execution of the first control instruction to stop the printing operation performed by the first print head, and executes the The second control command is used to enable the second print head to perform the printing operation according to the second control command.

在本發明提出一種立體列印方法，用於一立體列印裝置，所述裝置包括：第一列印頭、第二列印頭與處理器。第一列印頭滑設於一第一支架以使得所述第一列印頭沿著一第一軸方向移動。所述第一支架滑設於一第一導引架以使得所述第一支架沿著一第二軸方向移動。第二列印頭滑設於一第二支架以使得所述第二列印頭沿著所述第一軸方向移動。所述第二支架滑設於一第二導引架以使得所述第二支架沿著所述第二軸方向移動。處理器用以執行多個控制指令以控制所述第一列印頭與所述第二列印頭移動並執行一列印操作。其中在執行所述列印操作的運作中，所述方法包括：判斷當同時執行所述多個控制指令中對應於所述第一列印頭的一第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第二控制指令時，所述第一支架與所述第二支架是否發生碰撞；當所述第一支架與所述第二支架發生碰撞時，暫停執行所述第一控制指令以停止所述第一列印頭所執行的所述列印操作，並執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 In the present invention, a three-dimensional printing method is provided for a three-dimensional printing device, and the device includes: a first printing head, a second printing head, and a processor. The first print head is slidably disposed on a first support so that the first print head moves along a first axis direction. The first support is slidably disposed on a first guide frame so that the first support moves along a second axis direction. The second print head is slidably mounted on a second bracket so that the The second print head moves along the first axis. The second bracket is slidably disposed on a second guide bracket so that the second bracket moves along the second axis direction. The processor is used for executing a plurality of control commands to control the movement of the first print head and the second print head and perform a printing operation. Wherein in the operation of performing the printing operation, the method includes: determining when a first control command corresponding to the first print head and the plurality of control commands of the plurality of control commands are executed simultaneously When the first support and the second support collide with a second control command corresponding to the second print head in the second print head; when the first support collides with the second support, pause Execute the first control command to stop the printing operation performed by the first print head, and execute the second control command to make the second print head execute according to the second control command The printing operation.

基於上述，本發明的立體列印裝置與方法可以讓具有多個列印頭的立體列印裝置在列印的過程中避免多個列印頭的碰撞，並且有效地提升使用多個列印頭進行列印的效率。 Based on the above, the three-dimensional printing device and method of the present invention can prevent a three-dimensional printing device with multiple print heads from colliding with multiple print heads during the printing process, and effectively promote the use of multiple print heads The efficiency of printing.

100:立體列印裝置 100: Three-dimensional printing device

110:列印平台 110: Print platform

10:第一列印頭 10: The first print head

10a:第一支架 10a: The first bracket

10b:第一導引架 10b: The first guide frame

10c:第三導引架 10c: Third guide frame

12:第二列印頭 12: The second print head

12a:第二支架 12a: second bracket

12b:第二導引架 12b: Second guide frame

12c:第四導引架 12c: Fourth guide frame

30~35:移動區域 30~35: moving area

S201~S213:步驟 S201~S213: steps

圖1是本發明一實施例的立體列印裝置的俯視圖。 FIG. 1 is a top view of a three-dimensional printing device according to an embodiment of the invention.

圖2是本發明一實施例的立體列印方法的流程圖。 2 is a flowchart of a three-dimensional printing method according to an embodiment of the invention.

圖3A至圖3C是本發明一實施例的第一列印頭與第二列印頭的移動區域的示意圖。 3A to 3C are schematic diagrams of the movement areas of the first print head and the second print head according to an embodiment of the present invention.

請參照圖1，在本實施例中，立體列印裝置100採用熔融沉積成型的技術，以將數位立體模型實體化，也就是依據數位立體模型資訊列印出立體物件(未繪示)。例如，立體列印裝置100的處理器會將數位立體模型轉換成位於多個層的切層物件，並且逐層列印切層物件以產生前述的實體化的立體模型。 Please refer to FIG. 1, in this embodiment, the 3D printing device 100 uses the fused deposition molding technology to materialize the digital 3D model, that is, print out the 3D object (not shown) according to the digital 3D model information. For example, the processor of the 3D printing device 100 converts the digital 3D model into sliced objects on multiple layers, and prints the sliced objects layer by layer to generate the aforementioned physical 3D model.

立體列印裝置100包括列印平台110、第一列印頭10、第一支架10a、第一導引架10b、第三導引架10c、第二列印頭12、第二支架12a、第二導引架12b、第四導引架12c。 The three-dimensional printing device 100 includes a printing platform 110, a first print head 10, a first support 10a, a first guide frame 10b, a third guide frame 10c, a second print head 12, a second support 12a, and a The second guide frame 12b, the fourth guide frame 12c.

