Printing lifting shaft control method and device and laser printing equipment

Abstract

The invention provides a printing lifting shaft control method and device and laser printing equipment. The control method comprises the step of enabling a coordinate system of the driving device and coordinates of the absolute value grating ruler to be in the same direction and zero points. And the servo motor and the absolute value grating ruler are subjected to unified zero returning in a coordinate system in the same direction. When the substrate moves, the position change of the substrate is added and subtracted at the same time relative to a coordinate system where the servo motor and the absolute value grating ruler are located. After the relative movement or absolute movement of the substrate occurs, the current grating ruler position recorded by the absolute value grating ruler is used as a reference to directly perform position compensation, so that the position of each layer of the substrate is ensured to be within the coordinate system control of the absolute value grating ruler, the control error of the substrate movement is reduced, the accumulation of counting errors can be avoided, and the accuracy of the device is improved. And maintenance frequency is reduced, and the method is not only suitable for a high electromagnetic noise environment, but also can meet the high-precision requirement under large-height and long-time continuous printing.

Description

Technical Field

[0001] The present application relates to the technical field of 3D printing, and in particular to a printing lifting axis control method, a control device and a laser printing device. Background Art

[0002] In 3D metal powder printing, the substrate needs to be lowered layer by layer according to the set layer thickness parameters. Ideally, the substrate should be lowered layer by layer according to the set layer thickness parameters and the powder should be applied during printing. However, due to mechanical backlash in the transmission, continuous unidirectional operation poses the risk of cylinder jamming. Therefore, in actual applications, the substrate needs to be driven downward and then upward using a servo motor. The actual unidirectional movement distance of the incremental encoder is then used to compensate for this.

[0003] The compensation process is as follows: After a single run, the incremental scale measures the distance between the current endpoint and the starting point of the movement to obtain the compensation distance. The servo motor then raises and lowers the substrate again based on the compensation distance, and this cycle continues until the incremental scale measures the distance between the current endpoint and the starting point of the first compensation equal to the layer thickness. However, this solution cannot meet the high-precision requirements of high-height printing. Summary of the Invention

[0004] In view of the above, it is necessary to provide a printing lifting axis control method, a control device and a laser printing device to solve the above technical problems.

[0005] The first aspect of the present application provides a printing lifting axis control method, which is applied to a laser printing device. The laser printing device includes a substrate, a driving device and an absolute value grating scale. The control method includes: making the coordinate system of the driving device and the coordinate system of the absolute value grating scale in the same direction and with the same zero point; determining the motion type of the substrate, the motion types include relative motion, print layer descent and absolute motion; receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending them to the driving device to control the driving device to drive the substrate to move, and the absolute value grating scale records the current position of the grating scale in real time; after the substrate movement is completed, the substrate is position compensated; wherein, when the motion type is relative motion or absolute motion, the substrate is position compensated according to the current position of the grating scale.

[0006] In some embodiments, the motion type includes relative motion, and the control parameters corresponding to the relative motion include the relative motion target distance; receiving the control parameters corresponding to the motion type, generating a corresponding relative motion instruction based on the control parameters, and sending it to the driving device, including: in response to the motion type being relative motion, receiving the relative motion target distance, obtaining the relative motion target position based on the relative motion target distance and the current position of the grating ruler; generating a corresponding relative motion instruction based on the relative motion target distance; sending the corresponding relative motion instruction to the driving device to control the driving device to drive the substrate to move based on the relative motion target distance.

[0007] In some embodiments, position compensation is performed on the substrate based on the current position of the grating ruler, including: in response to the relative motion difference between the relative motion target position and the current position of the grating ruler not being within a preset first error range, generating a corresponding relative motion instruction based on the relative motion difference; and sending the corresponding relative motion instruction to a driving device to control the driving device to drive the substrate to move based on the relative motion difference.

[0008] In some embodiments, the motion type includes a lowering of the printing layer, and the control parameters corresponding to the lowering of the printing layer include a printing target position and a layer thickness parameter of the current printing layer; receiving the control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending them to the driving device, including: in response to the motion type being a lowering of the printing layer, receiving the printing target position and layer thickness parameters; generating corresponding relative motion instructions according to the layer thickness parameters and the preset mechanical gap parameters; sending the corresponding relative motion instructions to the driving device to control the driving device to drive the substrate to move forward based on the layer thickness parameters and the mechanical gap parameters; generating corresponding relative motion instructions according to the mechanical gap parameters; sending the corresponding relative motion instructions to the driving device to control the driving device to drive the substrate to move in the opposite direction based on the mechanical gap parameters.

