Control method of an additive manufacturing device, additive manufacturing device and readable storage medium

Abstract

The application provides a control method of an additive manufacturing device, the additive manufacturing device and a readable storage medium. The additive manufacturing device comprises a printing assembly, a printing platform and a touch switch, the printing assembly comprises a nozzle and a leveling sensor, and the printing platform comprises a first point; the method comprises the following steps: controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point; controlling the nozzle to touch the touch switch to obtain second position information of the nozzle; determining compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information; controlling the leveling sensor to detect a plurality of detection points corresponding to the printing platform in sequence to obtain third position information of the leveling sensor when the leveling sensor senses each detection point; and controlling the printing assembly to perform printing compensation according to the compensation information and the third position information of the leveling sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of printing technology, in particular to a control method of additive manufacturing equipment, additive manufacturing equipment and readable storage medium. BACKGROUND

[0002] At present, the leveling of the additive manufacturing equipment usually adopts the leveling sensor installed on the side of the print head to detect the printing platform plane to obtain the relative coordinates of the preset detection point height direction on the printing platform, and then fit an approximate platform contour to realize leveling.

[0003] However, the leveling sensor can only obtain the height profile of the platform, the height of the leveling sensor is inconsistent with the height of the nozzle tip, and due to installation precision and other reasons, even for the same type of machine, the distance between the leveling sensor and the nozzle tip may be different. When the additive manufacturing equipment is printing, the distance between the nozzle tip and the printing platform is generally not appropriate, and the user still needs to manually adjust the nozzle to be close to the printing platform to an appropriate distance, so that the melted material extruded by the nozzle can be normally pasted on the printing platform, resulting in that automatic leveling cannot be realized. SUMMARY

[0004] Therefore, the present application provides a control method of additive manufacturing equipment, additive manufacturing equipment and readable storage medium, which realizes automatic leveling and improves leveling precision.

[0005] In a first aspect, the embodiments of the present application provide a control method of additive manufacturing equipment, the additive manufacturing equipment comprising a printing assembly, a printing platform and a touch switch, the printing assembly comprising a nozzle and a leveling sensor moving synchronously, and the printing platform comprising a first point; the method comprising:

[0006] controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point;

[0007] controlling the nozzle to touch the touch switch to obtain second position information of the nozzle;

[0008] determining compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information;

[0009] controlling the leveling sensor to detect a plurality of detection points corresponding to the printing platform in turn to obtain third position information of the leveling sensor when the leveling sensor senses each detection point;

[0010] controlling the printing assembly to perform printing compensation according to the compensation information and the third position information of the leveling sensor.

[0011] According to the above method of the embodiments of the present application, the following additional technical features can also be provided.

[0012] Optionally, the printing assembly further comprises a heat dissipation device; and the method further comprises: during the process that the leveling sensor detects the detection point, the heat dissipation device is turned on to cool the leveling sensor.

[0013] Optionally, in any of the above technical solutions, the third position information of the detection point is obtained by: controlling the leveling sensor of the printing assembly to move to a preset coordinate; controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and recording the third position information of the leveling sensor.

[0014] Optionally, in any of the above technical solutions, the method further comprises: during the process that the leveling sensor and the printing platform move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is greater than or equal to a preset distance threshold, the heat dissipation device is turned on; and / or during the process that the leveling sensor and the printing platform move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is less than the preset distance threshold, the heat dissipation device is turned off; and / or after the third position information of the leveling sensor when the leveling sensor senses each detection point is obtained, the method further comprises: controlling the leveling sensor and the printing platform to move away from each other in the z direction, and turning on the heat dissipation device.

[0015] Optionally, in any of the above technical solutions, the additive manufacturing device further comprises a first heating device and a second heating device; and before the process that the leveling sensor detects the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point, the method further comprises: controlling the printing assembly and the printing platform to be zeroed; controlling the first heating device to heat the printing platform to a first preset temperature, and then controlling the second heating device to heat the nozzle of the printing assembly.

[0016] Optionally, in any of the above technical solutions, before the process that the first heating device heats the printing platform and the second heating device heats the nozzle of the printing assembly, the method further comprises: controlling the printing assembly to move to a position with a first height from the printing platform in the z direction.

[0017] Optionally, in any of the above technical solutions, after the process that the first heating device heats the printing platform and the second heating device heats the nozzle of the printing assembly, the method further comprises: controlling the printing assembly and the printing platform to move relatively so that the projection of the printing assembly is located outside the printing platform and has a second height from the printing platform in the z direction; and controlling the nozzle of the printing assembly to spray printing material for a preset length or a preset time.

[0018] Optionally, before the leveling sensor is controlled to detect the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point, the method further comprises: controlling the relative movement of the printing assembly and the printing platform to enable the leveling sensor to be above the first point, and during the movement of the printing assembly, the edge of the printing platform breaks the printing material on the nozzle.

[0019] Optionally, before the nozzle is controlled to touch the touch switch to obtain the second position information of the nozzle, the additive manufacturing device further comprises a wiping member, and the method further comprises: controlling the nozzle of the printing assembly to move to a second preset position above the wiping member; and controlling the relative movement of the nozzle and the wiping member in the z direction until the nozzle touches the wiping member.

[0020] Optionally, the method further comprises: after the nozzle touches the wiping member, controlling the relative movement of the nozzle and the wiping member in the horizontal direction to clean the nozzle.

[0021] Optionally, the method further comprises: during the process in which the nozzle touches the wiping member, controlling the cooling member of the additive manufacturing device to be turned on to cool the nozzle, so that the temperature of the nozzle is lower than the melting temperature of the printing material.

[0022] Optionally, the method further comprises: when the temperature of the nozzle is lower than the melting temperature of the printing material or the cooling time of the nozzle is greater than a preset time threshold, turning off the cooling member and controlling the nozzle to be separated from the wiping member.

[0023] Optionally, during the process in which the nozzle touches the wiping member, the cooling member of the additive manufacturing device is controlled to be turned on, comprising:

[0024] When the relative movement of the nozzle and the wiping member in the horizontal direction is started, the cooling member of the additive manufacturing device is controlled to be turned on; or,

[0025] During the relative movement of the nozzle and the wiping member in the horizontal direction, the cooling member of the additive manufacturing device is controlled to be turned on; or,

[0026] After the relative movement of the nozzle and the wiping member in the horizontal direction is stopped, the cooling member of the additive manufacturing device is controlled to be turned on.

[0027] In any of the above technical solutions, optionally, the compensation information of the nozzle relative to the leveling sensor is determined according to the first position information and the second position information, including: obtaining a set error compensation value, and determining the compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information and the second position information; wherein the set error compensation value is used to compensate for the leveling error; the leveling error includes at least one of the following: the installation inclination angle of the printing platform, the coating thickness error of the printing platform, and the installation height error of the touch switch component.

[0028] In any of the above technical solutions, optionally, the additive manufacturing device further includes an interactive device; and the set error compensation value is obtained by the interactive device.

[0029] In any of the above technical solutions, optionally, the method further includes: obtaining a trigger depth of the touch switch component; and determining the compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information and the second position information, specifically including: determining the compensation information of the nozzle relative to the leveling sensor according to the trigger depth, the set error compensation value, the first position information and the second position information.

[0030] In any of the above technical solutions, optionally, the leveling sensor is controlled to detect the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point, specifically including: controlling the leveling sensor of the printing assembly to move to a third preset position above the first point; controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the first point, and recording the first position information of the nozzle when the leveling sensor senses the first point.

[0031] In any of the above technical solutions, optionally, the nozzle is controlled to touch the touch switch component to obtain the second position information of the nozzle, specifically including: controlling the nozzle to move to a fourth preset position above the touch switch component; controlling the nozzle and the touch switch component to move relatively in the z direction; and if a signal change of the touch switch component is received, recording the second position information of the nozzle.

[0032] In any of the above technical solutions, optionally, the nozzle and the touch switch component are controlled to move relatively in the z direction, including: controlling the nozzle to move downward in the z direction; and / or controlling the printing platform and the touch switch component to move upward in the z direction synchronously.

[0033] In any of the above technical solutions, optionally, the method further includes: for any detection point, the leveling sensor is controlled to detect the detection point N times, and the coordinate result of the Nth detection is taken as the third position information of the leveling sensor, N being a positive integer greater than 1.

