An inkjet printhead automatic maintenance system

Abstract

The present application relates to inkjet printing technology field, and disclose a kind of automatic maintenance system of inkjet nozzle, the system includes state perception and positioning module, sealed moisturizing control module, waste ink pretreatment module, flexible ink scraping cleaning module and process linkage control module.The system is automatically judged nozzle maintenance opportunity by state perception and positioning module and exports positioning signal;Sealed moisturizing control module drives ink pad to rise and nozzle to form closed cavity and carry out negative pressure moisturizing;Waste ink pretreatment module controls ink pad to drop before scraping and sucks its internal residual waste ink;Flexible ink scraping cleaning module guides nozzle to move to complete flexible scraping and synchronously recycles waste ink;Process linkage control module coordinates each module and works according to preset sequence, realizes full-process automation.The present application improves the reliability and service life of nozzle, improves the precision of maintenance operation and the overall automation level of equipment.

Description

Technical Field

[0001] This invention relates to the field of inkjet printing technology, specifically to an automatic inkjet printhead maintenance system. Background Technology

[0002] Inkjet printing is a printing technology that uses nozzles to spray ink droplets onto the surface of paper and substrates to form images. It is mainly divided into two categories: piezoelectric inkjet and thermal inkjet.

[0003] Currently, due to the fact that ink at the nozzles of inkjet printers tends to evaporate and dry during long-term operation and standby, conventional maintenance methods cannot provide continuous and reliable sealing and moisturizing for the printhead during non-printing periods. When the printhead is exposed to air for a long time, it will cause nozzle clogging, affecting print quality and printhead life.

[0004] Therefore, an automatic inkjet printhead maintenance system is proposed to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automatic inkjet printhead maintenance system that solves the problems mentioned in the background section regarding the easy evaporation and drying of ink at the printhead nozzle, as well as the impact on print quality and printhead lifespan.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic inkjet printhead maintenance system, comprising: The status perception and positioning module determines whether the printhead has entered the maintenance area through the position coordinate comparison unit, obtains the printing end and system standby instructions through the operation status acquisition unit, and outputs the printhead positioning ready signal through the maintenance trigger judgment unit when the printhead is in the maintenance area and is in the maintenance required state. The sealing and moisturizing control module receives the printhead positioning ready signal, controls the lifting platform with an elastic porous material ink pad with an internal connecting pipe to rise vertically through the lifting drive unit, uses the sealing contact unit to press the annular elastic sealing ring of the ink pad with the lower surface of the printhead to form a sealed cavity, and drives the waste ink pump through the connecting pipe to draw moisturizing medium into the sealed cavity until it is full through the negative pressure moisturizing unit until it is full, and outputs the sealing and moisturizing completion command. The waste ink pretreatment module receives the sealing and moisturizing completion command and the external cleaning command issued by the system timer. It controls the lifting drive unit to lower the ink pad to separate it from the print head by disconnecting from the control unit. The waste ink pump is started by the ink pad waste ink removal unit to preferentially suck up the residual waste ink adsorbed inside the ink pad. The waste ink removal completion signal is output by the dryness determination unit after the suction reaches the preset conditions. The flexible scraping cleaning module receives the waste ink removal completion signal, controls the printhead to move along the horizontal guide rail through the path guidance unit, uses the flexible scraping unit to make the lower surface of the printhead slide over the edge of the flexible scraping blade to scrape off the residue, and starts the waste ink pump at the same time as the scraping action through the instant waste ink recovery unit to pump away the scraped waste ink that has accumulated in the liquid collection tank below the scraping blade, and outputs the scraping cleaning completion signal. The process linkage control module receives the ink cleaning completion signal, calls the preset work sequence of the two stages of sealing and moisturizing and automatic ink scraping through the process logic storage unit, sends control commands to each module in sequence through the instruction sequence scheduling unit, and verifies the completion feedback of each stage of action through the execution status monitoring unit, and finally generates an integrated automatic maintenance process end command.

[0007] Preferably, the process of determining whether the nozzle has entered the maintenance area through the position coordinate comparison unit in the status perception and positioning module includes: The position coordinate comparison unit receives encoder coordinate data from the printhead motion mechanism in real time and continuously compares it with the three-dimensional coordinate range of the ink station area pre-stored in the module. When the real-time coordinate value of the printhead continuously falls within the coordinate range of the ink station area and exceeds the preset stable threshold time, it is determined that the printhead has moved to the maintenance position and a position ready flag is generated. The position coordinate comparison unit calculates the spatial distance between the current position of the printhead and the target position of the ink station. and the preset allowable deviation radius A comparison is used to determine the position readiness, and the determination formula is as follows: ; in, The current position of the nozzle tip ( , , ) and the target location for sealing and moisturizing the ink station ( , , The three-dimensional Euclidean distance between them. , , These are the three-dimensional coordinates of the nozzle in the device coordinate system, fed back in real time by the encoder. , , This refers to the three-dimensional coordinates of the pre-calibrated ink station sealing and moisture retention target location, i.e., the center point of the ink pad, in the equipment coordinate system. This is a preset allowable position deviation radius threshold; when At that time, it was determined that the nozzle had accurately reached the maintenance position.

[0008] Preferably, the process of obtaining the printing end and system standby commands using the job status acquisition unit in the status perception and positioning module includes: The job status acquisition unit is connected to the main controller of the inkjet printer via the device communication bus. It listens to and acquires high-level control commands issued by the main controller in real time. The job status information that needs to be maintained specifically includes the task end signal issued after the print task queue is cleared, the user-triggered entry into standby command, and the hibernation maintenance command automatically generated by the system after the printhead has been idle for more than a set time.

[0009] Preferably, the process by which the maintenance trigger determination unit outputs a nozzle positioning ready signal in the state perception and positioning module when the nozzle is located in the maintenance area and is in a maintenance-required state includes: The maintenance trigger determination unit has an AND logic as a judgment condition. It continuously receives the position ready flag from the position coordinate comparison unit and the operation status information from the operation status acquisition unit. Only when the position ready flag is acquired and any of the operation status information that needs maintenance is identified at the same time, the internal signal generation circuit is triggered to output a high-level nozzle positioning ready signal to the drive interface of the sealing and moisturizing control module.