[0009] In some embodiments, position compensation is performed on the substrate, including: in response to a printing position difference between a printing target position and a current printing position not being within a preset second error range, generating a corresponding relative motion instruction based on the printing position difference; and sending the corresponding relative motion instruction to a driving device to control the driving device to drive the substrate to move based on the printing position difference.

[0010] In some embodiments, a corresponding relative motion instruction is generated according to the layer thickness parameter and the mechanical gap parameter, including: assigning the motion distance to n*layer thickness parameter+mechanical gap parameter, and generating a corresponding relative motion instruction according to the motion distance, where n≥2.

[0011] In some embodiments, the motion type includes absolute motion, and the control parameters corresponding to the absolute motion include an absolute target position; receiving the control parameters corresponding to the motion type, generating corresponding relative motion instructions based on the control parameters, and sending them to the driving device, including: receiving the absolute target position in response to the motion type being absolute motion; generating a corresponding relative motion instruction based on the absolute target position; sending the corresponding relative motion instruction to the driving device to control the driving device to drive the substrate to move based on the absolute target position.

[0012] In some embodiments, position compensation is performed on the substrate based on the current position of the grating ruler, including: in response to the absolute motion difference between the absolute target position and the current position of the grating ruler not being within a preset third error range, generating a corresponding relative motion instruction based on the absolute motion difference; and sending the corresponding relative motion instruction to a driving device to control the driving device to drive the substrate to move based on the absolute motion difference.

[0013] The second aspect of the present application provides a control device, including: an initialization module, used to make the coordinate system of the driving device and the coordinate of the absolute value grating ruler in the same direction and the same zero point; a motion trigger module, used to determine the motion type of the substrate, the motion types including relative motion, print layer descent and absolute motion; a parameter receiving module, used to receive control parameters corresponding to the motion type, generate corresponding relative motion instructions according to the control parameters, and send them to the driving device to control the driving device to drive the substrate to move, and the absolute value grating ruler records the current position of the grating ruler in real time; a motion compensation module, used to compensate the substrate according to the current position of the grating ruler after the substrate movement is completed, when the motion type is relative motion or absolute motion.

[0014] The third aspect of the present application provides a laser printing device, including a substrate, a driving device, an absolute value grating scale and the control device provided in the second aspect.

[0015] The printing lifting axis control method, control device and laser printing equipment provided by the present application return the servo motor and the absolute value grating ruler to zero uniformly in the coordinate system in the same direction. When the substrate moves, the position change of the substrate is added or subtracted relative to the coordinate system where the servo motor and the absolute value grating ruler are located. After the substrate undergoes relative motion or absolute motion, the current position of the grating ruler recorded by the absolute value grating ruler is used as a reference to directly perform position compensation to ensure that the position of each layer of the substrate is within the control of the coordinate system of the absolute value grating ruler, reduce the control error of the substrate movement, avoid the accumulation of counting errors, reduce maintenance frequency, and is not only suitable for high electromagnetic noise environments, but also can meet the high-precision requirements under high altitude and long-term continuous printing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic structural diagram of the laser printing device of an embodiment of the present application.

[0017] Figure 2 This is a first flow chart of the printing lift axis control method according to an embodiment of the present application.

[0018] Figure 3 This is a second flow chart of the printing lift axis control method according to an embodiment of the present application.

[0019] Figure 4 It is a structural diagram of the control device of an embodiment of the present application.

[0020] Description of main component symbols 10. Base plate; 20. Driving device; 30. Absolute grating ruler; 40. Control device; 41. Initialization module; 42. Motion trigger module; 43. Parameter receiving module; 44. Motion compensation module. DETAILED DESCRIPTION

[0021] In the description of the embodiments of the present application, words such as "exemplary", "or", and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or more advantageous than other embodiments or designs. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0022] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence. The methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the methods. The order of execution of multiple steps can be interchanged with each other, and some steps can be deleted without departing from the scope of the claims.

