3D printing contact pin system, 3D printing device and pinning method

Abstract

The application discloses a 3D printing contact type needle aligning system, a 3D printing device and a needle aligning method, and belongs to the technical field of 3D printing. The 3D printing contact type needle aligning system comprises a Z-axis sliding module, a position measuring module, a printing head and a capacitive sensor. The Z-axis sliding module is arranged above the printing head and is used for controlling the up-and-down movement of the printing head. The position measuring module is used for measuring the relative positions of components. The capacitive sensor is used for judging whether the printing needle head and the capacitive sensor are in contact with each other through the temperature change caused by the internal coil current, so that the needle aligning is realized. The 3D printing device comprises the above contact type needle aligning system. The 3D printing contact type needle aligning system judges whether the printing needle head and the capacitive sensor are in contact with each other through the temperature change of the internal coil of the capacitive sensor, so that the high-precision needle aligning is realized, and the needle aligning precision can reach at least 1 micrometer.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing technology, and particularly relates to a 3D printing contact-type alignment system, a 3D printing device, and an alignment method. Background Technology

[0002] Currently, ceramic needles are commonly used as printing needles in 3D printing. These ceramic needles have a tip length of approximately 10 mm and a uniformly distributed conical shape, resulting in even stress release, high hardness, and resistance to breakage. When aligned with a tool setter, the needle tip is unlikely to deform or break when the tool setter reads the pressure of the ceramic needle. However, with advancements in industry technology, existing conical ceramic needles are no longer sufficient for filling holes with diameters of 30-80 µm and lengths of 50-80 mm. They cannot complete the filling process. Glass needles with diameters of 18-50 µm and tip lengths of at least 100 mm are required. These glass needles have narrow, hourglass-shaped tips that break under very low pressure. Due to the inherent fragility of the glass material, the needle tip often breaks before the tool setter reaches sufficient pressure to generate a signal when the above alignment technique is used. In existing technologies, tools such as industrial pressure-type tool setters, light-transmitting laser detection sensors, high-precision contact digital sensors, or bridge strain gauges can typically be used for tool setting. However, the following technical problems exist: Industrial pressure-type tool setters change the relative position of a grating ruler based on pressure. By judging the relative displacement of the grating ruler, they read the electrical signal to capture the needle tip position. In use, the trigger pressure threshold of the grating ruler in the tool setter is approximately 0.3 N. Due to the good stability of ceramic needles, the maximum stress at which the needle tip breaks is relatively large, making them suitable as a module for capturing the position of ceramic needle tips. However, in the use of glass needles, because the glass needle breaks before reaching the trigger threshold, it cannot be used as a tool setter module. A light-transmitting laser detection sensor uses a laser emitter and a laser receiver to form a laser light curtain. A needle tip passes through the laser light curtain, partially blocking the laser beam, thus changing the amount of light transmitted to determine if the needle tip has reached the designated position. Ceramic needles, due to their opacity, can be detected as soon as they enter the light curtain, while glass needles, being transparent, cannot be detected as they pass through the laser light curtain. The technical challenges of high-precision contact digital sensors (industrial probes used as spring pressure sensors) are similar to those of industrial pressure-type tool setters. When a bridge strain gauge is subjected to compression deformation, it will bend, and the curvature changes linearly with the magnitude of the compression pressure. However, the tip of a glass needle is too thin to bend the strain gauge.

[0003] It is evident that achieving high-precision needle alignment for slender glass needles presents significant technical challenges. Therefore, there is an urgent need to develop a needle alignment system and method that can address the issue of glass needle fragility during contact-type needle alignment. Summary of the Invention

[0004] The main objective of this invention is to provide a 3D printing contact-type needle alignment system, a 3D printing device, and a needle alignment method to solve the technical problem that glass needles are easily broken during the contact-type needle alignment process in the prior art.

[0005] In a first aspect, the present invention provides a 3D printing contact-type needle alignment system, including a Z-axis sliding module, a position measurement module, a print head, and a capacitive sensor; The Z-axis sliding module is located above the print head and is used to control the up and down movement of the print head. Printing needles are located below the print head. The position measurement module is used to measure the relative positions of each component; The capacitive sensor uses the temperature change caused by the current in its internal coil to determine whether the printing needle is in contact with the capacitive sensor, thereby achieving needle alignment.

