3D printing method and system based on multiple optical machines

Abstract

The present invention relates to the technical field of DLP printing, and specifically relates to a 3D printing method and system based on multiple optical machines, comprising: S101, providing at least two optical machines, wherein the at least two optical machines are arranged around a printing device, and a material to be formed is provided in the printing device; S102, on the basis of a target shape, computing n projection images for projection; S103, using a time sequence computation model to compute a first set order for projection of the at least two optical machines in a first time period; and S104, on the basis of the first set order, performing, by the at least two optical machines, a projection operation on said material, so as to print said material into the target shape. The present invention provides a multi-optical machine printing technology, and the multi-optical machine printing technology can broaden the application range of printing materials.

Description

A 3D printing method and system based on multiple light machines TECHNICAL FIELD

[0001] The present application relates to the technical field of 3D printing, and particularly relates to a 3D printing method and system based on multiple light machines. BACKGROUND

[0002] The computed axial lithography technology (CAL) is a kind of fast 3D printing technology reported internationally in recent years, which realizes the construction of objects by one-piece forming, and does not need support structure in the printing process, and can also encapsulate the existing objects in situ. However, the technology currently only supports printing of high-viscosity biological materials, and the commonly used biological materials have low viscosity, which limits its application in the field of biological 3D printing.

[0003] Patent application CN110228193A discloses an integrated color light 3D biological printing system based on imaging principle, which includes an optical imaging unit, which forms an optical image or multiple images for the printed object; a light path conversion unit, which projects the image to the biological ink that can be photocured, so that the projected image cures the biological ink through the focusing of light.

[0004] Patent application US2018326666A1 discloses a system and method for computed axial lithography (CAL) for 3D additive manufacturing, which can include providing a photocurable resin body contained within an optically transparent resin container, and simultaneously directing optical projections from an optical subsystem through the photocurable resin body at a plurality of angles θ. The light beams are directed around a z-axis extending through the photocurable resin body. A computed 2D spatial intensity function for creating a 3D intensity map is provided for each of the projections. The projections act over a fixed temporal exposure period during which a net exposure dose is sufficient to cure selected portions of the photocurable resin body and leave other portions uncured to form a desired 3D part.

[0005] US20200361152A1 also discloses PHOTOCURABLE RESINS FOR VOLUMETRIC ADDITIVE MANUFACTURING. US20220011742A1 discloses a computational axial lithography optimization system for fabricating a 3D object from a volume of material. The system receives a 3D specification of a 3D geometry of a 3D object that specifies voxels within a volume of material to be part of the 3D object. The system employs a cost function to measure effectiveness of a light intensity field in fabricating the 3D object.

[0006] Therefore, there is an urgent need for a printing method capable of quickly printing low viscosity materials.

[0007] SUMMARY

[0008] The present application aims to provide a multi-laser 3D printing method, which partially solves or alleviates the above-mentioned deficiencies in the prior art, can greatly improve the printing speed of volume forming (up to several seconds), and broaden the adaptability of the printing technology to low viscosity materials.

[0009] The present application successfully develops a multi-laser computational axial lithography technology and successfully builds a multi-laser computational axial lithography system, realizes the combination of n lasers, improves the printing precision and broadens the application range of the printing materials.

[0010] Moreover, the multi-laser 3D printing technology designed by the present application can greatly improve the printing speed and realize the printing of low viscosity materials. The new volume 3D printing technology and device proposed by the present application can complete the printing within 3 seconds, which not only improves the 3D printing speed but also expands the application range of biological ink.

[0011] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0012] The first aspect of the present application is to provide a multi-laser 3D printing method, which comprises:

[0013] S101 provides at least two lasers, which are arranged around a printing device, and the printing device is provided with a material to be formed;

[0014] S102 calculates n projection pictures for projection according to a target shape;

[0015] S103 calculates a first set order for projection of the at least two lasers in a first time period by using a time sequence calculation model, and the time sequence calculation model comprises: α i-1 =θ i-1 / 360;

[0016] wherein L denotes the first set order of the light machine numbered i at the first time period, k is the first set order of the light machine which starts to project at the first time period, and the parameter k is a natural number less than or equal to n, j∈[0,i-1], i=2,3,...m, n≥m; m represents the total number of the light machines, a is an angle coefficient, θ i-1 is an optical axis angle between the light machine numbered i-1 and the light machine numbered i;

[0017] S104 At least two of the light machines project the material to be formed according to the first set order to print the material to be formed into the target shape.

[0018] In some embodiments, the at least two light machines include at least one first light machine and a second light machine adjacent to the first light machine; correspondingly, the method further includes:

[0019] obtaining a first actual order of the first light machine when actually projecting a picture at a second time period, and obtaining a second actual order of the second light machine when actually projecting a picture at the second time period;

[0020] calculating a first difference between the first actual order and the second actual order;

[0021] when the first difference is greater than or equal to a first set value, a first prompt signal is correspondingly generated, and the first prompt signal includes light machine information of the first light machine or the second light machine.

[0022] In some embodiments, the method further includes:

[0023] obtaining a second set order of at least one of the light machines calculated according to the timing calculation model in the first prompt signal;

[0024] calculating a second difference between the actual order of the corresponding at least one of the light machines and the second set order;

[0025] when the second difference is greater than or equal to a second set value, the running state of the corresponding light machine is modified to stop, and a first stop signal is correspondingly generated.

[0026] In some embodiments, the method further includes:

[0027] obtaining light machine information of two light machines adjacent to the light machine which has stopped running and in a running state;

[0028] determining a new optical axis angle of the two light machines according to the corresponding light machine information;

[0029] According to the new optical axis included angle, the time sequence calculation model is used to calculate the third setting order of the optical machine in the third time period.

[0030] In some embodiments, before S103, the method further comprises the step of:

[0031] S105 obtaining the optical machine information of at least two optical machines in normal operation;

[0032] S106 determining the optical axis included angle of each of the at least two optical machines according to the optical machine information.

[0033] In some embodiments, the method further comprises the step of:

[0034] Optical path correction is performed on at least one of the optical machines.

[0035] In some embodiments, the step of performing optical path correction on at least one of the optical machines comprises:

[0036] (1) The optical machine is exposed using a correction pattern, and the projection light of the optical machine is made to project in a first direction, and the first center pattern of the correction pattern is made to pass through the imaging hole of a first correction plate and clearly image at the first imaging position behind the first correction plate; wherein the first correction plate is perpendicular or approximately perpendicular to the optical axis of the projection light;

[0037] (2) Continue to adjust the optical machine so that the first center pattern continues to pass through the imaging hole of a second correction plate and clearly image at the first imaging position behind the second correction plate; wherein the second correction plate is oppositely arranged with the first correction plate, and the projection of the first correction plate in the first direction is located on the second correction plate;

[0038] (3) Adjust the optical machine again so that the center pattern of the optical machine clearly images at the first imaging position behind the first correction plate; adjust the horizontal state of the optical machine so that the second center pattern images in the center area of the imaging hole; wherein the first center pattern and the second center pattern are perpendicular or approximately perpendicular to each other;

[0039] (4) Continue to adjust the horizontal state of the optical machine so that the second center pattern projects on the center area of the imaging hole of the second correction plate;

[0040] (5) Adjust the distance between the optical machine and the imaging rotation center, and make the edge diameter of the edge area of the correction pattern at the rotation center the same as or close to the set diameter; wherein the set diameter is greater than or equal to the width of the target shape.