[0034] In any of the technical solutions above, optionally, the method further comprises: if a difference between the N times of detected coordinate results is greater than a preset error threshold, issuing a prompt information or performing the N+1 time of detection; if the N+1 time of detection is performed, taking the coordinate result detected in the N+1 time of detection as the third position information of the leveling sensor.

[0035] The first point on the printing platform is in the same plane as the top surface of the touch switch piece.

[0036] The first point is a preset point, or the first point is a random point on the printing platform.

[0037] The preset point on the printing platform close to the touch switch piece is in the same plane as the top surface of the touch switch piece.

[0038] In a second aspect, an embodiment of the present application provides an additive manufacturing device, comprising:

[0039] A touch switch piece;

[0040] A printing platform, wherein a first point on the printing platform is in the same plane as a top surface of the touch switch piece.

[0041] A printing assembly, wherein the printing assembly comprises a nozzle and a leveling sensor.

[0042] A memory, wherein the memory stores programs or instructions.

[0043] A processor, wherein the processor implements the steps of the control method of the additive manufacturing device according to the first aspect when executing the programs or instructions.

[0044] In a third aspect, an embodiment of the present application provides a readable storage medium, wherein the readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the method according to the first aspect.

[0045] In the embodiment of the present application, the first point on the printing platform is detected by the leveling sensor, the first position information of the nozzle when the leveling sensor senses the first point is obtained, and the nozzle is controlled to touch the touch switch piece to obtain the second position information of the nozzle. The compensation information of the nozzle relative to the leveling sensor is determined through the first position information and the second position information, and the corresponding multiple detection points on the printing platform are detected by the leveling sensor to obtain the third position information of the leveling sensor. Finally, the printing height of the nozzle is automatically controlled according to the third position information of the leveling sensor and the compensation information, so that the nozzle and the printing platform have a suitable distance, thereby eliminating the need for the user to manually adjust the initial position of the nozzle and the printing platform, and automatic leveling can be achieved.

[0046] The above description is only a summary of the technical solutions of the present application. In order to make the technical means of the present application more clearly understood and implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0047] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0048] Figure 1 A structural schematic diagram of an additive manufacturing device of an embodiment of the present application is shown;

[0049] Figure 2 A structural schematic diagram of an additive manufacturing device of an embodiment of the present application is shown;

[0050] Figure 3 A flowchart of a control method of an additive manufacturing device of an embodiment of the present application is shown;

[0051] Figure 4 A schematic diagram of a first point detected by a leveling sensor of an embodiment of the present application is shown;

[0052] Figure 5 A schematic diagram of a detection point detected by a leveling sensor of an embodiment of the present application is shown;

[0053] Figure 6 A schematic diagram of a leveling sensor triggering a first point of an embodiment of the present application is shown;

[0054] Figure 7 A schematic diagram of a nozzle triggering a touch switch of an embodiment of the present application is shown;

[0055] Figure 8 A schematic diagram of a fitting surface maintaining a distance L with a printing platform of an embodiment of the present application is shown.

[0056] Wherein, the correspondence between the component name and the reference sign is:

[0057] Print assembly 10, printing platform 11, touch switch 12, wiping element 13, nozzle 101, leveling sensor 102, first point 111, detection point 112. DETAILED DESCRIPTION

[0058] Clearly, the described embodiments are only some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art are within the scope of the present application.

[0059] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally represents an "or" relationship between the front and rear associated objects.

[0060] The control method of the additive manufacturing device, the additive manufacturing device and the readable storage medium provided by the embodiments of the present application will be described in detail below in combination with the drawings, through specific embodiments and application scenarios.

[0061] The embodiments of the present application provide a control method of an additive manufacturing device, as shown in Figure 1 and Figure 2 The additive manufacturing device includes a printing assembly 10, a printing platform 11 and a touch switch piece 12. The printing assembly 10 includes a nozzle 101 and a leveling sensor 102 that move synchronously. The printing platform 11 and the touch switch piece 12 can move synchronously, and a first point 111 on the printing platform 11 is in the same plane as the top surface of the touch switch piece 12.

[0062] In an embodiment, a tool with a plane, such as a square metal plate or a wooden plate, etc., can be used to make the first point 111 on the printing platform 11 in the same plane as the top surface of the touch switch piece 12. Specifically, the plane of the tool abuts the first point 111 on the upper surface of the printing platform 11, and at the same time, the top surface of the touch switch piece 12 abuts the plane of the tool, fixes the touch switch piece 12, so that the top surface of the touch switch piece 12 is in the same plane as the first point. The top surface and the first point being in the same plane can be understood as being in the same height during printing.

[0063] The first point is a point on the upper surface of the printing platform 11. The first point can be any point, such as a detection point for leveling detection by the leveling sensor 102. The first point can be a detection point closest to the touch switch piece 12 among the detection points of the leveling sensor 102, or a detection point of a preset coordinate. The leveling sensor 102 can be a leveling sensor of various forms, such as a contact type sensor, such as a stylus type leveling sensor, or a distance sensor for long distance measurement.

[0064] The first point on the printing platform 11 and the top surface of the touch switch 12 are in the same plane; the first point is a preset point, or the first point is a random point on the printing platform 11.

[0065] Optionally, a preset point 111 on the printing platform 11 that is close to the touch switch element 12 is in the same plane as the top surface of the touch switch element 12. In the present application, close can mean that the distance between the two is less than 10 mm. Since the greater the distance, the greater the error, the closer the distance, the higher the accuracy. If the surface of the printing platform 11 is uneven, the distance between the preset point 111 and the touch switch element 12 is too far, which may affect the detection results. Therefore, the preset point 111 is close to the touch switch element 12, which can reduce the flatness of the surface of the printing platform 11 or the flat tool while ensuring accuracy, thereby reducing its processing accuracy.

[0066] In one embodiment, the touch switch element 12 includes a pressing member, a stylus, and a conductive member. The top surface of the pressing member is the top surface of the touch switch element 12. The stylus is connected to the pressing member. The pressing member has an on position and an off position. In the on position, the stylus is in electrical contact with the conductive member, resulting in electrical conduction. When the pressing member is touched by the nozzle and is in the off position, the stylus is electrically disconnected from the conductive member, thereby generating a detection signal. It can be understood that the on position is a position where the top surface of the touch switch element 12 and the first point position are in the same plane.

[0067] like Figure 3 As shown, the control method of the additive manufacturing equipment includes:

[0068] S301: Control the leveling sensor to detect a first point to obtain first position information of the nozzle when the leveling sensor senses the first point.

[0069] Before this step, the leveling sensor can be used as a zero switch in the z-direction, with the first point on the print platform serving as the z-direction zeroing trigger point for the additive manufacturing device to obtain the nozzle's zero coordinates. Specifically, the printing assembly is controlled to move so that the leveling sensor reaches above the first point, and the leveling sensor is controlled to detect the first point on the print platform. When the leveling sensor generates a leveling signal, the nozzle's first position information is obtained when the leveling sensor senses the first point, i.e., the zeroing coordinates are obtained.

[0070] It should be noted that the method of controlling the leveling sensor to sense the first point position can be contact sensing via a probe touch, or non-contact sensing via a sensor, that is, remote sensing. It is understood that a dedicated zeroing sensor can also be provided for zeroing, rather than using the leveling sensor for zeroing.

[0071] In one embodiment, the step of controlling the leveling sensor to detect the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point specifically comprises: controlling the leveling sensor of the printing assembly to move to a third preset position above the first point; controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the first point, and recording the first position information, i.e. coordinate information, of the nozzle when the leveling sensor senses the first point.

[0072] In this embodiment, the leveling sensor is controlled to move to a third preset position above the first point, and then the leveling sensor is controlled to move downward in the z direction from the third preset position until the leveling sensor senses the first point, and the first position information of the nozzle at this time is recorded. Alternatively, the leveling sensor is controlled to move to a third preset position above the first point, and then the printing platform is controlled to move upward in the z direction until the leveling sensor senses the first point, and the first position information of the nozzle at this time is recorded.

[0073] By the above-mentioned way of controlling the leveling sensor to move downward or controlling the printing platform to move upward, the leveling sensor senses the first point, so that the height of the nozzle when the leveling sensor senses the first point is obtained. It can be understood that the nozzle and the leveling sensor move synchronously, the height of the nozzle, i.e. the height of the leveling sensor, and the nozzle and the leveling sensor are represented by the same coordinate information.

[0074] S302, controlling the nozzle to touch the touch switch to obtain the second position information of the nozzle.