[0006] Furthermore, the capacitive sensor includes a contact sensing surface, a temperature sensor, a current controller, a photoelectric position sensor, a support rod, a sensing shaft, and a coil; The contact sensing surface is located above the support rod and is used to contact the printing needle. The sensing axis point is located below the support rod. The photoelectric position sensor is used to detect changes in the relative position of the support rod and control the current controller to regulate the current, thereby causing the temperature of the coil resistance to change. The temperature sensor is used to detect temperature changes in the coil resistance.

[0007] The working principle of the capacitive sensor is as follows: When an object comes into contact with the contact sensing surface of the capacitive sensor, the object's own weight will cause the support rod connected to the contact sensing surface inside the capacitive sensor to tilt. After the photoelectric position sensor detects the position change of the support rod, it controls the increase of the current flowing through the compensation coil. Under the support of the sensing axis point, the support rod returns to its original equilibrium position. The coil is located in the permanent magnet. The change of coil current will bring about a change in magnetic flux, which in turn will bring about a change in temperature. Finally, by detecting the temperature change, the relevant information of the object is obtained and the reading is displayed on the capacitive sensor.

[0008] Furthermore, the system also includes a visual observation module, which is located on the side of the Z-axis sliding module and is used to observe whether the tip of the printing needle is damaged.

[0009] Furthermore, the system also includes an X-axis sliding module and a Y-axis sliding module for controlling the movement of the capacitive sensor.

[0010] Furthermore, the position measurement module is located on the side of the Z-axis sliding module.

[0011] Furthermore, the printing needle can be, but is not limited to, a glass needle, and is also applicable even to printing needles with low ultimate stress values. The 3D printing contact needle system of the present invention is particularly suitable for slender glass needles with a diameter of 18-50 µm and a tip length of not less than 100 mm.

[0012] In a second aspect, the present invention provides a 3D printing apparatus, which includes the above-described 3D printing contact-type needle alignment system.

[0013] Furthermore, the device also includes a printing platform, which can be controlled to move via an X-axis sliding module and a Y-axis sliding module.

[0014] Furthermore, the position measurement module can be used to measure its relative position with the capacitive sensor, and also to measure its relative position with the printing platform.

[0015] Furthermore, the device also includes a stabilizing block and a wind shield for achieving higher precision needle alignment; it can also be used with corresponding software systems for automated needle alignment.

[0016] Thirdly, the present invention provides a 3D printing contact-type pin alignment method, the method comprising: The capacitive sensor was moved below the position measurement module, and the distance from the capacitive sensor contact sensing surface to the position measurement module was measured as Z1. Move the printing platform below the position measurement module and measure the relative position of the position measurement module to the printing platform as Z2. At this time, set the absolute position of the printing platform as Z0, and obtain the absolute position of the capacitive sensor as Z3 = Z0 + Z2 - Z1. Move the contact sensing surface of the capacitive sensor to below the print head, slowly lower the Z-axis sliding module, and capture the position Z4 of the Z-axis sliding module when the capacitive sensor displays a reading (that is, after the print needle contacts the contact sensing surface). Obtain the absolute position Z5 of the glass needle, which is Z4 = Z4 - Z3, and then raise the Z-axis sliding module.

[0017] Furthermore, after the position measurement module completes the distance measurement of the capacitive sensor contact surface, the contact sensing surface of the capacitive sensor is moved below the print head, and the Z-axis sliding module is manually lowered. First, the visual observation module is used to preliminarily determine whether the glass needle is in contact with the contact sensing surface of the capacitive sensor. When the two are close, the descent speed of the Z-axis sliding module is reduced until the print head contacts the contact sensing surface and generates a contact signal.