平台110設置在基座(未繪示)上，並用以承接自第一列印頭10與第二列印頭12輸出的融熔線材，且平台110例如是固定不動，或者是具有沿著空間中至少一方向(例如方向Z)移動的運動自由度。在本實施例中，平台110可以是提供第一列印頭10與第二列印頭12所需的列印區域。例如，此列印區域的大小可以是等於或小於平台110的大小。以下以列印區域的大小等於平台110的大小為例進行說明。 The platform 110 is set on a base (not shown) and is used to receive the fused wires output from the first print head 10 and the second print head 12, and the platform 110 is, for example, fixed or has a space along The degree of freedom of movement in at least one direction (for example, direction Z). In this embodiment, the platform 110 may provide the printing area required by the first print head 10 and the second print head 12. For example, the size of the printing area may be equal to or smaller than the size of the platform 110. The following is an example in which the size of the printing area is equal to the size of the platform 110.

第一列印頭10滑設於第一支架10a上，且可透過第一支架10a沿著方向X(亦稱為，第一軸方向)相對於列印平台110移動。此外，第一支架10a滑設於第一導引架10b以使得第一支架10a沿著方向Y(亦稱為，第二軸方向)相對於列印平台110移動。第一導引架10b滑設於第三導引架10c以使得第一導引架10b可透過第三導引架10c沿著方向Z(亦稱為，第三軸方向)相對於列印平台110移動。 The first print head 10 is slidably disposed on the first support 10a, and can move relative to the print platform 110 along the direction X (also referred to as the first axis direction) through the first support 10a. In addition, the first support 10a is slidably disposed on the first guide frame 10b so that the first support 10a moves relative to the printing platform 110 along the direction Y (also referred to as the second axis direction). The first guide frame 10b is slidably disposed on the third guide frame 10c so that the first guide frame 10b can The third guide frame 10c moves relative to the printing platform 110 along the direction Z (also referred to as the third axis direction).

第二列印頭12滑設於第二支架12a上，且可透過第二支架12a沿著方向X相對於列印平台110移動。此外，第二支架12a滑設於第二導引架12b以使得第二支架12a沿著方向Y相對於列印平台110移動。第二導引架12b滑設於第四導引架12c以使得第二導引架12b可透過第四導引架12c沿著方向Z相對於列印平台110移動。 The second print head 12 is slidably disposed on the second support 12a, and can move relative to the print platform 110 along the direction X through the second support 12a. In addition, the second bracket 12a is slidably disposed on the second guide frame 12b so that the second bracket 12a moves relative to the printing platform 110 along the direction Y. The second guiding frame 12b is slidably disposed on the fourth guiding frame 12c so that the second guiding frame 12b can move relative to the printing platform 110 along the direction Z through the fourth guiding frame 12c.

特別說明的是，本發明對於立體列印裝置的三維移動機構不加以限制，可依據實際設計需求採用其他三維移動機構，以使第一列印頭10與第二列印頭12能沿著空間中的三個方向相對於平台移動。 In particular, the present invention does not impose restrictions on the three-dimensional movement mechanism of the three-dimensional printing device, and other three-dimensional movement mechanisms can be adopted according to actual design requirements, so that the first print head 10 and the second print head 12 can move along the space. Move in the three directions relative to the platform.

此外，立體列印裝置100還包括一處理器(未繪示)。處理器用以控制立體列印裝置100的三維移動機構中的元件(例如，馬達)以達成第一列印頭10與第二列印頭12透過圖1繪示的三維移動機構沿著空間中的三個方向相對於平台移動。此外，處理器還用以下達控制指令給第一列印頭10與第二列印頭12以分別讓第一列印頭10與第二列印頭12出料至列印平台110以執行立體列印操作。需說明的是，在一實施例中，第一列印頭10與第二列印頭12是用以列印同一物件中的不同部分。然而在其他實施例中，第一列印頭10與第二列印頭12分別用以列印兩的不同(或相互獨立)個物件。 In addition, the 3D printing device 100 further includes a processor (not shown). The processor is used to control the components (for example, motors) in the three-dimensional movement mechanism of the three-dimensional printing device 100 to achieve the first print head 10 and the second print head 12 along the three-dimensional movement mechanism shown in FIG. Move relative to the platform in three directions. In addition, the processor also uses the following control commands to the first print head 10 and the second print head 12 to discharge the first print head 10 and the second print head 12 to the printing platform 110 to execute the three-dimensional Print operation. It should be noted that, in one embodiment, the first print head 10 and the second print head 12 are used to print different parts of the same object. However, in other embodiments, the first print head 10 and the second print head 12 are used to print two different (or independent) objects.

請參照圖1與圖2，首先，當立體列印裝置100欲根據數位立體模型資訊列印出立體物件時，立體列印裝置100的處理器可以獲得對應於列印此立體模型資訊的多個控制指令。此些控制指令例如是G碼(G code)。處理器可以執行上述的控制指令以控制第一列印頭10與第二列印頭12移動並執行列印操作(步驟S201)。例如，處理器例如可以對上述的控制指令進行分類以分為用以控制第一列印頭10的第一類控制指令以及用以控制第二列印頭12的第二類控制指令。接著，處理器可以從第一類控制指令中挑選出欲下達給第一列印頭10的控制指令(以下稱為，第一控制指令)，以及從第二類控制指令中挑選出欲下達給第二列印頭12的控制指令(以下稱為，第二控制指令)。 1 and 2, first, when the 3D printing device 100 wants to print a 3D object based on the digital 3D model information, the processor of the 3D printing device 100 can obtain a plurality of data corresponding to the 3D model information. Control instruction. These control commands are, for example, G codes. The processor can execute the aforementioned control instructions to control the movement of the first print head 10 and the second print head 12 and perform a printing operation (step S201). For example, the processor may classify the above-mentioned control commands into a first type of control command used to control the first print head 10 and a second type of control command used to control the second print head 12. Then, the processor can select the control instructions to be issued to the first print head 10 from the first type of control instructions (hereinafter referred to as the first control instructions), and select the control instructions to be issued to the second type of control instructions. A control command for the second print head 12 (hereinafter referred to as a second control command).

