Device and method for forming three-dimensional object and non-volatile storage medium

Abstract

The present application provides a device for forming a three-dimensional object, comprising: a forming platform, wherein a three-dimensional object is formed on the forming platform; a construction surface, wherein a print area is defined between the forming platform and the construction surface, and the print area is adapted to be filled with a polymerizable liquid; an optical module, used for irradiating the print area to form a solid or semi-solid polymer from the polymerizable liquid, wherein during printing, the forming platform is controlled to move, so that the solid or semi-solid polymer is separated from the construction surface layer by layer; a detection assembly, used for acquiring a change state of the solid or semi-solid polymer during separation from the construction surface; and a controller, configured to be associated with the detection assembly, and used for controlling, on the basis of the change state, the forming platform to move, so as to form the three-dimensional object from the solid or semi-solid polymer. The present application solves the technical problem that it is difficult to adapt to different printing situations when a solid or semi-solid polymer is separated from the construction surface by a fixed separation strategy.

Description

Device, method and non-volatile storage medium for forming three-dimensional objects

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on July 25, 2023, with application number 202310923499.2 and invention name “Device, method and non-volatile storage medium for forming three-dimensional objects,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0002] The present disclosure relates to the field of 3D printing technology, and in particular to an apparatus and method for forming a three-dimensional object and a non-volatile storage medium. Background Art

[0003] Digital light processing technology leverages the rapid curing properties of photopolymer materials under ultraviolet light. Using a high-resolution digital light processing chip, UV light is projected onto the print platform to create a single image for each layer. This process cures the photopolymer liquid layer by layer, forming a solid or semi-solid polymer layer, thereby creating a three-dimensional object. Printing each layer requires precise control of the lifting platform to separate each cured layer, completely separating the cured layer from the build platform.

[0004] In related technologies, separating each solidified layer typically uses a fixed, pre-set separation strategy, separating the solidified layers at a preset speed. Because three-dimensional objects require multiple solidified layers during molding, and because three-dimensional objects vary in size, using a fixed separation strategy for separating solidified layers is difficult to adapt to various printing scenarios.

[0005] To address the above-mentioned problems, no effective solutions have been proposed so far.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide an apparatus, method, and non-volatile storage medium for forming a three-dimensional object, to at least solve the technical problem of being difficult to adapt to various printing situations when separating a solid or semi-solid polymer from a construction surface using a fixed separation strategy.

[0008] According to one aspect of an embodiment of the present disclosure, there is provided an apparatus for forming a three-dimensional object, comprising: a forming platform on which the three-dimensional object is formed; a construction surface, a printing area being defined between the forming platform and the construction surface, the printing area being configured to be filled with a polymerizable liquid; an optical module being configured to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during a printing process, controlling the movement of the forming platform to separate the solid or semi-solid polymer from the construction surface layer by layer; a detection component being configured to obtain a changing state during the separation process of the solid or semi-solid polymer from the construction surface; a controller being configured to be associated with the detection component; and being configured to control the movement of the forming platform according to the changing state to form the three-dimensional object from the solid or semi-solid polymer.

[0009] Optionally, the controller is configured to: control the movement speed of the building platform relative to the construction surface to increase, decrease or remain unchanged according to the changing state; or control the building platform to start or stop movement relative to the construction surface according to the changing state.

[0010] Optionally, the device further comprises a driver, which is associated with the controller and configured to drive the forming platform to move.

[0011] Optionally, the detection component includes one or more of a force sensor, a displacement sensor, an optical sensor, a visual sensor, an ultrasonic sensor, and a liquid level sensor; the change state is obtained by one or more of the following: multiple force values, shortest distances, optical signals, image matching results, liquid level data and / or acoustic wave signals.

[0012] Optionally, the detection component includes a force sensor, and the controller is configured to: obtain multiple force values ​​detected by the force sensor and applied to the solid or semi-solid polymer at different times; wherein the force sensor is configured to obtain the force value applied to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface according to the changing trends of the multiple force values.

[0013] Optionally, the detection component includes a displacement sensor, and the controller is configured to: obtain the shortest distance between the solid or semi-solid polymer and the construction surface detected by the displacement sensor; wherein the displacement sensor is configured to obtain the shortest distance from the construction surface to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the shortest distance and a preset distance threshold.

[0014] Optionally, the detection component includes an optical sensor, and the controller is configured to: obtain an optical signal detected by the optical sensor; wherein the optical sensor is configured to block the path of light from the construction surface at least partially during the printing process of a solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the optical signal of the optical sensor.

[0015] Optionally, the detection component includes a visual sensor, and the controller is configured to: obtain image data detected by the visual sensor, and match the image data according to a preconfigured image database to obtain an image matching result; wherein the visual sensor is configured to obtain images of the solid or semi-solid polymer and the construction surface during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the image matching result.

[0016] Optionally, the detection component includes an ultrasonic sensor, and the controller is configured to: obtain a sound wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured so that during the printing process of the solid or semi-solid polymer, the path of the sound wave is blocked by the solid or semi-solid polymer at least partially; and control the movement speed of the forming platform relative to the construction surface based on the sound wave signal of the ultrasonic sensor.

[0017] Optionally, the detection component includes a liquid level sensor, and the controller is configured to: obtain liquid level data detected by the liquid level sensor; wherein the liquid level sensor is configured to obtain liquid level data of the polymerizable liquid during the printing process of a solid or semi-solid polymer; obtain the upper surface pressure of the construction surface based on the liquid level data, and obtain the lower surface pressure of the construction surface; and control the movement speed of the forming platform relative to the construction surface based on the upper surface pressure and the lower surface pressure.

[0018] Optionally, the movement speed of the forming platform relative to the construction surface is controlled according to the changing trends of multiple force values, including: when the changing trend is a gentle trend and the largest force value among the multiple force values ​​is within a first predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the changing trend is a downward trend and the force value at the current moment is within a second predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the changing trend is an upward trend and the force value at the current moment is within a third predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

[0019] Optionally, the controller is configured to: determine a range of a plurality of force values; and when the range is within a fourth predetermined range, determine that the change trend is a gentle trend.

[0020] Optionally, the controller is configured to: sort multiple force values ​​into a force value sequence according to multiple moments; determine the change trend as a downward trend when the values ​​in the force value sequence meet the downward condition; and determine the change trend as an upward trend when the values ​​in the force value sequence meet the upward condition.

