Temperature control method, device, equipment, storage medium and 3D printer

Abstract

The embodiment of the application relates to the field of 3D printing technology, and discloses a temperature control method, device, equipment, storage medium and 3D printer, the method comprises the following steps: acquiring a temperature value detected by the temperature sensor every first preset time interval; performing PID processing on the temperature value acquired each time to obtain a PID output value; acquiring position information of the powder laying device in real time; controlling the powder laying device to move; judging whether the position information is preset target position information; confirming whether the powder laying device reaches a shielding temperature detection area according to a result of position information judgment, and switching a temperature control mode. Through the above mode, the embodiment of the application avoids temperature fluctuation caused by the powder laying device shielding the temperature sensor, and further avoids the case that temperature control is unstable.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, specifically to a temperature control method, apparatus, device, storage medium, and 3D printer. Background Technology

[0002] 3D printing technology is a new interdisciplinary processing technology that integrates multiple disciplines such as electrical engineering, mechanics, materials science, software, control, digitalization, and automation. It features moldlessness and high processing flexibility, making it suitable for producing complex structures or high-value-added products. Furthermore, it can accelerate design and verification efficiency in the early stages of product development. Laser 3D printing technology is one of the fastest-growing 3D printing technologies.

[0003] In laser 3D printing technology, the printing material needs to be heated and its temperature controlled. The temperature control method in this technology adopts the proportional-integral-derivative (PID) algorithm. The temperature of the material is collected in real time by a temperature sensor. After the PID algorithm is calculated, the result is fed back to the temperature controller to achieve constant temperature control. When the powder spreading device moves to the temperature collection point, the temperature sensor may be blocked by the powder spreading device, which may cause temperature fluctuations and affect the stability of temperature control. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a temperature control method, apparatus, device, storage medium and 3D printer, which can avoid temperature fluctuations caused by the powder spreading device blocking the temperature sensor, thus leading to unstable temperature control.

[0005] According to one aspect of the embodiments of this application, a temperature control method is provided, the method comprising: acquiring a temperature value detected by a temperature sensor at first preset time intervals; performing PID processing on each acquired temperature value to obtain a PID output value; acquiring the position information of a powder spreading device in real time; controlling the powder spreading device to move; determining whether the position information is preset target position information, wherein the target position information is the position information corresponding to when the front end of the powder spreading device along its moving direction reaches the outer edge of the detection area of ​​the temperature sensor; if not, controlling the temperature regulating device to adjust the ambient temperature of the powder spread on the powder spreading platform based on the most recently obtained PID output value, and controlling the temperature regulating device to adjust the ambient temperature of the powder spread on the powder spreading platform based on the latest PID output value after the next acquisition; if yes, continuously controlling the temperature regulating device to adjust the ambient temperature of the powder spread on the powder spreading platform based on the most recently obtained PID output value.

[0006] The temperature sensor continuously monitors the ambient temperature of the powder spread on the powder spreading platform. A PID algorithm processes each acquired temperature value to generate a PID output value. During the powder spreading process, the system checks if the spreading device has reached the target position. If not, the temperature controller adjusts the ambient temperature based on the most recent PID output value. This process is repeated after acquiring the next PID output value, continuously adjusting the temperature to gradually approach the target temperature. This ensures the powder spreads at a suitable ambient temperature, improving spreading efficiency and print quality. If the spreading device reaches the target position, the most recent PID output value is recorded, and this value is continuously used to control the temperature controller. This prevents temperature instability caused by the spreading device obstructing temperature data, which could negatively impact print quality.

[0007] In one optional approach, before determining whether the location information is a preset target location information, the method includes: when the location information is a preset acquisition location information, recording the most recently obtained PID output value to obtain an acquisition value, wherein the acquisition location information is multiple; the method of continuously controlling the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the most recently obtained PID output value includes: calculating the average value between the most recently obtained PID output value and the multiple acquisition values, and continuously controlling the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the average value.

[0008] Taking the most recent PID output value and the average of multiple acquired values ​​can reduce the randomness that may exist in the temperature control process. Using only a single acquired value may have a certain degree of inaccuracy. Taking the average of multiple acquired values ​​can reduce the error or deviation in the acquired values ​​and make the temperature control more stable.

[0009] In one optional approach, after continuously controlling the temperature regulating device to adjust the ambient temperature of the powder spread on the powder spreading platform based on the most recently obtained PID output value, the method further includes: determining whether the duration of continuously controlling the temperature regulating device to adjust the ambient temperature of the powder spread on the powder spreading platform has reached a second preset time, wherein the second preset time is the time corresponding to the powder spreading device passing through the detection area of ​​the temperature sensor and continuing to move a predetermined distance; if so, the process jumps to the step of determining whether the position information is the target position information.

[0010] By setting a second preset time, after the powder spreading device passes through the detection area, the temperature sensor restarts detecting the ambient temperature of the powder and it stabilizes before switching back to the temperature control mode before the powder spreading device blocks the detection area. This avoids the influence of temperature sensor fluctuations that may occur when switching temperature control modes.

[0011] In one optional embodiment, controlling the movement of the powder spreading device includes: determining whether the position information is an initial position; if not, controlling the powder spreading device to move towards the initial position; if yes, performing the following steps: controlling the powder spreading device to move towards the endpoint position; performing the step of determining whether the position information is target position information; when the position information is endpoint position information, controlling the powder spreading device to stop moving; determining that when the duration of the powder spreading device stopping moving reaches a third preset time, jumping to the step of determining whether the position information is an initial position.

