Apparatus, method, and non-transitory storage medium for forming a three-dimensional object

Abstract

The application discloses a device for forming a three-dimensional object, comprising: a forming platform, on which the three-dimensional object is formed; a construction surface, between which and the forming platform a printing area is defined, which is used to fill a polymerizable liquid; an optical module, which is used to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the forming platform is controlled to move so that the solid or semi-solid polymer is separated from the construction surface layer by layer; a detection assembly, which is used to acquire a change state during the separation of the solid or semi-solid polymer from the construction surface; and a controller, which is configured to be associated with the detection assembly and is used to control the movement of the forming platform according to the change state to form the three-dimensional object from the solid or semi-solid polymer. The application solves the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the construction surface with a fixed separation strategy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of 3D printing technology, and in particular, to a device, a method and a non-volatile storage medium for forming a three-dimensional object. BACKGROUND

[0002] Digital light processing technology takes advantage of the characteristics that a photosensitive polymer material will quickly solidify under ultraviolet light irradiation. A high-resolution digital light processing chip is used to project ultraviolet light onto a printing platform to form a single image of each layer, so as to solidify the photopolymer liquid layer by layer to form a solidified layer, that is, a solid or semi-solid polymer, thereby creating a three-dimensional object. Each layer of printing needs to precisely control the lifting platform to separate each layer of solidified layer, so that the solidified layer is completely separated from the forming platform.

[0003] In related technologies, when separating each layer of solidified layer, a preset fixed separation strategy is generally used to separate the solidified layer at a preset speed. Since the three-dimensional object needs to be divided into a large number of solidified layers when forming, and the size of the three-dimensional object is different, it is difficult to adapt to various printing conditions when separating the solidified layer with a fixed separation strategy.

[0004] At present, there is no effective solution to the above problems. SUMMARY

[0005] The embodiments of the present application provide a device, a method and a non-volatile storage medium for forming a three-dimensional object, to at least solve the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the construction surface with a fixed separation strategy.

[0006] According to an aspect of an embodiment of the present application, a device for forming a three-dimensional object is provided, comprising: a forming platform, on which the three-dimensional object is formed; a construction surface, the forming platform and the construction surface defining a printing area therebetween, the printing area being used to fill a polymerizable liquid; an optical module, configured to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the forming platform is controlled to move so that the solid or semi-solid polymer is separated from the construction surface layer by layer; a detection assembly, configured to obtain a change state during the separation of the solid or semi-solid polymer from the construction surface; and a controller, associated with the detection assembly, and configured to control the movement of the forming platform according to the change state, so as to form the three-dimensional object from the solid or semi-solid polymer.

[0007] Optionally, the controller is configured to: control the speed of the movement of the forming platform relative to the construction surface to increase or decrease or remain unchanged according to the change state; or control the forming platform to start moving or stop moving relative to the construction surface according to the change state.

[0008] Optionally, the apparatus further comprises a drive associated with the controller, the drive configured to drive movement of the forming platform.

[0009] Optionally, the detection component comprises one or more of a force sensor, a displacement sensor, an optical sensor, a vision sensor, an ultrasonic sensor, a liquid level sensor; the change state is derived from one or more of a plurality of force values, a minimum distance, an optical signal, an image matching result, liquid level data and / or an acoustic signal.

[0010] Optionally, the detection component comprises a force sensor, and the controller is configured to: obtain a plurality of force values detected by the force sensor on the solid or semi-solid polymer at different time instants; wherein the force sensor is configured to obtain the force values applied to the solid or semi-solid polymer during printing of the solid or semi-solid polymer; and control the speed of movement of the forming platform relative to the build surface according to a change trend of the plurality of force values.

[0011] Optionally, the detection component comprises a displacement sensor, and the controller is configured to: obtain a minimum distance between the solid or semi-solid polymer and the build surface detected by the displacement sensor; wherein the displacement sensor is configured to obtain the minimum distance from the build surface to the solid or semi-solid polymer during printing of the solid or semi-solid polymer; and control the speed of movement of the forming platform relative to the build surface according to the minimum distance and a preset distance threshold.

[0012] Optionally, the detection component comprises an optical sensor, and the controller is configured to: obtain an optical signal detected by the optical sensor; wherein the optical sensor is configured to be at least partially blocked by the build surface from a path of light during printing of the solid or semi-solid polymer; and control the speed of movement of the forming platform relative to the build surface according to the optical signal of the optical sensor.

[0013] Optionally, the detection component comprises a vision sensor, and the controller is configured to: obtain image data detected by the vision sensor, and match the image data against a preconfigured image database to obtain an image matching result; wherein the vision sensor is configured to obtain images of the solid or semi-solid polymer and the build surface during printing of the solid or semi-solid polymer; and control the speed of movement of the forming platform relative to the build surface according to the image matching result.

[0014] Optionally, the detection component comprises an ultrasonic sensor, and the controller is configured to: obtain an acoustic signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to be at least partially blocked by the solid or semi-solid polymer from a path of acoustic waves during printing of the solid or semi-solid polymer; and control the speed of movement of the forming platform relative to the build surface according to the acoustic signal of the ultrasonic sensor.

[0015] Optionally, the detection assembly comprises a liquid level sensor, and the controller is configured to: acquire liquid level data detected by the liquid level sensor; wherein the liquid level sensor is configured to acquire the liquid level data of the polymerizable liquid during the printing of the solid or semi-solid polymer; obtain the upper surface pressure of the build surface according to the liquid level data, and acquire the lower surface pressure of the build surface; and control the movement speed of the forming platform relative to the build surface according to the upper surface pressure and the lower surface pressure.

[0016] Optionally, the control of the movement speed of the forming platform relative to the build surface according to the change trend of the plurality of force values comprises: when the change trend is a gentle trend and the maximum force value in the plurality of force values is within a first predetermined range, increasing the movement speed of the forming platform relative to the build surface; when the change trend is a downward trend and the force value at the current time is within a second predetermined range, increasing the movement speed of the forming platform relative to the build surface; and when the change trend is an upward trend and the force value at the current time is within a third predetermined range, decreasing the movement speed of the forming platform relative to the build surface.

[0017] Optionally, the controller is configured to: determine the range of the plurality of force values; and determine that the change trend is a gentle trend when the range is within a fourth predetermined range.

[0018] Optionally, the controller is configured to: sort the plurality of force values into a force value sequence according to a plurality of time points; determine that the change trend is a downward trend when the values in the force value sequence meet a downward condition; and determine that the change trend is an upward trend when the values in the force value sequence meet an upward condition.

