Printing device

Abstract

A printing device (1), characterized in that it comprises: a frame (600); a main platform (100) which is arranged on the frame (600) and is height-adjustable relative to the frame (600); a support device (200) arranged on the main platform (100) and used to support an object (2) to be printed; wherein the support device (200) comprises a fixed support unit (210) and a movable support unit (220) spaced apart; the fixed support unit (210) used to support a first end (21) of the object (2) to be printed, and the movable support unit (220) used to support a second end (22) of the object (2) to be printed and was height-adjustable relative to the main platform (100); wherein a radius of the first end (21) of the object (2) to be printed differs from a radius of the second end (22) of the object (2) to be printed; and a detection module (300) which is arranged on the frame (600) above the support device (200) and serves to detect whether the object (2) to be printed has reached a predetermined height.

Description

[0001] The present application claims priority over Chinese patent application No. 2024114405327 entitled “Printing device and control method for printing device”, which was filed on October 14, 2024, the entire contents of which are incorporated into the present application by reference. Technical field

[0002] The present application relates to the field of printing technology, in particular a printing device and a control method for a printing device. State of the art

[0003] With technological advancements and development, the variety of printing devices has gradually increased, and various printing devices find widespread application in different industries. In related techniques, printing devices can be used to print on objects with uneven surfaces, such as cylindrical vases, conical cups, etc.

[0004] However, when printing on objects with uneven surfaces, it is difficult to maintain an appropriate printing distance between the print head and the different parts of the object surface, leading to unsatisfactory printing results and making it difficult to meet the requirements. Content of the present application

[0005] The main technical problem to be solved in the present application is to provide a printing device that is capable of improving the printing effect of the printing device.

[0006] The present application provides a printing device. The printing device comprises: a frame; a main platform that is arranged on the frame and is height-adjustable relative to the frame; a support device arranged on the main platform and used to support an object to be printed; wherein the support device comprises a fixed support unit and a movable support unit spaced apart; the fixed support unit used to support a first end of the object to be printed, and the movable support unit used to support a second end of the object to be printed and is height-adjustable relative to the main platform; wherein a radius of the first end of the object to be printed differs from a radius of the second end of the object to be printed; and a detection module that is arranged on the frame above the support device and serves to detect whether the object to be printed has reached a predetermined height.

[0007] The advantageous effect of the present application is as follows: In contrast to the prior art, by arranging a vertically movable main platform, a detection module mounted above the support device, and a movable support unit that can move vertically relative to the main platform, wherein the fixed support unit holds the first end of the object to be printed and the movable support unit holds the second end of the object, and the radius of the first end of the object differs from the radius of the second end, the heights of the first and second ends can be adjusted by separately controlling the vertical movements of the main platform and the movable support unit based on the triggering of the detection module. This ensures that the sides of the first and second ends of the object facing the printhead are at the same height.This prevents variations in the distance between the printhead and different parts of the object's surface during the printing process, due to differences in radius between the first and second ends. The printhead can therefore always maintain a suitable printing distance to all parts of the object's surface, effectively improving the uniformity and stability of the inkjet print, increasing the print quality, reducing the likelihood of collisions between the printhead and the object, and enhancing the reliability of the printing device. Brief description of the drawing Fig. Figure 1 is a schematic representation of an application scene of a printing device according to some embodiments of the present application. Fig. Figure 2 is a perspective schematic representation of a support device in Fig. 1. Fig. 3 is a top view of the support device in Fig. 2. Fig. 4 is a cross-sectional view of the support device in Fig. 3 along the intersection line NN. Fig. Figure 5 is a perspective schematic representation of a movable support unit in Fig. 2. Fig. Figure 6 is an exploded view of the movable support unit in Fig. 5. Fig. Figure 7 is a cross-sectional view of the movable support unit in Fig. 5 along the intersection line MM. Fig. Figure 8 is a flowchart of a control procedure for a printing device according to some embodiments of the present application. Fig. Figure 9 is a schematic representation of another application scene of a printing device according to some embodiments of the present application. Fig. Figure 10 is a schematic representation of an application scene of a first rotary wheel according to some embodiments of the present application. Fig. Figure 11 is a schematic representation of an application scene of a second rotary wheel according to some embodiments of the present application. Fig. Figure 12 is a flowchart of a control procedure for a printing device according to some other embodiments of the present application. Fig. Figure 13 is a schematic representation of another application scene of a printing device according to some embodiments of the present application. Fig. Figure 14 is a schematic representation of another application scene of a printing device according to some embodiments of the present application. Detailed description of the embodiments

[0008] The technical solutions in the embodiments of the present application are described clearly and completely below with reference to the accompanying drawings. It is obvious that the described embodiments represent only a subset of the embodiments of the present application and not all embodiments. Based on the embodiments of the present application, all other embodiments that could be obtained by a person skilled in the art in this field without inventive step fall within the scope of protection of the present application.

[0009] Unless otherwise defined, all technical and scientific terms used in this document have the same meaning as generally understood by a person skilled in the technical field of the present application; the terms used in this document serve only to describe the specific embodiments and are not intended to limit the present application; the terms "comprises" and "has" and any variations thereof in the description of the present application, the claims and the above description of the drawings are intended to cover non-exclusive inclusions.

[0010] In the description of embodiments of the present application, the technical terms "first", "second", etc., serve only to distinguish different objects and cannot be understood as indicating or implying a relative importance or as implicitly specifying the number of technical features shown, a particular order, or a primary-secondary relationship. In the description of embodiments of the present application, "several" means more than two, unless expressly stated otherwise.

[0011] The reference to "elaborations" in this document implies that the specific features, structures, or properties described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this term in different places in the description does not necessarily always refer to the same embodiment, nor do they represent independent or mutually exclusive embodiments. Those skilled in the art understand, expressly and implicitly, that the embodiments described in this document may be combined with other embodiments.

[0012] With technological advancements and development, the variety of printing devices has gradually increased, and various printing devices find widespread application in different industries. In related techniques, printing devices can be used to print on objects with uneven surfaces, such as cylindrical vases, conical cups, etc.