[0012] The powder spreading device moves back and forth between the initial position and the final position. When the controller controls the powder spreading device to move from the initial position to the final position, it spreads the powder on the powder spreading platform. At the same time, the controller switches the temperature control mode when the powder spreading device reaches the preset target position. After the powder spreading device moves to the final position and waits for the 3D printer to print the powder, the controller controls the powder spreading device to return to the initial position and repeat the above process until the 3D printer finishes its work.

[0013] In one optional approach, the step of performing PID processing on each acquired temperature value to obtain a PID output value includes: determining whether the temperature value is less than a set temperature value; if so, performing PID processing on the temperature value to obtain a PID output value; if not, setting 0 as the PID output value.

[0014] Based on the comparison between the detected temperature value and the set value, precise control based on temperature difference can be achieved. This allows the controller to automatically adjust the PID output level according to the set value, so that the difference between the temperature value detected by the temperature sensor and the set value gradually decreases and stabilizes near the set value, thereby achieving accurate temperature control.

[0015] In one optional approach, after performing PID processing on each acquired temperature value to obtain a PID output value, the method further includes: controlling the temperature regulating device to preheat based on the most recently acquired PID output value, and controlling the temperature regulating device to preheat based on the latest PID output value after obtaining the latest PID output value; when the preheating time reaches a fourth preset time, the method of controlling the powder spreading device to move is executed.

[0016] After the 3D printer is turned on, the powder on the powder spreading platform is at a low temperature, so preheating is required. A PID algorithm is used to preheat the powder on the spreading platform, and the controller controls the temperature regulation device to continuously heat the powder based on the latest PID output value obtained each time.

[0017] According to another aspect of the embodiments of this application, a 3D printer is provided, including: a powder spreading platform, a powder spreading device, a temperature regulating device, a temperature sensor, and a controller. The powder spreading device is movably disposed on the powder spreading platform and is used to spread powder on the powder spreading platform. The temperature sensor is disposed facing the powder spreading platform and is used to obtain the temperature of the powder spread on the powder spreading platform. The temperature regulating device is used to regulate the ambient temperature of the powder spread on the powder spreading platform. The controller is electrically connected to the powder spreading device, the temperature regulating device, and the temperature sensor, respectively, and the controller is used to execute the temperature control method as described in any of the above claims.

[0018] According to another aspect of the embodiments of this application, a temperature control device is provided, comprising: an acquisition module for acquiring temperature values ​​from a temperature sensor and position information of a powder spreading device; a control module for controlling the movement of the powder spreading device, the control module further being used to control the temperature regulating device to adjust the temperature; a calculation module for calculating PID output values; and a judgment module for judging whether the position information is target position information.

[0019] According to another aspect of the embodiments of this application, a temperature control device is provided, including: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store executable instructions, which cause the processor to perform the operation of the temperature control method described in any of the above embodiments.

[0020] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing executable instructions that cause a temperature control device to perform the operation of the temperature control method as described in any of the above claims.

[0021] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0022] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0023] Figure 1 A schematic diagram of the structure of the 3D printer provided in an embodiment of this application is shown;

[0024] Figure 2 A schematic flowchart of the temperature control method provided in an embodiment of this application is shown;

[0025] Figure 3 The flowchart of sub-steps S181-S182 after S170 in the temperature control method provided in the embodiment of this application is shown.

[0026] Figure 4 The flowchart of sub-steps S141-S146 following S140 in the temperature control method provided in the embodiments of this application is shown.

[0027] Figure 5 The flowchart illustrates the sub-steps S121-S123 of S120 in the temperature control method provided in the embodiments of this application.

[0028] Figure 6 The flowchart of sub-steps S124-S125 following S120 in the temperature control method provided in the embodiments of this application is shown.

[0029] Figure 7 A schematic diagram of the temperature control device provided in an embodiment of this application is shown;

[0030] Figure 8 A schematic diagram of the structure of the temperature control device provided in an embodiment of this application is shown. Detailed Implementation

[0031] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0032] In laser 3D printing technology, temperature control is crucial for ensuring the stability and quality of the printing process. The PID algorithm can be used to achieve temperature control in laser 3D printing. PID is a commonly used controller design algorithm, generally referring to a feedback control loop in industrial control applications, also known as a negative feedback control system. A typical PID control program has input values, setpoints, and output values. When used for temperature control, the input value is usually connected to a temperature sensor, the setpoint is used to input the target temperature, and the output value is used to control the corresponding temperature control peripheral hardware. The algorithm compares the setpoint and input values; the larger the difference between the two, the larger the output value, and the smaller the difference, the smaller the output value, thereby achieving the purpose of temperature control.

[0033] During the printing process, the temperature sensor typically collects the temperature of the powder plane at a fixed point on the powder spreading platform as the PID input value. The powder spreading device moves relative to the powder spreading platform. When the powder spreading device moves to the point where the temperature sensor collects the temperature, the powder spreading device will block the temperature sensor, affecting the temperature collection. This will cause greater temperature fluctuations, uneven heating of the printing material, and affect printing efficiency and product quality.