[0021] Optionally, the controller is configured to: perform curve fitting based on multiple moments and multiple force values ​​to obtain a force value curve; when the force value curve meets the descending condition, determine the change trend as a descending trend; when the force value curve meets the ascending condition, determine the change trend as an ascending trend.

[0022] Optionally, the movement speed of the building platform relative to the construction surface is controlled based on the shortest distance and a preset distance threshold, including: when the shortest distance is greater than the distance threshold, controlling the movement speed of the building platform relative to the construction surface to increase; when the shortest distance is less than the distance threshold, controlling the movement speed of the building platform relative to the construction surface to decrease.

[0023] Optionally, the movement speed of the forming platform relative to the construction surface is controlled according to the detection signal of the optical sensor, including: when the optical signal of the optical sensor is received, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the optical signal of the optical sensor is not received, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged.

[0024] Optionally, based on the image matching result, the movement speed of the forming platform relative to the construction surface is controlled, including: when the image matching result meets the preset acceleration condition, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the image matching result meets the preset deceleration condition, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

[0025] Optionally, the movement speed of the forming platform relative to the construction surface is controlled according to the sound wave signal of the ultrasonic sensor, including: when the reflected echo of the ultrasonic sensor is received, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged; when the reflected echo of the ultrasonic sensor is not received, the movement speed of the forming platform relative to the construction surface is controlled to increase.

[0026] Optionally, the movement speed of the forming platform relative to the construction surface is controlled according to the upper surface pressure and the lower surface pressure, including: when the upper surface pressure is greater than the lower surface pressure, controlling the movement speed of the forming platform relative to the construction surface to decrease or remain unchanged; when the upper surface pressure is less than or equal to the lower surface pressure, controlling the movement speed of the forming platform relative to the construction surface to increase.

[0027] Optionally, the controller is configured to: when controlling the movement speed of the building platform relative to the construction surface to increase or decrease, control the absolute value of the acceleration to be within a predetermined acceleration threshold range.

[0028] Optionally, the controller is configured to: detect the current solidified layer type of the three-dimensional object; and control the movement speed of the forming platform relative to the construction surface to decrease or remain unchanged when the current solidified layer type meets the preset type.

[0029] According to another aspect of an embodiment of the present disclosure, a method for forming a three-dimensional object is also provided, including: controlling a forming platform to move away from a construction surface or controlling the forming platform to reciprocate relative to the construction surface to form a three-dimensional object from a solid or semi-solid polymer, and: obtaining a changing state detected by a detection component during the separation of the solid or semi-solid polymer from the construction surface; and controlling the movement of the forming platform according to the changing state.

[0030] According to another aspect of an embodiment of the present disclosure, a non-volatile storage medium is provided, which includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above methods for forming a three-dimensional object.

[0031] According to another aspect of an embodiment of the present disclosure, there is provided an apparatus for forming a three-dimensional object, comprising: a forming platform, wherein the three-dimensional object is formed on the forming platform; a release film having a construction surface; an optical module configured to irradiate a printing area so that a polymerizable liquid between the forming platform and the construction surface forms a solid or semi-solid polymer; a detection component configured to obtain a changing state during the separation process of the solid or semi-solid polymer from the construction surface; a controller configured to be associated with the detection component; and configured to control the movement of the forming platform according to the changing state.

[0032] In an embodiment of the present disclosure, a three-dimensional object is formed on a forming platform; a printing area is defined between the forming platform and the construction surface, and the printing area is configured to be filled with a polymerizable liquid; the optical module is configured to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the movement of the forming platform is controlled to separate the solid or semi-solid polymer from the construction surface layer by layer; the detection component is configured to obtain the changing state of the solid or semi-solid polymer during the separation process from the construction surface; the controller is configured to be associated with the detection component; and is configured to control the movement of the forming platform according to the changing state to form a three-dimensional object from the solid or semi-solid polymer, thereby achieving the purpose of comprehensively considering the changing state of the solid or semi-solid during the separation process to control the movement of the forming platform to form a three-dimensional object, thereby achieving the technical effect of separating the solid or semi-solid polymer from the construction surface using different separation strategies under different printing conditions, thereby solving the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the construction surface using a fixed separation strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0034] FIG1 is a schematic structural diagram of an apparatus for forming a three-dimensional object according to an embodiment of the present disclosure;

[0035] FIG2 shows a hardware structure block diagram of a computer terminal for a method of forming a three-dimensional object;

[0036] FIG3 is a schematic flow chart of a method for forming a three-dimensional object according to an embodiment of the present disclosure;

[0037] FIG4 shows the variation trend of the force detected by the sensor.

[0038] Among them, the above drawings include the following figure marks: 11, forming platform; 12, material tray; 13, optical module. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] In related art, different motion strategies can be pre-set for the material of the solidified layer to be separated before separation begins. The motion strategy includes running a fixed displacement at a fixed speed to separate the solidified layer. When separating the solidified layer using a pre-set motion strategy, the solidified layers vary in size, and using a fixed separation strategy to separate the solidified layers is difficult to adapt to various printing situations. For example, if the solidified layer is separated from the construction surface at too fast a speed, it may damage the solidified layer or cause parts to fall off, resulting in printing failure; if the solidified layer is separated at too slow a speed, the separation efficiency is too low and the printing speed is too slow.

[0042] In order to solve the above problems, according to an embodiment of the present disclosure, there is provided an apparatus for forming a three-dimensional object, comprising: a forming platform, on which the three-dimensional object is formed; a construction surface, a printing area is defined between the forming platform and the construction surface, and the printing area is configured to be filled with a polymerizable liquid; an optical module, configured to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the movement of the forming platform is controlled to separate the solid or semi-solid polymer from the construction surface layer by layer; a detection component, configured to obtain a changing state during the separation process of the solid or semi-solid polymer from the construction surface; a controller, configured to be associated with the detection component; and configured to control the movement of the forming platform according to the changing state to form a three-dimensional object from the solid or semi-solid polymer.

