Average backlash measurement method, device, terminal and medium for 3D printing lifting shaft

Abstract

The present application provides a method, device, terminal, and medium for measuring the average backlash of a 3D printing lift shaft. The method is applied to a 3D printing device, wherein the 3D printing device includes: a lift shaft, a substrate, and a servo motor disposed inside a forming cylinder of the 3D printing device. The method includes: establishing a servo motor rotation rule based on a start position and an end position calibrated on the lift shaft; controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform multiple lifting movements, and calculating the average backlash of the lift shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement. The method of the present application is simple to operate, and the average backlash calculated through cyclic measurement has high accuracy.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to a method, device, terminal, and medium for measuring the average backlash of a 3D printing lifting shaft. Background Art

[0002] With the development of the 3D printing industry, the requirements for printing accuracy are getting higher and higher, and the printing time is also getting longer and longer. Due to the reciprocating lifting motion during the printing process, the backlash will affect the printing accuracy.

[0003] The impact of backlash on printing accuracy can be reduced through grating scale compensation. However, during long-term operation, 3D printing equipment may experience mechanical errors due to various reasons, which may lead to the risk of cylinder decoupling. Therefore, it is necessary to measure the backlash of the entire 3D printing equipment in advance and set a safety alarm value based on this to ensure the safe operation of the 3D printing equipment. However, the backlash of each 3D printing lifting axis varies. Simply testing the backlash of a few points will be inaccurate, and measuring many points will also consume considerable time. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a method, device, terminal and medium for measuring the average backlash of a 3D printing lifting shaft, so as to solve the problems in the prior art described above.

[0005] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a method for measuring the average reverse clearance of a 3D printing lifting shaft, which is applied to a 3D printing device. The 3D printing device includes: a lifting shaft, a substrate and a servo motor arranged inside a forming cylinder of the 3D printing device. The method includes: establishing a servo motor rotation rule based on a starting position and an ending position calibrated on the lifting shaft; based on the established servo motor rotation rule, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements, and calculating the average reverse clearance of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement.

[0006] In some embodiments of the first aspect of the present application, calibrating the starting position and the ending position on the lifting axis includes: calibrating the initial starting position and the initial ending position on the lifting axis; judging whether the initial starting position and the initial ending position are within the set soft limit range, and judging whether the initial starting position is the same as the initial ending position; if the initial starting position and the initial ending position are within the set soft limit range and the initial starting position is different from the initial ending position, then determining the initial starting position as the starting position and determining the initial ending position as the ending position.

[0007] In some embodiments of the first aspect of the present application, establishing a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft includes: calculating a middle-segment displacement distance based on a set middle-segment displacement coefficient based on the start position and the end position calibrated on the lifting shaft; calculating a small-segment displacement distance based on the calculated middle-segment displacement distance and a set small-segment displacement coefficient; calculating a relay displacement distance based on the calculated small-segment displacement distance and a set relay displacement coefficient; and establishing the servo motor rotation rule based on the calculated small-segment displacement distance and the relay displacement distance.

[0008] In some embodiments of the first aspect of the present application, the established servo motor rotation rules include: when the servo motor is located at the servo starting position for the first time, controlling the servo motor to rotate forward from the servo starting position by a small displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; when the servo motor is not located at the servo starting position for the first time or when the servo motor is located at other servo positions, controlling the servo motor to rotate forward from the current servo position by a relay displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; recording the servo position of the servo motor after the reverse rotation is completed, and updating the servo position of the servo motor after the reverse rotation is completed to the current servo position.

[0009] In some embodiments of the first aspect of the present application, based on the established servo motor rotation rules, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements includes: based on the established servo motor rotation rules, controlling the servo motor to perform multiple forward and reverse rotations; when the servo motor rotates, it drives the lifting shaft to rotate, and then drives the substrate to perform multiple lifting movements.

[0010] In some embodiments of the first aspect of the present application, the 3D printing device further includes: a grating ruler disposed inside the forming cylinder for measuring the movement distance of the substrate.

[0011] In some embodiments of the first aspect of the present application, the average reverse clearance of the lifting axis is calculated by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement, which includes: in each lifting movement, using the grating ruler to measure the rising movement distance of the substrate in this lifting movement; based on the rising movement distance of the substrate in this lifting movement and the distance of the reverse rotation of the servo motor in this lifting movement, calculating the reverse clearance of this lifting movement; based on the reverse clearance of each lifting movement, calculating the average reverse clearance of the lifting axis.