之後，處理器會判斷當同時執行對應於第一列印頭10的第一控制指令以及對應於第二列印頭12的第二控制指令時，第一支架10a與第二支架12a是否發生碰撞(步驟S203)。換句話說，處理器會判斷同時執行第一控制指令以及的第二控制指令時，第一支架10a與第二支架12a是否發生交錯的現象。 After that, the processor determines whether the first support 10a and the second support 12a collide when the first control command corresponding to the first print head 10 and the second control command corresponding to the second print head 12 are executed simultaneously (Step S203). In other words, the processor will determine whether the first bracket 10a and the second bracket 12a are staggered when the first control command and the second control command are executed simultaneously.

舉例來說，處理器會根據第一控制指令以及第二控制指令中的位置資訊(例如，座標)判斷第一支架10a與第二支架12a是否在未來的一時間區間(例如，10秒)內發生碰撞。以第一列印頭10為例，處理器可以透過讀取控制指令(即，G-Code)的方式知道目前第一列印頭10所處的位置以及接下來要移動至的位置，而由於控制指令中通常會包含有移動速度，處理器即可計算出第一列印頭10未來的10秒內會經過的位置。而相類似的方式可以應用於第二列印頭12，在此不再贅述。 For example, the processor will determine whether the first bracket 10a and the second bracket 12a are within a future time interval (for example, 10 seconds) according to the position information (for example, coordinates) in the first control command and the second control command. Collision. Taking the first print head 10 as an example, the processor can know the current position of the first print head 10 and the position to be moved to next by reading the control command (ie, G-Code). The movement speed is usually included in the control command, and the processor can calculate the position of the first print head 10 that will pass in the next 10 seconds. A similar approach can be applied to the second print head 12, which will not be repeated here.

或者，處理器也可以根據第一控制指令以及第二控制指令判斷當第一列印頭10與第二列印頭12在未來輸出一預定出料量(例如，10公分)的融熔線材時第一支架10a與第二支架12a是否發生碰撞。 Alternatively, the processor may also determine according to the first control command and the second control command when the first print head 10 and the second print head 12 will output a predetermined output amount (for example, 10 cm) of melted wire in the future Whether the first bracket 10a collides with the second bracket 12a.

當第一支架10a與第二支架12a不會發生碰撞時，處理器會同時執行第一控制指令與第二控制指令以使得第一列印頭10根據第一控制指令執行列印操作，以及第二列印頭12根據第二控制指令執行列印操作(步驟S205)。需注意的是，在本實施例中，步驟S205中第一列印頭10與第二列印頭12所執行的列印操作是同時列印位於方向Z中的同一層的切層物件。 When the first bracket 10a and the second bracket 12a do not collide, the processor will simultaneously execute the first control command and the second control command so that the first print head 10 performs the printing operation according to the first control command, and the second The second print head 12 executes the print operation according to the second control command (step S205). It should be noted that, in this embodiment, the printing operation performed by the first print head 10 and the second print head 12 in step S205 is to print the sliced objects on the same layer in the direction Z at the same time.

舉例來說，圖3A至圖3C是本發明一實施例的第一列印頭與第二列印頭的移動區域的示意圖。 For example, FIGS. 3A to 3C are schematic diagrams of the movement areas of the first print head and the second print head according to an embodiment of the present invention.

請參照圖3A，假設第一列印頭10的移動範圍為移動區域30且第二列印頭12的移動範圍為移動區域31。在圖3A的範例中，由於第一列印頭10的第一支架10a與第二列印頭12的第二支架12a不會發生碰撞，處理器會可以同時執行第一控制指令與第二控制指令以使得第一列印頭10根據第一控制指令在移動區域30內執行列印操作，以及第二列印頭12根據第二控制指令執行在移動區域31內列印操作。 Referring to FIG. 3A, it is assumed that the movement range of the first print head 10 is the movement area 30 and the movement range of the second print head 12 is the movement area 31. In the example of FIG. 3A, since the first support 10a of the first print head 10 and the second support 12a of the second print head 12 will not collide, the processor can execute the first control command and the second control at the same time. Instructions so that the first print head 10 performs a printing operation in the moving area 30 according to the first control command, and the second print head 12 performs a printing operation in the moving area 31 according to the second control command.