[0010] Preferably, the process by which the sealing and moisturizing control module receives the nozzle positioning ready signal and controls the vertical rise of the lifting platform, which is equipped with an elastic porous material ink pad with internal connecting pipes, through the lifting drive unit includes: The lifting drive unit includes a stepper motor, a precision ball screw coaxially connected to the output shaft of the stepper motor, a lifting platform threadedly engaged with the ball screw, and a pair of parallel linear guides. The ink pad is fixed to the lifting platform by a rigid mounting plate. The stepper motor drives the ball screw to rotate according to the received pulse signal and direction signal, thereby driving the lifting platform to make accurate vertical lifting movements along the linear guides.

[0011] Preferably, in the sealing and moisturizing control module, the sealing contact unit presses the annular elastic sealing ring of the ink pad against the lower surface of the printhead to form a sealed cavity, and the negative pressure moisturizing unit drives the waste ink pump to draw moisturizing medium into the sealed cavity through the connecting pipeline until it is full, and the process of outputting the sealing and moisturizing completion command includes: The core of the sealing contact unit is the annular elastic sealing ring, which is made of food-grade silicone rubber and fluororubber and is embedded in the annular groove on the upper surface of the ink pad with an interference fit. Its cross-section has a hollow lip structure. When the ink pad rises under the action of the lifting drive unit, the lip structure first contacts the lower plane of the print head and is squeezed and deformed to fit against the outer wall of the annular groove, thereby forming a sealed cavity that is isolated from the outside atmosphere between the lower plane of the print head, the upper surface of the ink pad and the inner side of the annular elastic sealing ring. The negative pressure humidification unit includes the waste ink pump, a connecting pipe connected to the inlet end of the waste ink pump, and an electromagnetic control valve disposed on the connecting pipe. The other end of the connecting pipe is connected to a humidification medium supply source. Once the sealing contact unit forms the sealed cavity, the control circuit of the negative pressure humidification unit receives a trigger signal, first opening the electromagnetic control valve, and then starting the waste ink pump. The negative pressure generated by the operation of the waste ink pump acts on the sealed cavity through the connecting pipeline, continuously drawing the moisturizing medium from the supply source and filling the sealed cavity. The negative pressure humidification unit also includes a humidity sensor and a pressure sensor to monitor the filling status of the medium in the sealed cavity in real time. When the sensor detection value reaches the preset humidity threshold and pressure threshold and remains stable for more than a set time, it is determined that the humidification medium is full. The control circuit then generates and outputs the sealing and humidification completion command, and at the same time closes the electromagnetic control valve and stops the waste ink pump.

[0012] Preferably, in the waste ink pretreatment module, the process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract the residual waste ink adsorbed inside the ink pad, and outputting a waste ink removal completion signal by the dryness determination unit after the extraction reaches a preset condition includes: The disengagement control unit is equipped with a signal receiving and processing circuit, which receives the sealing and moisturizing completion command from the sealing and moisturizing control module, and receives the periodic external cleaning command issued by the timer in the system main controller. When the signal receiving and processing circuit receives any instruction, it generates a descent trigger signal and sends it to the control interface of the lifting drive unit. The lifting drive unit responds to the descent trigger signal and drives its stepper motor to rotate in the opposite direction. Through the transmission mechanism, it drives the lifting platform with the ink pad installed to descend vertically until the annular elastic sealing ring on the ink pad completely disengages from the lower surface of the printhead, and the printhead returns to the free hovering state. The process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract residual waste ink adsorbed inside the ink pad, and then using the dryness determination unit to output a waste ink removal completion signal after the extraction reaches a preset condition, includes: The execution process of the ink pad waste ink removal unit is as follows: First, the valve of the pipeline connected to the bottom of the ink pad is opened. Then, the diaphragm waste ink pump connected to the pipeline is started to forcefully suck up the high porosity sponge material inside the ink pad with a preset suction flow rate and duration. The dryness determination unit monitors the clarity and flow rate changes of the outflowing medium through an optical turbidity sensor and a flow meter installed in the pipeline. When the medium becomes clear and the flow rate is continuously lower than a set threshold, it is determined that the waste ink in the ink pad has been completely removed, and the waste ink removal completion signal is generated. The dryness determination unit integrates the turbidity value. and instantaneous flow rate Through the following joint decision function To trigger the completion signal: ; in, This is a comprehensive judgment value for the waste ink removal status. The turbidity value of the effluent medium is measured in real time by an optical turbidity sensor. This is a preset reference turbidity threshold for clear media. The instantaneous volumetric flow rate measured in real time by the flow meter. The preset idle traffic threshold, These are the weighting coefficients. The threshold is used for comprehensive judgment; Calculated over a continuous period of time The values ​​are all less than or equal to When the time is right, it is determined that the waste ink in the ink pad has been completely removed, and then the waste ink removal completion signal is generated.

[0013] Preferably, the flexible scraping cleaning module receives the waste ink removal completion signal, controls the printhead to move along the horizontal guide rail through the path guidance unit, uses the flexible scraping unit to make the lower surface of the printhead slide over the cutting edge of the flexible scraper blade to scrape off the residue, and simultaneously activates the waste ink pump through the instant waste ink recovery unit to remove the scraped waste ink accumulated in the collection tank below the scraper blade, and outputs the scraping cleaning completion signal. The process includes: The specific structure of the flexible scraping unit includes a strip-shaped scraper made of polyurethane, a metal clamping seat for holding and fixing the scraper, and an elastic suspension mechanism that allows the clamping seat to float slightly in the vertical direction and adjust the angle slightly. The cutting edge of the scraper is precision ground and parallel to the lower surface of the print head. The elastic suspension mechanism provides constant small downward pressure. The instant waste ink recycling unit includes a liquid collection tank located directly below the flexible scraping unit, a recycling pipeline connected to the bottom of the liquid collection tank, and a controlled waste ink pump. The recycling pipeline is connected to a waste ink collection container. The instant waste ink recycling unit is equipped with a linkage control subunit, which receives the nozzle start moving signal sent by the path guidance unit and synchronously generates a waste ink pump start command, so that the waste ink pump runs immediately when the scraping action begins, forming a negative pressure suction in the collection tank. The scraped waste ink is guided by gravity and the ink scraper blade's flow guiding structure to fall into the collection tank, and is immediately sucked up by the negative pressure and discharged through the recovery pipeline; The instant waste ink recycling unit also includes a completion determination subunit, which generates and outputs the ink cleaning completion signal after receiving a signal from the path guidance unit that the printhead has moved to the ink scraping endpoint position and the waste ink pump has been running for a preset rinsing time.