[0018] The 3D printing contact-type pin alignment system, 3D printing device, and pin alignment method provided by this invention have the following beneficial effects: The capacitive sensor uses the temperature change of its internal coil to determine whether the printing needle is in contact with it, thus achieving high-precision needle alignment. When the capacitive sensor makes contact with the needle tip, the hard contact changes the relative position of the sensor's contact sensing surface, reducing internal resistance and increasing internal current, thereby determining whether the needle tip has reached the relative position. The sensor can detect a position of 1 µm, and even after the needle tip contacts the sensor and descends another 10 µm, the needle tip remains undamaged, with a limit position reaching 15 µm. The needle alignment accuracy of the needle alignment system described in this invention is at least 1 µm. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a 3D printed contact-type pin alignment system. Figure 2 This is a schematic diagram of the 3D printing device. Figure 3 This is a schematic diagram of the internal structure of a capacitive sensor.

[0020] Explanation of reference numerals in the attached diagram: 1. Position measurement module; 2. Z-axis sliding module; 3. Vision observation module; 4. Print head; 5. Capacitive sensor; 6. X-axis sliding module; 7. Y-axis sliding module; 8. Printing platform; 9. Temperature sensor; 10. Current controller; 11. Photoelectric position sensor; 12. Support rod; 13. Sensing axis point; 14. Contact sensing surface; 15. Coil. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0022] Example

[0023] like Figure 1As shown, the 3D printing contact-type needle alignment system of the present invention includes an X-axis sliding module 6, a Y-axis sliding module 7, a Z-axis sliding module 2, a position measurement module 1, a print head 4, a capacitive sensor 5, and a visual observation module 3. The X-axis sliding module 6 and the Y-axis sliding module 7 are used to control the movement of the capacitive sensor 5; The Z-axis sliding module 2 is located above the print head 4 and is used to control the up and down movement of the print head 4. A printing needle is located below the print head 4. The position measurement module 1 is located on the side of the Z-axis sliding module 2 and is used to measure the relative positions of each component; specifically, a laser rangefinder can be used as the position measurement module 1. The visual observation module 3 is located on the side of the Z-axis sliding module 2. The visual observation module 3 can observe in real time whether the tip of the printing needle is damaged. Specifically, a tilt camera can be used as the visual observation module 3. The capacitive sensor 5 uses the temperature change caused by the current in the internal coil 15 to determine whether the printing needle is in contact with the capacitive sensor 5, thereby achieving high-precision needle alignment. The printing needle is a glass needle. The 3D printing contact needle system of the present invention is particularly suitable for slender glass needles. In this embodiment, the glass needle has a diameter (outer diameter) of 29 µm and a needle tip length of 100 mm.

[0024] like Figure 3 As shown, the capacitive sensor 5 includes a contact sensing surface 14, a temperature sensor 9, a current controller 10, a photoelectric position sensor 11, a support rod 12, a sensing axis point 13, and a coil 15. The contact sensing surface 14 is located above the support rod 12 and is used to contact the printing needle. The sensing axis point 13 is located below the support rod 12. The photoelectric position sensor 11 is used to detect changes in the relative position of the support rod 12 and control the current controller 10 to regulate the current, thereby causing the temperature of the coil 15 resistance to change. The temperature sensor 9 is used to detect temperature changes in the resistance of the coil 15.

[0025] The working principle of the capacitive sensor 5 is as follows: When an object comes into contact with the contact sensing surface 14 of the capacitive sensor 5, the object's own weight will cause the support rod 12 connected to the contact sensing surface 14 inside the capacitive sensor 5 to tilt. After the photoelectric position sensor 11 detects the position change information of the support rod 12, it controls the increase of the current flowing through the compensation coil 15. Under the support of the sensing axis point 13, the support rod 12 returns to its original equilibrium position. The coil 15 is located in the permanent magnet. The change of current in the coil 15 will bring about a change in magnetic flux, which in turn will bring about a change in temperature. Finally, the relevant information of the object is obtained by detecting the temperature change and the reading is displayed on the capacitive sensor 5.

[0026] For example, the reading displayed by the capacitive sensor 5 can be the mass of an object. The capacitive sensor 5 can reflect the gravitational changes of an object at the milligram level. When the contact sensing surface 14 is not in contact with the glass needle tip, the reading is 0. After the contact sensing surface 14 comes into contact with the glass needle tip, the real-time reading is displayed.

