Printing lifting shaft control method, control device and laser printing equipment

Abstract

The application provides a printing lifting shaft control method, a control device and a laser printing equipment. The control method comprises the following steps: making the coordinate system of a driving device and the coordinate of an absolute value grating ruler in the same direction and with the same zero point. The servo motor and the absolute value grating ruler are unified to zero in the same direction coordinate system. When the substrate moves, the position change of the substrate is added or subtracted with respect to the coordinate system in which the servo motor and the absolute value grating ruler are located. After the relative motion or absolute motion of the substrate, the current position of the grating ruler recorded by the absolute value grating ruler is taken as a reference to directly compensate the position, so as to ensure that the position of each layer of the substrate is in the coordinate system control of the absolute value grating ruler, reduce the control error of the substrate motion, avoid the accumulation of counting errors, reduce the maintenance frequency, and be suitable for high electromagnetic noise environment and meet the high precision requirement under the condition of large height and long time continuous printing.

Description

Technical Field

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

[0002] In 3D metal powder printing, the substrate needs to be lowered layer by layer according to the set printing layer thickness. Ideally, the substrate should descend layer by layer and be powder-spread during printing. However, due to the mechanical backlash in the transmission device, continuous unidirectional operation poses a risk of cylinder jamming. Therefore, in practical applications, the substrate needs to be lowered and then raised first by a servo motor-controlled transmission, and then compensated for by the actual unidirectional movement distance of an incremental grating ruler.

[0003] The compensation process is as follows: After a single run, the incremental grating ruler measures the compensation distance between the current endpoint and the starting point of the movement. The servo motor then needs to raise and lower the substrate again based on the compensation distance, repeating this cycle until the incremental grating ruler measures the distance between the current endpoint and the starting point of the movement during the first compensation to be equal to the layer thickness. However, the above solution is difficult to 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, control device, and laser printing equipment to solve the above technical problems.

[0005] The first aspect of this application provides a printing lifting axis control method applied to a laser printing device. The laser printing device includes a substrate, a driving device, and an absolute grating ruler. The control method includes: aligning the coordinate system of the driving device and the coordinate system of the absolute grating ruler in the same direction and with the same zero point; determining the motion type of the substrate, including relative motion, printing layer descent, and absolute motion; receiving control parameters corresponding to the motion type, generating a corresponding relative motion command based on the control parameters, and sending it to the driving device to control the driving device to move the substrate; the absolute grating ruler records the current position of the grating ruler in real time; and performing position compensation on the substrate after the substrate motion is completed. Specifically, when the motion type is relative motion or absolute motion, position compensation is performed on the substrate based on the current position of the grating ruler.

[0006] In some embodiments, the motion type includes relative motion, and the control parameters corresponding to the relative motion include a relative motion target distance; receiving the control parameters corresponding to the motion type, generating a corresponding relative motion command based on the control parameters, and sending it to the driving device includes: 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 command based on the relative motion target distance; and sending the corresponding relative motion command 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 of the substrate based on the current position of the grating ruler includes: 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 command based on the relative motion difference; and sending the corresponding relative motion command to the 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 printing layer descent, and the control parameters corresponding to printing layer descent include the printing target position and the current printing layer thickness parameter; receiving the control parameters corresponding to the motion type, generating a corresponding relative motion command based on the control parameters, and sending it to the driving device includes: in response to the motion type being printing layer descent, receiving the printing target position and the layer thickness parameter; generating a corresponding relative motion command based on the layer thickness parameter and a preset mechanical clearance parameter; sending the corresponding relative motion command 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 clearance parameter; generating a corresponding relative motion command based on the mechanical clearance parameter; and sending the corresponding relative motion command to the driving device to control the driving device to drive the substrate to move backward based on the mechanical clearance parameter.

[0009] In some embodiments, position compensation of the substrate includes: in response to the 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 command based on the printing position difference; and sending the corresponding relative motion command to the driving device to control the driving device to drive the substrate to move based on the printing position difference.

[0010] In some embodiments, generating a corresponding relative motion command based on the layer thickness parameter and the mechanical clearance parameter includes: assigning the motion distance as n * layer thickness parameter + mechanical clearance parameter, and generating a corresponding relative motion command based on the motion distance, where n ≥ 2.