[0014] Preferably, in the process linkage control module, the process of receiving the ink scraping cleaning completion signal, calling the preset working sequence of the two stages of sealing and moisturizing and automatic ink scraping through the process logic storage unit, and sending control commands to each module sequentially using the instruction sequence scheduling unit includes: The process logic storage unit contains an unchangeable standard operating procedure, which clearly defines the complete sequence from step S1 to step S7: S1 is to wait for the printhead to be positioned and ready, S2 is to drive the ink pad to rise to form a seal, S3 is to perform negative pressure suction to fill and moisturize, S4 is to drive the ink pad to fall and detach, S5 is to suction the residual waste ink in the ink pad, S6 is to drive the printhead to move to complete the scraping and suction simultaneously, and S7 is to lift the printhead back to the working position. The instruction sequence scheduling unit sends digital pulse instructions to the controllers of the corresponding modules in sequence according to the order of these program steps.

[0015] Preferably, the process in the process linkage control module that verifies the completion feedback of each stage of the action through the execution status monitoring unit and finally generates an integrated automatic maintenance process end command includes: The execution status monitoring unit communicates bidirectionally with the sensors and controllers of each module. It sets a maximum allowable execution time and an expected completion feedback signal for each step. If no completion feedback signal is received from the corresponding module within the maximum allowable execution time after the control command is sent, or if a fault alarm signal is received, the instruction sequence scheduling unit is immediately suspended from sending instructions to subsequent steps. At the same time, a process interruption alarm containing the fault step code is sent to the main control system of the equipment, and the system remains in the current step, waiting for manual intervention and system reset instructions.

[0016] Compared with the prior art, the present invention provides an automatic inkjet printhead maintenance system, which has the following beneficial effects: 1. In this invention, during automatic maintenance of the inkjet printhead, the status sensing and positioning module automatically determines and triggers the maintenance process, and the sealing and moisturizing control module drives the ink pad to rise and press against the printhead to form a sealed cavity. Then, the negative pressure moisturizing unit draws and fills the cavity with moisturizing medium, so that the system can automatically provide a reliable sealed and moisturizing environment for the printhead during standby and operation intervals, ensuring that the printhead nozzle is kept in a moist state for a long time, reducing the risk of nozzle clogging caused by ink evaporation and drying, and improving the reliability and service life of the printhead.

[0017] 2. In this invention, during automatic maintenance of the inkjet printhead, the waste ink pretreatment module prioritizes controlling the ink pad to descend and detach before scraping, and sucks up the residual waste ink adsorbed inside the ink pad. Simultaneously, when the flexible scraping cleaning module performs the scraping action, the waste ink pump is activated by the instantaneous waste ink recovery unit to remove the scraped waste ink. This allows the system to avoid secondary pollution of the printhead caused by residual waste ink on the scraping assembly and ink pad in traditional maintenance, and ensures that the waste liquid generated during the scraping process is collected in a timely manner, thus ensuring the cleaning effect and maintaining the cleanliness of the equipment.

[0018] 3. In this invention, during automatic inkjet printhead maintenance, the process linkage control module coordinates the sequential operation of the status perception and positioning module, the sealing and moisturizing control module, the waste ink pretreatment module, and the flexible scraping cleaning module according to the preset two-stage work sequence of sealing and moisturizing and automatic scraping. The status monitoring unit verifies the status of each step, enabling the system to achieve fully automated closed-loop control from status judgment, sealing and moisturizing, waste ink pre-cleaning to flexible scraping. This reduces maintenance inconsistencies caused by manual intervention and process errors, and improves the accuracy of maintenance operations and the overall automation level of the equipment. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the architecture of an automatic inkjet printhead maintenance system according to the present invention; Figure 2 This is a schematic diagram of the disassembled structure of the state perception and positioning module of the present invention; Figure 3 This is a schematic diagram of the disassembled structure of the sealing and moisturizing control module of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-3 The specific implementation of an automatic inkjet printhead maintenance system is as follows, including: The status perception and positioning module determines whether the printhead has entered the maintenance area through the position coordinate comparison unit, obtains the printing end and system standby instructions through the operation status acquisition unit, and outputs the printhead positioning ready signal through the maintenance trigger judgment unit when the printhead is in the maintenance area and is in the maintenance required state. The sealing and moisturizing control module receives the printhead positioning ready signal, controls the lifting platform, which is equipped with an elastic porous material ink pad with an internal connecting pipe, to rise vertically through the lifting drive unit. The sealing contact unit presses the annular elastic sealing ring of the ink pad against the lower surface of the printhead to form a sealed cavity. The negative pressure moisturizing unit drives the waste ink pump to draw moisturizing medium into the sealed cavity through the connecting pipe until it is full, and outputs the sealing and moisturizing completion command. The waste ink pretreatment module receives the sealing and moisturizing completion command and the external cleaning command issued by the system timer. It controls the lifting drive unit to lower the ink pad to separate it from the print head by disconnecting the control unit. The waste ink pump is started by the ink pad waste ink removal unit to preferentially suck up the residual waste ink adsorbed inside the ink pad. After the dryness determination unit reaches the preset conditions, it outputs the waste ink removal completion signal. The flexible scraping cleaning module receives the waste ink removal completion signal, controls the printhead to move along the horizontal guide rail through the path guidance unit, uses the flexible scraping unit to make the lower surface of the printhead slide over the edge of the flexible scraping blade to scrape off the residue, and starts the waste ink pump at the same time as the scraping action through the instant waste ink recovery unit to pump away the scraped waste ink that has accumulated in the liquid collection tank below the scraping blade, and outputs the scraping cleaning completion signal. The process linkage control module receives the ink cleaning completion signal, calls the preset work sequence of the two stages of sealing and moisturizing and automatic ink cleaning through the process logic storage unit, sends control commands to each module in sequence through the instruction sequence scheduling unit, and verifies the completion feedback of each stage of action through the execution status monitoring unit, and finally generates an integrated automatic maintenance process end command.