[0075] The pressing piece in the natural state is in the on position, i.e. the contact pin is in contact with the conductive piece and is electrically conductive, and a continuous current signal can be obtained; when the nozzle contacts the top surface of the pressing piece, the pressing piece starts to descend, the top of the contact pin is separated from the conductive piece, the pressing piece changes from the on position to the off position, and the current signal stops, and the stop signal of the current signal is used as the detection signal of the touch switch.

[0076] In this step, the nozzle touches the touch switch to make the touch switch generate a detection signal, and the second position information of the nozzle is obtained at this time. Since the top surface of the touch switch is in the same plane as the first point on the printing platform, the second position information can be used as the height of the nozzle when the nozzle touches the first point.

[0077] In one embodiment of the present application, the step of controlling the nozzle to touch the touch switch to obtain the second position information of the nozzle specifically comprises: controlling the nozzle to move to a fourth preset position above the touch switch; controlling the nozzle and the touch switch to move relatively in the z direction; and if a signal change of the touch switch is received, recording the second position information of the nozzle.

[0078] In this embodiment, the nozzle is controlled to move to a fourth preset position above the touch switch, and then the nozzle and the touch switch are controlled to move relative to each other in the z direction. When the nozzle touches the touch switch, the touch switch generates a signal change, and the second position information of the nozzle at this time is recorded. In this way, the second position information of the nozzle can be accurately obtained. The nozzle can be moved to the fourth preset position above the touch switch, or the printing platform and the touch switch can be moved synchronously.

[0079] In an embodiment of the present application, the step of controlling the nozzle and the touch switch to move relative to each other in the z direction specifically includes: controlling the nozzle to move downward in the z direction; and / or controlling the printing platform and the touch switch to move upward synchronously in the z direction.

[0080] In this embodiment, after the nozzle moves to the fourth preset position above the touch switch, the nozzle is controlled to move downward in the z direction from the fourth preset position. When the nozzle touches the touch switch, the touch switch generates a signal change, and the second position information of the nozzle at this time is recorded.

[0081] Alternatively, the additive manufacturing device further includes a movement mechanism for moving the touch switch and the printing platform in the z direction. After the nozzle moves to the fourth preset position above the touch switch, the touch switch is controlled to move upward in the z direction. When the nozzle touches the touch switch, the touch switch generates a signal change, and the second position information of the nozzle at this time is recorded.

[0082] By controlling the nozzle to move downward or controlling the touch switch to move upward, the nozzle touches the touch switch, and the second position information of the nozzle is obtained.

[0083] It should be noted that the printing platform and the touch switch are connected through a connecting piece, and the first point on the printing platform and the top surface of the touch switch are in the same plane. Therefore, in order to ensure that the first point and the top surface of the touch switch are always in the same plane without deviation, the printing platform needs to be controlled to move synchronously during the movement of the touch switch.

[0084] In this way, deviation between the height of the first point and the height of the top surface of the touch switch is avoided, and the subsequent determination of the position between the nozzle and the leveling sensor is more accurate.

[0085] It can be understood that the order of S301 and S302 in the present application is not limited, and the second position information of the nozzle can be obtained first, and then the first position information of the nozzle can be obtained. It can be understood that other operations can also be replaced before and after as needed or without affecting the results.

[0086] S303, determine the compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information;

[0087] The first position information of the nozzle is obtained through S301, and the second position information of the nozzle is obtained through S302, that is, the height of the print head assembly when the nozzle and the leveling sensor touch the same point (the first point) on the printing platform is obtained respectively. The position offset between the nozzle and the leveling sensor, that is, the compensation information of the nozzle relative to the leveling sensor, can be obtained through the difference between the first position information and the second position information.

[0088] In this way, the actual height difference between the nozzle and the leveling sensor is ensured to be more accurate, so that the leveling is more accurate.

[0089] S304, control the leveling sensor to detect the plurality of detection points on the printing platform in sequence to obtain the third position information of the leveling sensor when the leveling sensor senses each detection point.

[0090] In this step, the leveling sensor is used for leveling detection, the leveling sensor is controlled to detect the plurality of detection points on the printing platform in sequence, and the third position information of the leveling sensor when the leveling sensor senses each detection point is obtained, so that the platform height information of the printing platform is obtained according to the third position information corresponding to each detection point.

[0091] In an embodiment of the present application, the third position information of the detection point is obtained in the following manner: the leveling sensor of the printing assembly is controlled to move to a preset coordinate; the leveling sensor and the printing platform are controlled to move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and the third position information of the leveling sensor is recorded.

[0092] In this embodiment, the leveling sensor of the printing assembly is controlled to move to a preset coordinate, and then the leveling sensor is controlled to move downward in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and the third position information of the leveling sensor is recorded. Alternatively, the leveling sensor of the printing assembly is controlled to move to a preset coordinate, and then the printing platform is controlled to move upward in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and the third position information of the leveling sensor is recorded.

[0093] The leveling sensor senses the detection point by moving downward or controlling the printing platform to move upward, so as to obtain the third position information of the leveling sensor.

[0094] In an embodiment of the present application, the method further comprises: for any detection point, controlling the leveling sensor to detect the detection point for N times, and taking the coordinate result of the Nth detection as the third position information of the leveling sensor, where N is a positive integer greater than 1.

[0095] In this embodiment, for any detection point, the leveling sensor is controlled to detect the detection point for N times, such as at least twice, and the coordinate result of the last detection is taken as the third position information of the leveling sensor.

[0096] The first detection can obtain the specific detection position of the leveling sensor. Since the specific detection position is known, the leveling sensor can be moved at a first speed in the second detection. When the leveling sensor approaches the detection point, the speed is reduced to a second speed. The second speed is less than the first speed, so as to avoid inaccurate detection caused by too high speed and improve the leveling speed. In the first detection, the leveling sensor can be moved at a third speed, which is greater than the second speed.

[0097] In an embodiment of the present application, the method further comprises: if the difference between the coordinate results of the N detections is greater than a preset error threshold, issuing a prompt information or performing an (N+1)th detection; if the (N+1)th detection is performed, taking the coordinate result of the (N+1)th detection as the third position information of the leveling sensor.

[0098] In this embodiment, if the difference between the coordinate results of the N detections is greater than a preset error threshold, it indicates that the detection is inaccurate. For example, for a detection point, the leveling sensor detects twice in total. If the difference between the coordinate result of the first detection and the coordinate result of the second detection is less than or equal to a preset error threshold, the coordinate result of the second detection is taken as the third position information of the leveling sensor. If the difference between the coordinate result of the first detection and the coordinate result of the second detection is greater than the preset error threshold, it may be due to the damage of the leveling sensor, which causes inaccurate detection. In this case, an error can be reported, that is, a prompt information is issued to remind the user of this situation. Alternatively, a third detection can be performed, and the coordinate result of the third detection is taken as the third position information of the leveling sensor.

[0099] In this way, inaccurate detection results are avoided, and the leveling accuracy is improved.

[0100] S305, according to the compensation information and the third position information of the leveling sensor, controlling the printing assembly to perform printing compensation.

[0101] In this step, the platform height information is determined according to the third position information obtained by the leveling sensor detecting each detection point, and the printing height of the nozzle relative to the printing platform is determined according to the compensation information of the nozzle relative to the leveling sensor, so that the initial position of the nozzle and the printing platform is automatically leveled without manual adjustment.

[0102] As shown in Figure 4 , the leveling sensor 102 is used as a zero-return switch in the z direction, and the first point 111 on the printing platform 11 is used as a zero-return trigger point in the z direction of the additive manufacturing equipment. Specifically, the printing assembly is moved until the leveling sensor 102 is directly above the first point 111, and the first point 111 is detected to obtain the first position information of the nozzle 101, i.e. the zero-return coordinates, denoted as Z0.

[0103] The nozzle 101 contacts the touch switch 12 to obtain the second position information of the nozzle 101. Specifically, the nozzle 101 is lifted and moved to be directly above the touch switch 12, and then lowered until the touch switch 12 is triggered, and then lifted to record the height coordinates Z1 of the nozzle 101 at the triggering moment. The compensation information between the nozzle 101 and the leveling sensor 102 is obtained by Z0 and Z1, and the compensation information = Z0 + Z1, wherein Z0 = 0.

[0104] As shown in Figure 5 , a preset number of detection points 112 are detected by the leveling sensor 102 to obtain the relative coordinates of the detection points 112 in the height direction, and then fitted into a fitting surface A parallel to the printing platform 11.

