Magnetic attraction queue type multi-substrate continuous manufacturing method

Abstract

The invention provides a magnetic attraction queue type multi-substrate continuous manufacturing method, and relates to the technical field of additive manufacturing automation and production organization. By constructing a logic disk queue and establishing a mapping relationship with a plurality of physical disk positions, multi-task ordered scheduling is realized; coordinate mapping parameters are dynamically updated based on printing disc pose detection, a manufacturing task path is converted to an equipment global coordinate system, and high-precision machining is achieved; after the task is completed, safety avoiding, interlocking checking and automatic disc pushing are executed, and in-place confirmation is carried out during switching; the system also has abnormal monitoring and fault-tolerant processing capabilities. According to the method, efficient, robust and unmanned continuous manufacturing of desktop-level equipment is achieved, the equipment utilization rate and the first-layer printing success rate are remarkably improved, and the method is suitable for a small-batch multi-variety rapid manufacturing scene.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing automation and production organization technology, and to a magnetically assisted queue-type continuous manufacturing method for multiple substrates. Background Technology

[0002] To improve the effective output and unattended operation capabilities of desktop additive manufacturing equipment, existing technologies have proposed various continuous printing, automatic unloading, and automatic material changing solutions. For example, CN105563838B, "A Continuous Printing System for an Automatic Unloading and Material Changing 3D Printer," discloses a system solution for achieving unattended continuous production through an automatic unloading and material changing device, a material changing plate, and related mechanisms. It emphasizes the coordination of unloading and material changing actions after printing to achieve continuous printing. Another example is CN104960205B, "A Continuous Printing Method and System for a 3D Printer," which discloses a continuous printing solution that uses a changing device to replace the protective film after one printing cycle and drives the printer to continue printing, aiming to reduce manual intervention and increase single-machine productivity.

[0003] The above solutions all provide references for unloading and material replacement after printing, but there is still room for improvement in engineering practice: First, continuous printing often relies on the replacement of a single carrier surface or a single replacement medium, making it difficult to form a queued organization of multiple substrates in parallel standby on the equipment platform, thus limiting the duration of unattended operation per cycle; Second, in multi-carrier continuous operation scenarios, if the process control of printing disk positioning confirmation, platform constraint maintenance, avoidance posture of push-out action, and safety interlocks lacks a set of rules, it is easy to cause disk position displacement, interference collisions, or transfer failures, reducing system stability. Therefore, there is a need for an unattended continuous manufacturing method that can achieve multi-printing disk array magnetic positioning on the same platform and achieve continuous takeover printing through queue management and safety interlocks. Summary of the Invention

[0004] This application provides a magnetically attached queue-type multi-substrate continuous manufacturing method, which enables multiple printing disks to be magnetically positioned on a platform array simultaneously. After the current disk is manufactured, the magnetic attachment of the disk is automatically released and it is pushed out of the machine, while the remaining disks are kept in a state of continuous adsorption constraint. Then, the next disk is confirmed to be in place, taken over, and necessary leveling / alignment is performed before manufacturing continues, which significantly extends the single unattended production time and improves the reliability of continuous operation.

[0005] The first aspect disclosed in this application provides a method for continuous manufacturing of multiple substrates using a magnetically attracted queue, comprising: S100: Obtain multiple manufacturing tasks to be executed, load the manufacturing tasks into the logical disk queue in a predetermined order, establish a one-to-one mapping relationship between each logical disk position in the logical disk queue and N physical disk positions in the platform array, configure coordinate mapping parameters for each physical disk position, the coordinate mapping parameters include its theoretical installation reference point and theoretical printing surface height reference in the device global coordinate system, and initialize the corresponding position compensation offset and disk surface height compensation offset, where 1 < N ≤ 5; S200: The print disk is placed on the physical disk position. The magnetic force of the physical disk position carrying the print disk is applied to the disk position-level magnetic traction partition unit to fix each print disk magnetically. Based on the position and pose detection of each print disk, the deviation of it relative to the theoretical installation reference point of the corresponding physical disk position is obtained, and the deviation is updated to the position compensation offset of the physical disk position. S300: Based on the execution order of the logical disk queue, determine the current logical disk position and its mapped physical disk position, take the printing disk on the physical disk position as the current disk, convert the processing path in the corresponding manufacturing task into the target processing path under the global coordinate system of the equipment based on the coordinate mapping parameters of the physical disk position, and instruct the printing execution mechanism to perform the manufacturing operation on the current disk according to the target processing path, and maintain the magnetic attraction constraint of the physical disk position during the printing process. S400: When the manufacturing task of the current disk is completed, drive the printing actuator to move to the preset safe avoidance posture, and perform a safety interlock check before starting the disk position release. The interlock check requirements include: the printing actuator has arrived and maintained in the safe avoidance posture, there are no interferences on the predetermined push path of the push mechanism, and the push mechanism is in a standby state with acceptable instructions. S500: After all safety interlock check requirements are met, release the magnetic attraction force of the physical disk position where the current disk is located, control the pushing mechanism to push the current disk out of the manufacturing area along the predetermined path, and confirm that it has been pushed out in place. S600: Move the execution pointer of the logical disk queue to the next logical disk position, and perform a check on the physical disk position mapped to the logical disk position. The check on the physical disk position includes at least confirming that a print disk exists on the physical disk position. S700: Repeat steps S300 to S600 until the termination conditions are met. The termination conditions include: all manufacturing tasks in the logical disk queue have been completed, the number of processed disks has reached N, or an exception requiring manual intervention has occurred.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages: (1) By constructing a logical disk queue and establishing a mapping relationship with the physical disk position, combined with automatic disk pushing, magnetic fixation and task scheduling mechanism, the equipment can complete multiple manufacturing tasks in sequence without manual intervention, which significantly improves equipment utilization and production efficiency, especially suitable for desktop additive manufacturing scenarios with small batch and multiple varieties. (2) By configuring coordinate mapping parameters containing theoretical installation reference points and position compensation offsets for each physical disk position, and dynamically updating the compensation value based on pose detection after disk placement, the processing path of the manufacturing task is accurately converted to the global coordinate system of the equipment, thereby eliminating the XY offset caused by manual placement and ensuring the alignment of the first layer contour and the adhesion quality. (3) Introducing a disk height compensation offset to characterize the deviation of the upper surface of the printing disk relative to the theoretical height, and performing Z-axis correction during path generation, can automatically adapt to printing disks of different thicknesses or slight warping, avoiding problems such as overpressure, under-adhesion or nozzle scraping in the first layer due to inconsistent height, and reducing dependence on the processing accuracy of the printing disk and the skills of the operator. (4) Before pushing the plate, perform a multi-dimensional safety interlock check, including ensuring that the printing actuator is in place, there are no external obstacles in the pushing path, and the pushing mechanism is in standby mode. All conditions must be met simultaneously and stably for a preset time to eliminate the risk of motion interference and mechanism collision from the control logic and ensure the long-term stability of continuous operation.

