Printing apparatus and control method for printing apparatus

Abstract

Disclosed in the present application are a printing apparatus and a control method for the printing apparatus. The printing apparatus comprises: a frame; a main platform arranged on the frame and capable of moving vertically relative to the frame; a support fixture arranged on the main platform and configured to support a part to be printed, wherein the support fixture comprises a fixed support mechanism and a movable support mechanism which are arranged spaced apart from each other, the fixed support mechanism being configured to support a first end of said part, and the movable support mechanism being configured to support a second end of said part and being capable of moving vertically relative to the main platform, the radius of the first end of said part being different from that of the second end; and a detection module arranged on the frame and located above the support fixture, the detection module being configured to detect whether said part has reached a preset height. In this way, the present application can improve the printing effect of the printing apparatus.

Description

Printing equipment and methods for controlling printing equipment

[0001] This application claims priority to Chinese patent application 2024114405327, filed on October 14, 2024, entitled “Printing apparatus and method of controlling printing apparatus”, the entire contents of which are incorporated herein by reference. [Technical Field]

[0002] This application relates to the field of printing technology, and in particular to printing equipment and methods for controlling printing equipment. [Background Technology]

[0003] With the advancement of science and technology, the variety of printing equipment has gradually increased, and various types of printing equipment are widely used in various industries. Among related technologies, printing equipment can be used for printing text and images on irregularly shaped curved objects, such as cylindrical vases and frustum-shaped open cups.

[0004] However, when printing irregularly shaped curved objects, it is difficult to maintain a reasonable printing distance between the printhead and the surface of each part of the object, resulting in poor printing quality and failing to meet the requirements. [Summary of the Invention]

[0005] The main technical problem addressed by this application is to provide a printing device and a control method for the printing device, which can improve the printing effect of the printing device.

[0006] In a first aspect, this application provides a printing device, comprising: a frame; a host platform disposed on the frame and capable of vertical movement relative to the frame; a support fixture disposed on the host platform for supporting a workpiece to be printed, the support fixture including a fixed support mechanism and a movable support mechanism spaced apart, the fixed support mechanism supporting a first end of the workpiece to be printed, the movable support mechanism supporting a second end of the workpiece to be printed and capable of vertical movement relative to the host platform, the radius of the first end of the workpiece to be printed being different from the radius of the second end of the workpiece to be printed; and a detection module disposed on the frame and located above the support fixture, the detection module being used to detect whether the workpiece to be printed has reached a preset height.

[0007] Secondly, this application provides a control method for a printing device, the control method comprising: controlling a host platform to perform lifting and lowering movements, and acquiring a first lifting and lowering height of the host platform when the first end of the workpiece to be printed reaches a preset height; controlling a movable support mechanism to perform lifting and lowering movements so that the second end of the workpiece to be printed is higher than the first end of the workpiece to be printed, controlling the host platform to perform lifting and lowering movements, and acquiring a second lifting and lowering height of the host platform when the second end of the workpiece to be printed reaches a preset height; and controlling the movable support mechanism to perform lifting and lowering movements according to the first lifting and lowering height and the second lifting and lowering height to level the first end and the second end of the workpiece to be printed.

[0008] Thirdly, this application provides a control method for a printing device, the control method comprising: controlling a host platform to perform lifting and lowering movements, and acquiring a first lifting and lowering height of the host platform when the first end of the workpiece to be printed reaches a preset height; calculating the radius of the first end of the workpiece to be printed based on the preset height and the first lifting and lowering height; calculating the radius of the second end of the workpiece to be printed based on the radius of the first end of the workpiece to be printed; and controlling a movable support mechanism to perform lifting and lowering movements based on the radius of the first end and the radius of the second end of the workpiece to be printed, so as to level the first end and the second end of the workpiece to be printed.