[0105] As shown in Figure 6 , when the leveling sensor 102 is triggered, the distance between the nozzle 101 and the printing platform 11 is consistent with the distance between the fitting surface A and the printing platform 11, and this distance is denoted as L. As shown in Figure 7 , the height of the touch switch 12 is flush with the height of the printing platform region close to it, and the height coordinates of the nozzle 101 when the nozzle 101 triggers the touch switch 12 are denoted as Z1, which is combined with Figure 6 and Figure 7 , and theoretically L = Z1 can be calculated. As shown in Figure 8 , the fitting surface A fitted by the leveling sensor 102 detecting the preset number of detection points 112 maintains a distance L from the printing platform 11, and after the fitting surface A is lowered by L, it can be approximately coincident with the platform surface. It can be understood that in addition to the compensation according to the compensation information and the third position information of the leveling sensor, other information is also used for printing compensation.

[0106] The embodiment of the present application detects the first point on the printing platform through the leveling sensor, obtains the first position information of the nozzle when the leveling sensor senses the first point, controls the nozzle to touch the touch switch piece to obtain the second position information of the nozzle. Through the first position information and the second position information, the compensation information of the nozzle relative to the leveling sensor is determined, then the corresponding multiple detection points on the printing platform are detected by the leveling sensor to obtain the third position information of the leveling sensor, and finally the printing height of the nozzle is automatically controlled according to the third position information and the compensation information of the leveling sensor, so that the nozzle and the printing platform have a suitable distance, thereby the user does not need to manually adjust the initial position of the nozzle and the printing platform, and automatic leveling can be realized.

[0107] In one embodiment, after leveling, the printing model needs to be printed by first zeroing the printing assembly through the leveling sensor, and the zeroing position is located on the printing platform close to the touch switch piece. By zeroing after leveling, the zero point coordinate is confirmed to ensure the smooth progress of the printing process.

[0108] The leveling sensor is used as the zero switch in the z direction, that is, the leveling sensor has two functions of leveling and zeroing, and a separate zero switch in the z direction is not needed, which can reduce the cost of the additive manufacturing equipment.

[0109] In one embodiment of the present application, the printing assembly further comprises a heat dissipation piece; the method further comprises: turning on the heat dissipation piece to cool the leveling sensor during the detection of the detection point by the leveling sensor.

[0110] In this embodiment, the printing assembly further comprises a heat dissipation piece, which can be a fan and can blow air towards other printing assemblies and / or printing models to cool the other printing assemblies and / or printing models.

[0111] The temperature of the leveling sensor is too high, which will affect the working precision and stability. During the detection of the detection point by the leveling sensor, the heat dissipation piece is controlled to be turned on to blow air to the leveling sensor to cool the leveling sensor, keep the temperature of the leveling sensor stable, and ensure the detection precision of the leveling sensor.

[0112] It should be noted that, in some embodiments, in order to make the leveling environment consistent with the printing environment, the printing platform and the nozzle usually need to be heated first, and the temperature of the printing platform and the nozzle will affect the leveling sensor. Cooling the leveling sensor through the heat dissipation piece can reduce the influence of the temperature of the nozzle and the temperature of the printing platform on the leveling sensor and improve the leveling precision.

[0113] In one embodiment of the present application, the method further comprises:

[0114] In the process of controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is greater than or equal to the preset distance threshold, the heat dissipation piece is turned on; and / or,

[0115] In the process of controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is less than the preset distance threshold, the heat dissipation piece is turned off; and / or,

[0116] After obtaining the third position information of the leveling sensor when the leveling sensor senses each detection point, the leveling sensor and the printing platform are controlled to move away from each other in the z direction, and the heat dissipation piece is turned on.

[0117] In the case that the leveling sensor and the printing platform are controlled to move relatively in the z direction to detect the detection point of the printing platform corresponding to the preset coordinate, and the distance between the leveling sensor and the detection point is greater than or equal to the preset distance threshold, the heat dissipation piece is turned on to cool the leveling sensor. When the leveling sensor and the printing platform are controlled to move relatively in the z direction to detect the detection point of the printing platform corresponding to the preset coordinate, and the distance between the leveling sensor and the detection point is less than the preset distance threshold, at this time the leveling sensor is about to detect the detection point, in order to reduce the influence of the vibration of the heat dissipation piece on the detection accuracy, the heat dissipation piece needs to be temporarily turned off.

[0118] Further, after obtaining the third position information of the leveling sensor, the leveling sensor and the printing platform are controlled to move away from each other in the z direction, that is, the leveling sensor moves away from the preset coordinate of the detection point, in this process, the heat dissipation piece is turned on again to cool the leveling sensor.

[0119] It should be noted that the heat dissipation piece can be turned on again when the leveling sensor starts to move away from the preset coordinate, or the heat dissipation piece can be turned on again when the leveling sensor moves away from the preset coordinate by a certain distance.

[0120] In an embodiment of the present application, the additive manufacturing device further comprises a first heating device and a second heating device; before controlling the leveling sensor to detect the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point, further comprising: controlling the printing assembly and the printing platform to zero; controlling the first heating device to heat the printing platform to a first preset temperature, and then controlling the second heating device to heat the nozzle of the printing assembly.

[0121] In this embodiment, first, the printing assembly and the printing platform are controlled to perform a zeroing operation, specifically, the x-direction zero point sensor, the y-direction zero point sensor and the z-direction leveling sensor are used to control the printing assembly and / or the printing platform to move to the zero position in the x-direction, the y-direction and the z-direction.

[0122] The additive manufacturing device further comprises a first heating device and a second heating device, the first heating device is used to heat the printing platform, and the second heating device is used to heat the nozzle.

[0123] Due to the thermal expansion and contraction effect of the nozzle and the printing platform, the position of the bottom end of the nozzle and / or the position and shape of the top surface of the printing platform change. Therefore, in order to ensure that the detection environment of the nozzle and the printing platform is the real printing state during printing, after the printing assembly moves to a position with a first height from the printing platform in the z-direction, the first heating device is controlled to heat the printing platform, and the second heating device is controlled to heat the nozzle, for example, the printing platform is heated to a temperature between 50℃ and 70℃, such as 60℃, and the nozzle is heated to a temperature greater than the melting temperature of the printing material.

[0124] In the above manner, the leveling environment and the printing environment are consistent, so as to improve the leveling precision.

[0125] In addition, it should be noted that, in order to avoid excessive heating power, the printing platform and the nozzle are not heated at the same time. In addition, since the printing platform is heated slowly and the nozzle is heated quickly, and the temperature of the nozzle has a greater impact on the leveling sensor, the printing platform is first heated, and then the nozzle is heated, and the leveling is performed after the nozzle is heated, which can reduce the impact of the heating of the nozzle on the leveling sensor. The printing platform is first heated, and the required power is too high, and the printing platform is maintained at a predetermined temperature, and the required power is less than the heating power, and then the nozzle is heated, and the temperature of the nozzle is heated quickly, which can reduce the total power of the additive manufacturing device and save the heating time.

[0126] In an embodiment of the present application, before the first heating device is controlled to heat the printing platform and the second heating device is controlled to heat the nozzle of the printing assembly, the printing assembly is controlled to move to a position with a first height from the printing platform in the z-direction.

[0127] In this embodiment, the printing assembly is controlled to move to a position with a first height from the printing platform in the z direction, which can be 5-15 mm, for example 10 mm, so that a certain height difference is formed between the nozzle and the printing platform. Because there can be residual printing material inside the nozzle after the last printing, if the nozzle is heated later, the material inside the nozzle will melt. If the nozzle is not lifted, the printing material flowing out due to melting and gravity will accumulate between the nozzle and the printing platform, and even stick to the side of the nozzle, thereby affecting the detection accuracy when the nozzle touches the touch switch.

[0128] In one embodiment of the present application, after the first heating device is controlled to heat the printing platform and the second heating device is controlled to heat the nozzle of the printing assembly, the method further comprises: controlling the relative movement of the printing assembly and the printing platform so that the projection of the printing assembly is located outside the printing platform and has a second height from the printing platform in the z direction; and controlling the nozzle of the printing assembly to spray printing material for a preset length or a preset time.