[0022] The process by which the position coordinate comparison unit in the status perception and positioning module determines whether the nozzle has entered the maintenance area includes: The position coordinate comparison unit receives encoder coordinate data from the printhead motion mechanism in real time and continuously compares it with the three-dimensional coordinate range of the ink station area pre-stored in the module. When the real-time coordinate value of the printhead continuously falls within the coordinate range of the ink station area and exceeds the preset stable threshold time, it is determined that the printhead has moved to the maintenance position and a position ready flag is generated. The position coordinate comparison unit calculates the spatial distance between the current position of the printhead and the target position of the ink station. and the preset allowable deviation radius A comparison is used to determine the position readiness, and the determination formula is as follows: ; in, The current position of the nozzle tip ( , , ) and the target location for sealing and moisturizing the ink station ( , , The three-dimensional Euclidean distance between them. , , These are the three-dimensional coordinates of the nozzle in the device coordinate system, fed back in real time by the encoder. , , This refers to the three-dimensional coordinates of the pre-calibrated ink station sealing and moisture retention target location, i.e., the center point of the ink pad, in the equipment coordinate system. This is a preset allowable position deviation radius threshold; when At that time, it was determined that the nozzle had accurately reached the maintenance position.

[0023] The process of obtaining printing completion and system standby commands using the job status acquisition unit in the status awareness and positioning module includes: The job status acquisition unit is connected to the main controller of the inkjet printer via the device communication bus. It listens to and acquires high-level control commands issued by the main controller in real time. The job status information that needs to be maintained includes the task end signal issued after the print task queue is cleared, the user-triggered command to enter standby mode, and the hibernation maintenance command automatically generated by the system after the printhead has been idle for more than a set time. Specifically, to determine the empty status of the print task queue, the job status acquisition unit monitors the task buffer of the main controller and calculates the queue status identifier in real time according to the following algorithm. : ; when When the value changes from 0 to 1, the task completion signal is triggered. in, This represents the total number of tasks waiting to be processed in the current task queue. For the first Data volume identifier for each task, when the task exists. >0, when the task is empty =0, This represents the cumulative time the system has been idle since the last task was processed. Set the preset queue clear confirmation delay threshold.

[0024] The process by which the maintenance trigger determination unit outputs a nozzle positioning ready signal when the nozzle is located in the maintenance area and is in a maintenance-required state in the status perception and positioning module includes: The maintenance trigger judgment unit has an AND logic as a judgment condition. It continuously receives the position ready flag from the position coordinate comparison unit and the operation status information from the operation status acquisition unit. Only when the position ready flag is acquired at the same time and any operation status information that needs maintenance is identified will the internal signal generation circuit be triggered to output a high-level nozzle positioning ready signal to the drive interface of the sealing and moisturizing control module. The specific numerical implementation of the judgment condition is achieved through the following Boolean function. implement: ; when When this happens, a trigger signal is generated; in, The logical value for the location-ready flag, when distance is determined. At the time of its establishment, =1, otherwise 0 The logical value for the print job completion signal, when When =1, =1, otherwise 0 This is the logical value for the user's manual command to enter standby mode; it is 1 when the command is received, and 0 otherwise. This is the logical value for the hibernation maintenance command automatically generated by the system. When the nozzle idle time exceeds the system's set value, =1, otherwise 0; The operation of this Boolean function is performed cyclically by the programmable logic circuit and microcontroller firmware within the maintenance trigger determination unit.

[0025] The sealing and moisturizing control module receives the printhead positioning ready signal and controls the vertical ascent of the lifting platform, which is equipped with an elastic porous ink pad with internal connecting pipes, through the lifting drive unit. The process includes: The lifting drive unit includes a stepper motor, a precision ball screw coaxially connected to the output shaft of the stepper motor, a lifting platform threaded with the ball screw, and a pair of parallel linear guides. The ink pad is fixed to the lifting platform by a rigid mounting plate. The stepper motor drives the ball screw to rotate according to the received pulse signal and direction signal, thereby driving the lifting platform to make accurate vertical lifting movements along the linear guides.

[0026] The sealing and moisturizing control module utilizes a sealing contact unit to press the annular elastic sealing ring of the ink pad against the lower surface of the printhead to form a sealed cavity. A negative pressure moisturizing unit drives a waste ink pump to draw moisturizing medium into the sealed cavity through a connecting pipe until it is full. The process of outputting a sealing and moisturizing completion command includes: The core of the sealing contact unit is an annular elastic sealing ring. This sealing ring is made of food-grade silicone rubber and fluororubber and is embedded in the pre-set annular groove on the upper surface of the ink pad in an interference fit manner. Its cross-section has a hollow lip structure. When the ink pad rises under the action of the lifting drive unit, the lip structure first contacts the lower plane of the print head and is squeezed and deformed to fit against the outer wall of the annular groove, thereby forming a sealed cavity isolated from the outside atmosphere between the lower plane of the print head, the upper surface of the ink pad and the inner side of the annular elastic sealing ring. The negative pressure humidification unit includes a waste ink pump, a connecting pipe connected to the inlet end of the waste ink pump, and an electromagnetic control valve installed on the connecting pipe. The other end of the connecting pipe is connected to the humidification medium supply source. Once the sealing contact unit forms a closed cavity, the control circuit of the negative pressure humidification unit receives a trigger signal, first opening the electromagnetic control valve, and then starting the waste ink pump. The negative pressure generated by the operation of the waste ink pump acts on the sealed cavity through the connecting pipeline, continuously drawing the moisturizing medium from the supply source and filling the sealed cavity. The negative pressure humidification unit also includes a humidity sensor and a pressure sensor to monitor the filling status of the medium in the sealed cavity in real time. The determination of humidification completion is based on a combination of relative humidity. Negative pressure inside the cavity Two parameters are considered sufficient to determine if the moisturizing medium is adequately saturated when the following combined conditions are met: ; in, The preset relative humidity target threshold, The atmospheric pressure of the external environment. The preset minimum pressure difference threshold inside and outside the cavity is used. When the sensor detects the humidity threshold and the pressure threshold and maintains stability for more than a set time, the control circuit generates and outputs a sealing and moisturizing completion command, and at the same time closes the electromagnetic control valve and stops the waste ink pump. When the sensor detects that the humidity and pressure thresholds are reached and remain stable for more than a set time, it is determined that the moisturizing medium is full. The control circuit then generates and outputs a sealing and moisturizing completion command, and at the same time closes the solenoid control valve and stops the waste ink pump.