[0009] The beneficial effects of this application are as follows: Unlike existing technologies, this application incorporates a height-adjustable host platform, a detection module positioned above a support fixture, and a movable support mechanism capable of height adjustment relative to the host platform. The fixed support mechanism supports the first end of the workpiece to be printed, while the movable support mechanism supports the second end. The radii of the first and second ends of the workpiece are different. By controlling the height adjustment of the host platform and the movable support mechanism, the height of the first and second ends of the workpiece is adjusted according to the triggering of the detection module. This ensures that the sides of the first and second ends closest to the printhead are at the same horizontal level. Consequently, during printing, the difference in radii between the first and second ends prevents discrepancies in the distance between the printhead and the surfaces of the workpiece. This allows the printhead to maintain a suitable printing distance from the surfaces of the workpiece, effectively improving the uniformity and stability of inkjet printing, enhancing the printing effect, and reducing the likelihood of collisions between the printhead and the workpiece, thus improving the reliability of the printing equipment. [Attached Image Description]

[0010] Figure 1 is a schematic diagram of an implementation scenario of the printing device embodiment of this application;

[0011] Figure 2 is a three-dimensional structural schematic diagram of the support fixture shown in Figure 1;

[0012] Figure 3 is a top view of the support fixture shown in Figure 2;

[0013] Figure 4 is a schematic diagram of the cross-sectional structure of the support fixture shown in Figure 3 along the NN section line;

[0014] Figure 5 is a three-dimensional structural schematic diagram of the movable support mechanism shown in Figure 2;

[0015] Figure 6 is a disassembled structural diagram of the movable support mechanism shown in Figure 5;

[0016] Figure 7 is a schematic cross-sectional view of the movable support mechanism shown in Figure 5 along the MM section line.

[0017] Figure 8 is a flowchart illustrating an embodiment of the control method for the printing device of this application;

[0018] Figure 9 is a schematic diagram of another implementation scenario of the printing device of this application;

[0019] Figure 10 is a schematic diagram of an implementation scenario of the first rotating wheel of this application;

[0020] Figure 11 is a schematic diagram of an implementation scenario of the second rotating wheel of this application;

[0021] Figure 12 is a flowchart illustrating another embodiment of the control method for the printing device of this application;

[0022] Figure 13 is a schematic diagram of another implementation scenario of the printing device of this application;

[0023] Figure 14 is a schematic diagram of another implementation scenario of the printing device of this application.

Detailed Implementation Methods

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] With the advancement of science and technology, the variety of printing equipment has gradually increased, and various types of printing equipment are widely used in various industries. Among related technologies, printing equipment can be used for printing text and images on irregularly shaped curved objects, such as cylindrical vases and frustum-shaped open cups.

[0029] However, due to the tapered outer walls of irregularly shaped curved objects such as cylinders and frustums, resulting in different radii at their ends, when these objects are placed horizontally on a surface below the printhead for inkjet printing, the outer contour of the object near the printhead is tilted. This causes uneven distances between the printhead and different parts of the object's outer wall, leading to problems such as uneven inkjet printing and suboptimal printing distance. Consequently, the printing quality is poor, and the tilted outer contour increases the probability of collision between the printhead and the object, compromising the reliability of the printing equipment and failing to meet usage requirements. Therefore, this application proposes the following solution to address these technical problems.

[0030] As shown in Figure 1, the printing device 1 described in the embodiment of the present application may include a host platform 100, a support fixture 200, a detection module 300, a control module 400, a printhead 500, and a frame 600. In some embodiments, the printhead 500 may also be a laser printhead.

[0031] As shown in Figures 1 and 2, a reference coordinate system is established for the printing device 1. The reference coordinate system has mutually perpendicular x-axis, y-axis and z-axis. The host platform 100 is set on the frame 600 and is parallel to the x-axis and y-axis. It can move up and down relative to the frame 600 along the z-axis direction. That is, the direction of the host platform 100's up and down movement is the z-axis direction.

[0032] A support fixture 200 is mounted on the host platform 100 and can move up and down along the z-axis under the drive of the host platform 100. It supports the workpiece 2 to be printed, thereby causing the workpiece 2 to move up and down along the z-axis. The support fixture 200 includes a fixed support mechanism 210 and a movable support mechanism 220 spaced apart. The fixed support mechanism 210 supports the first end 21 of the workpiece 2, and the movable support mechanism 220 supports the second end 22 of the workpiece 2. The radius R1 of the first end 21 is different from the radius R2 of the second end 22. The movable support mechanism 220 can move up and down relative to the host platform 100, for example, it can move up and down relative to the host platform 100 along the z-axis. In some embodiments, the fixed support mechanism 210 and the movable support mechanism 220 are spaced apart in a direction parallel to the direction of movement of the printhead 500, for example, they can be spaced apart along the x-axis.

[0033] The printhead 500 is positioned above the support fixture 200 and is used to perform inkjet printing on the workpiece 2 to be printed, which is supported on the support fixture 200.