[0011] In some embodiments, the motion type includes absolute motion, and the control parameters corresponding to absolute motion include an absolute target position; receiving the control parameters corresponding to the motion type, generating a corresponding relative motion command based on the control parameters, and sending it to the driving device includes: receiving an absolute target position in response to the motion type being absolute motion; generating a corresponding relative motion command based on the absolute target position; and sending the corresponding relative motion command 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 of the substrate based on the current position of the grating ruler includes: 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 command based on the absolute motion difference; and sending the corresponding relative motion command to the driving device to control the driving device to drive the substrate to move based on the absolute motion difference.

[0013] A second aspect of this application provides a control device, comprising: an initialization module for aligning the coordinate system of a driving device with the coordinate system of an absolute grating ruler in the same direction and with the same zero point; a motion triggering module for determining the motion type of the substrate, including relative motion, printing layer descent, and absolute motion; a parameter receiving module for receiving control parameters corresponding to the motion type, generating corresponding relative motion commands based on the control parameters, and sending them to the driving device to control the driving device to move the substrate, wherein the absolute grating ruler records the current position of the grating ruler in real time; and a motion compensation module for compensating the position of the substrate based on the current position of the grating ruler after the substrate motion is completed, provided that the motion type is relative motion or absolute motion.

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

[0015] The printing lifting axis control method, control device, and laser printing equipment provided in this application unify the zeroing of the servo motor and the absolute grating ruler within the same coordinate system. When the substrate moves, the position change of the substrate is added or subtracted simultaneously relative to the coordinate systems of the servo motor and the absolute grating ruler. After the substrate undergoes relative or absolute movement, position compensation is directly performed using the current position of the grating ruler recorded by the absolute grating ruler as a reference. This ensures that the position of each layer of the substrate is within the coordinate system controlled by the absolute grating ruler, reducing control errors in substrate movement and avoiding the accumulation of counting errors, thus reducing maintenance frequency. It is suitable not only for environments with high electromagnetic noise but also for high-precision requirements under large-scale, long-term continuous printing. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the structure of a laser printing device according to an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the first process of the printing lifting axis control method according to an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the second process of the printing lifting axis control method according to an embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the control device according to an embodiment of this application.

[0020] Explanation of main component symbols 10. Substrate; 20. Driving device; 30. Absolute value grating ruler; 40. Control device; 41. Initialization module; 42. Motion triggering module; 43. Parameter receiving module; 44. Motion compensation module. Detailed Implementation

[0021] In the description of the embodiments of this application, the words "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of 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 method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can be omitted.

[0023] In 3D metal powder printing, the substrate needs to descend layer by layer according to the set printing layer thickness. Ideally, the substrate should descend layer by layer and perform powder spreading during printing. For example, if the layer thickness is set to 50 micrometers, the substrate surface is initially at coordinate 0. When printing the first layer, the substrate descends 50 micrometers via a servo motor, at which point the substrate is at coordinate 50, and powder spreading begins. After the current layer is printed, the servo motor lowers the substrate another 50 micrometers, at which point the substrate is at coordinate 100, and powder spreading continues. The printing process repeats this process.

[0024] However, due to the mechanical backlash in the transmission device, continuous unidirectional operation poses a risk of cylinder jamming. Therefore, in practical applications, the substrate needs to be lowered and then raised by a servo motor-controlled transmission. Compensation is then performed based on the actual unidirectional movement distance of the incremental grating ruler. The compensation process is as follows: After each run, the incremental grating ruler measures the compensation distance between the current endpoint and the starting point (calculated from the layer thickness and mechanical backlash parameters). The servo motor then raises and lowers the substrate again based on the compensation distance, repeating this cycle until the distance between the current endpoint and the starting point of the first compensation, as measured by the incremental grating ruler, equals the layer thickness.

