Printing platform focusing method based on torque information, 3D printer and storage medium

Abstract

The application relates to the field of industrial manufacturing, and provides a printing platform focusing method based on torque information, a 3D printer and a storage medium.The 3D printer comprises a printing head and a printing platform.The printing platform is used for carrying a printing piece of the 3D printer.The printing head is arranged on one side of the printing platform.The printing platform is movable in the direction of approaching or moving away from the printing head.The method comprises the following steps: controlling the printing platform to perform a moving operation in the direction of approaching or moving away from the printing head, and detecting torque information borne by the printing platform in the process of performing the moving operation; judging whether the position of the printing platform corresponds to the printing head according to at least the torque information; and in the case that the position of the printing platform corresponds to the printing head, controlling the printing platform to stop performing the moving operation, and controlling the printing head to start a printing operation.

Description

Technical Field

[0001] This application relates to the field of industrial manufacturing, and in particular to a focusing method for a printing platform based on torque information, a 3D printer, and a storage medium. Background Technology

[0002] When printing, 3D printers need to position the Z-axis of the printing platform, i.e., the height of the printing platform, to ensure that the Z-axis position of the printing platform is aligned with the print head, guaranteeing good adhesion of the first layer and improving print quality and accuracy. Existing 3D printers typically determine the Z-axis position of the printing platform using laser focusing, thus requiring a laser sensor. 3D printers without a laser sensor cannot position the printing platform. In addition, auxiliary blocks are needed on the printing platform to receive and reflect the laser light. The shape of these auxiliary blocks may vary depending on the size of the print, and the manual installation of these blocks increases operational complexity and reduces printing efficiency. Therefore, using laser focusing for printing platform positioning results in higher hardware costs and greater operational complexity for 3D printers. Summary of the Invention

[0003] The main objective of this application is to provide a focusing method for a printing platform based on torque information, a 3D printer, and a storage medium, aiming to reduce the hardware cost of the 3D printer and improve the compatibility and printing efficiency of the device.

[0004] In a first aspect, this application provides a focusing method for a printing platform based on torque information. The 3D printer includes: a print head and a printing platform; wherein the printing platform is used to carry the printed part of the 3D printer, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction close to or away from the print head; the method includes: The system controls the printing platform to move in a direction closer to or further away from the print head, and detects the torque information experienced by the printing platform during the movement. At least based on the torque information, determine whether the position of the printing platform corresponds to the print head; When the position of the printing platform corresponds to that of the print head, the printing platform is controlled to stop performing the moving operation, and the print head is controlled to start the printing operation.

[0005] Secondly, this application also provides a 3D printer, the 3D printer comprising: a print head and a printing platform; wherein, the printing platform is used to carry the printed parts of the 3D printer, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction close to or away from the print head; the 3D printer further comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the printing platform focusing method based on torque information as described in any one of the embodiments of this application.

[0006] Thirdly, this application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the above-described focusing method for a printing platform based on torque information.

[0007] This application provides a focusing method for a printing platform based on torque information, a 3D printer, and a storage medium. The 3D printer includes a print head and a printing platform. The printing platform carries the printed part, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction approaching or away from the print head. The method includes: controlling the printing platform to perform a movement operation in the direction approaching or away from the print head, and detecting torque information experienced by the printing platform during the movement operation; determining, at least based on the torque information, whether the position of the printing platform corresponds to the print head; if the position of the printing platform corresponds to the print head, controlling the printing platform to stop performing the movement operation, and controlling the print head to start the printing operation. Determining whether the printing platform has moved into position using torque information avoids the hardware cost of installing a laser sensor on the 3D printer, reducing the overall cost of the 3D printer; it eliminates the need for users to manually install auxiliary blocks, improving printing efficiency; and it can be used in a wider variety of 3D printing devices (e.g., 3D printing devices without laser sensors), improving device compatibility. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the structure of a 3D printer provided in one embodiment of this application; Figure 2A schematic flowchart illustrating a focusing method for a printing platform based on torque information, provided in an embodiment of this application; Figure 3 A flowchart illustrating a sub-step for controlling a printing platform to perform a moving operation, provided in an embodiment of this application; Figure 4 A flowchart illustrating a sub-step of controlling a printing platform to perform a second movement operation, provided in an embodiment of this application; Figure 5 A schematic diagram illustrating a scenario for controlling a printing platform to perform a second movement operation, provided in an embodiment of this application; Figure 6 This is a flowchart illustrating a focusing method for a printing platform based on torque information, provided as an embodiment of this application.