[0034] Based on this, this application proposes a temperature control method for use in 3D printers. During the process of the powder spreading device moving relative to the powder spreading platform, before the powder spreading device blocks the temperature sensor, the temperature of the temperature sensor is acquired in real time and processed by PID to obtain a PID output value. The temperature regulating device is controlled to adjust the temperature based on the most recent PID output value. When the powder spreading device moves to the edge of the temperature sensor detection area (that is, when the powder spreading device is about to block the temperature sensor detection area), the PID output value obtained by the powder spreading device from the temperature sensor acquired at this point is recorded and the temperature regulating device is controlled to continuously adjust the temperature based on this PID output value. This ensures that when the powder spreading device blocks the temperature sensor, the temperature is not adjusted based on the PID output value obtained by PID processing of the temperature sensor acquired by the temperature sensor when it is blocked by the powder spreading device. This avoids the situation where temperature fluctuations caused by the powder spreading device blocking the temperature sensor lead to unstable temperature control and affect print quality.

[0035] Specifically, please refer to Figure 1 and Figure 2 , Figure 1 A schematic diagram of the 3D printer structure is shown. Figure 2 A flowchart of a temperature control method provided in an embodiment of this application is shown, which is executed by the controller of a 3D printer. Figure 1 As shown, the 3D printer 100 includes a powder spreading platform 110, a powder spreading device 120, a temperature regulating device 130, a temperature sensor 140, and a controller 150. The powder spreading device 120 is movably mounted on the powder spreading platform 110 and is used to spread powder on the powder spreading platform 110. The temperature sensor 140 is positioned towards the powder spreading platform 110 and is used to obtain the temperature of the powder spread on the powder spreading platform 110. The temperature regulating device 130 is used to regulate the ambient temperature of the powder spread on the powder spreading platform 110. The controller 150 is used to execute temperature control methods. Figure 2 As shown, the method includes the following steps:

[0036] S110: At each first preset time interval, acquire the temperature value detected by the temperature sensor 140.

[0037] In this step, the first preset time is the time interval between each time the PID program acquires the temperature value detected by the temperature sensor as an input value. The shorter the first preset time, the higher the frequency of PID processing, and the more accurate the temperature control. In practical applications, the first preset time also needs to be set considering the controller's computing power. Please refer to [link / reference]. Figure 1 Temperature sensor 140 is located above the powder spreading platform. The temperature value detected by temperature sensor 140 is the temperature of the powder in the detection area on the powder spreading platform 110. This detection area will be blocked by the powder spreading device 120 during the movement of the powder spreading device.

[0038] S120: Perform PID processing on each acquired temperature value to obtain the PID output value.

[0039] In this step, the PID control process applied to the 3D printer's temperature control includes:

[0040] Set a suitable target temperature according to the printing material and printing process requirements. This target temperature can be entered through the controller's control panel.

[0041] The temperature detected by the temperature sensor is used as the PID input value. The target temperature is compared with the PID input value to calculate the temperature deviation. Temperature deviation = target temperature - PID input value.

[0042] The PID output value is calculated based on the temperature deviation. The PID program consists of three components: proportional (P) control, integral (I) control, and derivative (D) control. The PID output value can be expressed as:

[0043] u=Kp*e+Ki*∫eddt+Kd*de / dt

[0044] Where u is the PID output value, e is the temperature deviation, Kp is the proportional gain used to adjust the effect of proportional control, Ki is the integral gain used to adjust the effect of integral control, Kd is the derivative gain used to adjust the effect of derivative control, ∫e dt represents the integral of the temperature deviation, i.e., the cumulative value of the temperature deviation over time, and de / dt represents the rate of change of the temperature deviation.

[0045] S130: Real-time acquisition of the position information of the powder spreading device 120;

[0046] In this step, such as Figure 1 As shown, the controller 150 can detect the distance moved by the powder spreading device 120 through the displacement sensor, set the powder spreading platform 110 as the coordinate axis, set the initial position and the end position on the coordinate axis, with the initial position being the origin, and the controller 150 can record the distance moved by the powder spreading device 120 from the initial position to the end position on the coordinate axis as detected by the displacement sensor.

[0047] S140: Controls the movement of the powder spreading device 120;

[0048] In this step, such as Figure 1 As shown, the controller 150 controls the powder spreading device 120 to move from the initial position to the final position on the powder spreading platform. During this movement, the powder spreading device 120 simultaneously spreads the printing powder on the powder spreading platform 110. After moving from the initial position to the final position, the powder spreading device 120 stops. A detector can be set at the initial position. When the powder spreading device 120 moves from other positions on the powder spreading platform 110 to the initial position, the controller 150 receives a detection from the detector that the powder spreading device 120 has moved to the starting position, at which point the powder spreading device 120 stops.

[0049] S150: Determine whether the position information is the preset target position information, wherein the target position information is the position information corresponding to when the front end of the powder spreading device 120 reaches the outer edge of the detection area of ​​the temperature sensor 140 along its moving direction.

[0050] In this step, such as Figure 1 As shown, the target position is located between the initial position and the end position. The temperature sensor can detect the edge of the detection area of ​​the powder surface temperature on the powder spreading platform. Specifically, during the process of the powder spreading device 120 moving from the initial position to the end position, it moves to the position where it will block the detection area of ​​the temperature sensor 140.

[0051] S160: If not, then based on the most recently obtained PID output value, control the temperature regulating device 130 to adjust the ambient temperature of the powder material laid on the powder spreading platform 110, and after obtaining the latest PID output value, control the temperature regulating device 130 to adjust the ambient temperature of the powder material laid on the powder spreading platform 110 based on the latest PID output value.