[0025] However, the above technical solutions have the following drawbacks. First, incremental grating rulers have weak anti-interference capabilities and are prone to accumulated counting errors. During long-term operation, they require periodic calibration to eliminate these errors, making it difficult to meet the high-precision requirements of high-height printing. Second, after each power outage and restart, a zeroing process (finding a reference point) is required, and unexpected power outages may lead to position loss, necessitating recalibration and extending equipment initialization time. Third, the elimination of backlash in the above solutions relies heavily on mechanical preload; incremental grating rulers only provide feedback and cannot directly correct mechanical backlash, resulting in poor compensation. Fourth, in the above solutions, the substrate uses the servo motor's coordinate system as a reference when performing absolute value movement; incremental grating rulers lack a fixed coordinate system for reference and therefore cannot perform backlash compensation.

[0026] Therefore, this application provides a printing lifting axis control method, control device, and laser printing equipment to solve the above-mentioned technical defects.

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

[0028] like Figure 1 and Figure 2 As shown, the laser printing equipment includes a substrate 10, a drive unit 20, an absolute grating ruler 30, and a control unit 40. The substrate 10 is used to hold metal powder. The drive unit 20 is used to drive the substrate 10 to move up and down; the drive unit 20 can be a servo motor, which is connected to the substrate 10 via a transmission mechanism. The head of the absolute grating ruler 30 is connected to the substrate 10, and the absolute grating ruler 30 is used to measure the displacement of the substrate 10. In this embodiment, the resolution of the absolute grating ruler 30 is 0.1 micrometers. The printing lifting axis control method can be executed by the control unit 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 process includes coordinate system alignment, control parameter definition, and calibration of the 0th layer printing position.

[0032] Aligning the coordinate systems means ensuring that the coordinate system of the drive device 20 and the coordinate system of the absolute grating ruler are in the same direction and have the same zero point, thus ensuring that the servo motor and the absolute grating ruler 30 have the same coordinates and are in the same direction. In this way, the servo motor and the absolute grating ruler 30 are uniformly zeroed in the same coordinate system, and the coordinates in the coordinate system of the servo motor and the coordinate system of the absolute grating ruler 30 can be mapped to each other.

[0033] The definition of control parameters refers to defining the relationship between the movement direction of the substrate 10 and the value of the variable. For example, the upward position of the substrate 10 is defined as subtraction, and the upward position of the substrate 10 is defined as addition.

[0034] Printing layer 0 position calibration refers to aligning the laser-printed layer 0 position with the zero-point coordinates of the absolute value grating ruler 30. For example, in response to receiving a print layer 0 confirmation command, the current coordinates of the absolute value grating ruler 30 are assigned to the layer 0 position relay, and then the obtained value from the layer 0 position relay is assigned to the print layer 0 position, thereby aligning the print layer 0 position to the current coordinates of the absolute value grating ruler 30. The print layer 0 position calibration step only runs for one PLC scan cycle.

[0035] The "Print Layer 0" position refers to the starting position of the powder spreading. The "Print Layer 0" confirmation command can be triggered by the rising edge signal of a button manually pressed by the user. The Layer 0 position relay is a temporary register in the PLC used to store the grating ruler reading at the moment of triggering.

[0036] S102. In response to the motion control command, determine the motion type of the substrate 10.

[0037] The motion types include relative motion, printed layer descent, and absolute motion. Relative motion, printed layer descent, and absolute motion represent three motion modes of the substrate 10. Motion control commands are used to trigger the start of the printing process. Motion control commands can be triggered by a rising edge signal from the control program based on the specific control type. For example, the three motion types have different values ​​assigned to the motion control classification parameters. The motion control command carries motion control classification parameters and control parameters; when the motion control command is triggered, the corresponding motion type is determined based on the assigned value of the motion control classification parameters.

[0038] Relative motion refers to displacement relative to the current position. Control parameters for relative motion include the relative motion target distance.

[0039] Layer descent refers to the displacement of the print layer by layer based on the current print layer, including compound movements such as rising followed by falling. The control parameters for layer descent include: the current position of the print target and the layer thickness of the current print layer.

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

[0041] S103. Receive the control parameters corresponding to the motion type, generate the corresponding relative motion command according to the control parameters, and send it to the drive device 20 to control the drive device 20 to drive the substrate 10 to move. The absolute value grating ruler 30 records the current position of the grating ruler in real time.