[0019] Optionally, the controller is configured to: perform curve fitting according to the plurality of time points and the plurality of force values to obtain a force value curve; determine that the change trend is a downward trend when the force value curve meets a downward condition; and determine that the change trend is an upward trend when the force value curve meets an upward condition.

[0020] Optionally, the control of the movement speed of the forming platform relative to the build surface according to the shortest distance and the preset distance threshold comprises: increasing the movement speed of the forming platform relative to the build surface when the shortest distance is greater than the distance threshold; and decreasing the movement speed of the forming platform relative to the build surface when the shortest distance is less than the distance threshold.

[0021] Optionally, the control of the movement speed of the forming platform relative to the build surface according to the detection signal of the optical sensor comprises: increasing the movement speed of the forming platform relative to the build surface when the optical signal of the optical sensor is received; and decreasing or keeping unchanged the movement speed of the forming platform relative to the build surface when the optical signal of the optical sensor is not received.

[0022] Optionally, the controller is configured to control the speed of the forming platform relative to the build surface according to the image matching result, including: when the image matching result meets a preset acceleration condition, increasing the speed of the forming platform relative to the build surface; and when the image matching result meets a preset deceleration condition, decreasing the speed of the forming platform relative to the build surface.

[0023] Optionally, the controller is configured to control the speed of the forming platform relative to the build surface according to the acoustic signal of the ultrasonic sensor, including: when a reflected echo of the ultrasonic sensor is received, decreasing or keeping the speed of the forming platform relative to the build surface; and when the reflected echo of the ultrasonic sensor is not received, increasing the speed of the forming platform relative to the build surface.

[0024] Optionally, the controller is configured to control the speed of the forming platform relative to the build surface according to the upper surface pressure and the lower surface pressure, including: when the upper surface pressure is greater than the lower surface pressure, decreasing or keeping the speed of the forming platform relative to the build surface; and when the upper surface pressure is less than or equal to the lower surface pressure, increasing the speed of the forming platform relative to the build surface.

[0025] Optionally, the controller is configured to control the absolute value of the acceleration to be within a predetermined acceleration threshold range when the speed of the forming platform relative to the build surface is increased or decreased.

[0026] Optionally, the controller is configured to detect a current solidification layer type of the three-dimensional object, and decrease or keep the speed of the forming platform relative to the build surface when the current solidification layer type meets a preset type.

[0027] According to another aspect of the embodiments of the present application, a method for forming a three-dimensional object is also provided, including: controlling a forming platform to move away from a build surface or to reciprocate relative to the build surface to form a three-dimensional object from a solid or semi-solid polymer, and: obtaining a change state of the solid or semi-solid polymer detected by a detection assembly during a separation process from the build surface; and controlling the forming platform to move according to the change state.

[0028] According to still another aspect of the embodiments of the present application, a non-volatile storage medium is also provided, including a stored program, wherein the non-volatile storage medium is configured to execute any one of the above-mentioned methods for forming a three-dimensional object when the program is executed.

[0029] In the embodiment of the present application, the three-dimensional object is formed on a forming platform; a printing area is defined between the forming platform and the build surface, and is used to fill the polymerizable liquid; the optical module is used to irradiate the printing area to form the solid or semi-solid polymer from the polymerizable liquid; during the printing process, the motion of the forming platform is controlled to make the solid or semi-solid polymer separate from the build surface layer by layer; the detection assembly is used to obtain the changing state of the solid or semi-solid polymer during the separation process from the build surface; the controller is configured to be associated with the detection assembly; and is used to control the motion of the forming platform according to the changing state to form the three-dimensional object from the solid or semi-solid polymer, so as to achieve the purpose of comprehensively considering the changing state of the solid or semi-solid polymer during the separation process to control the motion of the forming platform to form the three-dimensional object, thereby realizing the technical effect of separating the solid or semi-solid polymer from the build surface by using different separation strategies under different printing conditions, and further solving the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the build surface by using a fixed separation strategy. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of this application and illustrate embodiments of the present application and the description thereof, and do not constitute improper limitations on the present application. In the drawings:

[0031] Figure 1 is a structural schematic diagram of an apparatus for forming a three-dimensional object provided according to the embodiment of the present application;

[0032] Figure 2 shows a hardware structure block diagram of a computer terminal for a method for forming a three-dimensional object;

[0033] Figure 3 is a flowchart of a method for forming a three-dimensional object provided according to the embodiment of the present application.

[0034] In the above drawings, the following reference signs are included: 11, forming platform; 12, tray; 13, optical module. DETAILED DESCRIPTION

[0035] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0036] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish between similar objects, and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the use of such terms as "first", "second", and the like, if used herein, can be interchanged, as appropriate, to describe the embodiments of the application described herein, which can be implemented in other than the order described herein. In addition, the terms "comprise" and "have" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units is not necessarily limited to those steps or units that are clearly listed, but can include other steps or units that are not clearly listed or inherent to such processes, methods, products, or apparatuses.

[0037] In the related art, different motion strategies can be preset for the material of the solidified layer to be separated this time before separation starts, and the motion strategies include running a fixed displacement at a fixed speed so that the solidified layer is separated. When the solidified layer is separated according to the preset motion strategy, the size of the solidified layer is different, and it is difficult to adapt to various printing conditions when the solidified layer is separated according to the fixed separation strategy. For example, when the solidified layer is separated from the build surface at too fast a speed, the solidified layer or the part may be damaged, resulting in printing failure; when the solidified layer is separated at too slow a speed, the separation efficiency is too low, and the printing speed is too slow.

[0038] To solve the above problems, according to an embodiment of the application, a device for forming a three-dimensional object is provided, comprising: a forming platform, on which the three-dimensional object is formed; a build surface, between which and the forming platform a printing area is defined, which is used to fill a polymerizable liquid; an optical module, which is used to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during printing, the motion of the forming platform is controlled to make the solid or semi-solid polymer separate from the build surface layer by layer; a detection assembly, which is used to obtain a change state during the separation of the solid or semi-solid polymer from the build surface; a controller, which is configured to be associated with the detection assembly, and is used to control the motion of the forming platform according to the change state to form the three-dimensional object from the solid or semi-solid polymer.