[0023] In 3D metal powder printing, the substrate needs to be lowered layer by layer according to the set layer thickness parameters. Ideally, the substrate should be lowered layer by layer according to the set layer thickness parameters and the powder printing should be carried out. For example, if the layer thickness is set to 50 microns, the substrate surface is at coordinate 0 at the beginning of printing. When printing the first layer, the substrate is driven by a servo motor to lower the substrate by 50 microns, at which point the substrate is at coordinate 50, and the powder printing is carried out. After the current layer is printed, the servo motor controls the drive to lower the substrate by another 50 microns, at which point the substrate is at coordinate 100, and the powder printing is carried out again. The printing process will repeat these steps.

[0024] However, due to the mechanical backlash in the transmission, continuous unidirectional operation poses the risk of cylinder jamming. Therefore, in actual applications, the substrate needs to be driven downward and upward by a servo motor. Compensation is then performed based on the actual unidirectional movement distance of the incremental scale. The compensation process is as follows: After a single run, the incremental scale measures the compensation distance between the current endpoint and the starting point (calculated from the layer thickness parameters and the mechanical backlash parameters). The servo motor then raises and lowers the substrate again based on the compensation distance, repeating this cycle until the incremental scale measures the distance between the current endpoint and the starting point of the initial compensation equal to the layer thickness.

[0025] However, the above technical solution has the following defects. First, the incremental grating scale has weak anti-interference ability and is prone to cumulative counting errors. It needs to be calibrated regularly during long-term operation to eliminate errors, which makes it difficult to meet the high-precision requirements under large-height printing. Second, it is necessary to return to zero (find the reference point) after each power outage and restart, and an unexpected power outage may cause position loss, requiring recalibration, which prolongs the equipment initialization time. Third, the elimination of the reverse gap in the above solution relies more on mechanical preload. The incremental grating scale only provides feedback and cannot directly correct the mechanical gap, resulting in poor compensation effect. Fourth, in the above solution, the substrate uses the coordinate system of the servo motor as a reference for absolute value movement. The incremental grating scale does not have a fixed coordinate system to provide a reference, so gap compensation cannot be performed.

[0026] To this end, the embodiments of the present application provide a printing lifting axis control method, a control device and a laser printing device to solve the above-mentioned technical defects.

[0027] The present application first provides a printing lifting axis control method, which can be applied to a laser printing device, and the laser printing device can be a 3D printing device.

[0028] like Figure 1 and Figure 2 As shown, the laser printing device includes a substrate 10, a drive device 20, an absolute value grating scale 30, and a control device 40. The substrate 10 is used to support metal powder. The drive device 20 is used to drive the substrate 10 to rise and fall. The drive device 20 can be a servo motor, which is connected to the substrate 10 through a transmission mechanism. The head of the absolute value grating scale 30 is connected to the substrate 10. The absolute value grating scale 30 is used to measure the displacement of the substrate 10. The resolution of the absolute value grating scale 30 in this embodiment is 0.1 microns. The printing lifting axis control method can be executed by the control device 40, which can be a PLC controller.

[0029] In this embodiment, the printing lifting axis control method includes the following steps.

[0030] S101: Device initialization.

[0031] The device initialization includes coordinate system alignment, control parameter definition, and printing layer 0 position calibration.

[0032] Aligning the coordinate systems means aligning the coordinate system of the drive device 20 and the coordinate system of the scale in the same direction and with the same zero point, ensuring that the servo motor and the absolute scale 30 are aligned and oriented in the same direction. By performing a unified zero return on the servo motor and the absolute scale 30 within the coordinate system in the same direction, the coordinates in the servo motor's coordinate system and the coordinate system of the absolute scale 30 can be mapped to each other.

[0033] The control parameter definition refers to defining the relationship between the moving direction of the substrate 10 and the variable value. For example, the position of the substrate 10 upward is defined as minus, and the position of the substrate 10 downward is defined as plus.

[0034] Calibration of the print layer 0 position refers to aligning the laser-printed layer 0 position with the zero-point coordinate of the absolute scale 30. For example, in response to receiving a print layer 0 confirmation command, the current coordinate of the absolute scale 30 is assigned to the layer 0 position relay. The resulting value from the layer 0 position relay is then assigned to the print layer 0 position, thereby aligning the print layer 0 position with the current coordinate of the absolute scale 30. The print layer 0 position calibration step only takes one PLC scan cycle.

[0035] The "Print 0" position refers to the starting point of the powder coating. The "Print 0" confirmation command can be triggered by a rising edge signal generated by a manual button press. The "0" position relay is a temporary register in the PLC that stores the scale reading at the moment of triggering.

[0036] S102 : Determine the motion type of the substrate 10 in response to the motion control instruction.