[0041] (6) repeating steps (1)-(5) until the second center pattern is projected again on the center region of the imaging hole of the second correction plate.

[0042] In some embodiments, before S104, further comprising steps of:

[0043] The n projection pictures are sent to at least one of the optical machines for pre-storing.

[0044] The present application also corresponds to a 3D printing system based on multiple optical machines, comprising:

[0045] At least two optical machines, which are arranged around a printing device, and the printing device is provided with a material to be shaped;

[0046] A projection picture calculation module configured to calculate n projection pictures for projection according to a target shape;

[0047] A setting order calculation module configured to calculate a first setting order for projection of the at least two optical machines in a first time period by using a time sequence calculation model, wherein the time sequence calculation model comprises: α i-1 = θ i-1 / 360.

[0048] Wherein, L refers to the first setting order of the optical machine numbered i in the first time period, k is the first setting order of the optical machine starting projection in the first time period, and the parameter k is a natural number less than or equal to n, i=2, 3,...m, n≥m; m represents the total number of optical machines, α is an included angle coefficient, θ i-1 is the optical axis included angle between the optical machine numbered i-1 and the optical machine numbered i;

[0049] A projection module configured to perform projection operation on the material to be shaped by the at least two optical machines according to the first setting order, so as to print the material to be shaped into the target shape.

[0050] Beneficial technical effects:

[0051] In order to solve the problem of printing low-viscosity materials, the present application proposes a new multi-optical machine printing technology, which can significantly broaden the adaptability of the printing technology to low-viscosity materials (for example, the minimum viscosity of the materials that can be applied by the existing CAL printing technology is generally 10 4mPa s, while the lowest viscosity in the present application can reach about 10 mPa s or less). Even, it is unexpected that this multi-light machine printing technology can also reduce the requirements for the projection power of single light machine, the rotation speed of the bearing device, etc., thereby being conducive to maintaining the working stability of the equipment and prolonging the effective service life, and the multi-light machine printing technology proposed in the present application can also multiply the printing speed of volume forming (the fastest can be several seconds).

[0052] The present application further proposes a dynamic monitoring mechanism suitable for the multi-light machine system, which can flexibly adjust the running state of the multi-light machines (such as stopping the light machine that may cause failure) as early as possible in the early stage of generating printing failure hidden dangers, thereby improving the yield of the printing products. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without paying creative labor.

[0054] Fig. 1 is a flow step schematic diagram of a method of an exemplary embodiment of the present application;

[0055] Fig. 2 is a layout schematic diagram of an exemplary multi-light machine system of the present application;

[0056] Fig. 3 is a structure schematic diagram of a correction module applied to the multi-light machine system shown in Fig. 2;

[0057] Fig. 4 is a correction module schematic diagram in another exemplary embodiment of the present application;

[0058] Fig. 5 is a top view of the correction module shown in Fig. 4;

[0059] Fig. 6 is a multi-light machine distribution schematic diagram applied to the correction module shown in Fig. 4;

[0060] Fig. 7 is a structure schematic diagram of a bearing module in an exemplary embodiment of the present application;

[0061] Fig. 8 is a structure schematic diagram of a light machine in an exemplary embodiment of the present application;

[0062] Fig. 9 is a height adjustment mechanism schematic diagram of a light machine base in an exemplary embodiment of the present application;

[0063] Fig. 10 is a schematic diagram of a track adjusting mechanism of the optical machine in an exemplary embodiment of the present application;

[0064] Fig. 11 is a schematic diagram of a structure of a correction pattern in an exemplary embodiment of the present application;

[0065] Fig. 12 is a schematic diagram of a structure of a correction pattern in another exemplary embodiment of the present application;

[0066] Fig. 13 is a schematic diagram of experimental results of verification example 1 of the present application;

[0067] Fig. 14 is a schematic diagram of experimental results of verification example 2 of the present application.

[0068] Summary of the signs:

[0069] 10 is a bearing module, 11 is a test tube, 12 is a test tube fixing cover, 121 is a mounting port, 122 is an opening; 13 is a culture dish, 14 is a matching groove; 22 is a light transmission area, 221 is an imaging hole, 222 is a slot; 20 is a correction module, 21 is a correction plate, 211 is a first correction plate, 212 is a second correction plate, 30 is an optical machine, 31 is a base, 311 is a first base, 311a is a first adjusting position, 312 is a second base, 312a is the second adjusting position, 32 is a height adjusting mechanism, 321 is an adjusting screw, 322 is a spring, 40 is a clamping plate. DETAILED DESCRIPTION

[0070] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0071] Herein, the suffix such as "module", "part" or "unit" used to indicate an element is only for the convenience of description of the present application, and has no specific meaning by itself. Therefore, "module", "part" or "unit" can be used mixedly.

[0072] Herein, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description of the present application and simplification of the description, and do not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0073] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0075] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0076] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0077] As used in this specification, the term "about" typically means + / - 5% of the value, more typically + / - 4%, more typically + / - 3%, more typically + / - 2%, even more typically + / - 1%, even more typically + / - 0.5% of the value.

[0078] In this specification, certain embodiments may be disclosed in a range-bound format. It should be understood that this "range-bound" description is merely for convenience and brevity and should not be construed as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered as having specifically disclosed all possible subranges and the individual numerical values ​​within those ranges. For example, a description of the range 1-6 should be considered as having specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and the individual numbers within those ranges, such as 1, 2, 3, 4, 5, and 6. This rule applies regardless of the breadth of the range.

[0079] In this article, "parallel" to two objects means that the lines (or horizontal planes) on which the two objects lie are parallel or approximately parallel to each other. For example, "the multiple sides of the petri dish are parallel to the orientation of the corresponding multiple correction plates" means that one side is parallel to the two horizontal planes on which one correction plate lies, or that the two are approximately parallel (i.e., the angle between the two horizontal planes is very small, and this angle has a relatively small impact on the deviation of the optical path in practical applications, or the error it may cause is acceptable to the user).

[0080] In this text, "vertical" or "vertically set" refers to two objects being set at 90 degrees or approximately 90 degrees (e.g., 87 degrees, 89 degrees, etc.). For example, the calibration plate and the optical path (also referred to as the "optical axis," i.e., the path of the projection light) can be set approximately perpendicularly so that the projection light emitted by the optical engine can be collimated through a medium (such as a fixed refractive matching liquid without a photoinitiator) and projected onto the central region of the carrier device 10, thereby avoiding deflection of the projection light.