[0039] When performing 3D printing, a 3D model of the printed part can be established first, and then the 3D model of the printed part is sliced layer by layer. When printing, the first slice model can be started, and each slice model can be printed in turn on the basis of the successfully printed previous slice model, and finally a complete 3D model of the printed part is obtained, that is, a three-dimensional object is finally formed. Figure 1 is a structural schematic diagram of the device for forming a three-dimensional object provided according to an embodiment of the application, as Figure 1As shown, the device for forming a three-dimensional object provided by the embodiment of the present application can generate a projection image according to the shape of each slice model when printing the slice model, and the optical module 13 can be a light emitting mechanism. The light emitting mechanism can irradiate the projection image on the printing area in the tray 12 filled with the polymerizable liquid. The polymerizable liquid will be cured to form a solid or semi-solid polymer matching the projection image under the irradiation of the light emitted by the light emitting mechanism between the forming platform 11 and the construction surface. At this time, the movement of the forming platform 11 can be controlled to make the solid or semi-solid polymer separate from the construction surface layer by layer.

[0040] The light emitting mechanism can be any display component capable of displaying exposure image information in the art, specifically a laser display device capable of displaying a projection image, or a projection device capable of projecting a projection image, such as any one or any combination of a DLP projection module, an LCD projection module, an LCOS (Liquid Crystal On Silicon) projection module, an OLED projection module, a Micro-Led (micro light emitting diode) module, a Mini-Led (mini light emitting diode) module, an LCD module, an OLED module, and an SXRD (Silicon X-Tal Re-Reflective Display) projection module. It can also be a Micro-oled module or a Mini-oled module.

[0041] The construction surface is the surface in contact with the polymerizable liquid, and the polymerizable liquid can be resin. Figure 1 As shown, when using the bottom projection method for light curing 3D printing, the light irradiates the resin on the bottom layer of the tray through the bottom of the tray, forming a cured layer between the forming platform and the bottom of the tray. At this time, the construction surface can be the upper surface of the release film provided on the bottom of the tray. In addition, the top projection method can also be used for light curing printing, and the light irradiates the resin from above. At this time, the construction surface is the surface in contact with the light. It should be noted that the device for forming a three-dimensional object provided by the present application can use any of the above projection methods.

[0042] In the process of separating the solid or semi-solid polymer from the build surface, the detection assembly can be used to obtain the changing state of the solid or semi-solid, and the motion speed, motion direction and acceleration of the forming platform can be adjusted based on the changing state to adapt to various printing conditions. The forming platform can be reciprocating or unidirectional. Specifically, when it is detected that the solidified layer is closely adhered to the build surface, the motion of the forming platform can be slowed down to prevent printing failure; when it is detected that the solidified layer is not closely adhered to the build surface and is easily separated, the motion of the forming platform can be accelerated to improve the separation efficiency and speed up the printing speed.

[0043] Therefore, in the embodiment of the present application, a three-dimensional object is formed on the forming platform; a printing area is defined between the forming platform and the build surface, and the printing area is used to fill the polymerizable liquid; the optical module is used to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; in the printing process, the motion of the forming platform is controlled to make the solid or semi-solid polymer separate from the build surface layer by layer; the detection assembly is used to obtain the changing state of the solid or semi-solid polymer in the separation process; and the controller is configured to be associated with the detection assembly and is used to control the motion of the forming platform according to the changing state to form the three-dimensional object from the solid or semi-solid polymer, thereby achieving the purpose of comprehensively considering the changing state of the solid or semi-solid in the separation process to control the motion of the forming platform to form the three-dimensional object, and realizing the technical effect of separating the solid or semi-solid polymer from the build surface by using different separation strategies under different printing conditions, thereby solving the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the build surface by using a fixed separation strategy.

[0044] As an optional embodiment, the controller can be configured to control the motion speed of the forming platform relative to the build surface to increase, decrease or remain unchanged according to the changing state; or control the forming platform to start or stop the motion relative to the build surface according to the changing state.

[0045] Optionally, in the process of separating the solid or semi-solid polymer from the build surface, the detection assembly can be used to obtain the changing state of the solid or semi-solid, and the motion speed, motion direction and acceleration of the forming platform can be adjusted based on the changing state to adapt to various printing conditions. The forming platform can be reciprocating or unidirectional. Specifically, when it is detected that the solidified layer is closely adhered to the build surface, the motion of the forming platform can be slowed down to prevent printing failure; when it is detected that the solidified layer is not closely adhered to the build surface and is easily separated, the motion of the forming platform can be accelerated to improve the separation efficiency and speed up the printing speed.

[0046] As an optional embodiment, the device further comprises a driver associated with the controller, and the driver is used to drive the motion of the forming platform.

[0047] Optionally, the device for forming a three-dimensional object further comprises a driver, the controller can be associated with the driver, and the forming platform is driven to move by the driver. The driver can include a servo motor, a linear guide rail, etc., so that the forming platform moves on the guide rail under the drive of the motor, and a grating ruler can also be configured to achieve micron-level control with high precision.

[0048] As an optional embodiment, the detection assembly comprises one or more of a force sensor, a displacement sensor, an optical sensor, a visual sensor, an ultrasonic sensor, and a liquid level sensor; and the change state is determined by one or more of a plurality of force values, a shortest distance, an optical signal, an image matching result, liquid level data, and / or an acoustic signal.

[0049] Optionally, one or more types of sensors can be provided to detect different information during the separation process to determine the change state of the solid or semi-solid. The force sensor can detect the force received by the solidified layer, and then determine the change state of the solidified layer during the separation process; the displacement sensor can detect the shortest distance between the solidified layer and the construction plane during the separation process of the solidified layer and the construction surface, and then determine the change state of the solidified layer during the separation process; the optical sensor can determine the position of the construction surface or the solidified layer by whether an optical signal is received, and then determine the change state of the solidified layer during the separation process; the visual sensor can collect images including the solidified layer and the construction surface, and identify or match the images, and determine the change state of the solidified layer during the separation process according to the image recognition result or the image matching result; the ultrasonic sensor can collect acoustic signals to determine the position of the construction surface or the solidified layer, and then determine the change state of the solidified layer during the separation process; and the liquid level sensor can collect liquid level data of the polymerizable liquid in the tray to determine the shape of the release film, to determine the position of the construction surface or the solidified layer, and then determine the change state of the solidified layer during the separation process.

[0050] It should be noted that the detection assembly can include one or more of the above-mentioned sensors, and the sensors collect one or more of the above-mentioned data to analyze the change state of the solidified layer during the separation process.