[0007] (5) Real-time monitoring of abnormal events such as incomplete tray pushing, empty tray positions, and interlock failure, and triggering a graded protection strategy to maximize task completion rate while ensuring safety, reduce unplanned manual intervention, and improve system robustness.

[0008] In summary, this application significantly improves equipment utilization, first-layer success rate, and user operation convenience, providing a practical and scalable technical path for rapid manufacturing scenarios with small batches and multiple varieties. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of a magnetically induced queue-type multi-substrate continuous manufacturing method provided in an embodiment of this application. Detailed Implementation

[0010] This application provides a magnetically assisted queue-type multi-substrate continuous manufacturing method. The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. The magnetically assisted queue-type multi-substrate continuous manufacturing method of this invention can be applied to a type of additive manufacturing equipment with multi-station operation capabilities. Such equipment typically includes a printing actuator for performing material forming operations, a platform array for carrying multiple printing disks, and a magnetically assisted control unit corresponding to each physical disk position to achieve selective fixing and release of the printing disks. In addition, the equipment may also be equipped with a pushing mechanism for automatically removing printing disks that have completed their tasks, and a controller for coordinating task scheduling, path switching, and safety control.

[0011] In practical applications, the aforementioned functional modules can be implemented using various known technologies. For example, the magnetic suction control unit can be based on an electromagnet array or a permanent magnet-electromagnetic hybrid structure; the pushing mechanism can take the form of a linear module, conveyor belt, or robotic arm; and pose detection can be accomplished using contact probes, optical sensors, or machine vision systems. The core of this invention lies in the collaborative logic of the modules within the described method flow, rather than in specific hardware implementations.

[0012] like Figure 1 As shown, this application provides a method for continuous manufacturing of multiple substrates using a magnetically attracted queue, the method specifically including the following steps: S100: Obtain multiple manufacturing tasks to be executed, load the manufacturing tasks into the logical disk queue in a predetermined order, establish a one-to-one mapping relationship between each logical disk position in the logical disk queue and N physical disk positions in the platform array, configure coordinate mapping parameters for each physical disk position, including its theoretical installation reference point and theoretical printing surface height reference in the device global coordinate system, and initialize the corresponding position compensation offset and disk surface height compensation offset, where 1 < N ≤ 5.

[0013] Specifically, before printing begins, a dynamically mappable and error-compensated task-hardware collaborative framework is established to support the orderly, precise, and unmanned execution of multiple subsequent manufacturing tasks on a limited number of physical disk slots. The controller first acquires multiple manufacturing tasks submitted by the user (e.g., G-code files or task instruction sets from slicing software). These tasks may correspond to different parts, materials, or process parameters. To achieve continuous processing, the system loads each manufacturing task sequentially into a logical data structure—called a logical disk queue—according to a user-specified or preset priority order. The logical disk queue is not a physical entity but a software-maintained task scheduling sequence containing several logical disk slots arranged in execution order (e.g., LogicSlot1, LogicSlot2, ...). Each logical disk slot is bound to a manufacturing task and is used to represent the processing order of that task in the continuous flow during runtime. Its core function is to decouple the task sequence from the fixed layout of physical disk slots, enabling the processing of more than N tasks even with a limited number of physical disk slots (e.g., N=3) through a "complete and push, empty slot reuse" mechanism (in this application, since 1 < N ≤ 5 and the termination condition includes "the number of processed disks reaches N", the current embodiment focuses on continuous N-disk operation in a single round). Subsequently, the system establishes a one-to-one mapping relationship between each logical disk slot in the logical disk queue and the N physical disk slots in the device platform array. For example, LogicSlot1 → PhysicalSlotA, LogicSlot2 → PhysicalSlotB, and so on. This mapping relationship remains stable during task execution, ensuring that each task is always completed at its assigned physical location.

[0014] To further achieve high-precision manufacturing, the system configures a set of coordinate mapping parameters for each physical disk position. These parameters are defined based on the equipment's global coordinate system: the equipment's global coordinate system is a unified spatial reference system within the additive manufacturing equipment, typically with the equipment's mechanical origin (e.g., the lower left front corner) as its origin, the X / Y axes parallel to the build platform plane, and the Z axis vertically upward. All position commands, sensor feedback, and path planning for motion mechanisms are performed within this coordinate system. The coordinate mapping parameters include at least the following two items: 1. Theoretical installation reference point ( , ), referring to the preset ideal center position of the i-th physical disk position in the device's global coordinate system. This value is determined during device factory calibration or platform installation, representing "if the print disk is perfectly positioned, its center should be located here." It serves as the XY-axis reference for subsequent path transformations. 2. Theoretical Print Surface Height Reference , refers to the standard printing start height corresponding to the i-th physical disk position, that is, the Z coordinate that the upper surface of the printing disk should ideally be at. This value is usually the same for all disk positions (e.g., Z0 = 50.0 mm), but individual differences are allowed due to platform fine-tuning. Simultaneously, the system initializes a corresponding position compensation offset (ΔX) for each physical disk position. (i) ΔY (i) ) and disk height compensation bias The position compensation offset is used to characterize the XY-axis deviation of the actual placed print disk center relative to the theoretical mounting reference point; the disk surface height compensation offset is used to characterize the Z-axis deviation of the upper surface of the print disk relative to the theoretical printing surface height reference. These offsets can be initially set to zero and will be updated to measured values ​​through pose detection in the subsequent S200 step, thereby being used in S300 to dynamically correct the processing path and achieve highly robust manufacturing with "place and print immediately, no manual leveling required".