[0042] Specifically, the control parameters corresponding to the motion type are assigned to the motion distance. The motion distance triggers a relative motion command for the servo motor, which in turn drives the substrate 10 to move in response to the relative motion command. The absolute value grating ruler 30 records the position of the substrate 10 in real time, thus obtaining the current position of the grating ruler. It can be understood that the current position of the grating ruler changes with the motion of the substrate 10.

[0043] S104. After the substrate 10 has completed its movement, position compensation is performed on the substrate 10 according to the type of movement.

[0044] Specifically, in the case of relative or absolute motion, position compensation is performed on the substrate 10 based on the current position of the grating ruler. In the case of printing layer descent, position compensation is performed on the substrate 10 based on the printing target position and layer thickness parameters.

[0045] The printing lifting axis control method provided in this application unifies the servo motor and the absolute grating ruler 30 to zero within the same coordinate system. When the substrate 10 moves, the position change of the substrate 10 is adjusted relative to the coordinate systems of the servo motor and the absolute grating ruler 30. After the substrate 10 undergoes relative or absolute movement, position compensation is directly performed using the current position of the grating ruler recorded by the absolute grating ruler 30 as a reference, ensuring that the position of each layer of the substrate 10 remains within the coordinate system controlled by the absolute grating ruler 30, thus reducing control errors in the movement of the substrate 10.

[0046] In this application, the absolute value grating ruler 30 transmits signals using absolute value signals (such as SSI, EnDat, etc.), which can effectively suppress common-mode noise. Compared with incremental grating rulers, 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 meets the high-precision requirements of large-height, long-term continuous printing.

[0047] On the other hand, the absolute value grating ruler 30 can directly output absolute value information during operation, and its position is not lost after the device is powered off. It does not need to be reset to zero after the device is started, which speeds up the system initialization speed and is suitable for scenarios with frequent start-stop or unexpected power outages. At the same time, since the coordinate system of the absolute value grating ruler 30 can directly provide 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 As shown below, for ease of understanding, the specific flow of a printing lifting axis control method is illustrated by example. The variables defined in the PLC control program corresponding to the printing lifting axis control method are shown in Table 1.

[0049] Table 1 - Variable Definition Reference Table In some embodiments, step S103 includes: S201. In response to the motion type being relative motion, receive the distance to the relative motion target and obtain the position of the relative motion target based on the distance to the relative motion target and the current position of the grating ruler.

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

[0051] S202. Generate the corresponding relative motion command based on the distance to the relative moving target.

[0052] In this process, the distance to the relatively moving target is assigned to the distance of movement.

[0053] S203, Send the corresponding relative motion command to the drive unit 20.

[0054] The movement distance triggers a relative movement command for the servo motor. The servo motor responds to the relative movement command and drives the substrate 10 to move, thereby controlling the drive device 20 to drive the substrate 10 to move based on the relative movement target distance.

[0055] In some embodiments, step S104 includes: S204. Take the difference between the relative motion target position and the current position of the grating ruler as the relative motion difference, and determine whether the relative motion difference is within the preset first error range. If not, proceed to step S205; if yes, end.

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

[0057] S205. Generate the corresponding relative motion command based on the relative motion difference, and execute step S203.

[0058] In response to the relative motion difference being within a preset first error range, a corresponding relative motion command is generated based on the relative motion difference, and the corresponding relative motion command 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 of the substrate 10 after it 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 yes, proceed to step S204; otherwise, end.

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

[0061] It is understandable 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 relative motion error to be compensated is compressed into a single motion, and subsequent motions 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 descent, receives the printing target position and layer thickness parameters.

[0063] The target printing position and layer thickness parameters are variables already defined in this movement. The layer thickness parameter can be set according to the required layer thickness for the current printing layer. The target printing position is the target coordinate that the substrate 10 needs to move to in the coordinate system of the servo motor.

[0064] S302. Generate corresponding relative motion commands based on the layer thickness parameters and preset mechanical clearance parameters.

[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 already defined in this movement, and can be set based on the distance of the reverse mechanical clearance.

[0066] S303, Send the corresponding relative motion command to the drive unit 20.

[0067] The movement distance triggers a relative movement command for the servo motor. The servo motor responds to the relative movement command and drives the substrate 10 to move, thereby controlling the drive device 20 to drive the substrate 10 to move forward based on the layer thickness parameter and the mechanical clearance parameter.