請再次參照圖2，當第一支架10a與第二支架12a會發生碰撞時，處理器僅會執行第一控制指令與第二控制指令的其中之一，並且暫停執行另一個控制指令。在此，假設第一列印頭10在列印目前需被第一列印頭10列印的切層物件的第一列印進度(例如，完成度)大於第二列印頭12在列印目前需被第二列印頭12列印的切層物件的第二列印進度(例如，完成度)。處理器會暫停執行第一控制指令以停止第一列印頭10所執行的列印操作，並僅執行第二控制指令以使得第二列印頭12根據第二控制指令執行列印操作(步驟S207)。也就是說，在本實施例中，處理器會暫停列印進度較高的列印頭的列印操作，並優先執行列印進度較低的列印頭的列印操作。 Please refer to FIG. 2 again. When the first support 10a and the second support 12a collide, the processor will only execute one of the first control instruction and the second control instruction, and suspend the execution of the other control instruction. Here, it is assumed that the first printing progress (for example, the degree of completion) of the first printing head 10 in printing the sliced object currently to be printed by the first printing head 10 is greater than that of the second printing head 12 being printing The second printing progress (for example, degree of completion) of the sliced object currently to be printed by the second printing head 12. The processor suspends the execution of the first control command to stop the printing operation performed by the first print head 10, and only executes the second control command so that the second print head 12 performs the printing operation according to the second control command (step S207). In other words, in this embodiment, the processor suspends the printing operation of the print head with a higher printing progress, and preferentially executes the printing operation of the print head with a lower printing progress.

舉例來說，請參照圖3B，假設第一列印頭10的移動範圍為移動區域32且第二列印頭12的移動範圍為移動區域33。在圖3B的範例中，假設第一列印頭10在列印目前需被第一列印頭10列印的切層物件的第一列印進度(例如，完成度)大於第二列印頭12在列印目前需被第二列印頭12列印的切層物件的第二列印進度(例如，完成度)。由於圖3B的第一列印頭10的第一支架10a與第二列印頭12的第二支架12a會發生碰撞，處理器會暫停執行第一控制指令以停止第一列印頭10所執行的列印操作，並僅執行第二控制指令以使得第二列印頭12根據第二控制指令執行列印操作。 For example, referring to FIG. 3B, it is assumed that the movement range of the first print head 10 is the movement area 32 and the movement range of the second print head 12 is the movement area 33. In the example of FIG. 3B, it is assumed that the first printing progress (for example, the degree of completion) of the first printing head 10 in printing the sliced object currently to be printed by the first printing head 10 is greater than that of the second printing head 12 The second printing progress (for example, the degree of completion) of the sliced object currently to be printed by the second printing head 12 is printed. Since the first support 10a of the first print head 10 of FIG. 3B collides with the second support 12a of the second print head 12, the processor will suspend the execution of the first control command to stop the execution of the first print head 10. And only execute the second control command so that the second print head 12 executes the printing operation according to the second control command.

請參照圖3C，在另一範例中，假設第一列印頭10的移動範圍為移動區域34且第二列印頭12的移動範圍為移動區域35。在圖3C的範例中，假設第一列印頭10在列印目前需被第一列印頭10列印的切層物件的第一列印進度(例如，完成度)大於第二列印頭12在列印目前需被第二列印頭12列印的切層物件的第二列印進度(例如，完成度)。由於圖3C的第一列印頭10的第一支架10a與第二列印頭12的第二支架12a會發生碰撞，處理器會暫停執行第一控制指令以停止第一列印頭10所執行的列印操作，並僅執行第二控制指令以使得第二列印頭12根據第二控制指令執行列印操作。特別是，在圖3C的範例中，由於移動區域34的範圍包括移動區域35，第二列印頭12在移動的過程中可能還是會與第一列印頭10發生碰撞。因此在本範例中，處理器會控制第一列印頭10移動至非位於列印區域(例如，列印平台外)的位置L1(亦稱為，第一位置)以避免在第二列印頭12在列印的過程中第一支架10a與第二支架12a發生碰撞。 Please refer to FIG. 3C. In another example, it is assumed that the movement of the first print head 10 is The moving range is the moving area 34 and the moving range of the second print head 12 is the moving area 35. In the example of FIG. 3C, it is assumed that the first printing progress (for example, the degree of completion) of the first printing head 10 in printing the sliced object currently to be printed by the first printing head 10 is greater than that of the second printing head 12 The second printing progress (for example, the degree of completion) of the sliced object currently to be printed by the second printing head 12 is printed. Since the first bracket 10a of the first print head 10 of FIG. 3C collides with the second bracket 12a of the second print head 12, the processor will suspend the execution of the first control command to stop the execution of the first print head 10. And only execute the second control command so that the second print head 12 executes the printing operation according to the second control command. In particular, in the example of FIG. 3C, since the range of the moving area 34 includes the moving area 35, the second print head 12 may still collide with the first print head 10 during the movement. Therefore, in this example, the processor controls the first print head 10 to move to a position L1 (also referred to as the first position) that is not located in the printing area (for example, outside the printing platform) to avoid printing in the second During the printing process of the head 12, the first support 10a and the second support 12a collide.

請再次參照圖2，當執行完第二控制指令後，處理器會再從前述的第二類控制指令中挑選欲執行的控制指令(亦稱為，第三控制指令)，並判斷當同時執行第一控制指令以及第三控制指令時，第一支架10a與第二支架12a是否發生碰撞(步驟S209)。而判斷是否發生碰撞的方式可以如前所述，在此不再贅述。 Please refer to FIG. 2 again. After the second control instruction is executed, the processor will select the control instruction to be executed (also referred to as the third control instruction) from the aforementioned second type of control instruction, and determine when to execute at the same time During the first control command and the third control command, whether the first support 10a and the second support 12a collide (step S209). The method of judging whether a collision occurs can be as described above, and will not be repeated here.

