Photocuring type three-dimensional printing equipment, method and system

Abstract

The invention provides a photocuring type three-dimensional printing device, method and system. The photocuring type three-dimensional printing equipment comprises an automatic typesetting system, an automatic printing device and an automatic liquid supplementing device, and the automatic printing device is provided with a material groove used for containing photosensitive resin and a lifting table used for being connected with a formed workpiece; the automatic typesetting system is used for receiving a plurality of three-dimensional models, typesetting the plurality of three-dimensional models and outputting the typeset three-dimensional models; the automatic printing device is used for receiving the typeset three-dimensional model and printing the typeset three-dimensional model; the automatic liquid supplementing device is used for judging whether liquid supplementing is needed or not, and if yes, photosensitive resin is supplemented to the material groove.

Description

[0001] This application is a divisional application of the invention patent application with the application number 201611162603.7, the invention title of "Stereolithography 3D Printing Equipment, Method and System Capable of Automatically and Continuously Printing", and the application date of December 15, 2016. Technical Field

[0002] The present invention mainly relates to stereolithography 3D printing technology, and particularly relates to a stereolithography 3D printing equipment, method and system. Background Art

[0003] 3D printing technology uses a computer 3D design model as a blueprint, and through software layer-by-layer discretization and numerical control forming systems, uses methods such as laser beams and hot melt nozzles to stack and bond special materials such as metal powders, ceramic powders, plastics, and cell tissues layer by layer, and finally stacks and forms to manufacture physical products. Different from the traditional manufacturing industry that shapes and cuts raw materials through mechanical processing methods such as molds, turning and milling to finally produce finished products, 3D printing transforms a three-dimensional entity into several two-dimensional planes, and produces by processing materials and stacking them layer by layer, greatly reducing the complexity of manufacturing. This digital manufacturing mode does not require complex processes, large machine tools, or a large number of manpower, and can directly generate parts of any shape from computer graphic data, enabling production and manufacturing to extend to a wider range of production people.

[0004] Currently, the forming methods of 3D printing technology are still evolving continuously, and the materials used are also diverse. Among various forming methods, the stereolithography method is a relatively mature method. The stereolithography method uses the principle that photosensitive resin is cured after being irradiated by ultraviolet light to perform material accumulation forming, and has the characteristics of high forming accuracy, good surface finish, and high material utilization rate.

[0005] Figure 1 is the basic structure of a stereolithography 3D printing equipment. This 3D printing equipment 100 includes a material tank 110 for containing photosensitive resin, a lifting table 120 for connecting the formed workpiece, a coating blade 130 for spreading the photosensitive resin, an image exposure system 140 for curing the photosensitive resin, and a control system 150 for controlling the actions of the lifting table 120, the coating blade 130, and the image exposure system 140. The image exposure system 140 is located above the material tank 110 and can irradiate a beam image to cure a layer of photosensitive resin on the liquid surface of the material tank 110. Each time the image exposure system 140 irradiates a beam image to cause a layer of photosensitive resin to cure, the lifting table 120 will drive the formed cured photosensitive resin to slightly descend, and the coating blade 130 moves to evenly spread the photosensitive resin on the top surface of the cured workpiece, waiting for the next irradiation. By repeating this cycle, a 3D workpiece formed by layer-by-layer accumulation will be obtained.

[0006] In the existing common 3D printing technology, due to the irregular sizes and shapes of the 3D models to be printed, automatic typesetting cannot be achieved. Instead, one or more 3D models to be printed are typeset manually on a computer. After the typesetting is completed, the entire model is sent to a 3D printing device for printing. That is to say, existing 3D printing devices cannot achieve automatic typesetting of multiple 3D models. This is not a problem in general 3D printing devices because the sizes and shapes of the 3D models to be printed by ordinary 3D printing devices are irregular, and it usually takes a dozen or even dozens of hours to print an object with an ordinary 3D printing device, so the number of times of typesetting required per day is limited. However, in high-speed 3D printing devices, when printing small items (such as dental models), it can be printed in one hour, and manual repeated typesetting is required, which is time-consuming and laborious.

[0007] In existing stereolithography 3D printing devices, after the workpiece is printed, it is manually removed. And if necessary, after replenishing the liquid photosensitive resin (hereinafter simply referred to as liquid replenishment), the next printing can start. This is not a problem in general 3D printing devices because it usually takes a dozen or even dozens of hours to print an object with an ordinary 3D printing device, so the number of times of removing the workpiece and replenishing the liquid per day is limited. However, in high-speed 3D printing devices, when printing small items (such as dental models), it can be printed in one hour, and the number of times of manual participation in removing the workpiece and replenishing the liquid will be very frequent. These 3D printing devices cannot achieve continuous automatic printing and have low efficiency.

[0008] In addition, existing stereolithography 3D printing devices rarely have the ability of automatic liquid replenishment because the photosensitive resin has a high viscosity and the amount to be replenished each time is usually not large. If a high-viscosity liquid replenishment pump is used to extract the photosensitive resin for liquid replenishment, due to the high price, large volume and usually large flow rate of the high-viscosity pump, the liquid replenishment amount cannot be accurately controlled. Therefore, the 3D printing devices adopting this scheme have high costs, large volumes and poor liquid replenishment accuracy. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide a 3D printing device and a printing method with high printing efficiency.

[0010] To solve the above technical problem, one aspect of the present invention provides a stereolithography 3D printing device, including an automatic typesetting system, an automatic printing device and an automatic liquid replenishment device. Among them, the automatic printing device has a material tank for accommodating the photosensitive resin and a lifting table for connecting the formed workpiece;

[0011] The automatic typesetting system is used to receive multiple 3D models, typeset the multiple 3D models, and output the typeset 3D models;

[0012] The automatic printing device is used to receive the typeset three-dimensional model and print the typeset three-dimensional model;

[0013] The automatic liquid replenishing device is used to judge whether liquid replenishment is needed. If so, the material tank is replenished with photosensitive resin.

[0014] Another aspect of the present invention provides a stereolithography three-dimensional printing system, including a host computer and multiple stereolithography three-dimensional printing devices as described above; when the host computer receives a printing task, it queries the status of the multiple stereolithography three-dimensional printing devices. If there is an idle stereolithography three-dimensional printing device, the host computer sends the three-dimensional model of the current task to one or more idle stereolithography three-dimensional printing devices for printing;

[0015] After receiving the three-dimensional model, the stereolithography three-dimensional printing device automatically typesets, automatically prints and picks up and collects the parts, and automatically replenishes the liquid when needed.

[0016] Another aspect of the present invention provides an automatic continuous printing method, which is implemented by a stereolithography three-dimensional printing device. The stereolithography three-dimensional printing device has a material tank for containing photosensitive resin and a lifting table for connecting the formed workpiece, and is characterized by including the following steps:

[0017] S11: Receive a plurality of three-dimensional models and typeset the plurality of three-dimensional models;

[0018] S12: Print the typeset three-dimensional models;

[0019] S13: After printing is completed, remove the workpiece from the lifting table;

[0020] S14: Judge whether liquid replenishment is needed. If so, execute step S15. If not, execute step S16;

[0021] S15: Replenish the material tank with photosensitive resin, and execute step S16 after the liquid replenishment is completed;

[0022] S16: Judge whether the next round of printing is needed. If so, return to step S11. If not, end the printing.

[0023] Another aspect of the present invention provides an automatic continuous printing method, which is implemented by a stereolithography three-dimensional printing device. The stereolithography three-dimensional printing device has a material tank for containing photosensitive resin and a lifting table for connecting the formed workpiece, and is characterized by including the following steps:

[0024] S21: Receive a plurality of three-dimensional models and typeset the plurality of three-dimensional models;

[0025] S22: Print the typeset three-dimensional models;

[0026] S23: After printing is completed, remove the workpiece from the lifting platform;

[0027] S24: Determine whether a next round of printing is required. If so, execute step S25; if not, end the printing;

[0028] S25: Determine whether liquid replenishment is required. If so, execute step S26; if not, return to step S21;

[0029] S26: Supplement photosensitive resin to the material tank, and return to step S21 after the liquid replenishment is completed.