[0043] When performing 3D printing, a 3D model of the printout can be first established, and then the 3D model of the printout can be sliced ​​layer by layer. When printing, the first layer of the sliced ​​model can be started. Based on the previously successfully printed sliced ​​model, each layer of the sliced ​​model can be printed in sequence, and finally a complete 3D model of the printout, i.e., the final three-dimensional object, is obtained. FIG1 is a structural schematic diagram of an apparatus for forming a three-dimensional object provided in accordance with an embodiment of the present disclosure. As shown in FIG1 , the apparatus for forming a three-dimensional object provided in accordance with an embodiment of the present disclosure, when printing each layer of the sliced ​​model, can generate a projected image according to the shape of the sliced ​​model layer. The optical module 13 can specifically be a light-emitting mechanism, which can illuminate the projected image onto the printing area in the material tray 12 filled with a polymerizable liquid. The polymerizable liquid will solidify between the forming platform 11 and the construction surface under the illumination of the light emitted by the light-emitting mechanism to form a solid or semi-solid polymer that matches the projected image. At this time, the movement of the forming platform 11 can be controlled to separate the solid or semi-solid polymer from the construction surface layer by layer.

[0044] Among them, the light-emitting mechanism involved in the present disclosure can be any display component in the field that can display exposure image information, specifically a laser display device that can display a projected image, or a projection device that can project a projected image, for example, it can be a DLP projection module, an LCD projection module, an LCOS (Liquid Crystal On Silicon) projection module, an OLED projection module, a micro LED (micro light emitting diode) module, a Mini-Led (mini light emitting diode, sub-millimeter light emitting diode) module, an LCD module, an OLED module and an SXRD (Silicon X-Tal Re-Flective Display, silicon crystal reflective display) projection module. Any one or any combination thereof can also be a micro OLED module (Micro-oled module) or a mini OLED module (Mini-oled module).

[0045] Among them, the construction surface is the surface where the light contacts the polymerizable liquid, and the polymerizable liquid can be a resin. As shown in Figure 1, when the light-curing 3D printing is performed by the downward projection method, the light is irradiated through the bottom of the material tray onto the resin at the bottom of the material tray, and a solidified layer is formed between the molding platform and the bottom of the material tray. At this time, the construction surface can be the upper surface of the release film provided at the bottom of the material tray. In addition, the light-curing printing can also be performed by the upward projection method, and the light is irradiated onto the resin from above. At this time, the construction surface is the surface where the resin contacts the light. It should be noted that the device for forming a three-dimensional object provided by the present disclosure can adopt any of the above-mentioned projection methods.

[0046] During the separation of a solid or semi-solid polymer from the build surface, a detection component can be used to detect the changing state of the solid or semi-solid material. Based on this state, the speed, direction, and acceleration of the build platform can be adjusted to accommodate various printing situations. The build platform can be capable of either reciprocating or unidirectional motion. Specifically, when it is detected that the solidified layer is tightly bonded to the build surface, the build platform's motion can be slowed down to prevent printing failure. When it is detected that the solidified layer is loosely bonded to the build surface and easily separated, the build platform's motion can be accelerated to improve separation efficiency and thus increase printing speed.

[0047] Therefore, in an embodiment of the present disclosure, a three-dimensional object is formed on a forming platform; a printing area is defined between the forming platform and the building surface, and the printing area is configured to be filled with a polymerizable liquid; the optical module is configured to illuminate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the forming platform is controlled to move so that the solid or semi-solid polymer is separated from the building surface layer by layer; the detection component is configured to obtain a changing state of the solid or semi-solid polymer during the separation process; the controller is configured to be associated with the detection component; and is configured to control the movement of the forming platform according to the changing state to form a three-dimensional object from the solid or semi-solid polymer, thereby achieving the purpose of comprehensively considering the changing state of the solid or semi-solid during the separation process to control the movement of the forming platform to form the three-dimensional object, thereby achieving the technical effect of using different separation strategies to separate the solid or semi-solid polymer from the building surface in different printing situations, thereby solving the technical problem that it is difficult to adapt to multiple printing situations when using a fixed separation strategy to separate the solid or semi-solid polymer from the building surface. The printing method of the present disclosure is advantageous for peeling the current printed layer (the most recently formed layer of the printed portion of the printed object on the forming platform, or all layers of the printed object formed on the forming platform) from the building surface.

[0048] As an optional embodiment, the controller can be configured to: control the movement speed of the forming platform relative to the construction surface to increase, decrease, or remain unchanged according to the changing state; or control the forming platform to start or stop moving relative to the construction surface according to the changing state.

[0049] Optionally, during the separation of a solid or semi-solid polymer from the build surface, a detection component can be used to detect the changing state of the solid or semi-solid. Based on this state, the speed, direction, and acceleration of the build platform can be adjusted to accommodate various printing situations. The build platform can be capable of either reciprocating or unidirectional motion. Specifically, when it is detected that the solidified layer is tightly bonded to the build surface, the movement of the build platform can be slowed down to prevent printing failure. When it is detected that the solidified layer is loosely bonded to the build surface and easily separates, the movement of the build platform can be accelerated to improve separation efficiency and thus increase printing speed.

[0050] As an optional embodiment, the device further includes a driver, which is associated with the controller and configured to drive the forming platform to move.

[0051] Optionally, the apparatus for forming a three-dimensional object further includes a driver. The controller may be associated with the driver, which drives the motion of the build platform. The driver may include a servo motor, a linear guide, etc., so that the build platform moves along the guide under the drive of the motor. A grating ruler may also be configured to achieve high-precision micron-level control.

[0052] As an optional embodiment, the detection component includes one or more of a force sensor, a displacement sensor, an optical sensor, a visual sensor, an ultrasonic sensor, and a liquid level sensor; the changing state is obtained by one or more of the following: multiple force values, shortest distances, optical signals, image matching results, liquid level data and / or acoustic wave signals.

[0053] Optionally, one or more types of sensors can be provided to detect different information during the separation process and determine the changing state of the solid or semi-solid. A force sensor can detect the magnitude of the force applied to the solidified layer, thereby determining the changing state of the solidified layer during the separation process. A displacement sensor can detect the shortest distance between the solidified layer and the construction surface during the separation process, thereby determining the changing state of the solidified layer during the separation process. An optical sensor can determine the position of the construction surface or the solidified layer by receiving an optical signal, thereby determining the changing state of the solidified layer during the separation process. A visual sensor can capture images of the solidified layer and the construction surface, and identify or match the images, and determine the changing state of the solidified layer during the separation process based on the image recognition or image matching results. An ultrasonic sensor can capture acoustic signals to determine the position of the construction surface or the solidified layer, thereby determining the changing state of the solidified layer during the separation process. A liquid level sensor can capture liquid level data of the polymerizable liquid in the tray, determine the shape of the release film, and determine the position of the construction surface or the solidified layer, thereby determining the changing state of the solidified layer during the separation process.