[0012] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides an average reverse clearance measuring device for a 3D printing lifting shaft, which is connected to a 3D printing device, wherein the 3D printing device includes: a lifting shaft, a substrate and a servo motor arranged inside a forming cylinder of the 3D printing device, and the device includes: a rule establishment module, which is used to establish a servo motor rotation rule based on a starting position and an ending position calibrated on the lifting shaft; a gap calculation module, which is connected to the rule establishment module, and is used to control the servo motor to rotate based on the established servo motor rotation rule, so as to drive the substrate to perform multiple lifting movements, and calculate the average reverse clearance of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement.

[0013] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides an electronic terminal, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the average reverse clearance measurement method of the 3D printing lifting axis.

[0014] To achieve the above-mentioned purpose and other related purposes, the fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the average backlash measurement method of the 3D printing lifting shaft.

[0015] As described above, the average backlash measurement method, device, terminal, and medium of the 3D printing lifting shaft of the present application have the following beneficial effects:

[0016] The method is applied to a 3D printing device, the 3D printing device comprising: a lifting shaft disposed within a forming cylinder of the 3D printing device, a substrate, and a servo motor. The method comprises: establishing a servo motor rotation rule based on a start position and an end position calibrated on the lifting shaft; controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform multiple lifting movements; and calculating the average backlash of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate during each lifting movement. The method of the present application is simple to operate, and the average backlash calculated through cyclic measurement has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a flow chart of a method for measuring the average backlash of a 3D printing lifting shaft in one embodiment of the present application.

[0018] Figure 2 Shown is a structural schematic diagram of a 3D printing device in one embodiment of the present application.

[0019] Figure 3 Shown is a control timing diagram of a servo motor in one embodiment of the present application.

[0020] Figure 4 Shown is a structural schematic diagram of a method for measuring the average backlash of a 3D printing lifting shaft in one embodiment of the present application.

[0021] Figure 5 Shown is a structural schematic diagram of an electronic terminal in one embodiment of the present application. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0023] It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It should be understood that other embodiments may also be used, and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used herein are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between one element or feature shown in the figure and another element or feature.

[0024] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," "holding," and the like should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0025] Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first," "second," "third," "fourth," and so on (if any) in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "comprising" and "including" indicate the presence of the stated features, operations, elements, components, items, types, and / or groups, but do not preclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, types, and / or groups. It should be further understood that the terms "or" and "and / or" used herein are to be interpreted as inclusive, or to mean any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition occur only when a combination of elements, functions, or operations are inherently mutually exclusive in some manner.

[0026] The present application provides a method, device, terminal, and medium for measuring the average backlash of a 3D printing lift shaft. The method is applied to a 3D printing device, wherein the 3D printing device includes: a lift shaft, a substrate, and a servo motor disposed inside a forming cylinder of the 3D printing device. The method includes: establishing a servo motor rotation rule based on a start position and an end position calibrated on the lift shaft; controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform multiple lifting movements, and calculating the average backlash of the lift shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement. The method of the present application is simple to operate, and the average backlash calculated through cyclic measurement has high accuracy.

[0027] Before further explaining the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations:

[0028] (1) Backlash: Backlash refers to the slight difference between the actual distance the print head moves and the expected distance it moves when the print head changes direction during printing. This is caused by factors such as slight elastic deformation or friction in the mechanical structure. This gap is usually more noticeable on the X and Y axes of the printer, as these axes are responsible for the horizontal movement of the print head. When the print head switches quickly from one direction to another, the inertia and friction of the mechanical structure may cause the print head to not stop immediately, resulting in slight deviations in the printing path. This deviation may cause slight layer misalignment or alignment issues in the printed object.

[0029] (2) Linear ruler: A linear ruler is a measuring tool that can accurately measure the movement distance of each axis of the printer, thereby helping users identify and calibrate the gaps between mechanical parts.

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the technical solutions in the embodiments of the present invention are further described in detail through the following embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the invention. Figure 1 , which is a flow chart of a method for measuring the average backlash of a 3D printing lifting shaft in an embodiment of the present invention.

[0031] The average backlash measurement method of the 3D printing lifting shaft is applied to a 3D printing device, wherein the 3D printing device includes a lifting shaft, a base plate, and a servo motor arranged inside a forming cylinder of the 3D printing device. The method includes:

[0032] Step S101: establishing a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft.