[0034] The detection module 300 is mounted on the frame 600 and located above the support fixture 200. It detects whether the workpiece 2 to be printed has reached a preset height A2. When the workpiece 2 reaches the preset height A2, the detection module 300 is triggered. Optionally, the detection module 300 includes a transmitting module 310 and a receiving module 320. The transmitting module 310 is located on one side of the support fixture 200 and is used to emit a laser beam. The receiving module 320 is located on the other side of the support fixture 200 and is used to receive the laser beam. When the workpiece 2 to be printed contacts the laser beam and blocks it, the workpiece 2 reaches the preset height A2, triggering the detection module 300.

[0035] By configuring a height-adjustable host platform 100, a detection module 300 positioned above a support fixture 200, and a movable support mechanism 220 capable of height adjustment relative to the host platform 100, with a fixed support mechanism 210 supporting the first end 21 of the workpiece 2 to be printed and the movable support mechanism 220 supporting the second end 22 of the workpiece 2 to be printed, and the radius R1 of the first end 21 and the radius R2 of the second end 22 of the workpiece 2 to be printed being different, the heights of the first end 21 and the second end 22 can be adjusted according to the triggering of the detection module 300 by controlling the height adjustment movements of the host platform 100 and the movable support mechanism 220 respectively. This ensures that the first end 21 and the second end 22 of the workpiece 2, which are close to the printhead 500, are at the same horizontal height. This prevents differences in the radius of the first end 21 and the second end 22 from causing differences in the distance between the printhead 500 and the various surfaces of the workpiece 2 during the printing process. This allows the printhead 500 to maintain a suitable printing distance from the various surfaces of the workpiece 2, effectively improving the uniformity and stability of inkjet printing, improving the printing effect of the printing device 1, and effectively reducing the possibility of collision between the printhead 500 and the workpiece 2, thus improving the reliability of the printing device 1.

[0036] In some embodiments, the workpiece 2 to be printed has a length direction F3 pointing from the first end 21 to the second end 22, and the propagation direction of the laser beam is parallel to the length direction F3. In some embodiments, the propagation direction of the laser beam is parallel to the x-axis direction. In some embodiments, the number of detection modules 300 is one, and the printing device 1 has a set of transmitting modules 310 and receiving modules 320. In other embodiments, the number of detection modules 300 is multiple, and the printing device 1 has multiple sets of transmitting modules 310 and receiving modules 320, such as two sets, three sets, four sets, etc., or other numbers. The laser beams emitted by the multiple transmitting modules can be parallel to each other, intersect each other, or partially parallel while the remaining laser beams intersect.

[0037] The control module 400 is used to control the host platform 100 and the movable support mechanism 220 to perform lifting and lowering movements, so as to level the first end 21 and the second end 22 of the workpiece to be printed.

[0038] In some embodiments, the control module 400 controls the host platform 100 to perform lifting and lowering movements, and acquires the first lifting and lowering height L1 of the host platform 100 when the first end 21 of the printable part 2 reaches a preset height A2. In some embodiments, the control module 400 controls the host platform 100 and the movable support mechanism 220 to perform lifting and lowering movements respectively, and acquires the second lifting and lowering height L2 of the host platform 100 when the second end 22 of the printable part 2 reaches a preset height A2. In some embodiments, the control module 400 controls the host platform 100 to perform lifting and lowering movements so that the first lifting and lowering height L1 of the host platform 100 is acquired when the first end 21 of the printable part 2 just triggers the detection module 300, and controls the movable support mechanism 220 to perform lifting and lowering movements so that the second end 22 of the printable part 2 is higher than the first end 21 of the printable part 2, controls the host platform 100 to perform lifting and lowering movements, and acquires the second lifting and lowering height L2 of the host platform 100 when the second end 22 of the printable part 2 reaches a preset height A2.

[0039] Furthermore, the control module 400 can control the movable support mechanism 220 to perform lifting and lowering movements according to the first lifting height L1 and / or the second lifting height L2, so as to level the first end 21 and the second end 22. The control module 400 can also be referred to as a CPU (Central Processing Unit). The control module 400 may be an integrated circuit chip. The control module 400 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0040] Optionally, as shown in Figure 2, the support fixture 200 includes a bracket 230, a fixed support mechanism 210, and a movable support mechanism 220, which are spaced apart on the bracket 230 along the extending direction F1. The movable support mechanism 220 can slide relative to the bracket 230 along the extending direction to move closer to or further away from the fixed support mechanism 210, thereby supporting the printable parts 2 of different lengths, effectively improving the applicability of the support fixture 200 and meeting the printing needs of printable parts 2 of different lengths.