[0068] S304. Generate the corresponding relative motion command based on the mechanical clearance parameters.

[0069] S305. Send the corresponding relative motion command to the drive unit 20.

[0070] The control drive device 20 drives the substrate 10 to move in the opposite direction based on the mechanical clearance parameter.

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

[0072] S306. Take the difference between the printing target position and the current printing position as the printing position difference, and determine whether the printing position difference is within the preset second error range. If not, proceed to step S307; if yes, end.

[0073] Specifically, in response to the completion of a single movement of the substrate 10, it is analyzed whether position compensation is required for this movement. If the printing position difference is within a second error range, position compensation is considered required for this movement; if the printing position difference is not within the second error range, position compensation is considered not required for this movement. For example, the second error range is ±0.1 micrometers. 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 perform a unified zeroing process in the same coordinate system, the current printing position and the current position of the grating ruler can be mapped to each other.

[0074] S307. Generate the corresponding relative motion instruction based on the difference in printing position, and execute step S305.

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

[0076] Understandably, in theory, the current printing position and the current position of the grating ruler after the substrate 10 moves should be the same. However, in reality, due to the presence of reverse mechanical backlash, there will be a deviation between the current printing position and the current position of the grating ruler after the substrate 10 moves. For example, in the first layer, both the current printing position and the current position of the grating ruler are 0; when printing the second layer, the relative position movement of the absolute grating ruler 30 is 50, but the relative position movement of the servo motor will be greater than 50. In this embodiment, by introducing the absolute grating ruler 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 grating ruler 30, thereby improving the displacement accuracy.

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

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

[0079] S402. Generate a corresponding relative motion command based on the absolute value of the target position, and send the corresponding relative motion command to the drive device 20.

[0080] The absolute target position triggers a relative motion command for the servo motor. The drive unit 20 responds to the relative motion command to move the substrate 10, thereby controlling the drive unit 20 to move the substrate 10 based on the absolute target position.

[0081] In some embodiments, step S104 further includes: S403. The difference between the absolute target position and the current position of the grating ruler is taken as the absolute motion difference. It is determined whether the absolute motion difference is within the preset third error range. If not, step S404 is executed; if yes, the process ends.

[0082] Specifically, in response to the completion of a single movement of the substrate 10, it is analyzed whether position compensation is required for this movement. If the absolute movement difference is within the 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. For example, the third error range is ±0.1 micrometers.

[0083] S404. Generate the corresponding relative motion command based on the absolute motion difference.

[0084] S405. Send the corresponding relative motion command to the drive unit 20.

[0085] In response to the absolute motion difference being within a preset third error range, a corresponding relative motion command is generated based on the absolute motion difference, and the corresponding relative motion command 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 of the substrate 10 after it completes the absolute motion.

[0086] Please refer to the following: Figure 4 This 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 lifting axis control method in the above embodiments. The control device 40 may include multiple functional sub-modules composed of program code segments. The control device 40 can be divided into multiple functional sub-modules according to the functions it performs. These multiple functional sub-modules include at least: The initialization module 41 is used to ensure that the coordinate system of the drive device 20 and the coordinate system of the absolute value grating ruler 30 are in the same direction and have the same zero point.

[0087] The motion trigger module 42 is used to determine the motion type of the substrate 10, including relative motion, printing layer descent, 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 command according to the control parameters, and send it to the drive device 20 to control the drive device 20 to drive the substrate 10 to move. The absolute value grating ruler 30 records the current position of the grating ruler in real time.

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

[0090] For example, the control device 40 can be a PLC controller, and each of the above-mentioned functional sub-modules can be a functional sub-module composed of PLC control program code segments, so as to facilitate program updates, inspection and other processes, and greatly facilitate the control of multiple execution units by a single PLC.

[0091] This application also provides a laser printing apparatus. The laser printing apparatus includes a substrate 10, a driving device 20, an absolute value grating ruler 30, and a control device 40 as described in the above embodiments.

