Light-curing three-dimensional printing device, method and system capable of automatic and continuous printing

Abstract

The present invention provides a light-curing three-dimensional printing device, method and system capable of automatic and continuous printing. The device automatically typesets a three-dimensional model, automatically prints and collects the typeset three-dimensional model, and can automatically replenish the material tank when replenishment is needed, thereby achieving automatic and continuous printing without human intervention.

Description

Technical Field

[0001] The present invention mainly relates to a light-curing three-dimensional printing technology, and in particular to a light-curing three-dimensional printing device, method and system capable of automatic and continuous printing. Background Art

[0002] 3D printing technology is based on a computer 3D design model. Through software layered discreteness and CNC molding systems, laser beams, hot melt nozzles and other methods are used to stack and bond special materials such as metal powder, ceramic powder, plastic, and cell tissue layer by layer, and finally stack and shape them to produce physical products. Unlike traditional manufacturing industries that use mechanical processing methods such as molds, turning and milling to shape and cut raw materials to finally produce finished products, 3D printing transforms 3D entities into several 2D planes, and produces by processing materials and stacking them layer by layer, greatly reducing the complexity of manufacturing. This digital manufacturing model does not require complex processes, large machine tools, or a large number of manpower. Parts of any shape can be generated directly from computer graphics data, allowing production and manufacturing to extend to a wider range of production populations.

[0003] At present, the molding methods of 3D printing technology are still evolving, and the materials used are also diverse. Among various molding methods, light curing is a relatively mature method. Light curing uses the principle that photosensitive resin is cured after being irradiated with ultraviolet light to perform material accumulation molding. It has the characteristics of high molding accuracy, good surface finish, and high material utilization rate.

[0004] Figure 1 It is the basic structure of a photocurable 3D printing device. This 3D printing device 100 includes a material tank 110 for accommodating photosensitive resin, a lifting platform 120 for connecting a molded workpiece, a coating scraper 130 for spreading photosensitive resin, an image exposure system 140 for curing the photosensitive resin, and a control system 150 for controlling the actions of the lifting platform 120, the coating scraper 130 and the image exposure system 140. The image exposure system 140 is located above the material tank 110, and can irradiate a light beam image to cure a layer of photosensitive resin on the liquid surface of the material tank 110. Each time the image exposure system 140 irradiates a light beam image to cure a layer of photosensitive resin, the lifting platform 120 will drive the cured photosensitive resin layer to drop slightly, and the coating scraper 130 moves to evenly spread the photosensitive resin on the top surface of the cured workpiece, waiting for the next irradiation. In this way, a three-dimensional workpiece formed layer by layer will be obtained.

[0005] In the existing common 3D printing technology, since the size and shape of the 3D models to be printed are irregular and cannot be automatically laid out, one or more 3D models to be printed are laid out manually on the computer, and after the layout is completed, the model is sent to the 3D printing device for printing. In other words, the existing 3D printing equipment cannot realize automatic layout of multiple 3D models. This is not a problem in general 3D printing equipment, because the size and shape of the 3D models to be printed by ordinary 3D printing equipment are irregular, and ordinary 3D printing equipment usually takes more than ten or even dozens of hours to print objects, and the number of layouts required per day is limited. However, in high-speed 3D printing equipment, when printing small items (such as printing tooth models), printing can be completed in one hour, and repeated layout by manual labor is required, which is time-consuming and laborious.

[0006] In existing light-curing 3D printing equipment, after the workpiece is printed, it is removed manually, and if necessary, the liquid photosensitive resin (hereinafter referred to as rehydration) is replenished before the next printing can begin. This is not a problem in general 3D printing equipment, because it usually takes more than ten or even dozens of hours for ordinary 3D printing equipment to print an object, and the number of times the workpiece is removed and the rehydration is replenished is limited in a day. However, in high-speed 3D printing equipment, when printing small items (such as printing tooth models), the printing can be completed in one hour, and the number of times manual participation in removing the workpiece and rehydration will be very frequent. These 3D printing devices cannot achieve continuous automatic printing and are inefficient.

[0007] In addition, existing photocurable 3D printing equipment rarely has the ability to automatically replenish liquid, because the viscosity of photosensitive resin is high, and the amount required for each replenishment is usually not large. If a high-viscosity replenishment pump is used to extract photosensitive resin for replenishment, since the high-viscosity pump is expensive and large in size, the flow rate is usually large and the replenishment amount cannot be accurately controlled. Therefore, the 3D printing equipment using this solution is costly, large in size, and has poor replenishment accuracy. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a three-dimensional printing device and a printing method, which can automatically and continuously print without human intervention and have high printing efficiency.

[0009] In order to solve the above technical problems, one aspect of the present invention provides a light-curing type three-dimensional printing device capable of automatic continuous printing, comprising an automatic typesetting system, an automatic printing and picking up collection device, and an automatic liquid replenishing device, wherein the automatic printing and picking up collection device has a material tank for accommodating photosensitive resin and a lifting platform for connecting the molded workpiece;

[0010] The automatic typesetting system is used to receive a plurality of three-dimensional models, typeset the plurality of three-dimensional models, and output the typeset three-dimensional models;

[0011] The automatic printing and collection device is used to receive the typeset three-dimensional model, print the typeset three-dimensional model, and after printing, remove and collect the workpiece from the lifting platform;

[0012] The automatic liquid replenishing device is used to determine whether liquid replenishment is needed, and if necessary, to replenish the material tank with photosensitive resin.

[0013] In one embodiment of the present invention, the automatic typesetting system typeset the multiple three-dimensional models according to the following typesetting rules:

[0014] The multiple three-dimensional models are arranged in n rows along a direction parallel to the length of the coating blade for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship:

[0015] Assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1-th row and the i-1-th row, and the lowest height of the multiple three-dimensional models in the i+1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2-th row, the lowest height of the multiple three-dimensional models in the i-1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2-th row, and so on; where n is a natural number, i=1,2,…,n.

[0016] In an embodiment of the present invention, the multiple three-dimensional models in at least one row of the n rows are arranged from high to low along a direction.

[0017] In one embodiment of the present invention, the multiple three-dimensional models in at least one row of the n rows are arranged in a manner of being high in the middle and low on both sides.

[0018] In one embodiment of the present invention, the automatic typesetting system includes: a sorting module, used to arrange the multiple three-dimensional models from high to low in height; a row division module, used to divide the arranged multiple three-dimensional models into n rows according to boundary conditions; and an inter-row adjustment module, used to adjust the position of the multiple three-dimensional models divided into n rows in units of rows.

[0019] In one embodiment of the present invention, the automatic typesetting system includes: an inline adjustment module, which is used to adjust the inline positions of multiple three-dimensional models in at least one of the n lines.

[0020] In one embodiment of the present invention, the coating scraper only scrapes the area being printed.

[0021] In one embodiment of the present invention, the automatic typesetting system includes: a sorting module, which is used to calculate the size of the bounding box of the multiple three-dimensional models and arrange the multiple three-dimensional models in descending order according to the width of the bounding box;

[0022] A space allocation module, used for trying to allocate a row or column of space in the lifting platform according to the maximum width of the remaining three-dimensional model, and determining whether the space of the lifting platform is sufficient;

[0023] An arranging module, used for taking out the multiple three-dimensional models and arranging them in a row or column when the lifting platform has enough space;

[0024] The row and column space extrusion module is used to reduce the intervals between the rows or columns after the multiple three-dimensional models are arranged in a row or column.

[0025] In one embodiment of the present invention, the automatic typesetting system further comprises: a model overall centering module, which is used to center the model as a whole relative to the space of the lifting platform when there is not enough space on the lifting platform.

[0026] In one embodiment of the present invention, the automatic printing and picking up collection device further comprises a lifting device arranged below the lifting platform, a collecting scraper and a storage device arranged above the lifting platform;

[0027] The lifting platform is provided with a plurality of through holes;

[0028] The lifting device has a plurality of lifting rods arranged corresponding to the plurality of through holes, and is used to lift the workpiece formed on the lifting platform to separate the workpiece from the lifting platform;

[0029] The collecting scraper is used to scrape the workpiece separated from the lifting platform away from the lifting platform;

[0030] The storage device is used to accommodate the collected workpieces.

[0031] In one embodiment of the present invention, the lifting device further comprises a vibration device; when the plurality of lift rods lift the workpiece, the vibration device causes the plurality of lift rods to vibrate.