[0041] Optionally, as shown in Figure 2, the fixed support mechanism 210 includes a connecting frame 213 and a first support component 211. The connecting frame 213 is fixedly connected to the bracket 230, and the first support component 211 is used to support the first end 21 of the workpiece 2 to be printed.

[0042] Optionally, as shown in Figures 3 and 4, the first support assembly 211 includes two first rotating wheels 2111 and two first rotating shafts 2112 corresponding to the two first rotating wheels 2111. Each first rotating wheel 2111 and its corresponding first rotating shaft 2112 are coaxial. The first rotating shaft 2112 is rotatably connected to the connecting frame 213. The first rotating wheel 2111 is disposed at one end of the first rotating shaft 2112 near the movable support mechanism 220. The two first rotating wheels 2111 are used to jointly support the first end 21 of the workpiece 2 to be printed. By setting two first rotating wheels 2111, stable support for the workpiece 2 to be printed is effectively achieved, while adapting to workpieces 2 of different radii, effectively improving the applicability of the printing device 1.

[0043] Optionally, as shown in Figure 4, the fixed support mechanism 210 includes a first motor 212 and a transmission belt 215. The first motor 212 is fixedly connected to the connecting frame 213 and is driven by the transmission belt 215. The transmission belt 215 is driven by two first rotating shafts 2112. The first motor 212 is used to drive the transmission belt 215 to move, thereby driving the two first rotating shafts 2112 and the two first rotating wheels 2111 to rotate simultaneously, thereby driving the support and the printable part 2 on the first rotating shaft 2112 to rotate.

[0044] Optionally, the first motor 212 is provided with a first angle detection module 2121. The first angle detection module 2121 is used to detect the rotation angle output by the first motor 212, and then detect the rotation angle of the first rotating wheel 2111, thereby realizing dynamic monitoring of the rotation of the first rotating wheel 2111, and thus effectively grasping the rotation of the workpiece 2 to be printed, which is conducive to improving the stability and reliability of the printing equipment 1.

[0045] Optionally, as shown in Figure 3, the fixed support mechanism 210 includes an abutment roller 214. The abutment roller 214 is rotatable relative to the connecting frame 213 and can extend and retract relative to the connecting frame 213 along the axial direction F4 of the abutment roller 214. When the first end 21 of the workpiece 2 to be printed is supported on the fixed support mechanism 210, the abutment roller 214 extends and retracts to penetrate into the interior of the workpiece 2 to be printed and abut against the inner wall of the workpiece 2 to rotate with it. By setting the abutment roller 214, the two first rotating wheels 2111 and the abutment roller 214 jointly abut against the first end 21 of the workpiece 2 to be printed, effectively improving the stability of the workpiece 2 when rotating, effectively reducing the possibility of the workpiece 2 shaking, and improving the printing effect of the printing device 1.

[0046] Optionally, as shown in Figures 2, 5, and 6, the movable support mechanism 220 includes a connecting block 223 and a second support assembly 221. The second support assembly 221 includes two second rotating wheels 2211 and two second rotating shafts 2212 corresponding to the two second rotating wheels 2211. Each second rotating wheel 2211 and its corresponding second rotating shaft 2212 are coaxial. The second rotating shafts 2212 are rotatably connected to the connecting block 223. The second rotating wheels 2211 are located at one end of the second rotating shaft 2212 near the fixed support mechanism 210. The two second rotating wheels 2211 jointly support the second end 22 of the workpiece 2 to be printed. When the workpiece 2 to be printed rotates under the drive of the first rotating wheel 2111, the workpiece 2 then drives the second rotating wheel 2211 to rotate. By setting two second rotating wheels 2211, stable support for the workpiece 2 to be printed is effectively achieved, while adapting to workpieces 2 of different radii, effectively improving the applicability of the printing device 1.

[0047] Optionally, as shown in Figure 6, the movable support mechanism 220 includes a slider 225 and a lifting assembly 226. The bracket 230 has a groove 232, and at least a portion of the slider 225 is engaged within the groove 232 and can slide along it. The lifting assembly 226 is fixedly connected to the slider 225 so that it can slide relative to the bracket 230 following the slider 225. The connecting block 223 is driven by the lifting assembly 226, and the second support assembly 221 is driven by the connecting block 223. The lifting assembly 226 drives the connecting block 223 to move up and down, thereby driving the second support assembly 221 to move up and down, so as to move the second end 22 of the printable part 2 closer to or away from the host platform 100, effectively achieving leveling of the first end 21 and the second end 22 of the printable part 2, which is beneficial to improving the printing effect of the printing device 1.