[0129] In this embodiment, the printing assembly is controlled to move to a first preset position, so that the printing assembly and the printing platform have a certain distance in the horizontal direction and the z direction. For example, the printing assembly has a first distance from the printing platform in the horizontal direction, i.e., the projection of the printing assembly is located outside the printing platform, and has a second height from the printing platform in the z direction, which can be 5-15 mm, for example 10 mm. Then, the pushing mechanism of the additive manufacturing equipment is used to push the printing material out of the nozzle for a preset length or a preset time, so as to squeeze out part of the printing material adhered to the nozzle.

[0130] For example, as shown in Figure 2 , the nozzle is stopped at an arbitrary position in front of the printing platform, and the nozzle has a distance of 10 mm from the printing platform in the z direction. Then, the pushing mechanism of the additive manufacturing equipment is used to push the printing material out of the nozzle for a preset length, so as to squeeze out part of the printing material adhered to the nozzle. Because there can be residual printing material at the bottom or even the side of the nozzle after the last printing, the residual printing material is pushed down by the pushing force, so that the nozzle is cleaner and the position information of the nozzle obtained when the nozzle touches the touch switch is more accurate.

[0131] In one embodiment, after the nozzle is heated, the nozzle is moved to a position as shown in Figure 2 , and the pushing mechanism is used to push the printing material out of the nozzle for a preset length. The printing material is melted by heating and then extruded, so that the extruded printing material is easier.

[0132] In one embodiment of the present application, before controlling the leveling sensor to detect the first point position to obtain the first position information of the nozzle when the leveling sensor senses the first point position, it also includes: controlling the relative movement of the printing component and the printing platform so that the leveling sensor reaches above the first point position, and during the movement of the printing component, the edge of the printing platform knocks the printing material on the nozzle off.

[0133] In this embodiment, the printing assembly and the printing platform are controlled to move relative to each other so that the leveling sensor reaches above a first point, thereby controlling the leveling sensor to detect the first point and obtaining first nozzle position information when the leveling sensor senses the first point. Furthermore, during the movement of the printing assembly, the nozzle moves from outside the printing platform to inside the printing platform. Printing material extruded by the nozzle can strike the edge of the printing platform and thus break away from the nozzle, thereby increasing the accuracy of the nozzle position information obtained when the nozzle contacts the touch switch.

[0134] In one embodiment of the present application, the additive manufacturing device also includes an erasing member; before controlling the nozzle to touch the touch switch member to obtain the second position information of the nozzle, it also includes: controlling the nozzle of the printing component to move to a second preset position above the erasing member; controlling the nozzle and the erasing member to move relative to each other in the z direction until the nozzle touches the erasing member.

[0135] In this embodiment, if Figure 1 and Figure 2 As shown, the additive manufacturing device further includes a wiper 13, which can be positioned near the touch switch 12. The wiper 13 is used to clean the bottom end of the nozzle. The wiper 13 is made of an elastic material, such as heat-resistant silicone or heat-resistant rubber. An elastic element (e.g., a spring) can be provided at the bottom of the wiper 13 to generate a certain elastic force when cleaning the bottom end of the nozzle, thereby preventing damage to the nozzle and ensuring good contact.

[0136] Specifically, before controlling the nozzle of the printing assembly to touch the touch switch component, the nozzle is moved to a second preset position above the erasing component, and the nozzle is controlled to descend and squeeze the erasing component or the erasing component is controlled to rise and squeeze the nozzle, so that the erasing component cleans the bottom end of the nozzle.

[0137] In the above manner, the wiping member is used to clean the residual printing material overflowed due to the heating of the nozzle, thereby avoiding the problem of inaccurate detection caused by the nozzle being unable to directly contact the touch switch member.

[0138] In one embodiment of the present application, the method further includes: after the nozzle touches the wiping member, controlling the nozzle and the wiping member to move relative to each other in a horizontal direction to clean the nozzle.

[0139] In this embodiment, after the nozzle touches the wiping member, the nozzle and the wiping member are controlled to reciprocate relative to each other in the horizontal direction for a preset number of times, for example, the nozzle is moved left and right or forward and backward for several times of wiping, so as to improve the cleaning effect on the nozzle.

[0140] In an embodiment of the present application, the method further comprises: during the process that the nozzle touches the wiping member, controlling the heat dissipation member of the additive manufacturing equipment to be turned on to cool the nozzle, so that the temperature of the nozzle is lower than the melting temperature of the printing material.

[0141] In this embodiment, during the process that the nozzle touches the wiping member, the heat dissipation member is turned on to cool the nozzle, so that the nozzle is cooled to below the melting temperature of the printing material in the nozzle, the printing material in the nozzle no longer melts, and the nozzle no longer has printing material dripping, so as to ensure that there is no residual printing material on the nozzle after the nozzle is cleaned by the wiping member, and to avoid affecting the detection result when the nozzle touches the touch switch member. It can be understood that before the nozzle is cooled and the temperature of the nozzle is lower than the melting temperature of the printing material, the temperature of the nozzle is higher than the melting temperature of the printing material. The melting temperature of the printing material is different according to different printing materials, and the melting temperature can be 170℃, 160℃, 150℃, etc.

[0142] In this embodiment, during the process that the nozzle touches the wiping member, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on, including:

[0143] When the nozzle and the wiping member start to move relative to each other in the horizontal direction, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on; or,

[0144] During the process that the nozzle and the wiping member move relative to each other in the horizontal direction, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on; or,

[0145] After the nozzle and the wiping member stop moving relative to each other in the horizontal direction, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on.

[0146] During the process that the nozzle touches the wiping member, it can be when the nozzle and the wiping member start to move relative to each other in the horizontal direction, or during the process that the nozzle and the wiping member move relative to each other in the horizontal direction, or after the nozzle and the wiping member stop moving relative to each other in the horizontal direction, so that there is a period of time during the process that the nozzle and the wiping member move relative to each other in the horizontal direction, and the temperature of the nozzle is higher than the melting point of the printing material. For example, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on after the nozzle and the wiping member stop moving relative to each other in the horizontal direction, which can better clean the nozzle.

[0147] In an embodiment of the present application, the method further comprises: when the temperature of the nozzle is lower than the melting temperature of the printing material or the cooling time of the nozzle is greater than a preset time threshold, turning off the heat dissipation member, and controlling the nozzle to be separated from the wiping member.

[0148] In this embodiment, after the nozzle temperature is reduced below the melting temperature of the printing material, or after the temperature reduction time of the nozzle reaches a preset time threshold, it is ensured that the printing material is in a solid state and no longer drips, so that the heat dissipation member is turned off and the nozzle is controlled to be separated from the wiping member, and the cleaning of the nozzle is completed.

[0149] It is worth noting that, in fact, due to the inclination angle of the installation of the printing platform plane, the uneven thickness of the coating on the printing platform surface, the installation error of the height of the touch switch element, and other device factors, the compensation information between the nozzle and the leveling sensor obtained through the first position information and the second position information is inaccurate, and the leveling accuracy is reduced.

[0150] In view of this problem, in an embodiment of the present application, the step of determining the compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information specifically comprises: obtaining a set error compensation value, and determining the compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information and the second position information; wherein the set error compensation value is used to compensate for the leveling error; the leveling error includes at least one of the following: the installation inclination angle of the printing platform, the coating thickness error of the printing platform, and the installation height error of the touch switch element.

[0151] In this embodiment, the set error compensation value is obtained to compensate for the leveling error, wherein the leveling error includes but is not limited to the installation inclination angle of the printing platform, the coating thickness error of the printing platform, the installation height error of the touch switch element, and other device factors.

[0152] The position offset between the nozzle and the leveling sensor is obtained through the difference between the first position information and the second position information, and the position offset is compensated by using the set error compensation value to obtain the compensation information of the nozzle relative to the leveling sensor. Exemplarily, the compensation information of the nozzle relative to the leveling sensor = Z0+Z1+h, wherein Z0=0, Z1 is a negative value, and h is the set error compensation value.

[0153] The embodiments of the present application do not need to manually adjust the initial position of the nozzle and the printing platform, can realize automatic leveling, and compensate for the position of the nozzle and the leveling sensor by using the set error compensation value, so as to ensure that the actual height difference between the nozzle and the leveling sensor is more accurate, thereby making the leveling more accurate.

[0154] In an embodiment of the present application, the additive manufacturing device further comprises an interaction device; and the set error compensation value is obtained by the interaction device.

[0155] In this embodiment, the additive manufacturing device is provided with an interaction device, which can interact with the user to obtain the information input by the user.