[0054] It should be noted that the detection component may include one or more sensors mentioned above, and the sensors collect the one or more data mentioned above, and analyze the changing state of the solidified layer during the separation process based on the collected data.

[0055] The following describes how to analyze the changing state of the solidified layer during the separation process and control the speed of the build platform relative to the build surface based on multiple force values, minimum distances, optical signals, image matching results, acoustic signals, and liquid level data collected by force sensors, displacement sensors, optical sensors, visual sensors, ultrasonic sensors, and liquid level sensors. These methods can be used independently or in combination to more accurately control the movement of the build platform, achieve better fit for different printing situations, and adjust the build platform's movement speed.

[0056] As an optional embodiment, the detection component includes a force sensor, and the controller is configured to: obtain multiple force values ​​detected by the force sensor and applied to the solid or semi-solid polymer at different times; wherein the force sensor is configured to obtain the force value applied to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface according to the changing trends of the multiple force values.

[0057] Optionally, the force sensor can be set on the motion axis (Z axis) of the forming platform. Since the current solidified layer is usually solidified on the basis of the previous solidified layer during printing, the three-dimensional object that has been printed currently (hereinafter referred to as the current three-dimensional object) is connected to the forming platform. At this time, the force sensor can measure multiple force values ​​at different times. The measured force value is the superposition value of the gravity of the current three-dimensional object and the adhesion force of the release film to the current three-dimensional object. Since the action of force is mutual, the force sensor can also be set on the material tray. At this time, the change state of the solidified layer during the separation process can be judged according to the absolute value of the detected force. It should be noted that since the gravity of the current three-dimensional object does not change during the separation process, it can be considered that the change trend of multiple force values ​​indicates the change trend of the adhesion force of the release film to the three-dimensional object. After collecting multiple force values, the change trend of multiple force values ​​over time can be analyzed to judge the tightness of the adhesion of the current three-dimensional object to the construction surface, and then adjust the movement speed of the forming platform relative to the construction surface.

[0058] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled according to the change trends of multiple force values, including: when the change trend is a gentle trend and the largest force value among the multiple force values ​​is within a first predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the change trend is a downward trend and the force value at the current moment is within a second predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the change trend is an upward trend and the force value at the current moment is within a third predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

[0059] Optionally, the change trend can be classified as a steady trend, a decreasing trend, and an increasing trend. When the change trend is a steady trend, it can indicate that the adhesion between the current three-dimensional object and the construction surface is relatively uniform. If the maximum force value among the multiple force values ​​is still within the first predetermined range, it indicates that the adhesion between the current three-dimensional object and the construction surface is relatively low. In this case, it can be considered that the separation of the current three-dimensional object from the construction surface is relatively smooth, and the movement speed of the building platform relative to the construction surface can be accelerated. When the change trend is a decreasing trend, it can indicate that the adhesion between the current three-dimensional object and the construction surface is gradually decreasing, and the separation is becoming smoother. In this case, if the force value at the current moment is within the second predetermined range, it can be considered that the current three-dimensional object is separated from the construction surface, and the movement speed of the building platform relative to the construction surface can be accelerated. When the change trend is an increasing trend, it can indicate that the adhesion between the current three-dimensional object and the construction surface is relatively high. In this case, if the force value at the current moment is within the third predetermined range, it can be considered that the separation of the current three-dimensional object from the construction surface is problematic, and the movement speed of the building platform relative to the construction surface can be slowed down to ensure that the current three-dimensional object is not damaged. It should be noted that, as long as multiple force values ​​meet the separation conditions under the above-mentioned gentle trend and the downward trend, when the solidified layer is not completely separated, accelerated separation can also be performed to improve the separation efficiency. As shown in Figure 4, in an exemplary example, the sensor detects that the adhesion force is F1 at time T1 and F2 at time T2, wherein T2 is greater than T1, and F2 is equal to or substantially equal to F1, then the change trend is classified as a steady trend. In another exemplary example, the sensor detects that the adhesion force is F1 at time T1 and F2 at time T2, wherein T2 is greater than T1 and F2 is less than F1, then the change trend is classified as a downward trend. In yet another exemplary example, the sensor detects that the adhesion force is F1 at time T1 and F2 at time T2, wherein T2 is greater than T1 and F2 is greater than F1, then the change trend is classified as an upward trend.

[0060] As an optional embodiment, the controller is configured to: determine a range of multiple force values; and when the range is within a fourth predetermined range, determine the change trend as a gentle trend. Alternatively, the change trend of the multiple separation forces over time can be determined by determining the range of the multiple force values, where the range is the difference between the maximum and minimum values. When the range is within the fourth predetermined range, the change trend of the multiple separation forces can be determined as a gentle trend.

[0061] As an optional embodiment, the controller is configured to: sort multiple force values ​​into a force value sequence according to multiple moments; when the values ​​in the force value sequence meet the descending condition, determine the change trend as a descending trend; when the values ​​in the force value sequence meet the ascending condition, determine the change trend as an ascending trend.

[0062] Optionally, multiple force values ​​can be sorted according to corresponding multiple moments to obtain a force value sequence. If the values ​​in the force value sequence meet the decreasing condition and are a sequence that decreases over time, the change trend can be determined to be a decreasing trend; if the values ​​in the force value sequence meet the increasing condition and are a sequence that increases over time, the change trend can be determined to be an increasing trend.

[0063] As an optional embodiment, the controller is configured to: perform curve fitting based on multiple moments and multiple force values ​​to obtain a force value curve; when the force value curve meets the descending condition, determine the change trend as a descending trend; when the force value curve meets the ascending condition, determine the change trend as an ascending trend.