[0030] Another aspect of the present invention provides a three-dimensional printing device, including:

[0031] A material tank;

[0032] A lifting platform capable of moving up and down relative to the material tank, and a plurality of through holes are distributed on the lifting platform;

[0033] A jacking device located below the lifting platform, having a plurality of ejector rods corresponding to the plurality of through holes on the lifting platform, for jacking up one or more workpieces formed on the lifting platform to separate the one or more workpieces from the lifting platform;

[0034] Wherein each of the ejector rods has a different height, so that each of the one or more workpieces is gradually separated from the lifting platform.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] The stereolithography three-dimensional printing device of the present invention can automatically typeset three-dimensional models, automatically print the typeset three-dimensional models, automatically remove and collect the printed workpieces from the lifting platform, and can automatically replenish the material tank according to needs, realizing the automation of the entire printing process and enabling automatic continuous printing without manual participation.

[0037] The automatic typesetting method of the present invention can concentrate three-dimensional models with relatively high heights in one area. As printing progresses, the area to be printed gradually decreases. At this time, the scraping range of the coating squeegee can be reduced, which can improve printing efficiency.

[0038] Another automatic typesetting method of the present invention minimizes the interval between three-dimensional models when arranging multiple three-dimensional models in rows or columns, and after arranging them in rows or columns, adjusts the interval between rows or columns to also minimize it. In this way, as many three-dimensional models as possible can be printed each time, improving printing efficiency.

[0039] The automatic printing and picking-up collection device of the present invention uses a push rod to lift the workpiece from the lifting table, separating the workpiece from the lifting table, and then scraping the workpiece off the lifting table, or uses the method of replacing the platform with the workpiece with a new platform to automatically remove the workpiece from the lifting table. Moreover, each push rod of the present invention has a different height, so that multiple push rods from high to low can successively contact the workpiece, gradually separating the workpiece from the lifting table. Compared with the method of lifting the entire workpiece at the same time to separate the workpiece from the lifting table, this gradually separating method requires relatively less force.

[0040] The automatic liquid supplement device of the present invention places the liquid supplement tank above, and the photosensitive resin flows into the material tank by its own gravity, and the timing and amount of liquid supplement are controlled by an electric valve, or uses a sealed liquid supplement tank, and by injecting gas, the photosensitive resin in the liquid supplement tank flows into the material tank to supplement the material tank. By using these methods, it has the ability to transport high-viscosity liquid materials, and at the same time has the advantages of low cost, small volume, and high liquid supplement accuracy. Brief Description of the Drawings

[0041] Figure 1 is the basic structure of a light-curing three-dimensional printing device.

[0042] Figure 2 is a schematic structural diagram of a light-curing three-dimensional printing device capable of automatic continuous printing according to an embodiment of the present invention.

[0043] Figure 3 is a schematic diagram of a three-dimensional model after typesetting according to an embodiment of the present invention.

[0044] Figure 4 is a schematic diagram of the modules of an automatic typesetting system according to an embodiment of the present invention.

[0045] Figure 5 is a schematic diagram of the modules of an automatic typesetting system according to another embodiment of the present invention.

[0046] Figure 6 is a schematic diagram of a dental mold combination unit according to an embodiment of the present invention.

[0047] Figures 7a - 7d is a schematic diagram of the staged structure of an automatic printing and picking-up collection device according to an embodiment of the present invention.

[0048] Figure 8 is a schematic structural diagram of an automatic printing and picking-up collection device according to another embodiment of the present invention.

[0049] Figure 9 is a schematic structural diagram of an automatic liquid supplement device according to an embodiment of the present invention.

[0050] Figure 10It is a schematic structural diagram of an automatic liquid replenishing device according to another embodiment of the present invention.

[0051] Figure 11 It is a schematic structural diagram of a photocuring three-dimensional printing system capable of automatic continuous printing according to an embodiment of the present invention.

[0052] Figure 12 It is a flowchart of an automatic continuous printing method according to an embodiment of the present invention.

[0053] Figure 13 It is a flowchart of an automatic continuous printing method according to another embodiment of the present invention.

[0054] Figure 14 It is a flowchart of laying out multiple three-dimensional models according to an embodiment of the present invention.

[0055] Figure 15 It is a flowchart of laying out multiple three-dimensional models according to another embodiment of the present invention.

[0056] Figure 16 It is a flowchart of taking out multiple three-dimensional models and arranging them in a row or column according to another embodiment of the present invention.

[0057] Figure 17 It is a flowchart of squeezing the space between rows or columns according to another embodiment of the present invention.

[0058] Figure 18 It is a flowchart of taking a workpiece off a lifting platform according to an embodiment of the present invention.

[0059] Figure 19 It is a flowchart of taking a workpiece off a lifting platform according to another embodiment of the present invention.

[0060] Figure 20 It is a flowchart of an automatic continuous printing method of a three-dimensional printing system according to an embodiment of the present invention. Detailed Embodiments

[0061] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention is provided in conjunction with the accompanying drawings.

[0062] In the following description, many specific details are set forth to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0063] Embodiments of the present invention provide a stereolithography three-dimensional printing device capable of automatically continuous printing and an automatic printing method. The device can perform automatic typesetting, automatic printing, pick-up and collection, and automatic liquid replenishment, realizing the automation of the entire printing process. It can automatically and continuously print without manual intervention. The stereolithography three-dimensional printing device and the automatic printing method are particularly suitable for printing small items, especially dental models.

[0064] Figure 2 It is a schematic structural diagram of a stereolithography three-dimensional printing device capable of automatically continuous printing according to an embodiment of the present invention. Please refer to Figure 2 , the stereolithography three-dimensional printing device 200 may include an automatic typesetting system 210, an automatic printing and pick-up collection device 220, and an automatic liquid replenishment device 230.

[0065] The automatic typesetting system 210 is configured to receive a plurality of three-dimensional models, perform typesetting on the plurality of three-dimensional models, and output the typeset three-dimensional models. In one embodiment, the automatic typesetting system 210 may receive a plurality of three-dimensional models from a host computer or a removable storage device.

[0066] In one embodiment, the automatic typesetting system 210 may typeset the plurality of three-dimensional models according to the following typesetting rule: arrange the plurality of three-dimensional models in n rows along a direction parallel to the length of the coating blade 223 for spreading the photosensitive resin. The heights of the plurality of three-dimensional models in these n rows satisfy the following relationship: Assume that the i-th row is the row where the three-dimensional model with the highest height among the plurality of three-dimensional models is located. Then the lowest height of the plurality of three-dimensional models in the i-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i + 1-th row and the i - 1-th row, and the lowest height of the plurality of three-dimensional models in the i + 1-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i + 2-th row, and the lowest height of the plurality of three-dimensional models in the i - 1-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i - 2-th row, and so on; where n is a natural number, and i = 1, 2,..., n. This typesetting rule has two special cases, that is, when i = 1 and i = n, at this time, the heights of the plurality of three-dimensional models decrease unidirectionally from the first row to the n-th row, or from the n-th row to the first row.

[0067] In one embodiment, the three-dimensional models typeset according to the above typesetting rule are as Figure 3As shown. In this embodiment, there are 15 three-dimensional models m1 to m15, arranged in 5 rows in a direction parallel to the length of the coating blade 223, with 3 three-dimensional models in each row. The third row has the three-dimensional model m8 with the highest height among the 15 three-dimensional models. The height of the three-dimensional model m9 with the lowest height in the third row is greater than the height of the three-dimensional model m4 with the highest height in the second row, and the height of the three-dimensional model m9 with the lowest height in the third row is greater than the height of the three-dimensional model m10 with the highest height in the fourth row. The height of the three-dimensional model m6 with the lowest height in the second row is greater than the height of the three-dimensional model m1 with the highest height in the first row. The height of the three-dimensional model m12 with the lowest height in the fourth row is greater than the height of the three-dimensional model m15 with the highest height in the fifth row.