[0013] Due to the slight cone shape of the outer surface of objects with special curved surfaces, such as cylinders or truncated cones, the radii at their two ends differ. When a cylindrical, conical, or similarly shaped object to be printed is placed horizontally on a flat surface under the printhead so that the printhead can inkjet print the object's outer surface, the object's outer contour line runs diagonally on the side closest to the printhead. This results in varying distances between the printhead and different parts of the object's outer surface, leading to problems such as uneven inkjet printing or a suboptimal printing distance between the printhead and the object.Consequently, the print quality of the printing device is unsatisfactory, and the slanted outer contour line increases the probability of a collision between the printhead and the object, which impairs the reliability of the printing device and makes it difficult to meet the usage requirements. Based on this, the present application proposes the following solution to resolve the aforementioned technical problems.

[0014] As in Fig. As shown in Figure 1, a printing device 1 described in some embodiments of the present application can comprise a main platform 100, a support device 200, a detection module 300, a control module 400, a printhead 500, and a frame 600. In some embodiments, the printhead 500 can be a laser printhead.

[0015] As in the Fig. 1 and Fig. As shown in Figure 2, a reference coordinate system is established for the printing device 1, which has mutually perpendicular x, y, and z axes. The main platform 100 is attached to the frame 600, runs parallel to the x and y axes, and can move vertically relative to the frame 600 in the z direction. That is, the vertical direction of movement of the main platform 100 is the z direction.

[0016] The support device 200 is mounted on the main platform 100 and can move vertically along the z-axis, guided by the main platform 100. It serves to hold an object 2 to be printed and to move it vertically in the z-direction. The support device 200 comprises a fixed support unit 210 and a movable support unit 220, which are spaced apart. The fixed support unit 210 holds a first end 21 of the object 2, and the movable support unit 220 holds a second end 22 of the object 2. The radius R1 of the first end 21 differs from the radius R2 of the second end 22. The movable support unit 220 can move vertically relative to the main platform 100, for example, along the z-axis.In some embodiments, the direction in which the fixed support unit 210 and the movable support unit 220 are spaced apart is parallel to the direction of movement of the print head 500; for example, they can be spaced apart along the x-axis.

[0017] The printhead 500 is mounted above the support device 200 and is used for inkjet printing on the object 2 resting on the support device 200.

[0018] The detection module 300 is mounted on the frame 600, located above the support device 200, and serves to detect whether object 2 has reached a predefined height A2. If object 2 reaches the predefined height A2, the detection module 300 can be triggered. Optionally, the detection module 300 includes a transmitter module 310 and a receiver module 320. The transmitter module 310 is mounted on one side of the support device 200 and serves to emit a laser beam. The receiver module 320 is mounted on the other side of the support device 200 and serves to receive the laser beam. If object 2 touches and interrupts the laser beam, object 2 has reached the predefined height A2 and triggers the detection module 300.

[0019] By arranging a vertically movable main platform 100, a detection module 300 mounted above the support device 200, and a movable support unit 220 that can move vertically relative to the main platform 100, wherein the fixed support unit 210 holds the first end 21 of the object 2 and the movable support unit 220 holds the second end 22 of the object 2, and the radius R1 of the first end 21 of the object 2 differs from the radius R2 of the second end 22, the heights of the first and second ends 21, 22 can be adjusted by separately controlling the vertical movements of the main platform 100 and the movable support unit 220, based on the triggering of the detection module 300. This ensures that the sides of the first and second ends 21, 22 of the object 2 facing the printhead 500 are at the same height.Thus, during the printing process of object 2, the differences in radius between the first and second ends 21, 22 do not lead to different distances between the printhead 500 and the various parts of the surface of object 2. The printhead 500 can therefore always maintain a suitable printing distance to all parts of the surface of object 2, which effectively improves the uniformity and stability of the inkjet printing, effectively increases the print quality of the printing device 1, effectively reduces the probability of a collision between printhead 500 and object 2, and increases the reliability of the printing device 1.

[0020] In some embodiments, the object 2 has a longitudinal direction F3 that points from the first end 21 to the second end 22. The propagation direction of the laser beam is parallel to the longitudinal direction F3. In some embodiments, the propagation direction of the laser beam is parallel to the x-axis direction. In some embodiments, the number of detection modules 300 is one, i.e., the printing device 1 has one set of transmitting module 310 and receiving module 320. In other embodiments, the number of detection modules 300 is greater than one, i.e., the printing device 1 has several sets of transmitting module 310 and receiving module 320, for example, two, three, four sets, etc., and of course, other numbers are also possible. The laser beams emitted by several transmitting modules can be parallel to each other, intersect, or be partially parallel and partially intersecting.

[0021] The control module 400 serves to control the vertical movements of the main platform 100 and the movable support unit 220 in order to perform leveling of the first and second ends 21, 22.

[0022] In some embodiments, the control module 400 serves to control the vertical movement of the main platform 100 and to detect a first adjustment height L1 of the main platform 100 when the first end 21 of the object 2 reaches the predetermined height A2. In some embodiments, the control module 400 serves to control the respective vertical movements of the main platform 100 and the movable support unit 220 and to detect a second adjustment height L2 of the main platform 100 when the second end 22 of the object 2 reaches the predetermined height A2.In some embodiments, the control module 400 serves to control the vertical movement of the main platform 100 in order to detect a first adjustment height L1 of the main platform 100 when the first end 21 of the object 2 triggers the detection module 300, and serves to adjust the movable support unit 220 so that the second end 22 of the object 2 is higher than the first end 21 of the object 2, to move the main platform 100 vertically and to detect a second adjustment height L2 of the main platform 100 when the second end 22 of the object 2 reaches the predetermined height A2.

[0023] Furthermore, the control module 400 can control the vertical movement of the movable support unit 220 based on the first adjustment height L1 and / or the second adjustment height L2 in order to level the first and second ends 21, 22. The control module 400 can be referred to as a CPU (Central Processing Unit). The control module 400 can be an integrated circuit. The control module 400 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete logic gate or transistor device, or a discrete hardware component. A general-purpose processor can be a microprocessor, or the processor can also be any conventional processor, etc.