[0081] Currently, CAL printing technology all employs single-photon printing. However, single-photon printing places extremely high demands on material types; it can only be used for printing high-viscosity materials. If the material viscosity is too low, it will be difficult to form a shape using CAL. Furthermore, to broaden the applicable viscosity range of the printing technology to some extent, it is usually achieved by increasing the projection power of the photoengine and the rotation speed of the photosensitive resin container. However, even with increased projection power and container rotation speed, the applicable viscosity range remains very limited.

[0082] To address the challenge of printing low-viscosity materials, this application proposes a novel multi-optical printing technology. This technology significantly expands its applicability to low-viscosity materials (for example, the lowest viscosity of materials that can be applied to existing CAL printing technology is generally 10). 4 The viscosity is mPa·s, while the lowest viscosity in this application can reach below about 10 mPa·s. Even more surprisingly, this multi-optical printing technology can also reduce the requirements for the projection power of the single optical engine and the rotation speed of the bearing device, thereby helping to maintain the working stability of the equipment and extend its effective service life. Furthermore, the multi-optical printing technology proposed in this invention can also increase the printing speed of volumetric molding by several times (as fast as a few seconds).

[0083] Example 1

[0084] Referring to Figure 1, this invention proposes a 3D printing method based on a multi-optical engine, comprising:

[0085] S101 provides at least two optical engines arranged around a printing device, the printing device containing material to be formed.

[0086] S102 calculates n projection images for projection based on the target shape;

[0087] S103 uses a timing calculation model to calculate the first set order for projecting images of the at least two optical engines in the first time period T1. The timing calculation model includes: α i-1 =θ i-1 / 360;

[0088] Where L refers to the first set order of the optical engine numbered i during the first time period, parameter k is the first set order of the first optical engine that starts projection during the first time period T1 (for example, parameter k is the first set order of the optical engine numbered 1), and parameter k is a natural number less than or equal to n, j∈[0,i-1], i=2,3,...m,n≥m; m represents the total number of optical engines, α is the included angle coefficient, θ i-1 The optical axis angle between the optical engine numbered i-1 and the optical engine numbered i;

[0089] S104 At least two of the optical engines perform projection operations on the material to be formed according to the first set sequence, so as to print the material to be formed into the target shape.

[0090] For example, in some embodiments, m DLP optical engines can be arranged in a roughly circular pattern around test tube 11. The optical engines are numbered sequentially as 1, 2...m according to a second direction (e.g., clockwise or counterclockwise).

[0091] In this context, the optical axis (also known as the optical path) of DLP1 (i.e., the optical engine numbered 1) forms an angle θ1 with the optical axis of the adjacent DLP2 along the second direction; the optical axis of DLP2 forms an angle θ2 with the optical axis of the adjacent DLP3 along the second direction, and so on, until the optical axis of DLPm-1 forms an angle θ with the optical axis of the adjacent DLPm along the first direction. m-1 The included angle coefficients corresponding to these optical engines are α1=θ1 / 360, α2=θ2 / 360, …, α m-1 =θ m-1 / 360.

[0092] Furthermore, the calculation model for the image order of the exposure images from each optical engine is as follows:

[0093] The exposure order of DLP1 is: L=k (k≤n);

[0094] The order of settings revealed by DLP2:

[0095] When k+α1n-n≤0, L=k+α1n; when k+α1n-n>0, k+α1n-n;

[0096] The order of settings revealed by DLP3:

[0097] When k+(α1+α2)nn≤0, L=k+(α1+α2)n, when k+(α1+α2)nn>0, L=k+(α1+α2)nn,;

[0098] ...

[0099] The order of settings revealed by DLPm:

[0100] When k + 6n - n ≤ 0, L = k + (α1 + α2 + ... + α m-1 )n;

[0101] When k + (α1 + α2 + ... + α) m-1 )nn>0, L=k+(α1+α2+...+α m-1 )nn;

[0102] Among them, k=1, 2, 3,...n; α1+α2+...+α m-1 =1;

[0103] At the initial moment, k can be 1. When entering the next time period (such as after the test tube has rotated once), the k of the first optical engine can be set to the previous rotation setting order of the m-th optical engine + 1.

[0104] Alternatively, in other embodiments, the m optical engines can be arranged at equal intervals, that is, the optical axis angle θ between each adjacent optical engine is equal.

[0105] At this point, the order in which the projected images of each optical engine are set is as follows:

[0106] The first optical engine: k, (k≤n)

[0107] The second optical engine: L = k + n / m, (k ≤ n(m-1) / m); or L = k + n / mn, (k > n(m-1) / m);

[0108] The third optical engine: L = k + 2n / m, (k ≤ n(m-2) / m); or L = k + 2n / mn, (k > n(m-2) / m);

[0109] ...

[0110] The m-th optical engine: L = k + (m-1)n / m, (k ≤ n / m); or, L = k + (m-1)n / mn, (k > n / m);

[0111] Where k = 1, 2, 3, ... n, n is the number of images; the value of k for the first optical engine can be 1, or it can be set by the user.

[0112] It is understood that the numbering in this embodiment is only used to reflect the relative positional relationship of the optical engine, and the order refers to the sequence number of the projected image.

[0113] In some embodiments, the at least two optical engines include: at least one first optical engine, and a second optical engine disposed adjacent to the first optical engine; correspondingly, the method further includes:

[0114] The first actual order P1 of the first optical engine when actually projecting the image in the second time period T2 is obtained, and the second actual order P2 of the second optical engine when actually projecting the image in the second time period T2 is obtained.

[0115] Calculate the first difference between the first actual order P1 and the second actual order P2;

[0116] When the first difference is greater than or equal to the first set value I, a first prompt signal is generated accordingly. The first prompt signal includes: the optical engine information of the first optical engine or the second optical engine.

[0117] For example, in some embodiments, when the first difference is less than the first set value I and greater than or equal to the third set value III, a second prompt signal is generated accordingly. The second prompt signal is used to prompt the user to manually check the printing status of the multi-optical-engine system. The second prompt signal includes: the optical-mechanical information of the corresponding first or second optical engine.

[0118] In other words, in this embodiment, for the situation where there is discontinuous projection between adjacent optical engines in a multi-optical engine system, a semi-automatic adjustment mode with human-machine collaboration is adopted to ensure the accuracy and reliability of adjustment (such as avoiding over-adjustment) while ensuring timely feedback on faults in the multi-optical engine system.

[0119] Furthermore, in some embodiments, the following steps are also included:

[0120] Detect whether a user input signal is received in the fourth time period T4;

[0121] If so, the operating state of the optical engine in the second prompt signal is adjusted according to the user input signal;

[0122] If not, the operating status of the optical engine in the second prompt signal will be adjusted to stop.