[0015] Furthermore, the logical disk queue is constructed based on multiple manufacturing tasks to be executed and the manufacturing tasks are loaded sequentially according to the execution order specified by the user. The logical disk queue includes multiple logical disk positions arranged in this execution order, and each logical disk position corresponds to a manufacturing task, which is used to represent the execution order of each manufacturing task in the continuous processing process.

[0016] Specifically, the construction of the logical disk queue is not simply arranging tasks according to their received order, but rather proactively responding to the user's process intent and production scheduling requirements. Specifically, the system allows users to explicitly specify their desired execution order when submitting multiple manufacturing tasks (e.g., by dragging and dropping to sort, setting priority labels, or importing a task list). The controller then loads each manufacturing task sequentially into the logical disk queue, forming an execution sequence perfectly aligned with the user's expectations. This mechanism distinguishes this invention from the rigid "physical disk position determines execution order" model of existing technologies. For example, when a user wants to prioritize printing a high-precision calibration part to verify the equipment status before batch processing ordinary parts, they can place the calibration task at the top of the queue, even if its corresponding physical disk position is at the end of the platform. The system will still schedule according to the logical order, ensuring that critical tasks are completed first. Therefore, the logical disk queue is not only a task container but also a mapping bridge from "user intent to execution action." It shifts additive manufacturing from an "equipment-centric" to a "task-centric" approach, significantly improving operational flexibility and user experience in small-batch, multi-variety production scenarios, and is a key technological pillar for achieving true "on-demand continuous manufacturing."

[0017] S200: The print disk is placed on the physical disk position. The magnetic attraction force of the physical disk position carrying the print disk is applied through the disk position-level magnetic attraction partition unit to fix each print disk magnetically. Based on the position and pose detection of each print disk, the deviation of it relative to the theoretical installation reference point of the corresponding physical disk position is obtained, and the deviation is updated to the position compensation offset of the physical disk position.

[0018] Specifically, each physical disk position is considered an independently calibrated and dynamically adjustable intelligent workstation. Through a one-time pose detection, the spatial reference adaptation for all subsequent tasks at that workstation is automatically completed. After the user manually or semi-automatically places multiple print disks into the physical disk positions of the platform array, the system independently applies magnetic attraction force to each physical disk position carrying the print disk through disk position-level magnetic traction partitioning units, achieving fast, reliable, and reversible mechanical fixation. This magnetic constraint is not only used for vibration-resistant positioning during the printing process but also provides stable support for subsequent pose detection. Subsequently, based on the pose detection of each print disk, the system obtains the deviation of its actual spatial state from the theoretical reference. Pose refers to the six-degree-of-freedom spatial state of the print disk in the device's global coordinate system. In the desktop application scenario of this invention, the focus is mainly on its key three degrees of freedom: translational deviation in the XY plane, i.e., the deviation of the print disk center from the theoretical installation reference point (…). , The offset of the Z-axis; the height deviation, that is, the height reference of the upper surface of the print disk relative to the theoretical print surface. The offset. Rotational deviation (tilt about the X / Y / Z axes) has a small impact in most FDM or photopolymerization processes, or can be approximately covered by XY compensation, so it can be temporarily ignored in the desktop additive manufacturing equipment examples.

[0019] Regarding the specific implementation of pose detection, this invention does not rely on specific hardware but is compatible with various known sensing technologies. For example: using contact probes (such as multiple points where the print head lightly touches the disk surface) to measure height and edge position; using embedded optical sensors (such as infrared beams or laser triangulation) to scan disk surface features; using a machine vision system to identify preset positioning marks (such as QR codes or concentric circles) on the print disk to calculate the center position and orientation; or combining motion feedback and force control (such as sudden changes in resistance when the nozzle is pressed down) to indirectly determine the contact surface height. Regardless of the detection method used, the core idea remains the same: to measure the detected deviation (ΔX) (i) ΔY (i) )and The coordinate mapping parameters are directly written into the corresponding physical disk position, serving as the basis for path compensation for all subsequent tasks executed on that disk position. Traditional equipment requires users to manually level each printing disk or relies on a global platform for one-time calibration, which cannot adapt to individual differences among multiple disks. However, this invention, through a strategy of one-disk-one-inspection, one-disk-one-parameter, one-time calibration, and multiple reuse, allows the system to automatically correct the processing paths of all subsequent tasks after the initial inspection, even if users place printing disks of different thicknesses and flatnesses. This truly achieves a continuous manufacturing experience of "place and print immediately, without intervention." The compensation parameters are bound to the physical disk position rather than the printing disk itself. Even if the printing disk in the same physical position is replaced, the system will re-inspect and update the parameters in the next S200, ensuring that compensation is always based on the current actual state, balancing flexibility and reliability.

[0020] S300: Based on the execution order of the logical disk queue, determine the current logical disk position and its mapped physical disk position, take the printing disk on the physical disk position as the current disk, convert the processing path in the corresponding manufacturing task into the target processing path in the global coordinate system of the equipment based on the coordinate mapping parameters of the physical disk position, and instruct the printing execution mechanism to perform the manufacturing operation on the current disk according to the target processing path, and maintain the magnetic attraction constraint of the physical disk position during the printing process.