[0092] The implementation principle and beneficial effects of the control device 40 and laser printing equipment provided in this application can be seen in the relevant descriptions in the foregoing 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 this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A method for controlling a printing lifting axis, characterized in that, The control method is applied to a laser printing equipment, which includes a substrate, a driving device, and an absolute grating ruler. The coordinate system of the driving device is aligned with the coordinate system of the absolute value grating ruler in the same direction and with the same zero point. Determine the motion type of the substrate, which includes relative motion, printed layer descent, and absolute motion; The system receives control parameters corresponding to the motion type, generates corresponding relative motion commands based on the control parameters, and sends them to the drive device to control the drive device to move the substrate. 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, in the case that the movement type is the relative movement or the absolute movement, the position compensation of the substrate is performed according to the current position of the grating ruler; The motion type includes printing layer descent, and the control parameters corresponding to the printing layer descent include the printing target position and the current printing layer thickness parameter; The step of receiving control parameters corresponding to the motion type, generating corresponding relative motion commands based on the control parameters, and sending them to the drive device includes: In response to the motion type being a descent of the printed layer, the target printing position and the layer thickness parameter are received; Based on the layer thickness parameters and the preset mechanical clearance parameters, corresponding relative motion commands are generated; The corresponding relative motion command is sent 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 clearance parameter; Based on the mechanical clearance parameters, a corresponding relative motion command is generated; The corresponding relative motion command 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 clearance parameter; The position compensation of the substrate includes: In response to the fact that the difference between the printing target position and the current printing position is not within a preset second error range, a corresponding relative motion command is generated based on the difference in printing position; The corresponding relative motion command is sent to the driving device to control the driving device to drive the substrate to move based on the printing position difference; The step of generating corresponding relative motion commands based on the layer thickness parameters and mechanical clearance parameters includes: The motion distance is assigned as n * layer thickness parameter + mechanical clearance parameter, and a corresponding relative motion command is generated based on the motion distance, where n≥2.

2. The printing lifting axis control method according to claim 1, characterized in that, The motion type includes relative motion, and the control parameters corresponding to the relative motion include the relative motion target distance; The step of receiving control parameters corresponding to the motion type, generating corresponding relative motion commands based on the control parameters, and sending them to the drive device includes: In response to the motion type being relative motion, the relative motion target distance is received, and the relative motion target position is obtained based on the relative motion target distance and the current position of the grating ruler; Based on the distance to the relative moving target, generate the corresponding relative motion command; The corresponding relative motion command 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 step of performing position compensation on the substrate based on the current position of the grating ruler includes: In response to the fact that the relative motion difference between the relative motion target position and the current position of the grating ruler is not within a preset first error range, a corresponding relative motion command is generated based on the relative motion difference. The corresponding relative motion command 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 absolute motion, and the control parameters corresponding to the absolute motion include absolute value target position; The step of receiving control parameters corresponding to the motion type, generating corresponding relative motion commands based on the control parameters, and sending them to the drive device includes: In response to the motion type being the absolute motion, the absolute value of the target position is received; Based on the absolute target position, generate the corresponding relative motion command; The corresponding relative motion command is sent to the driving device to control the driving device to drive the substrate to move based on the absolute value target position.

5. The printing lifting axis control method according to claim 4, characterized in that, The step of performing position compensation on the substrate based on the current position of the grating ruler includes: 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, a corresponding relative motion command is generated based on the absolute motion difference; The corresponding relative motion command is sent to the driving device to control the driving device to drive the substrate to move based on the absolute motion difference.

6. A control device, characterized in that, The control device, for performing the method as described in any one of claims 1 to 5, comprises: The initialization module is used to ensure that the coordinate system of the drive device and the coordinate system of the absolute grating ruler are in the same direction and have the same zero point. A motion triggering module is used to determine the motion type of the substrate, which includes relative motion, printing layer descent, and absolute motion; The parameter receiving module is used to receive the control parameters corresponding to the motion type, generate the corresponding relative motion command according to the control parameters, and send it to the driving device to control the driving device to drive the substrate to move. The absolute value grating ruler records the current position of the grating ruler in real time. The motion compensation module is used to perform position compensation on the substrate based on the current position of the grating ruler when the motion type is relative motion or absolute motion after the substrate has completed its motion.

7. A laser printing device, characterized in that, It includes a substrate, a driving device, an absolute value grating ruler, and a control device as described in claim 6.

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