當根據第一控制指令以及第三控制指令判斷第一支架10a與第二支架12a不會發生碰撞時，處理器會同時執行第一控制指令以及第三控制指令以使得第一列印頭根據第一控制指令執行列印操作以及第二列印頭根據第三控制指令執行列印操作(步驟S211)。 When it is determined that the first bracket 10a and the second bracket 12a will not collide according to the first control command and the third control command, the processor will simultaneously execute the first control command and the third control command to make the first print head according to the first control command. One control instruction execution The printing operation and the second printing head execute the printing operation according to the third control command (step S211).

然而，當根據第一控制指令以及第三控制指令判斷第一支架10a與第二支架12a發生碰撞時，處理器會從第一控制指令以及第三控制指令中選擇一控制指令(以下稱為，第四控制指令)並執行所選出的控制指令(步驟S213)。其中，第四控制指令所對應的列印頭所列印的物件的列印進度為最低。也就是說，類似於前述的步驟S207，處理器會暫停列印進度較高的列印頭的列印操作，並優先執行列印進度較低的列印頭的列印操作。 However, when it is determined that the first support 10a and the second support 12a collide according to the first control instruction and the third control instruction, the processor will select a control instruction from the first control instruction and the third control instruction (hereinafter referred to as, The fourth control command) and execute the selected control command (step S213). Among them, the printing progress of the object printed by the printing head corresponding to the fourth control command is the lowest. That is to say, similar to the aforementioned step S207, the processor will suspend the printing operation of the print head with a higher printing progress, and preferentially execute the printing operation of the print head with a lower printing progress.

特別是，當方向Z上的某一層的切層物件已列印完成時，處理器會移動第一列印頭10與第二列印頭12以列印方向Z上的另一切層物件。藉由完成每一層的切層物件的列印，可以逐步地完成完整的立體物件的列印。 In particular, when the layered object of a certain layer in the direction Z has been printed, the processor will move the first print head 10 and the second print head 12 to print another layered object in the direction Z. By completing the printing of the sliced objects of each layer, the printing of the complete three-dimensional objects can be completed step by step.

此外，在一實施例中，也可以是非同步的方式列印。舉例來說，在列印某一層切層物件時，處理器可以先執行第一列印頭10的控制指令以先列印完第一列印頭10所負責的部分後，再執行第二列印頭12的控制指令以列印完第二列印頭12所負責的部分。或者，處理器也可以先執行第二列印頭12的控制指令以先列印完第二列印頭12所負責的部分後，再執行第一列印頭10的控制指令以列印完第一列印頭10所負責的部分。而當某一層切層物件被列印完成後，處理器才會繼續列印另外一層的切層物件。 In addition, in an embodiment, printing may also be performed asynchronously. For example, when printing a certain layered object, the processor can execute the control command of the first print head 10 to print the part that the first print head 10 is responsible for, and then execute the second line. The control command of the printing head 12 is to print the part that the second printing head 12 is responsible for. Alternatively, the processor may first execute the control command of the second print head 12 to print the part that the second print head 12 is responsible for, and then execute the control command of the first print head 10 to print the first print head. A print head 10 is responsible for the part. When the sliced objects of a certain layer are printed, the processor will continue to print the sliced objects of another layer.

此外，在一實施例中，假設第一列印頭10用以列印第一物件且第二列印頭12用以列印第二物件。在列印某一層的切層物件時，處理器可以同時地執行第一列印頭10的控制指令以列印第一物件的切層物件以及執行第二列印頭12的控制指令以列印第二物件的切層物件。當某一層切層物件被列印完成後，處理器才會繼續列印另外一層的切層物件。 In addition, in one embodiment, it is assumed that the first print head 10 is used to print the first The object and the second print head 12 are used to print the second object. When printing a sliced object of a certain layer, the processor can simultaneously execute the control command of the first print head 10 to print the sliced object of the first object and execute the control command of the second print head 12 to print. The sliced object of the second object. When a sliced object of one layer is printed, the processor will continue to print the sliced object of another layer.

綜上所述，本發明的立體列印裝置與方法可以讓具有多個列印頭的立體列印裝置在列印的過程中避免多個列印頭的碰撞，並且有效地提升使用多個列印頭進行列印的效率。 In summary, the three-dimensional printing device and method of the present invention can prevent a three-dimensional printing device with multiple print heads from colliding with multiple print heads during the printing process, and effectively improve the use of multiple print heads. The efficiency of the print head for printing.