[0021] Furthermore, based on the coordinate mapping parameters of this physical disk position, the machining path in the corresponding manufacturing task is converted into the target machining path in the equipment's global coordinate system, including: Read the coordinates of the theoretical installation reference point from the coordinate mapping parameters configured in the physical disk location of the current disk. , ) and the currently updated position compensation offset (ΔX) (i) ΔY (i) ), i = 1, 2, ..., N; The coordinates of each path point on the machining path defined by the manufacturing task in its task coordinate system. , ), j=1,2,…, calculate its target coordinates in the device's global coordinate system according to the following transformation formula ( , The formula is as follows: , ; The transformed target coordinates (G) will be used to determine the target coordinates. X G Y An ordered set of () is generated as the target processing path that can be directly executed by the printing actuator; Where i is the physical disk location number of the current disk, and j is the index of the j-th path point in the processing path of the processing task. , Let (ΔX) be the theoretical installation reference point of the i-th physical disk position in the device's global coordinate system. (i) ΔY (i) ) represents the position compensation offset of the current disk in the device's global coordinate system at the i-th physical disk position. , () represents the j-th original path point of the manufacturing task in its own task coordinate system. , ) represents the target execution position of the j-th original path point in the device's global coordinate system.

[0022] Furthermore, it also includes: The coordinate mapping parameters also include disk height compensation offset. The disk height compensation offset characterizes the deviation of the upper surface of the current disk on the physical disk position relative to the theoretical printing surface height reference, and will affect the machining path in the manufacturing task. Convert coordinates to target height in device global coordinate system ,satisfy: ,i=1,2,…,N,j=1,2,…, in, Let be the theoretical printing surface height reference for the i-th physical disk position in the device's global coordinate system. The offset is used to compensate for the disk height of the i-th physical disk position in the device's global coordinate system. Let j be the Z-coordinate of the j-th original path point. Let be the target height of the j-th original path point in the device's global coordinate system.

[0023] Furthermore, it also includes: While the instruction printing execution mechanism performs manufacturing operations on the current disk according to the target processing path, it maintains magnetic constraints on the other physical disk positions that carry the printing disks.

[0024] Specifically, independently designed manufacturing tasks are seamlessly integrated into the unified physical space framework of the equipment, ensuring overall system stability during dynamic operations. The system first determines the current logical disk position to be processed based on the current execution pointer of the logical disk queue, and then locates its corresponding physical disk position (e.g., LogicSlot2→PhysicalSlotB) according to the mapping relationship established in S100. The printing disk carried by this physical disk position is designated as the current disk, serving as the object of this round of manufacturing operations. Crucially, each manufacturing task performs path planning based on its own local coordinate system during its generation stage (e.g., in slicing software). The task's own coordinate system refers to a virtual coordinate system with the geometric center or lower left corner of the bottom surface of the task model as its origin, and its path point coordinates (… , )and It only describes the geometry and stacking logic of the part itself, and is unrelated to the physical layout of the device. For example, the first-level path of a cylindrical model might be defined as a circle centered at (0, 0); however, if the task is assigned to physical disk position B (the theoretical reference point is (200, 100)), the printhead must be moved to near (200, 100) for correct printing. Therefore, path transformation is not a simple translation, but a dynamic coordinate system alignment process based on measured deviations. The system reads the theoretical installation reference point from the coordinate mapping parameters of the physical disk location. , ) and disk height compensation bias The target path point in the device's global coordinate system is calculated using the following formula: , , ; The significance of this conversion lies in accurately superimposing the ideal model onto the "actually placed printing disk." Even if the user places the printing disk at an angle or uses substrates of different thicknesses, the system can still automatically correct the path by compensating for the offset, ensuring the adhesion and contour accuracy of the first layer, completely eliminating the reliance on manual leveling. In the implementation of this invention, positioning deviations in the XY plane (such as printing disk center offset or rotation) will directly cause an overall shift in the geometric contour of the manufacturing task from the expected position, which can lead to model misalignment, support failure, or even printing failure in severe cases. In contrast, Z-axis height deviation mainly affects the gap between the first layer and the printing disk: within a certain tolerance range (e.g., ±0.2mm), it can be partially compensated by adjusting the first layer height or relying on the material's own compaction / spreading characteristics, and the impact on the overall forming quality is relatively controllable. Therefore, the path correction mechanism based on XY position compensation can significantly improve the reliability and success rate of multi-disc continuous manufacturing, constituting a fundamental technical solution with practical value. Introducing Z-axis height compensation further enhances the system's adaptability to individual differences in printing disks, making it particularly suitable for high-precision applications with high requirements for first-layer consistency. This is a preferred enhanced implementation method, balancing the coverage needs of both basic and high-end equipment. Based on this, the present invention protects XY compensation and Z compensation as independently implementable technical features to balance the coverage needs of both basic and high-end equipment.

[0025] Subsequently, the controller instructs the printing actuators (such as FDM printheads or DLP optical engines) to strictly follow the target processing path to perform the manufacturing operation. During the printing of the current disc, the system continuously maintains the magnetic constraint of the remaining physical disc positions. This design has significant engineering value: additive manufacturing processes are often accompanied by vibration, airflow disturbances, or thermal deformation. If non-working discs are in a free state, micro-displacement or warping may occur, leading to the failure of the initial positioning of subsequent tasks. By maintaining full magnetic fixation (only the current disc is printing, but all discs are attracted), such interference can be effectively suppressed, ensuring the cumulative accuracy of multi-task processes. It is listed as an optional feature in the claims because this measure is not absolutely necessary in some low-vibration, short-duration, or high-rigidity devices; however, this invention clearly discloses its technical effects, providing an enhancement solution for high-reliability scenarios.

[0026] S400: When the manufacturing task of the current disk is completed, drive the printing actuator to move to the preset safe avoidance posture, and perform a safety interlock check before starting the disk position release. The interlock check requirements include: the printing actuator has arrived and maintained in the safe avoidance posture, there are no interferences on the predetermined push path of the push mechanism, and the push mechanism is in a standby state with acceptable instructions.