[0027] like Figure 2 As shown, the present invention also provides a 3D printing device, which includes the above-mentioned 3D printing contact alignment system and a printing platform 8. The printing platform 8 can be controlled to move by an X-axis sliding module 6 and a Y-axis sliding module 7. In addition, the device may also include a stabilizing block and a windproof cover to achieve higher precision alignment; it can also be used with a corresponding software system for automated alignment.

[0028] The method for 3D printing contact-type pins using the above-mentioned device includes the following steps: (1) When the needle is first aligned, the capacitive sensor 5 is moved below the position measurement module 1 by controlling the X-axis sliding module 6 and the Y-axis sliding module 7. The distance from the contact sensing surface 14 of the capacitive sensor 5 to the position measurement module 1 is measured to be Z1. (2) Move the X-axis sliding module 6 and the Y-axis sliding module 7 again to move the printing platform 8 below the position measurement module 1. The relative position of the position measurement module 1 to the printing platform 8 is measured to be Z2. At this time, the absolute position of the printing platform 8 is set to Z0, and the absolute position of the capacitive sensor 5 is Z3 = Z0 + Z2 - Z1. (3) After the position measurement module 1 completes the distance measurement of the contact sensing surface 14 of the capacitive sensor 5, continue to move the X-axis sliding module 6 and the Y-axis sliding module 7 to move the capacitive sensor 5 below the print head 4, slowly lower the Z-axis sliding module 2, and capture the position Z4 (the position of the guide rail inside the Z-axis sliding module) of the Z-axis sliding module 2 when the capacitive sensor 5 displays a reading (that is, after the print needle comes into contact with the contact sensing surface 14), obtain the absolute position Z5 of the glass needle Z5 = Z4 - Z3, and then raise the Z-axis sliding module 2.

[0029] In this needle alignment process, the descent method and speed of the Z-axis sliding module 2 are important factors affecting the needle alignment accuracy, and manual needle alignment is preferred. Specifically, step (3) includes: after the position measurement module 1 completes the distance measurement of the contact sensing surface 14 of the capacitive sensor 5, the X-axis sliding module 6 and Y-axis sliding module 7 are moved to move the capacitive sensor 5 below the print head 4. The Z-axis sliding module 2 is manually and slowly lowered. The visual observation module 3 is used to preliminarily determine whether the glass needle is in contact with the contact sensing surface 14 of the capacitive sensor 5. When the visual observation module 3 observes that the two are close, the descent speed of the Z-axis sliding module 2 is reduced, and the needle is slowly lowered at a rate of 1 µm each time until the print needle touches the contact sensing surface 14 to generate a contact signal, the position Z4 of the Z-axis sliding module 2 is captured, and then the Z-axis sliding module 2 is raised.

[0030] In addition, the above needle alignment process can also be automated using software. Specifically, step (3) includes: connecting the capacitive sensor 5 to the signal module. During the needle alignment process, after the position measurement module 1 completes the distance measurement of the contact sensing surface 14 of the capacitive sensor 5, the X-axis sliding module 6 and the Y-axis sliding module 7 continue to move, moving the capacitive sensor 5 below the print head 4. The Z-axis sliding module 2 automatically descends from fast to slow. The software controls the descent speed of the Z-axis sliding module 2, and the needle descends slowly. After contact is made, the capacitive sensor 5 sends a signal to the input signal module, which is transmitted to the motor of the Z-axis sliding module 2 via the industrial control computer, completing the lifting of the Z-axis sliding module 2. The height of the Z-axis sliding module 2 when the signal is generated is the needle alignment height.

[0031] When verifying the process for needle alignment, the ultimate breakage value of the glass needle was tested accordingly.

[0032] A glass needle was fixed to the Z-axis sliding module 2 and touched by a capacitive contact sensor. The correlation between the descent distance of the Z-axis sliding module 2 and the breakage of the glass needle was measured. The relative height of the Z-axis sliding module 2 at which the capacitive sensor 5 first read the glass needle contact signal was Z6 (by comparison, the error range between the relative height Z6 position and the absolute position at this time was less than or equal to 2 µm). The needle continued to descend by 1 µm each time, and the changes in the needle tip were observed using the visual observation module 3. There was no obvious change in the needle tip from 0-10 µm. From 11-15 µm, about 95% of the needle tips did not show obvious changes. When the needle tip was greater than 15 µm, there were obvious changes in the needle tip, and some of the needle tips had already broken.