[0032] In one embodiment of the present invention, the lifting platform has a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; the automatic printing and collection device also has an automatic replacement device for removing the platform with the workpiece from the lifting device and setting a new platform on the lifting device.

[0033] In one embodiment of the present invention, the automatic liquid replenishing device comprises a liquid replenishing tank and an electric valve;

[0034] The liquid replenishing tank is arranged above the material tank and is used to contain the photosensitive resin;

[0035] The electric valve is connected to the bottom of the bottom surface and / or the side surface of the liquid replenishing tank;

[0036] When the material tank needs to be replenished with liquid, the electric valve is opened to allow the photosensitive resin in the replenishment tank to flow into the material tank based on gravity.

[0037] In one embodiment of the present invention, the automatic fluid replenishing device has a sealed fluid replenishing tank and an air pumping device;

[0038] The liquid replenishing tank is used to contain the photosensitive resin;

[0039] The gas pump is used to inject gas into the liquid replenishing tank;

[0040] When the material tank needs to be replenished with liquid, the pumping device injects gas into the liquid replenishing tank, so that the photosensitive resin in the liquid replenishing tank flows into the material tank under the action of gas pressure.

[0041] In one embodiment of the present invention, the automatic liquid replenishing device further comprises a liquid level detecting device for detecting the liquid level of the photosensitive resin in the material tank.

[0042] Another aspect of the present invention provides a light-curing 3D printing system capable of automatic continuous printing, comprising a host computer and a plurality of light-curing 3D printing devices as described above; when the host computer receives a printing task, it queries the status of the plurality of light-curing 3D printing devices, and if there is an idle light-curing 3D printing device, the host computer sends the 3D model of the current task to one or more of the idle light-curing 3D printing devices for printing;

[0043] After receiving the three-dimensional model, the light-curing three-dimensional printing device automatically typesets, prints and collects the three-dimensional model, and automatically replenishes the model when necessary.

[0044] In one embodiment of the present invention, a server is further included; the server is used to receive and process print tasks of remote users, and when the host computer is connected to the server through a network to obtain the print task, the server sends the print task of the remote user to the host computer.

[0045] Another aspect of the present invention provides an automatic continuous printing method, which is implemented by a light-curing 3D printing device, the light-curing 3D printing device having a material tank for accommodating photosensitive resin and a lifting platform for connecting a molding workpiece, and is characterized by comprising the following steps:

[0046] S11: receiving a plurality of three-dimensional models, and typeset the plurality of three-dimensional models;

[0047] S12: Print the three-dimensional model after layout;

[0048] S13: After printing is completed, the workpiece is removed from the lifting platform;

[0049] S14: Determine whether fluid infusion is needed, if yes, execute step S15, if no, execute step S16;

[0050] S15: replenishing the material tank with photosensitive resin, and after the replenishment is completed, executing step S16;

[0051] S16: Determine whether the next round of printing is required. If so, return to step S11; if not, end printing.

[0052] Another aspect of the present invention provides an automatic continuous printing method, which is implemented by a light-curing 3D printing device, the light-curing 3D printing device having a material tank for accommodating photosensitive resin and a lifting platform for connecting a molding workpiece, and is characterized by comprising the following steps:

[0053] S21: receiving a plurality of three-dimensional models, and typeset the plurality of three-dimensional models;

[0054] S22: Print the three-dimensional model after layout;

[0055] S23: After printing is completed, the workpiece is removed from the lifting platform;

[0056] S24: Determine whether the next round of printing is required, if yes, execute step S25, if no, end the printing;

[0057] S25: Determine whether fluid supplementation is needed, if yes, execute step S26, if no, return to step S21;

[0058] S26: replenishing the material tank with photosensitive resin, and returning to step S21 after the replenishment is completed.

[0059] In one embodiment of the present invention, the layout of the multiple three-dimensional models is performed according to the following layout rules:

[0060] The multiple three-dimensional models are arranged in n rows along a direction parallel to the length of the coating blade for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship:

[0061] Assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1-th row and the i-1-th row, and the lowest height of the multiple three-dimensional models in the i+1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2-th row, the lowest height of the multiple three-dimensional models in the i-1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2-th row, and so on; where i = 1, 2,…, n.

[0062] In an embodiment of the present invention, the multiple three-dimensional models in at least one row of the n rows are arranged from high to low along a direction.

[0063] In one embodiment of the present invention, the multiple three-dimensional models in at least one row of the n rows are arranged in a manner of being high in the middle and low on both sides.

[0064] In one embodiment of the present invention, the step of typesetting the multiple three-dimensional models includes:

[0065] S1a: arranging the multiple three-dimensional models from high to low in terms of height;

[0066] S1b: dividing the arranged multiple three-dimensional models into n rows according to boundary conditions;

[0067] S1c: For the plurality of three-dimensional models divided into n rows, positions are adjusted in units of rows.

[0068] In one embodiment of the present invention, after step S1b and before step S1c or after step S1c, the following step is further included: S1d: adjusting the positions of multiple three-dimensional models in at least one row among the n rows.

[0069] In one embodiment of the present invention, the coating scraper only scrapes the area being printed.

[0070] In one embodiment of the present invention, typesetting the multiple three-dimensional models includes the following steps:

[0071] S1a': Calculate the sizes of bounding boxes of multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order according to the widths of the bounding boxes;

[0072] S1b': try to allocate a row or column space in the elevator according to the maximum width of the remaining 3D model;

[0073] S1c': Determine whether the space on the lifting platform is sufficient. If yes, execute step S1d'; if no, end;

[0074] S1d': take out multiple three-dimensional models and arrange them in a row or column;

[0075] S1e': squeeze the space between rows or columns and return to step S1b'.

[0076] In an embodiment of the present invention, when the judgment in step S1c' is no, before the end, step S1f' may be further included: arranging the entire model in the center relative to the lifting platform space.

[0077] In one embodiment of the present invention, a plurality of through holes are distributed on the lifting platform; a lifting device is arranged below the lifting platform, and the lifting device has a plurality of ejector rods arranged corresponding to the plurality of through holes; and the step of removing the workpiece from the lifting platform includes:

[0078] S3a: passing the plurality of ejector rods through the plurality of through holes on the lifting platform to lift the workpiece, thereby separating the workpiece from the lifting platform;

[0079] S3b: Scrape the workpiece separated from the lifting platform away from the lifting platform, and the workpiece enters a storage device.

[0080] In one embodiment of the present invention, during the process of the plurality of ejector pins lifting the workpiece in step S3a, the plurality of ejector pins vibrate.

[0081] In one embodiment of the present invention, the lifting platform comprises a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; the step of removing the workpiece from the lifting platform comprises:

[0082] S3a': removing the platform with the workpiece from the lifting device;

[0083] S3b': placing a new platform on the lifting device.

[0084] In one embodiment of the present invention, the step of replenishing the material tank with photosensitive resin is performed by placing a liquid replenishing tank above the material tank, and allowing the photosensitive resin in the liquid replenishing tank to flow into the material tank based on gravity during liquid replenishment.

[0085] In one embodiment of the present invention, the step of replenishing the material tank with photosensitive resin is performed by providing a sealed liquid replenishing tank, injecting gas into the liquid replenishing tank, and allowing the photosensitive resin in the liquid replenishing tank to flow into the material tank under the action of gas pressure.

[0086] Compared with the prior art, the present invention has the following advantages:

[0087] The light-curing 3D printing device of the present invention can automatically layout the 3D model, automatically print the layout 3D model, automatically remove and collect the printed workpiece from the lifting platform, and automatically replenish the material tank as needed, thereby realizing the automation of the entire printing process and can automatically and continuously print without human intervention.

[0088] The automatic typesetting method of the present invention can concentrate three-dimensional models with relatively high heights in one area. As printing proceeds, the area to be printed can be gradually reduced. At this time, the scraping range of the coating scraper can be reduced, thereby improving printing efficiency.

[0089] Another automatic typesetting method of the present invention minimizes the spacing between three-dimensional models when arranging multiple three-dimensional models into rows or columns, and adjusts the spacing between rows or columns after arranging them into rows or columns to minimize it. In this way, as many three-dimensional models as possible can be printed each time, thereby improving printing efficiency.

[0090] The automatic printing and collection device of the present invention uses a push rod to lift the workpiece from the lifting platform to separate the workpiece from the lifting platform, and then scrapes the workpiece off the lifting platform, or replaces the platform with a new platform to automatically remove the workpiece from the lifting platform.