[0027] Furthermore, the interlock check requirements include: the printing actuator has arrived and maintained a safe avoidance posture, there are no interferences on the predetermined push path of the push mechanism, and the push mechanism is in a standby state with acceptable instructions, including: The print head of the driving printing actuator is moved to a preset safe avoidance posture, and there is no spatial intersection with the upper surface of all physical disk positions and the movement path of the pushing mechanism; After reaching a safe avoidance posture, the first, second and third conditions are continuously monitored. The first condition is that the printing actuator maintains a safe avoidance posture. The second condition is that there are no interfering objects on the planned launch path of the pusher; The third condition is that the push mechanism is in a standby state that can accept instructions; The controller determines that the safety interlock check has passed only when the first, second, and third conditions are met simultaneously and maintained for a preset stable time threshold.

[0028] Furthermore, a safe avoidance posture is defined as a set of positions that satisfy the following spatial constraints, including: A safe avoidance posture is defined as a set of positions that satisfy the following spatial constraints: ; in, For the current position of the printing actuator, ( , () represents the theoretical installation reference point for the i-th physical disk bay. , , This is the preset safe distance threshold.

[0029] Specifically, before releasing the magnetic constraint of the current disk and initiating the pushing action, a multi-dimensional, continuous, and spatially defined safety interlock mechanism completely avoids the risk of motion interference between the printing actuator, the pushing mechanism, and the printing disk. Once the manufacturing task of the current disk is completed, the controller first drives the printing actuator (e.g., an FDM printhead or a photopolymerization projection unit) to a preset safe avoidance posture. This safe avoidance posture is not an arbitrary high position, but rather a set of positions with strict spatial planning, ensuring that it has no intersection with the upper surfaces of all physical disk positions and the movement paths of the pushing mechanism in three-dimensional space. In a preferred embodiment, this posture is defined as a region satisfying the following spatial constraints: ; in, For the current position of the printing actuator, ( , () represents the theoretical installation reference point for the i-th physical disk bay. , , The preset safe distance threshold (e.g., =50mm, = =30mm). This indicates that the printing actuator has completely detached from the center of the i-th physical disk position and has a size of in the XY plane. The rectangular danger zone is defined. After entering the safe avoidance posture, the system does not immediately release the magnetic attraction or initiate the push, but instead initiates a safety interlock check process. This check includes three conditions that must be met simultaneously: First condition: the printing actuator has arrived and remains in the safe avoidance posture; Second condition: there are no interferences (including foreign objects, incompletely pushed-out preceding print disks, or equipment parts intruding into the path) on the predetermined push path of the push mechanism; Third condition: the push mechanism itself is in a standby state that accepts commands (such as motor enable, no fault alarm, position zeroing completed). The above three conditions must be met simultaneously and remain stable for more than a preset time threshold (e.g., 500ms). This "stable time threshold" mechanism effectively filters out misjudgments caused by instantaneous sensor jitter, communication delays, or mechanical rebound, avoiding erroneous triggering of the push action due to brief signal fluctuations, and significantly improving the robustness of the interlock logic. Only when all conditions are continuously met within the stable time does the controller determine that the safety interlock check has passed and allow entry into the magnetic release and push phase of S500. The ingenuity of this invention lies in upgrading the traditional single-point arrival confirmation to a dynamic interlocking system integrating space, time, and state. Existing technologies typically only detect whether the actuator has reached a certain coordinate point, while this solution, through clear spatial safety boundary definition, multi-source state joint verification, and time stability constraints, fundamentally eliminates collision accidents caused by missing local information or instantaneous interference, providing reliable safety assurance for high-frequency, unattended continuous manufacturing.

[0030] Furthermore, the second condition is that there are no interfering objects on the planned launch path of the push mechanism, including: The absence of interference along the exit path was jointly confirmed through the following methods: (1) Real-time detection is performed by an obstacle detection device set next to the push path. The obstacle detection device includes a photoelectric sensor or an ultrasonic sensor, and the output signal determines that no external obstacle has been detected. (2) Make logical judgments based on the device status information. The device status information includes at least the current position of the printing actuator, and confirm that the printing actuator has not invaded the space area corresponding to the predetermined push path of the pushing mechanism by judging the current position.

[0031] Specifically, the absence of interference on the predetermined push path of the push mechanism does not only refer to the absence of external foreign objects, but also to the absence of any physical objects that may obstruct or collide within the spatial channel involved in the entire push motion, including but not limited to: foreign debris (such as tools, debris), incompletely removed preceding printing discs, and intrusion of the device's own moving parts (especially the printing actuator). To reliably achieve this determination, the present invention adopts a dual-channel joint verification strategy, cross-verifying from two dimensions: physical perception and system status, significantly improving detection robustness and safety: (1) Real-time physical detection based on dedicated sensors: Obstacle detection devices, such as through-beam photoelectric sensors, reflective infrared sensors, or ultrasonic ranging modules, are set at key locations on the push path (such as entrance, middle section, or exit areas). These devices continuously monitor whether there is any obstruction in the path cross section. When all sensors output an "obstacle-free" signal (such as the beam not being blocked and the echo distance being greater than the threshold), it is preliminarily determined that there are no external interference objects. This method can effectively identify unexpected obstacles such as items mistakenly placed by the user or parts falling off. (2) The logic self-test based on the global status of the device relies solely on external sensors, which has blind spots—for example, if the printing actuator itself is hovering directly above the ejection path, a severe collision may occur during the tray ejection process even if the photoelectric switch is not triggered. Therefore, the system further performs logical judgments based on internal device status information: obtaining the real-time coordinates of the printing actuator. Based on the mechanical structural parameters of the pushing mechanism (such as push rod width and motion trajectory envelope), a predefined "spatial region corresponding to the pushing path" (usually a cuboid or prism extending along the pushing direction) is established; it is then determined whether the printing actuator is located within this spatial region. If not, it is confirmed that there is no risk of interference. Only when both of the above judgments result in "no interference" is the second condition considered to be met. This dual verification mechanism of "external sensing + internal introspection" overcomes the limitations of single detection methods: sensors may fail or have blind spots, while pure logical judgment cannot detect external foreign objects; the fusion of the two covers both internal motion conflicts of the equipment and external environmental interference, providing a high-confidence safety guarantee for continuous unmanned operation.