[0068] According to the principle of the light-curing three-dimensional printing technology, the three-dimensional models with lower heights are always printed first, and the three-dimensional models with higher heights are printed later. The above layout rule concentrates the three-dimensional models with higher heights in one area. As the printing progresses, the ones with lower heights will be gradually printed, and the area to be printed will gradually decrease as the printing progresses. Thus, the area where the coating blade 223 needs to spread the photosensitive resin will also gradually decrease as the printing progresses. Taking Figure 3 the embodiment shown as an example, after printing for a period of time, the three-dimensional models in the first row are printed first due to their lower heights. After that, the light-curing three-dimensional printing device 200 only needs to print the areas of the second to fifth rows, and the coating blade 223 can only scrape the areas of the second to fifth rows. As the printing progresses, the area that the coating blade 223 needs to scrape becomes smaller and smaller, which can reduce the time required for the coating blade 223 to scrape and improve the printing efficiency.

[0069] In one embodiment, the three-dimensional models in at least one row among the n rows of three-dimensional models after typesetting are arranged in a decreasing order from high to low in one direction, as Figure 3 shown in the fourth row or the fifth row in

[0070] In another embodiment, the three-dimensional models in at least one row among the n rows of three-dimensional models after typesetting are arranged in a way that the middle is high and both sides are low, as Figure 3 shown in the third row in

[0071] Figure 4 is a schematic diagram of the modules of the automatic typesetting system according to an embodiment of the present invention. Refer to Figure 4, the automatic typesetting system 210 may include a sorting module 211, a line-breaking module 212, and an inter-line adjustment module 213. The sorting module 211 is used to arrange the received multiple 3D models in descending order of height. The line-breaking module 212 is used to divide the arranged multiple 3D models into n lines according to boundary conditions. The inter-line adjustment module 213 is used to adjust the positions of the multiple 3D models divided into n lines line by line.

[0072] In one embodiment, the automatic typesetting system 210 may further include an intra-line adjustment module 214 for performing intra-line position adjustment on the multiple 3D models within at least one of the n lines.

[0073] In one embodiment, the boundary condition for the line-breaking module 212 to divide the arranged multiple 3D models into n lines may be that the sum of the maximum widths of the multiple 3D models in one line along the length direction of the coating squeegee 223 is less than or equal to the minimum of the width of the lifting table 222 along the length direction of the coating squeegee 223 and the effective length of the coating squeegee 223, and the sum of the maximum widths of the multiple 3D models in the n lines along the scraping direction of the coating squeegee 223 is less than or equal to the width of the lifting table 222 along the scraping direction of the coating squeegee 223. In this way, the areas obtained by projecting the typeset multiple 3D models onto the lifting table 222 in a direction perpendicular to the lifting table 222 are all within the range of the lifting table 222, so as to avoid the situation of incomplete printing of 3D models.

[0074] Figure 5 is a schematic diagram of the modules of the automatic typesetting system according to another embodiment of the present invention. Refer to Figure 5 , the automatic typesetting system 210 may include: a sorting module 211' for calculating the bounding box sizes of multiple 3D models and arranging the multiple 3D models in descending order of the width of the bounding box; a space allocation module 212' for attempting to allocate one row or column space in the lifting table 222 according to the maximum width of the remaining 3D models and determining whether the space of the lifting table 222 is sufficient; an arrangement module 213' for taking out the multiple 3D models and arranging them in one row or column when the lifting table 222 has sufficient space; a row / column space squeezing module 214' for reducing the interval between rows or columns after the multiple 3D models are arranged in one row or column. Optionally, the automatic typesetting system 210 may further include a model overall centering module 215' for centrally arranging the model as a whole relative to the space of the lifting table 222 when the lifting table 222 does not have sufficient space.

[0075] The arrangement module 213' can arrange multiple three-dimensional models taken out in a row or column in the following manner: take out a three-dimensional model and calculate the contour of its projection in the direction perpendicular to the plane of the lifting table 222; according to the bounding box of the current three-dimensional model, place it adjacent to the existing three-dimensional model in a centered alignment manner in the row or column space; repeat multiple times to move the current three-dimensional model closer to the existing three-dimensional model in the row or column by a small fixed distance until the contour of the current three-dimensional model intersects the contour of the existing three-dimensional model in the row or column. At this time, cancel the last move of the current three-dimensional model; determine whether the model exceeds the range of the lifting table 222. If not, take out the next three-dimensional model and repeat the above operations. If so, cancel the placement of the current model.

[0076] The row-column space squeezing module 214' can reduce the interval between rows or columns in the following manner: repeat multiple times to move the current row or column closer to the previous row or column by a small fixed distance until the contours of the three-dimensional models in the two rows or columns intersect. At this time, cancel the last move of the current row or column.

[0077] In an embodiment of printing a dental mold, the automatic typesetting system 210 can first arrange a part of each of the two dental molds into the concave part of the other dental mold among the two dental molds to form a unit, and then use the combined unit as the typesetting unit for subsequent typesetting. As Figure 6 shown, a part of the dental mold M1 is arranged in the concave part of the dental mold M2, and a part of the dental mold M2 is arranged in the concave part of the dental mold M1. The dental mold M1 and the dental mold M2 are combined into a unit.

[0078] The automatic typesetting system 210 can be a module in the control system of a stereolithography three-dimensional printing device or a separately provided unit. The present invention is not limited thereto. The automatic typesetting system 210 can be implemented by, for example, computer software, hardware, or a combination of computer software and hardware. For hardware implementation, the automatic typesetting system 210 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic devices for implementing the functions of the automatic typesetting system 210, or a selected combination of the above devices. For software implementation, the automatic typesetting system 210 can be implemented by independent software modules such as procedure modules and function modules, where each module executes one or more functions and operations of the automatic typesetting system 210. The software code can be implemented by an application software written in an appropriate programming language, stored in memory, and executed by a controller or a processor.

[0079] Figures 7a - 7d This is a schematic diagram of the staged structure of the automatic printing and pick-up collection device according to an embodiment of the present invention. Refer to Figure 2 、 Figures 7a - 7d , the automatic printing and pick-up collection device 220 may include a material tank 221 for accommodating photosensitive resin, a lifting table 222 for connecting the formed workpiece 300, a coating blade 223 for spreading the photosensitive resin, an image exposure system 224 for curing the photosensitive resin, a jacking device 225 for separating the workpiece 300 from the lifting table 222, and a collection blade 226 for scraping the workpiece 300 separated from the lifting table 222 off the lifting table 222. In this embodiment, the coating blade 223 and the collection blade 226 are constituted by the same device, that is, this device is used not only for spreading the photosensitive resin but also for scraping the workpiece 300 separated from the lifting table 222 off the lifting table 222. By adopting this method, the structure of the 3D printing device can be made simple, and the cost of the 3D printing device can be reduced. It can be understood that two devices can be set up to respectively realize the functions of the coating blade 223 and the collection blade 226, that is, one device is set up for spreading the photosensitive resin, and another device is set up for scraping the workpiece 300 separated from the lifting table 222 off the lifting table 222. By adopting this method, although the structure of the 3D printing device is relatively complex and the cost is relatively high, the workpiece 300 can be collected at any height.

[0080] The lifting table 222 can be connected to the frame of the light-curing 3D printing device 200 via a lead screw, and the lifting table 222 can move up and down relative to the material tank 221. At the start of printing, the lifting table 222 is immersed in the liquid photosensitive resin in the material tank 221 and forms a uniform liquid resin film with the liquid surface of the liquid photosensitive resin. After the liquid resin film is irradiated and cured by the ultraviolet light (UV, Ultraviolet) emitted by the image exposure system 224, the lifting table 222 descends a certain distance, and a layer of liquid resin is evenly coated on the cured layer through the coating blade 223, and the next layer of ultraviolet light irradiation and curing is carried out, and so on until the printing of the workpiece 300 is completed. It can be seen that the workpiece 300 is directly cured on the lifting table 222, and the photosensitive resin usually has very good viscosity, which makes the printed workpiece 300 firmly connected to the lifting table 222. In order to remove the printed workpiece 300 from the lifting table 222, the prior art usually shovels it off by workers using tools such as shovels. In order to be able to automatically remove the printed workpiece 300, a plurality of through holes are distributed on the lifting table 222 in this embodiment, which cooperate with the ejector rods of the jacking device 225 to enable the printed workpiece 300 to be separated from the lifting table 222, that is, to make the printed workpiece 300 and the lifting table 222 in a non-fastened connection. Since the light-curing 3D printing technology can print one or more workpieces at a time, although Figures 7a - 7dIn the illustrated embodiment, there is only one workpiece 300. However, it can be understood that there can be multiple workpieces formed on the lifting table 222, and the lifting device 225 can be used to separate multiple workpieces from the lifting table 222 at one time.