[0156] Different leveling errors of different additive manufacturing devices can be compensated by manually setting the setting error compensation value of the current additive manufacturing device through the interactive device, so as to compensate the height difference detected between the nozzle and the leveling sensor of the current additive manufacturing device, thereby improving the leveling accuracy.

[0157] It should be noted that for an additive manufacturing device, the setting error compensation value is unchanged when the printing platform and the touch switch part of the additive manufacturing device are not replaced and the positions between the two are not adjusted, the setting error compensation value is saved in the memory of the additive manufacturing device and is not subject to firmware changes, and is only manually modified and saved by operating the interactive device.

[0158] In an embodiment of the present application, the method further comprises: obtaining a trigger depth of the touch switch part; and determining the compensation information of the nozzle relative to the leveling sensor according to the setting error compensation value, the first position information and the second position information, specifically comprising: determining the compensation information of the nozzle relative to the leveling sensor according to the trigger depth, the setting error compensation value, the first position information and the second position information.

[0159] In this embodiment, when the bottom end of the nozzle contacts the top surface of the pressing part, the pressing part starts to be pushed down, so that the pressing part changes from the on position to the off position, and the downward movement of the pressing part will generate a certain displacement, that is, the trigger depth of the touch switch part, which will affect the actual height difference between the nozzle and the leveling sensor.

[0160] The present application takes this problem into account, and determines the compensation information of the nozzle relative to the leveling sensor by comprehensively considering the trigger depth of the touch switch part, the setting error compensation value, the first position information and the second position information, so as to improve the accuracy of the actual height difference between the nozzle and the leveling sensor.

[0161] In a specific embodiment of the present application, the leveling method comprises the following steps:

[0162] Step A. Control the printing assembly and the printing platform to zero, and then control the printing assembly to move to a position at a first height in the z direction from the printing platform.

[0163] Step B. Control the first heating device to heat the printing platform to a first preset temperature, and then control the second heating device to heat the nozzle of the printing assembly.

[0164] Step C. Control the relative movement of the printing assembly and the printing platform so that the projection of the printing assembly is located outside the printing platform and at a second height in the z direction from the printing platform, and control the nozzle of the printing assembly to spray printing material for a preset length or a preset time.

[0165] Step D. Control the relative movement of the printing component and the printing platform so that the leveling sensor reaches above the first point, and control the leveling sensor to detect the first point to obtain the first position information of the nozzle when the leveling sensor senses the first point.

[0166] Specifically, the leveling sensor is controlled to detect the first point position to obtain the first position information of the nozzle when the leveling sensor senses the first point position, specifically including: controlling the leveling sensor of the printing component to move to a third preset position above the first point position; controlling the leveling sensor and the printing platform to move relative to each other in the z direction until the leveling sensor senses the first point position, and recording the first position information when the leveling sensor senses the first point position.

[0167] In one embodiment, during the movement of the printing assembly, the edge of the printing platform knocks off the printing material on the nozzle.

[0168] Step E: Control the nozzle of the printing assembly to move to a second preset position above the wiping member, and control the nozzle and the wiping member to move relative to each other in the z direction until the nozzle touches the wiping member.

[0169] In one embodiment, after the nozzle touches the wiping member, the nozzle and the wiping member are controlled to move back and forth relative to each other in the horizontal direction for a preset number of times.

[0170] In one embodiment, while the nozzle is in contact with the eraser, the heat sink of the additive manufacturing device is controlled to be turned on to cool the nozzle, lowering the nozzle temperature to below the melting temperature of the printing material. If the nozzle temperature is lower than the melting temperature of the printing material or the nozzle cooling time exceeds a preset time threshold, the heat sink is turned off and the nozzle is controlled to separate from the eraser.

[0171] Step F: controlling the nozzle to touch the touch switch element to obtain second position information of the nozzle.

[0172] Specifically, the nozzle of the printing component is controlled to move to a fourth preset position above the touch switch element; the nozzle and the touch switch element are controlled to move relative to each other in the z direction; if a signal change from the touch switch element is received, the second position information of the nozzle is recorded.

[0173] In one embodiment, controlling the relative movement of the nozzle and the touch switch member in the z direction includes: controlling the nozzle to move downward in the z direction; and / or controlling the printing platform and the touch switch member to move synchronously upward in the z direction.

[0174] Step G. Controlling the leveling sensor to detect a plurality of detection points on the printing platform in sequence to obtain third position information of the leveling sensor when the leveling sensor senses each of the detection points.

[0175] In one embodiment, the third position information of the detection point is obtained in the following manner: controlling the leveling sensor of the printing assembly to move to a preset coordinate; controlling the leveling sensor to move relative to the printing platform in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and recording the third position information of the leveling sensor.

[0176] In addition, for any of the detection points, the leveling sensor is controlled to detect the detection point N times, and the Nth detected coordinate result is taken as the third position information of the leveling sensor, N being a positive integer greater than 1.

[0177] If the difference between the N detected coordinate results is greater than a preset error threshold, a prompt information is issued or the N+1th detection is performed; if the N+1th detection is performed, the N+1th detected coordinate result is taken as the third position information of the leveling sensor.

[0178] In one embodiment, during the detection of the leveling sensor on the detection point, the heat dissipation member is controlled to be turned on to cool the leveling sensor.

[0179] Specifically, during the process of controlling the leveling sensor to move relative to the printing platform in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is greater than or equal to a preset distance threshold, the heat dissipation member is turned on; and / or during the process of controlling the leveling sensor to move relative to the printing platform in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is less than a preset distance threshold, the heat dissipation member is turned off; and / or after obtaining the third position information of the leveling sensor when the leveling sensor senses each of the detection points, the leveling sensor is controlled to move away from the printing platform in the z direction, and the heat dissipation member is turned on.

[0180] Step H. Controlling the printing assembly to perform printing compensation according to the compensation information and the third position information of the leveling sensor.

[0181] Specifically, a set error compensation value is acquired, and compensation information of the nozzle relative to the leveling sensor is determined according to the set error compensation value, the first position information and the second position information; wherein the set error compensation value is used to compensate for a leveling error; the leveling error includes at least one of the following: an installation inclination angle of the printing platform, a coating thickness error of the printing platform, and an installation height error of the touch switch piece.

[0182] In one embodiment, the set error compensation value is acquired, specifically including: acquiring the set error compensation value input by a user through the interaction device.

[0183] In one embodiment, the method further includes: acquiring a trigger depth of the touch switch piece; and the compensation information of the nozzle relative to the leveling sensor is determined according to the trigger depth, the set error compensation value, the first position information and the second position information.

[0184] Embodiments of the present application also provide an additive manufacturing device, as shown in Figure 1 and Figure 2 The additive manufacturing device includes:

[0185] a touch switch piece 12;

[0186] a printing platform 11, wherein a first point 111 on the printing platform 11 is in the same plane as a top surface of the touch switch piece 12;

[0187] a printing assembly 10, wherein the printing assembly 10 includes a nozzle 101 and a leveling sensor 102;

[0188] a memory (not shown in the figure), wherein the memory stores programs or instructions;

[0189] a processor (not shown in the figure), wherein the processor implements each process of the control method of the additive manufacturing device when executing the programs or instructions, and achieves the same technical effects, and thus will not be described here again.

[0190] The memory can be used to store software programs and various data. The memory can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory can include a volatile memory or a non-volatile memory, or the memory can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0191] The processor can include one or more processing units; optionally, the processor integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor.

[0192] In one embodiment, the additive manufacturing device further comprises a wiping member 13, which can be arranged near the position of the touch switch member 12, and the wiping member 13 is used to clean the bottom end of the nozzle 101. The wiping member 13 is used to clean the residual printing material overflowed due to the heating of the nozzle 101, so as to avoid the problem that the nozzle 101 cannot directly contact the touch switch member 12, resulting in inaccurate detection.

[0193] The wiping member 13 is made of elastic material, such as temperature-resistant silica gel or temperature-resistant rubber, or the bottom of the wiping member 13 is provided with an elastic element (for example, a spring), so that the wiping member 13 can generate a certain elastic force when cleaning the bottom end of the nozzle 101, thereby avoiding damage to the nozzle 101.

[0194] In one embodiment, the additive manufacturing device further comprises an interaction device, through which a setting error compensation value of the current additive manufacturing device is manually set, so as to compensate for the height difference detected between the nozzle 101 and the leveling sensor 102 of the current additive manufacturing device.