[0123] In some embodiments, it also includes:

[0124] Obtain the second set order L2 calculated by at least one of the optical engines in the second time period T2 according to the time series calculation model;

[0125] For example, in some embodiments, a second set order L2 calculated by at least one of the optical engines in the first prompt signal according to the timing calculation model can be obtained;

[0126] Calculate the second difference between the actual order P of at least one of the optical engines (in the second time period) and the second set order L2;

[0127] When the second difference is greater than or equal to the second set value II, the operating state of the corresponding optical engine is changed to stop, and a first stop signal is generated accordingly.

[0128] For example, in some embodiments, when the actual setting order does not match or differs significantly from the setting order output by the timing calculation model, the corresponding optical engine will be shut down.

[0129] Furthermore, in some embodiments, the following steps are also included:

[0130] Obtain the optomechanical information of two adjacent optomechanical B units that are in operation, one of which is the stop-operation optomechanical A;

[0131] The new optical axis angle between the two optical engines B is determined based on the corresponding optical engine information;

[0132] Based on the new optical axis angle, the third set order L3 of each optical engine currently in operation is calculated using the time-series calculation model.

[0133] For example, in some embodiments, the optomechanical information may include: an optomechanical number, which, combined with the optomechanical number, can determine the angle between the optical axes of two optomechanical units. Alternatively, in other embodiments, the optomechanical information may also include: the position of the optomechanical units, and the angle between the optical axes of the two optomechanical units can also be determined by the positions of the two optomechanical units.

[0134] This embodiment proposes a dynamic monitoring mechanism suitable for multi-optical engine systems. By dynamically evaluating the actual and set order of multiple optical engines, the operating status of multiple optical engines (such as stopping optical engines that may cause failure) can be flexibly adjusted as early as possible when there is a potential risk of printing failure, thereby improving the yield of printed products (avoiding printing failure).

[0135] Among them, by combining the timing calculation model and the optomechanical information, the required printing sequence can be output quickly and accurately, so as to quickly adjust the projection sequence according to different optomechanical layouts (such as different optical axis angle settings) and maintain the printing stability of multi-optomechanical systems in a changing state.

[0136] In some embodiments, prior to S103, the following step is also included:

[0137] S105 Acquires optomechanical information from at least two of the aforementioned optomechanical systems that are in normal operation;

[0138] S106 determines the optical axis angle of each of the at least two optical engines based on the optical engine information.

[0139] In some embodiments, the optical axis angle can be automatically determined directly using optical engine information (such as optical engine number or position) before the multi-optical engine system is first started, in order to prompt the automation of the 3D printing process.

[0140] In some embodiments, to ensure that the optical paths of multiple optical machines can cooperate with each other during the printing process and to avoid printing distortion due to improper arrangement of the optical paths such as deflection, the method further includes the following steps:

[0141] Optical path correction is performed on at least one of the aforementioned optical engines.

[0142] Preferably, a specific correction module (see Figures 3-10) can be used to correct the optical paths of multiple optical engines. For example, in some embodiments, the step of correcting the optical path of at least one of the optical engines includes:

[0143] (1) The optical engine uses a correction pattern for exposure, and the projection light of the optical engine is emitted along a first direction, and the first center pattern of the correction pattern passes through the imaging hole of the first correction plate and is clearly imaged at a first imaging position on the rear side of the first correction plate; wherein, the first correction plate is perpendicular or approximately perpendicular to the optical axis of the projection light.

[0144] (2) Continue to adjust the optical engine so that the first central pattern continues to pass through the imaging hole of the second correction plate and is clearly imaged at the first imaging position behind the second correction plate; wherein the second correction plate is disposed opposite to the first correction plate, and the projection of the first correction plate along the first direction is located on the second correction plate.

[0145] (3) Adjust the optical engine again so that the center pattern of the optical engine is clearly imaged at the first imaging position behind the first correction plate; adjust the horizontal state of the optical engine so that the second center pattern is imaged in the center region of the imaging aperture; wherein the first center pattern and the second center pattern are perpendicular or approximately perpendicular to each other.

[0146] (4) Continue to adjust the horizontal state of the optical engine so that the second central pattern is projected into the central region of the imaging hole of the second correction plate;

[0147] (5) Adjust the distance between the optical engine and the imaging rotation center, and make the edge diameter of the edge region of the correction pattern at the rotation center the same as or similar to the set diameter; wherein the set diameter is greater than or equal to the width of the target shape.

[0148] (6) Repeat steps (1)-(5) until the second center pattern is projected onto the center region of the imaging hole of the second correction plate again.

[0149] In some embodiments, prior to S104, the following step is also included:

[0150] The n projected images are sent to the optical engine for pre-storage.

[0151] Preferably, in some embodiments, the light intensity of the projected light from a single optical engine in a multi-optical-engine system is 100-200 mW / cm². 2 .

[0152] In some embodiments, the rotational speed of the optical engine or the printing device is 5-20 deg / s.

[0153] In some embodiments, the projection light of the optomechanism is excited using a photoinitiator at a concentration of approximately 0.025%-0.5%.

[0154] It is worth noting that, because the multi-photomechanical printing system of this invention has higher printing efficiency (shorter printing time), it can be widely used with initiators of different concentration ranges. Surprisingly, even when using higher concentration photoinitiators, the multi-photomechanical printing system of this invention does not cause overexposure or edge curing.

[0155] In some embodiments, the material to be molded includes one or more of the following: photosensitive resin, hydrogel.

[0156] In some embodiments, the material to be molded includes one or more of the following: a photosensitive resin loaded with cells, drugs, or active factors, or a hydrogel loaded with cells, drugs, or active factors.

[0157] Alternatively, in some embodiments, the material to be molded may be a mixture of any two or more of the above-mentioned materials.

[0158] The multi-optical printing method of the present invention will be explained and described below through an exemplary embodiment:

[0159] The rotation control module for controlling the load-bearing module 10 includes:

[0160] One Zolihan TBR200 electric rotary stage (200mm stage size, maximum speed 20° / s, bidirectional repeatability ±0.005°), and one Zolihan MC600-4B electric stage controller (open-loop control, RS232 and USB2.0 communication interfaces). The MC600 drive port is connected to the rotary stage drive shaft. The host computer can send commands to the MC600 via USB or RS232 serial port to drive the rotary stage to complete the corresponding actions. A photosensitive resin sample clamping component (such as test tube 11) is installed in the center of the rotary stage. The clamping height ensures that the area of ​​the photosensitive resin to be molded is completely exposed in the photomechanical exposure space.