[0081] The lifting device 225 is arranged below the lifting table 222 and has a plurality of ejector rods corresponding to the plurality of through holes on the lifting table 222. In this embodiment, the lifting device 225 is arranged at the bottom of the material tank 221. After the workpiece 300 is printed, the lifting table 222 descends to the bottom of the material tank 221, so that the ejector rods pass through the corresponding through holes on the lifting table 222, lift the printed workpiece 300, and separate the printed workpiece 300 from the lifting table 222. It can be understood that the lifting device 225 can be arranged at any position of the material tank 221 as long as the highest ejector rod does not pass through the corresponding through hole on the lifting table 222 when the workpiece 300 is printed. In one embodiment, the lifting device 225 can move up and down in the material tank 221. When the workpiece 300 is printed, the lifting device 225 can be moved upward, so that the ejector rods pass through the corresponding through holes on the lifting table 222, lift the printed workpiece 300, and separate the printed workpiece 300 from the lifting table 222. It can be understood that the lifting table 222 can be moved downward and the lifting device 225 can be moved upward simultaneously to shorten the time required for the lifting table 222 and the lifting device 225 to move to the other side.

[0082] In this embodiment, each ejector rod has a different height. For example, the tops of the plurality of ejector rods form Figure 7a or Figure 7c a slope as shown, so that the plurality of ejector rods from high to low can contact the workpiece 300 successively, and the workpiece 300 can be gradually separated from the lifting table 222 in a way from one side to the other side. Compared with the way of lifting the entire workpiece 300 at the same time to separate the workpiece 300 from the lifting table 222, this way of gradual separation requires relatively less force. Preferably, the inclination angle of the slope is 5-15 degrees. In an embodiment not shown, the tops of the plurality of ejector rods can also form a step, that is, the change in height is not like Figure 7a or Figure 7cRather than being smooth, it is jerky. The tops of multiple ejector rods can also be stepped with slopes, that is, the tops of multiple ejector rods of one order form a slope. Additionally, the tops of multiple ejector rods can also have a shape similar to a triangular wave, a sawtooth wave, a sine wave, or a combination of any of these types. It can be understood that multiple ejector rods can also have the same height, and their tops form a plane. In this way, the entire workpiece 300 is lifted simultaneously, separating the workpiece 300 from the lifting table 222. It should be noted that the light-curing three-dimensional printing device 200 can simultaneously print and form multiple workpieces 300. Therefore, there can be multiple workpieces 300 on the lifting table 222 at the same time. The lifting device 225 can lift all these workpieces, separating them from the lifting table 222.

[0083] In one embodiment, the lifting device 225 can also have a vibration device (not shown in the figure), which is used to vibrate multiple ejector rods when the multiple ejector rods lift the workpiece 300, facilitating the separation of the workpiece 300 from the lifting table 222. It can be understood that the vibration of multiple ejector rods can be up-and-down vibration along the axial direction of the ejector rods or lateral vibration along the radial direction of the ejector rods.

[0084] The collecting scraper 226 is arranged above the lifting table 222, and it can move from one end to the other above the lifting table 222. For example, it can move from the back of the light-curing three-dimensional printing device 200 to the front, or from the left to the right. After printing is completed, the lifting device 225 separates the workpiece 300 from the lifting table 222. The lifting table 222 moves upward to a position where the collecting scraper 226 can scrape the workpiece 300. The collecting scraper 226 moves from one end to the other above the lifting table 222, scraping the workpiece 300 off the lifting table 222.

[0085] Optionally, the automatic printing and picking-up collection device 220 can also include a storage device (not shown in the figure), which is used to accommodate the workpiece 300 scraped off the lifting table 222 by the collecting scraper 226. The storage device can be arranged on one side of the material tank 221. When the collecting scraper 226 moves from one end to the other to scrape the workpiece 300 off the lifting table 222, the workpiece 300 directly drops into the storage device. In addition, the storage device can have a multi-layer structure, and each layer can move up and down. Each layer can collect one or more workpieces 300 scraped off the lifting table 222 by the collecting scraper 226 once or multiple times. Preferably, each layer of the storage device collects one or more workpieces 300 scraped off the lifting table 222 by the collecting scraper 226 once, which can facilitate continuous automated post-processing.

[0086] Figure 7a is a schematic structural diagram of the automatic printing and picking-up collection device before the workpiece is lifted in an embodiment of the present invention. Refer to Figure 7aWhen the workpiece 300 is printed, the workpiece 300 is fixedly connected to the lifting platform 222. The lifting platform 222 is located in the material tank 221. In this embodiment, the jacking device 225 is arranged at the bottom of the material tank 221. When starting automatic workpiece picking, the lifting platform 222 carrying the workpiece 300 moves downward until it reaches the bottom of the material tank 221.

[0087] Figure 7b It is a schematic structural diagram of the automatic printing, picking and collecting device when the workpiece of an embodiment of the present invention is jacked up. Refer to Figure 7b When the lifting platform 222 moves downward to the bottom of the material tank 221, the ejector rod of the jacking device 225 passes through the corresponding through hole on the lifting platform 222, and jacks up the workpiece 300 fixedly connected to the lifting platform 222, so that the workpiece 300 is separated from the lifting platform 222.

[0088] Figure 7c It is a schematic structural diagram of the automatic printing, picking and collecting device after the lifting platform rises after the workpiece of an embodiment of the present invention is separated from the lifting platform. Refer to Figure 7c After the workpiece 300 is separated from the lifting platform 222, the lifting platform 222 moves upward carrying the workpiece 300 until it reaches the position where the collecting scraper 226 can scrape the workpiece 300. For example, the lifting platform 222 moves upward to a position where the upper end surface of the lifting platform 222 is nearly flush with the lower edge of the collecting scraper 226. It can be understood that the lifting platform 222 can move upward to a position where the middle part of the workpiece 300 is flush with the lower edge of the collecting scraper 226.

[0089] Figure 7d It is a schematic structural diagram of the automatic printing, picking and collecting device when the scraper scrapes off the workpiece in an embodiment of the present invention. Refer to Figure 7d After the lifting platform 222 moves upward carrying the workpiece 300 to the position where the collecting scraper 226 can scrape the workpiece 300, the collecting scraper 226 moves from one end to the other end above the lifting platform 222, and scrapes the workpiece 300 off the lifting platform 222. Optionally, a storage device (not shown in the figure) can be arranged on the side of the material tank 221 to accommodate the workpiece 300 scraped off the lifting platform 222 by the collecting scraper 226.

[0090] Figure 8 It is a schematic structural diagram of the automatic printing, picking and collecting device of another embodiment of the present invention. Refer to Figure 2 and Figure 8 The automatic printing, picking and collecting device 220 may include a material tank 221 for accommodating photosensitive resin, a lifting platform 222' for connecting the formed workpiece 300, a coating scraper 223 for spreading the photosensitive resin, and an image exposure system 224 for curing the photosensitive resin.

[0091] The lifting platform 222' may have a lifting device 222'a and a platform 222'b. The platform 222'b is detachably connected to the lifting device 222'a, and the workpiece 300 is formed on the platform 222'b. The automatic printing and picking-up collection device 220 further has an automatic replacement device (not shown in the figure) for removing the platform 222'b with the workpiece 300 from the lifting device 222'a and setting a new platform 222'b on the lifting device 222'a. Since the automatic printing and picking-up collection device 220 shown in this embodiment removes the entire platform 222'b with the workpiece 300 and replaces it with a new 222'b, the removed platform 222'b can be separately picked up and collected by other dedicated devices. This method has the advantage of fast picking-up speed and is very suitable for assembly line operations.