[0033] In one embodiment, calibrating the starting position and the ending position on the lifting axis includes: calibrating the initial starting position and the initial ending position on the lifting axis; judging whether the initial starting position and the initial ending position are within the set soft limit range, and judging whether the initial starting position is the same as the initial ending position; if the initial starting position and the initial ending position are within the set soft limit range and the initial starting position is different from the initial ending position, determining the initial starting position as the starting position and determining the initial ending position as the ending position.

[0034] In one embodiment, if the initial starting position and the initial ending position are not within the set soft limit range or the initial starting position is the same as the initial ending position, the initial starting position and the initial ending position are recalibrated until the recalibrated initial starting position and the initial ending position are within the set soft limit range and the recalibrated initial starting position and the initial ending position are different.

[0035] It should be noted that the distance that the substrate can move on the lifting shaft is less than the length of the lifting shaft itself. Those skilled in the art can set the specific value of the soft limit according to the distance that the substrate can move on the lifting shaft.

[0036] In one embodiment, the end position is located in the positive direction of the start position. Figure 2 As shown, the substrate performs multiple lifting movements from top to bottom. The positive direction is the direction in which the substrate moves downward (i.e. Figure 2 (direction indicated by arrow A).

[0037] In one embodiment, establishing a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft includes: calculating a middle-segment displacement distance based on the start position and the end position calibrated on the lifting shaft according to a set middle-segment displacement coefficient; calculating a small-segment displacement distance based on the calculated middle-segment displacement distance according to a set small-segment displacement coefficient; calculating a relay displacement distance based on the calculated small-segment displacement distance according to a set relay displacement coefficient; and establishing the servo motor rotation rule based on the calculated small-segment displacement distance and the relay displacement distance.

[0038] Furthermore, the specific calculation process includes: calculating the total displacement distance based on the starting position and the ending position calibrated on the lifting axis; specifically, the total displacement distance = the calibrated starting position - the calibrated ending position. Based on the calculated total displacement distance, according to the set middle-section displacement coefficient, the middle-section displacement distance is calculated; specifically, the middle-section displacement distance = the total displacement distance ÷ the middle-section displacement coefficient. Based on the calculated middle-section displacement distance, according to the set small-section displacement coefficient, the small-section displacement distance is calculated; specifically, the small-section displacement distance = the middle-section displacement distance ÷ the small-section displacement coefficient. Based on the calculated small-section displacement distance, according to the set relay displacement coefficient, the relay displacement distance is calculated; specifically, the relay displacement distance = the relay displacement coefficient × the small-section displacement distance.

[0039] It should be noted that those skilled in the art can set the middle segment displacement coefficient and the small segment displacement coefficient according to actual needs. The specific value of the relay displacement coefficient is generally 2.

[0040] In one embodiment, the middle displacement coefficient is 10, the small displacement coefficient is 10, and the relay displacement coefficient is 2. Middle displacement distance = total displacement distance ÷ 10; small displacement distance = middle displacement distance ÷ 10; relay displacement distance = 2 × small displacement distance.

[0041] Step S102: Based on the established servo motor rotation rules, control the servo motor to rotate to drive the substrate to perform multiple lifting movements, and calculate the average reverse clearance of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement.

[0042] In one embodiment, the established servo motor rotation rules include: when the servo motor is located at the servo starting position for the first time, controlling the servo motor to rotate forward from the servo starting position by a small displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; when the servo motor is not located at the servo starting position for the first time or when the servo motor is located at other servo positions, controlling the servo motor to rotate forward from the current servo position by a relay displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; recording the servo position of the servo motor after the reverse rotation is completed, and updating the servo position of the servo motor after the reverse rotation is completed to the current servo position.

[0043] It should be noted that the rotation direction that drives the substrate to move downward is defined as the forward rotation direction of the servo motor.

[0044] In one embodiment, if Figure 2 As shown, the 3D printing device further includes: a grating ruler arranged inside the forming cylinder for measuring the movement distance of the substrate.

[0045] In one embodiment, based on the established servo motor rotation rules, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements includes: based on the established servo motor rotation rules, controlling the servo motor to rotate forward and reverse multiple times; when the servo motor rotates, driving the lifting shaft to rotate, thereby driving the substrate to perform multiple lifting movements.

[0046] Specifically, such as Figure 2 As shown, when the servo motor 1 rotates, the servo motor 1 drives the lifting shaft 2 to rotate, thereby driving the substrate disposed on the lifting shaft 2 to move. The grating ruler 4 can measure the movement distance of the substrate during the movement of the substrate.