[0161] Projection module:

[0162] Six Wintech PRO6500s DLP optical engines (LED wavelength 405nm, pixel resolution 1920*1080, grayscale level 256, maximum light power 1.8W, supports light power self-test, supports camera synchronization triggering, and includes a serial communication development protocol). The host computer synchronizes video images with each DLP optical engine via the HDMI interfaces of the main and secondary graphics cards. The host computer uses the six DLP optical engines as six extended displays in addition to the main display. The DLP's built-in projection lens has a working distance of 150mm, a divergent projection area of ​​86mm×54mm, and a maximum contrast ratio of 900:1. When a hexagonal water tank is placed at the center of the six optical engines with adjacent optical axes spaced 60° apart (the water tank contains a matching liquid with a refractive index of about 1.4, and the distance from the center of the matching liquid to the outer air layer is 50mm), and an achromatic lens with a focal length of 100mm and a diameter of 2 inches is added to the front end, the projection distance of the projection light path inside the center of the matching liquid is shortened to about 75mm. At the same time, the projection beam is nearly parallel within the diameter of the printing target area, the projection area is 43×24mm, and the projection contrast is reduced compared to the bare lens.

[0163] Monitoring hardware:

[0164] It includes a CMOS camera (3072×2048 resolution, 1 / 1.8′ color chip size, 41fps frame rate, rolling shutter, standard optical C interface, USB 3.0 data / power interface), an imaging lens (dual telecentric configuration, 0.166× magnification, working distance 258±4mm, object-side telecentricity, depth of field 19.7mm@F6.8), and a backlight module (parallel white LED light source, stepless brightness adjuster). During printing, the user can automatically or manually stop printing as needed based on contrast changes.

[0165] Host computer hardware:

[0166] One computer host with 16GB or more of memory, including a dedicated graphics card, a motherboard with a Thunderbolt interface or a PCIe Thunderbolt interface expansion card, and one graphics card expansion dock for installing a second dedicated graphics card.

[0167] CAL function: Performs rapid prototyping of transparent or semi-transparent models with dimensions <20mm with a precision of 200-300μm.

[0168] In this embodiment, when the refractive indices of the media inside and outside the cylindrical test tube are not perfectly matched—for example, when the refractive index of the photosensitive resin inside the test tube at 405nm is greater than that of the external medium solution—the originally parallel light beams will tend to converge, deviating from the calculation assumption of parallel beams. This is particularly noticeable in the case of voxel misalignment between multiple optical engines. By setting the medium outside the test tube to the same type of photosensitive resin without added photoinitiator, and setting the container holding these photosensitive resins to a specific shape of refractive liquid matching tank corresponding to the six optical engines (e.g., setting the refractive liquid matching tank to a regular hexagonal prism so that its six sides are perpendicular to the optical paths of the six optical engines), the non-parallelism of the light beams can be improved to the greatest extent. Secondly, when the DLP's built-in lens focuses, the image size ratios of different focal planes are different. While ensuring the same projection working distance, it is necessary to fine-tune the optical path using a correction module with specific openings (as shown in Figure 3) so that the optical axes of each optical engine pass through the center and the included angles are all 60°, resulting in nearly identical image sizes for the clear projection at the center printing position.

[0169] As shown in Figure 2, during multi-optical-engine joint printing, the projection directions of all six optical engines are directed towards the rotation center of the test tube containing the photosensitive resin, with an angle of 60 degrees between them. The focal depth range of the projection lens of each optical engine covers the diameter of the test tube, and the radial dimension of the printed target does not exceed the diameter of the test tube. A fixed regular hexagonal refractive liquid matching tank is nested outside the test tube, and the tank is filled with a matching liquid with the same refractive index as the inner photosensitive resin.

[0170] Furthermore, the control process for the six optical engines in Figure 2 is as follows: the optical engines are fixed and numbered sequentially in a clockwise direction, while test tube 11 rotates counterclockwise. Assuming the calculated sequence of images to be projected is n images, and the rotation speed of the photosensitive resin is v (° / s), then the corresponding image refresh rate of the optical engine projection is n / 360*v (images / s). When the first optical engine on the left projects the k-th (k≤n) image, the second optical engine simultaneously projects the k+n / 6-th image, the third projects the k+2*n / 6-th image, the fourth projects the k+3*n / 6-th image, the fifth projects the k+4*n / 6-th image, and the sixth projects the k+5*n / 6-th image (when k+5*n / 6>n, then the kn / 6-th image is projected). After (360 / n) seconds, the first optical engine starts projecting the (k+1)th image, the second optical engine projects the (k+1+n / 6)th image, and so on, in a cyclical manner. Each optical engine starts projecting from a certain image number and increments sequentially to the next image.

[0171] Verification Example 1 and Verification Example 2 were prepared using the multi-optical printing system described in the exemplary embodiments above to verify the advantages of the present invention in printing low-viscosity materials.

[0172] Verification Example 1

[0173] The viscosity of the material to be molded used in this embodiment is 10. 3 The photoinitiator concentration was 0.037%, the rotation speed of the carrier module was 20° / s, and the light intensity of the six optical engines was 50 mW / cm². 2 The printing time was 13.6862 seconds. The resulting curved surface structure is shown in Figure 13. As can be seen from the photograph, low-viscosity materials can be successfully printed, and the surface structure is flat and smooth, with good molding quality (no distortion).

[0174] Verification Example 2

[0175] In this embodiment, the viscosity of the printed material is 3 mPa·s, the concentration of the photoinitiator is 0.02%, the rotation speed of the carrier module is 20° / s, and the light intensity of the six optical engines is 50 mW / cm². 2 The printing time was 1.5 seconds. Part of the printing process is shown in the photo sequence in the first row of Figure 14, and the actual structure obtained is shown in the physical image in the second row of Figure 14. It can also be seen that the prepared actual structure was not only successfully printed, but also achieved good printing results (minimal difference from the target structure, no distortion).

[0176] It is worth noting that the multi-optical engine printing technology employed in this invention unexpectedly reduces the necessary projection power of a single optical engine, thus further reducing the requirement for high heat dissipation performance in the optical engine design and simplifying its structure. Simultaneously, the reduction in necessary projection power also helps extend the printing time of the multi-optical engine system, meeting the printing needs of large 3D structures.

[0177] On the other hand, the multi-optical printing technology employed in this invention can also reduce the necessary rotational speed of the carrier module 10, and the reduced rotational speed further reduces the difficulty of rotational control of the carrier module 10 (and the rotating mechanism used to drive the carrier module to rotate). It should be understood that the rotating mechanism, the carrier module 10, and the photosensitive resin itself have relatively large inertia. Accelerating from zero to a constant speed and decelerating from a constant speed to zero requires several seconds or more, and the higher the constant speed required, the longer the acceleration / deceleration phase takes.

[0178] In other words, the multi-optical-mechanical technology used in this invention simplifies the optical-mechanical printing system and reduces the requirements for its supporting equipment.

[0179] For example, in this invention, the bearing device can operate at a rotational speed of less than 20° / s, at which time the acceleration and deceleration time is less than 5s.

[0180] Furthermore, the multi-optical-mechanical printing technology in this invention can effectively alleviate the problem of target distortion that is easily generated under single-optical-mechanical printing technology.