[0027] In the waste ink pretreatment module, the process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract the residual waste ink adsorbed inside the ink pad, and then outputting a waste ink removal completion signal by the dryness determination unit after the extraction reaches the preset conditions, includes: The control unit is equipped with a signal receiving and processing circuit, which receives sealing and moisturizing completion commands from the sealing and moisturizing control module, as well as periodic external cleaning commands from the timer in the system main controller. When the signal receiving and processing circuit receives any instruction, it generates a descent trigger signal and sends it to the control interface of the lifting drive unit. The lifting drive unit responds to the descent trigger signal and drives its stepper motor to rotate in the opposite direction. Through the transmission mechanism, it drives the lifting platform with ink pad installed to descend vertically until the annular elastic sealing ring on the ink pad completely disengages from the lower surface of the printhead, and the printhead returns to the free hovering state. The process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract residual waste ink adsorbed inside the ink pad, and then using the dryness determination unit to output a waste ink removal completion signal after the extraction reaches a preset condition, includes: The execution process of the ink pad waste ink removal unit is as follows: First, the valve of the pipeline connected to the bottom of the ink pad is opened. Then, the diaphragm waste ink pump connected to the pipeline is started to forcefully suck up the high porosity sponge material inside the ink pad with a preset suction flow rate and duration. The dryness determination unit monitors the clarity and flow rate changes of the outflowing medium through an optical turbidity sensor and flow meter installed in the pipeline. When the medium becomes clear and the flow rate is continuously lower than a set threshold, it is determined that the waste ink in the ink pad has been completely removed and a waste ink removal completion signal is generated. Among them, the dryness determination unit has a comprehensive turbidity value. and instantaneous flow rate Through the following joint decision function To trigger the completion signal: ; in, This is a comprehensive judgment value for the waste ink removal status. The turbidity value of the effluent medium is measured in real time by an optical turbidity sensor. This is a preset reference turbidity threshold for clear media. The instantaneous volumetric flow rate measured in real time by the flow meter. The preset idle traffic threshold, These are the weighting coefficients. The threshold is used for comprehensive judgment; Calculated over a continuous period of time The values ​​are all less than or equal to When the time is right, it is determined that the waste ink in the ink pad has been completely removed, and a waste ink removal completion signal is generated.

[0028] The flexible scraping cleaning module receives a waste ink removal completion signal, controls the printhead to move along a horizontal guide rail via a path guidance unit, and uses a flexible scraping unit to slide the lower surface of the printhead across the cutting edge of the flexible scraper blade to scrape away residue. Simultaneously, an instant waste ink recovery unit activates a waste ink pump to remove the scraped waste ink accumulated in the collection tank below the scraper blade. The process of outputting a scraping cleaning completion signal includes: The specific structure of the flexible scraping unit includes a strip-shaped scraper made of polyurethane, a metal clamping seat for holding and fixing the scraper, and an elastic suspension mechanism that allows the clamping seat to float slightly in the vertical direction and adjust the angle slightly. The cutting edge of the scraper is precision ground and parallel to the lower surface of the printhead. The elastic suspension mechanism provides a constant small downward pressure to ensure that the scraper can adaptively conform to the contour of the lower surface of the printhead during scraping, thus achieving non-destructive scraping. Constant downforce applied by the flexible suspension mechanism Provided by a pre-compressed spring and elastomer, its value is calibrated based on the doctor blade material, printhead surface material, and required cleaning force, and the following relationship ensures both doctor blade performance and safety: ; in, This represents the equivalent stiffness coefficient of the elastic suspension mechanism. This refers to the compression of the elastic mechanism after the doctor blade contacts the printhead. To ensure the minimum pressure threshold required for scraping, To avoid damaging the nozzle surface coating, the maximum permissible pressure threshold is determined by adjusting the pre-compression amount during system assembly. Will Set within the range; The instant waste ink recycling unit includes a collection tank located directly below the flexible scraping unit, a recycling pipeline connected to the bottom of the collection tank, and a controlled waste ink pump. The recycling pipeline is connected to the waste ink collection container. The instant waste ink recycling unit is equipped with a linkage control subunit, which receives the printhead start moving signal sent by the path guidance unit and synchronously generates a waste ink pump start command, so that the waste ink pump runs immediately when the scraping action begins, and forms a negative pressure suction in the collection tank. The scraped waste ink is guided by gravity and the flow guiding structure of the scraper blade into the collection tank, and is immediately sucked up by negative pressure and discharged through the recovery pipeline; The instant waste ink recycling unit also includes a completion determination subunit, which generates and outputs a scraping cleaning completion signal after receiving a signal from the path guidance unit that the printhead has moved to the end position of the scraping end point and the waste ink pump has been running for a preset rinsing time.

[0029] In the process linkage control module, the process of receiving the ink scraping cleaning completion signal, calling the preset work sequence of the two stages of sealing and moisturizing and automatic ink scraping through the process logic storage unit, and sending control commands to each module in sequence using the instruction sequence scheduling unit includes: The process logic storage unit contains an unchangeable standard operating procedure, which clearly defines the complete sequence from step S1 to step S7: S1 is to wait for the printhead to be positioned and ready, S2 is to drive the ink pad to rise to form a seal, S3 is to perform negative pressure suction to fill and moisturize, S4 is to drive the ink pad to fall and detach, S5 is to suction the residual waste ink in the ink pad, S6 is to drive the printhead to move to complete the scraping and suction simultaneously, and S7 is to lift the printhead back to the working position. The instruction sequence scheduling unit sends digital pulse instructions to the controllers of the corresponding modules in sequence according to the order of these program steps.