[0047] In one embodiment, the average reverse clearance of the lifting axis is calculated by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement, which includes: in each lifting movement, using the grating ruler to measure the rising movement distance of the substrate in this lifting movement; based on the rising movement distance of the substrate in this lifting movement and the distance of the reverse rotation of the servo motor in this lifting movement, calculating the reverse clearance of this lifting movement; based on the reverse clearance of each lifting movement, calculating the average reverse clearance of the lifting axis.

[0048] The following is a detailed explanation of the specific process of calculating the average backlash of the lifting axis:

[0049] At the start of measurement, the substrate is at the set starting position on the lifting axis. At the same time, the servo motor is at the servo starting position.

[0050] During the measurement process, the servo motor is controlled according to Figure 3 The timing diagram shown is rotated:

[0051] When the servo motor is first positioned at the servo start position (i.e., the start of measurement), the servo motor is controlled to rotate forward a small distance from the servo start position, while the substrate is driven downward by the servo motor. After the forward rotation is completed, the servo motor is controlled to rotate backward a small distance, while the substrate is driven upward by the servo motor. After the reverse rotation is completed, the servo motor returns to the servo start position. This process of the substrate descending and then ascending is called a single lift movement of the substrate.

[0052] During this lifting motion, the distance the substrate moves during the lifting motion is measured using a grating ruler (i.e., the lifting distance). The backlash of this lifting motion is obtained by subtracting the lifting distance of the substrate from the distance the servo motor rotates in the opposite direction during this lifting motion (the distance the servo motor rotates in the opposite direction during this lifting motion is a small displacement distance).

[0053] When the servo motor is not at the servo starting position for the first time or when the servo motor is at any other servo position, the servo motor is controlled to rotate forward from the current servo position by the length of the relay displacement distance, while the substrate is driven by the servo motor to perform a downward movement. After the forward rotation is completed, the servo motor is controlled to rotate in the reverse direction by the length of the small displacement distance, while the substrate is driven by the servo motor to perform an upward movement. The servo position of the servo motor after the reverse rotation is completed is recorded, and the servo position of the servo motor after the reverse rotation is completed is updated to the current servo position. Similarly, the process of the substrate performing a downward movement and then an upward movement is called a lifting movement of the substrate.

[0054] When the servo motor is not initially in the servo start position or is in any other servo position, the distance the servo motor rotates in the reverse direction during each lift of the substrate is the intermediate displacement distance. The reverse clearance for each lift is calculated by subtracting the substrate's upward movement distance from the intermediate displacement distance.

[0055] The lifting movement of the substrate to the end position is the last lifting movement in the entire measurement process. When the lifting movement of the substrate to the end position is completed, the servo motor is controlled to stop rotating.

[0056] The average backlash of all lifting movements performed during the measurement process is calculated to obtain the average backlash of the lifting shaft.

[0057] For example, during a measurement, the substrate performs 10 lift motions. Based on the backlash of these 10 lift motions, the average backlash of these 10 lift motions is calculated. This average is used as the average backlash of the lift axis.

[0058] Similar to the above embodiment, the present invention also provides an average backlash measurement device for a 3D printing lifting shaft.

[0059] The following provides specific embodiments in conjunction with the accompanying drawings:

[0060] like Figure 4 , which is a schematic structural diagram of an average backlash measuring device for a 3D printing lifting shaft in an embodiment of the present invention.

[0061] The average backlash measuring device 4 of the 3D printing lifting shaft is connected to the 3D printing device, and the 3D printing device includes: a lifting shaft, a base plate and a servo motor arranged inside the forming cylinder of the 3D printing device, and the device 4 includes:

[0062] A rule establishing module 41 is used to establish a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft;

[0063] The gap calculation module 42 is connected to the rule establishment module 41, and is used to control the rotation of the servo motor based on the established servo motor rotation rule to drive the substrate to perform multiple lifting movements, and calculate the average reverse clearance of the lifting axis by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement.

[0064] It should be noted that the modules provided in this embodiment are similar in implementation to the methods provided above, and therefore will not be further elaborated. It should also be understood that the division of the modules of the above apparatus is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or physically separated. Furthermore, these modules may be implemented entirely in software called by a processing element, or entirely in hardware. Alternatively, some modules may be implemented in software called by a processing element, while others may be implemented in hardware. For example, gap calculation module 42 may be a separate processing element, or integrated into a chip of the above apparatus. Furthermore, it may be stored in the form of program code in the memory of the above apparatus, and called and executed by a processing element of the above apparatus to perform the functions of gap calculation module 42. The implementation of other modules is similar. Furthermore, these modules may be fully or partially integrated together, or implemented independently. The processing element described herein may be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules may be performed by hardware integrated logic circuits in a processor element, or by software instructions.