S201~S213:步驟 S201~S213: steps

Claims

一種立體列印裝置，包括：一第一列印頭，滑設於一第一支架以使得所述第一列印頭沿著一第一軸方向移動，其中所述第一支架滑設於一第一導引架以使得所述第一支架沿著一第二軸方向移動；一第二列印頭，滑設於一第二支架以使得所述第二列印頭沿著所述第一軸方向移動，其中所述第二支架滑設於一第二導引架以使得所述第二支架沿著所述第二軸方向移動；以及一處理器，用以執行多個控制指令以控制所述第一列印頭與所述第二列印頭移動並執行一列印操作，其中在執行所述列印操作的運作中，所述處理器判斷當同時執行所述多個控制指令中對應於所述第一列印頭的一第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第二控制指令時，所述第一支架與所述第二支架是否發生碰撞，當所述第一支架與所述第二支架發生碰撞時，所述處理器暫停執行所述第一控制指令以停止所述第一列印頭所執行的所述列印操作，並執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 A three-dimensional printing device includes: A first print head is slidably mounted on a first support so that the first print head moves along a first axis direction, wherein the first support is slidably mounted on a first guide frame so that the The first support moves along a second axis direction; A second print head is slidably mounted on a second support so that the second print head moves along the first axis, wherein the second support is slidably mounted on a second guide frame so that The second bracket moves along the second axis; and A processor for executing a plurality of control commands to control the movement of the first print head and the second print head and perform a printing operation, wherein in the operation of executing the printing operation, The processor determines when a first control command corresponding to the first print head among the plurality of control commands and a first control command corresponding to the second print head among the plurality of control commands are executed simultaneously In the second control command, whether the first support and the second support collide, When the first support and the second support collide, the processor suspends execution of the first control instruction to stop the printing operation performed by the first print head, and executes the The second control command is used to enable the second print head to perform the printing operation according to the second control command.

如申請專利範圍第1項所述的立體列印裝置，其中當所述第一支架與所述第二支架不會發生碰撞時，所述處理器執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作以及執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 The three-dimensional printing device as described in item 1 of the scope of patent application, wherein When the first support and the second support do not collide, the processor executes the first control instruction so that the first print head executes the printing according to the first control instruction Operating and executing the second control instruction so that the second print head executes the printing operation according to the second control instruction.

如申請專利範圍第1項所述的立體列印裝置，其中當執行完所述第二控制指令後，所述處理器執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作。 The three-dimensional printing device as described in item 1 of the scope of patent application, wherein After executing the second control instruction, the processor executes the first control instruction so that the first print head executes the printing operation according to the first control instruction.

如申請專利範圍第3項所述的立體列印裝置，其中在執行所述第一控制指令的運作之前，所述處理器判斷當同時執行所述第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第三控制指令時，所述第一支架與所述第二支架是否發生碰撞。 The three-dimensional printing device described in item 3 of the scope of patent application, wherein before the operation of the first control command is executed, The processor determines that when the first control instruction and a third control instruction corresponding to the second print head of the plurality of control instructions are executed simultaneously, the first support and the second support Whether there is a collision.

如申請專利範圍第4項所述的立體列印裝置，其中當根據所述第一控制指令以及所述第三控制指令判斷所述第一支架與所述第二支架不會發生碰撞時，所述處理器執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作以及執行所述第三控制指令以使得所述第二列印頭根據所述第三控制指令執行所述列印操作。 The three-dimensional printing device as described in item 4 of the scope of patent application, wherein When it is determined according to the first control instruction and the third control instruction that the first support and the second support will not collide, the processor executes the first control instruction to make the first The printing head executes the printing operation according to the first control instruction and executes the third control instruction so that the second printing head executes the printing operation according to the third control instruction.

如申請專利範圍第5項所述的立體列印裝置，其中當根據所述第一控制指令以及所述第三控制指令判斷所述第一支架與所述第二支架發生碰撞時，所述處理器從所述第一控制指令以及所述第三控制指令中選擇一第四控制指令並執行所述第四控制指令，其中所述第四控制指令所對應的一列印頭所列印的一物件的一列印進度為最低。 The three-dimensional printing device as described in item 5 of the scope of patent application, wherein When it is determined that the first bracket and the second bracket collide according to the first control instruction and the third control instruction, the processor selects from the first control instruction and the third control instruction A fourth control command is selected and the fourth control command is executed, wherein a printing progress of an object printed by a printing head corresponding to the fourth control command is the lowest.

如申請專利範圍第1項所述的立體列印裝置，其中對應於所述第一列印頭所列印的物件的一第一列印進度大於對應於所述第二列印頭所列印的物件的一第二列印進度。The three-dimensional printing device according to item 1 of the scope of patent application, wherein a first printing progress corresponding to the object printed by the first printing head is greater than that corresponding to the printing printed by the second printing head The progress of a second printing of the object.

如申請專利範圍第1項所述的立體列印裝置，其中在判斷所述第一支架與所述第二支架是否發生碰撞的運作中，所述處理器根據所述第一控制指令以及所述第二控制指令判斷所述第一支架與所述第二支架是否在未來的一時間區間內發生碰撞。 According to the three-dimensional printing device described in item 1 of the scope of patent application, in the operation of judging whether the first bracket and the second bracket collide, The processor determines whether the first support and the second support collide in a future time interval according to the first control instruction and the second control instruction.