[0064] Optionally, multiple force values ​​can be curve-fitted to obtain a force curve. If the force curve meets a decreasing condition and is a curve that decreases over time, the trend of change can be determined to be a decreasing trend; if the force curve meets an increasing condition and is a sequence that increases over time, the trend of change can be determined to be an increasing trend. Specifically, whether the force curve is a decreasing trend or an increasing trend can be determined based on the slope of the force curve within a certain period of time.

[0065] The above three optional embodiments can also be combined for judgment, that is, first determine whether the change trend of multiple force values ​​is a gentle trend. If it is not a gentle trend, then determine whether the change trend is a downward trend or an upward trend according to the second or third optional embodiment.

[0066] Compared with the related art, the above method of adjusting the movement speed of the forming platform according to the force value applies more judgment and detection methods, which effectively protects the material tray; and when applied to larger and smaller solidified layers, two different effects appear, thereby achieving a better speed-up effect. Specifically, for solidified layers with smaller formats, the change trend of the multiple force values ​​detected by the above method is generally a gentle trend, and rapid separation can be performed when the corresponding threshold conditions are met, thereby improving the separation speed of the small-format solidified layer. For solidified layers with larger formats, the change trend of the multiple force values ​​detected by the above method is generally a downward trend, and then detects whether the current force value has reached an inflection point, that is, determines whether the change trend is a slowdown in the downward trend and enters a gentle trend; if an inflection point is detected, that is, it is determined that the current force value is less than a certain threshold, then rapid separation can be performed, thereby improving the efficiency of large-format solidified layers.

[0067] As an optional embodiment, the detection component includes a displacement sensor, and the controller is configured to: obtain the shortest distance between the solid or semi-solid polymer and the construction surface detected by the displacement sensor; wherein the displacement sensor is configured to obtain the shortest distance from the construction surface to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; and control the movement speed of the molding platform relative to the construction surface based on the shortest distance and a preset distance threshold. Optionally, in addition to the force sensor, the shortest distance between the solidified layer and the construction surface can be detected by the displacement sensor to determine the degree of separation between the solidified layer and the construction surface, thereby controlling the movement speed of the molding platform relative to the construction surface. The displacement sensor can be set at the bottom of the material tray or at other locations, as long as it can monitor the shortest distance between the solidified layer and the construction surface.

[0068] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled based on the shortest distance and a preset distance threshold, including: when the shortest distance is greater than the distance threshold, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the shortest distance is less than the distance threshold, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

[0069] Alternatively, when the shortest distance between the solidified layer and the construction surface is greater than a predetermined distance threshold, it can be determined that the solidified layer and the construction surface are not tightly bonded and have separated by a large distance. In this case, the speed of the building platform relative to the construction surface can be controlled to increase. When the shortest distance between the solidified layer and the construction surface is less than the predetermined distance threshold, it can be determined that the solidified layer and the construction surface are tightly bonded. If the solidified layer and the construction surface are separated too quickly, it may damage the solidified layer or separate from the previously formed three-dimensional object, resulting in the loss of parts. In this case, the speed of the building platform relative to the construction surface can be controlled to decrease, separating the solidified layer and the construction surface in a more stable motion state. It should be noted that as long as the shortest distance meets the above-mentioned acceleration conditions, accelerated separation can also be performed even when the solidified layer is not completely separated. At the same time, the predetermined distance threshold can also be set to multiple distance thresholds, forming multiple distance ranges. When the shortest distance is within a certain distance range, the speed of the building platform is controlled to decrease; when the shortest distance is within another distance range, the speed of the building platform is maintained; and when the shortest distance is within another distance range, the speed of the building platform is controlled to increase.

[0070] As an optional embodiment, the detection component includes an optical sensor, and the controller is configured to: obtain an optical signal detected by the optical sensor; wherein the optical sensor is configured to block the path of light by the construction surface at least partially during the printing process of a solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the optical signal of the optical sensor.

[0071] Alternatively, an optical sensor can be used to detect the position of the build surface to determine the degree of separation between the solidified layer and the build surface, thereby controlling the speed of the build platform relative to the build surface. In some cases, due to the adhesive force between the build surface and the solidified layer, the build surface will bulge upward or downward relative to a completely horizontal state. The greater the adhesive force, the higher the bulge of the build surface. In this case, optical sensors can be set on both sides of the bottom of the tray, with one side emitting an optical signal and the other side receiving an optical signal. When the bulge of the build surface exceeds the position where the optical sensor is set, the optical signal emitted by the optical sensor will be blocked by the build surface. Conversely, when the bulge of the build surface does not exceed the position where the optical sensor is set, the optical signal will not be blocked by the build surface. Therefore, the optical signal from the optical sensor can be used to determine the adhesive force between the build surface and the solidified layer, thereby controlling the speed of the build platform relative to the build surface. It should be noted that the optical sensor can be an infrared sensor, and the optical sensor can also be set at other locations as long as it can monitor the deformation of the build surface.

[0072] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled according to the detection signal of the optical sensor, including: when the optical signal of the optical sensor is received, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the optical signal of the optical sensor is not received, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged.

[0073] Alternatively, in the above situation, when the protruding portion of the build surface does not exceed the position where the optical sensor is positioned, the optical signal will not be blocked by the build surface, and the optical signal from the optical sensor can be received. It can be determined that the adhesion between the build surface and the solidified layer is low, and the speed of the build platform relative to the build surface can be controlled to increase. Conversely, when the protruding portion of the build surface exceeds the position where the optical sensor is positioned, the optical signal from the optical sensor will be blocked by the build surface, and it can be determined that the adhesion between the build surface and the solidified layer is high, and the speed of the build platform relative to the build surface can be controlled to decrease or remain unchanged. Of course, multiple sets of optical sensors can also be provided to detect the height of the protruding portion of the build surface, thereby more accurately controlling the speed of the build surface based on the height of the protruding portion.

[0074] As an optional embodiment, the detection component includes a visual sensor, and the controller is configured to: obtain image data detected by the visual sensor, and match the image data according to a preconfigured image database to obtain an image matching result; wherein the visual sensor is configured to obtain images of the solid or semi-solid polymer and the construction surface during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the image matching result.

[0075] Optionally, a visual sensor can be used to detect image data of the solidified layer and the build surface, and the image data can be matched or identified against a preconfigured image database. The image data can be used to determine the degree of separation between the solidified layer and the build surface, and to control the speed of the build platform relative to the build surface. The visual sensor can be a camera, mounted at the bottom of the tray or elsewhere, as long as it can capture image data of both the solidified layer and the build surface.