[0052] In this step, such as Figure 1 As shown, when the position information of the powder spreading device 120 is not the target position information, the temperature value detected by the temperature sensor 140 is the ambient temperature of the powder in the detection area on the powder spreading platform 110. Temperature control is performed based on the latest PID output value. Each time a new PID output value is obtained, the settings of the temperature regulating device 130 are updated to achieve precise control of the ambient temperature of the powder.

[0053] S170: If so, based on the most recently obtained PID output value, the temperature regulating device 130 is continuously controlled to regulate the ambient temperature of the powder material laid on the powder spreading platform 110.

[0054] In this step, such as Figure 1As shown, when the powder spreading device 120 moves to the target position and is about to block the temperature sensor 140, continuous control is performed based on the most recently obtained PID output value. During the process of the temperature sensor 140's detection area being blocked by the powder spreading device 120, the detected temperature value fluctuates due to the blocking of the temperature sensor 140. Therefore, the obtained PID input value cannot reflect the true change in powder temperature, resulting in an inaccurate PID output value after PID processing of the PID input value, affecting the stability of temperature control. Continuously controlling the temperature regulating device 130 to adjust the ambient temperature of the powder spread on the powder spreading platform 110 using the most recently obtained PID output value when the powder spreading device 120 is at the target position can reduce the above-mentioned adverse effects and improve the stability of temperature control. Specifically, the PID output value can be converted into an electrical signal recognizable by the temperature regulating device 130 through an analog module. The temperature regulating device 130 can adjust the temperature by controlling devices such as heating lamps.

[0055] The temperature control method provided in this application embodiment is applied to a 3D printer. The controller 150 uses a temperature sensor 140 to detect the ambient temperature of the powder spread on the powder spreading platform 110 in real time, and processes each acquired temperature value using a PID algorithm to obtain a PID output value. During the powder spreading process, the controller 150 controls the powder spreading device 120 to determine whether its coordinates have reached the target position. If the powder spreading device has not reached the target position, the controller controls the temperature regulating device 130 to adjust the ambient temperature of the powder on the powder spreading platform 110 based on the most recent PID output value. After acquiring the latest PID output value, the controller again adjusts the ambient temperature of the powder using the temperature regulating device 130. By continuously adjusting the ambient temperature of the powder in this way, it gradually approaches the target temperature, allowing the powder spreading device 120 to spread powder at a suitable ambient temperature, improving the powder spreading effect and thus improving print quality. If the powder spreading device 120 reaches the target position, the controller 150 will record the most recently acquired PID output value at this time, and continue to control the temperature regulating device 130 to adjust the temperature based on this PID output value. This can avoid the situation where the temperature acquisition is affected by the powder spreading device 120, resulting in unstable temperature control and thus affecting the print quality.

[0056] In some embodiments, the following steps are included before S150:

[0057] When the location information is the preset collection location information, the most recently obtained PID output value is recorded to obtain the collection value, where there are multiple collection location information;

[0058] In this step, such as Figure 1As shown, there are multiple acquisition positions, such as acquisition position 1, acquisition position 2, acquisition position 3, etc. The acquisition position information is the coordinates on the powder spreading platform 110 corresponding to the acquisition position between the initial position and the target position. When the distance moved by the powder spreading device 120 is equal to the acquisition position information, the most recently obtained PID output value is recorded. It is preferable to set multiple acquisition positions to have equal intervals between adjacent acquisition positions. Since the powder spreading device 120 usually moves at a constant speed, acquiring the PID output value at the same interval can better reflect the stability and predictability of the PID output value. The acquired values ​​can be stored in the register of the controller 150.

[0059] S170 also includes the following steps:

[0060] The system calculates the most recently obtained PID output value and the average value among multiple collected values. Based on this average value, it continuously controls the temperature regulation device 130 to adjust the ambient temperature of the powder material laid on the powder spreading platform 110.

[0061] In the above scheme, taking the most recent PID output value and the average of multiple collected values ​​can reduce possible random situations. Individual collected values ​​may have a certain degree of inaccuracy, and taking the average value can reduce the error or deviation in the collected values, making the temperature control more stable.

[0062] Furthermore, anomaly removal processing can be performed on the acquired values. Specifically, each acquired value is compared, and those greater than a first preset value and less than a second preset value are discarded. Then, the most recently obtained PID output value and the average of the remaining acquired values ​​are calculated. Anomaly removal processing can eliminate PID output values ​​obtained due to instrument interference or sudden anomalies in the 3D printer during measurement or acquisition, reducing the adverse effects of outliers on the average value and further stabilizing temperature control.

[0063] While the powder spreading device 120 is blocking the detection area of ​​the temperature sensor 140, the temperature regulating device 130 is continuously controlled based on the most recently obtained PID output value to reduce the adverse effects caused by the powder spreading device 120 blocking the detection area. However, before the powder spreading device 120 blocks the detection area, the mode of temperature control based on the latest PID output value is more accurate. Therefore, after the powder spreading device 120 passes through the detection area, it is necessary to switch back to the control mode before the temperature of the powder spreading device 120 reaches the target position. However, when the temperature sensor 140 is no longer blocked by the powder spreading device 120 and starts to detect the ambient temperature of the powder again, there is a period of fluctuation in the detected temperature value due to the different materials of the detection target.