[0091] The automatic liquid replenishing device of the present invention adopts a method of placing a liquid replenishing box on top, allowing the photosensitive resin to flow into the material tank by its own gravity, and controlling the liquid replenishing timing and liquid replenishing amount through an electric valve, or adopting a sealed liquid replenishing box, and injecting gas to make the photosensitive resin in the liquid replenishing box flow into the material tank to replenish the material tank. These methods have the ability to transport high-viscosity liquid materials, and at the same time have the advantages of low cost, small size, and high liquid replenishing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 It is the basic structure of light-curing 3D printing equipment.

[0093] Figure 2 It is a schematic structural diagram of a light-curing 3D printing device capable of automatic and continuous printing according to an embodiment of the present invention.

[0094] Figure 3 It is a schematic diagram of a three-dimensional model after typeset according to an embodiment of the present invention.

[0095] Figure 4 It is a module schematic diagram of an automatic typesetting system according to an embodiment of the present invention.

[0096] Figure 5 It is a module schematic diagram of an automatic typesetting system according to another embodiment of the present invention.

[0097] Figure 6It is a schematic diagram of a dental model assembly unit according to an embodiment of the present invention.

[0098] Figures 7a-7d It is a schematic diagram of the phased structure of an automatic printing and collection device according to an embodiment of the present invention.

[0099] Figure 8 It is a schematic structural diagram of an automatic printing and collection device according to another embodiment of the present invention.

[0100] Fig. 9 It is a schematic structural diagram of an automatic liquid replenishing device according to an embodiment of the present invention.

[0101] Fig.10 It is a schematic structural diagram of an automatic liquid replenishing device according to another embodiment of the present invention.

[0102] Fig.11 1 is a schematic structural diagram of a light-curing 3D printing system capable of automatic and continuous printing according to an embodiment of the present invention.

[0103] Fig.12 It is a flow chart of an automatic continuous printing method according to an embodiment of the present invention.

[0104] Fig.13 It is a flow chart of an automatic continuous printing method according to another embodiment of the present invention.

[0105] Fig.14 It is a flow chart of typesetting multiple three-dimensional models according to an embodiment of the present invention.

[0106] Fig.15 It is a flow chart of typesetting multiple three-dimensional models according to another embodiment of the present invention.

[0107] Fig.16 It is a flowchart of another embodiment of the present invention for taking out a plurality of three-dimensional models and arranging them in a row or column.

[0108] Fig.17 The flowchart of squeezing the space between rows or columns is another embodiment of the present invention.

[0109] Fig.18 The present invention is a flowchart of removing a workpiece from a lifting platform according to an embodiment of the present invention.

[0110] Fig.19 It is a flow chart of removing a workpiece from a lifting platform according to another embodiment of the present invention.

[0111] Fig. 20 The figure is a flow chart of an automatic continuous printing method of a three-dimensional printing system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0112] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0113] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0114] The embodiment of the present invention provides a light-curing 3D printing device and an automatic printing method capable of automatic continuous printing, which can automatically typeset, automatically print, collect and collect items, and automatically replenish liquid, thereby realizing the automation of the entire printing process, and can automatically and continuously print without human intervention. The light-curing 3D printing device and the automatic printing method are particularly suitable for printing small items, especially for printing dental models.

[0115] Figure 2 This is a schematic diagram of the structure of a light-curing 3D printing device capable of automatic continuous printing according to an embodiment of the present invention. Figure 2 The light-curing 3D printing device 200 may include an automatic typesetting system 210 , an automatic printing and collection device 220 , and an automatic liquid replenishing device 230 .

[0116] The automatic typesetting system 210 is used to receive multiple three-dimensional models, typeset the multiple three-dimensional models, and output the typeset three-dimensional models. In one embodiment, the automatic typesetting system 210 can receive multiple three-dimensional models from a host computer or a mobile storage device.

[0117] In one embodiment, the automatic typesetting system 210 can typeset multiple three-dimensional models according to the following typesetting rule: the multiple three-dimensional models are arranged into n rows along a direction parallel to the length of the coating scraper 223 for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship: assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, then the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1th row and the i-1th row, and the lowest height of the multiple three-dimensional models in the i+1th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2th row, and the lowest height of the multiple three-dimensional models in the i-1th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2th row, and so on; wherein n is a natural number, i=1,2,…,n. This typesetting rule has two special cases, namely, when i=1 and i=n, ​​at this time, the heights of the multiple three-dimensional models decrease in a single direction from the 1st row to the nth row, or from the nth row to the 1st row.

[0118] In one embodiment, the three-dimensional model after layout according to the above layout rules is as follows Figure 3As shown. In this embodiment, there are 15 three-dimensional models m1 to m15, which are arranged in 5 rows along the direction parallel to the length of the coating scraper 223, and each row has 3 three-dimensional models. The 3rd row has the three-dimensional model m8 with the highest height among the 15 three-dimensional models, the height of the three-dimensional model m9 with the lowest height in the 3rd row is greater than the height of the three-dimensional model m4 with the highest height in the 2nd row, and the height of the three-dimensional model m9 with the lowest height in the 3rd row is greater than the height of the three-dimensional model m10 with the highest height in the 4th row. The height of the three-dimensional model m6 with the lowest height in the 2nd row is greater than the height of the three-dimensional model m1 with the highest height in the 1st row. The height of the three-dimensional model m12 with the lowest height in the 4th row is greater than the height of the three-dimensional model m15 with the highest height in the 5th row.

[0119] According to the principle of photocuring 3D printing technology, the 3D models with low height are always printed first, and the 3D models with high height are printed later. The above layout rules concentrate the 3D models with high height in one area. As the printing progresses, the 3D models with low height will be gradually printed, and the area to be printed will gradually decrease as the printing progresses. In this way, the area where the coating scraper 223 needs to spread the photosensitive resin will also gradually decrease as the printing progresses. Figure 3 Taking the embodiment shown as an example, after printing for a period of time, the 3D model of the first row is printed first because it has a lower height. After that, the light-curing 3D printing device 200 only needs to print the area of ​​the 2nd to 5th rows, and the coating scraper 223 can only scrape the area of ​​the 2nd to 5th rows. As the printing progresses, the area that the coating scraper 223 needs to scrape becomes smaller and smaller, so that the time required for the coating scraper 223 to scrape can be reduced, thereby improving the printing efficiency.

[0120] In one embodiment, the three-dimensional models in at least one row of the n rows of three-dimensional models after typesetting are arranged from high to low along a direction, such as Figure 3 as shown in line 4 or line 5 of .

[0121] In another embodiment, at least one row of the three-dimensional models in the n rows of three-dimensional models after typeset is arranged in a manner of being high in the middle and low on both sides, such as Figure 3 Since the photo-curing type 3D printing device 200 has a higher printing quality in the middle of the lifting platform 222, the arrangement of this embodiment can maximize the use of the area with higher printing quality.

[0122] Figure 4 Schematic diagram of a module of an automatic typesetting system according to an embodiment of the present invention. Figure 4The automatic typesetting system 210 may include a sorting module 211, a line division module 212, and an inter-line adjustment module 213. The sorting module 211 is used to arrange the received multiple three-dimensional models from high to low according to height. The line division module 212 is used to divide the arranged multiple three-dimensional models into n lines according to boundary conditions. The inter-line adjustment module 213 is used to adjust the positions of the multiple three-dimensional models divided into n lines in units of lines.

[0123] In one embodiment, the automatic typesetting system 210 may further include an inline adjustment module 214 for adjusting the inline positions of multiple three-dimensional models in at least one of the n lines.

[0124] In one embodiment, the boundary condition for the row division module 212 to divide the arranged multiple three-dimensional models into n rows can be that the sum of the maximum widths of the multiple three-dimensional models divided into a row along the length direction of the coating scraper 223 is less than or equal to the minimum value of the width of the lifting platform 222 along the length direction of the coating scraper 223 and the effective length of the coating scraper 223, and the sum of the maximum widths of the multiple three-dimensional models in the n rows along the scraping direction of the coating scraper 223 is less than or equal to the width of the lifting platform 222 along the scraping direction of the coating scraper 223. In this way, the areas obtained by projecting the multiple three-dimensional models after typesetting onto the lifting platform 222 in a direction perpendicular to the lifting platform 222 are all within the range of the lifting platform 222, so as to avoid the situation where the three-dimensional model is not fully printed.