[0092] Figure 9 It is a schematic structural diagram of the automatic liquid supplementing device according to an embodiment of the present invention. Refer to Figure 9 , the automatic liquid supplementing device 230 has a liquid supplementing tank 231 and an electric valve 232. The liquid supplementing tank 231 is used to accommodate photosensitive resin and is arranged above the material tank 221. The bottom surface of the liquid supplementing tank 231 is provided with a liquid outlet 233, which is connected to the electric valve 232. It can be understood that the liquid outlet 233 can also be arranged at the bottom of the side surface of the liquid supplementing tank 231. When the electric valve 232 is opened, the photosensitive resin in the liquid supplementing tank 231 can flow into the material tank 221 through the liquid outlet 233 under the action of gravity to supplement the material tank 221. The top surface of the liquid supplementing tank 231 can also be provided with a liquid inlet 234 for supplementing the photosensitive resin to the liquid supplementing tank 231. It can be understood that when the liquid level of the photosensitive resin in the liquid supplementing tank 231 is higher than the liquid level 221a of the photosensitive resin in the material tank 221, the automatic liquid supplementing device 230 can work normally.

[0093] The automatic liquid supplementing device 230 may further have a protection valve 235. The protection valve 235 is arranged between the liquid outlet 233 and the electric valve 232. When it is necessary to repair the electric valve 232 etc., the protection valve 235 can be closed to close the passage between the liquid outlet 233 and the electric valve 232. In this way, when repairing the electric valve 232 etc., it is not necessary to empty the photosensitive resin in the liquid supplementing tank 231, making the repair more convenient. It can be understood that when the automatic liquid supplementing device 230 is working normally, the protection valve 235 is in an open state.

[0094] The automatic liquid replenishing device 230 may further include a liquid level detection device 236. The liquid level detection device 236 is disposed above the material tank 221 and is used to detect the liquid level 221a of the photosensitive resin in the material tank 221. The automatic liquid replenishing device 230 controls the opening and closing of the electric valve 232 according to the detection result of the liquid level detection device 236 so as to control the liquid replenishing timing and the liquid replenishing amount. For example, when the liquid level detection device 236 detects that the liquid level 221a is lower than a preset threshold, the automatic liquid replenishing device 230 opens the electric valve 232 to replenish the material tank 221 with liquid. When the liquid level detection device 236 detects that the liquid level 221a has reached the desired value, the automatic liquid replenishing device 230 closes the electric valve 232 to stop replenishing the material tank 221 with liquid.

[0095] Although Figure 9 in the illustrated embodiment, there is only one liquid level detection device 236, it can be understood that there may be multiple liquid level detection devices 236, which are disposed at different positions above the material tank 221. The liquid level detection device 236 may be one or more of an ultrasonic liquid level detector, an optical liquid level detector, a capacitive liquid level detector, etc.

[0096] Figure 10 is a schematic structural diagram of an automatic liquid replenishing device according to another embodiment of the present invention. Referring to Figure 10 , the automatic liquid replenishing device 230' has a sealed liquid replenishing tank 231' and an air injection device 232'.

[0097] The liquid replenishing tank 231' is used to hold the photosensitive resin. An air inlet pipe 233' is provided at the top of the liquid replenishing tank 231', and a liquid outlet 234' is provided at the bottom of the side surface of the liquid replenishing tank 231'. It can be understood that the liquid outlet 234' may also be provided on the bottom surface of the liquid replenishing tank 231'. A liquid inlet 235' may further be provided on the top surface of the liquid replenishing tank 231' for replenishing the photosensitive resin to the liquid replenishing tank 231'.

[0098] The air injection device 232' is connected to the air inlet pipe 233' to inject gas into the liquid replenishment tank 231'. It can be understood that the air injection device 232' can be connected to the air inlet pipe 233' through a hose to prevent the vibration during the operation of the air injection device 232' from being transmitted to the liquid replenishment tank 231'. When liquid replenishment is required, the air injection device 232' injects gas into the liquid replenishment tank 231', and the air pressure in the liquid replenishment tank 231' increases as more gas is injected. As a result, the photosensitive resin in the liquid replenishment tank 231' flows into the material tank 221 through the liquid outlet 234' to replenish the material tank 221. When the liquid level 221a of the photosensitive resin in the material tank 221 has reached the desired value, the air injection device 232' stops injecting gas into the liquid replenishment tank 231' and releases the air pressure in the liquid replenishment tank 231' to stop replenishing the material tank 221. A pipe 236' can be connected to the liquid outlet 234' to guide the photosensitive resin flowing out through the liquid outlet 234' into the material tank 221.

[0099] In Figure 10 In the illustrated embodiment, the air injection device 232' is disposed within the light-curing three-dimensional printing device 200. However, it can be understood that the air injection device 232' can be disposed outside the light-curing three-dimensional printing device 200 and connected to the air inlet pipe 233' through a pipe to prevent the vibration during the operation of the air injection device 232' from being transmitted to the light-curing three-dimensional printing device 200.

[0100] The automatic liquid replenishment device 230' may further include a liquid level detection device 237'. The liquid level detection device 237' is disposed above the material tank 221 for detecting the liquid level 221a of the photosensitive resin in the material tank 221. The automatic liquid replenishment device 230' controls the opening and closing of the air injection device 232' according to the detection result of the liquid level detection device 237' to control the liquid replenishment timing and the liquid replenishment amount. Although Figure 10 in the illustrated embodiment, there is only one liquid level detection device 237', it can be understood that there can be multiple liquid level detection devices 237' and they are disposed at different positions above the material tank 221. The liquid level detection device 237' can be one or more of an ultrasonic liquid level detector, an optical liquid level detector, a capacitive liquid level detector, etc.

[0101] Figure 11 is a schematic structural diagram of a light-curing three-dimensional printing system capable of automatically and continuously printing according to an embodiment of the present invention. Refer to Figure 11, The stereolithography three-dimensional printing system 10 capable of automatically and continuously printing includes a host computer 400 and multiple three-dimensional printing devices 200-1 to 200-k connected to the host computer 400. The host computer 400 is used to control the three-dimensional printing devices 200-1 to 200-k to print three-dimensional models. Specifically, when the host computer 400 receives a printing task, it queries the status of the three-dimensional printing devices 200-1 to 200-k. If there are idle three-dimensional printing devices 200, the host computer 400 sends the three-dimensional model of the current task to one or more idle three-dimensional printing devices 200 for printing. After receiving the three-dimensional model, the three-dimensional printing device 200 performs automatic layout, automatic printing and workpiece collection, and automatically replenishes the liquid when needed. Optionally, the three-dimensional printing devices 200-1 to 200-k can automatically report their current status to the host computer 400, and the host computer 400 stores the status reported by the three-dimensional printing devices 200-1 to 200-k. The host computer 400 queries the status of the three-dimensional printing devices 200-1 to 200-k in the local area of the host computer 400. It can be understood that the host computer 400 can also directly query the status of the three-dimensional printing devices 200-1 to 200-k. Among them, the status of the three-dimensional printing devices 200-1 to 200-k includes but is not limited to idle, printing, and malfunction.

[0102] The stereolithography three-dimensional printing system 10 may further include a server 500. The server 500 is used to receive and process the printing tasks of remote users, and when the host computer 400 obtains the printing task by connecting to the server 500 through the network, it sends the printing tasks of remote users to the host computer 400. Among them, the network through which the host computer 400 connects to the server 500 includes but is not limited to ADSL network, LAN network, WLAN network, and WAN network.

[0103] Figure 12 is a flowchart of an automatic continuous printing method according to an embodiment of the present invention. Refer to Figure 12 , The automatic continuous printing method is implemented by the stereolithography three-dimensional printing device 200 and has the following steps:

[0104] S11: Receive multiple three-dimensional models and perform layout on the multiple three-dimensional models;

[0105] S12: Print the layouted three-dimensional models;

[0106] S13: After printing is completed, remove the workpiece 300 from the lifting platform 222;

[0107] S14: Determine whether liquid replenishment is required. If so, execute step S15; if not, execute step S16;

[0108] S15: Refill the photosensitive resin in the material tank 221, and after the liquid filling is completed, execute step S16;

[0109] S16: Determine whether the next round of printing is required. If so, return to step S11; if not, end the printing.

[0110] Step S11 can be executed by the automatic layout system 210, steps S12 and S13 can be executed by the automatic printing and picking-up and collecting device 220, and steps S14 and S15 can be executed by the automatic liquid filling device 230.