[0048] Optionally, as shown in Figures 6 and 7, the movable support mechanism 220 includes a second angle detection module 222, which is used to detect the rotation angle of the second rotating wheel 2211. Optionally, the second angle detection module 222 includes a magnetic component 2221 and a sensing circuit board 2222. The magnetic component 2221 is fixedly connected to one end of the second rotating shaft 2212 away from the second rotating wheel 2211 and rotates synchronously with the second rotating shaft 2212. The sensing circuit board 2222 is fixedly connected to the connecting block 223. The sensing circuit board 2222 is provided with a sensing receiver 2223, which is arranged opposite to the magnetic component 2221 and is used to detect the rotation angle of the magnetic component 2221 to detect the rotation angle of the second rotating wheel 2211. This enables dynamic monitoring of the rotation of the second rotating wheel 2211, thereby effectively controlling the rotation of the printable part 2 and improving the stability and reliability of the printing equipment 1.

[0049] In some embodiments, the number of second angle detection modules 222 is one, that is, the second angle detection module 222 is only used to detect the rotation angle of a certain second rotating wheel 2211. In other embodiments, the number of second angle detection modules 222 is two, that is, the two second angle detection modules 222 are respectively used to detect the rotation angle of the two second rotating wheels 2211 to reduce detection error.

[0050] Optionally, as shown in Figure 3, the bracket 230 includes a sensing unit 231, and the movable support mechanism 220 includes a magnetic block 224. The sensing unit 231 is used to detect the distance between the magnetic block 224 and the sensing unit 231 in the extension direction F1 of the bracket 230, so as to detect the length of the workpiece 2 to be printed. Since the position of the sensing unit 231 is fixed, the distance from the sensing unit 231 to the fixed support mechanism 210 is also fixed. Therefore, by detecting the distance between the magnetic block 224 and the sensing unit 231 in the extension direction F1 of the bracket 230, the distance between the movable support mechanism 220 and the sensing unit 231 in the extension direction F1 of the bracket 230 can be obtained, and then the distance between the movable support mechanism 220 and the fixed support mechanism 210 in the extension direction F1 of the bracket 230 can be obtained. Thus, the length of the workpiece 2 to be printed can be obtained, providing the length parameter of the workpiece 2 to be printed for subsequent printing work, which is beneficial to improving the printing effect.

[0051] Optionally, there are multiple sensing units 231, which are spaced apart on the support 230 along the extension direction F1 of the support 230. This helps to improve the accuracy of detecting the length of the workpiece 2 to be printed and effectively reduce detection errors.

[0052] Optionally, as shown in Figure 6, the lifting assembly 226 includes a lead screw 2261, a lead screw nut 2262, a guide post 2263, and a second motor 2264. The second motor 2264 is fixedly connected to the sliding member 225 and is used to drive the lead screw 2261 to rotate. The lead screw nut 2262 is sleeved on the outer circumference of the lead screw 2261 and is connected to the lead screw 2261 for transmission, so as to move along the extension direction of the lead screw 2261 when the lead screw 2261 rotates. The connecting block 223 is fixedly connected to the lead screw nut 2262, so as to move relative to the lead screw 2261 following the movement of the lead screw nut 2262, thereby realizing the lifting movement of the second support assembly 221. The guide post 2263 passes through the connecting block 223 to guide and position the connecting block 223. The structure is simple and effective, convenient for positioning, installation and disassembly, and the overall structure is relatively stable, reducing the possibility of the connecting block 223 shifting or shaking during the lifting movement, and effectively improving the accuracy of the leveling process.

[0053] Optionally, as shown in Figure 2, the fixed support mechanism 210 includes a first limiting post 216, and the movable support mechanism 220 includes a second limiting post 227. The first limiting post 216 and the second limiting post 227 are respectively used to abut against the first end 21 and the second end 22 of the printable part 2, so as to limit the printable part 2 in the length direction F3 of the printable part 2, effectively reducing the possibility of the printable part 2 shaking or shifting during the printing process, which is conducive to improving the printing effect of the printing device 1.