[0051] The following describes how to analyze the change state of the solidified layer during the separation process and control the movement speed of the forming platform relative to the construction surface according to the plurality of force values, the shortest distance, the optical signal, the image matching result, the acoustic signal, and the liquid level data collected by the force sensor, the displacement sensor, the optical sensor, the visual sensor, the ultrasonic sensor, and the liquid level sensor, respectively. The following determination methods can be used independently or in combination with each other to more accurately control the movement of the forming platform and achieve more suitable adjustment of the movement speed of the forming platform to different printing conditions.

[0052] As an optional embodiment, the detection component comprises a force sensor, and the controller is configured to: acquire a plurality of force values of the solid or semi-solid polymer detected by the force sensor at different time instants; wherein the force sensor is configured to acquire the force value applied to the solid or semi-solid polymer during the printing of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the build surface according to the variation trend of the plurality of force values.

[0053] Optionally, the force sensor can be arranged on the movement axis (Z axis) of the forming platform. Since the current solidification layer is usually formed on the basis of the previous solidification layer during printing, the three-dimensional object that has been printed (hereinafter referred to as the current three-dimensional object) is connected to the forming platform. At this time, the force sensor can measure a plurality of force values at different time instants. The measured force value is the superimposed value of the gravity of the current three-dimensional object and the adhesion of the release film to the current three-dimensional object. Since the force is mutual, the force sensor can also be arranged on the tray. At this time, the variation state of the solidification layer during the separation process can be judged according to the absolute value of the detected force. It should be noted that since the gravity of the current three-dimensional object does not change during the separation process, the variation trend of the plurality of force values can be considered to indicate the variation trend of the adhesion of the release film to the three-dimensional object. After collecting the plurality of force values, the variation trend of the plurality of force values with time can be analyzed to judge the tightness of the adhesion of the current three-dimensional object to the build surface, and then the movement speed of the forming platform relative to the build surface is adjusted.

[0054] As an optional embodiment, the movement speed of the forming platform relative to the build surface is controlled according to the variation trend of the plurality of force values, comprising: when the variation trend is a gentle trend, and the maximum force value in the plurality of force values is within a first predetermined range, the movement speed of the forming platform relative to the build surface is increased; when the variation trend is a downward trend, and the force value at the current time instant is within a second predetermined range, the movement speed of the forming platform relative to the build surface is increased; and when the variation trend is an upward trend, and the force value at the current time instant is within a third predetermined range, the movement speed of the forming platform relative to the build surface is decreased.

[0055] Optionally, the change trend can be divided into a flat trend, a downward trend and an upward trend. When the change trend is a flat trend, it can be indicated that the adhesion of the current three-dimensional object to the build surface is relatively uniform. If the maximum force value in the plurality of force values is also within the first predetermined range, it indicates that the adhesion of the current three-dimensional object to the build surface is small, and at this time it can be considered that the separation of the current three-dimensional object from the build surface is relatively smooth, and the movement speed of the forming platform relative to the build surface can be accelerated. When the change trend is a downward trend, it can be indicated that the adhesion of the current three-dimensional object to the build surface is gradually decreasing, and the separation is increasingly smooth. In this case, if the force value at the current time is within the second predetermined range, it can be considered that the current three-dimensional object is separated from the build surface, and the movement speed of the forming platform relative to the build surface can be accelerated. When the change trend is an upward trend, it can be indicated that the adhesion of the current three-dimensional object to the build surface is large. In this case, if the force value at the current time is within the third predetermined range, it can be considered that the separation of the current three-dimensional object from the build surface is problematic, and the movement speed of the forming platform relative to the build surface can be slowed down to ensure that the current three-dimensional object will not be damaged. It should be noted that as long as the plurality of force values meet the separation conditions in the flat trend and the downward trend described above, the separation can be accelerated and the separation efficiency can be improved when the solidified layer is not completely separated.

[0056] As an optional embodiment, the controller is configured to determine a range of the plurality of force values, and determine that the change trend is a flat trend when the range is within a fourth predetermined range. Optionally, the change trend of the plurality of separation forces over time can be determined by determining the range of the plurality of force values, i.e. the difference between the maximum value and the minimum value in the numerical value. When the range is within the fourth predetermined range, it can be determined that the change trend of the plurality of separation forces is a flat trend.

[0057] As an optional embodiment, the controller is configured to sort the plurality of force values into a force value sequence according to the plurality of time points, determine that the change trend is a downward trend when the values in the force value sequence meet a downward condition, and determine that the change trend is an upward trend when the values in the force value sequence meet an upward condition.

[0058] Optionally, the plurality of force values can be sorted according to the plurality of time points to obtain a force value sequence. If the values in the force value sequence meet a downward condition and are a sequence that decreases over time, it can be determined that the change trend is a downward trend. If the values in the force value sequence meet an upward condition and are a sequence that increases over time, it can be determined that the change trend is an upward trend.

[0059] As an optional embodiment, the controller is configured to: perform curve fitting on the plurality of time instants and the plurality of force values to obtain a force value curve; determine that the change trend is a downward trend if the force value curve meets a downward condition; and determine that the change trend is an upward trend if the force value curve meets an upward condition.

[0060] Optionally, the plurality of force values can also be subjected to curve fitting to obtain a force value curve, and if the force value curve meets a downward condition and is a curve that decreases over time, it can be determined that the change trend is a downward trend; and if the force value curve meets an upward condition and is a sequence that increases over time, it can be determined that the change trend is an upward trend. Specifically, the slope of the force value curve within a certain time can be used to determine whether the force value curve is a downward trend or an upward trend.

[0061] The above three optional embodiments can also be combined for judgment, that is, first determine whether the change trend of the plurality of force values is a gentle trend, and if not, then determine whether the change trend is a downward trend or an upward trend according to the second or third optional embodiment.

[0062] Compared with the related art, the above method of adjusting the movement speed of the forming platform according to the force value applies more judgment and detection methods, effectively protecting the tray; and when applied to larger and smaller solidification layers, two different effects occur, thereby achieving better speed-up effect. Specifically, for a solidification layer with a smaller width, the change trend of the plurality of force values detected by the above method is generally a gentle trend, and the corresponding threshold condition is met to enable fast separation, thereby improving the separation speed of the small-width solidification layer. For a solidification layer with a larger width, the change trend of the plurality of force values detected by the above method is generally a downward trend, and then it is detected whether the current force value reaches an inflection point, that is, whether the change trend is slowing down and entering a gentle trend; if the inflection point is detected, that is, if the current force value is less than a certain threshold value, fast separation can be performed to improve the efficiency of the large-width solidification layer.