[0037] The motion types include relative motion, print layer lowering, and absolute motion. Relative motion, print layer lowering, and absolute motion represent three types of motion of the substrate 10, respectively. A motion control instruction is used to trigger the start of the printing process. The motion control instruction can be triggered by a rising edge signal triggered by the control program based on the specific control type. For example, the three motion types have different values ​​assigned to the motion control classification parameter. The motion control instruction carries the motion control classification parameter and the control parameter. When the motion control instruction is triggered, the corresponding motion type is determined based on the assigned value of the motion control classification parameter.

[0038] Relative motion refers to displacement based on the current position. The control parameters corresponding to relative motion include: relative motion target distance.

[0039] Layer descent refers to the process of gradually descending the current layer, including a composite action of ascending followed by descending. The control parameters for layer descent include the current print target position and the thickness of the current layer.

[0040] Absolute motion refers to movement directly to the target coordinates from the zero point of the coordinate system. The control parameters corresponding to absolute motion include: absolute value target position.

[0041] S103, receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending them to the drive device 20 to control the drive device 20 to drive the substrate 10 to move, and the absolute value grating scale 30 records the current position of the grating scale in real time.

[0042] The control parameter corresponding to the motion type is assigned to the motion distance. The motion distance triggers the relative motion command of the servo motor, which in response to the relative motion command drives the substrate 10 to move. The absolute value grating scale 30 records the position of the substrate 10 in real time to obtain the current position of the grating scale. It can be understood that the current position of the grating scale changes with the movement of the substrate 10.

[0043] S104 , after the substrate 10 completes its movement, position compensation is performed on the substrate 10 according to the movement type.

[0044] When the motion type is relative motion or absolute motion, the position of the substrate 10 is compensated according to the current position of the grating ruler. When the motion type is layer descent, the position of the substrate 10 is compensated according to the printing target position and layer thickness parameters.

[0045] Through the printing lift axis control method provided by this application, the servo motor and the absolute value grating scale 30 are uniformly returned to zero within the coordinate system in the same direction. When the substrate 10 moves, the position change of the substrate 10 is added or subtracted relative to the coordinate system in which the servo motor and the absolute value grating scale 30 are located. After the substrate 10 undergoes relative motion or absolute motion, position compensation is directly performed using the current position of the grating scale recorded by the absolute value grating scale 30 as a reference to ensure that the position of each layer of the substrate 10 is within the control of the coordinate system of the absolute value grating scale 30, thereby reducing the control error of the movement of the substrate 10.

[0046] In this application, the absolute value grating scale 30 uses absolute value signals (using protocols such as SSI, EnDat, etc.) for signal transmission, which can suppress common mode noise. Compared with the incremental grating scale, it has stronger anti-interference ability, avoids the accumulation of counting errors, and reduces maintenance frequency. It is not only suitable for high electromagnetic noise environments, but also can meet the high-precision requirements under high altitude and long-term continuous printing.

[0047] Furthermore, the absolute scale 30 directly outputs absolute value information during operation, and its position is not lost after a power outage. There is no need to reset the device to zero after startup, which speeds up system initialization and is suitable for scenarios with frequent starts and stops or unexpected power outages. Furthermore, because the coordinate system of the absolute scale 30 directly provides a reference for the position of the substrate 10 and is suitable for compensating for mechanical backlash, the compensation action is more flexible and the compensation effect is better.

[0048] like Figure 3 For ease of understanding, the following is an example of a specific process of a printing lift axis control method. The variables defined in the PLC control program corresponding to the printing lift axis control method are shown in Table 1.

[0049] Table 1 - Variable definition comparison table In some embodiments, step S103 includes: S201 : In response to the motion type being relative motion, receiving a relative motion target distance, and obtaining a relative motion target position based on the relative motion target distance and a current position of the grating ruler.

[0050] The relative motion target distance is a variable defined in this motion, and is the distance that the substrate 10 needs to move in the servo motor's coordinate system. The relative motion target position is the sum of the relative motion target distance and the current position of the grating ruler.

[0051] S202: Generate a corresponding relative motion instruction according to the relative motion target distance.

[0052] Here, the relative moving target distance is assigned to the moving distance.

[0053] S203 , sending the corresponding relative motion instruction to the driving device 20 .

[0054] The movement distance triggers the relative movement instruction of the servo motor, and the servo motor drives the substrate 10 to move in response to the relative movement instruction, so as to control the driving device 20 to drive the substrate 10 to move based on the relative movement target distance.