[0065] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0066] In one embodiment, calibrating the starting position and the ending position on the lifting axis includes: calibrating the initial starting position and the initial ending position on the lifting axis; judging whether the initial starting position and the initial ending position are within the set soft limit range, and judging whether the initial starting position is the same as the initial ending position; if the initial starting position and the initial ending position are within the set soft limit range and the initial starting position is different from the initial ending position, determining the initial starting position as the starting position and determining the initial ending position as the ending position.

[0067] In one embodiment, establishing a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft includes: calculating a middle-segment displacement distance based on the start position and the end position calibrated on the lifting shaft according to a set middle-segment displacement coefficient; calculating a small-segment displacement distance based on the calculated middle-segment displacement distance according to a set small-segment displacement coefficient; calculating a relay displacement distance based on the calculated small-segment displacement distance according to a set relay displacement coefficient; and establishing the servo motor rotation rule based on the calculated small-segment displacement distance and the relay displacement distance.

[0068] In one embodiment, the established servo motor rotation rules include: when the servo motor is located at the servo starting position for the first time, controlling the servo motor to rotate forward from the servo starting position by a small displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; when the servo motor is not located at the servo starting position for the first time or when the servo motor is located at other servo positions, controlling the servo motor to rotate forward from the current servo position by a relay displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; recording the servo position of the servo motor after the reverse rotation is completed, and updating the servo position of the servo motor after the reverse rotation is completed to the current servo position.

[0069] In one embodiment, based on the established servo motor rotation rules, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements includes: based on the established servo motor rotation rules, controlling the servo motor to rotate forward and reverse multiple times; when the servo motor rotates, driving the lifting shaft to rotate, thereby driving the substrate to perform multiple lifting movements.

[0070] In one embodiment, the 3D printing device further includes: a grating ruler disposed inside the forming cylinder for measuring the movement distance of the substrate.

[0071] In one embodiment, the average reverse clearance of the lifting axis is calculated by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement, which includes: in each lifting movement, using the grating ruler to measure the rising movement distance of the substrate in this lifting movement; based on the rising movement distance of the substrate in this lifting movement and the distance of the reverse rotation of the servo motor in this lifting movement, calculating the reverse clearance of this lifting movement; based on the reverse clearance of each lifting movement, calculating the average reverse clearance of the lifting axis.

[0072] like Figure 5 , which is a schematic structural diagram of an electronic terminal in an embodiment of the present invention.

[0073] The terminal 5 includes: a processor 52 and a memory 51; the memory 51 is used to store computer programs; the processor 52 is used to execute the computer programs stored in the memory, so that the terminal 5 performs the following Figure 1 The average backlash measurement method of the 3D printing lifting shaft.

[0074] Optionally, the number of the memories 51 can be one or more, the number of the processors 52 can be one or more, and Figure 5 Take one as an example.

[0075] Optionally, the processor 52 in the control device will Figure 1 In the above steps, one or more instructions corresponding to the process of the application are loaded into the memory 51, and the processor 52 runs the application stored in the first memory, thereby achieving the following Figure 1 Various functions of the average backlash measurement method of the 3D printed lifting shaft.

[0076] Optionally, the memory 51 may include, but is not limited to, high-speed random access memory and non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices; the processor 52 may include, but is not limited to, a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0077] Optionally, the processor 52 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0078] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed, implements the following Figure 1 The average backlash measurement method for a 3D printing lift shaft. The computer-readable storage medium may include, but is not limited to, a floppy disk, an optical disk, a CD-ROM (Compact Disc Read Only Memory), a magneto-optical disk, a ROM (Read Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic or optical card, a flash memory, or other types of media / machine-readable media suitable for storing machine-executable instructions. The computer-readable storage medium may be a product not connected to a computer device, or a component that is connected to a computer device for use.

[0079] In some embodiments of the present invention, the computer-readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a magnetic disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instructions are sent from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwaves are included in the definition of the medium. However, it should be understood that computer-readable and writable storage media and data storage media do not include connections, carriers, signals or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0080] In summary, the present application provides a method, device, terminal and medium for measuring the average reverse clearance of a 3D printing lifting shaft. The method is applied to a 3D printing device, wherein the 3D printing device includes: a lifting shaft, a substrate and a servo motor arranged inside a forming cylinder of the 3D printing device. The method includes: establishing a servo motor rotation rule based on a start position and an end position calibrated on the lifting shaft; based on the established servo motor rotation rule, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements, and calculating the average reverse clearance of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement. The method of the present application is simple to operate and the average reverse clearance calculated by cyclic measurement has high accuracy. Therefore, the present application effectively overcomes the various shortcomings of the prior art and has high industrial utilization value.