[0024] Optional includes, as in Fig. Figure 2 shows the support device 200 supporting a beam 230. The fixed support unit 210 and the movable support unit 220 are spaced apart along the beam 230 in a direction F1 of its extension. The movable support unit 220 can slide along the extension direction relative to the beam 230 to approach or move away from the fixed support unit 210, thus accommodating objects 2 of different lengths. This effectively improves the versatility of the support device 200 and meets the pressure requirements for objects 2 of different lengths.

[0025] Optional includes, as in Fig. Figure 2 shows the fixed support unit 210, a connecting frame 213, and a first support component 211. The connecting frame 213 is rigidly connected to the beam 230. The first support component 211 serves to receive the first end 21 of the object 2.

[0026] Optional includes, as in the Fig. 3 and Fig. Figure 4 shows the first support component 211, two first rotary wheels 2111, and two first rotary shafts 2112 corresponding to the two first rotary wheels 2111. Each first rotary wheel 2111 is coaxial with its corresponding first rotary shaft 2112. The first rotary shafts 2112 are rotatably connected to the connecting frame 213. The first rotary wheel 2111 is attached to one end of the first rotary shaft 2112 facing the movable support unit 220. The two first rotary wheels 2111 together serve to receive the first end 21 of the object 2. By arranging two first rotary wheels 2111, the object 2 can not only be held stably, but objects 2 with different radii can also be accommodated, effectively increasing the versatility of the printing device 1.

[0027] Optional includes, as in Fig. Figure 4 shows the fixed support unit 210 comprising a first motor 212 and a drive belt 215. The first motor 212 is rigidly connected to the connecting frame 213 and frictionally connected to the drive belt 215. The drive belt 215 is frictionally connected to the two first rotating shafts 2112. The first motor 212 drives the drive belt 215, thereby simultaneously rotating the two first rotating shafts 2112 and the two first rotating wheels 2111, and thus setting the object 2 resting on the first rotating shafts 2112 into rotation.

[0028] Optionally, a first angle detection module 2121 is attached to the first motor 212. The first angle detection module 2121 serves to detect the output rotation angle of the first motor 212 and thus the rotation angle of the first rotary wheel 2111. In this way, the rotational state of the first rotary wheel 2111 can be dynamically monitored and consequently the rotational state of the object 2 can be effectively detected, which contributes to improving the operational stability and reliability of the printing device 1.

[0029] Optional includes, as in Fig. Figure 3 shows a fixed support unit 210 with a guide roller 214. The guide roller 214 is rotatable relative to the connecting frame 213 and can perform a thrust movement in the direction of its axis F4 relative to the connecting frame 213. When the first end 21 of the object 2 rests on the fixed support unit 210, the guide roller 214 performs a thrust movement to move into the interior of the object 2 and bear against the inner wall of the object 2 to follow the rotation of the object 2. The arrangement of the guide roller 214 ensures that the two first rotary wheels 2111 and the guide roller 214 together support the first end 21 of the object 2, which effectively increases the stability of the object 2 during rotation, reduces the probability of the object 2 swaying, and improves the print quality of the printing device 1.

[0030] Optional includes, as in the Fig. 2, Fig. 5 and Fig. Figure 6 shows the movable support unit 220, a connecting block 223, and a second support component 221. The second support component 221 comprises two second rotary wheels 2211 and two second rotary shafts 2212, corresponding to the two second rotary wheels 2211. Each second rotary wheel 2211 is coaxial with its corresponding second rotary shaft 2212. The second rotary shafts 2212 are rotatably connected to the connecting block 223. The second rotary wheel 2211 is attached to one end of the second rotary shaft 2212 that faces the fixed support unit 210. The two second rotary wheels 2211 together serve to receive the second end 22 of the object 2. When the object 2 is set in rotation by the first rotary wheels 2211, it also sets the second rotary wheels 2211 in rotation.By arranging two second rotary wheels 2211, the object 2 can not only be held stably, but objects 2 with different radii can also be adapted, which effectively increases the versatility of the printing device 1.

[0031] Optional includes, as in Fig. Figure 6 shows the movable support unit 220 comprising a sliding element 225 and a lifting component 226. The support beam 230 has a sliding groove 232. At least part of the sliding element 225 is mounted engaging in the sliding groove 232 and can slide along the sliding groove 232. The lifting component 226 is rigidly connected to the sliding element 225 and can thus move relative to the support beam 230 together with the sliding element 225. The connecting block 223 is force-fitted to the lifting component 226. The second support component 221 is force-fitted to the connecting block 223. The lifting component 226 serves to move the connecting block 223 vertically and thus move the second support component 221 vertically in order to bring the second end 22 of the object 2 closer to or away from the main platform 100.This enables effective leveling of the first and second ends 21, 22 of the object 2 and contributes to improving the print quality of the printing device 1.

[0032] Optional includes, as in the Fig. 6 and Fig. Figure 7 shows the movable support unit 220 with a second angle detection module 222. The second angle detection module 222 serves to detect the rotation angle of the second rotary wheel 2211. Optionally, the second angle detection module 222 includes a magnetic element 2221 and a sensor circuit board 2222. The magnetic element 2221 is fixedly connected to one end of the second rotary shaft 2212, which faces away from the second rotary wheel 2211, and rotates synchronously with the second rotary shaft 2212. The sensor circuit board 2222 is fixedly connected to the connecting block 223. The sensor circuit board 2222 has a sensor reception area 2223, which is opposite the magnetic element 2221 and serves to detect the rotation angle of the magnetic element 2221 and thus the rotation angle of the second rotary wheel 2211.In this way, the rotational state of the second rotary wheel 2211 can be dynamically monitored and consequently the rotational state of object 2 can be effectively detected, which contributes to improving the operational stability and reliability of the printing device 1.