[0055] In some embodiments, step S104 includes: S204, taking the difference between the relative motion target position and the current position of the grating ruler as the relative motion difference, and judging whether the relative motion difference is within a preset first error range, if not, executing step S205; if yes, ending.

[0056] In response to the completion of a single movement of the substrate 10, whether position compensation is required for this movement is analyzed. If the relative movement difference is within a first error range, it is considered that position compensation is required for this movement; if the relative movement difference is not within the first error range, it is considered that position compensation is not required for this movement. Exemplarily, the first error range is ±0.1 micron.

[0057] S205 , generating a corresponding relative motion instruction according to the relative motion difference, and executing step S203 .

[0058] In which, in response to the relative motion difference being within a preset first error range, a corresponding relative motion instruction is generated based on the relative motion difference, and the corresponding relative motion instruction is sent to the drive device 20 to control the drive device 20 to drive the substrate 10 to move based on the relative motion difference, thereby realizing position compensation after the substrate 10 completes the relative motion.

[0059] In some embodiments, before step S204, step S103 further includes: S207: Determine whether the position compensation function is triggered. If so, execute step S204; if not, end.

[0060] In response to the completion of a single movement of the substrate 10, a determination is made as to whether position compensation analysis is required for this movement. When the position compensation function is triggered, it is considered that position compensation analysis is required for this movement. When the position compensation function is not triggered, it is considered that position compensation analysis is not required for this movement. For example, the position compensation function may be triggered based on a compensation start command, which is issued by a user manually operating a button signal.

[0061] It can be understood that after the substrate 10 performs relative motion, the position of the substrate 10 is compensated according to the current position of the grating ruler. The compensated relative motion error is compressed within a single motion, and subsequent movements do not accumulate counting errors, thereby improving the displacement accuracy of the substrate 10.

[0062] In some embodiments, step S103 further includes: S301 : In response to the motion type being a printing layer descending, receiving a printing target position and layer thickness parameters.

[0063] The received print target position and layer thickness parameters are variables already defined for this motion. The layer thickness parameter can be set based on the desired thickness of the current print layer. The print target position is the target coordinate that the substrate 10 needs to move to in the servo motor's coordinate system.

[0064] S302 : Generate corresponding relative motion instructions according to the layer thickness parameter and the preset mechanical gap parameter.

[0065] The movement distance is assigned as n*layer thickness parameter+mechanical clearance parameter, where n≥2. For example, n=2. The mechanical clearance parameter is a variable defined in this movement and can be set according to the distance of the reverse mechanical clearance.

[0066] S303 , sending the corresponding relative motion instruction to the driving device 20 .

[0067] The movement distance triggers the relative movement instruction of the servo motor, and the servo motor drives the substrate 10 to move in response to the relative movement instruction, so as to control the driving device 20 to drive the substrate 10 to move forward based on the layer thickness parameter and the mechanical gap parameter.

[0068] S304: Generate a corresponding relative motion instruction according to the mechanical clearance parameter.

[0069] S305 , sending the corresponding relative motion instruction to the driving device 20 .

[0070] The control driving device 20 drives the substrate 10 to move in the reverse direction based on the mechanical gap parameter.

[0071] In some embodiments, step S104 further includes: the printing target position is a target coordinate to which the substrate 10 needs to move in the coordinate system of the servo motor.

[0072] S306: Taking the difference between the target printing position and the current printing position as the printing position difference, determining whether the printing position difference is within a preset second error range; if not, executing step S307; if yes, ending.

[0073] In response to the completion of a single movement of the substrate 10, it is analyzed whether position compensation is required for this movement. When the print position difference is within the second error range, it is considered that position compensation is required for this movement; when the print position difference is not within the second error range, it is considered that no position compensation is required for this movement. Exemplarily, the second error range is ±0.1 microns. The current printing position is the current coordinate of the substrate 10 in the coordinate system of the servo motor. It can be understood that since the servo motor and the absolute value grating ruler 30 are uniformly returned to zero in the coordinate system in the same direction, the current printing position and the current position of the grating ruler can be mapped to each other.

[0074] S307 , generating a corresponding relative motion instruction according to the printing position difference, and executing step S305 .