[0181] Example 2

[0182] Referring to Figures 2-10, corresponding to multi-optical machine printing technology, this application also proposes a printing device suitable for multi-optical machine optical path correction to assist users in quickly and accurately completing optical path correction. The corresponding printing device includes:

[0183] A correction module 20 is used to perform optical path correction on at least two optomechanical units 30 arranged around the carrier module 10, wherein the carrier module 10 is configured to carry the material to be printed.

[0184] The correction module 20 includes at least two correction plates 21, which are respectively configured corresponding to the at least two optical engines 30 (e.g., such that the projection light of one optical engine can pass through the light-transmitting area of ​​one correction plate). Each correction plate has at least one light-transmitting area 22, which includes an imaging aperture 221. A first distance between the first and second ends of the correction plates 21 and the optical axis angle between the optical engine and the adjacent optical engine satisfy a first setting rule: wherein the first setting rule includes:

[0185] Wherein, S represents the first spacing, and l represents the second spacing between the correction plate and the center point O of the bearing module. θ represents the correction angle formed between the two lines connecting the first end and the second end of the correction plate to the center point, i represents the number of the correction plate, and θ represents the correction angle formed between the two lines connecting the first end and the second end of the correction plate to the center point. i-1 This indicates the angle between the optical axis of the optomechanism numbered i-1 and the adjacent optomechanism (numbered i); wherein the correction plates numbered i-1 and i are arranged sequentially along a first direction, and the optical path emitted by the optomechanism numbered i is perpendicular or approximately perpendicular to the correction plate numbered i. The correction plate numbered i corresponds to the optomechanism numbered i.

[0186] In some embodiments, as shown in FIG3, the first spacing S refers to the width of the correction plate in the horizontal direction.

[0187] As shown in Figure 5, preferably, the distances between the two ends of each correction plate and the rotation center O1 are equal or close, such as O1A = O1B = ... = O1H = l; and O1⊥AB, O1J⊥BC, ..., O1P⊥AH; the shortest lateral distance corresponding to the smallest included angle is selected (in Figure 5, it is |AB|, and the value of |AB| should be such that it covers the lateral distance of the above correction pattern. Specifically, the width of the correction pattern exposed by the optical engine when it reaches the correction plate AB is less than or equal to |AB|). Starting from the optical engine corresponding to the shortest plate, assuming that the included angles of the optical axes of adjacent optical engines in the clockwise direction are θ1, θ2, ..., θ i , …, θ m Let the corresponding included angles be ∠IOJ, ∠JOK, ..., but …, corresponding to the side length of the base

[0188] Let the distance from each edge to the rotation center O1 be l. Let the two points on the bottom surface of the i-th optical engine be connected to O1 respectively, and let the angle between them and the center O1 be set as θ. The shortest side corresponding to the smallest included angle The value should be chosen to cover the lateral distance of the above correction pattern. The length of the base of the i-th line is:

[0189] in, θ1+θ2+…+θ i +...+θ m =360.

[0190] In some embodiments, as shown in FIG9, at least one of the optical engines includes: a base 31, and at least one height adjustment mechanism 32 disposed on the base.

[0191] In some embodiments, referring to FIG9, the base includes: a first base 311 and a second base 312, wherein the first base is provided with a first adjustment position 311a, and the second base 312 is correspondingly provided with a second adjustment position. Correspondingly, the height adjustment mechanism includes: an adjustment screw 321, wherein the adjustment screw 321 is connected to the first adjustment position 311a and the second adjustment position respectively by threaded engagement (e.g., the adjustment screw 321 passes through the first adjustment position and extends into the second adjustment position); wherein, when the adjustment screw rotates in a third direction (e.g., clockwise or counterclockwise), the distance between the first base and the second base gradually decreases, and when the adjustment screw rotates in the opposite direction of the third direction, the distance between the first base and the second base gradually increases.

[0192] In some embodiments, the height adjustment mechanism further includes an elastic element (such as a spring 322), which is disposed on the outer periphery of the adjusting screw (such as spring 322 sleeved on the adjusting screw 321), and the two ends of the elastic element abut against the surfaces of the first base and the second base, respectively. In this case, when the adjusting screw rotates in a third direction under the action of an external force, causing the distance between the first and second bases to decrease, the elastic element can apply a reverse force to the first and second bases, and the reverse force can, to a certain extent, limit the rate at which the distance between the first and second bases decreases.

[0193] In other words, the elastic element can counteract the external force exerted by the user to a certain extent, thereby limiting the user's adjustment speed and guiding the user to make small-scale, precise adjustments to the height.

[0194] In some embodiments, the system further includes: a track adjustment mechanism; the track adjustment mechanism includes: a sliding position arranged parallel or approximately parallel to the optical path direction of the current optical engine, and the base of the optical engine is slidably connected to the sliding position so as to be able to reciprocate on the sliding position.

[0195] For example, in some embodiments, the track adjustment mechanism includes two clamping plates 40, which can be fixed to both sides of the optical engine 30 respectively, and the clamping plates 40 can be engaged between the first base 311 and the second base 312 so that the optical engine 30 can reciprocate along the length direction of the clamping plates 40.

[0196] Specifically, in some embodiments, the clamp 40 can be fixedly mounted on the platform for supporting the optical engine 30 by means of fasteners (such as bolts) to ensure that the optical engine can stably adjust its front and rear positions.

[0197] In some embodiments, the carrier module 10 includes:

[0198] 11 test tubes;

[0199] The test tube fixing cap 12 has a mounting port 121 on its first side for fixing the test tube 11, wherein the coefficient of friction between the mounting port 121 and the surface in contact with the test tube 11 is approximately 0.5-0.7.

[0200] And a petri dish 13, which can be connected to the second side of the test tube fixing cap 12.

[0201] In some embodiments, the test tube cap 12 is further provided with at least one opening 122. The opening is used for replenishing liquid.

[0202] For example, in some embodiments, during the printing process, the test tube is inserted upside down into the mounting port 121, and the inner surface of the mounting port contacts the outer surface of the open end of the test tube to apply a first force to the test tube to prevent the test tube from falling from the mounting port into the petri dish.

[0203] For example, in some embodiments, the outside of the open end of the test tube is provided with an anti-slip part (such as anti-slip threads, or rubber, etc.).

[0204] The following explains how to use the load-bearing device:

[0205] First, fill test tube 11 with the photosensitive resin or hydrogel to be printed. After filling test tube 11 upright with resin, fix it through the mounting port 121 of test tube fixing cap 12. Then, invert petri dish 13 onto the mouth of the test tube and press it firmly. At the same time, invert test tube 11 and petri dish 13 and place them flat. Pour a certain amount of resin into petri dish 13. Keep test tube 11 inverted, and slide test tube fixing cap 12 down and lock it along the edge of petri dish (there is a certain coefficient of friction between the test tube and the mounting port 121). At this time, test tube 11 can be raised to a certain height to remove it from the bottom of petri dish, but the edge of test tube 11 must be kept below the liquid surface of petri dish 13 to ensure the vacuum of the test tube under atmospheric pressure and prevent internal resin leakage.