[0032] S500: After all safety interlock check requirements are met, release the magnetic attraction force of the physical disk position where the current disk is located, control the pushing mechanism to push the current disk out of the manufacturing area along the predetermined path, and confirm that it has been pushed out in place.

[0033] Specifically, after all the safety interlock checks described in S400 have passed and remained stable for a preset time, the controller first sends a command to the disk-level magnetic traction partition unit to release the magnetic attraction force only on the physical disk corresponding to the current disk, while the magnetic constraints on the remaining physical disks remain unchanged. This "release-on-demand" mechanism is crucial: it avoids the risk of all printing disks becoming loose due to a global power outage, ensures that non-working disks remain fixed, maintains overall system stability, and has significant advantages, especially in vibration environments with multiple disks. Subsequently, the controller activates the pushing mechanism (e.g., a linear motor-driven push rod, a synchronous belt slide, or a pneumatic pusher) to smoothly push the current disk along a preset mechanical path (usually a straight trajectory perpendicular to the edge of the platform array), completely removing it from the manufacturing area of ​​the equipment (e.g., to a receiving tray, conveyor belt, or buffer area). The pushing process can employ constant speed propulsion, segmented acceleration, or force feedback control strategies to adapt to different printing disk weights and friction characteristics, preventing jamming or tipping. After the pushing action is completed, the system further performs a confirmation of successful completion to verify whether the task has been successfully completed. This confirmation can be achieved in several ways, such as: detecting whether the pushing mechanism has reached the preset "end point of full stroke" position (via limit switch or encoder feedback); using photoelectric sensors located in the receiving area to determine whether the printing plate has entered the designated area; or combining time thresholds and current monitoring to determine whether the pushing resistance is abnormal (indirectly reflecting whether it is stuck or not pushed out). Only when the push-out is confirmed to be in place is the system considered to be completely finished and the process is allowed to enter the queue pointer switching stage of S600. If the confirmation of the position is not completed (such as timeout or no response from the sensor), the abnormal handling mechanism is triggered to avoid the entire machine from stopping due to a single push-out failure.

[0034] S600: Move the execution pointer of the logical disk queue to the next logical disk position and perform a check on the physical disk position mapped to that logical disk position. The check on the physical disk position includes at least confirming that a print disk exists on that physical disk position.

[0035] Furthermore, it also includes: Obtain the positioning features on the print disk and confirm that their deviation from the preset alignment reference is within the tolerance range; Obtain the height of the print disk surface and confirm that its deviation from the theoretical print surface height reference does not exceed a preset threshold.

[0036] Specifically, after the current disk is ejected, the system moves the execution pointer of the logical disk queue to the next logical disk position and performs a position confirmation on its mapped physical disk position to ensure that subsequent manufacturing operations have the basic execution conditions. Position confirmation includes at least disk existence confirmation, i.e., verifying that the physical disk position does indeed carry a printing disk through means such as photoelectric switches, weight sensors, or image recognition. This is a basic guarantee to prevent dry printing due to the user not loading a disk or disk residue. In a preferred embodiment, position confirmation may further include higher-level verification: acquiring preset positioning features on the printing disk (such as QR codes, concentric circles, mechanical grooves), and confirming through visual or tactile sensing that the deviation between its actual position and the preset alignment reference is within the allowable tolerance range; acquiring the printing disk surface height (e.g., through non-contact ranging), and confirming that its deviation from the theoretical printing surface height reference does not exceed a preset threshold (e.g., ±0.2mm). It should be noted that this type of enhanced verification differs fundamentally from the pose detection in S200 in purpose and timing: S200's detection is used to initialize compensation parameters and occurs before the entire process begins; while S600's enhanced verification is used for runtime status verification and occurs during each task switch, aiming to address potential disk position disturbances, human error, or consumable malfunctions during printing. Even if S200 has completed calibration, if the disk is found to have shifted or been replaced during subsequent switches, the system can still intercept it in time to prevent printing failures caused by the use of invalid parameters.

[0037] S700: Repeat steps S300 to S600 until the termination conditions are met. The termination conditions include: all manufacturing tasks in the logical disk queue have been completed, the number of processed disks has reached N, or an exception requiring manual intervention has occurred.

[0038] Specifically, after the manufacturing, ejection, and confirmation of the arrival of the next disk for the current disk are completed, the system automatically returns to S300, takes the newly determined current disk as the operation object, and repeats operations such as path conversion, printing jobs, safe avoidance, disk ejection release, and queue switching. This loop mechanism enables the device to continuously process multiple tasks in an unattended state, significantly improving the device utilization rate and production efficiency. To ensure the controllability and safety of the process, the present invention sets multiple termination conditions, and the loop ends as soon as any condition is met: All manufacturing tasks in the logical disk queue have been completed: This indicates that all tasks submitted by the user have been successfully executed, and the system naturally exits the continuous mode and can enter the standby or shutdown state; The number of processed disks reaches N: where N is the total number of physical disk positions in the platform array (1 < N ≤ 5). This condition is applicable to the single-round full-load operation scenario - for example, when the user places N printing disks at one time and assigns N tasks, the system stops after completing one round to avoid idling or repeated scheduling; An exception that requires manual intervention occurs: including but not limited to: jamming of the pushing mechanism, failure of arrival confirmation, timeout of safety interlock check, sensor failure, etc. Once such an exception is detected, the system immediately terminates the automatic loop to prevent error accumulation or device damage, and triggers an alarm prompt or protection strategy, waiting for operator intervention. The design of the above termination conditions reflects the balance consideration of efficiency and safety in the present invention: Conditions (1) and (2) ensure task integrity and efficient resource utilization; Condition (3) constructs a fault fusing mechanism to ensure that the system remains controllable under unexpected working conditions. Note that when the number of processed disks reaches N, it does not exclude subsequent continued operation - if the user supplements new tasks and reloads the logical disk queue, the system can start a new round of the S100 - S700 process. Therefore, the termination of S700 is the end of a single continuous operation cycle, rather than the end of the device function.