[0195] In one embodiment, the printing assembly 10 further comprises a heat dissipation member, which is used to cool the leveling sensor 102 during the detection of the detection point 112 by the leveling sensor 102, so as to keep the temperature of the leveling sensor 102 stable and ensure the detection accuracy of the leveling sensor 102. The heat dissipation member is also used to cool the nozzle 101 during the process in which the nozzle 101 touches the wiping member 13, so that the nozzle 101 is cooled to below the melting temperature of the printing material, and the printing material in the nozzle 101 no longer melts, so that the nozzle 101 no longer has printing material dripping, thereby ensuring that there is no residual printing material on the nozzle 101 after the nozzle 101 is cleaned by the wiping member 13, and avoiding affecting the detection result when the nozzle 101 touches the touch switch member 12.

[0196] In one embodiment, the additive manufacturing device further comprises a first heating device and a second heating device, the first heating device is used to heat the printing platform 11 before the first point 111 is detected by the leveling sensor 102 to obtain the first position information of the first point 111, and the second heating device is used to heat the nozzle 101 before the first point 111 is detected by the leveling sensor 102 to obtain the first position information of the first point 111. By heating the printing platform 11 and the nozzle 101, the leveling environment and the printing environment are consistent, so as to improve the leveling accuracy.

[0197] The embodiment of the present application also provides a readable storage medium, the readable storage medium stores a program or instructions, the program or instructions are executed by a processor to realize each process of the control method of the additive manufacturing device, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0198] In the present application, the additive manufacturing device provided by the embodiment of the present application is labeled as 1, and the control method of the additive manufacturing device comprises a printing assembly, a printing platform and a touch switch member, the printing assembly comprises a nozzle and a leveling sensor which move synchronously, and the printing platform comprises a first point; the method comprises:

[0199] controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point;

[0200] controlling the nozzle to touch the touch switch to obtain second position information of the nozzle;

[0201] determining compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information;

[0202] controlling the leveling sensor to sequentially detect a plurality of detection points corresponding to the printing platform to obtain third position information of the leveling sensor when the leveling sensor senses each of the detection points;

[0203] controlling the printing assembly to perform printing compensation according to the compensation information and the third position information of the leveling sensor.

[0204] Label 2, on the basis of label 1, the printing assembly further comprises a heat dissipation member; the method further comprises:

[0205] during the detection of the detection point by the leveling sensor, the heat dissipation member is turned on to cool the leveling sensor.

[0206] Label 3, on the basis of label 2, the third position information of the detection point is obtained in the following way:

[0207] controlling the leveling sensor of the printing assembly to move to a preset coordinate;

[0208] controlling the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, and recording the third position information of the leveling sensor.

[0209] Label 4, on the basis of label 3, the method further comprises:

[0210] during the relative movement of the leveling sensor and the printing platform in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is greater than or equal to a preset distance threshold, the heat dissipation member is turned on; and / or

[0211] during the relative movement of the leveling sensor and the printing platform in the z direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinate, if the distance between the leveling sensor and the detection point is less than a preset distance threshold, the heat dissipation member is turned off; and / or

[0212] After acquiring the third position information of the leveling sensor when the leveling sensor senses each of the detection points, the method further comprises:

[0213] Controlling the leveling sensor and the printing platform to move away from each other in the z direction, and turning on the heat dissipation member.

[0214] Label 5, based on label 1, the additive manufacturing device further comprises a first heating device and a second heating device; before the control of the leveling sensor detecting the first point to acquire the first position information of the nozzle when the leveling sensor senses the first point, further comprising:

[0215] Controlling the printing assembly and the printing platform to zero;

[0216] Controlling the first heating device to heat the printing platform to a first preset temperature, and then controlling the second heating device to heat the nozzle of the printing assembly.

[0217] Label 6, based on label 5, before the control of the first heating device heating the printing platform and the control of the second heating device heating the nozzle of the printing assembly, further comprising:

[0218] Controlling the printing assembly to move to a position with a first height in the z direction from the printing platform.

[0219] Label 7, based on label 5, after the control of the first heating device heating the printing platform and the control of the second heating device heating the nozzle of the printing assembly, further comprising:

[0220] Controlling the relative movement of the printing assembly and the printing platform, so that the projection of the printing assembly is located outside the printing platform and has a second height in the z direction from the printing platform;

[0221] Controlling the nozzle of the printing assembly to spray printing material with a preset length or for a preset time.

[0222] Label 8, based on label 7, before the control of the leveling sensor detecting the first point to acquire the first position information of the nozzle when the leveling sensor senses the first point, further comprising:

[0223] Controlling the relative movement of the printing assembly and the printing platform, so that the leveling sensor reaches above the first point, and in the process of moving the printing assembly, the edge of the printing platform breaks the printing material on the nozzle.

[0224] Label 9, on the basis of label 1, the additive manufacturing device further comprises a wiping element; before the control of the nozzle touching the touch switch element to obtain the second position information of the nozzle, further comprising:

[0225] Control the nozzle of the printing assembly to move to a second preset position above the wiping element;

[0226] Control the nozzle and the wiping element to move relatively in the z direction until the nozzle touches the wiping element.

[0227] Label 10, on the basis of label 9, the method further comprises:

[0228] After the nozzle touches the wiping element, control the nozzle and the wiping element to move relatively in the horizontal direction to clean the nozzle.

[0229] Label 11, on the basis of label 10, the method further comprises:

[0230] During the process that the nozzle touches the wiping element, control the heat dissipation element of the additive manufacturing device to be turned on to cool the nozzle, so that the temperature of the nozzle is lower than the melting temperature of the printing material.

[0231] Label 12, on the basis of label 11, the method further comprises:

[0232] When the temperature of the nozzle is lower than the melting temperature of the printing material or the cooling time of the nozzle is greater than a preset time threshold, turn off the heat dissipation element, and control the nozzle to separate from the wiping element.

[0233] Label 13, on the basis of label 11, the control of the heat dissipation element of the additive manufacturing device to be turned on during the process that the nozzle touches the wiping element, comprising:

[0234] When the nozzle and the wiping element start to move relatively in the horizontal direction, control the heat dissipation element of the additive manufacturing device to be turned on; or,

[0235] During the process that the nozzle and the wiping element move relatively in the horizontal direction, control the heat dissipation element of the additive manufacturing device to be turned on; or,

[0236] After the nozzle and the wiping element stop moving relatively in the horizontal direction, control the heat dissipation element of the additive manufacturing device to be turned on.

[0237] Label 14, on the basis of any one of labels 1 to 13, the determination of the compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information, comprising:

[0238] acquire a set error compensation value, and determine compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information and the second position information;

[0239] The set error compensation value is used to compensate for a leveling error.

[0240] The leveling error includes at least one of an installation inclination angle of the printing platform, a coating thickness error of the printing platform, and an installation height error of the touch switch.

[0241] Label 15, on the basis of any one of labels 1 to 13, the additive manufacturing device further comprises an interactive device; and the acquisition of the set error compensation value specifically includes:

[0242] The set error compensation value is input by the user through the interactive device.

[0243] Label 16, on the basis of label 14, the method further includes:

[0244] Acquire the trigger depth of the touch switch;

[0245] The determination of the compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information and the second position information specifically includes:

[0246] According to the trigger depth, the set error compensation value, the first position information and the second position information, the compensation information of the nozzle relative to the leveling sensor is determined.

[0247] Label 17, on the basis of any one of labels 1 to 13, the control of the leveling sensor to detect the first point position to acquire the first position information of the nozzle when the leveling sensor senses the first point position specifically includes:

[0248] Control the leveling sensor of the printing assembly to move to a third preset position above the first point position;

[0249] Control the leveling sensor and the printing platform to move relatively in the z direction until the leveling sensor senses the first point position, and record the first position information when the leveling sensor senses the first point position.

[0250] Label 18, on the basis of any one of labels 1 to 13, the control of the nozzle to touch the touch switch to acquire the second position information of the nozzle specifically includes:

[0251] Control the nozzle to move to a fourth preset position above the touch switch.

[0252] controlling the nozzle and the touch switch to move relatively in the z direction;

[0253] if the signal change of the touch switch is received, recording second position information of the nozzle.

[0254] Label 19, on the basis of label 18, the control of the nozzle and the touch switch to move relatively in the z direction, comprising:

[0255] controlling the nozzle to move downward in the z direction; and / or

[0256] controlling the printing platform and the touch switch to move upward synchronously in the z direction.