[0064] To achieve the switching of temperature control mode after the powder spreading device 120 passes through the detection area and the temperature value detected by the temperature sensor 140 stabilizes, please refer to [link to relevant documentation]. Figure 3 , Figure 3 The flowchart of the sub-steps after S170 in the temperature control method provided in the embodiments of this application is shown.

[0065] S170 is followed by the following steps:

[0066] S181: Determine whether the duration for which the continuous temperature control device 130 adjusts the ambient temperature of the powder spread on the powder spreading platform 110 has reached the second preset time, wherein the second preset time is the duration corresponding to the time after the powder spreading device 120 passes through the detection area of ​​the temperature sensor 140 and continues to move a predetermined distance.

[0067] In this step, such as Figure 1 As shown, within the second preset time, after the powder spreading device 120 has completely passed through the detection area on the powder spreading platform 110, it will move a certain distance towards the endpoint. That is, after moving to a position where it will not obstruct the detection area, the powder spreading device 120 will continue to move a certain distance. When the powder spreading device 120 moves to the detection area, the temperature sensor 140 continues to detect the temperature. However, it does not use the detected temperature value as the PID output value obtained by PID input processing for temperature control. At this time, the temperature detected by the temperature sensor 140 is actually the surface temperature of the powder spreading device 120. After the powder spreading device 120 passes through the detection area, the temperature sensor 140 starts to detect the ambient temperature of the powder again. Since the material of the surface of the powder spreading device 120 is different from that of the powder, the temperature value detected by the temperature sensor 140 may fluctuate greatly during the period when it switches from detecting the surface temperature of the powder spreading device 120 to detecting the ambient temperature of the powder. Therefore, it waits for the second preset time to allow the ambient temperature of the powder detected by the temperature sensor to stabilize.

[0068] S182: If so, then proceed to execute S150.

[0069] In this step, such as Figure 1 As shown, after the ambient temperature of the powder detected by the second preset time temperature sensor 140 stabilizes, the continuous control of the temperature regulating device 130 to adjust the ambient temperature of the powder spread on the powder spreading platform 110 ends, and the process jumps to the execution of judging whether the position information is the preset target position information. Since the powder spreading device 120 has passed the target position, the position information of the powder spreading device 120 is not the target position information. Therefore, the controller 150 executes step S160. At this time, the controller 150 controls the temperature regulating device 130 to adjust the ambient temperature of the powder based on the latest PID output value. When the powder spreading device 120 spreads powder or the 3D printer prints the powder that has been spread, the controller 150 updates the settings of the temperature regulating device 130 based on the latest PID output value obtained each time, so as to achieve precise control of the ambient temperature of the powder.

[0070] By setting a second preset time, the influence of temperature value fluctuations detected by temperature sensor 140 that may occur when controller 150 switches temperature control modes is avoided.

[0071] Please see Figure 4 , Figure 4 The flowchart of the sub-steps after S140 in the temperature control method provided in the embodiments of this application is shown.

[0072] S140 is followed by the following steps:

[0073] S141: Determine whether the location information is the initial location information.

[0074] S142: If not, control the powder spreading device 120 to move to the initial position.

[0075] If so, proceed with the following steps.

[0076] S143: Control the powder spreading device 120 to move to the endpoint position.

[0077] In the above steps, such as Figure 1 As shown, when the 3D printer 100 is turned on to prepare for printing, the powder spreading device 120 may not be in the initial position. If the powder spreading device 120 is not in the initial position, the controller 150 controls the powder spreading device 120 to move to the initial position. When the powder spreading device 120 is in the initial position or has been reset to the initial position, the controller 150 controls the powder spreading device 120 to move from the initial position to the endpoint position and controls the powder spreading device 120 to spread the printing powder on the powder spreading platform 110.

[0078] S144: Execute S150.

[0079] In this step, such as Figure 1 As shown, during the process of the controller 150 controlling the powder spreading device 120 to move towards the endpoint position, it simultaneously determines whether the powder spreading device 120 has reached the target position. When the target position is reached, the temperature control mode is switched.

[0080] S145: When the target position information is the endpoint position information, control the powder spreading device 120 to stop moving.

[0081] In this step, such as Figure 1 As shown, when the distance moved by the powder spreading device 120 is equal to the coordinate of the endpoint position, the controller 150 controls the powder spreading device 120 to stop moving. It should be noted that S145 can be executed before or after S144, and the execution of S145 is not affected by the result of S144.

[0082] S146: When the powder spreading device 120 stops moving for a period of time that reaches the third preset time, jump to execute S141.

[0083] In this step, the powder spreading device remains at the endpoint for a third preset time, waiting for... Figure 1 After the 3D printer 100 completes the printing operation on the powder spread by the powder spreader 120, it jumps to S141 to return the powder spreader 120 to its initial position and perform the next powder spread until the 3D printer finishes its work.

[0084] like Figure 1 As shown, the powder spreading device 120 can move back and forth between the initial position and the final position. When the controller 150 controls the powder spreading device 120 to move from the initial position to the final position, it controls the powder spreading device 120 to spread powder on the powder spreading platform 110. At the same time, when the powder spreading device 120 reaches the preset target position, the controller 150 switches the temperature control mode. After the powder spreading device 120 moves to the final position and waits for the 3D printer 100 to finish printing the powder, the controller 150 controls the powder spreading device 120 to return to the initial position and repeat the above process until the 3D printer 100 finishes working.