[0063] As an optional embodiment, the detection assembly includes a displacement sensor, and the controller is configured to: obtain the shortest distance between the solid or semi-solid polymer and the build surface detected by the displacement sensor; wherein the displacement sensor is configured to obtain the shortest distance from the build surface to the solid or semi-solid polymer during the printing of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the build surface according to the shortest distance and a preset distance threshold. Optionally, in addition to the force sensor, the shortest distance between the solidification layer and the build surface can also be detected by the displacement sensor to determine the degree of separation of the solidification layer from the build surface, and then the movement speed of the forming platform relative to the build surface is controlled. The displacement sensor can be arranged at the bottom of the tray or at other positions as long as the shortest distance between the solidification layer and the build surface can be monitored.

[0064] As an optional embodiment, the control of the movement speed of the forming platform relative to the build surface according to the shortest distance and the preset distance threshold value comprises: when the shortest distance is greater than the distance threshold value, the movement speed of the forming platform relative to the build surface is increased; and when the shortest distance is less than the distance threshold value, the movement speed of the forming platform relative to the build surface is decreased.

[0065] Optionally, when the shortest distance between the solidified layer and the build surface is greater than the predetermined distance threshold value, it can be determined that the adhesion between the solidified layer and the build surface is not tight, and the solidified layer and the build surface have been separated by a large distance, and at this time, the movement speed of the forming platform relative to the build surface can be increased; when the shortest distance between the solidified layer and the build surface is less than the predetermined distance threshold value, it can be determined that the adhesion between the solidified layer and the build surface is relatively tight, and if the solidified layer and the build surface are separated too fast, the solidified layer can be damaged or the solidified layer can be separated from the previously formed three-dimensional object, resulting in the consequence of dropping, and at this time, the movement speed of the forming platform relative to the build surface can be decreased to separate the solidified layer and the build surface in a more stable movement state. It should be noted that as long as the shortest distance meets the above acceleration condition, the acceleration separation can also be performed when the solidified layer is not completely separated. Meanwhile, the predetermined distance threshold value can also be set as multiple distance threshold values to form multiple distance ranges, when the shortest distance is in a certain distance range, the speed of the forming platform is decreased; when the shortest distance is in another distance range, the speed of the forming platform is unchanged; and when the shortest distance is in another distance range, the speed of the forming platform is increased.

[0066] As an optional embodiment, the detection assembly comprises an optical sensor, and the controller is configured to: acquire an optical signal detected by the optical sensor; and control the movement speed of the forming platform relative to the build surface according to the optical signal of the optical sensor, wherein the optical sensor is configured to be at least partially blocked by the build surface in the path of light during the printing of the solid or semi-solid polymer.

[0067] Optionally, the degree of separation between the solidified layer and the build surface can also be determined by detecting the position of the build surface with an optical sensor, and then controlling the speed of the build platform relative to the build surface. In some cases, due to the adhesion between the build surface and the solidified layer, the build surface may protrude upward or downward from a completely horizontal state, and the greater the adhesion, the higher the protrusion of the build surface. At this time, the optical sensor can be arranged on both sides of the bottom of the tray, one side emits an optical signal, and the other side receives the optical signal. When the protruding part of the build surface exceeds the position where the optical sensor is arranged, the optical signal emitted by the optical sensor will be blocked by the build surface. Conversely, when the protruding part of the build surface does not exceed the position where the optical sensor is arranged, the optical signal will not be blocked by the build surface. Therefore, the adhesion between the build surface and the solidified layer can be determined according to the optical signal of the optical sensor, and then the speed of the build platform relative to the build surface can be controlled. It should be noted that the optical sensor can be an infrared sensor, and the optical sensor can also be arranged at other positions as long as the deformation of the build surface can be monitored.

[0068] As an optional embodiment, the speed of the build platform relative to the build surface is controlled according to the detection signal of the optical sensor, including: when the optical signal of the optical sensor is received, the speed of the build platform relative to the build surface is increased; and when the optical signal of the optical sensor is not received, the speed of the build platform relative to the build surface is reduced or unchanged.

[0069] Optionally, in the above case, when the protruding part of the build surface does not exceed the position where the optical sensor is arranged, the optical signal will not be blocked by the build surface, and the optical signal of the optical sensor can be received, indicating that the adhesion between the build surface and the solidified layer is small, and the speed of the build platform relative to the build surface can be increased. Conversely, when the protruding part of the build surface exceeds the position where the optical sensor is arranged, the optical signal emitted by the optical sensor will be blocked by the build surface, indicating that the adhesion between the build surface and the solidified layer is large, and the speed of the build platform relative to the build surface can be reduced or unchanged. Of course, multiple sets of optical sensors can also be arranged to detect the height of the protruding part of the build surface, and then the speed of the build surface can be more accurately controlled according to the height of the protruding part.

[0070] As an optional embodiment, the detection assembly includes a vision sensor, and the controller is configured to: acquire image data detected by the vision sensor, and match the image data according to a preconfigured image database to obtain an image matching result; wherein the vision sensor is configured to acquire images of the solid or semi-solid polymer and the build surface during the printing of the solid or semi-solid polymer; and control the speed of the build platform relative to the build surface according to the image matching result.

[0071] Optionally, the image data including the solidified layer and the build surface can be detected by a visual sensor, and the image data can be matched or recognized according to a preconfigured image database, the separation degree of the solidified layer and the build surface can be determined by the image data, and the movement speed of the forming platform relative to the build surface can be controlled. The visual sensor can be a camera, which can be arranged at the bottom of the tray or other positions as long as the image data including the solidified layer and the build surface can be collected.

[0072] As an optional embodiment, according to the image matching result, the movement speed of the forming platform relative to the build surface is controlled, including: when the image matching result meets the preset acceleration condition, the movement speed of the forming platform relative to the build surface is increased; when the image matching result meets the preset deceleration condition, the movement speed of the forming platform relative to the build surface is decreased.