[0206] The printing process can be started by fixing the carrier module 10 at the center of the multi-optical engine (preferably the rotation center referenced when calibrating the optical path) and setting the external refractive liquid matching groove 14 (also referred to as: matching groove) shown in the middle of Figure 2 on the outer periphery of the carrier module 10.

[0207] In some embodiments, the matching slot 14 is surrounded by at least two side panels, and the at least two side panels are arranged in a one-to-one correspondence with at least two optical engines, such that the projection light of one side panel is perpendicular to the projection light of the corresponding optical engine.

[0208] Preferably, in some embodiments, the position of the optical engine is configured such that the projected light from the optical engine can cover the width of the test tube.

[0209] In some embodiments, the test tube 11 and the petri dish are used to store a first material to be molded, and the matching groove 14 is used to store a second material to be molded. The first material to be molded includes a photosensitive resin or hydrogel, and a photoinitiator disposed in the photosensitive resin or hydrogel.

[0210] In some embodiments, the light-transmitting area further includes at least one pair of slots 222 symmetrically arranged along the imaging aperture.

[0211] As shown in Figure 4, two or more light-transmitting areas can be set on the calibration plate.

[0212] In some embodiments, at least one pair of the calibration plates 21 satisfies a second setting rule, wherein the at least one pair of calibration plates includes a first calibration plate 211 and a second calibration plate 212, and the projection of the first calibration plate 211 in a fourth direction (the fourth direction refers to a direction perpendicular or approximately perpendicular to the plane where the first calibration plate is located) is located on the second calibration plate 212; wherein the second setting rule requires that the light path passing through the light-transmitting area of ​​one of the first calibration plates, after passing through the center point, continues to pass through the light-transmitting area of ​​the second calibration plate.

[0213] In some embodiments, the correction pattern (also referred to as the correction graphic) includes: a central graphic, and at least one set of symmetrical graphics symmetrical about the central graphic, the set of symmetrical graphics including: a first graphic and a second graphic symmetrical about the central graphic.

[0214] Preferably, the central graphic has a clear identifier, such as a line (e.g., a crosshair), a dot, or a block, so that the user can clearly observe the imaging result of the central graphic during the calibration process.

[0215] For example, as shown in Figures 11 and 12, the correction pattern can be a radial pattern.

[0216] The correction process of the present invention will be described below using an exemplary printing device as an example. The central pattern used for correction includes: a first central pattern arranged along a fifth direction, and a second central pattern arranged perpendicular or approximately perpendicular to the fifth direction. Referring to Figure 11, the central pattern includes intersecting vertical and horizontal lines. The correction process in this embodiment will be explained in detail using Figure 11 as an example.

[0217] In step S1, the optical engine 30 uses the correction pattern to expose and causes the projection light of the optical engine 30 to be emitted along the first direction, and causes the first central pattern (the central vertical line shown in Figure 11) in the center pattern of the correction pattern to pass through the imaging hole 221 of the first correction plate 211 and to be clearly imaged at the first imaging position on the back side of the first correction plate 211 (which can be preset by the user, for example, set at 20mm on the back side of the first correction plate).

[0218] For example, in some embodiments, the position of the optical engine, the lens orientation, and the lens focal length can be adjusted to make the optical engine meet the clear imaging requirements in S1.

[0219] Here, the rear of the first correction plate refers to the side facing the rotation center O1, and the rear of the second correction plate refers to the side facing away from the rotation center O1.

[0220] Step S2 continues to adjust the optical engine 30 (such as adjusting the position of the optical engine, the focal length of the lens, etc.) so that the center vertical line of the projection light of the optical engine 30 continues to pass through the imaging hole of the second correction plate 212 and is clearly imaged at the first imaging position behind the second correction plate 212.

[0221] Step S3 adjusts the optical engine 30 again so that the center pattern of the optical engine 30 is clearly imaged again at the first imaging position behind the first correction plate 211; at the same time, the horizontal state of the optical engine is adjusted by at least one height adjustment mechanism (i.e., the angle between the plane where the optical engine is located and the horizontal plane is adjusted) so that the second center pattern (such as the center horizontal line) is imaged in the center area of ​​the imaging aperture.

[0222] Step S4 continues to adjust at least one height adjustment mechanism so that the center horizontal line is projected into the center region of the imaging aperture of the second correction plate 212;

[0223] Step S5: Adjust the distance between the optical engine 30 and the rotation center along the sliding position (i.e., the direction of the dotted line shown in Figure 3), and set the imaging plate (such as a white screen) in the center area of ​​the first and second correction plates. Then adjust the focal length of the optical engine so that the edge area of ​​the correction pattern is clearly imaged on the imaging plate, and make the edge diameter of the edge area the same as or similar to the set diameter.

[0224] Here, the diameter is set to be greater than or equal to the width of the target shape.

[0225] Step S6 repeats steps S1-S5 until the central horizontal line is projected again into the center area of ​​the imaging aperture of the second correction plate 212. This indicates that the current optical engine correction has met the printing standard conditions of the multi-optical engine printing system. The correction of the remaining optical engines can be completed using a similar method.

[0226] In this article, "clear imaging" refers to an image resolution that is greater than or equal to the preset target resolution.

[0227] In some embodiments, the optical engine is communicatively connected to a central control system. The central control system provides the optical engine with projected images and corresponding projection sequences.

[0228] For example, in some embodiments, the central control system may include one or more modules of the 3D printing system described below.

[0229] Example 3

[0230] This invention also provides a 3D printing system based on a multi-optical engine. It includes:

[0231] At least two optical engines are arranged around a printing device, and the printing device contains material to be formed.

[0232] The projection image calculation module is configured to calculate n projection images for projection based on the target shape;

[0233] The setting order calculation module is configured to calculate, using a timing calculation model, a first setting order for projection of the at least two optical engines in a first time period, wherein the timing calculation model includes: α i-1 =θ i-1 / 360;

[0234] Where L refers to the first set order of the optical engine numbered i during the first time period, parameter k is the first set order of the first optical engine to start projection during the first time period, and parameter k is a natural number less than or equal to n, i = 2, 3, ... m, n ≥ m; m represents the total number of optical engines, α is the included angle coefficient, θ i-1 The optical axis angle between the optical engine numbered i-1 and the optical engine numbered i;

[0235] The projection module is configured to allow at least two optical engines to project onto the material to be formed in a first predetermined order, so as to print the material to be formed into the target shape.

[0236] In some embodiments, the at least two optical engines include: at least one first optical engine, and a second optical engine disposed adjacent to the first optical engine; correspondingly, the system further includes:

[0237] The actual order acquisition module is configured to acquire the first actual order of the first optical engine when it actually projects images in the second time period, and to acquire the second actual order of the second optical engine when it actually projects images in the second time period.

[0238] The first difference calculation module is configured to calculate the first difference between the first actual order and the second actual order;

[0239] The prompting module is configured to generate a first prompting signal when the first difference is greater than or equal to a first set value. The first prompting signal includes: the optomechanical information of the first optomechanical device or the second optomechanical device.