[0076] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled according to the image matching result, including: when the image matching result meets the preset acceleration condition, the movement speed of the forming platform relative to the construction surface is controlled to increase; when the image matching result meets the preset deceleration condition, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

[0077] Optionally, a pre-set image database may store multiple images, along with the corresponding degrees of separation between the solidified layer and the build surface. When the detected image data has a very high similarity to one of the images, for example, a similarity of 90% or greater, the image is determined to be a matching image, and the degree of separation corresponding to the matched image is the image matching result for the detected image data. When the image matching result meets a preset acceleration condition, the degree of separation between the solidified layer and the build surface is relatively large. Specifically, this may be due to a gap between the solidified layer and the liquid surface in the image, meaning that the solidified layer has left the liquid surface. This can increase the speed of the build platform relative to the build surface. When the image matching result meets a preset deceleration condition, the degree of separation between the solidified layer and the build surface is relatively small, and the speed of the build platform relative to the build surface can be decreased.

[0078] As an optional embodiment, the detection component includes an ultrasonic sensor, and the controller is configured to: obtain the sound wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to block the path of the sound wave by the solid or semi-solid polymer at least partially during the printing process of the solid or semi-solid polymer; and control the movement speed of the forming platform relative to the construction surface based on the sound wave signal of the ultrasonic sensor.

[0079] Alternatively, when the ultrasonic wave encounters impurities or interfaces, it will generate significant reflection, forming a reflected echo. If the solidified layer has not separated from the build plane and has not yet left the surface of the remaining polymerizable liquid in the print area, the liquid surface will contain both the solidified layer and the liquid, and the ultrasonic sensor will detect the reflected echo. However, if the solidified layer separates from the build plane and leaves the liquid surface in the print area, only the polymerizable liquid remains at the liquid surface, and the ultrasonic sensor will not detect the reflected echo. Therefore, the ultrasonic sensor can detect the degree of separation between the solidified layer and the liquid surface, and thus the degree of separation between the solidified layer and the build surface, thereby controlling the movement speed of the build platform relative to the build surface.

[0080] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled according to the sound wave signal of the ultrasonic sensor, including: when the reflected echo of the ultrasonic sensor is received, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged; when the reflected echo of the ultrasonic sensor is not received, the movement speed of the forming platform relative to the construction surface is controlled to increase.

[0081] Optionally, when the ultrasonic sensor detects a reflected echo, the solidified layer has not escaped the surface of the remaining polymerizable liquid in the print area and has not separated from the build plane, and the speed of the build platform relative to the build surface is controlled to decrease or remain unchanged. Conversely, when the ultrasonic sensor does not detect a reflected echo, the solidified layer has escaped the surface of the liquid in the print area and has separated from the build plane, and only polymerizable liquid remains at the surface of the liquid, and the speed of the build platform relative to the build surface is controlled to increase.

[0082] As an optional embodiment, the detection component includes a liquid level sensor, and the controller is configured to: obtain liquid level data detected by the liquid level sensor; wherein the liquid level sensor is configured to obtain liquid level data of the polymerizable liquid during the printing process of a solid or semi-solid polymer; obtain the upper surface pressure of the construction surface based on the liquid level data, and obtain the lower surface pressure of the construction surface; and control the movement speed of the forming platform relative to the construction surface based on the upper surface pressure and the lower surface pressure.

[0083] Optionally, some 3D printers incorporate an inflation device beneath the release film. A polymerizable liquid is placed above the release film, and the film takes on different shapes under the influence of upper and lower surface pressures. Different degrees of separation between the solidified layer and the build surface result in varying pressures on the release film's upper surface. Consequently, with the lower surface pressure remaining constant, the release film's shape also varies. A liquid level sensor, such as a probe or laser detector, can detect the level of the polymerizable liquid and determine its volume and weight, thereby determining the pressure exerted by the liquid on the release film—the upper surface pressure. This pressure, combined with the air pressure below the release film, can then be used to determine the lower surface pressure.

[0084] As an optional embodiment, the movement speed of the forming platform relative to the construction surface is controlled according to the upper surface pressure and the lower surface pressure, including: when the upper surface pressure is greater than the lower surface pressure, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged; when the upper surface pressure is less than or equal to the lower surface pressure, the movement speed of the forming platform relative to the construction surface is controlled to increase.

[0085] Optionally, when the upper surface pressure is greater than the lower surface pressure, the degree of separation between the solidified layer and the construction surface is smaller, and the movement speed of the molding platform relative to the construction surface can be controlled to decrease or remain unchanged; when the upper surface pressure is less than or equal to the lower surface pressure, the degree of separation between the solidified layer and the construction surface is larger, and the movement speed of the molding platform relative to the construction surface can be controlled to increase.

[0086] As an optional embodiment, the controller is configured to: detect the current solidified layer type of the three-dimensional object; and when the current solidified layer type meets the preset type, control the movement speed of the forming platform relative to the construction surface to decrease or remain unchanged.

[0087] The solidified layers of a 3D object can be categorized by their position within the object, resulting in two types of solidified layers: base layers and common solidified layers. Base layers are the solidified layers at the bottom of the object, serving as the base, while common solidified layers are the other solidified layers that make up the object.

[0088] Optionally, the type of the current solidified layer can be determined. When it is detected that the current solidified layer type is a substrate layer, a relatively slow and stable speed is used to control the movement of the forming platform relative to the construction surface without accelerating the separation speed. This can obtain a smoother substrate layer, which is beneficial to the forming of the entire three-dimensional object.

[0089] As an optional embodiment, the controller is configured to control the absolute value of the acceleration to be within a predetermined acceleration threshold range when increasing or decreasing the speed of the build platform relative to the build surface. Optionally, when adjusting the speed of the build platform relative to the build surface, the absolute value of the acceleration needs to be controlled to be within the predetermined acceleration threshold range to prevent excessive acceleration or deceleration, thereby facilitating separation of the solidified layers.

[0090] Compared with related rapid separation technologies, the present disclosure adopts a method of real-time monitoring of sensor values, which can save time and improve efficiency; at the same time, it adopts a multiple judgment method, which can quickly and accurately determine the separation point.