[0010] Explanation of reference numerals in the attached diagram: 110, print head; 120, print platform; 130, torque motor; 140, Z-axis module; 150, liquid tank. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0013] This application provides a focusing method for a printing platform based on torque information, a 3D printer, and a storage medium.

[0014] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0015] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a 3D printer provided in an embodiment of this application.

[0016] like Figure 1As shown, the 3D printer includes: a print head 110 and a printing platform 120; wherein, the printing platform 120 is used to carry the printed parts of the 3D printer, the print head 110 is disposed on one side of the printing platform 120, and the printing platform 120 is movable in the direction of approaching or moving away from the print head 110.

[0017] For example, the 3D printer also includes a torque motor 130, which is connected to the printing platform 120 and is used to drive the printing platform 120 to move in a direction toward or away from the print head 110. Figure 1 The dashed arrow indicates the Z-axis direction. A torque sensor (not shown) is also installed on the torque motor 130, which can be used to detect the magnitude of the torque received at the output of the torque motor 130.

[0018] For example, the 3D printer also includes a Z-axis module 140, through which the torque motor 130 is connected to the printing platform 120. That is, the torque motor 130 is connected to the Z-axis module 140, and the Z-axis module 140 is connected to the printing platform 120.

[0019] like Figure 1 As shown, the print head 110 is located above the printing platform 120. The printing platform 120 can move up or down along the Z-axis under the drive of the torque motor 130, so that the printing platform 120 is in a suitable position. This ensures that the distance between the printing platform 120 and the print head 110 can ensure that the printing material can be evenly attached to the platform, and that the first layer (first layer) can be accurately formed, thereby improving the printing quality and success rate.

[0020] In some embodiments, the printhead 110 includes: a photocuring printhead for outputting a curing light source, and a fused deposition modeling printhead for jetting hot filament material.

[0021] like Figure 1 As shown, the 3D printer can be a photopolymerization printer. The moving platform 120 is disposed in a liquid tank 150, which holds the liquid photosensitive resin required for photopolymerization printing. The liquid photosensitive resin can be rapidly cured under the irradiation of a curing light source, thereby forming a printed part. The curing light source can be, for example, ultraviolet light of a specific wavelength. Specifically, the photopolymerization printer can be a DLP photopolymerization printer or an LCD photopolymerization printer, without limitation.

[0022] For example, a 3D printer can also be a fused deposition modeling (FDM) printer, which builds up a filament by heating and melting it layer by layer. In an FDM printer, the print head 110 can be a fused deposition modeling print head for jetting hot filament material.

[0023] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating a focusing method for a printing platform based on torque information, provided as an embodiment of this application. This focusing method for a printing platform based on torque information can be used in… Figure 1 The 3D printer shown is used to control the printing platform 120 to move to the appropriate position.

[0024] like Figure 2 As shown, the focusing method of the printing platform based on torque information includes steps S101 to S103.

[0025] Step S101: Control the printing platform to perform a movement operation in the direction of approaching or moving away from the print head, and detect the torque information of the printing platform during the movement operation; Step S102: Determine whether the position of the printing platform corresponds to the print head based at least on the torque information; Step S103: When the position of the printing platform corresponds to that of the print head, control the printing platform to stop performing the moving operation and control the print head to start the printing operation.

[0026] In related technologies, existing 3D printers typically require a laser sensor to focus the printing platform 120 and determine the distance between the printer and the printing platform 120, thereby adjusting the printing platform 120 to the appropriate position to begin printing.

[0027] For example, this application embodiment determines whether the printing platform 120 has moved into place by using torque information, thereby avoiding the hardware cost of setting up a laser sensor on the 3D printer and reducing the overall cost of the 3D printer; and it can be used in more diverse application scenarios, improving the compatibility of the device.