如申請專利範圍第1項所述的立體列印裝置，其中在判斷所述第一支架與所述第二支架是否發生碰撞的運作中，所述處理器根據所述第一控制指令以及所述第二控制指令判斷當所述第一列印頭與所述第二列印頭輸出一預定出料量時所述第一支架與所述第二支架是否發生碰撞。 According to the three-dimensional printing device described in item 1 of the scope of patent application, in the operation of judging whether the first bracket and the second bracket collide, The processor determines, according to the first control instruction and the second control instruction, when the first print head and the second print head output a predetermined output amount, the first support and the Whether the second bracket collides.

如申請專利範圍第1項所述的立體列印裝置，其中在暫停執行所述第一控制指令的運作中，所述處理器控制所述第一列印頭移動至一第一位置以避免所述第一支架與所述第二支架發生碰撞。 According to the three-dimensional printing device described in item 1 of the scope of patent application, in the operation of suspending the execution of the first control command, The processor controls the first print head to move to a first position to avoid collision between the first bracket and the second bracket.

如申請專利範圍第1項所述的立體列印裝置，其中所述第一導引架滑設於一第三導引架以使得所述第一導引架沿著一第三軸方向移動且所述第二導引架滑設於一第四導引架以使得所述第二導引架沿著所述第三軸方向移動。According to the three-dimensional printing device described in claim 1, wherein the first guide frame is slidably disposed on a third guide frame so that the first guide frame moves along a third axis direction and The second guide frame is slidably disposed on a fourth guide frame so that the second guide frame moves along the third axis direction.

如申請專利範圍第11項所述的立體列印裝置，其中當所述第三軸方向上的一切層物件已列印完成時，所述處理器移動所述第一列印頭與所述第二列印頭以列印所述第三軸方向上的另一切層物件。 The three-dimensional printing device described in item 11 of the scope of patent application, wherein when all the objects in the third axis direction have been printed, The processor moves the first print head and the second print head to print another sliced object in the third axis direction.

如申請專利範圍第1項所述的立體列印裝置，其中所述第一列印頭與所述第二列印頭用以列印同一物件中的不同部分。According to the three-dimensional printing device described in item 1 of the scope of patent application, the first printing head and the second printing head are used for printing different parts of the same object.

如申請專利範圍第1項所述的立體列印裝置，其中所述第一列印頭與所述第二列印頭分別用以列印多個物件。According to the three-dimensional printing device described in item 1 of the scope of patent application, the first printing head and the second printing head are respectively used for printing a plurality of objects.

一種立體列印方法，用於具有一第一列印頭與一第二列印頭的一立體列印裝置，其中所述第一列印頭滑設於一第一支架以使得所述第一列印頭沿著一第一軸方向移動，所述第一支架滑設於一第一導引架以使得所述第一支架沿著一第二軸方向移動，所述第二列印頭滑設於一第二支架以使得所述第二列印頭沿著所述第一軸方向移動，所述第二支架滑設於一第二導引架以使得所述第二支架沿著所述第二軸方向移動，所述方法包括：執行多個控制指令以控制所述第一列印頭與所述第二列印頭移動並執行一列印操作，其中執行所述列印操作的步驟包括：判斷當同時執行所述多個控制指令中對應於所述第一列印頭的一第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第二控制指令時，所述第一支架與所述第二支架是否發生碰撞，當所述第一支架與所述第二支架發生碰撞時，暫停執行所述第一控制指令以停止所述第一列印頭所執行的所述列印操作，並執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 A three-dimensional printing method for a three-dimensional printing device having a first print head and a second print head, wherein the first print head is slidably arranged on a first bracket so that the first The print head moves along a first axis direction, the first support is slidably disposed on a first guide frame so that the first support moves along a second axis direction, and the second print head slides Is arranged on a second support so that the second print head moves along the first axis direction, and the second support is slidably arranged on a second guide frame so that the second support is along the Moving in the second axis direction, the method includes: Execute a plurality of control commands to control the movement of the first print head and the second print head and perform a printing operation, wherein the step of performing the printing operation includes: Determine when a first control command corresponding to the first print head among the plurality of control commands and a second control command corresponding to the second print head among the plurality of control commands are executed simultaneously , Whether the first bracket collides with the second bracket, When the first support and the second support collide, the execution of the first control instruction is suspended to stop the printing operation performed by the first print head, and the second control instruction is executed So that the second print head executes the printing operation according to the second control command.

如申請專利範圍第15項所述的立體列印方法，更包括：當所述第一支架與所述第二支架不會發生碰撞時，執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作以及執行所述第二控制指令以使得所述第二列印頭根據所述第二控制指令執行所述列印操作。 The three-dimensional printing method described in item 15 of the scope of patent application further includes: When the first support and the second support do not collide, the first control instruction is executed so that the first print head executes the printing operation and executes all the printing operations according to the first control instruction. The second control command is used to enable the second print head to perform the printing operation according to the second control command.

如申請專利範圍第15項所述的立體列印方法，更包括：當執行完所述第二控制指令後，執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作。 The three-dimensional printing method described in item 15 of the scope of patent application further includes: After the second control instruction is executed, the first control instruction is executed so that the first print head executes the printing operation according to the first control instruction.