[0039] Furthermore, it also includes: During the execution of steps S300 to S700, at least one of the following abnormal events is monitored in real time: 1) The pushing mechanism fails to complete the ejection action of the current disk within the preset time; 2) The arrival confirmation in step S600 fails, including detecting that there is no printing disk on the physical disk position; 3) The safety interlock check in step S400 fails; 4) The obstacle detection device on the pushing path outputs an obstacle signal; When any abnormal event is detected, a protection strategy is triggered, and the protection strategy includes at least one of the following operations: (a) Pause the current manufacturing operation; (b) Reapply magnetic suction to the physical disk position and then attempt to release and push again; (c) Repeat the pushing action on the same physical disk position, with a maximum of no more than the preset number of times; (d) Mark the manufacturing task for the corresponding faulty disk position in the logical disk queue as skipped, and move the execution pointer to the next logical disk position; (e) Output a prompt for manual intervention or trigger an alarm and shutdown of the equipment.

[0040] Specifically, a real-time anomaly monitoring and tiered response mechanism is introduced. This mechanism operates continuously throughout the entire continuous operation cycle from steps S300 to S700, proactively monitoring critical fault points that may interrupt the process, and triggering preset protection strategies when an anomaly is detected, in order to maximize task completion rate and prevent equipment damage. I. Scope of Abnormal Event Monitoring: The system monitors at least one of the following abnormal events in real time: Push Timeout: After the push mechanism starts, it fails to complete the push action of the current tray within the preset time window (e.g., due to motor stall, mechanical jamming, or printing tray sticking). This can be determined through encoder feedback, current surge, or timer timeout; Position Confirmation Failure: When performing the next tray position confirmation in S600, no printing tray is detected at the target physical tray position (e.g., the user has not loaded a tray, or the previous pusher tray has not been completely removed, leading to a misjudgment of an empty position); Safety Interlock Check Failure: In the S400 stage, any interlock condition (e.g., the actuator fails to avoid an obstacle, there is an obstacle in the push path, or the push mechanism is not ready) is continuously not met and exceeds the stable waiting threshold; Push Path Obstacle Alarm: The obstacle detection device (e.g., photoelectric sensor, ultrasonic module) set next to the push channel outputs a valid obstacle signal, indicating the presence of foreign objects or component intrusion. The above events cover four major categories of typical fault sources: mechanical execution, sensor feedback, user operation, and environmental interference, constituting the main risk points of the continuous manufacturing process.

[0041] II. Response Logic of Tiered Protection Strategy Once any abnormal event is confirmed, the controller dynamically selects one or more protection strategies based on the type, severity, and recoverability of the abnormality: (a) Pause the current manufacturing operation: Immediately stop the movement of the printing actuator, freeze the task scheduling, and prevent the error from spreading; (b) Reset the magnetic attraction and retry the release / push: If the abnormality is suspected to be caused by transient interference (such as the magnetic attraction not being completely released), the magnetic attraction force can be reapplied to stabilize the print disk, and the release and push sequence can be tried again; (c) Limit the number of pushes: For minor jamming scenarios, the push can be repeated a maximum of times on the same physical disk position. (d) Skip the faulty task and continue: If the anomaly cannot be quickly recovered (e.g., the disk slot is indeed empty), the manufacturing task of the corresponding faulty disk slot in the logical disk queue is marked as "skipped", and the execution pointer is moved to the next logical disk slot to ensure that the remaining tasks are not affected—this is the key advantage of this invention compared to the traditional equipment's one-fault-all-stop mode; (e) Trigger manual intervention: For serious faults (e.g., hardware alarms, multiple failed retries), output audible and visual prompts, interface alarms, or directly stop the machine and wait for operator handling. Through the above mechanisms, this invention effectively solves the industry pain point of a single point of failure causing global interruption in multi-disk continuous manufacturing. Especially in the context of desktop equipment lacking redundant design, this anomaly handling scheme significantly improves the system's availability, user-friendliness, and production continuity, making truly unattended batch printing possible.

[0042] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A magnetic attraction queue type multi-substrate continuous manufacturing method suitable for an additive manufacturing apparatus, characterized by, The method comprises: S100: obtaining a plurality of manufacturing tasks to be executed, loading the manufacturing tasks to a logical disk queue in a predetermined order, establishing a one-to-one mapping relationship between each logical disk position in the logical disk queue and N physical disk positions in the platform array, configuring coordinate mapping parameters for each physical disk position, the coordinate mapping parameters including a theoretical installation reference point and a theoretical printing surface height reference point in a device global coordinate system, and initializing corresponding position compensation bias and disk surface height compensation bias, wherein 1 S200: placing a printing disk on a physical disk position, applying a magnetic attraction force to the physical disk position carrying the printing disk through a disk position level magnetic attraction partition unit to magnetically fix each printing disk, obtaining the deviation of each printing disk relative to the theoretical installation reference point of the corresponding physical disk position based on pose detection of each printing disk, and updating the deviation to the position compensation bias of the physical disk position; S300: determining the current logical disk position and its mapped physical disk position according to the execution order of the logical disk queue, taking the printing disk on the physical disk position as the current disk, converting the machining path in the corresponding manufacturing task to a target machining path in the device global coordinate system based on the coordinate mapping parameters of the physical disk position, and instructing the printing execution mechanism to execute the manufacturing work on the current disk according to the target machining path, while maintaining the magnetic attraction constraint of the physical disk position during the printing process; S400: when the manufacturing task of the current disk is completed, driving the printing execution mechanism to move to a preset safe avoidance posture, and performing a safety interlock check before starting the disk position release, the interlock check requirements including: the printing execution mechanism has arrived at and remained in the safe avoidance posture, there is no interference on the predetermined push-out path of the push mechanism, and the push mechanism is in an acceptable command standby state; S500: after all the safety interlock check requirements are met, the magnetic attraction force of the physical disk position where the current disk is located is released, the push mechanism is controlled to push the current disk out of the manufacturing area along a predetermined path, and the pushing is confirmed to be in place; S600: moving the execution pointer of the logical disk queue to the next logical disk position, and performing in-place confirmation on the physical disk position mapped by the logical disk position, the in-place confirmation at least including confirming that there is a printing disk on the physical disk position; S700: repeating steps S300 to S600 until a termination condition is met, the termination condition including: all manufacturing tasks in the logical disk queue have been completed, the number of processed disks reaches N, or an abnormality occurs that requires manual intervention.

2. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, The logical disk queue is constructed according to the obtained plurality of manufacturing tasks to be executed and in accordance with the execution order specified by the user, each manufacturing task is sequentially loaded, the logical disk queue includes a plurality of logical disk positions arranged in the execution order, each logical disk position corresponds to a manufacturing task, and is used to represent the execution order of each manufacturing task in the continuous machining process.

3. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, Converting the machining path in the corresponding manufacturing task to a target machining path in the device global coordinate system based on the coordinate mapping parameters of the physical disk position includes: Read the coordinates of the theoretical installation reference point from the coordinate mapping parameters configured in the physical disk location of the current disk. , ) and the currently updated position compensation offset (ΔX) (i) ΔY (i) ), i = 1, 2, ..., N; The coordinates of each path point on the machining path defined by the manufacturing task in its task coordinate system. , ), j=1,2,…, calculate its target coordinates in the device's global coordinate system according to the following transformation formula ( , The formula is as follows: ， ； generating an ordered set of all transformed target coordinates (G X , G Y ) as the target machining path executable directly by the printing execution mechanism; Wherein, i is the physical disk position number of the current disk, j is the path point sequence number of the jth path point in the machining path in the machining task, , ) is the theoretical installation reference point of the ith physical disk position in the device global coordinate system, (ΔX (i) , ΔY (i) ) is the position compensation offset of the current disk on the ith physical disk position in the device global coordinate system, , ) is the jth original path point in the manufacturing task in the self task coordinate system, , ) is the target execution position of the jth original path point in the device global coordinate system.

4. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, Also includes: The coordinate mapping parameters further comprise a disc height compensation offset The disc height compensation offset represents a deviation of an upper surface of the current disc carried on the physical disc position from a theoretical printing surface height reference, the The coordinate conversion transforms the coordinates of the machining path in the manufacturing task into a target height in a device global coordinate system The coordinate conversion satisfies: , i = 1, 2,..., N, j = 1, 2,...; wherein, is a theoretical print surface height reference of the i-th physical tray in the device global coordinate system, is a tray surface height compensation offset of the i-th physical tray in the device global coordinate system, is a Z coordinate of the j-th original path point, is a target height of the j-th original path point in the device global coordinate system.

5. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, Also includes: During the execution of the manufacturing work on the current disk by the printing execution mechanism according to the target machining path, the magnetic constraint of the physical disk positions carrying the remaining printing disks is maintained.

6. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, The interlock check requirements include: the print actuator has reached and maintained a safe avoidance posture, there is no interference on the predetermined push-out path of the pusher, and the pusher is in an acceptable instruction standby state, including: Driving the print head of the print actuator to a predetermined safe avoidance posture, and there is no intersection in space with the upper surface of all physical disk positions and the movement path of the pusher; After reaching the safe avoidance posture, continuously monitor the first condition, the second condition and the third condition, wherein the first condition is that the print actuator maintains the safe avoidance posture; The second condition is that there is no interference on the predetermined push-out path of the pusher; The third condition is that the pusher is in an acceptable instruction standby state; Only when the first condition, the second condition and the third condition are met at the same time and continuously maintained for a predetermined stable time threshold, the controller determines that the safety interlock check is passed.

7. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 6, wherein, The safe avoidance posture is defined as a set of positions that satisfy the following spatial constraints, including: The safe avoidance posture is defined as a set of positions that satisfy the following spatial constraints: ； wherein, is the current position of the printing actuator, , is the theoretical installation reference point of the i-th physical disk position, , , is a preset safety distance threshold.

8. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 6, wherein, The second condition is that there is no interference on the predetermined push-out path of the pusher, including: The absence of interference on the push-out path is jointly confirmed by: (1) Real-time detection by an obstacle detection device arranged beside the push-out path, the obstacle detection device including a photoelectric sensor or an ultrasonic sensor, and determining that no external obstacles are detected according to the output signal; (2) Logical judgment based on device state information, the device state information at least including the current position of the print actuator, and confirming that the print actuator does not intrude into the spatial region corresponding to the predetermined push-out path of the pusher by judging the current position.

9. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, The position confirmation also includes: Obtaining the positioning features on the print disc and confirming that the deviation from the preset alignment reference is within the tolerance range; Obtaining the height of the print disc surface and confirming that the deviation from the theoretical print surface height reference does not exceed the preset threshold.

10. The magnetic attraction in-line multi-substrate continuous manufacturing method of claim 1, wherein, Further including: During the execution of steps S300 to S700, at least one of the following abnormal events is monitored in real time: 1) The pusher does not complete the push-out action of the current disc within a predetermined time; 2) The position confirmation in step S600 fails, including detecting that there is no print disc on the physical disk position; 3) The safety interlock check in step S400 fails; 4) The obstacle detection device on the push-out path outputs an obstacle signal; When any abnormal event is detected, a protection strategy is triggered, the protection strategy including at least one of the following operations: (a) Suspend the current manufacturing job; (b) Reapply the magnetic attraction force to the physical disk position and try to release and push again; (c) Repeat the push-out action on the same physical disk position, at most a predetermined number of times; (d) Mark the manufacturing task corresponding to the failed disk position in the logical disk queue as skipped, and move the execution pointer to the next logical disk position; (e) Output a manual intervention prompt or trigger a device alarm shutdown.

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