[0030] The process of verifying the completion feedback of each stage of the action through the execution status monitoring unit in the process linkage control module, and finally generating the integrated automatic maintenance process end instruction, includes: The execution status monitoring unit communicates bidirectionally with the sensors and controllers of each module. It sets the maximum allowable execution time and expected completion feedback signal for each step. If no completion feedback signal is received from the corresponding module within the maximum allowable execution time after sending the control command, and a fault alarm signal is received, the instruction sequence scheduling unit will immediately stop sending instructions to subsequent steps. At the same time, it will send a process interruption alarm containing the fault step code to the main control system of the equipment and remain in the current step to wait for manual intervention and system reset instructions. The execution status monitoring unit monitors the steps. Timeout monitoring compares the current time in real time. The time when the instruction for this step is issued. and its maximum allowed execution time To achieve this, the mathematical expression of its monitoring logic is as follows: ; Among them, when for When this happens, the process is interrupted. in, For the first in the process sequence One step, For the instruction sequence scheduling unit to execute steps The moment when the corresponding module issues the control command. For steps The preset maximum allowed execution time is set according to the complexity of different operations. For steps The logic value of the completion feedback signal is set to 1 when the completion signal returned by the corresponding module of this step is received, and 0 otherwise. This monitoring logic is implemented by the timer and status register within the execution status monitoring unit, ensuring the reliability of the process.

[0031] The operating steps of an automatic inkjet printhead maintenance system are as follows: Step 1: Trigger Judgment and Location The system begins with the status perception and positioning module, which performs two monitoring tasks in parallel: First, through its internal position coordinate comparison unit, it continuously compares the real-time coordinates of the printhead with the pre-stored coordinates of the ink station area. When the printhead is stably positioned above the area, a position ready flag is generated. Second, through the operation status acquisition unit, it monitors in real time the printing end signal, standby command, and system-generated hibernation maintenance command issued by the main controller. The above two conditions are sent to the maintenance trigger judgment unit for logical judgment. Only when the printhead is in the maintenance area and the system is in a maintenance-required state will this unit generate a high-level printhead positioning ready signal and send it to the next module, thereby triggering the entire automatic maintenance process.

[0032] Step 2: Seal and moisturize: Upon receiving the printhead positioning ready signal, the sealing and moisturizing control module immediately activates. First, its lifting drive unit, comprising a stepper motor, ball screw, and lifting platform, drives the lifting platform, which houses the ink pad, to rise vertically. The annular elastic sealing ring on the upper surface of the ink pad presses against the lower surface of the printhead, causing the hollow lip structure to deform under pressure, thus forming a sealed cavity isolated from the outside environment between the printhead, ink pad, and sealing ring. Subsequently, the negative pressure moisturizing unit activates, opening the solenoid control valve and driving the waste ink pump to draw moisturizing medium from the moisturizing medium supply source into the sealed cavity through the connecting pipeline. This process is monitored in real time by humidity and pressure sensors. When the humidity within the cavity reaches the preset value... The threshold and the absolute value of the internal and external pressure difference reaches After the threshold is reached and stabilized for a period of time, the system determines that moisturizing is complete, and the sealing and moisturizing control module then outputs a sealing and moisturizing completion command.

[0033] Step 3: Waste ink pretreatment and flexible doctor blade cleaning: This step consists of two sequentially executed sub-stages. First, the waste ink pretreatment module receives the sealing and moisturizing completion command, and immediately controls the lifting drive unit to reverse, causing the ink pad to descend and the annular elastic sealing ring to completely detach from the printhead. Next, the ink pad waste ink removal unit starts, controls the pipeline valve to open, and runs the waste ink pump again to forcefully suck up the high-porosity sponge material inside the ink pad at a preset suction flow rate and duration. The dryness determination unit determines whether the waste ink in the ink pad has been completely removed by monitoring the turbidity and flow rate changes of the medium flowing out of the pipeline. When the medium becomes clear and the flow rate remains below the set threshold, the module outputs a waste ink removal completion signal.

[0034] Subsequently, the flexible scraping cleaning module receives the signal and begins operation. Its path guiding unit controls the printhead to move along the horizontal guide rail, while simultaneously, the flexible scraping unit mounted on the ink station begins to function, its polyurethane scraper blade operating under the constant, minute pressure of the elastic suspension mechanism. Under pressure, the scraping action removes residue by non-destructively scraping the lower surface of the printhead. The moment the scraping action begins, the linkage control subunit in the waste ink recovery unit simultaneously starts the waste ink pump, creating negative pressure to draw the liquid collection tank below the scraper blade. The scraped waste ink is immediately drawn away through the recovery pipeline. When the printhead moves to the end of the scraping action and the waste ink pump completes the preset rinsing time, the completion judgment subunit generates a scraping cleaning completion signal.

[0035] Step 4: Process Linkage and End: The entire process is coordinated and monitored by the process linkage control module. The process logic storage unit of this module stores the complete operation sequence from S1 to S7. The instruction sequence scheduling unit sends control instructions to the above modules strictly in sequence according to this sequence, and the execution status monitoring unit sets the maximum allowable execution time for each step. The system compares the time of instruction issuance with the module feedback signal in real time. If any step times out or no completion feedback is received, the monitoring unit will trigger a process interruption alarm. When all steps are successfully completed, the module will generate an integrated automatic maintenance process end instruction after receiving the ink cleaning completion signal, guide the printhead back to the printing position, and the system will enter standby mode.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic inkjet printhead maintenance system, characterized in that, include: The status perception and positioning module determines whether the printhead has entered the maintenance area through the position coordinate comparison unit, obtains the printing end and system standby instructions through the operation status acquisition unit, and outputs the printhead positioning ready signal through the maintenance trigger judgment unit when the printhead is in the maintenance area and is in the maintenance required state. The sealing and moisturizing control module receives the printhead positioning ready signal, controls the lifting platform with an elastic porous material ink pad with an internal connecting pipe to rise vertically through the lifting drive unit, uses the sealing contact unit to press the annular elastic sealing ring of the ink pad with the lower surface of the printhead to form a sealed cavity, and drives the waste ink pump through the connecting pipe to draw moisturizing medium into the sealed cavity until it is full through the negative pressure moisturizing unit until it is full, and outputs the sealing and moisturizing completion command. The waste ink pretreatment module receives the sealing and moisturizing completion command and the external cleaning command issued by the system timer. It controls the lifting drive unit to lower the ink pad to separate it from the print head by disconnecting from the control unit. The waste ink pump is started by the ink pad waste ink removal unit to preferentially suck up the residual waste ink adsorbed inside the ink pad. The waste ink removal completion signal is output by the dryness determination unit after the suction reaches the preset conditions. The flexible scraping cleaning module receives the waste ink removal completion signal, controls the printhead to move along the horizontal guide rail through the path guidance unit, uses the flexible scraping unit to make the lower surface of the printhead slide over the edge of the flexible scraping blade to scrape off the residue, and starts the waste ink pump at the same time as the scraping action through the instant waste ink recovery unit to pump away the scraped waste ink that has accumulated in the liquid collection tank below the scraping blade, and outputs the scraping cleaning completion signal. The process linkage control module receives the ink cleaning completion signal, calls the preset work sequence of the two stages of sealing and moisturizing and automatic ink scraping through the process logic storage unit, sends control commands to each module in sequence through the instruction sequence scheduling unit, and verifies the completion feedback of each stage action through the execution status monitoring unit, and finally generates an integrated automatic maintenance process end command.