[0085] Please see Figure 5 , Figure 5 The flowchart of sub-step S120 in the temperature control method provided in the embodiments of this application is shown.

[0086] S120 includes the following steps:

[0087] S121: Determine if the temperature value is lower than the set temperature value.

[0088] S122: If so, the temperature value is processed by PID to obtain the PID output value.

[0089] In this step, if the temperature value detected by the temperature sensor 140 is less than the set temperature value, PID processing can be performed based on the comparison between the current temperature value and the set temperature value to obtain the corresponding PID output value.

[0090] S123: If not, set 0 as the PID output value.

[0091] In this step, if the temperature value detected by the temperature sensor 140 is equal to or exceeds the set value, continuing PID control may cause over-tuning and oscillation, that is, the temperature regulating device 130 continuously adjusts the output, causing the temperature value to fluctuate around the set value and become unstable at the set value. Stop PID processing on the temperature value at this time, that is, stop PID processing, that is, the controller controls the temperature regulating device 130 to stop heating.

[0092] Based on the comparison between the detected temperature value and the set value, precise control based on temperature difference can be achieved. This allows the controller 150 to automatically adjust the PID output level according to the set value, so that the difference between the temperature value detected by the temperature sensor 140 and the set value gradually decreases and stabilizes near the set value, thereby achieving accurate temperature control.

[0093] Please see Figure 6 , Figure 6 The flowchart of the sub-steps after S120 in the temperature control method provided in the embodiments of this application is shown.

[0094] S120 is followed by the following steps:

[0095] S124: Based on the most recently obtained PID output value, control the temperature regulating device 130 to preheat, and after obtaining the latest PID output value, control the temperature regulating device 130 to preheat based on the latest PID output value.

[0096] In this step, such as Figure 1 When the 3D printer 100 is turned on, the ambient temperature of the powder on the powder spreading platform 110 is low. At this time, the powder spreading and printing operation will affect the powder spreading and printing quality. Therefore, a preheating operation is required. The PID algorithm is used to preheat the powder on the powder spreading platform. The controller 150 controls the temperature regulating device 130 to continuously heat the powder based on the latest PID output value obtained each time.

[0097] S125: When the preheating time reaches the fourth preset time, execute S130.

[0098] In this step, when the preheating reaches the fourth preset time, the ambient temperature of the powder has stabilized near the preset target temperature. The controller 150 controls the powder spreading device 120 to start spreading the powder. The fourth preset time can be set according to the material of the powder. Different materials of powder may require different preheating times. The goal is to ensure that the temperature of the powder stabilizes near the preset target temperature after preheating.

[0099] By using a PID output value to control the temperature regulation device to preheat the powder and selecting when to perform the next operation based on the preheating time, the powder temperature can be kept stable at the target temperature when the 3D printer starts spreading the powder, thus improving the stability of powder spreading and printing quality.

[0100] According to another aspect of the embodiments of this application, a 3D printer is also provided, such as... Figure 1As shown, the 3D printer 100 includes: a powder spreading platform 110, a powder spreading device 120, a temperature regulating device 130, a temperature sensor 140, and a controller 150. The powder spreading device 120 is movably disposed on the powder spreading platform 110 and is used to spread powder on the powder spreading platform 110. The temperature sensor 140 is disposed facing the powder spreading platform 110 and is used to obtain the temperature of the powder spread on the powder spreading platform 110. The temperature regulating device 130 is used to regulate the ambient temperature of the powder spread on the powder spreading platform 110. The controller 150 is electrically connected to the powder spreading device 120, the temperature regulating device 130, and the temperature sensor 140 respectively, and the controller 150 is used to execute the temperature control method as described above.

[0101] like Figure 1 As shown, after the 3D printer 100 is powered on, the controller 150 acquires the temperature value detected by the temperature sensor 140 at first preset time intervals, performs PID processing on the temperature value to obtain a PID output value, and controls the temperature regulating device 130 to preheat the printing powder on the powder spreading platform 110 according to each PID output value. After preheating, the controller 150 acquires the position information of the powder spreading device 120 in real time and controls the powder spreading device 120 to move from the initial position to the end position on the powder spreading platform 110. The controller 150 continues to adjust the ambient temperature of the powder on the powder spreading platform 110 according to the PID output value, so that the ambient temperature of the powder is stabilized at the target temperature. At the same time, the controller controls the powder spreading device 120 to perform powder spreading operation, and the controller 150 can acquire the most recent PID output value when the powder spreading device 120 reaches multiple acquisition positions. When the powder spreading device 120 moves to the preset target position, the controller 150 continuously controls the temperature regulating device 130 to adjust the temperature based on the most recently obtained PID output value or the average of this PID output value and the PID output values ​​collected from multiple sampling positions. Once the powder spreading device 120 passes through the detection area of ​​the temperature sensor 140 and the ambient temperature of the powder detected by the temperature sensor 140 stabilizes, the controller 150 switches back to the working mode where it controls the temperature regulating device 130 to adjust the temperature based on each obtained PID output value. When the controller 150 controls the powder spreading device 120 to move to the endpoint position, it stops and waits for the 3D printer 100 to finish printing the spread powder. Then, the controller 150 controls the powder spreading device 120 to move back to the initial position for the next powder spreading and printing operation, until the 3D printer 100 completes its work.