[0081] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A method for measuring the average backlash of a 3D printing lifting shaft, characterized in that: Applied to a 3D printing device, the 3D printing device includes: a lifting shaft, a base plate, and a servo motor arranged inside a forming cylinder of the 3D printing device, and the method includes: Establishing a servo motor rotation rule based on the start position and the end position calibrated on the lifting shaft; Based on the established servo motor rotation rules, the servo motor is controlled to rotate to drive the substrate to perform multiple lifting movements, and the average backlash of the lifting shaft is calculated by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement; Wherein, establishing the servo motor rotation rule based on the starting position and the ending position calibrated on the lifting shaft includes: calculating the middle-segment displacement distance based on the starting position and the ending position calibrated on the lifting shaft according to the set middle-segment displacement coefficient; calculating the small-segment displacement distance based on the calculated middle-segment displacement distance according to the set small-segment displacement coefficient; calculating the relay displacement distance based on the calculated small-segment displacement distance according to the set relay displacement coefficient; establishing the servo motor rotation rule based on the calculated small-segment displacement distance and the relay displacement distance; The established servo motor rotation rules include: when the servo motor is located at the servo starting position for the first time, controlling the servo motor to rotate forward from the servo starting position by a small displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; when the servo motor is not located at the servo starting position for the first time or when the servo motor is located at other servo positions, controlling the servo motor to rotate forward from the current servo position by a relay displacement distance, and then controlling the servo motor to rotate reversely by a small displacement distance; recording the servo position of the servo motor after the reverse rotation is completed, and updating the servo position of the servo motor after the reverse rotation is completed to the current servo position.

2. The method for measuring the average backlash of a 3D printing lifting shaft according to claim 1, characterized in that: Marking the starting position and the ending position on the lifting shaft includes: Marking an initial starting position and an initial ending position on the lifting shaft; Determining whether the initial starting position and the initial ending position are within a set soft limit range, and determining whether the initial starting position and the initial ending position are the same; If the initial starting position and the initial ending position are within the set soft limit range and the initial starting position is different from the initial ending position, the initial starting position is determined as the starting position and the initial ending position is determined as the ending position.

3. The method for measuring the average backlash of a 3D printing lifting shaft according to claim 1, wherein: Based on the established servo motor rotation rules, controlling the servo motor to rotate to drive the substrate to perform multiple lifting movements includes: based on the established servo motor rotation rules, controlling the servo motor to perform multiple forward and reverse rotations; when the servo motor rotates, driving the lifting shaft to rotate, and then driving the substrate to perform multiple lifting movements.

4. The method for measuring the average backlash of a 3D printing lifting shaft according to claim 1, wherein: The 3D printing device further includes: a grating ruler arranged inside the forming cylinder for measuring the movement distance of the substrate.

5. The method for measuring the average backlash of a 3D printing lifting shaft according to claim 4, characterized in that: By obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement, the average backlash of the lifting axis is calculated including: In each lifting movement, the grating ruler is used to measure the lifting distance of the substrate in this lifting movement; Calculating the reverse clearance of the current lifting motion based on the ascending motion distance of the substrate and the reverse rotation distance of the servo motor during the current lifting motion; Based on the backlash of each lifting motion, the average backlash of the lifting shaft is calculated.

6. A device for measuring the average backlash of a 3D printing lifting shaft, characterized in that: The device is connected to a 3D printing device, wherein the 3D printing device includes: a lifting shaft, a base plate, and a servo motor arranged inside a forming cylinder of the 3D printing device, and the device performs the average backlash measurement method of the 3D printing lifting shaft according to any one of claims 1 to 5, including: A rule establishing module, configured to establish a servo motor rotation rule based on a start position and an end position calibrated on the lifting shaft; The gap calculation module is connected to the rule establishment module and is used to control the rotation of the servo motor based on the established servo motor rotation rule to drive the substrate to perform multiple lifting movements, and calculate the average reverse clearance of the lifting axis by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement.

7. An electronic terminal, characterized in that: include: processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory, so as to enable the terminal to perform the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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