2. The inkjet printhead automatic maintenance system according to claim 1, characterized in that, The process by which the position coordinate comparison unit in the state perception and positioning module determines whether the nozzle has entered the maintenance area includes: The position coordinate comparison unit receives encoder coordinate data from the printhead motion mechanism in real time and continuously compares it with the three-dimensional coordinate range of the ink station area pre-stored in the module. When the real-time coordinate value of the printhead continuously falls within the coordinate range of the ink station area and exceeds the preset stable threshold time, it is determined that the printhead has moved to the maintenance position and a position ready flag is generated. The position coordinate comparison unit calculates the spatial distance between the current position of the printhead and the target position of the ink station. and the preset allowable deviation radius A comparison is used to determine the position readiness, and the determination formula is as follows: ； in, The current position of the nozzle tip ( , , ) and the target location for sealing and moisturizing the ink station ( , , The three-dimensional Euclidean distance between them. , , These are the three-dimensional coordinates of the nozzle in the device coordinate system, fed back in real time by the encoder. , , This refers to the three-dimensional coordinates of the pre-calibrated ink station sealing and moisture retention target location, i.e., the center point of the ink pad, in the equipment coordinate system. This is a preset allowable position deviation radius threshold; when At that time, it was determined that the nozzle had accurately reached the maintenance position.

3. The automatic inkjet printhead maintenance system according to claim 1, characterized in that, The process of obtaining printing completion and system standby commands using the job status acquisition unit in the status perception and positioning module includes: The job status acquisition unit is connected to the main controller of the inkjet printer via the device communication bus. It listens to and acquires high-level control commands issued by the main controller in real time. The job status information that needs to be maintained specifically includes the task end signal issued after the print task queue is cleared, the user-triggered entry into standby command, and the hibernation maintenance command automatically generated by the system after the printhead has been idle for more than a set time.

4. The automatic inkjet printhead maintenance system according to claim 1, characterized in that, The process by which the maintenance trigger determination unit outputs a nozzle positioning ready signal in the state perception and positioning module when the nozzle is located in the maintenance area and is in a maintenance-required state includes: The maintenance trigger determination unit has an AND logic as a judgment condition. It continuously receives the position ready flag from the position coordinate comparison unit and the operation status information from the operation status acquisition unit. Only when the position ready flag is acquired and any of the operation status information that needs maintenance is identified at the same time, the internal signal generation circuit is triggered to output a high-level nozzle positioning ready signal to the drive interface of the sealing and moisturizing control module.

5. The automatic inkjet printhead maintenance system according to claim 1, characterized in that, The sealing and moisturizing control module receives the nozzle positioning ready signal and controls the vertical rise of the lifting platform, which is equipped with an elastic porous material ink pad with internal connecting pipes, through the lifting drive unit. The process includes: The lifting drive unit includes a stepper motor, a precision ball screw coaxially connected to the output shaft of the stepper motor, a lifting platform threadedly engaged with the ball screw, and a pair of parallel linear guides. The ink pad is fixed to the lifting platform by a rigid mounting plate. The stepper motor drives the ball screw to rotate according to the received pulse signal and direction signal, thereby driving the lifting platform to make accurate vertical lifting movements along the linear guides.

6. The automatic inkjet printhead maintenance system according to claim 1, characterized in that, The sealing and moisturizing control module utilizes a sealing contact unit to press the annular elastic sealing ring of the ink pad against the lower surface of the printhead to form a sealed cavity. A negative pressure moisturizing unit drives a waste ink pump to draw moisturizing medium into the sealed cavity through a connecting pipe until it is full. The process of outputting a sealing and moisturizing completion command includes: The core of the sealing contact unit is the annular elastic sealing ring, which is made of food-grade silicone rubber and fluororubber and is embedded in the annular groove on the upper surface of the ink pad with an interference fit. Its cross-section has a hollow lip structure. When the ink pad rises under the action of the lifting drive unit, the lip structure first contacts the lower plane of the print head and is squeezed and deformed to fit against the outer wall of the annular groove, thereby forming a sealed cavity that is isolated from the outside atmosphere between the lower plane of the print head, the upper surface of the ink pad and the inner side of the annular elastic sealing ring. The negative pressure humidification unit includes the waste ink pump, a connecting pipe connected to the inlet end of the waste ink pump, and an electromagnetic control valve disposed on the connecting pipe. The other end of the connecting pipe is connected to a humidification medium supply source. Once the sealing contact unit forms the sealed cavity, the control circuit of the negative pressure humidification unit receives a trigger signal, first opening the electromagnetic control valve, and then starting the waste ink pump. The negative pressure generated by the operation of the waste ink pump acts on the sealed cavity through the connecting pipeline, continuously drawing the moisturizing medium from the supply source and filling the sealed cavity. The negative pressure humidification unit also includes a humidity sensor and a pressure sensor to monitor the filling status of the medium in the sealed cavity in real time. When the sensor detection value reaches the preset humidity threshold and pressure threshold and remains stable for more than a set time, it is determined that the humidification medium is full. The control circuit then generates and outputs the sealing and humidification completion command, and at the same time closes the electromagnetic control valve and stops the waste ink pump.