[0091] According to an embodiment of the present disclosure, a method embodiment for forming a three-dimensional object is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0092] The method embodiment provided in the first embodiment of the present disclosure can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 2 shows a hardware structure block diagram of a computer terminal for a method of forming a three-dimensional object. As shown in Figure 2, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used in the figure to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that the structure shown in Figure 1 is only for illustration and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 may also include more or fewer components than those shown in Figure 2, or have a configuration different from that shown in Figure 2.

[0093] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computer terminal 10. As discussed in the embodiments of the present disclosure, the data processing circuitry functions as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0094] The memory 104 can be configured to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for forming a three-dimensional object in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the method for forming a three-dimensional object of the above-mentioned application. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0095] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0096] FIG3 is a flow chart of a method for forming a three-dimensional object according to an embodiment of the present disclosure. As shown in FIG3 , the method includes the following steps:

[0097] In step S202 , the forming platform is controlled to move away from the building surface or to reciprocate relative to the building surface to form a three-dimensional object from a solid or semi-solid polymer.

[0098] Step S204 : obtaining the changing state of the solid or semi-solid polymer during the separation process from the construction surface detected by the detection component.

[0099] Step S206: Control the movement of the molding platform according to the changed state.

[0100] In the embodiment of the present disclosure, during the printing process, the movement of the forming platform is controlled to separate the solid or semi-solid polymer from the construction surface layer by layer; the changing state of the solid or semi-solid polymer during the separation process from the construction surface is obtained by the detection component; and the movement of the forming platform is controlled by the controller according to the changing state to form a three-dimensional object from the solid or semi-solid polymer, thereby achieving the purpose of comprehensively considering the changing state of the solid or semi-solid during the separation process to control the movement of the forming platform to form a three-dimensional object, thereby realizing the technical effect of separating the solid or semi-solid polymer from the construction surface by using different separation strategies under different printing conditions, thereby solving the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the construction surface by using a fixed separation strategy.

[0101] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that the method for forming a three-dimensional object according to the above embodiment can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the existing technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present disclosure.

[0103] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0104] The embodiments of the present disclosure further provide a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium may be configured to store program codes executed by the method for forming a three-dimensional object provided in the above embodiment.

[0105] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0106] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: controlling the forming platform to move away from the construction surface or controlling the forming platform to reciprocate relative to the construction surface to form a three-dimensional object from a solid or semi-solid polymer, and: obtaining a changing state detected by the detection component during the separation of the solid or semi-solid polymer from the construction surface; and controlling the movement of the forming platform according to the changing state.

[0107] The serial numbers of the above-mentioned embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0108] In the above embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0110] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0111] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0112] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code.

[0113] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure. Industrial Applicability

[0114] The present disclosure is applied to the field of 3D printing technology. In an embodiment of the present disclosure, a three-dimensional object is formed on a forming platform; a printing area is defined between the forming platform and a construction surface, and the printing area is configured to be filled with a polymerizable liquid; an optical module is configured to irradiate the printing area to form a solid or semi-solid polymer from the polymerizable liquid; during the printing process, the movement of the forming platform is controlled to separate the solid or semi-solid polymer from the construction surface layer by layer; a detection component is configured to obtain a changing state of the solid or semi-solid polymer during the separation process from the construction surface; a controller is configured to be associated with the detection component; and is configured to control the movement of the forming platform according to the changing state to form a three-dimensional object from the solid or semi-solid polymer, thereby achieving the purpose of comprehensively considering the changing state of the solid or semi-solid during the separation process to control the movement of the forming platform to form the three-dimensional object, thereby achieving the technical effect of separating the solid or semi-solid polymer from the construction surface using different separation strategies under different printing conditions, thereby solving the technical problem that it is difficult to adapt to various printing conditions when separating the solid or semi-solid polymer from the construction surface using a fixed separation strategy.

Claims

1. An apparatus for forming a three-dimensional object, comprising: a forming platform, wherein the three-dimensional object is formed on the forming platform; a building surface, wherein a printing area is defined between the build platform and the building surface, and the printing area is configured to be filled with a polymerizable liquid; an optical module configured to illuminate the print area to form a solid or semi-solid polymer from the polymerizable liquid; During the printing process, controlling the movement of the molding platform so that the solid or semi-solid polymer is separated from the construction surface layer by layer; a detection component configured to obtain a change state of the solid or semi-solid polymer during separation from the construction surface; A controller is configured to be associated with the detection component and configured to control the movement of the forming platform according to the changed state to form a three-dimensional object from the solid or semi-solid polymer.

2. The device according to claim 1, wherein: The controller is configured to: According to the change state, controlling the movement speed of the molding platform relative to the construction surface to increase or decrease or remain unchanged; or According to the changed state, the molding platform is controlled to start or stop moving relative to the construction surface.

3. The device according to claim 2, wherein: The device further includes a driver associated with the controller, wherein the driver is configured to drive the molding platform to move.

4. The device according to claim 1, wherein: The detection component includes one or more of a force sensor, a displacement sensor, an optical sensor, a visual sensor, an ultrasonic sensor, and a liquid level sensor; The change state is obtained by one or more of the following: multiple force values, shortest distance, optical signal, image matching result, liquid level data and / or sound wave signal.

5. The device according to claim 1, wherein: The detection assembly includes a force sensor, and the controller is configured to: Acquire a plurality of force values ​​detected by the force sensor and applied to the solid or semi-solid polymer at different times; wherein the force sensor is configured to acquire the force value applied to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; According to the change trends of the multiple force values, the movement speed of the molding platform relative to the construction surface is controlled. Spend.

6. The device according to claim 1, wherein: The detection component includes a displacement sensor, and the controller is configured as follows: Obtaining the shortest distance between the solid or semi-solid polymer and the construction surface detected by the displacement sensor; wherein the displacement sensor is configured to obtain the shortest distance from the construction surface to the solid or semi-solid polymer during the printing process of the solid or semi-solid polymer; The movement speed of the forming platform relative to the construction surface is controlled according to the shortest distance and a preset distance threshold.

7. The device according to claim 1, wherein: The detection component includes an optical sensor, and the controller is configured to: Acquiring an optical signal detected by the optical sensor; wherein the optical sensor is configured to block the path of light at least partially at the construction surface during the printing process of the solid or semi-solid polymer; The movement speed of the molding platform relative to the construction surface is controlled according to the optical signal of the optical sensor.