[0033] In some embodiments, the number of second angle detection modules 222 is one, i.e., the second angle detection module 222 serves only to detect the rotation angle of a specific second rotary wheel 2211. In other embodiments, the number of second angle detection modules 222 is two, i.e., the two second angle detection modules 222 each serve to detect the rotation angles of the two second rotary wheels 2211 in order to reduce measurement errors.

[0034] Optional includes, as in Fig. Figure 3 shows the support 230 with a sensor unit 231. The movable support unit 220 includes a magnetic block 224. The sensor unit 231 serves to detect the distance between the magnetic block 224 and the sensor unit 231 in the extension direction F1 of the support 230 in order to determine the length of the object 2. Since the position of the sensor unit 231 is fixed, the distance between the sensor unit 231 and the fixed support unit 210 is also fixed. By detecting the distance between the magnetic block 224 and the sensor unit 231 in the extension direction F1 of the support 230, the distance between the movable support unit 220 and the sensor unit 231 in this direction, and consequently the distance between the movable support unit 220 and the fixed support unit 210 in the extension direction F1 of the support 230, can be determined. This results in the length of object 2, which serves as a parameter for subsequent printing processes and contributes to improving print quality.

[0035] Optionally, the number of sensor units 231 is greater than one. Several sensor units 231 are spaced apart on the support 230 in the extension direction F1 of the support. This contributes to improving the accuracy of the length measurement of the object 2 and effectively reduces measurement errors.

[0036] Optional includes, as in Fig. Figure 6 shows the lifting component 226 comprising a spindle 2261, a spindle nut 2262, a guide rod 2263, and a second motor 2264. The second motor 2264 is rigidly connected to the sliding element 225 and serves to drive the spindle 2261. The spindle nut 2262 is arranged around the spindle 2261 and positively connected to it, so that it moves in the direction of extension when the spindle 2261 rotates. The connecting block 223 is rigidly connected to the spindle nut 2262 and thus moves with the spindle nut 2262 relative to the spindle 2261, thereby realizing the lifting movement of the second support component 221. The guide rod 2263 runs through the connecting block 223 to guide and position it. The structure is simple and effective, facilitates assembly and disassembly, and exhibits overall high stability.It reduces the probability of displacement or oscillation of the connecting block 223 during the lifting movement and effectively increases the accuracy of the leveling.

[0037] Optional includes, as in Fig. Figure 2 shows the fixed support unit 210 comprising a first limiting pin 216. The movable support unit 220 includes a second limiting pin 227. The first limiting pin 216 and the second limiting pin 227 serve to engage the first end 21 and the second end 22 of the object 2, respectively, and to fix the object 2 in the longitudinal direction F3. This effectively reduces the probability that the object 2 will wobble or slip during the printing process and contributes to improving the print quality of the printing device 1.

[0038] In some embodiments, as in Fig. Figure 8 shows a control method described in some embodiments of the present application, which uses the pressure device 1 as the executing subject. By controlling the lifting movement of the main platform 100 and the rotation of the first rotary wheel 2111, the first adjustment height L1 for leveling is determined. This method comprises the following operations.

[0039] S100: Controls the lifting movement of the main platform and detects an initial adjustment height of the main platform when the first end of the object to be printed reaches the specified height.

[0040] As in Fig. As shown in Figure 9, the main platform 100 has a starting position A1. The distance L between this starting position A1 and the predefined height A2 detected by the detection module 300 is a fixed value. The control module 400 controls the lifting movement of the main platform 100 in the z-direction and detects the first adjustment height L1 of the main platform 100 when the first end 21 of the object 2 reaches the predefined height A2. This first adjustment height L1 is the distance of the main platform 100 in the z-direction relative to the starting position A1, i.e., the height by which the main platform 100 has moved vertically in the z-direction from the starting position A1.

[0041] Optionally, before the first adjustment height L1 of the main platform 100 is detected, an operation S110 is performed: controlling the lifting movement of the movable support unit so that the first end of the object to be printed is higher than the second end of the object to be printed.

[0042] The control module 400 controls the lifting movement of the movable support unit 220, ensuring that the first end 21 of the object 2 is higher than the second end 22. This facilitates the triggering of the detection module 300 by the first end 21 of the object 2 and reduces the probability of measurement errors.

[0043] In some embodiments, the radius R1 of the first end 21 of the object 2 is larger than the radius R2 of the second end 22.

[0044] S200: Calculating the radius of the first end of the object to be printed based on the specified height and the first adjustment height.

[0045] Optionally, as in Fig. As shown in Figure 9, the control module 400 calculates the radius R1 of the first end 21 using the minimum distance h between the first rotary wheel 2111 and the main platform 100, the radius r1 of the first rotary wheel 2111, the distance d between the rotary shafts of the two first rotary wheels 2111, the predetermined height A2 of the sensing module 300, and the first adjustment height L1.

[0046] After receiving the first adjustment height L1, since L1 is the distance between the main platform 100 and the starting position A1, when the first end 21 of the object 2 reaches the predetermined height A2 and triggers the detection module 300, and since the distance L between the starting position A1 and the predetermined height A2 of the detection module 300 is a fixed value, the current distance H between the main platform 100 and the predetermined height A2 of the detection module 300 can be calculated using the following formula: H=L−L1

[0047] Where H is the distance between the main platform 100 and the specified height A2 of the detection module 300, L is the distance between the starting position A1 and the specified height A2 of the detection module 300, and L1 is the first adjustment height.

[0048] Furthermore, as in Fig. As shown in Figure 9, the distance H between the main platform 100 and the specified height A2 of the detection module 300 can be expressed by the following formula: H=h+x+r1+R1

[0049] Where h is the minimum distance between the first rotary wheel 2111 and the main platform 100 in the z-direction, x is the distance in the z-direction between the center line A3 of object 2 and the rotating shaft of the first rotary wheel 2111, r1 is the radius of the first rotary wheel 2111, and R1 is the radius of the first end 21 of object 2. The center line A3 of object 2 can be the central axis of object 2 or the line connecting the centers of the cross-sections of object 2.