7. An automatic inkjet printhead maintenance system according to claim 1, characterized in that, In the waste ink pretreatment module, the process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract the residual waste ink adsorbed inside the ink pad, and then outputting a waste ink removal completion signal by the dryness determination unit after the extraction reaches a preset condition includes: The disengagement control unit is equipped with a signal receiving and processing circuit, which receives the sealing and moisturizing completion command from the sealing and moisturizing control module, and receives the periodic external cleaning command issued by the timer in the system main controller. When the signal receiving and processing circuit receives any instruction, it generates a descent trigger signal and sends it to the control interface of the lifting drive unit. The lifting drive unit responds to the descent trigger signal and drives its stepper motor to rotate in the opposite direction. Through the transmission mechanism, it drives the lifting platform with the ink pad installed to descend vertically until the annular elastic sealing ring on the ink pad completely disengages from the lower surface of the printhead, and the printhead returns to the free hovering state. The process of using the ink pad waste ink removal unit to start the waste ink pump to preferentially extract residual waste ink adsorbed inside the ink pad, and then outputting a waste ink removal completion signal by the dryness determination unit after the extraction reaches the preset conditions, includes: The execution process of the ink pad waste ink removal unit is as follows: First, the valve of the pipeline connected to the bottom of the ink pad is opened. Then, the diaphragm waste ink pump connected to the pipeline is started to forcefully suck up the high porosity sponge material inside the ink pad with a preset suction flow rate and duration. The dryness determination unit monitors the clarity and flow rate changes of the outflowing medium through an optical turbidity sensor and a flow meter installed in the pipeline. When the medium becomes clear and the flow rate is continuously lower than a set threshold, it is determined that the waste ink in the ink pad has been completely removed, and the waste ink removal completion signal is generated. The dryness determination unit integrates the turbidity value. and instantaneous flow rate Through the following joint decision function To trigger the completion signal: ； in, This is a comprehensive judgment value for the waste ink removal status. The turbidity value of the effluent medium is measured in real time by an optical turbidity sensor. This is a preset reference turbidity threshold for clear media. The instantaneous volumetric flow rate measured in real time by the flow meter. The preset idle traffic threshold, These are the weighting coefficients. The threshold is used for comprehensive judgment; Calculated over a continuous period of time The values ​​are all less than or equal to When the time is right, it is determined that the waste ink in the ink pad has been completely removed, and then the waste ink removal completion signal is generated.

8. An automatic inkjet printhead maintenance system according to claim 1, characterized in that, The flexible scraping cleaning module receives the waste ink removal completion signal, controls the printhead to move along the horizontal guide rail through the path guidance unit, uses the flexible scraping unit to make the lower surface of the printhead slide over the cutting edge of the flexible scraper blade to scrape off the residue, and simultaneously activates the waste ink pump through the instant waste ink recovery unit to remove the scraped waste ink accumulated in the collection tank below the scraper blade. The process of outputting the scraping cleaning completion signal includes: The specific structure of the flexible scraping unit includes a strip-shaped scraper made of polyurethane, a metal clamping seat for holding and fixing the scraper, and an elastic suspension mechanism that allows the clamping seat to float slightly in the vertical direction and adjust the angle slightly. The cutting edge of the scraper is precision ground and parallel to the lower surface of the print head. The elastic suspension mechanism provides constant small downward pressure. The instant waste ink recycling unit includes a liquid collection tank located directly below the flexible scraping unit, a recycling pipeline connected to the bottom of the liquid collection tank, and a controlled waste ink pump. The recycling pipeline is connected to a waste ink collection container. The instant waste ink recycling unit is equipped with a linkage control subunit, which receives the nozzle start moving signal sent by the path guidance unit and synchronously generates a waste ink pump start command, so that the waste ink pump runs immediately when the scraping action begins, and forms a negative pressure suction in the collection tank. The scraped waste ink is guided by gravity and the ink scraper blade's flow guiding structure to fall into the collection tank, and is immediately sucked up by the negative pressure and discharged through the recovery pipeline; The instant waste ink recycling unit also includes a completion determination subunit, which generates and outputs the ink cleaning completion signal after receiving a signal from the path guidance unit that the printhead has moved to the ink scraping endpoint position and the waste ink pump has been running for a preset rinsing time.

9. An automatic inkjet printhead maintenance system according to claim 1, characterized in that, In the process linkage control module, the process of receiving the ink scraping cleaning completion signal, calling the preset working sequence of the two stages of sealing and moisturizing and automatic ink scraping through the process logic storage unit, and sending control commands to each module in sequence using the instruction sequence scheduling unit includes: The process logic storage unit contains an unchangeable standard operating procedure, which clearly defines the complete sequence from step S1 to step S7: S1 is to wait for the printhead to be positioned and ready, S2 is to drive the ink pad to rise to form a seal, S3 is to perform negative pressure suction to fill and moisturize, S4 is to drive the ink pad to fall and detach, S5 is to suction the residual waste ink in the ink pad, S6 is to drive the printhead to move to complete the scraping and suction simultaneously, and S7 is to lift the printhead back to the working position. The instruction sequence scheduling unit sends digital pulse instructions to the controllers of the corresponding modules in sequence according to the order of these program steps.

10. An automatic inkjet printhead maintenance system according to claim 1, characterized in that, In the process linkage control module, the process of verifying the completion feedback of each stage of the action through the execution status monitoring unit and finally generating the integrated automatic maintenance process end instruction includes: The execution status monitoring unit communicates bidirectionally with the sensors and controllers of each module. It sets a maximum allowable execution time and an expected completion feedback signal for each step. If no completion feedback signal is received from the corresponding module within the maximum allowable execution time after the control command is sent, or if a fault alarm signal is received, the instruction sequence scheduling unit is immediately suspended from sending instructions to subsequent steps. At the same time, a process interruption alarm containing the fault step code is sent to the main control system of the equipment, and the system remains in the current step, waiting for manual intervention and system reset instructions.

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