[0028] Specifically, when there is a certain distance between the printing platform 120 and the print head 110, the printing platform 120 is controlled to move towards the print head 110, for example, the printing platform 120 is controlled to rise towards the print head 110; and during the process of the printing platform 120 moving towards the print head 110, the torque information of the printing platform 120 is detected. The torque information can reflect whether the printing platform 120 is in contact with the print head 110, thereby determining whether the printing platform 120 has moved to the appropriate position.

[0029] Understandably, in step S110, in order to improve the accuracy of positioning and make the printing platform 120 move precisely to the appropriate position, the movement operation can be performed multiple times. That is, the printing platform 120 is controlled to move first towards the print head 110, and then move away from the print head 110, and this is repeated multiple times.

[0030] For example, the movement of the printing platform 120 may be driven by a torque motor 130, which drives the printing platform 120 to move toward or away from the print head 110 on the Z-axis module 140.

[0031] In some implementations, step S102, at least based on the torque information, determines whether the position of the printing platform corresponds to the print head, including: If the torque information is greater than a preset torque threshold, it is determined that the position of the printing platform corresponds to the print head.

[0032] For example, during the process of the printing platform 120 moving towards the print head 110, if the torque information is greater than the preset torque threshold, it means that the movement of the printing platform 120 is blocked by the print head 110 and a certain torque is generated. At this time, the position of the printing platform 120 corresponds to the print head 110.

[0033] For example, the torque information can be detected by a torque sensor installed on the torque motor 130. Since the torque motor 130 is connected to the printing platform 120, the torque sensor installed on the torque motor 130 can detect the torque on the printing platform 120 and obtain the torque information.

[0034] In some implementations, step S101 controls the printing platform to perform a movement operation in a direction closer to or farther from the print head, including: Step S1011: Control the printing platform to perform a first moving operation in the direction of approaching the print head with a first forward step length until the torque information is greater than a first preset threshold. Step S1012: Based on the second retraction distance and the second forward step length, control the printing platform to perform a second movement operation in the direction of approaching or moving away from the print head until the torque information is greater than the second preset threshold. Wherein, the second forward step length is smaller than the first forward step length.

[0035] Understandably, in step S1011, the printing platform 120 performs a first moving operation in the direction of approaching the print head 110 until the torque information is greater than the first preset threshold, which enables the printing platform 120 to move approximately to the position of the print head 110. However, since the step size of the printing platform 120 approaching the print head 110 in the first moving operation is relatively large, it can only coarsely locate the position of the print head 110, resulting in low accuracy.

[0036] Therefore, after step S1011, the position of the print head 110 is precisely positioned by performing a second movement operation in step S1012. Specifically, in step S1012, the printing platform 120 is first controlled to descend away from the print head 110, and after moving a certain distance away from the print head 110, the printing platform 120 is then controlled to rise towards the print head 110 with small step sizes until the torque information is greater than the second preset threshold, at which point it is determined that the printing platform 120 has moved to the position of the print head 110. It can be understood that the second step size in step S1012 is smaller than the first step size in step S1011. The step size represents the distance moved by the moving platform 120 in a single movement. For example, the moving platform 120 moves once per second, and the step size for each movement is 0.02 mm. Of course, it is not limited to this and is not restricted here.

[0037] For example, in step S1012, the printing platform 120 can be controlled to perform the operation of moving away from and then moving closer to the print head 110 once or multiple times. Here, the number of times the second movement operation is performed is not limited.

[0038] Understandably, when the printing platform 120 touches the print head 110, the movement of the printing platform 120 is blocked by the print head 110, resulting in a certain torque, which causes the torque motor 130 to detect a large torque. Since step S1011 is coarse positioning, the contact between the printing platform 120 and the print head 110 is relatively tight, and the torque experienced by the printing platform 120 is also greater. Conversely, step S1011 is fine positioning, where the contact between the printing platform 120 and the print head 110 is relatively slight, and the torque experienced by the printing platform 120 is also smaller. Therefore, the second preset threshold is less than the first preset threshold.

[0039] In some embodiments, determining whether the position of the printing platform corresponds to the print head based at least on the torque information includes: If the second movement operation is executed a preset number of times, the position of the printing platform is determined to correspond to the print head based on the torque information.