[0075] In which, in response to the printing position difference being within a preset second error range, a corresponding relative motion instruction is generated based on the printing position difference, and the corresponding relative motion instruction is sent to the drive device 20 to control the drive device 20 to drive the substrate 10 to move based on the printing position difference, thereby realizing position compensation after the substrate 10 completes the downward movement of the printing layer.

[0076] It is understood that, in theory, the current printing position and the current position of the scale after the substrate 10 moves should be the same. However, in practice, due to the presence of reverse mechanical clearance, there will be a deviation between the current printing position and the current position of the scale after the substrate 10 moves. For example, in the first layer, the current printing position and the current position of the scale are both 0; when printing the second layer, the relative position movement of the absolute scale 30 is 50, but the relative position movement of the servo motor is greater than 50. In this embodiment, by introducing the absolute scale 30 as a reference for the coordinate system, after a single movement of the substrate 10, the servo motor can perform position compensation based on the position recorded by the absolute scale 30, thereby improving displacement accuracy.

[0077] In some embodiments, step S103 further includes: S401: In response to the motion type being absolute motion, receive an absolute value target position.

[0078] The absolute target position is a variable that has been defined in this movement, and the absolute target position is the position to which the substrate 10 needs to move in the coordinate system of the absolute grating ruler 30 .

[0079] S402 : Generate a corresponding relative motion instruction according to the absolute value target position, and send the corresponding relative motion instruction to the driving device 20 .

[0080] The absolute target position triggers the relative motion command of the servo motor, and the driving device 20 drives the substrate 10 to move in response to the relative motion command, so as to control the driving device 20 to drive the substrate 10 to move based on the absolute target position.

[0081] In some embodiments, step S104 further includes: S403, taking the difference between the absolute target position and the current position of the grating ruler as the absolute motion difference, and determining whether the absolute motion difference is within a preset third error range, if not, executing step S404; if yes, ending.

[0082] In response to the completion of a single movement of the substrate 10, whether position compensation is required for this movement is analyzed. If the absolute movement difference is within a third error range, it is considered that position compensation is required for this movement; if the absolute movement difference is not within the third error range, it is considered that position compensation is not required for this movement. Exemplarily, the third error range is ±0.1 micron.

[0083] S404: Generate a corresponding relative motion instruction according to the absolute motion difference.

[0084] S405 , sending the corresponding relative motion instruction to the driving device 20 .

[0085] In which, in response to the absolute motion difference being within a preset third error range, a corresponding relative motion instruction is generated based on the absolute motion difference, and the corresponding relative motion instruction is sent to the drive device 20 to control the drive device 20 to drive the substrate 10 to move based on the absolute motion difference, thereby realizing position compensation after the substrate 10 completes the absolute motion.

[0086] Please also refer to Figure 4 The present application also provides a control device 40. The control device 40 is applied to a laser printing device and is used to execute the printing lift axis control method in the above embodiment. The control device 40 may include multiple functional submodules composed of program code segments. The control device 40 can be divided into multiple functional submodules according to the functions it performs. The multiple functional submodules include at least: The initialization module 41 is used to make the coordinate system of the driving device 20 and the coordinate system of the absolute value grating ruler 30 have the same direction and the same zero point.

[0087] The motion trigger module 42 is used to determine the motion type of the substrate 10 , which includes relative motion, printing layer lowering, and absolute motion.

[0088] The parameter receiving module 43 is used to receive the control parameters corresponding to the motion type, generate the corresponding relative motion instructions based on the control parameters, and send them to the drive device 20 to control the drive device 20 to drive the substrate 10 to move, and the absolute value grating scale 30 records the current position of the grating scale in real time.

[0089] The motion compensation module 44 is used to perform position compensation on the substrate 10 after the substrate 10 completes its motion; wherein, when the motion type is relative motion or absolute motion, the position compensation is performed on the substrate 10 according to the current position of the grating ruler.

[0090] Exemplarily, the control device 40 may be a PLC controller, and the above-mentioned functional submodules may be functional submodules composed of PLC control program code segments to facilitate program updates, inspections and other processes, which is extremely convenient when a single PLC controls multiple execution units.

[0091] The present application also provides a laser printing device, which includes a substrate 10, a driving device 20, an absolute value grating ruler 30, and the control device 40 in the above embodiment.