[0111] Figure 13 It is a flowchart of an automatic continuous printing method according to another embodiment of the present invention. Refer to Figure 13 The automatic continuous printing method is implemented by a light-curing three-dimensional printing device 200 and has the following steps:

[0112] S21: Receive a plurality of three-dimensional models and perform layout on the plurality of three-dimensional models;

[0113] S22: Print the typeset three-dimensional models;

[0114] S23: After printing is completed, remove the workpiece 300 from the lifting platform 222;

[0115] S24: Determine whether the next round of printing is required. If so, execute step S25; if not, end the printing;

[0116] S25: Determine whether liquid replenishment is required. If so, execute step S26; if not, return to step S21;

[0117] S26: Refill the photosensitive resin in the material tank 221, and after the liquid filling is completed, return to step S21.

[0118] Step S21 can be executed by the automatic layout system 210, steps S22 and S23 can be executed by the automatic printing and picking-up and collecting device 220, and steps S25 and S26 can be executed by the automatic liquid filling device 230.

[0119] In one embodiment, steps S11 and S21 typeset a plurality of three-dimensional models according to the following typesetting rules: arrange the plurality of three-dimensional models in n rows along a direction parallel to the length of the coating squeegee 223 for spreading the photosensitive resin. The heights of the plurality of three-dimensional models in these n rows satisfy the following relationship: Assume that the i-th row is the row where the three-dimensional model with the highest height among the plurality of three-dimensional models is located. Then, the lowest height of the plurality of three-dimensional models in the i-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the (i + 1)-th row and the (i - 1)-th row, and the lowest height of the plurality of three-dimensional models in the (i + 1)-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the (i + 2)-th row, and the lowest height of the plurality of three-dimensional models in the (i - 1)-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the (i - 2)-th row, and so on; where i = 1, 2,..., n.

[0120] In one embodiment, the three-dimensional models in at least one row among the n rows of typeset three-dimensional models are arranged in a manner from high to low along a direction, as Figure 3 shown in the 4th row or the 5th row in

[0121] In another embodiment, the three-dimensional models in at least one row among the n rows of typeset three-dimensional models are arranged in a manner with a higher middle and lower sides, as Figure 3 shown in the 3rd row in . Since the light-curing three-dimensional printing device 200 has a higher printing quality at the middle position of the lifting platform 222, therefore, by adopting the arrangement method of this embodiment, the area with a higher printing quality can be utilized to the maximum extent.

[0122] Figure 14 is a flowchart of typesetting a plurality of three-dimensional models according to an embodiment of the present invention. Referring to Figure 14 , typesetting a plurality of three-dimensional models includes the following steps:

[0123] S1a: Arrange the plurality of three-dimensional models in descending order of height;

[0124] S1b: Divide the arranged plurality of three-dimensional models into n rows according to boundary conditions;

[0125] S1c: Perform position adjustment on the plurality of three-dimensional models divided into n rows row by row.

[0126] In one embodiment, after step S1b and before step S1c or after step S1c, the following step is further included: S1d: Perform in-row position adjustment on the plurality of three-dimensional models in at least one row among the n rows.

[0127] In one embodiment, the boundary condition for dividing the arranged multiple three-dimensional models into n rows in step S1b can be that the sum of the maximum widths of the multiple three-dimensional models divided into one row along the length direction of the coating squeegee 223 is less than or equal to the minimum value of the width of the lifting table 222 along the length direction of the coating squeegee 223 and the effective length of the coating squeegee 223, and the sum of the maximum widths of the multiple three-dimensional models in the n rows along the scraping direction of the coating squeegee 223 is less than or equal to the width of the lifting table 222 along the scraping direction of the coating squeegee 223. In this way, the areas obtained by projecting the multiple three-dimensional models after typesetting onto the lifting table 223 in the direction perpendicular to the lifting table 223 are all within the range of the lifting table 223, so as to avoid the situation that the three-dimensional models cannot be fully printed.

[0128] Figure 15 is a flowchart for typesetting multiple three-dimensional models according to another embodiment of the present invention. Refer to Figure 15 , typesetting multiple three-dimensional models may include the following steps:

[0129] S1a’: Calculate the bounding box sizes of the multiple three-dimensional models, and arrange the multiple three-dimensional models in descending order of the width of the bounding box;

[0130] S1b’: Try to allocate one row or column space in the lifting table according to the maximum width of the remaining three-dimensional models;

[0131] S1c’: Determine whether the space of the lifting table is sufficient. If so, execute step S1d’. If not, end;

[0132] S1d’: Take out the multiple three-dimensional models and arrange them in a row or column;

[0133] S1e’: Squeeze the space between the rows or columns, and return to step S1b’.

[0134] Optionally, when the judgment in step S1c’ is negative, before ending, it may further include step S1f’: Center the model as a whole relative to the space of the lifting table.

[0135] Figure 16 is a flowchart for taking out multiple three-dimensional models and arranging them in a row or column according to another embodiment of the present invention.

[0136] Refer to Figure 16 , taking out the multiple three-dimensional models and arranging them in a row or column may include the following steps:

[0137] S1d’1: Take out a three-dimensional model, and calculate the contour of its projection in the direction perpendicular to the plane of the lifting table;

[0138] S1d’2: According to the bounding box of the current three-dimensional model, place it adjacent to the existing three-dimensional models in a row or column space in a centered alignment manner;

[0139] S1d’3: Move the current 3D model closer to the existing 3D models in a row or column by a small fixed distance;

[0140] S1d’4: Determine whether the contours of the 3D models intersect. If so, execute step S1d’5; if not, return to step S1d’3;

[0141] S1d’5: Cancel the previous movement of the current 3D model;

[0142] S1d’6: Determine whether it exceeds the range of the lifting platform. If so, execute step S1d’7; if not, return to step S1d’1;

[0143] S1d’7: Cancel the previous movement of the current 3D model.

[0144] Figure 17 It is a flowchart of squeezing the space between rows or columns in another embodiment of the present invention. Refer to Figure 17 , squeezing the space between rows or columns may include the following steps:

[0145] S1e’1: Move the current row or column closer to the previous row or column by a small fixed distance;

[0146] S1e’2: Determine whether the contours of the 3D models of two rows or columns intersect. If so, execute step S1e’3; if not, return to step S1e’1;

[0147] S1e’3: Cancel the previous movement of the current row or column.

[0148] Figure 18 It is a flowchart of removing a workpiece from a lifting platform in an embodiment of the present invention. This automatic picking method is applicable to a Figures 7a - 7d light-curing type 3D printing device 200 as shown in Figure 18 , and the steps of removing the workpiece from the lifting platform include:

[0149] S3a: Pass a plurality of ejector rods through a plurality of through holes on the lifting platform 222 to lift the workpiece 300 so that the workpiece 300 is separated from the lifting platform 222;

[0150] S3b: Scrape the workpiece 300 separated from the lifting platform 222 off the lifting platform.

[0151] In one embodiment, during the process of lifting the workpiece 300 by the plurality of ejector rods in step S3a, the plurality of ejector rods vibrate.

[0152] Figure 19 It is a flowchart of removing a workpiece from a lifting platform in another embodiment of the present invention. This automatic picking method is applicable to a Figure 8The shown light-curing three-dimensional printing device 200, refer to Figure 19 , the step of removing the workpiece from the lifting platform includes:

[0153] S3a’: Remove the platform 222’b with the workpiece 300 from the lifting device 222’a;

[0154] S3b’: Set a new platform 222’b on the lifting device 222’a.

[0155] In one embodiment, the step of replenishing the material tank 221 is carried out by setting the replenishing tank 231 above the material tank 221, and when replenishing, the photosensitive resin in the replenishing tank 231 flows into the material tank 221 based on the action of gravity.

[0156] In one embodiment, the step of replenishing the material tank 221 is carried out by setting a sealed replenishing tank 231’, injecting gas into the replenishing tank 231’, and making the photosensitive resin in the replenishing tank 231’ flow into the material tank 221 based on the action of air pressure.