[0040] For example, in addition to determining whether the printing platform 120 and the print head 110 are in contact based on torque information, the positioning of the printing platform 120 on the print head 110 can also be determined based on the number of times the second movement operation is executed. The preset number of times can be determined according to actual needs. Specifically, the preset number of times is an integer greater than or equal to 2, for example, 2 times, but it is not limited to this and is not restricted here.

[0041] In some implementations, controlling the printing platform to perform a second movement operation in a direction closer to or further away from the print head, based on a second retraction distance and a second forward step length, until the torque information is greater than a second preset threshold, includes: Repeat the second movement operation; wherein, in each execution of the second movement operation, the second forward step length, the second preset threshold and the second pullback distance decrease successively.

[0042] For example, during the repeated execution of the second movement operation in step S1012, the second forward step length, the second preset threshold, and the second retraction distance of each execution of the second movement operation gradually decrease, thereby gradually improving the positioning accuracy of each execution of the second movement operation.

[0043] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating a sub-step of controlling a printing platform to perform a second movement operation, as provided in an embodiment of this application.

[0044] In some implementations, step S1012, based on a second retraction distance and a second forward step length, controls the printing platform to perform a second movement operation in a direction approaching or moving away from the print head until the torque information is greater than a second preset threshold, including: Step S1112: Control the printing platform to move the second retraction distance in a direction away from the print head; Step S1212: Control the printing platform to move towards the print head with the second moving step size until the torque information is greater than the second preset threshold, wherein the second moving step size is less than the second retraction distance.

[0045] like Figure 4 As shown, step S1012 includes step S1112 of controlling the printing platform 120 away from the print head 110, and step S1212 of controlling the printing platform 120 closer to the print head 110. Specifically, in step S1112, the distance the printing platform 120 moves away from the print head 110 is a preset second retraction distance; in step S1212, the printing platform 120 then moves closer to the print head 110 by a second moving step, until it is determined that the printing platform 120 contacts the print head 110 based on the torque information.

[0046] Please refer to Figure 5 , Figure 5 This is a schematic diagram of a scenario where a printing platform is controlled to perform a second movement operation, according to an embodiment of this application.

[0047] like Figure 5As shown, the direction of the dashed line indicates the direction of movement of the printing platform 120. The printing platform 120 first descends a second retraction distance, and then rises with a second movement step until the torque information is greater than the second preset threshold. This is understandable. Figure 5 The movement operation can be executed repeatedly until the number of executions reflects the required positioning accuracy.

[0048] In some embodiments, when the position of the printing platform corresponds to that of the print head, controlling the printing platform to stop performing the moving operation and controlling the print head to start the printing operation includes: When the position of the printing platform corresponds to that of the print head, after stopping the movement operation, the printing platform is controlled to move a preset thickness distance away from the print head, and the print head is controlled to start the printing operation.

[0049] For example, after the printing platform 120 moves to the position corresponding to the print head 110 in step S102, step S103 is executed to start the printing operation, and the preset printed parts are printed layer by layer. In step S103, the first layer printing needs to be started first. The printing platform 120 is controlled to descend a preset thickness distance in the direction away from the print head 110. The size of the preset thickness distance is equal to the height of one layer of the printed parts, so that the printing platform 120 moves to the position corresponding to the first layer printing.

[0050] The torque-information-based printing platform provided in this application embodiment can determine the height of the printing platform without the need for a laser sensor and auxiliary blocks, reducing the hardware cost of installing a laser sensor on the 3D printer; avoiding the impact on printing efficiency caused by users having to manually install auxiliary blocks; and can be used in 3D printing equipment without a laser sensor, making it compatible with a wider variety of 3D printing equipment and improving equipment compatibility.

[0051] Please refer to Figure 6 , Figure 6 This is a flowchart illustrating a focusing method for a printing platform based on torque information, provided as an embodiment of this application.

[0052] like Figure 6 As shown, in actual operation, the 3D printer can control the printing platform 120 to move to the starting printing position through steps S201-S209. Specifically, the printing platform 120 is coarsely positioned through the first movement operation in steps S201-S202; then, the printing platform 120 is finely positioned through two second movement operations in steps S203-S208; and finally, the printing platform 120 is controlled to move to the position to start printing the first layer in step S209.