[0073] Optionally, the preconfigured image database can store multiple images, and the separation degrees of the solidified layer and the build surface corresponding to the multiple images, when the detected image data has a very high similarity with one of the images, for example, the similarity is more than 90%, the image is determined as the matched image, and the separation degree corresponding to the matched image is the image matching result of the detected image data. When the image matching result meets the preset acceleration condition, the separation degree of the solidified layer and the build surface is large, specifically, there is a gap between the solidified layer and the liquid surface in the image, that is, the solidified layer has left the liquid surface, and the movement speed of the forming platform relative to the build surface can be increased; when the image matching result meets the preset deceleration condition, the separation degree of the solidified layer and the build surface is small, and the movement speed of the forming platform relative to the build surface is decreased.

[0074] As an optional embodiment, the detection assembly includes an ultrasonic sensor, and the controller is configured to: acquire the sound wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to be at least partially blocked by the solid or semi-solid polymer in the printing process of the solid or semi-solid polymer; according to the sound wave signal of the ultrasonic sensor, the movement speed of the forming platform relative to the build surface is controlled.

[0075] Optionally, the ultrasonic wave encounters impurities or interfaces and generates a significant reflection to form a reflected echo. If the solidified layer is not separated from the build plane and does not break away from the liquid surface of the remaining polymerizable liquid in the printing area, the ultrasonic sensor detects the reflected echo, which includes the solidified layer and the liquid at the liquid surface. When the solidified layer is separated from the build plane and breaks away from the liquid surface of the printing area, the ultrasonic sensor does not detect the reflected echo, because there is only polymerizable liquid at the liquid surface. Therefore, the degree of separation of the solidified layer from the liquid surface can be detected by the ultrasonic sensor, and the degree of separation of the solidified layer from the build surface can be detected, and the speed of the forming platform relative to the build surface can be controlled.

[0076] As an optional embodiment, the speed of the forming platform relative to the build surface is controlled according to the acoustic signal of the ultrasonic sensor, including: when the reflected echo of the ultrasonic sensor is received, the speed of the forming platform relative to the build surface is reduced or unchanged; when the reflected echo of the ultrasonic sensor is not received, the speed of the forming platform relative to the build surface is increased.

[0077] Optionally, when the ultrasonic sensor detects the reflected echo, the solidified layer does not break away from the liquid surface of the remaining polymerizable liquid in the printing area and is not separated from the build plane, and the speed of the forming platform relative to the build surface is reduced or unchanged. When the ultrasonic sensor does not detect the reflected echo, the solidified layer breaks away from the liquid surface of the printing area and is separated from the build plane, and there is only polymerizable liquid at the liquid surface, and the speed of the forming platform relative to the build surface is increased.

[0078] As an optional embodiment, the detection assembly includes a liquid level sensor, and the controller is configured to: obtain liquid level data detected by the liquid level sensor; wherein the liquid level sensor is configured to obtain liquid level data of the polymerizable liquid during printing of the solid or semi-solid polymer; obtain the upper surface pressure of the build surface according to the liquid level data, and obtain the lower surface pressure of the build surface; and control the speed of the forming platform relative to the build surface according to the upper surface pressure and the lower surface pressure.

[0079] Optionally, some 3D printers can be provided with an inflation device below the release film, and the polymerizable liquid is above the release film. The release film will form different shapes under the influence of the upper surface pressure and the lower surface pressure. When the degree of separation of the solidified layer from the build surface is different, the pressure on the upper surface of the release film will be different. Therefore, under the condition that the lower surface pressure is unchanged, the shape of the release film is also different. The liquid level sensor can use a probe or a laser detector to detect the liquid level of the polymerizable liquid, and then obtain the volume and weight of the liquid, and thus obtain the pressure of the liquid on the release film, i.e. the upper surface pressure of the release film. Then, combined with the air pressure below the release film, the lower surface pressure of the release film can be determined.

[0080] As an optional embodiment, the controller is configured to control the moving speed of the forming platform relative to the build surface according to the upper surface pressure and the lower surface pressure, including: when the upper surface pressure is greater than the lower surface pressure, the moving speed of the forming platform relative to the build surface is reduced or kept unchanged; when the upper surface pressure is less than or equal to the lower surface pressure, the moving speed of the forming platform relative to the build surface is increased.

[0081] Optionally, when the upper surface pressure is greater than the lower surface pressure, the separation degree of the solidified layer from the build surface is smaller, and the moving speed of the forming platform relative to the build surface can be controlled to be reduced or kept unchanged; when the upper surface pressure is less than or equal to the lower surface pressure, the separation degree of the solidified layer from the build surface is larger, and the moving speed of the forming platform relative to the build surface can be controlled to be increased.

[0082] As an optional embodiment, the controller is configured to detect the current solidified layer type of the three-dimensional object, and control the moving speed of the forming platform relative to the build surface to be reduced or kept unchanged when the current solidified layer type meets a preset type.

[0083] The solidified layers of the three-dimensional object can be classified according to the position of each solidified layer of the three-dimensional object in the entire three-dimensional object, to obtain two types of solidified layer types, i.e., a base layer and a common solidified layer. The base layer is a solidified layer located at the bottom of the three-dimensional object as a base, and the common solidified layer is a solidified layer constituting the three-dimensional object.

[0084] Optionally, the type of the current solidified layer can be determined, and when it is detected that the current solidified layer type is a base layer, the forming platform is controlled to move relative to the build surface at a relatively slow and stable speed without accelerating the separation speed, so that a more flat base layer can be obtained, which is beneficial to the forming of the entire three-dimensional object.

[0085] As an optional embodiment, the controller is configured to control the absolute value of the acceleration to be within a predetermined acceleration threshold range when the moving speed of the forming platform relative to the build surface is controlled to be increased or reduced. Optionally, when the moving speed of the forming platform relative to the build surface is adjusted, the absolute value of the acceleration needs to be controlled to be within the predetermined acceleration threshold range, so as to prevent the acceleration or deceleration from being too violent, thereby being beneficial to the separation of the solidified layer.

[0086] Compared with related rapid separation technologies, the present application adopts a real-time monitoring sensor value mode, which can save time and improve efficiency; and adopts a multiple judgment mode, which can quickly and accurately determine the separation point.

[0087] According to an embodiment of the present application, a method for forming a three-dimensional object is provided. It is noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0088] The method embodiment provided by the embodiment of the present application can be executed in a mobile terminal, a computer terminal or similar computing device. Figure 2 A hardware structure block diagram of a computer terminal for a method for forming a three-dimensional object is shown. As shown, Figure 2 the computer terminal 10 can include one or more processors (the processor can include but not limited to a microprocessor MCU or a programmable logic device FPGA processing device, etc.), a memory 104 for storing data. In addition, it can also include a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. Those skilled in the art can understand, Figure 1 The structure shown is only schematic, which does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 can also include more or less components than Figure 2 shown, or have a different configuration than Figure 2 shown.