[0033] Repeatability verification: At the same point, the needle alignment was repeated multiple times. The initial trigger value did not fluctuate significantly. The initial trigger value changed by 1 µm, which meets the needle alignment requirements.

[0034] Difference verification: The needle was matched multiple times at different points, and the range of the different positions was 0.0015, which meets the needle matching requirements.

[0035] Comparative Example 1 Based on Example 1, the capacitive sensor is replaced with an industrial pressure-type tool setter.

[0036] The working principle of an industrial pressure-type tool setter is as follows: it obtains the needle tip position signal based on the change in the relative position of the grating ruler caused by pressure changes. Specifically, when pressure is applied to the industrial pressure-type tool setter, the relative position of the grating ruler also changes synchronously. Then, the needle tip position is captured by reading the electrical signal by judging the relative displacement of the grating ruler.

[0037] In use, the trigger pressure threshold of the grating ruler of the tool setter is about 0.3 N. Because ceramic needles have good stability, the maximum stress that causes the needle tip to break is relatively large, so they can be used as a module for capturing the position of ceramic needle tip. However, in the use of glass needles, the glass needles break before reaching the trigger threshold and cannot be used as a tool setter module.

[0038] Comparative Example 2 Based on Example 1, the capacitive sensor is replaced with a light-transmitting laser detection sensor.

[0039] The working principle of a light-transmitting laser detection sensor is as follows: a laser emitter and a laser receiver form a laser light curtain. A needle tip passes through the laser light curtain, blocking part of the laser beam. This change in light transmission is used to determine whether the needle tip has reached the designated position. Specifically, using a transmission lens, the laser beam emitted as a parallel beam converges onto a light-receiving element (high-sensitivity PD) after passing through a receiving lens. When the target being measured blocks this parallel beam, the beam will decrease proportionally to the amount of light blocked and incident on the light-receiving element. By capturing the amount of light in the light-receiving element (high-sensitivity PD), the size and transparency of the target can be measured.

[0040] Ceramic needles, due to their opacity, can have their tip position detected upon initial entry into the light curtain. However, they also have the problem of not being able to trigger a reading immediately after contact with the laser beam. For glass needles, due to their transparency, their tip position cannot be detected when passing through the laser light curtain. Therefore, the aforementioned light-transmitting laser detection sensors cannot provide a solution for high-precision needle alignment of glass needles.

[0041] Comparative Example 3 Based on Example 1, the capacitive sensor is replaced with a high-precision contact digital sensor (GT2 series).

[0042] The high-precision contact digital sensor uses an industrial probe as a spring pressure sensor. Its working principle is as follows: when the test object touches the probe head and reaches the trigger threshold (measuring force), a small displacement is generated within the detection and measurement range. The displacement reading determines whether the glass needle tip is in contact with the sensor. Specifically, a CMOS sensor is used for high-speed imaging, and the movement is read from the grating scale pulse system II, which is engraved with a slit pattern that varies depending on the position.

[0043] The test results showed that the glass needle tip was broken when the electrical signal was generated and a reading feedback was obtained. Therefore, the sensor could not be used as a needle matching module.

[0044] Comparative Example 4 Based on Example 1, the capacitive sensor is replaced with a bridge strain gauge.

[0045] The working principle of a bridge strain gauge is as follows: When a conductor or semiconductor material undergoes mechanical deformation under external force, its resistance changes accordingly. The change in resistance is used to determine whether the glass needle tip is in contact with the sensor. Specifically, the strain gauge is attached to glass, and when the glass needle tip contacts the strain gauge, the metal foil inside bends with the strain, and its resistance changes accordingly. The contact is determined by capturing the change in current.

[0046] The test results showed that the strain gauge trigger threshold was too high, the strain gauge resistance did not change significantly after contact, and the glass needle tip was too thin to bend the bridge strain gauge, so it could not be used as a needle-matching module.