[0125] Figure 5 Schematic diagram of a module of an automatic typesetting system according to another embodiment of the present invention. Figure 5 , the automatic typesetting system 210 may include: a sorting module 211', used to calculate the bounding box size of multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order according to the width of the bounding box; a space allocation module 212', used to try to allocate a row or column of space in the lifting platform 222 according to the maximum width of the remaining three-dimensional models, and determine whether the space of the lifting platform 222 is sufficient; an arrangement module 213', used to take out multiple three-dimensional models and arrange them in a row or column when the lifting platform 222 has enough space; a row and column space squeezing module 214', used to reduce the interval between rows or columns after the multiple three-dimensional models are arranged in a row or column. Optionally, the automatic typesetting system 210 may also include a model overall centering module 215', used to center the model as a whole relative to the space of the lifting platform 222 when the lifting platform 222 does not have enough space.

[0126] The arrangement module 213' can arrange the multiple three-dimensional models taken out into a row or column in the following manner: take out a three-dimensional model and calculate its contour projected in a direction perpendicular to the plane of the lifting platform 222; according to the bounding box of the current three-dimensional model, place it in the row or column space in a centered and aligned manner next to the existing three-dimensional model; repeatedly move the current three-dimensional model closer to the existing three-dimensional model in the row or column by a smaller fixed distance until the contour of the current three-dimensional model intersects with the contour of the existing three-dimensional model in the row or column, at which time, cancel the last movement of the current three-dimensional model; determine whether the model exceeds the range of the lifting platform 222, if not, take out the next three-dimensional model and repeat the above operation, if so, cancel the placement of the current model.

[0127] The row and column space compression module 214' can reduce the spacing between rows or columns by repeatedly moving the current row or column closer to the previous row or column by a smaller fixed distance until the contours of the two rows or columns of three-dimensional models intersect, at which point the last movement of the current row or column is canceled.

[0128] In an embodiment of printing dental models, the automatic typesetting system 210 may first arrange a portion of each of the two dental models into a concave portion of the other of the two dental models to form a unit, and then use the combined unit as a typesetting unit for subsequent typesetting. Figure 6 As shown, a portion of the dental model M1 is arranged in the recess of the dental model M2, and a portion of the dental model M2 is arranged in the recess of the dental model M1, and the dental model M1 and the dental model M2 are combined into one unit.

[0129] The automatic typesetting system 210 can be a module in the control system of the photocuring type three-dimensional printing device, or a separately set unit, and the present invention is not limited thereto. The automatic typesetting system 210 can be implemented by, for example, computer software, hardware, or a combination of computer software and hardware. For hardware implementation, the automatic typesetting system 210 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic devices for implementing the functions of the automatic typesetting system 210, or a selection combination of the above devices. For software implementation, the automatic typesetting system 210 can be implemented by independent software modules such as procedures and function modules, each of which performs one or more functions and operations of the automatic typesetting system 210. The software code can be implemented by application software written in an appropriate programming language, which can be stored in a memory and executed by a controller or a processor.

[0130] Figures 7a-7d 1 is a schematic diagram of the structure of the automatic printing and collection device in stages according to an embodiment of the present invention. Figure 2 , Figures 7a-7d The automatic printing and collection device 220 may include a material tank 221 for accommodating photosensitive resin, a lifting platform 222 for connecting the molded workpiece 300, a coating scraper 223 for spreading the photosensitive resin, an image exposure system 224 for curing the photosensitive resin, a lifting device 225 for separating the workpiece 300 from the lifting platform 222, and a collection scraper 226 for scraping the workpiece 300 separated from the lifting platform 222 away from the lifting platform 222. In this embodiment, the coating scraper 223 and the collection scraper 226 are composed of the same device, that is, the device is used for spreading the photosensitive resin and also for scraping the workpiece 300 separated from the lifting platform 222 away from the lifting platform 222. In this way, the structure of the three-dimensional printing device can be simplified and the cost of the three-dimensional printing device can be reduced. It is understandable that two devices can be provided to respectively realize the functions of the coating scraper 223 and the collecting scraper 226, that is, one device is provided to spread the photosensitive resin, and the other device is provided to scrape the workpiece 300 separated from the lifting platform 222 away from the lifting platform 222. In this way, although the structure of the three-dimensional printing device is relatively complex and the cost is relatively high, the workpiece 300 can be collected at any height.

[0131] The lifting platform 222 can be connected to the frame of the photocuring type three-dimensional printing device 200 via a lead screw, and the lifting platform 222 can move up and down relative to the material tank 221. At the beginning of printing, the lifting platform 222 is immersed in the liquid photosensitive resin in the material tank 221, and forms a uniform liquid resin film with the liquid surface of the liquid photosensitive resin. After the liquid resin film is cured by ultraviolet light (UV) emitted by the image exposure system 224, the lifting platform 222 descends a certain distance, and a layer of liquid resin is evenly coated on the cured layer through the coating scraper 223, and the next layer is cured by ultraviolet light irradiation, and the cycle is repeated until the workpiece 300 is printed. It can be seen that the workpiece 300 is directly cured on the lifting platform 222, and the photosensitive resin usually has very good viscosity, which makes the printed workpiece 300 and the lifting platform 222 tightly connected together. In order to remove the printed workpiece 300 from the lifting platform 222, the prior art usually requires workers to shovel it off using tools such as a spatula. In order to automatically remove the printed workpiece 300, the lifting platform 222 of this embodiment is provided with a plurality of through holes, which cooperate with the top rod of the lifting device 225, so that the printed workpiece 300 can be separated from the lifting platform 222, even if the printed workpiece 300 is not firmly connected to the lifting platform 222. Figures 7a-7dIn the illustrated embodiment, there is only one workpiece 300 , but it is understandable that a plurality of workpieces may be formed on the lifting platform 222 , and the lifting device 225 may be used to separate the plurality of workpieces from the lifting platform 222 at one time.

[0132] The lifting device 225 is disposed below the lifting platform 222 and has a plurality of ejector rods corresponding to the plurality of through holes on the lifting platform 222. In this embodiment, the lifting device 225 is disposed at the bottom of the material trough 221. After the workpiece 300 is printed, the lifting platform 222 descends to the bottom of the material trough 221, so that the ejector rods pass through the corresponding through holes on the lifting platform 222, and the printed workpiece 300 is lifted up, so that the printed workpiece 300 is separated from the lifting platform 222. It can be understood that the lifting device 225 can be disposed at any position of the material trough 221, as long as the highest ejector rod does not pass through the corresponding through hole on the lifting platform 222 when the workpiece 300 is printed. In one embodiment, the lifting device 225 can move up and down in the material trough 221. When the workpiece 300 is printed, the lifting device 225 can be moved upward, so that the ejector rods pass through the corresponding through holes on the lifting platform 222, and the printed workpiece 300 is lifted up, so that the printed workpiece 300 is separated from the lifting platform 222. It is understandable that the lifting platform 222 can be moved downward and the lifting device 225 can be moved upward at the same time to shorten the time required for the lifting platform 222 and the lifting device 225 to move to the other side.

[0133] In this embodiment, each of the top rods has a different height. For example, the top ends of the multiple top rods form Figure 7a or Figure 7c The slope shown in the figure can make the multiple push rods from high to low contact the workpiece 300 one after another, so that the workpiece 300 is gradually separated from the lifting platform 222 from one side to the other. Compared with the method of lifting the entire workpiece 300 at the same time to separate the workpiece 300 from the lifting platform 222, this gradual separation method requires relatively less force. Preferably, the inclination angle of the slope is 5-15 degrees. In an embodiment not shown in the figure, the top ends of the multiple push rods can also form a ladder, that is, the height change is not like Figure 7a or Figure 7cIt is not smooth, but jumpy. The top of the multiple push rods can also be stepped with a slope, that is, the tops of the multiple push rods forming a step form a slope. In addition, the tops of the multiple push rods can also have a shape similar to a triangular wave, a sawtooth wave, a sine wave, etc., or a combination of any types thereof. It can be understood that the multiple push rods can also have the same height, and their tops form a plane. In this way, the entire workpiece 300 is lifted at the same time, so that the workpiece 300 is separated from the lifting platform 222. It should be pointed out that the light-curing three-dimensional printing device 200 can print and form multiple workpieces 300 at the same time, so there can be multiple workpieces 300 on the lifting platform 222 at the same time. The lifting device 225 can lift all these workpieces to separate them from the lifting platform 222.

[0134] In one embodiment, the lifting device 225 may also include a vibration device (not shown in the figure) for vibrating the plurality of push rods when the plurality of push rods lift the workpiece 300, so as to facilitate the separation of the workpiece 300 from the lifting platform 222. It can be understood that the vibration of the plurality of push rods may be an up-and-down vibration along the axial direction of the push rods, or a lateral vibration along the radial direction of the push rods.