[0053] For example, the step size of the previous movement operation is the pullback distance of the next movement operation.

[0054] For example, the printing platform moves at a speed of 0.5 mm per second and accelerates at a speed of 0.5 mm per square second, but it is not limited to this and is not specified here.

[0055] For example, the above-described methods and apparatus can be implemented as a computer program that can run on the 3D printer provided in the embodiments of this application.

[0056] In some embodiments, the 3D printer includes: a print head and a printing platform; the printing platform is used to carry the printed parts of the 3D printer, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction toward or away from the print head; the 3D printer further includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the printing platform focusing method based on torque information as described in any one of the embodiments of this application.

[0057] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the above description of the specific working process of the 3D printer can be referred to the corresponding process in the aforementioned embodiment of the focusing method for the printing platform based on torque information, and will not be repeated here.

[0058] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to various embodiments of the focusing method of the printing platform based on torque information in this application.

[0059] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0060] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0061] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0062] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A focusing method for a printing platform based on torque information, characterized in that, An application to a 3D printer, the 3D printer comprising: a print head and a printing platform; wherein, the printing platform is used to carry the printed part of the 3D printer, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction toward or away from the print head; the method includes: The system controls the printing platform to move in a direction closer to or further away from the print head, and detects the torque information experienced by the printing platform during the movement. At least based on the torque information, determine whether the position of the printing platform corresponds to the print head; When the position of the printing platform corresponds to that of the print head, the printing platform is controlled to stop performing the moving operation, and the print head is controlled to start the printing operation. The control of the printing platform to move in a direction closer to or further away from the print head includes: The printing platform is controlled to perform a first movement operation in a direction closer to the print head with a first forward step length until the torque information is greater than a first preset threshold. Based on the second retraction distance and the second forward step length, the printing platform is controlled to perform a second movement operation in the direction of approaching or moving away from the print head until the torque information is greater than the second preset threshold; wherein, the second forward step length is less than the first forward step length; The step of determining whether the position of the printing platform corresponds to the print head based at least on the torque information includes: If the second movement operation is executed a preset number of times, the position of the printing platform is determined to correspond to the print head based on the torque information. The second movement operation, based on the second retraction distance and the second forward step length, controls the printing platform to perform a second movement operation in the direction of approaching or moving away from the print head until the torque information is greater than the second preset threshold, including: The second movement operation is repeated; wherein, the second forward step length, the second preset threshold, and the second pullback distance are decreased successively in each execution of the second movement operation. The second movement operation, based on the second retraction distance and the second forward step length, controls the printing platform to perform a second movement operation in the direction of approaching or moving away from the print head until the torque information is greater than the second preset threshold, including: Control the printing platform to move the second retraction distance in a direction away from the print head; The printing platform is controlled to move towards the print head with the second forward step length until the torque information is greater than the second preset threshold, wherein the second forward step length is less than the second retraction distance.

2. The focusing method for a printing platform based on torque information according to claim 1, characterized in that, The step of determining whether the position of the printing platform corresponds to the print head based at least on the torque information includes: If the torque information is greater than a preset torque threshold, it is determined that the position of the printing platform corresponds to the print head.

3. The focusing method for a printing platform based on torque information according to claim 1, characterized in that, When the position of the printing platform corresponds to that of the print head, controlling the printing platform to stop performing the moving operation and controlling the print head to start the printing operation includes: When the position of the printing platform corresponds to that of the print head, after stopping the movement operation, the printing platform is controlled to move a preset thickness distance away from the print head, and the print head is controlled to start the printing operation.

4. The focusing method for a printing platform based on torque information according to any one of claims 1-3, characterized in that, The printhead includes: a photocuring printhead for outputting a curing light source, and a fused deposition modeling printhead for jetting hot filament material.

5. A 3D printer, characterized in that, The 3D printer includes: a print head and a printing platform; wherein the printing platform is used to carry the printed parts of the 3D printer, the print head is disposed on one side of the printing platform, and the printing platform is movable in a direction close to or away from the print head; the 3D printer further includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the steps of the printing platform focusing method based on torque information as described in any one of claims 1 to 4.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, it implements the steps of the printing platform focusing method based on torque information as described in any one of claims 1 to 4.

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