8. The device according to claim 1, wherein: The detection component includes a visual sensor, and the controller is configured to: Acquire image data detected by the visual sensor, and match the image data according to a preconfigured image database to obtain an image matching result; wherein the visual sensor is configured to acquire images of the solid or semi-solid polymer and the construction surface during the printing process of the solid or semi-solid polymer; According to the image matching result, the movement speed of the forming platform relative to the construction surface is controlled.

9. The device according to claim 1, wherein: The detection component includes an ultrasonic sensor, and the controller is configured to: Acquiring a sound wave signal detected by the ultrasonic sensor; wherein the ultrasonic sensor is configured to block the path of the sound wave at least partially during the printing process of the solid or semi-solid polymer; The movement speed of the molding platform relative to the construction surface is controlled according to the sound wave signal of the ultrasonic sensor.

10. The device according to claim 1, wherein: The detection component includes a liquid level sensor, and the controller is configured as follows: Acquiring liquid level data detected by the liquid level sensor; wherein the liquid level sensor is configured to acquire the liquid level data of the polymerizable liquid during the printing process of the solid or semi-solid polymer; Obtaining the upper surface pressure of the construction surface according to the liquid level data, and obtaining the lower surface pressure of the construction surface; The movement speed of the molding platform relative to the construction surface is controlled according to the upper surface pressure and the lower surface pressure.

11. The device according to claim 5, wherein: The step of controlling the movement speed of the forming platform relative to the construction surface according to the change trends of the multiple force values ​​includes: When the change trend is a gentle trend and the maximum force value among the multiple force values ​​is within a first predetermined range, controlling the movement speed of the molding platform relative to the construction surface to increase; When the change trend is a downward trend and the force value at the current moment is within a second predetermined range, controlling the movement speed of the forming platform relative to the construction surface to increase; When the change trend is an upward trend and the force value at the current moment is within a third predetermined range, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

12. The device according to claim 11, wherein The controller is configured to: determining a range of the plurality of force values; When the range is within a fourth predetermined range, it is determined that the change trend is a gentle trend.

13. The device according to claim 11, wherein: The controller is configured to: sorting the plurality of force values ​​into a force value sequence according to the plurality of time moments; When the values ​​in the force value sequence meet the decreasing condition, determining the changing trend as a decreasing trend; When the values ​​in the force value sequence meet the rising condition, it is determined that the changing trend is an rising trend.

14. The device according to claim 11, wherein: The controller is configured to: Performing curve fitting according to the multiple moments and the multiple force values ​​to obtain a force value curve; When the force value curve meets the descending condition, determining that the change trend is a descending trend; When the force value curve meets the rising condition, it is determined that the changing trend is an rising trend.

15. The apparatus according to claim 6, wherein: The controlling the movement speed of the forming platform relative to the construction surface according to the shortest distance and a preset distance threshold comprises: When the shortest distance is greater than the distance threshold, controlling the movement speed of the molding platform relative to the construction surface to increase; When the shortest distance is less than the distance threshold, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

16. The apparatus according to claim 7, wherein: The step of controlling the movement speed of the molding platform relative to the construction surface according to the detection signal of the optical sensor comprises: When receiving the optical signal from the optical sensor, controlling the movement speed of the molding platform relative to the construction surface to increase; When no optical signal from the optical sensor is received, the movement speed of the molding platform relative to the construction surface is controlled to decrease or remain unchanged.

17. The apparatus according to claim 8, wherein: The step of controlling the movement speed of the forming platform relative to the construction surface according to the image matching result includes: When the image matching result meets the preset acceleration condition, controlling the movement speed of the forming platform relative to the construction surface to increase; When the image matching result meets the preset deceleration condition, the movement speed of the forming platform relative to the construction surface is controlled to decrease.

18. The apparatus according to claim 9, wherein: The step of controlling the movement speed of the forming platform relative to the construction surface according to the sound wave signal of the ultrasonic sensor comprises: When receiving the reflected echo of the ultrasonic sensor, controlling the movement speed of the molding platform relative to the construction surface to decrease or remain unchanged; When no reflected echo from the ultrasonic sensor is received, the movement speed of the molding platform relative to the construction surface is controlled to increase.

19. The apparatus according to claim 10, wherein: The step of controlling the movement speed of the molding platform relative to the construction surface according to the upper surface pressure and the lower surface pressure comprises: When the upper surface pressure is greater than the lower surface pressure, controlling the movement speed of the molding platform relative to the construction surface to decrease or remain unchanged; When the upper surface pressure is less than or equal to the lower surface pressure, the movement speed of the molding platform relative to the construction surface is controlled to increase.

20. The apparatus according to any one of claims 1 to 19, wherein: The controller is configured to: When the movement speed of the building platform relative to the construction surface is controlled to increase or decrease, the absolute value of the acceleration is controlled to be within a predetermined acceleration threshold range.

21. The apparatus according to any one of claims 1 to 19, wherein: The controller is configured to: Detecting a current solidified layer type of the three-dimensional object; When the current solidified layer type conforms to the preset type, the movement speed of the forming platform relative to the construction surface is controlled to decrease or remain unchanged.

22. A method for forming a three-dimensional object, comprising: Controlling the building platform to move away from the building surface or controlling the building platform to reciprocate relative to the building surface to form a three-dimensional object from a solid or semi-solid polymer, and: Acquiring a change state of the solid or semi-solid polymer during separation from the construction surface detected by a detection component; The movement of the molding platform is controlled according to the changed state.

23. A non-volatile storage medium, the non-volatile storage medium comprising a stored program, wherein: When the program is running, the device where the non-volatile storage medium is located is controlled to execute the method for forming a three-dimensional object as claimed in claim 22.

24. An apparatus for forming a three-dimensional object, comprising: a forming platform, wherein the three-dimensional object is formed on the forming platform; a release film having a structured surface; an optical module configured to illuminate the printing area to form a solid or semi-solid polymer from the polymerizable liquid between the build platform and the construction surface; a detection component configured to obtain a change state of the solid or semi-solid polymer during separation from the construction surface; A controller is configured to be associated with the detection component and configured to control the movement of the molding platform according to the changed state.

Images