[0135] The collecting scraper 226 is disposed above the lifting platform 222, and can move from one end to the other end above the lifting platform 222, for example, from the back to the front, or from the left to the right of the light-curing type 3D printing device 200. After printing is completed, the lifting device 225 separates the workpiece 300 from the lifting platform 222, and the lifting platform 222 moves upward to a position where the collecting scraper 226 can scrape the workpiece 300, and the collecting scraper 226 moves from one end to the other end above the lifting platform 222 to scrape the workpiece 300 away from the lifting platform 222.

[0136] Optionally, the automatic printing and picking collection device 220 may further include a storage device (not shown in the figure) for accommodating the workpieces 300 scraped off the lifting platform 222 by the collection scraper 226. The storage device may be arranged on one side of the material trough 221, so that when the collection scraper 226 moves from one end to the other end to scrape the workpiece 300 off the lifting platform 222, the workpiece 300 is directly dropped into the storage device. In addition, the storage device may have a multi-layer structure, and each layer may move up and down, and each layer may collect one or more workpieces 300 scraped off the lifting platform 222 by the collection scraper 226 once or more. Preferably, each layer of the storage device collects one or more workpieces 300 scraped off the lifting platform 222 by the collection scraper 226 once, so as to provide convenience for continuous automated post-processing.

[0137] Figure 7a Schematic diagram of the structure of the automatic printing and collection device before the workpiece is lifted up according to one embodiment of the present invention. Figure 7aWhen the workpiece 300 is printed, the workpiece 300 is fastened to the lifting platform 222. The lifting platform 222 is in the material slot 221. In this embodiment, the lifting device 225 is arranged at the bottom of the material slot 221. When the automatic pick-up starts, the lifting platform 222 carrying the workpiece 300 moves downward until the bottom of the material slot 221.

[0138] Figure 7b 1 is a schematic diagram of the structure of an automatic printing and collection device when a workpiece is lifted up according to an embodiment of the present invention. Figure 7b The lifting platform 222 moves downward to the bottom of the material trough 221 , and the top rod of the lifting device 225 passes through the corresponding through hole on the lifting platform 222 to lift the workpiece 300 fastened to the lifting platform 222 , so that the workpiece 300 is separated from the lifting platform 222 .

[0139] Figure 7c This is a schematic diagram of the structure of an automatic printing and collection device after the workpiece is separated from the lifting platform and the lifting platform rises according to an embodiment of the present invention. Figure 7c After the workpiece 300 is separated from the lifting platform 222, the lifting platform 222 carries the workpiece 300 and moves upward until the collecting scraper 226 can scrape the workpiece 300. For example, the lifting platform 222 moves upward until the upper end surface of the lifting platform 222 is almost flush with the lower edge of the collecting scraper 226. It can be understood that the lifting platform 222 can move upward until the middle of the workpiece 300 is flush with the lower edge of the collecting scraper 226.

[0140] Figure 7d 1 is a schematic diagram of the structure of an automatic printing and collection device when a scraper scrapes off a workpiece according to an embodiment of the present invention. Figure 7d After the lifting platform 222 carries the workpiece 300 and moves upward to a position where the collecting scraper 226 can scrape the workpiece 300, the collecting scraper 226 moves from one end to the other end above the lifting platform 222 to scrape the workpiece 300 off the lifting platform 222. Optionally, a storage device (not shown in the figure) can be provided on the side of the material trough 221 to accommodate the workpiece 300 scraped off the lifting platform 222 by the collecting scraper 226.

[0141] Figure 8 Schematic diagram of the structure of an automatic printing and collection device according to another embodiment of the present invention. Figure 2 and Figure 8 The automatic printing and picking collection device 220 may include a material tank 221 for accommodating photosensitive resin, a lifting platform 222' for connecting the molded workpiece 300, a coating scraper 223 for spreading the photosensitive resin, and an image exposure system 224 for curing the photosensitive resin.

[0142] The lifting platform 222' may include a lifting device 222'a and a platform 222'b, wherein the platform 222'b is detachably connected to the lifting device 222'a, and the workpiece 300 is formed on the platform 222'b. The automatic printing and picking up and collecting device 220 also includes an automatic replacement device (not shown in the figure), which is used to remove the platform 222'b with the workpiece 300 from the lifting device 222'a and set a new platform 222'b on the lifting device 222'a. Since the automatic printing and picking up and collecting device 220 shown in this embodiment removes the entire platform 222'b with the workpiece 300 and replaces it with a new 222'b, the removed platform 222'b can be picked up and collected separately by other special devices. This method has the advantage of fast picking up speed and is very suitable for assembly line operations.

[0143] Fig. 9 Schematic diagram of the structure of an automatic liquid replenishing device according to an embodiment of the present invention. Fig. 9 The automatic refilling device 230 has a refilling tank 231 and an electric valve 232. The refilling tank 231 is used to accommodate photosensitive resin and is arranged above the material tank 221. The bottom surface of the refilling tank 231 is provided with a liquid outlet 233, which is connected to the electric valve 232. It can be understood that the liquid outlet 233 can also be provided at the bottom of the side of the refilling tank 231. When the electric valve 232 is opened, the photosensitive resin in the refilling tank 231 can flow into the material tank 221 through the liquid outlet 233 under the action of gravity to refill the material tank 221. The top surface of the refilling tank 231 can also be provided with a liquid inlet 234 for replenishing the photosensitive resin in the refilling tank 231. It can be understood that when the liquid level of the photosensitive resin in the refilling tank 231 is higher than the liquid level 221a of the photosensitive resin in the material tank 221, the automatic refilling device 230 can work normally.

[0144] The automatic liquid replenishing device 230 may also have a protection valve 235. The protection valve 235 is disposed between the liquid outlet 233 and the electric valve 232. When the electric valve 232 needs to be repaired, the protection valve 235 may be closed to close the passage between the liquid outlet 233 and the electric valve 232. In this way, when the electric valve 232 is repaired, the photosensitive resin in the liquid replenishing tank 231 does not need to be emptied, so that the repair is more convenient. It is understandable that when the automatic liquid replenishing device 230 is working normally, the protection valve 235 is in an open state.

[0145] The automatic refilling device 230 may also include a liquid level detection device 236. The liquid level detection device 236 is disposed above the material tank 221, and is used to detect the liquid level 221a of the photosensitive resin in the material tank 221. The automatic refilling device 230 controls the opening and closing of the electric valve 232 according to the detection result of the liquid level detection device 236, so as to control the timing and amount of refilling. For example, when the liquid level detection device 236 detects that the liquid level 221a is lower than a preset threshold value, the automatic refilling device 230 opens the electric valve 232 to refill the material tank 221. When the liquid level detection device 236 detects that the liquid level 221a has reached the expected value, the automatic refilling device 230 closes the electric valve 232 and stops refilling the material tank 221.

[0146] Although Fig. 9 In the illustrated embodiment, there is only one liquid level detection device 236, but it is understandable that there may be multiple liquid level detection devices 236, and they are arranged at different positions above the material tank 221. The liquid level detection device 236 may be one or more of an ultrasonic liquid level detector, an optical liquid level detector, a capacitive liquid level detector, and the like.

[0147] Fig.10 FIG. 1 is a schematic diagram of the structure of an automatic liquid replenishing device according to another embodiment of the present invention. Fig.10 The automatic liquid replenishing device 230' comprises a sealed liquid replenishing tank 231' and an air pumping device 232'.

[0148] The liquid replenishing tank 231' is used to contain photosensitive resin. An air inlet pipe 233' is provided at the top of the liquid replenishing tank 231', and a liquid outlet 234' is provided at the bottom of the side of the liquid replenishing tank 231'. It can be understood that the liquid outlet 234' can also be provided on the bottom surface of the liquid replenishing tank 231'. A liquid inlet 235' can also be provided on the top surface of the liquid replenishing tank 231' for replenishing the photosensitive resin to the liquid replenishing tank 231'.