[0157] Figure 20 is a flowchart of the automatic continuous printing method of the three-dimensional printing system according to an embodiment of the present invention. Refer to Figure 20 , the host computer 400 executes step S401: Receive a printing task, step S402: Query the status of the three-dimensional printing device; the three-dimensional printing devices 200-1 to 200-k receive the status query from the host computer in step S201, and report their current status to the host computer 400 in step S202; the host computer 400 receives the status of the three-dimensional printing device in step S403, and judges in step 404 whether there is an idle three-dimensional printing device. If so, execute step S405: Send the printing task to the idle three-dimensional printer, and return to step S401; the three-dimensional printing devices 200-1 to 200-k receive the printing task in step S203, and automatically typeset, automatically print and pick up the parts, and automatically replenish the liquid when needed; if there is no idle three-dimensional printing device, the host computer 400 returns to step S402. Among them, the status of the three-dimensional printing devices 200-1 to 200-k includes but is not limited to idle, printing, and malfunction.

[0158] Optionally, the three-dimensional printing devices 220-1 to 200-k can automatically report their current status to the host computer 400, and the host computer 400 stores the status reported by the three-dimensional printing devices 200-1 to 200-k. The host computer 400 queries the status of the three-dimensional printing devices 200-1 to 200-k in the local area of the host computer 400.

[0159] The 3D printing devices 200-1 to 200-k receive printing tasks in step S203, automatically typeset, automatically print and pick up and collect the printed items, and automatically replenish liquid when needed. The 3D automatic continuous printing method described in at least one of the following may be adopted Figure 12 , Figure 13 or the like.

[0160] The host computer 400 may directly receive the user's printing task through the user interface, or may receive the printing task of a remote user by communicating with a server 500. The present invention is not limited thereto.

[0161] Although the present invention has been described with reference to the current specific embodiments, those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, as long as the changes and modifications of the above embodiments are within the scope of the spirit of the present invention, they will fall within the scope of the claims of this application.

Claims

1. A light-curing three-dimensional printing device, comprising an automatic typesetting system, an automatic printing device, and an automatic liquid supplementing device, wherein, the automatic printing device has a material tank for accommodating photosensitive resin and a lifting table for connecting a formed workpiece; the automatic typesetting system is configured to receive a plurality of three-dimensional models, typeset the plurality of three-dimensional models, and output the typeset three-dimensional models; the automatic printing device is configured to receive the typeset three-dimensional models and print the typeset three-dimensional models; the automatic liquid supplementing device is configured to determine whether liquid supplement is needed, and if so, supplement photosensitive resin to the material tank.

2. The light-curing three-dimensional printing device according to claim 1, characterized in that: the automatic typesetting system typesets the plurality of three-dimensional models according to the following typesetting rules: the plurality of three-dimensional models are arranged in n rows along a direction parallel to the length of a coating blade for spreading photosensitive resin, and the heights of the plurality of three-dimensional models in the n rows satisfy the following relationship: assuming that the i-th row is the row where the three-dimensional model with the highest height among the plurality of three-dimensional models is located, then the lowest height of the plurality of three-dimensional models in the i-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i + 1-th row and the i - 1-th row, and the lowest height of the plurality of three-dimensional models in the i + 1-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i + 2-th row, and the lowest height of the plurality of three-dimensional models in the i - 1-th row is greater than or equal to the highest height of the plurality of three-dimensional models in the i - 2-th row, and so on; where n is a natural number, and i = 1, 2,..., n.

3. The light-curing three-dimensional printing device according to claim 2, characterized in that: the plurality of three-dimensional models in at least one of the n rows are arranged in a manner of decreasing from high to low along one direction.

4. The light-curing three-dimensional printing device according to claim 2, characterized in that: the plurality of three-dimensional models in at least one of the n rows are arranged in a manner of being high in the middle and low on both sides.

5. The light-curing three-dimensional printing device according to claim 2, characterized in that: the automatic typesetting system includes: a sorting module for arranging the plurality of three-dimensional models in descending order of height; a row dividing module for dividing the arranged plurality of three-dimensional models into n rows according to boundary conditions; an inter-row adjustment module for adjusting the positions of the plurality of three-dimensional models divided into n rows row by row.

6. The light-curing three-dimensional printing device according to claim 5, characterized in that: the automatic typesetting system includes: an intra-row adjustment module for performing intra-row position adjustment on the plurality of three-dimensional models in at least one of the n rows.

7. The light-curing three-dimensional printing device according to any one of claims 2 to 6, characterized in that: the coating blade only scrapes the area being printed.

8. The light-curing three-dimensional printing device according to claim 1, characterized in that: the automatic typesetting system includes: a sorting module for calculating the bounding box sizes of the plurality of three-dimensional models and arranging the plurality of three-dimensional models in descending order of the width of the bounding box; A space allocation module, configured to attempt to allocate a row or column of space in the lifting platform according to the maximum width remaining for the three-dimensional model, and determine whether the space of the lifting platform is sufficient; An arrangement module, configured to take out the multiple three-dimensional models and arrange them in a row or column when there is sufficient space in the lifting platform; A row / column space squeezing module, configured to reduce the interval between rows or columns after the multiple three-dimensional models are arranged in a row or column.

9. The stereolithography three-dimensional printing device according to claim 8, characterized in that: The automatic typesetting system further includes: a model overall centering module, configured to center the model as a whole with respect to the space of the lifting platform when there is not enough space in the lifting platform.

10. The stereolithography three-dimensional printing device according to claim 1, characterized in that: It further includes an automatic picking and collecting device, which has a jacking device arranged below the lifting platform; A plurality of through holes are distributed on the lifting platform; The jacking device has a plurality of ejector rods corresponding to the plurality of through holes, and is configured to jack up the workpiece formed on the lifting platform to separate the workpiece from the lifting platform; wherein each of the ejector rods has a different height, so that each workpiece in one or more of the workpieces is gradually separated from the lifting platform.

11. The stereolithography three-dimensional printing device according to claim 10, characterized in that: The automatic picking and collecting device further has: A collecting scraper, configured to scrape the one or more workpieces separated from the lifting platform off the lifting platform.

12. The stereolithography three-dimensional printing device according to claim 11, characterized in that: The automatic picking and collecting device further has: A storage device, configured to accommodate the collected workpieces.

13. The stereolithography three-dimensional printing device according to claim 10, characterized in that: The jacking device further has a vibration device; during the process of the plurality of ejector rods jacking up the workpiece, the vibration device vibrates the plurality of ejector rods.

14. The stereolithography three-dimensional printing device according to claim 1, characterized in that: The lifting platform has a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; the stereolithography three-dimensional printing device further has an automatic replacement device, configured to remove the platform with the workpiece from the lifting device and set a new platform on the lifting device.

15. The stereolithography three-dimensional printing device according to claim 1, characterized in that: The automatic liquid replenishing device has a liquid replenishing tank and an electric valve; The liquid replenishing tank is arranged above the material tank and is configured to accommodate photosensitive resin; The electric valve is connected to the bottom surface and / or the bottom of the side surface of the liquid replenishing tank; When the material tank needs to be replenished with liquid, the electric valve is opened so that the photosensitive resin in the liquid replenishing tank flows into the material tank based on the action of gravity.

16. The stereolithography three-dimensional printing device according to claim 1, characterized in that: The automatic liquid replenishing device has a sealed liquid replenishing tank and an air injection device; The liquid replenishing tank is configured to accommodate photosensitive resin; The air injection device is configured to inject gas into the liquid replenishing tank; When the material tank needs to be replenished, the air injection device injects gas into the replenishing tank, so that the photosensitive resin in the replenishing tank flows into the material tank under the action of air pressure.

17. The light-curing three-dimensional printing device according to claim 13 or 14, characterized in that: The automatic replenishing device further has a liquid level detection device for detecting the liquid level of the photosensitive resin in the material tank.

18. A light-curing three-dimensional printing system, including a host computer and multiple light-curing three-dimensional printing devices according to any one of claims 1 to 17; When the host computer receives a printing task, it queries the status of the multiple light-curing three-dimensional printing devices. If there is an idle light-curing three-dimensional printing device, the host computer sends the three-dimensional model of the current task to one or more idle light-curing three-dimensional printing devices for printing; After receiving the three-dimensional model, the light-curing three-dimensional printing device performs automatic layout, automatic printing and pick-up collection, and performs automatic replenishment when needed.