[0050] Furthermore, as in Fig. As shown in 9, the following formula can be derived based on the Pythagorean theorem: (r1+R1)2=(d2)2+x2

[0051] Where d is the distance between the rotating shafts of the two first rotating wheels 2111.

[0052] Thus, the expression for the radius R1 of the first end 21 of the object 2 to be printed can be obtained according to the formula above as follows: R1=(H−h)2+(d2)2−2(H−h)r12(H−h)=(H−h−2r1)2+d28(H−h)

[0053] Since the minimum distance h between the first rotary wheel 2111 and the main platform 100, the radius r1 of the first rotary wheel 2111, and the distance d between the rotating shafts of the two first rotary wheels 2111 are all fixed values, and the distance H between the main platform 100 and the specified height A2 of the detection module 300 can be calculated, the size of the radius R1 of the first end 21 of the object 2 to be printed can be calculated.

[0054] S300: Calculating the radius of the second end of the object to be printed based on the radius of the first end of the object to be printed.

[0055] After receiving the radius R1 of the first end 21 of the object 2 to be printed, the control module 400 can calculate the radius R2 of the second end 22 using the radius R1 of the first end 21. S300 can include the following operations.

[0056] S310: Controlling the rotation of the first rotary wheel to drive the object to be printed and the second rotary wheel, and detecting a first rotation angle of the first rotary wheel and a second rotation angle of the second rotary wheel.

[0057] As in the Fig. 10 and Fig. As shown in Figure 11, the control module 400 controls the first motor 212 to rotate the first rotary wheel 2111, which in turn rotates the object 2 to be printed. This rotation, in turn, causes the object 2 to drive the second rotary wheel 2211. The first rotation angle α of the first rotary wheel 2111 is detected using the first angle detection module 2121, and the second rotation angle β of the rotation of the second rotary wheel 2211 is detected using the second angle detection module 222.

[0058] S320: Calculating the radius of the second end using the first angle, the second angle, and the radius of the first end.

[0059] As in Fig. Figure 10 shows that when the first rotary wheel 2111 rotates by the first angle α, the object 2 to be printed is driven by the first rotary wheel 2111 and rotates by a third angle θ. The arc length L r1 of the first rotating wheel 2111 and the arc length L R1The first end 21 of the object to be printed 2 are given by the following formulas: Lr1=r1×(π180×α) LR1=R1×(π180×θ)

[0060] Whereby: L r1 = Arc length of the first rotating wheel 2111; r1 = Radius of the first rotating wheel 2111; α = First rotation angle by which the first rotating wheel 2111 turns; L R1 = Arc length of the first end 21 of the object 2 to be printed; R1 = Radius of the first end 21 of the object 2 to be printed; θ = Third rotation angle by which the object to be printed rotates.

[0061] Since the rotation of the first rotary wheel 2111 drives the object 2 to be printed and the first rotary wheel 2111 has contact with the first end 21 of the object 2, the arc length L r1 of the first rotating wheel 2111 equals the arc length L R1 of the object to be printed 2. Thus, the following expression results: Lr1=LR1

[0062] Furthermore, as in Fig. Figure 11 shows that when the object 2 to be printed rotates by the third angle θ under the drive of the first rotary wheel 2111, the second rotary wheel 2211 rotates by the second angle β under the drive of the object 2. The arc length L r2 of the second rotating wheel 2211 and the arc length L r2 The values ​​of the second end 22 of the object to be printed 2 are given by the following formulas: Lr2=r2×(π180×β) LR2=R2×(π180×θ)

[0063] Whereby: L r2 = Arc length of the second rotating wheel 2211; r2 = Radius of the second rotating wheel 2211; β = Second rotation angle by which the second rotating wheel 2211 turns; L R2 = Arc length of the second end 22 of the object 2 to be printed; R2 = Radius of the second end 22 of the object 2 to be printed; θ = Third rotation angle by which the object to be printed rotates.

[0064] Since the rotation of the object to be printed 2 drives the second rotary wheel 2211 and the second end 22 of the object 2 is in contact with the second rotary wheel 2211, the arc length L R2 the second end 22 of object 2 equals the arc length L r2 of the second rotary wheel 2211. Thus, the following expression results: Lr2=LR2

[0065] Therefore, by simplifying the above formulas, the following proportionality formula can be obtained: r1×αR1=r2×βR2

[0066] The first angle α can be detected by the first angle detection module 2121, the second angle β can be detected by the second angle detection module 222, the radii r1 of the first rotary wheel 2111 and r2 of the second rotary wheel 2211 are fixed values, and the radius R1 of the first end 21 of the object 2 to be printed has already been calculated in S211. Therefore, the radius R2 of the second end 22 of the object 2 to be printed can be calculated.

[0067] S400: Controlling the lifting movement of the movable support unit based on the radius of the first end and the radius of the second end of the object to be printed, in order to level the first end and second end of the object to be printed.

[0068] Optionally, the control module 400 calculates a first adjustment height t1 using the radius R1 of the first end 21 and the radius R2 of the second end 22 of the object 2 to be printed, in order to perform a leveling of the first end 21 and the second end 22 based on t1. S400 can include the following operations.

[0069] S410: Calculating the first adjustment height using the radius of the first end and the radius of the second end.

[0070] If the object 2 to be printed is placed on a horizontal surface, the height difference in the z-direction between the first end 21 and the second end 22 of the object 2 corresponds to the first adjustment height t1. That is, the first adjustment height t1 corresponds to twice the difference between the radius R1 of the first end 21 and the radius R2 of the second end 22. The formula is as follows: t1=2∗(R1−R2)

[0071] S420: Controlling the lifting movement of the movable support unit relative to the main platform based on the first adjustment height to perform leveling of the first and second ends.

[0072] The control module 400 controls the lifting movement of the movable support unit 220, so that the second rotary wheel 2211 is raised in the z-direction by the first adjustment height t1. This ensures that the distance between an outer surface of the first end 21 facing the print head 500 and the print head 500 is equal to the distance between an outer surface of the second end 22 of the object 2 to be printed facing the print head 500 and the print head 500, thus improving the print quality of the printing device 1.