[0240] In some embodiments, it also includes:

[0241] The setting order acquisition module is configured to acquire a second setting order calculated by at least one of the optical engines in the first prompt signal according to the timing calculation model;

[0242] The second difference calculation module is configured to calculate a second difference between the actual order of at least one of the optical engines and the second set order.

[0243] The stop module is configured to change the operating state of the corresponding optomechanical system to stop when the second difference is greater than or equal to a second set value, and generate a first stop signal accordingly.

[0244] Furthermore, in some embodiments, it also includes:

[0245] The first optomechanical information acquisition module is configured to acquire optomechanical information of two optomechanical machines that are in operation and adjacent to the stopped optomechanical machine.

[0246] The optical axis angle update module is configured to determine a new optical axis angle between the two optical engines based on the corresponding optical engine information.

[0247] The order update module is configured to calculate the third set order of each of the optical engines currently in operation in the third time period based on the new optical axis angle and the timing calculation model.

[0248] In some embodiments, the system further includes: a second optomechanical information acquisition module, configured to acquire optomechanical information of at least two optomechanical systems in normal operation;

[0249] The optical axis angle determination module is configured to determine the optical axis angle of each of the at least two optical engines based on the optical engine information.

[0250] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0251] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they 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 invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a computer terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0252] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A 3D printing method based on a multi-optical engine, characterized in that, include: S101 provides at least two optical engines arranged around a printing device, the printing device containing material to be formed. S102 calculates n projection images for projection based on the target shape; S103 uses a timing calculation model to calculate the first predetermined order of the projected images used for projection by the at least two optical engines in the first time period. The timing calculation model includes: a i-1 =θ i-1 / 360; Where L refers to the first set order of the optical engine numbered i during the first time period, parameter k is the first set order of the first optical engine to start projection during the first time period, and parameter k is a natural number less than or equal to n, j∈[0,i-1], i=2,3,...m,n≥m; m represents the total number of optical engines, α is the included angle coefficient, θ i-1 The optical axis angle between the optical engine numbered i-1 and the optical engine numbered i; S104 At least two of the optical engines perform projection operations on the material to be formed according to the first set sequence, so as to print the material to be formed into the target shape.

2. The 3D printing method based on a multi-optical engine according to claim 1, characterized in that, The at least two optical engines include: at least one first optical engine, and a second optical engine disposed adjacent to the first optical engine; correspondingly, the method further includes: The first actual order of the first optical engine when actually projecting images in the second time period is obtained, and the second actual order of the second optical engine when actually projecting images in the second time period is obtained; Calculate the first difference between the first actual order and the second actual order; When the first difference is greater than or equal to the first set value, a first prompt signal is generated accordingly. The first prompt signal includes: the optical engine information of the first optical engine or the second optical engine.

3. The 3D printing method based on a multi-optical engine according to claim 2, characterized in that, Also includes: Obtain the second set order calculated by at least one of the optical engines in the first prompt signal according to the timing calculation model; Calculate the second difference between the actual order of at least one of the optical engines and the second set order; When the second difference is greater than or equal to the second set value, the operating state of the corresponding optical engine is changed to stop, and a first stop signal is generated accordingly.

4. The 3D printing method based on a multi-optical engine according to claim 3, characterized in that, Also includes: Obtain the optomechanical information of two optomechanical units that are in operation and adjacent to the one that has stopped operating; The new optical axis angle between the two optical engines is determined based on the corresponding optical engine information. Based on the new optical axis angle, the third set order of each optical engine currently in operation is calculated using the time-series calculation model in the third time period.

5. The 3D printing method based on a multi-optical engine according to claim 1, characterized in that, Before S103, the following steps are also included: S105 Acquires optomechanical information from at least two of the aforementioned optomechanical systems that are in normal operation; S106 determines the optical axis angle of each of the at least two optical engines based on the optical engine information.

6. The 3D printing method based on a multi-optical engine according to claim 1, characterized in that, It also includes the following steps: Optical path correction is performed on at least one of the aforementioned optical engines.

7. A 3D printing method based on a multi-optical engine according to claim 6, characterized in that, The steps for optical path correction by at least one of the optical engines include: (1) The optical engine uses a correction pattern for exposure, and the projection light of the optical engine is emitted along a first direction, and the first center pattern of the correction pattern passes through the imaging hole of the first correction plate and is clearly imaged at a first imaging position on the rear side of the first correction plate; wherein, the first correction plate is perpendicular or approximately perpendicular to the optical axis of the projection light. (2) Continue to adjust the optical engine so that the first central pattern continues to pass through the imaging hole of the second correction plate and is clearly imaged at the first imaging position behind the second correction plate; wherein the second correction plate is disposed opposite to the first correction plate, and the projection of the first correction plate along the first direction is located on the second correction plate. (3) Adjust the optical engine again so that the center pattern of the optical engine is clearly imaged at the first imaging position behind the first correction plate; adjust the horizontal state of the optical engine so that the second center pattern is imaged in the center region corresponding to the imaging aperture; wherein the first center pattern and the second center pattern are perpendicular or approximately perpendicular to each other. (4) Continue to adjust the horizontal state of the optical engine so that the second central pattern is projected into the central region of the imaging hole of the second correction plate; (5) Adjust the distance between the optical engine and the imaging rotation center, and make the edge diameter of the edge region of the correction pattern at the rotation center the same as or similar to the set diameter; wherein the set diameter is greater than or equal to the width of the target shape; (6) Repeat steps (1)-(5) until the second center pattern is projected onto the imaging aperture of the second correction plate again. Central area.

8. The 3D printing method based on a multi-optical engine according to claim 1, characterized in that, Before S104, the following steps are also included: The n projected images are sent to at least one of the optical engines for pre-storage.

9. A 3D printing method based on a multi-optical engine according to claim 1, characterized in that, The image refresh rate of the optical engine is n / 360*v, where v is the rotation speed of the optical engine or the rotation speed of the printing device.

10. A 3D printing system based on a multi-optical engine, characterized in that, include: At least two optical engines are arranged around a printing device, and the printing device contains material to be formed. The projection image calculation module is configured to calculate n projection images for projection based on the target shape; The setting order calculation module is configured to calculate, using a timing calculation model, a first setting order for projection of the at least two optical engines in a first time period, wherein the timing calculation model includes: a i-1 =θ i-1 / 360; Where L refers to the first set order of the optical engine numbered i during the first time period, parameter k is the first set order of the first optical engine to start projection during the first time period, and parameter k is a natural number less than or equal to n, i = 2, 3, ... m, n ≥ m; m represents the total number of optical engines, α is the included angle coefficient, θ i-1 The optical axis angle between the optical engine numbered i-1 and the optical engine numbered i; The projection module is configured to allow at least two optical engines to project onto the material to be formed in a first predetermined order, so as to print the material to be formed into the target shape.

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