[0149] The pumping device 232' is connected to the air inlet pipe 233' to inject gas into the liquid replenishing tank 231'. It can be understood that the pumping device 232' can be connected to the air inlet pipe 233' through a hose to avoid transmitting the vibration of the pumping device 232' during operation to the liquid replenishing tank 231'. When liquid replenishment is required, the pumping device 232' injects gas into the liquid replenishing tank 231', and the air pressure in the liquid replenishing tank 231' will increase with the increase of injected gas, so that the photosensitive resin in the liquid replenishing tank 231' flows into the material tank 221 through the liquid outlet 234' to replenish the material tank 221. When the liquid level 221a of the photosensitive resin in the material tank 221 has reached the expected value, the pumping device 232' stops injecting gas into the liquid replenishing tank 231' and releases the air pressure in the liquid replenishing tank 231' to stop replenishing the material tank 221. The liquid outlet 234 ′ may be connected to a pipe 236 ′ for guiding the photosensitive resin flowing out of the liquid outlet 234 ′ into the material tank 221 .

[0150] exist Fig.10 In the illustrated embodiment, the air pump 232' is disposed in the photocurable 3D printing device 200, but it is understandable that the air pump 232' can be disposed outside the photocurable 3D printing device 200 and connected to the air inlet pipe 233' through a pipe to prevent the vibration of the air pump 232' during operation from being transmitted to the photocurable 3D printing device 200.

[0151] The automatic liquid replenishing device 230' may also include a liquid level detection device 237'. The liquid level detection device 237' is disposed above the material tank 221 and is used to detect the liquid level 221a of the photosensitive resin in the material tank 221. The automatic liquid replenishing device 230' controls the opening and closing of the aeration device 232' according to the detection result of the liquid level detection device 237', so as to control the timing and amount of liquid replenishment. Fig.10 In the illustrated embodiment, there is only one liquid level detection device 237', but it is understandable that there may be multiple liquid level detection devices 237', and they are arranged at different positions above the material tank 221. The liquid level detection device 237' may be one or more of an ultrasonic liquid level detector, an optical liquid level detector, a capacitive liquid level detector, and the like.

[0152] Fig.11 Schematic diagram of the structure of a light-curing 3D printing system capable of automatic continuous printing according to an embodiment of the present invention. Fig.11, a photocurable 3D printing system 10 capable of automatic continuous printing includes a host computer 400 and a plurality of 3D printing devices 200-1 to 200-k connected to the host computer 400. The host computer 400 is used to control the 3D printing devices 200-1 to 200-k to print the 3D model. Specifically, when the host computer 400 receives a printing task, it queries the status of the 3D printing devices 200-1 to 200-k. If there is an idle 3D printing device 200, the host computer 400 sends the 3D model of the current task to one or more 3D printing devices 200 in an idle state for printing. After receiving the 3D model, the 3D printing device 200 automatically typesets, prints, collects and collects the 3D model, and automatically replenishes the liquid when necessary. Optionally, the 3D printing devices 220-1 to 200-k can automatically report their current status to the host computer 400, and the host computer 400 stores the status reported by the 3D printing devices 200-1 to 200-k. The host computer 400 queries the status of the 3D printing devices 200-1 to 200-k in the local of the host computer 400. It can be understood that the host computer 400 can also query the status of the 3D printing devices 200-1 to 200-k directly. The status of the 3D printing devices 200-1 to 200-k includes but is not limited to idle, printing, and fault.

[0153] The photo-curing 3D printing system 10 may further include a server 500. The server 500 is used to receive and process print tasks from remote users, and when the host computer 400 is connected to the server 500 through a network to obtain print tasks, the server 500 sends the print tasks from the remote users to the host computer 400. The network through which the host computer 400 is connected to the server 500 includes but is not limited to an ADSL network, a LAN network, a WLAN network, and a WAN network.

[0154] Fig.12 1 is a flow chart of an automatic continuous printing method according to an embodiment of the present invention. Fig.12 The automatic continuous printing method is implemented by a light-curing 3D printing device 200 and has the following steps:

[0155] S11: receiving multiple three-dimensional models, and typeset the multiple three-dimensional models;

[0156] S12: Print the three-dimensional model after layout;

[0157] S13: After printing is completed, the workpiece 300 is removed from the lifting platform 222;

[0158] S14: Determine whether fluid infusion is needed, if yes, execute step S15, if no, execute step S16;

[0159] S15: replenishing the material tank 221 with photosensitive resin, and executing step S16 after the replenishment is completed;

[0160] S16: Determine whether the next round of printing is required. If so, return to step S11; if not, end printing.

[0161] Step S11 may be executed by the automatic typesetting system 210 , steps S12 and S13 may be executed by the automatic printing and collection device 220 , and steps S14 and S15 may be executed by the automatic liquid replenishing device 230 .

[0162] Fig.13 FIG. 1 is a flow chart of an automatic continuous printing method according to another embodiment of the present invention. Fig.13 The automatic continuous printing method is implemented by a light-curing 3D printing device 200 and has the following steps:

[0163] S21: receiving a plurality of three-dimensional models, and typeset the plurality of three-dimensional models;

[0164] S22: Print the three-dimensional model after layout;

[0165] S23: After printing is completed, the workpiece 300 is removed from the lifting platform 222;

[0166] S24: Determine whether the next round of printing is required, if yes, execute step S25, if no, end the printing;

[0167] S25: Determine whether fluid supplementation is needed, if yes, execute step S26, if no, return to step S21;

[0168] S26: replenishing the material tank 221 with photosensitive resin, and returning to step S21 after the replenishment is completed.

[0169] Step S21 can be executed by the automatic typesetting system 210 , steps S22 and S23 can be executed by the automatic printing and collection device 220 , and steps S25 and S26 can be executed by the automatic liquid replenishing device 230 .

[0170] In one embodiment, steps S11 and S21 layout the multiple three-dimensional models according to the following layout rules: the multiple three-dimensional models are arranged into n rows along a direction parallel to the length of the coating scraper 223 for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship: assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, then the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1-th row and the i-1-th row, and the lowest height of the multiple three-dimensional models in the i+1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2-th row, the lowest height of the multiple three-dimensional models in the i-1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2-th row, and so on; where i=1,2,…,n.

[0171] In one embodiment, the three-dimensional models in at least one row of the n rows of three-dimensional models after typesetting are arranged from high to low along a direction, such as Figure 3 as shown in line 4 or line 5 of .

[0172] In another embodiment, at least one row of the three-dimensional models in the n rows of three-dimensional models after typeset is arranged in a manner of being high in the middle and low on both sides, such as Figure 3 Since the photo-curing type 3D printing device 200 has a higher printing quality in the middle of the lifting platform 222, the arrangement of this embodiment can maximize the use of the area with higher printing quality.

[0173] Fig.14 FIG. 1 is a flow chart of typesetting multiple three-dimensional models according to an embodiment of the present invention. Fig.14 , the layout of multiple 3D models includes the following steps:

[0174] S1a: Arrange multiple three-dimensional models from high to low in order of height;

[0175] S1b: dividing the arranged multiple three-dimensional models into n rows according to boundary conditions;

[0176] S1c: For a plurality of 3D models divided into n rows, positions are adjusted in units of rows.

[0177] In one embodiment, after step S1b and before step S1c or after step S1c, the following step is further included: S1d: adjusting the positions of multiple three-dimensional models in at least one row among the n rows.

[0178] In one embodiment, the boundary condition for dividing the arranged multiple three-dimensional models into n rows in step S1b may be that the sum of the maximum widths of the multiple three-dimensional models in one row along the length direction of the coating scraper 223 is less than or equal to the minimum value of the width of the lifting platform 222 along the length direction of the coating scraper 223 and the effective length of the coating scraper 223, and the sum of the maximum widths of the multiple three-dimensional models in the n rows along the scraping direction of the coating scraper 223 is less than or equal to the width of the lifting platform 222 along the scraping direction of the coating scraper 223. In this way, the areas obtained by projecting the multiple three-dimensional models after typesetting onto the lifting platform 223 in a direction perpendicular to the lifting platform 223 are all within the range of the lifting platform 223, so as to avoid the situation where the three-dimensional model is not fully printed.

[0179] Fig.15 FIG. 1 is a flow chart of another embodiment of the present invention for typesetting multiple three-dimensional models. Fig.15 , layout of multiple 3D models may include the following steps:

[0180] S1a': Calculate the sizes of bounding boxes of multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order according to the widths of the bounding boxes;

[0181] S1b': try to allocate a row or column space in the elevator according to the maximum width of the remaining 3D model;

[0182] S1c': Determine whether the space on the lifting platform is sufficient. If yes, execute step S1d'; if no, end;

[0183] S1d': take out multiple three-dimensional models and arrange them in a row or column;

[0184] S1e': squeeze the space between rows or columns and return to step S1b'.

[0185] Optionally, when the judgment in step S1c' is no, before the end, step S1f' may be further included: arranging the entire model in the center relative to the lifting platform space.