[0073] It is understood that first the movable support unit 220 and the main platform 100 can perform lifting movements separately so that the second end 22 of the object 2 to be printed triggers the detection module 300 to calculate the radius R2 of the second end 22 of the object 2. Subsequently, by controlling the rotation of the first rotary wheel 2111 using the arc length formula, the radius R1 of the first end 21 of the object 2 can be calculated to obtain the first adjustment height t1. The principle can correspond to the embodiment above and is not repeated.

[0074] In some embodiments, such as in Fig. As shown in Figure 12, a control method of the present application can use the printing device 1 as the execution subject. By controlling the lifting movement of the main platform 100 and the lifting movement of the movable support unit 220, the second adjustment height L2 for leveling is obtained. This method comprises the following operations.

[0075] M100: Controls the lifting movement of the main platform and detects an initial adjustment height of the main platform when the first end of the object to be printed reaches the specified height.

[0076] As in Fig. As shown in Figure 13, the main platform 100 has a starting position A1. The distance L between this starting position A1 and the predefined height A2 of the detection module 300 is a fixed value. The control module 400 controls the lifting movement of the main platform 100 in the z-direction and detects the first adjustment height L1 of the main platform 100 when the first end 21 of the object 2 to be printed reaches the predefined height A2, in order to trigger the detection module 300. This first adjustment height L1 is the distance of the main platform 100 in the z-direction relative to the starting position A1 when the first end 21 of the object 2 reaches the predefined height A2, i.e., the height by which the main platform 100 has moved from the starting position A1 in the z-direction.

[0077] In this case, the distance L between the starting position A1 and the specified height A2 of the detection module 300 can be expressed by the following formula: L=L1+2R1

[0078] Where: L = distance between the starting position A1 and the specified height A2 of the detection module 300; L1 = first adjustment height; R1 = radius of the first end 21 of the object to be printed 2.

[0079] Optionally, before the first adjustment height L1 of the main platform 100 is detected, an operation M110 is performed: controlling the lifting movement of the movable support unit so that the first end of the object to be printed is higher than the second end of the object to be printed.

[0080] The control module 400 controls the lifting movement of the movable support unit 220, ensuring that the first end 21 of the object 2 is higher than the second end 22. This facilitates the triggering of the detection module 300 by the first end 21 of the object 2 and reduces the probability of measurement errors.

[0081] In some embodiments, the radius R1 of the first end 21 of the object 2 is larger than the radius R2 of the second end 22.

[0082] M200: Controlling the lifting movement of the movable support unit so that the second end of the object to be printed is higher than the first end of the object to be printed, controlling the lifting movement of the main platform, and detecting a second adjustment height of the main platform when the second end of the object to be printed reaches the specified height.

[0083] As in Fig. As shown in Figure 13, the control module 400 controls the lifting movement of the movable support unit 220 relative to the main platform 100, such that the second end 22 of the object 2 to be printed is higher than the first end 21. It then controls the lifting movement of the main platform 100. Since the second end 22 is closer to the detection module 300 in the z-direction, it triggers the detection module 300, and the second adjustment height L2 of the main platform 100 is detected when the second end 22 of the object 2 reaches the predefined height A2. That is, the second adjustment height L2 is the distance between the main platform 100 and the starting position A1 at that time.

[0084] M300: Controls the lifting movement of the movable support unit based on the first adjustment height and second adjustment height to level the first end and second end of the object to be printed.

[0085] The control module 400 can control the lifting movement of the movable support unit 220 based on the first adjustment height L1 and the second adjustment height L2 in order to level the first end 21 and the second end 22 of the object 2 to be printed. M300 can include the following operations.

[0086] M310: Capturing a third adjustment height of the movable support unit relative to the main platform.

[0087] The third adjustment height l3 can be the height of the movable support unit 220 relative to the main platform 100 if the movable support unit 220 causes the first end 21 of the object 2 to be printed to be higher than the second end 22.

[0088] As in Fig. As shown in Figure 13, based on the distance l3 between the second end 22 of the object 2 to be printed and the main platform 100, the lifting movement of the main platform 100 is controlled and the first adjustment height L1 of the main platform 100 is detected when the first end 21 of the object 2 reaches the predefined height A2. The relationship between the third adjustment height l3 and the first adjustment height L1 is expressed by the following formula: L=l3+L1+2R2

[0089] Where: L = distance between starting position A1 and predefined height A2 of the capture module 300; L1 = first adjustment height; l3 = third adjustment height; R2 = radius of the second end 22 of the object to be printed 2.

[0090] In some embodiments, the radius R1 of the first end 21 of the object 2 to be printed is larger than the radius R2 of the second end 22. Therefore, if the third adjustment height l3 of the movable support unit 220 relative to the main platform 100 is 0, the first end 21 of the object 2 is still higher than the second end 22.

[0091] M320: Capturing a fourth adjustment height of the movable support unit relative to the main platform.

[0092] After the control module 400 has controlled the lifting movement of the movable support unit 220 relative to the main platform 100, the movable support unit 220 has a fourth adjustment height l4 relative to the main platform 100. That is, the fourth adjustment height l4 is the minimum distance between the second end 22 of the object 2 and the main platform 100 at this point in time. After lifting, the second end 22 of the object 2 is closer in the z-direction to the predefined height A2 of the detection module 300 than the first end 21.

[0093] Based on the distance l4 between the second end 22 of object 2 and the main platform 100, the lifting movement of the main platform 100 is controlled, and the second adjustment height L2 of the main platform 100 is recorded when the second end 22 of object 2 reaches the predetermined height A2. That is, the second adjustment height L2 is the distance between the main platform 100 and the starting position A1 at that time. The relationship between the fourth adjustment height l4 and the second adjustment height L2 is expressed by the following formula: L=l4+L2+2R2

[0094] Where: L = distance between starting position A1 and predefined height A2 of the capture module 300; L2 = second adjustment height; l4 = fourth adjustment height; R2 = radius of the second end 22 of the object to be printed 2.