如申請專利範圍第17項所述的立體列印方法，其中執行所述第一控制指令的步驟之前，所述方法還包括：判斷當同時執行所述第一控制指令以及所述多個控制指令中對應於所述第二列印頭的一第三控制指令時，所述第一支架與所述第二支架是否發生碰撞。 The three-dimensional printing method according to item 17 of the scope of patent application, wherein before the step of executing the first control command, the method further includes: It is determined whether the first support and the second support collide when the first control instruction and a third control instruction corresponding to the second print head of the plurality of control instructions are executed at the same time.

如申請專利範圍第18項所述的立體列印方法，更包括：當根據所述第一控制指令以及所述第三控制指令判斷所述第一支架與所述第二支架不會發生碰撞時，執行所述第一控制指令以使得所述第一列印頭根據所述第一控制指令執行所述列印操作以及執行所述第三控制指令以使得所述第二列印頭根據所述第三控制指令執行所述列印操作。 The three-dimensional printing method described in item 18 of the scope of patent application further includes: When it is determined according to the first control instruction and the third control instruction that the first support and the second support will not collide, the first control instruction is executed to make the first print head according to The first control instruction executes the printing operation and executes the third control instruction so that the second print head executes the printing operation according to the third control instruction.

如申請專利範圍第19項所述的立體列印方法，更包括：當根據所述第一控制指令以及所述第三控制指令判斷所述第一支架與所述第二支架發生碰撞時，從所述第一控制指令以及所述第三控制指令中選擇一第四控制指令並執行所述第四控制指令，其中所述第四控制指令所對應的一列印頭所列印的一物件的一列印進度為最低。 The three-dimensional printing method described in item 19 of the scope of patent application further includes: When it is determined that the first support and the second support collide according to the first control instruction and the third control instruction, a fourth control instruction is selected from the first control instruction and the third control instruction. The fourth control instruction is controlled and the fourth control instruction is executed, wherein a printing progress of an object printed by a print head corresponding to the fourth control instruction is the lowest.

如申請專利範圍第15項所述的立體列印方法，其中對應於所述第一列印頭所列印的物件的一第一列印進度大於對應於所述第二列印頭所列印的物件的一第二列印進度。The three-dimensional printing method described in item 15 of the scope of the patent application, wherein a first printing progress corresponding to the object printed by the first print head is greater than that corresponding to the print printed by the second print head The progress of a second printing of the object.

如申請專利範圍第15項所述的立體列印方法，其中判斷所述第一支架與所述第二支架是否發生碰撞的步驟包括：根據所述第一控制指令以及所述第二控制指令判斷所述第一支架與所述第二支架是否在未來的一時間區間內發生碰撞。 According to the three-dimensional printing method described in item 15 of the scope of patent application, the step of judging whether the first bracket and the second bracket collide includes: According to the first control instruction and the second control instruction, it is determined whether the first support and the second support collide in a future time interval.

如申請專利範圍第15項所述的立體列印方法，其中判斷所述第一支架與所述第二支架是否發生碰撞的步驟包括：根據所述第一控制指令以及所述第二控制指令判斷當所述第一列印頭與所述第二列印頭輸出一預定出料量時所述第一支架與所述第二支架是否發生碰撞。 According to the three-dimensional printing method described in item 15 of the scope of patent application, the step of judging whether the first bracket and the second bracket collide includes: According to the first control instruction and the second control instruction, it is determined whether the first support and the second support are output when the first print head and the second print head output a predetermined output amount Collision.

如申請專利範圍第15項所述的立體列印方法，其中暫停執行所述第一控制指令的步驟包括：控制所述第一列印頭移動至一第一位置以避免所述第一支架與所述第二支架發生碰撞。 The three-dimensional printing method as described in item 15 of the scope of patent application, wherein the step of suspending execution of the first control command includes: Control the first print head to move to a first position to avoid collision between the first bracket and the second bracket.

如申請專利範圍第15項所述的立體列印方法，其中所述第一導引架滑設於一第三導引架以使得所述第一導引架沿著一第三軸方向移動且所述第二導引架滑設於一第四導引架以使得所述第二導引架沿著所述第三軸方向移動。According to the three-dimensional printing method described in claim 15, wherein the first guide frame is slidably disposed on a third guide frame so that the first guide frame moves along a third axis direction and The second guide frame is slidably disposed on a fourth guide frame so that the second guide frame moves along the third axis direction.

如申請專利範圍第25項所述的立體列印方法，更包括：當所述第三軸方向上的一切層物件已列印完成時，移動所述第一列印頭與所述第二列印頭以列印所述第三軸方向上的另一切層物件。 The three-dimensional printing method described in item 25 of the scope of patent application further includes: When the printing of all layer objects in the third axis direction is completed, the first print head and the second print head are moved to print another layer object in the third axis direction.

如申請專利範圍第15項所述的立體列印方法，其中所述第一列印頭與所述第二列印頭用以列印同一物件中的不同部分。The three-dimensional printing method as described in item 15 of the scope of patent application, wherein the first printing head and the second printing head are used to print different parts of the same object.

如申請專利範圍第15項所述的立體列印方法，其中所述第一列印頭與所述第二列印頭分別用以列印多個物件。According to the three-dimensional printing method described in item 15 of the scope of patent application, the first printing head and the second printing head are respectively used for printing a plurality of objects.