[0186] Fig.16 FIG. 1 is a flowchart of another embodiment of the present invention for taking out a plurality of three-dimensional models and arranging them in a row or column. Fig.16 , taking out multiple three-dimensional models and arranging them in a row or column may include the following steps:

[0187] S1d'1: Take out a three-dimensional model and calculate its contour projected along the direction perpendicular to the plane of the lifting platform;

[0188] S1d'2: according to the bounding box of the current 3D model, place it in the row or column space next to the existing 3D model in a centered manner;

[0189] S1d'3: move the current 3D model closer to the existing 3D model in the row or column by a smaller fixed distance;

[0190] S1d'4: Determine whether the contours of the three-dimensional models intersect, if so, execute step S1d'5, if not, return to step S1d'3;

[0191] S1d'5: undo the last move of the current 3D model;

[0192] S1d'6: Determine whether it is beyond the range of the lifting platform, if so, execute step S1d'7, if not, return to step S1d'1;

[0193] S1d'7: Undo the last move of the current 3D model.

[0194] Fig.17 FIG. 1 is a flow chart of squeezing the space between rows or columns according to another embodiment of the present invention. Fig.17 , squeezing the space between rows or columns may include the following steps:

[0195] S1e'1: Move the current row or column closer to the previous row or column by a smaller fixed distance;

[0196] S1e'2: Determine whether the contours of two rows or columns of three-dimensional models intersect. If so, execute step S1e'3; if not, return to step S1e'1;

[0197] S1e'3: Undo the last move of the current row or column.

[0198] Fig.18 The flowchart of removing a workpiece from a lifting platform according to an embodiment of the present invention is shown in FIG. Figures 7a-7d The light-curing 3D printing device 200 shown in FIG. Fig.18 The step of removing the workpiece from the lifting platform includes:

[0199] S3a: passing a plurality of ejector rods through a plurality of through holes on the lifting platform 222 to lift the workpiece 300 and separate the workpiece 300 from the lifting platform 222;

[0200] S3b: Scrape the workpiece 300 separated from the lifting platform 222 away from the lifting platform.

[0201] In one embodiment, during the process of the plurality of ejector pins lifting the workpiece 300 in step S3a, the plurality of ejector pins vibrate.

[0202] Fig.19 is a flow chart of removing a workpiece from a lifting platform according to another embodiment of the present invention. The automatic removal method is suitable for Figure 8The light-curing 3D printing device 200 shown in FIG. Fig.19 The step of removing the workpiece from the lifting platform includes:

[0203] S3a': removing the platform 222'b with the workpiece 300 from the lifting device 222'a;

[0204] S3b': Place a new platform 222'b on the lifting device 222'a.

[0205] In one embodiment, the step of replenishing the material tank 221 is performed by placing a replenishing tank 231 above the material tank 221 , and allowing the photosensitive resin in the replenishing tank 231 to flow into the material tank 221 based on gravity during replenishment.

[0206] In one embodiment, the step of replenishing the material tank 221 is performed by providing a sealed replenishing tank 231 ′, injecting gas into the replenishing tank 231 ′, and allowing the photosensitive resin in the replenishing tank 231 ′ to flow into the material tank 221 under the action of gas pressure.

[0207] Fig. 20 1 is a flow chart of an automatic continuous printing method of a three-dimensional printing system according to an embodiment of the present invention. Fig. 20 , the host computer 400 executes step S401: receiving the printing task, and step S402: querying the status of the 3D printing device; the 3D printing devices 200-1 to 200-k receive the status query of the host computer in step S201, and report their current status to the host computer 400 in step S202; the host computer 400 receives the status of the 3D printing device in step S403, and determines whether there is an idle 3D printing device in step 404. If so, step S405 is executed: sending the printing task to the idle 3D printer, and returning to step S401; the 3D printing devices 200-1 to 200-k receive the printing task in step S203, and automatically typeset, automatically print and collect, and automatically replenish fluid when necessary; if there is no idle 3D printing device, the host computer 400 returns to step S402. Among them, the status of the 3D printing devices 200-1 to 200-k includes but is not limited to idle, printing, and failure.

[0208] Optionally, the 3D printing devices 220-1 to 200-k can automatically report their current status to the host computer 400, and the host computer 400 stores the status reported by the 3D printing devices 200-1 to 200-k. The host computer 400 queries the status of the 3D printing devices 200-1 to 200-k in the local computer 400.

[0209] The three-dimensional printing devices 200-1 to 200-k receive the printing task in step S203, and automatically typeset, automatically print, collect and collect the items, and automatically replenish the liquid when necessary. Fig.12 , Fig.13 At least one of the three-dimensional automatic continuous printing methods described herein.

[0210] The host computer 400 may directly receive the user's print task through a user interface, or may receive the print task of a remote user by communicating with a server 500, but the present invention is not limited thereto.

[0211] Although the present invention has been described with reference to the current specific embodiments, a person skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and various equivalent changes or substitutions may be made without departing from the spirit of the present invention. Therefore, any changes or modifications to the above embodiments within the spirit of the present invention will fall within the scope of the claims of this application.

Claims

1. A light-curing 3D printing device capable of automatic continuous printing, comprising an automatic typesetting system, an automatic printing and collection device, and an automatic liquid replenishing device, wherein: The automatic printing and picking up and collecting device has a material tank for accommodating photosensitive resin and a lifting platform for connecting the molded workpiece; The automatic typesetting system is used to receive a plurality of three-dimensional models, typeset the plurality of three-dimensional models, and output the typeset three-dimensional models; The automatic printing and collection device is used to receive the typeset three-dimensional model, print the typeset three-dimensional model, and after printing, remove and collect the workpiece from the lifting platform; The automatic liquid replenishing device is used to determine whether liquid replenishment is needed, and if necessary, to replenish the material tank with photosensitive resin; The automatic printing and collection device also has a lifting device arranged below the lifting platform; The lifting platform is provided with a plurality of through holes; The lifting device has a plurality of lifting rods arranged corresponding to the plurality of through holes, and is used to lift the workpiece formed on the lifting platform to separate the workpiece from the lifting platform; The push rods have different heights so that each of the one or more workpieces can be gradually separated from the lifting platform from one side to the other.

2. The light-curing 3D printing device according to claim 1, characterized in that: The automatic typesetting system typeset the multiple three-dimensional models according to the following typesetting rules: The multiple three-dimensional models are arranged in n rows along a direction parallel to the length of the coating blade for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship: Assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1-th row and the i-1-th row, and the lowest height of the multiple three-dimensional models in the i+1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2-th row, the lowest height of the multiple three-dimensional models in the i-1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2-th row, and so on; where n is a natural number, i=1,2,…,n.

3. The light-curing 3D printing device according to claim 2, characterized in that: The multiple three-dimensional models in at least one row of the n rows are arranged from high to low along a direction.

4. The light-curing 3D printing device according to claim 2, characterized in that: The multiple three-dimensional models in at least one of the n rows are arranged in a manner of being high in the middle and low on both sides.

5. The light-curing 3D printing device according to claim 2, characterized in that: The automatic typesetting system includes: A sorting module, used for arranging the multiple three-dimensional models from high to low according to height; A row division module, used for dividing the arranged multiple three-dimensional models into n rows according to boundary conditions; The row adjustment module is used to adjust the positions of the multiple three-dimensional models divided into n rows in units of rows.

6. The light-curing 3D printing device according to claim 5, characterized in that: The automatic typesetting system includes: The in-line adjustment module is used to adjust the in-line positions of the multiple three-dimensional models in at least one of the n lines.

7. The light-curing 3D printing device according to any one of claims 2 to 6, characterized in that: The coating blade only scrapes the area being printed.

8. The light-curing 3D printing device according to claim 1, characterized in that: The automatic typesetting system includes: A sorting module, used to calculate the sizes of the bounding boxes of the multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order according to the widths of the bounding boxes; A space allocation module, used for trying to allocate a row or column of space in the lifting platform according to the maximum width of the remaining three-dimensional model, and determining whether the space of the lifting platform is sufficient; An arranging module, used for taking out the multiple three-dimensional models and arranging them in a row or column when the lifting platform has enough space; The row and column space extrusion module is used to reduce the intervals between the rows or columns after the multiple three-dimensional models are arranged in a row or column.

9. The light-curing 3D printing device according to claim 8, characterized in that: The automatic typesetting system also includes: a model overall centering module, which is used to center the model as a whole relative to the space of the lifting platform when the lifting platform does not have enough space.