[0095] M330: Determining an adjustment height for the second end of the object to be printed based on the difference between the fourth adjustment height and the third adjustment height, the first adjustment height, and the second adjustment height.

[0096] After receiving the first adjustment height L 1, The second adjustment height t2 for the second end 22 of the object 2 to be printed can be calculated using L1, L2, l3, and l4, given the second adjustment height L2, the third adjustment height l3, and the fourth adjustment height l4.

[0097] Furthermore, the difference between the fourth adjustment height l4 and the third adjustment height l3 is the difference height L3. The second adjustment height t2 corresponds to the sum of the second adjustment height L2 and the difference height L3, minus the first adjustment height L1. The formula for t2 is as follows: t2=L2+L3−L1

[0098] M340: Controlling the lifting movement of the movable support unit based on the second adjustment height to level the first end and second end of the object to be printed.

[0099] The control module 400 controls the lifting movement of the movable support unit 220, so that the second rotary wheel 2211 is raised in the z-direction by the second adjustment height t2. This ensures that the distance between the outer surface of the first end 21 and the second end 22 of the object 2 to be printed and the print head 500 is equal, which improves the print quality of the printing device 1.

[0100] Optionally, before the lifting movements of the main platform 100 and the movable support unit 220 are controlled to obtain the first adjustment height L1 and / or the second adjustment height L2 of the main platform 100, the main platform 100 can also perform a translational movement in a reference direction F2. The reference direction F2 is perpendicular to the lifting movement direction and to the longitudinal direction F3. The reference direction F2 can, for example, be the y-axis direction. See the following procedures for further details.

[0101] M400: Controls the translation of the main platform in a reference direction; captures a first translation parameter of the main platform when the object to be printed begins to trigger the capture module; and captures a second translation parameter of the main platform when the object to be printed stops triggering the capture module.

[0102] As in Fig.As shown in Figure 14, since different objects 2 to be printed have different sizes and shapes, the highest position of the side of object 2 facing the printhead 500 when it is placed on the support device 200 and the laser beam emitted by the sensing module 300 can be spatially offset. Since the highest position of object 2 normally overlaps with the center line A3 of object 2 when projected onto the main platform 100, an offset of the highest position relative to the laser beam means that the projection of the laser beam onto the main platform 100 and the projection of the center line A3 of object 2 onto the main platform 100 do not overlap. Therefore, the position of object 2 can be adjusted by controlling the translation of the main platform 100 in the reference direction F2.

[0103] The control module 400 detects the first translation parameter of the main platform 100 when the object 2 to be printed begins to trigger the detection module 300, and the second translation parameter of the main platform 100 when the object 2 stops triggering the detection module 300. That is, when the main platform 100 is located in the reference direction F2 between the first and second translation parameters, the object 2 to be printed triggers the detection module 300.

[0104] M410: Determining the center line of the object to be printed in the longitudinal direction based on the first translation parameter and second translation parameter, and aligning the center line with the propagation direction of the laser beam.

[0105] For the object 2 to be printed, the laser beam emitted by the detection module 300 determines a first point of contact P on the first end 21 of the object 2 when the main platform 100 is located at the first translation parameter in the reference direction F2. When the main platform 100 is located at the second translation parameter, the laser beam determines a second point of contact Q on the first end 21. These two points define an arc PQ on the outline of the first end 21. The midpoint of this arc PQ is the highest position of the first end 21 of the object 2, and thus the center line A3 of the object 2 can be determined. Subsequently, the main platform 100 is translated in the reference direction F2 so that the center line A3 is aligned with the propagation direction of the laser beam. At this point, the center line A3 of the object 2, as projected onto the main platform 100, overlaps with the laser beam.

[0106] Optionally, after the leveling of the object to be printed (object 2) is complete, the printhead (print head 500) can be moved to the optimal printing distance from the object (object 2). For example, the printhead (print head 500) can be moved so that the minimum distance to the outer surface of the object (object 2) is 1 mm, 1.5 mm, 2 mm, 2.5 mm, etc. This distance can, of course, be different.

[0107] The embodiments described above are merely examples of the present application and do not limit the scope of protection of the present application. Any equivalent structure or process transformation carried out using the description and drawings of the present application, or direct or indirect application in other related technical fields, falls equally within the scope of protection of the present application. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 2024114405327

[0001]