[0092] The implementation principles and beneficial effects of the control device 40 and the laser printing device provided in this application can be found in the relevant descriptions in the aforementioned embodiments, and this application does not limit them.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A printing lifting axis control method, characterized in that: Applied to a laser printing device, the laser printing device includes a substrate, a driving device and an absolute value grating ruler, and the control method includes: The coordinate system of the driving device and the coordinate system of the absolute value grating ruler are in the same direction and have the same zero point; Determining a motion type of the substrate, the motion type including relative motion, print layer descent, and absolute motion; receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending the instructions to the driving device to control the driving device to drive the substrate to move, and the absolute value grating ruler records the current position of the grating ruler in real time; After the substrate movement is completed, position compensation is performed on the substrate; wherein, when the movement type is the relative movement or the absolute movement, position compensation is performed on the substrate according to the current position of the grating ruler.

2. The printing lifting axis control method according to claim 1, characterized in that: The motion type includes relative motion, and the control parameter corresponding to the relative motion includes a relative motion target distance; The receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending the instructions to the driving device includes: In response to the motion type being the relative motion, receiving the relative motion target distance, and obtaining the relative motion target position based on the relative motion target distance and the current position of the grating ruler; generating a corresponding relative motion instruction according to the relative motion target distance; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move based on the relative motion target distance.

3. The printing lifting axis control method according to claim 2, characterized in that: The position compensation of the substrate according to the current position of the grating ruler includes: In response to a relative motion difference between the relative motion target position and the current position of the grating ruler not being within a preset first error range, generating a corresponding relative motion instruction according to the relative motion difference; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move based on the relative motion difference.

4. The printing lifting axis control method according to claim 1, characterized in that: The motion type includes a lowering of the printing layer, and the control parameters corresponding to the lowering of the printing layer include a printing target position and a layer thickness parameter of the current printing layer; The receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending the instructions to the driving device includes: In response to the motion type being the printing layer descending, receiving the printing target position and the layer thickness parameter; generating a corresponding relative motion instruction according to the layer thickness parameter and the preset mechanical gap parameter; sending the corresponding relative motion instruction to the driving device to control the driving device to drive the substrate to move forward based on the layer thickness parameter and the mechanical gap parameter; generating a corresponding relative motion instruction according to the mechanical clearance parameter; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move in the opposite direction based on the mechanical gap parameter.

5. The printing lifting axis control method according to claim 4, characterized in that: The performing position compensation on the substrate includes: In response to a printing position difference between the printing target position and the current printing position not being within a preset second error range, generating a corresponding relative motion instruction according to the printing position difference; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move based on the printing position difference.

6. The printing lifting axis control method according to claim 5, characterized in that: The step of generating a corresponding relative motion instruction according to the layer thickness parameter and the mechanical gap parameter includes: The movement distance is assigned as n*layer thickness parameter+mechanical gap parameter, and the corresponding relative movement instruction is generated according to the movement distance, where n≥2.

7. The printing lifting axis control method according to claim 1, characterized in that: The motion type includes absolute motion, and the control parameter corresponding to the absolute motion includes an absolute value target position; The receiving control parameters corresponding to the motion type, generating corresponding relative motion instructions according to the control parameters, and sending the instructions to the driving device includes: In response to the motion type being the absolute motion, receiving the absolute target position; generating a corresponding relative motion instruction according to the absolute value target position; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move based on the absolute target position.

8. The printing lifting axis control method according to claim 7, characterized in that: The position compensation of the substrate according to the current position of the grating ruler includes: In response to an absolute motion difference between the absolute value target position and the current position of the grating ruler not being within a preset third error range, generating a corresponding relative motion instruction according to the absolute motion difference; The corresponding relative motion instruction is sent to the driving device to control the driving device to drive the substrate to move based on the absolute motion difference.

9. A control device, characterized in that: include: Initialization module, used to make the coordinate system of the drive device and the coordinate system of the absolute value grating ruler have the same direction and the same zero point; A motion trigger module, configured to determine a motion type of the substrate, wherein the motion type includes relative motion, print layer descent, and absolute motion; a parameter receiving module, configured to receive control parameters corresponding to the motion type, generate corresponding relative motion instructions based on the control parameters, and send the instructions to the driving device to control the driving device to drive the substrate to move, and the absolute value grating ruler to record the current position of the grating ruler in real time; The motion compensation module is used to perform position compensation on the substrate according to the current position of the grating ruler after the substrate moves, when the motion type is the relative motion or the absolute motion.

10. A laser printing device, characterized in that: It comprises a substrate, a driving device, an absolute value grating ruler and the control device as claimed in claim 9.

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