19. The light-curing three-dimensional printing system according to claim 18, characterized in that: It further includes a server; the server is used to receive and process the printing tasks of remote users, and when the host computer connects to the server through the network to obtain the printing task, the server sends the printing task of the remote user to the host computer.

20. An automatic continuous printing method implemented by a light-curing three-dimensional printing device, the light-curing three-dimensional printing device having a material tank for accommodating photosensitive resin and a lifting table for connecting a formed workpiece, characterized in that includes the following steps: S11: Receive a plurality of three-dimensional models and perform layout on the plurality of three-dimensional models; S12: Print the typeset three-dimensional models; S13: After printing is completed, remove the workpiece from the lifting table; S14: Determine whether replenishment is required. If so, execute step S15. If not, execute step S16; S15: Supplement the material tank with photosensitive resin, and execute step S16 after replenishment is completed; S16: Determine whether the next round of printing is required. If so, return to step S11. If not, end the printing.

21. An automatic continuous printing method implemented by a light-curing three-dimensional printing device, the light-curing three-dimensional printing device having a material tank for accommodating photosensitive resin and a lifting table for connecting a formed workpiece, characterized in that includes the following steps: S21: Receive a plurality of three-dimensional models and perform layout on the plurality of three-dimensional models; S22: Print the typeset three-dimensional models; S23: After printing is completed, remove the workpiece from the lifting table; S24: Determine whether the next round of printing is required. If so, execute step S25. If not, end the printing; S25: Determine whether replenishment is required. If so, execute step S26. If not, return to step S21; S26: Supplement the material tank with photosensitive resin, and return to step S21 after replenishment is completed.

22. The method according to claim 20 or 21, characterized in that: Performing layout on the plurality of three-dimensional models is carried out according to the following layout rules: The multiple three-dimensional models are arranged in n rows along a direction parallel to the length of the coating squeegee for spreading the photosensitive resin, and the heights of the multiple three-dimensional models in the n rows satisfy the following relationship: Assume that the i-th row is the row where the three-dimensional model with the highest height among the multiple three-dimensional models is located. Then, the lowest height of the multiple three-dimensional models in the i-th row is greater than or equal to the highest height of the multiple three-dimensional models in the (i + 1)-th row and the (i - 1)-th row, and the lowest height of the multiple three-dimensional models in the (i + 1)-th row is greater than or equal to the highest height of the multiple three-dimensional models in the (i + 2)-th row, and the lowest height of the multiple three-dimensional models in the (i - 1)-th row is greater than or equal to the highest height of the multiple three-dimensional models in the (i - 2)-th row, and so on; where i = 1, 2,..., n.

23. The method according to claim 22, characterized in that: The multiple three-dimensional models in at least one of the n rows are arranged in a manner that decreases from high to low along a direction.

24. The method according to claim 22, characterized in that: The multiple three-dimensional models in at least one of the n rows are arranged in a manner that is high in the middle and low on both sides.

25. The method according to claim 22, characterized in that: The step of typesetting the multiple three-dimensional models includes: S1a: Arranging the multiple three-dimensional models in descending order of height; S1b: Dividing the arranged multiple three-dimensional models into n rows according to boundary conditions; S1c: Adjusting the positions of the multiple three-dimensional models divided into n rows by row.

26. The method according to claim 25, characterized in that: After step S1b and before step S1c or after step S1c, the following step is further included: S1d: Adjusting the in-row positions of the multiple three-dimensional models in at least one of the n rows.

27. The method according to any one of claims 22 to 26, characterized in that: The coating squeegee only scrapes the area being printed.

28. The method according to claim 20 or 21, characterized in that: Typesetting the multiple three-dimensional models includes the following steps: S1a': Calculating the bounding box sizes of the multiple three-dimensional models and arranging the multiple three-dimensional models in descending order of the width of the bounding box; S1b': Attempting to allocate one row or column space in the lifting platform according to the maximum width of the remaining three-dimensional models; S1c': Judging whether the space of the lifting platform is sufficient. If so, execute step S1d', if not, end; S1d': Taking out the multiple three-dimensional models and arranging them in one row or column; S1e': Squeezing the space between the rows or columns and returning to step S1b'.

29. The method according to claim 28, characterized in that: When the judgment in step S1c' is negative, before ending, step S1f' can further be included: Centering the models as a whole relative to the space of the lifting platform.

30. The method according to claim 20 or 21, characterized in that: A plurality of through holes are distributed on the lifting platform; a jacking device is arranged below the lifting platform, and the jacking device has a plurality of ejector rods correspondingly arranged with the plurality of through holes; The step of removing the workpiece from the lifting platform includes: S3a: Pass the multiple ejector rods through the multiple through-holes on the lifting table, lift the workpiece, and separate the workpiece from the lifting table; S3b: Scrape the workpiece separated from the lifting table off the lifting table, and the workpiece enters the storage device.

31. The method according to claim 30, wherein: During the process of the multiple ejector rods lifting the workpiece in step S3a, the multiple ejector rods vibrate.

32. The method according to claim 20 or 21, wherein: The lifting table has a lifting device and a platform, the platform is detachably connected to the lifting device, and the workpiece is formed on the platform; The step of removing the workpiece from the lifting table includes: S3a': Remove the platform with the workpiece from the lifting device; S3b': Set a new platform on the lifting device.

33. The method according to claim 20 or 21, wherein: The step of replenishing photosensitive resin to the material tank is carried out by arranging a liquid replenishing tank above the material tank, and when replenishing liquid, the photosensitive resin in the liquid replenishing tank flows into the material tank based on the action of gravity.

34. The method according to claim 20 or 21, wherein: The step of replenishing photosensitive resin to the material tank is carried out by arranging a sealed liquid replenishing tank, injecting gas into the liquid replenishing tank, and making the photosensitive resin in the liquid replenishing tank flow into the material tank based on the action of air pressure.

35. A three-dimensional printing device, characterized in that, comprising: A material tank; A lifting table capable of moving up and down relative to the material tank, and a plurality of through-holes are distributed on the lifting table; A jacking device located below the lifting table, having a plurality of ejector rods corresponding to the plurality of through-holes on the lifting table, for jacking up one or more workpieces formed on the lifting table to separate the one or more workpieces from the lifting table; Wherein each of the ejector rods has a different height so that each of the one or more workpieces is gradually separated from the lifting table.

36. The three-dimensional printing device according to claim 35, wherein: It further comprises: A scraper arranged above the lifting table for scraping the one or more workpieces separated from the lifting table off the lifting table; A storage device for collecting the one or more workpieces scraped off the lifting table by the scraper.

37. The three-dimensional printing device according to claim 36, wherein: The workpiece collecting device has a multi-layer structure, and each layer can move up and down.

38. The three-dimensional printing device according to claim 35, wherein: The jacking device can move up and down in the material tank.

39. The three-dimensional printing device according to claim 35, wherein: The jacking device is fixedly arranged at the bottom of the material tank.

40. The three-dimensional printing device according to claim 35, wherein: The jacking device has a vibration device for vibrating the multiple ejector rods when the multiple ejector rods jack up the one or more workpieces to facilitate the separation of the one or more workpieces from the lifting table.

41. The three-dimensional printing device according to claim 35, wherein: The height of each ejector rod increases along a direction, so as to form a slope or a step at the top end.

42. The three-dimensional printing device according to claim 36, characterized in that: the squeegee is a coating squeegee of the three-dimensional printer.

43. The three-dimensional printing device according to claim 35, characterized in that: it further comprises a liquid replenishing device for automatically replenishing the material tank after printing is completed.

44. The three-dimensional printing device according to claim 43, characterized in that: the liquid replenishing device has a liquid replenishing tank and an electric valve, and the liquid level in the liquid replenishing tank is higher than the liquid level in the material tank; when liquid replenishment is required, the electric valve is opened, and the liquid in the liquid replenishing tank flows into the material tank.

45. The three-dimensional printing device according to claim 43, characterized in that: the liquid replenishing device has a sealed liquid replenishing tank and an air injection device, and the liquid replenishing tank has an air injection hole and a liquid outlet; when liquid replenishment is required, the air injection device injects gas into the liquid replenishing tank through the air injection hole, so that the pressurized liquid in the liquid replenishing tank flows into the material tank through the liquid outlet.

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