[0257] Label 20, on the basis of any one of labels 1 to 13, the method further comprises:

[0258] for any of the detection points, controlling the leveling sensor to detect the detection points N times, and taking the coordinate result of the Nth detection as the third position information of the leveling sensor, N is a positive integer greater than 1.

[0259] Label 21, on the basis of label 20, the method further comprises:

[0260] if the difference between the coordinate results of N detections is greater than a preset error threshold, issuing a prompt information or performing the N+1th detection;

[0261] if the N+1th detection is performed, taking the coordinate result of the N+1th detection as the third position information of the leveling sensor;

[0262] the first point on the printing platform and the top surface of the touch switch are in the same plane;

[0263] the first point is a preset point, or the first point is a random point on the printing platform;

[0264] the preset point on the printing platform close to the touch switch and the top surface of the touch switch are in the same plane.

[0265] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above specific embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms under the inspiration of the application without departing from the scope of the application and the protection scope of the claims.

Claims

1. A control method for additive manufacturing equipment, characterized in that: The additive manufacturing device includes a printing component, a printing platform, and a touch switch component, the printing component includes a synchronously moving nozzle and a leveling sensor, and the printing platform includes a first point position; the method includes: controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point; controlling the nozzle to touch the touch switch element to obtain second position information of the nozzle; determining compensation information of the nozzle relative to the leveling sensor according to the first position information and the second position information; Controlling the leveling sensor to detect the plurality of detection points corresponding to the printing platform in sequence, so as to obtain third position information of the leveling sensor when the leveling sensor senses each detection point; The printing component is controlled to perform printing compensation according to the compensation information and the third position information of the leveling sensor.

2. The method according to claim 1, characterized in that The printing assembly further includes a heat sink; and the method further includes: During the process of the leveling sensor detecting the detection point, the heat sink is turned on to cool the leveling sensor.

3. The method according to claim 2, characterized in that The third position information of the detection point is obtained in the following manner: Controlling the leveling sensor of the printing assembly to move to a preset coordinate; Controlling the leveling sensor and the printing platform to move relative to each other in the z-direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinates, and recording third position information of the leveling sensor; The method further comprises: In the process of controlling the leveling sensor and the printing platform to move relative to each other in the z-direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinates, if the distance between the leveling sensor and the detection point is greater than or equal to a preset distance threshold, turning on the heat dissipation element; and / or In the process of controlling the leveling sensor and the printing platform to move relative to each other in the z-direction until the leveling sensor senses the detection point of the printing platform corresponding to the preset coordinates, if the distance between the leveling sensor and the detection point is less than a preset distance threshold, turning off the heat dissipation element; and / or After acquiring the third position information of the leveling sensor when the leveling sensor senses each of the detection points, the method further includes: The leveling sensor and the printing platform are controlled to move away from each other in the z direction, and the heat dissipation element is turned on.

4. The method according to claim 1, wherein The additive manufacturing device further includes a first heating device and a second heating device; and before controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point, further includes: Controlling the printing assembly and the printing platform to return to zero; The first heating device is controlled to heat the printing platform to a first preset temperature, and the second heating device is controlled to heat the nozzle of the printing component.

5. The method according to claim 4, characterized in that Before controlling the first heating device to heat the printing platform and controlling the second heating device to heat the nozzle of the printing component, the method further includes: Controlling the printing assembly to move to a position at a first height from the printing platform in the z direction; After controlling the first heating device to heat the printing platform and controlling the second heating device to heat the nozzle of the printing component, the method further includes: Controlling the relative movement of the printing assembly and the printing platform so that the projection of the printing assembly is located outside the printing platform and at a second height from the printing platform in the z direction; Controlling the nozzle of the printing assembly to eject printing material of a preset length or for a preset time; Before controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point, the method further includes: The printing assembly and the printing platform are controlled to move relative to each other so that the leveling sensor reaches above the first point, and during the movement of the printing assembly, the edge of the printing platform knocks off the printing material on the nozzle.

6. The method according to claim 1, characterized in that The additive manufacturing device further includes a material erasing member; and before controlling the nozzle to touch the touch switch member to obtain the second position information of the nozzle, further includes: Controlling the nozzle of the printing assembly to move to a second preset position above the wiping member; Controlling the nozzle and the wiping member to move relative to each other in the z direction until the nozzle touches the wiping member; The method further comprises: After the nozzle touches the wiping member, controlling the nozzle and the wiping member to move relative to each other in a horizontal direction to clean the nozzle; The method further comprises: When the nozzle touches the wiping member, the heat dissipation member of the additive manufacturing device is controlled to be turned on to cool the nozzle so that the temperature of the nozzle is lower than the melting temperature of the printing material.

7. The method according to claim 6, characterized in that The method further comprises: When the temperature of the nozzle is lower than the melting temperature of the printing material or the cooling time of the nozzle is greater than a preset time threshold, closing the heat dissipation element and controlling the nozzle to separate from the wiping element; In the process where the nozzle touches the wiping member, controlling the heat dissipation member of the additive manufacturing device to open includes: When the nozzle and the wiping member start to move relative to each other in the horizontal direction, the heat dissipation member of the additive manufacturing device is controlled to open; or, During the relative movement of the nozzle and the wiping member in the horizontal direction, the heat dissipation member of the additive manufacturing device is controlled to be turned on; or, After the nozzle and the wiping member are controlled to stop moving relative to each other in the horizontal direction, the heat dissipation member of the additive manufacturing equipment is controlled to be turned on.

8. The method according to any one of claims 1 to 7, characterized in that The determining, based on the first position information and the second position information, compensation information of the nozzle relative to the leveling sensor includes: Obtaining a set error compensation value, and determining compensation information of the nozzle relative to the leveling sensor based on the set error compensation value, the first position information, and the second position information; Wherein, the set error compensation value is used to compensate for the leveling error; The leveling error includes at least one of the following: an installation tilt angle of the printing platform, a coating thickness error of the printing platform, and an installation height error of the touch switch component; The additive manufacturing device further includes an interaction device; and obtaining a set error compensation value specifically includes: Acquiring the set error compensation value input by the user through the interactive device; The method further comprises: Obtaining a trigger depth of the touch switch element; Determining compensation information of the nozzle relative to the leveling sensor according to the set error compensation value, the first position information, and the second position information specifically includes: Compensation information of the nozzle relative to the leveling sensor is determined according to the trigger depth, the set error compensation value, the first position information, and the second position information.

9. The method according to any one of claims 1 to 7, characterized in that The controlling the leveling sensor to detect the first point to obtain first position information of the nozzle when the leveling sensor senses the first point specifically includes: Controlling the leveling sensor of the printing assembly to move to a third preset position above the first point; Controlling the leveling sensor and the printing platform to move relative to each other in the z direction until the leveling sensor senses the first point, and recording first position information when the leveling sensor senses the first point; The controlling the nozzle to touch the touch switch element to obtain the second position information of the nozzle specifically includes: controlling the nozzle to move to a fourth preset position above the touch switch element; Controlling the nozzle and the touch switch to move relative to each other in the z direction; If a signal change of the touch switch is received, recording the second position information of the nozzle; The controlling the nozzle and the touch switch to move relative to each other in the z direction includes: Controlling the nozzle to move downward in the z direction; and / or The printing platform and the touch switch are controlled to move synchronously upward in the z direction.

10. The method according to any one of claims 1 to 6, characterized in that The method further comprises: For any of the detection points, controlling the leveling sensor to detect the detection point N times, and using the coordinate result of the Nth detection as the third position information of the leveling sensor, where N is a positive integer greater than 1; the method further includes: If the difference between the coordinate results of N detections is greater than the preset error threshold, a prompt message will be issued or the N+1th detection will be performed; If the N+1th detection is performed, the coordinate result of the N+1th detection is used as the third position information of the leveling sensor; The first point on the printing platform and the top surface of the touch switch are in the same plane; The first point is a preset point, or the first point is a random point on the printing platform; A preset point on the printing platform close to the touch switch component is in the same plane as the top surface of the touch switch component.

11. An additive manufacturing device, characterized in that: include: Touch switch parts; a printing platform, wherein a first point of the printing platform and a top surface of the touch switch member are in the same plane; a printing assembly comprising a nozzle and a leveling sensor; a memory storing programs or instructions; A processor, wherein when executing the program or instruction, the processor implements the steps of the control method of the additive manufacturing device according to any one of claims 1 to 10.

12. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the control method of the additive manufacturing device according to any one of claims 1 to 10 are implemented.

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