[0102] Figure 7 A schematic diagram of the temperature control device provided in an embodiment of this application is shown. Figure 7As shown, the temperature control device 200 includes: an acquisition module 210, a control module 220, a calculation module 230, and a judgment module 240. The acquisition module 210 is used to acquire the temperature value of the temperature sensor and the position information of the powder spreading device; the control module 220 is used to control the movement of the powder spreading device, and the control module 220 is also used to control the temperature adjustment device to adjust the temperature; the calculation module 230 is used to calculate the PID output value; and the judgment module 240 is used to determine whether the position information is the target position information.

[0103] Please see Figure 1 and Figure 7 The temperature control device 200 provided in this application embodiment first acquires the temperature value detected by the temperature sensor 140 at a first preset time interval by the acquisition module 210. The calculation module 230 performs PID processing on the temperature value acquired by the acquisition module 210 to calculate the PID output value. Then, the acquisition module 210 acquires the position information of the powder spreading device 120 in real time. The control module 220 controls the powder spreading device 120 to move on the powder spreading platform 110. Then, the judgment module 240 judges whether the position information is the target position information, that is, whether the powder spreading device 120 has moved to the outer edge of the detection area of ​​the temperature sensor 140. When the position information is not the target position information, the control module 220 controls the temperature adjustment device 130 to adjust the powder environment temperature on the powder spreading platform 110 according to the PID output value obtained each time, so that the powder environment temperature is stabilized at the target temperature. When the location information is the target location information, the control module 220 continuously controls the temperature regulating device 130 to regulate the temperature based on the most recently obtained PID output value, so as to reduce the impact of unstable temperature control when the temperature value detected by the temperature sensor 140 fluctuates due to the powder spreading device 120 blocking the temperature sensor 140.

[0104] In one alternative approach, the judgment module 240 is used to determine that when the location information is the preset acquisition location information, the acquisition module 210 is used to record the most recently obtained PID output value to obtain the acquisition value, wherein there are multiple acquisition location information; the calculation module 230 is used to calculate the most recently obtained PID output value and the average value among multiple acquisition values, and the control module 220 is used to continuously control the temperature adjustment device to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the average value.

[0105] In one alternative approach, the judgment module 240 is used to determine whether the duration for which the control module 220 controls the temperature regulating device to adjust the ambient temperature of the powder laid on the powder spreading platform has reached a second preset time, wherein the second preset time is the duration corresponding to the time after the powder spreading device passes through the detection area of ​​the temperature sensor and continues to move a predetermined distance.

[0106] In one alternative embodiment, the determination module 240 is used to determine whether the position information is the initial position; the control module 220 is used to control the powder spreading device to move towards the initial position; the control module 220 is also used to control the powder spreading device to move towards the endpoint position; and the control module 220 is also used to control the powder spreading device to stop moving.

[0107] In one alternative approach, the judgment module 240 is used to determine whether the temperature value is less than the set value; the calculation module 230 is used to set 0 as the PID output value.

[0108] In one alternative approach, the control module 220 is used to control the temperature regulating device to preheat based on the most recently obtained PID output value, and to control the temperature regulating device to preheat based on the latest PID output value after obtaining the latest PID output value; the judgment module 240 is used to determine whether the preheating time has reached the fourth preset time.

[0109] According to another aspect of the embodiments of this application, a temperature control device is provided. Figure 8 The diagram shows a structural schematic of a temperature control device provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the X temperature control device.

[0110] like Figure 8 As shown, the temperature control device may include: a processor 302, a communications interface 304, a memory 306, and a communications bus 308.

[0111] The processor 302, communication interface 304, and memory 306 communicate with each other via communication bus 308. Communication interface 303 is used to communicate with other network elements, such as clients or other servers. The processor 302 executes program 310, specifically performing the relevant steps described above in the temperature control method embodiment.

[0112] Specifically, program 310 may include program code, which includes computer-executable instructions.

[0113] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The temperature control device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0114] Memory 306 is used to store program 310. Memory 306 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0115] Specifically, program 310 can be called by processor 302 to cause the temperature control device to perform the following operations:

[0116] At each first preset time interval, the temperature value detected by the temperature sensor is obtained;

[0117] Each acquired temperature value is processed using a PID controller to obtain the PID output value.

[0118] Real-time acquisition of the location information of the powder spreading device;

[0119] Control the movement of the powder spreading device;

[0120] Determine whether the position information is the preset target position information, wherein the target position information is the position information corresponding to when the front end of the powder spreading device reaches the outer edge of the detection area of ​​the temperature sensor along its moving direction;

[0121] If not, then based on the most recently obtained PID output value, control the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform, and after obtaining the latest PID output value, control the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the latest PID output value.

[0122] If so, the temperature control device will be continuously controlled to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the most recently obtained PID output value.

[0123] This application provides a computer-readable storage medium storing executable instructions that, when executed on a temperature control device, cause the temperature control device to perform the temperature control method described in any of the above method embodiments.

[0124] Specifically, the executable instructions can be used to cause the temperature control device to perform the following operations:

[0125] At each first preset time interval, the temperature value detected by the temperature sensor is obtained;

[0126] Each acquired temperature value is processed using a PID controller to obtain the PID output value.