[0089] It should be noted that the one or more processors and / or other data processing circuits described above can be referred to herein as "data processing circuits" in general. The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or all or part of any one of the other elements combined into the computer terminal 10. As referred to in the embodiments of the present application, the data processing circuit as a kind of processor control (for example, the selection of the variable resistance terminal path connected with the interface).

[0090] The memory 104 can be used to store software programs of application software and modules, such as program instructions / data storage devices corresponding to the method for forming a three-dimensional object in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implements the method for forming a three-dimensional object of the application program described above. The memory 104 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor, which can be connected to the computer terminal 10 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0091] The display can be, for example, a touch screen type liquid crystal display (LCD) that can enable a user to interact with the user interface of the computer terminal 10.

[0092] Figure 3 is a flowchart of the method for forming a three-dimensional object according to the embodiments of the present application, as shown in Figure 3 The method comprises the following steps:

[0093] In step S202, the forming platform is controlled to move away from the build surface or reciprocate relative to the build surface to form a three-dimensional object from the solid or semi-solid polymer.

[0094] In step S204, the changing state of the solid or semi-solid polymer during separation from the build surface is obtained by the detection assembly.

[0095] In step S206, the forming platform is controlled to move according to the changing state.

[0096] In the embodiments of the present application, during printing, the forming platform is controlled to move so that the solid or semi-solid polymer is separated from the build surface layer by layer; the changing state of the solid or semi-solid polymer during separation from the build surface is obtained by the detection assembly; and the forming platform is controlled to move according to the changing state by the controller to form a three-dimensional object from the solid or semi-solid polymer. Thus, the technical effect of separating the solid or semi-solid polymer from the build surface by different separation strategies under different printing conditions is achieved, and the technical problem of being difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the build surface by a fixed separation strategy is solved.

[0097] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0098] Through the description of the above embodiments, those skilled in the art can clearly understand that the method for forming a three-dimensional object according to the above embodiments can be realized by means of software and necessary general hardware platforms, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk), and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the method described in each embodiment of the present application.

[0099] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by programs instructing the relevant hardware of the terminal device, and the programs can be stored in a non-volatile storage medium, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0100] The embodiments of the present application also provide a non-volatile storage medium. Optionally, in the present embodiment, the above non-volatile storage medium can be used to save the program code executed by the method for forming a three-dimensional object provided by the above embodiments.

[0101] Optionally, in the present embodiment, the above non-volatile storage medium can be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the mobile terminals in a mobile terminal group.

[0102] Optionally, in the present embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: controlling the forming platform to move away from the construction surface or controlling the forming platform to reciprocate relative to the construction surface to form a three-dimensional object from the solid or semi-solid polymer, and: acquiring the changing state of the solid or semi-solid polymer detected by the detection assembly during the separation process from the construction surface; and controlling the movement of the forming platform according to the changing state.

[0103] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0104] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0105] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0106] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0107] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0108] The integrated unit, if realized in the form of software functional unit and sold or used as an independent product, can be stored in a non-volatile storage medium. Based on such understanding, the technical solutions of the present application or the whole or part of the technical solutions which essentially contribute to the prior art can be embodied in the form of software product, which is stored in a storage medium and includes a plurality of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The above-mentioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and various program code storage media.

[0109] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be considered as falling within the protection scope of the present application.

Claims

1. An apparatus for forming a three-dimensional object, characterized in that, include: A molding platform on which the three-dimensional object is formed; A construction surface is defined between the molding platform and the construction surface, the printing area being used to fill a polymerizable liquid; An optical module is used to illuminate the printed area to form a solid or semi-solid polymer from the polymerizable liquid; A detection component is used to acquire the changing state of the solid or semi-solid polymer during the separation process from the structured surface; The controller is configured as follows: Associated with the detection component; During the printing process, the movement of the molding platform is controlled to separate the solid or semi-solid polymer layer by layer from the structural surface; and The molding platform is moved according to the changing state to form a three-dimensional object from the solid or semi-solid polymer; The detection components include one or more of the following: force sensor, displacement sensor, optical sensor, ultrasonic sensor, and liquid level sensor. When the detection component includes the force sensor, the controller is configured to: acquire multiple force values ​​of the solid or semi-solid polymer detected by the force sensor at different times, analyze the changing trend of the force values ​​over time, and adjust the movement speed of the molding platform relative to the structural surface according to the changing trend of the force values ​​over time; wherein, when the changing trend is a gradual trend and the largest force value among the multiple force values ​​is within a first predetermined range, the movement speed of the molding platform relative to the structural surface is increased; when the changing trend is a decreasing trend and the force value at the current time is within a second predetermined range, the movement speed of the molding platform relative to the structural surface is increased; when the changing trend is an increasing trend and the force value at the current time is within a third predetermined range, the movement speed of the molding platform relative to the structural surface is decreased. When the detection component includes the displacement sensor, the controller is configured to: acquire the shortest distance between the solid or semi-solid polymer and the structural surface detected by the displacement sensor; control the movement speed of the molding platform relative to the structural surface based on the shortest distance and a preset distance threshold; wherein, when the shortest distance is greater than the distance threshold, the movement speed of the molding platform relative to the structural surface is increased; when the shortest distance is less than the distance threshold, the movement speed of the molding platform relative to the structural surface is decreased. When the detection component includes the optical sensor, the controller is configured to: acquire the optical signal detected by the optical sensor; wherein the optical sensor is configured to have its light path blocked by the structure surface at least for a portion of the time during the printing process of the solid or semi-solid polymer; and control the movement speed of the molding platform relative to the structure surface based on the optical signal from the optical sensor. When the detection component includes the ultrasonic sensor, the controller is configured to: acquire the acoustic wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to have its acoustic wave path blocked by the solid or semi-solid polymer at least for a portion of the time during the printing process of the solid or semi-solid polymer; and control the movement speed of the molding platform relative to the structure surface based on the acoustic wave signal from the ultrasonic sensor. The detection component includes a liquid level sensor, and the controller is configured to: acquire liquid level data of the polymerizable liquid detected by the liquid level sensor; obtain the upper surface pressure of the structured surface based on the liquid level data, and acquire the lower surface pressure of the structured surface; and control the movement speed of the molding platform relative to the structured surface based on the upper surface pressure and the lower surface pressure.