Claims

[1] A printing device (1), characterized by , that it includes: a frame (600); a main platform (100) which is arranged on the frame (600) and is height-adjustable relative to the frame (600); a support device (200) arranged on the main platform (100) and used to support an object (2) to be printed; wherein the support device (200) comprises a fixed support unit (210) and a movable support unit (220) spaced apart; the fixed support unit (210) used to support a first end (21) of the object (2) to be printed, and the movable support unit (220) used to support a second end (22) of the object (2) to be printed and was height-adjustable relative to the main platform (100); wherein a radius of the first end (21) of the object (2) to be printed differs from a radius of the second end (22) of the object (2) to be printed; and a detection module (300) which is arranged on the frame (600) above the support device (200) and serves to detect whether the object (2) to be printed has reached a predetermined height. [2] Printing device (1) according to claim 1, wherein the support device (200) further comprises a carrier (230); the fixed support unit (210) and the movable support unit (220) are spaced apart on the carrier (230) in the extension direction of the carrier (230), and the movable support unit (220) is slidable in the extension direction relative to the carrier (230) in order to approach or move away from the fixed support unit (210). [3] Printing device (1) according to claim 2, wherein the fixed support unit (210) comprises a connecting frame (213) and a first support component (211); the connecting frame (213) is fixedly connected to the carrier (230); the first support component (211) serves to support the first end (21) of the object (2) to be printed; the first support component (211) comprises two first rotary wheels (2111) and two first rotary shafts (2112) corresponding to the two first rotary wheels (2111); each of the first rotary wheels (2111) is coaxial with its corresponding first rotary shaft (2112); the first rotary shafts (2112) are rotatably connected to the connecting frame (213); each of the first rotary wheels (2111) is arranged at one end of the corresponding first rotary shaft (2112) facing the movable support unit (220); the first two rotating wheels (2111) together serve to support the first end (21) of the object (2) to be printed. [4] Printing device according to one of claims 1 to 3, wherein the detection module (300) serves to detect a first adjustment height of the main platform (100) when the main platform (100) is controlled to perform a lifting movement and when the first end (21) of the object (2) to be printed reaches the predetermined height; wherein the detection module (300) further serves, after the movable support unit (220) is controlled to perform a lifting movement, to position the second end (22) of the object (2) to be printed higher than the first end (21) of the object (2) to be printed, when the main platform (100) is controlled to perform a lifting movement, and when the second end (22) of the object (2) to be printed reaches the specified height, to detect a second adjustment height of the main platform (100); wherein the movable support unit (220) serves to perform a lifting movement based on the first adjustment height and the second adjustment height in order to level the first end (21) and second end (22) of the object (2) to be printed. [5] Printing device according to claim 4, wherein the movable support unit (220), before the first adjustment height of the main platform (100) is reached, serves to perform a lifting movement so that the first end (21) of the object (2) to be printed is higher than the second end (22) of the object (2) to be printed. [6] Printing device according to claim 5, wherein the radius of the first end (21) of the object (2) to be printed is larger than the radius of the second end (22) of the object (2) to be printed. [7] Printing device according to claim 5, wherein when the movable support unit (220) performs a lifting movement based on the first adjustment height and second adjustment height in order to level the first end (21) and second end (22) of the object (2) to be printed: the detection module (300) serves to detect a third adjustment height of the movable support unit (220) relative to the main platform (100); the detection module (300) also serves to detect a fourth adjustment height of the movable support unit (220) relative to the main platform (100); The acquisition module (300) further serves to determine an adjustment height for the second end (22) of the object (2) to be printed by using a difference between the fourth adjustment height and the third adjustment height, the first adjustment height, and the second adjustment height; and The movable support unit (220) serves to be controlled based on the adjustment height in order to perform a lifting movement and thus to level the first end (21) and second end (22) of the object (2) to be printed. [8] Printing device according to claim 7, comprising determining the adjustment height for the second end of the object to be printed: t=L2+L3−L1 where t is the adjustment height, L1 is the first adjustment height, L2 is the second adjustment height, and L3 is the difference between the fourth adjustment height and the third adjustment height. [9] Printing device according to claim 6, wherein the detection module (300) comprises a transmitting module (310) and a receiving module (320); the transmitting module (310) is arranged on one side of the support device (200) to emit a laser beam, and the receiving module (320) is arranged on another side of the support device (200) to receive the laser beam; wherein the object (2) to be printed has a longitudinal direction pointing from the first end (21) to the second end (22), and the laser beam propagates in a direction parallel to the longitudinal direction. [10] Printing device according to claim 9, wherein the main platform (100) can further be moved translationally in a reference direction; the reference direction is perpendicular to the direction of the lifting movement and to the longitudinal direction; where, before the first adjustment height and / or the second adjustment height of the main platform is recorded, the main platform (100) serves to translate in the reference direction; the acquisition module (300) serves, when the object (2) to be printed begins to trigger the acquisition module (300), to acquire a first translation parameter of the main platform (100), and when the object (2) to be printed ceases to trigger the acquisition module, to acquire a second translation parameter of the main platform (100); and The main platform (100) serves to determine a center line of the object to be printed (2) along the longitudinal direction based on the first translation parameter and second translation parameter, and to control that this center line is aligned with the propagation direction of the laser beam. [11] Printing device according to one of claims 1 to 3, wherein the detection module (300) serves to detect a first adjustment height of the main platform (100) when the main platform (100) is controlled to perform a lifting movement and when the first end (21) of the object (2) to be printed reaches the predetermined height; the detection module (300) also serves to calculate the radius of the first end (21) of the object (2) to be printed, based on the specified height and the first adjustment height; The acquisition module (300) further serves to calculate the radius of the second end (22) of the object (2) to be printed, based on the radius of the first end (21) of the object (2); and The movable support unit (220) serves to perform a lifting movement based on the radii of the first end (21) and second end (22) of the object (2) to be printed, in order to level the first end (21) and second end (22) of the object (2) to be printed. [12] Printing device according to claim 11, wherein before detecting the first adjustment height of the main platform: the movable support unit (220) serves to perform a lifting movement so that the first end (21) of the object (2) to be printed is higher than the second end (22) of the object (2) to be printed. [13] Printing device according to claim 12, wherein the radius of the first end (21) of the object (2) to be printed is larger than the radius of the second end (22) of the object (2) to be printed. [14] Printing device according to claim 12, wherein the fixed support unit (210) comprises two first rotary wheels (2111) to jointly support the first end (21) of the object (2) to be printed; the movable support unit (220) comprises two second rotary wheels (2211) to jointly support the second end (22) of the object (2) to be printed; wherein the rotation of each first rotary wheel (2111) can drive the object (2) to be printed, so that the object (2) to be printed rotates, and the rotation of the object (2) to be printed can further drive each second rotary wheel (2211), so that the second rotary wheel (2211) rotates; where the detection module (300) calculates the radius of the second end (22) of the object to be printed (2) based on the radius of the first end (21): the first rotary wheel (2111) is controlled to rotate and thus rotate the object (2) to be printed and the second rotary wheel (2211); the detection module (300) serves to detect a first rotation angle of the first rotary wheel (2111) and a second rotation angle of the second rotary wheel (2211); and the acquisition module (300) also serves to calculate the radius of the second end (22) of the object (2) to be printed using the first rotation angle, the second rotation angle, and the radius of the first end (21). [15] Printing device according to claim 14, wherein the detection module (300) calculates the radius of the first end (21) of the object (2) to be printed based on the predetermined height and the first adjustment height:: The detection module (300) serves to calculate the radius of the first end (21) using a minimum distance between the first rotary wheel (2111) and the main platform (100), the radius of the first rotary wheel (2111), the distance between the rotating shafts of the two first rotary wheels (2111), the specified height, and the first adjustment height.

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