[0127] Real-time acquisition of the location information of the powder spreading device;

[0128] Control the movement of the powder spreading device;

[0129] Determine whether the position information is the preset target position information, wherein the target position information is the position information corresponding to when the front end of the powder spreading device reaches the outer edge of the detection area of ​​the temperature sensor along its moving direction;

[0130] If not, then based on the most recently obtained PID output value, control the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform, and after obtaining the latest PID output value, control the temperature regulating device to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the latest PID output value.

[0131] If so, the temperature control device will be continuously controlled to adjust the ambient temperature of the powder material laid on the powder spreading platform based on the most recently obtained PID output value.

[0132] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0133] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0134] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of this application. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0135] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0136] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A temperature control method characterized by, The application is applied to a 3D printer, which comprises a powder laying platform, a powder laying device, a controller, a temperature adjusting device and a temperature sensor, the powder laying device is movably arranged on the powder laying platform, the powder laying device is used for laying powder on the powder laying platform, the temperature sensor is arranged towards the powder laying platform and is used for acquiring the temperature of the powder laid on the powder laying platform, the temperature adjusting device is used for adjusting the ambient temperature of the powder laid on the powder laying platform, and the controller is used for executing the temperature control method. The method comprises: acquiring the temperature value detected by the temperature sensor every first preset time interval; performing PID processing on each acquired temperature value to obtain a PID output value; acquiring position information of the powder laying device in real time; controlling the powder laying device to move; judging whether the position information is preset target position information, wherein the target position information is the position information corresponding to the situation that the front end of the powder laying device along its moving direction reaches the outer edge of the detection area of the temperature sensor; if not, controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the last obtained PID output value, and after obtaining the latest PID output value next time, controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the latest PID output value; if yes, continuously controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the last obtained PID output value.

2. The temperature control method according to claim 1, characterized by, Before the step of judging whether the position information is preset target position information, the method comprises: when the position information is preset collection position information, recording the collection value of the last obtained PID output value, wherein the collection position information is multiple; the step of continuously controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the last obtained PID output value comprises: calculating the average value between the last obtained PID output value and multiple collection values, and continuously controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the average value.

3. The temperature control method according to claim 1, wherein After the step of continuously controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the last obtained PID output value, the method further comprises: judging whether the duration of continuously controlling the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform reaches a second preset time, wherein the second preset time is the duration corresponding to the situation that the powder laying device passes through the detection area of the temperature sensor and continues to move a predetermined distance; if yes, jumping to the step of judging whether the position information is target position information.

4. The temperature control method according to any one of claims 1 to 3, characterized in that, The step of controlling the powder laying device to move comprises: judging whether the position information is an initial position; if not, controlling the powder laying device to move towards the initial position; if yes, performing the following steps: controlling the powder laying device to move towards a terminal position; performing the step of judging whether the position information is target position information. When the position information is the end position information, the powder laying device is controlled to stop moving; When the time length that the powder laying device stops moving reaches a third preset time, the step of judging whether the position information is the initial position is executed.

5. The temperature control method of claim 1, wherein, The PID processing of the temperature value obtained each time to obtain a PID output value includes: judging whether the temperature value is less than a set temperature value; If yes, the temperature value is processed by PID to obtain a PID output value; If no, 0 is set as the PID output value.

6. The temperature control method of claim 1, wherein After the PID processing of the temperature value obtained each time to obtain a PID output value, it further includes: Based on the latest PID output value obtained, the temperature adjusting device is controlled to preheat, and after the latest PID output value is obtained next time, the temperature adjusting device is controlled to preheat based on the latest PID output value; When the preheating time length reaches a fourth preset time, the control of the powder laying device moving is executed.

7. A 3D printer characterized by, The 3D printer includes a powder laying platform, a powder laying device, a temperature adjusting device, a temperature sensor and a controller, the powder laying device is movably arranged on the powder laying platform, the powder laying device is used for laying powder on the powder laying platform, the temperature sensor is arranged towards the powder laying platform and is used for obtaining the temperature of the powder laid on the powder laying platform, the temperature adjusting device is used for adjusting the ambient temperature of the powder laid on the powder laying platform, and the controller is electrically connected with the powder laying device, the temperature adjusting device and the temperature sensor, and is used for executing the temperature control method in any one of claims 1-6.

8. A temperature control device, characterized by The device includes: an acquisition module, configured to acquire a temperature value detected by a temperature sensor every first preset time interval, and acquire position information of a powder laying device in real time; a calculation module, configured to perform PID processing on the temperature value obtained each time to obtain a PID output value; a control module, configured to control the powder laying device to move; a judgment module, configured to judge whether the position information is preset target position information, wherein the target position information is position information corresponding to a situation that a front end of the powder laying device along a moving direction thereof reaches an outer edge of a detection area of the temperature sensor. The control module is further configured to, when the position information is not the preset target position information, control a temperature adjusting device to adjust an ambient temperature of powder laid on the powder laying platform based on a latest PID output value obtained, and after a latest PID output value is obtained next time, control the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the latest PID output value; and when the position information is the preset target position information, continuously control the temperature adjusting device to adjust the ambient temperature of the powder laid on the powder laying platform based on the latest PID output value obtained.

9. A temperature control device, characterized by It includes: a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; The memory is configured to store executable instructions that cause the processor to perform operations of the temperature control method of any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The storage medium has stored therein executable instructions that, when executed on the temperature control device, cause the temperature control device to perform operations of the temperature control method of any one of claims 1-6.

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