[0047] Comparing the above embodiments, Comparative Examples 1, 2, 3, and 4, it can be seen that, compared with the prior art, the 3D printing contact-type needle alignment system provided by the present invention can effectively utilize the temperature change of the internal coil of the capacitive sensor to determine whether the printing needle is in contact with the capacitive sensor, thereby achieving high-precision needle alignment. When the capacitive sensor comes into contact with the needle tip, the hard contact changes the relative position of the sensor's contact sensing surface, reducing the internal resistance and increasing the internal current, thus determining whether the needle tip has reached the relative position. The capacitive sensor can capture a position of 1 µm, and even after the needle tip contacts the sensor and descends another 10 µm, the glass needle remains undamaged, with the extreme position reaching 15 µm (the glass needle integrity rate is approximately 95%), and the needle alignment accuracy can reach at least 1 µm. This needle alignment accuracy is unattainable by existing technologies (including industrial pressure-type tool setters, light-transmitting laser detection sensors, high-precision contact digital sensors, and bridge strain gauges, etc.), and the technical effect of the present invention is significant.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A 3D printing contact pinning method suitable for glass pins, characterized by, A needle alignment system is used in a 3D printing apparatus that includes a 3D printing contact alignment system, the alignment system comprising a Z-axis sliding module, a position measurement module, a print head, and a capacitive sensor; The Z-axis sliding module is located above the print head and is used to control the up and down movement of the print head. A printing needle is located below the print head, and the printing needle is a glass needle. The position measurement module is used to measure the relative positions of each component; The capacitive sensor uses the temperature change caused by the current in the internal coil to determine whether the printing needle is in contact with the capacitive sensor, thereby achieving needle alignment. The capacitive sensor includes a contact sensing surface, a temperature sensor, a current controller, a photoelectric position sensor, a support rod, a sensing shaft, and a coil. The contact sensing surface is located above the support rod and is used to contact the printing needle. The sensing shaft is located below the support rod. The photoelectric position sensor is used to detect changes in the relative position of the support rod and control the current controller to regulate the current, which in turn causes the temperature of the coil resistance to change. The temperature sensor is used to detect temperature changes in the coil resistance; The needle alignment method includes: Move the capacitive sensor below the position measurement module and measure the distance Z1 from the contact sensing surface of the capacitive sensor to the position measurement module. Move the printing platform below the position measurement module and measure the relative position of the position measurement module to the printing platform as Z2. At this time, set the absolute position of the printing platform as Z0, and obtain the absolute position of the capacitive sensor Z3 = Z0 + Z2 - Z1. Move the contact sensing surface of the capacitive sensor to below the print head, lower the Z-axis sliding module, capture the position Z4 of the Z-axis sliding module when the capacitive sensor displays a reading, obtain the absolute position Z5 of the print head Z4 = Z4 - Z3, and then raise the Z-axis sliding module to complete the needle alignment.

2. The 3D printing contactive counter-pin method of claim 1, wherein, First, the visual observation module makes a preliminary judgment on whether the glass needle is in contact with the contact sensing surface of the capacitive sensor. When the two are close, the descent speed of the Z-axis sliding module is reduced until the printing needle makes contact with the contact sensing surface and generates a contact signal.

3. The 3D printing contactive counter-pin method of claim 1, wherein, The needle alignment system also includes a visual observation module, which is located on the side of the Z-axis sliding module and is used to observe whether the tip of the printing needle is damaged.

4. The 3D printing contactive counter-pin method of claim 1, wherein, The needle alignment system also includes an X-axis sliding module and a Y-axis sliding module for controlling the movement of the capacitive sensor.

5. The 3D printing contactive counter-pin method of claim 1, wherein, The position measurement module is located on the side of the Z-axis sliding module.

6. The 3D printing contactive counter-pin method of claim 1, wherein, The 3D printing device also includes a printing platform, which can be controlled to move via an X-axis sliding module and a Y-axis sliding module.

7. The 3D printing contactive counter-pin method of claim 1, wherein, The 3D printing device also includes a stabilizing block and a windproof cover.

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