2. The device according to claim 1, characterized in that, The controller is configured to: Based on the changing state, the movement speed of the forming platform relative to the structural surface is controlled to increase, decrease, or remain constant; or Based on the changing state, the forming platform is controlled to start or stop moving relative to the structural surface.

3. The device according to claim 2, characterized in that, The device also includes a driver associated with the controller, the driver being used to drive the molding platform to move.

4. The device according to claim 1, characterized in that, The controller is configured to: Determine the range of the plurality of force values; When the range is within a fourth predetermined range, the trend of change is determined to be a flat trend.

5. The device according to claim 1, characterized in that, The controller is configured to: The multiple force values ​​are sorted into a force value sequence according to the multiple time points; If the values ​​in the force value sequence meet the decreasing condition, the changing trend is determined to be a decreasing trend; If the values ​​in the force value sequence meet the upward condition, the trend of change is determined to be an upward trend.

6. The device according to claim 1, characterized in that, The controller is configured to: A force value curve is obtained by performing curve fitting based on the multiple time points and the multiple force values; If the force curve meets the decreasing condition, the changing trend is determined to be a decreasing trend; If the force curve meets the upward condition, the trend of change is determined to be an upward trend.

7. The device according to claim 1, characterized in that, The step of controlling the movement speed of the molding platform relative to the structured surface based on the detection signal from the optical sensor includes: When the optical signal from the optical sensor is received, the speed of the molding platform relative to the structured surface is increased. When no optical signal is received from the optical sensor, the movement speed of the molding platform relative to the structured surface is controlled to decrease or remain unchanged.

8. The device according to claim 1, characterized in that, The detection component further includes a vision sensor, wherein the controller is configured to: acquire image data including the solid or semi-solid polymer and the structured surface detected by the vision sensor, and match the image data according to a pre-configured image database to obtain an image matching result; and control the movement speed of the molding platform relative to the structured surface according to the image matching result.

9. The device according to claim 8, characterized in that, The step of controlling the movement speed of the molding platform relative to the constructed surface based on the image matching result includes: When the image matching result meets the preset acceleration conditions, the movement speed of the forming platform relative to the structure surface is increased. When the image matching result meets the preset deceleration condition, the movement speed of the forming platform relative to the structure surface is reduced.

10. The device according to claim 1, characterized in that, The step of controlling the movement speed of the molding platform relative to the structured surface based on the acoustic wave signal from the ultrasonic sensor includes: When the reflected echo from the ultrasonic sensor is received, the movement speed of the molding platform relative to the structured surface is controlled to decrease or remain unchanged. When no reflected echo is received from the ultrasonic sensor, the movement speed of the molding platform relative to the structured surface is increased.

11. The device according to claim 1, characterized in that, The step of controlling the movement speed of the forming platform relative to the structural surface based on the upper surface pressure and the lower surface pressure includes: When the pressure on the upper surface is greater than the pressure on the lower surface, the movement speed of the forming platform relative to the structural surface is controlled to decrease or remain unchanged. When the pressure on the upper surface is less than or equal to the pressure on the lower surface, the movement speed of the forming platform relative to the structural surface is increased.

12. The device according to any one of claims 1 to 11, characterized in that, The controller is configured to: While controlling the movement speed of the forming platform relative to the structured surface to increase or decrease, the absolute value of the acceleration is controlled to be within a predetermined acceleration threshold range.

13. The device according to any one of claims 1 to 11, characterized in that, The controller is configured to: Detect the current solidification layer type of the three-dimensional object; If the current cured layer type matches the preset type, the movement speed of the molding platform relative to the structured surface is controlled to decrease or remain constant.

14. A method for forming a three-dimensional object, characterized in that, include: Controlling the molding platform to move away from the structured surface or controlling the molding platform to reciprocate relative to the structured surface to form a three-dimensional object from a solid or semi-solid polymer, and: The detection component detects the changes in the solid or semi-solid polymer during the separation process from the structured surface; The movement of the molding platform is controlled according to the changing state; The detection components include one or more of the following: force sensor, displacement sensor, optical sensor, vision sensor, ultrasonic sensor, and liquid level sensor. When the detection component includes the force sensor, the method further includes: acquiring multiple force values ​​of the solid or semi-solid polymer detected by the force sensor at different times, analyzing the trend of force value change over time, and adjusting the movement speed of the molding platform relative to the structure surface according to the trend of force value change over time; wherein, when the trend of change is a gradual trend and the largest force value among the multiple force values ​​is within a first predetermined range, the movement speed of the molding platform relative to the structure surface is increased; when the trend of change is a decreasing trend and the force value at the current time is within a second predetermined range, the movement speed of the molding platform relative to the structure surface is increased; when the trend of change is an increasing trend and the force value at the current time is within a third predetermined range, the movement speed of the molding platform relative to the structure surface is decreased. When the detection component includes the displacement sensor, the method further includes: acquiring the shortest distance between the solid or semi-solid polymer and the structural surface detected by the displacement sensor; controlling the movement speed of the molding platform relative to the structural surface based on the shortest distance and a preset distance threshold; wherein, when the shortest distance is greater than the distance threshold, the movement speed of the molding platform relative to the structural surface is increased; when the shortest distance is less than the distance threshold, the movement speed of the molding platform relative to the structural surface is decreased. When the detection component includes the optical sensor, the method further includes: acquiring the optical signal detected by the optical sensor; wherein the optical sensor is configured to have its light path blocked by the construction surface at least part of the time during the printing process of the solid or semi-solid polymer; and controlling the movement speed of the molding platform relative to the construction surface based on the optical signal of the optical sensor. When the detection component includes the ultrasonic sensor, the method further includes: acquiring the acoustic wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to have its acoustic wave path blocked by the solid or semi-solid polymer at least for a portion of the time during the printing process of the solid or semi-solid polymer; and controlling the movement speed of the molding platform relative to the structure surface based on the acoustic wave signal from the ultrasonic sensor. Wherein, when the detection component includes a liquid level sensor, the method further includes: acquiring liquid level data of the polymerizable liquid detected by the liquid level sensor; obtaining the upper surface pressure of the structured surface based on the liquid level data, and acquiring the lower surface pressure of the structured surface; controlling the movement speed of the molding platform relative to the structured surface based on the upper surface pressure and the lower surface pressure.

15. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the non-volatile storage medium to perform the method for forming a three-dimensional object as described in claim 14.

Images