10. The light-curing 3D printing device according to claim 1, characterized in that: The automatic printing and collection device also has: A collecting scraper disposed above the lifting platform, used to scrape the workpiece separated from the lifting platform away from the lifting platform; The storage device is arranged at one side of the material trough and is used for storing the collected workpieces.

11. The light-curing 3D printing device according to claim 10, characterized in that: The lifting device also has a vibration device; when the plurality of lift rods lift the workpiece, the vibration device causes the plurality of lift rods to vibrate.

12. The light-curing 3D printing device according to claim 1, characterized in that: The lifting platform has a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; the automatic printing and collection device also has an automatic replacement device for removing the platform with the workpiece from the lifting device and setting a new platform on the lifting device.

13. The light-curing 3D printing device according to claim 1, characterized in that: The automatic liquid replenishing device comprises a liquid replenishing tank and an electric valve; The liquid replenishing tank is arranged above the material tank and is used to contain the photosensitive resin; The electric valve is connected to the bottom of the bottom surface and / or the side surface of the liquid replenishing tank; When the material tank needs to be replenished with liquid, the electric valve is opened to allow the photosensitive resin in the replenishment tank to flow into the material tank based on gravity.

14. The light-curing 3D printing device according to claim 1, characterized in that: The automatic liquid replenishing device comprises a sealed liquid replenishing tank and an air pumping device; The liquid replenishing tank is used to contain the photosensitive resin; The gas pump is used to inject gas into the liquid replenishing tank; When the material tank needs to be replenished with liquid, the pumping device injects gas into the liquid replenishing tank, so that the photosensitive resin in the liquid replenishing tank flows into the material tank under the action of gas pressure.

15. The light-curing 3D printing device according to claim 13 or 14, characterized in that: The automatic liquid replenishing device also has a liquid level detection device for detecting the liquid level of the photosensitive resin in the material tank.

16. A light-curing 3D printing system capable of automatic and continuous printing, comprising a host computer and a plurality of light-curing 3D printing devices according to any one of claims 1 to 15; When the host computer receives a printing task, it queries the status of the multiple light-curing type 3D printing devices. If there is an idle light-curing type 3D printing device, the host computer sends the 3D model of the current task to one or more of the idle light-curing type 3D printing devices for printing; After receiving the three-dimensional model, the light-curing three-dimensional printing device automatically typesets, prints and collects the three-dimensional model, and automatically replenishes the model when necessary.

17. The light-curing 3D printing system according to claim 16, characterized in that: It also includes a server; the server is used to receive and process the printing tasks of remote users, and when the host computer is connected to the server through a network to obtain the printing task, the server sends the printing task of the remote user to the host computer.

18. An automatic continuous printing method, implemented by a light-curing 3D printing device, the light-curing 3D printing device having a material tank for accommodating photosensitive resin and a lifting platform for connecting the molding workpiece, characterized in that The steps include: S11: receiving a plurality of three-dimensional models, and typeset the plurality of three-dimensional models; S12: Print the three-dimensional model after layout; S13: After printing is completed, the workpiece is removed from the lifting platform; S14: Determine whether fluid infusion is needed, if yes, execute step S15, if no, execute step S16; S15: replenishing the material tank with photosensitive resin, and after the replenishment is completed, executing step S16; S16: Determine whether the next round of printing is required, if yes, return to step S11, if no, end the printing; The lifting platform is provided with a plurality of through holes; a lifting device is provided below the lifting platform, and the lifting device has a plurality of ejector rods corresponding to the plurality of through holes; The steps of removing the workpiece from the lifting platform include: S3a: passing the plurality of ejector rods through the plurality of through holes on the lifting platform to lift the workpiece, thereby separating the workpiece from the lifting platform; The push rods have different heights so that each of the one or more workpieces can be gradually separated from the lifting platform from one side to the other.

19. An automatic continuous printing method, implemented by a light-curing 3D printing device, the light-curing 3D printing device having a material tank for accommodating photosensitive resin and a lifting platform for connecting the molding workpiece, characterized in that The steps include: S21: receiving a plurality of three-dimensional models, and typeset the plurality of three-dimensional models; S22: Print the three-dimensional model after layout; S23: After printing is completed, the workpiece is removed from the lifting platform; S24: Determine whether the next round of printing is required, if yes, execute step S25, if no, end the printing; S25: Determine whether fluid infusion is needed, if yes, execute step S26, if no, return to step S21; S26: replenishing the material tank with photosensitive resin, and returning to step S21 after the replenishment is completed; The lifting platform is provided with a plurality of through holes; a lifting device is provided below the lifting platform, and the lifting device has a plurality of ejector rods corresponding to the plurality of through holes; The steps of removing the workpiece from the lifting platform include: S3a: passing the plurality of ejector rods through the plurality of through holes on the lifting platform to lift the workpiece, thereby separating the workpiece from the lifting platform; The push rods have different heights so that each of the one or more workpieces can be gradually separated from the lifting platform from one side to the other.

20. The method according to claim 18 or 19, characterized in that The step of removing the workpiece from the lifting platform further includes S3b: scraping the workpiece separated from the lifting platform away from the lifting platform, and the workpiece enters a storage device.

21. The method according to claim 18 or 19, characterized in that: The layout of the multiple three-dimensional models is carried out according to the following layout rules: The multiple three-dimensional models are arranged in n rows along a direction parallel to the length of the coating blade for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship: Assuming that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located, the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+1-th row and the i-1-th row, and the lowest height of the multiple three-dimensional models in the i+1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i+2-th row, the lowest height of the multiple three-dimensional models in the i-1-th row is greater than or equal to the highest height of the multiple three-dimensional models in the i-2-th row, and so on; Where i=1,2,…,n.

22. The method according to claim 21, characterized in that: The multiple three-dimensional models in at least one row of the n rows are arranged from high to low along a direction.

23. The method according to claim 21, characterized in that: The multiple three-dimensional models in at least one of the n rows are arranged in a manner of being high in the middle and low on both sides.

24. The method according to claim 21, characterized in that: The steps of typesetting the multiple three-dimensional models include: S1a: arranging the multiple three-dimensional models from high to low in terms of height; S1b: dividing the arranged multiple three-dimensional models into n rows according to boundary conditions; S1c: For the plurality of three-dimensional models divided into n rows, positions are adjusted in units of rows.

25. The method according to claim 21, characterized in that: After step S1b, before step S1c or after step S1c, the following steps are also included: S1d: Adjust the positions of multiple three-dimensional models in at least one row among the n rows.

26. The method according to any one of claims 22 to 25, characterized in that: The coating blade only scrapes the area being printed.

27. The method according to claim 18 or 19, characterized in that: The layout of the multiple three-dimensional models includes the following steps: S1a': Calculate the sizes of bounding boxes of multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order according to the widths of the bounding boxes; S1b': try to allocate a row or column space in the elevator according to the maximum width of the remaining 3D model; S1c': Determine whether the space on the lifting platform is sufficient. If yes, execute step S1d'; if no, end; S1d': take out multiple three-dimensional models and arrange them in a row or column; S1e': squeeze the space between rows or columns and return to step S1b'.

28. The method according to claim 27, characterized in that: When the judgment result in step S1c' is no, before the end, step S1f' may be further included: arranging the entire model in the center relative to the lifting platform space.

29. The method according to claim 20, characterized in that: In step 3b, the lifting platform moves upward to a position where the collecting scraper can scrape the workpiece, and the collecting scraper moves from one end to the other end above the lifting platform to scrape the workpiece away from the lifting platform.

30. The method according to claim 18 or 19, characterized in that: During the process of the plurality of ejector pins lifting the workpiece in step S3a, the plurality of ejector pins vibrate.

31. The method according to claim 18 or 19, characterized in that: The lifting platform comprises a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; The steps of removing the workpiece from the lifting platform include: S3a': removing the platform with the workpiece from the lifting device; S3b': placing a new platform on the lifting device.

32. The method according to claim 18 or 19, characterized in that: The step of replenishing the material tank with photosensitive resin is performed by arranging a liquid replenishing tank above the material tank, and allowing the photosensitive resin in the liquid replenishing tank to flow into the material tank based on gravity during liquid replenishment.

33. The method according to claim 18 or 19, characterized in that: The step of replenishing the material tank with photosensitive resin is performed by providing a sealed liquid replenishing tank, injecting gas into the liquid replenishing tank, and allowing the photosensitive resin in the liquid replenishing tank to flow into the material tank under the action of gas pressure.

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