[0054] In some embodiments, as shown in FIG8, the control method embodiment of the printing device of this application can use the printing device 1 as the execution subject, and obtain a first lifting height L1 for leveling by controlling the lifting movement of the host platform 100 and the rotation of the first rotating wheel 2111. See the following steps for details.

[0055] S100: Controls the host platform to perform lifting and lowering movements, and obtains the first lifting and lowering height of the host platform when the first end of the workpiece to be printed reaches the preset height.

[0056] As shown in Figure 9, the host platform 100 has a starting position A1. The distance L between the starting position A1 and the preset height A2 detected by the detection module 300 is a fixed value. The control module 400 controls the host platform 100 to move up and down along the z-axis. When the first end 21 of the workpiece 2 to be printed reaches the preset height A2, the first lifting height L1 of the host platform 100 is obtained. The first lifting height L1 is the distance of the host platform 100 relative to the starting position A1 in the z-axis direction, that is, the height of the host platform 100 moving up and down from the starting position A1 in the z-axis direction.

[0057] Optionally, before obtaining the first lifting height L1 of the host platform 100, S110 is executed: the active support mechanism is controlled to perform lifting and lowering movements so that the first end of the workpiece to be printed is higher than the second end of the workpiece to be printed.

[0058] The control module 400 controls the movable support mechanism 220 to perform lifting and lowering movements so that the first end 21 of the printable part 2 is higher than the second end 22 of the printable part 2, so that the first end 21 of the printable part 2 can trigger the detection module 300, which helps to reduce the possibility of detection errors.

[0059] In some embodiments, the radius R1 of the first end 21 of the printable 2 is greater than the radius R2 of the second end 22.

[0060] S200: Calculate the radius of the first end of the part to be printed based on the preset height and the first lifting height.

[0061] Optionally, as shown in Figure 9, the control module 400 can calculate the radius R1 of the first end 21 using the minimum distance h between the first rotating wheel 2111 and the host platform 100, the radius r1 of the first rotating wheel 2111, the distance d between the rotating shafts of the two first rotating wheels 2111, the preset height A2 of the detection module 300, and the first lifting height L1.

[0062] After obtaining the first lifting height L1, since the first lifting height L1 is the distance between the host platform 100 and the starting position A1 when the first end 21 of the printable 2 reaches the preset height A2 to trigger the detection module 300, and the distance L between the starting position A1 and the preset height A2 of the detection module 300 is a fixed value, the distance H between the host platform 100 and the preset height A2 of the detection module 300 at this time can be calculated. The calculation formula is as follows.

[0063] H = L - L1

[0064] Where H is the distance between the host platform 100 and the preset height A2 of the detection module 300, L is the distance between the starting position A1 and the preset height A2 of the detection module 300, and L1 is the first lifting height.

[0065] Furthermore, as shown in Figure 9, the distance H between the host platform 100 and the preset height A2 of the detection module 300 can be expressed by the following formula.

[0066] H = h + x + r1 + R1

[0067] Where h is the minimum distance between the first rotating wheel 2111 and the host platform 100 in the z-axis direction, x is the distance between the centerline A3 of the workpiece 2 to be printed and the rotation axis of the first rotating wheel 2111 in the z-axis direction, r1 is the radius of the first rotating wheel 2111, and R1 is the radius of the first end 21 of the workpiece 2 to be printed. The centerline A3 of the workpiece 2 to be printed can be either the central axis of the workpiece 2 to be printed or the line connecting the centers of the circles of each cross-section of the workpiece 2 to be printed.

[0068] Furthermore, as shown in Figure 9, the following formula can be obtained based on the Pythagorean theorem.

[0069] Where d is the distance between the rotation axes of the two first rotating wheels 2111.

[0070] Therefore, based on the above formula, the expression for the radius R1 of the first end 21 of the part to be printed 2 can be obtained as follows:

[0071] Since the minimum distance h between the first rotating wheel 2111 and the host platform 100, the radius r1 of the first rotating wheel 2111, and the distance d between the rotating shafts of the two first rotating wheels 2111 are all fixed values, the distance H between the host platform 100 and the preset height A2 of the detection module 300 can be calculated, and the size of the radius R1 of the first end 21 of the workpiece to be printed can be calculated.

[0072] S300: Calculate the radius of the second end of the printable part based on the radius of the first end of the printable part.

[0073] After obtaining the radius R1 of the first end 21 of the printable part 2, the control module 400 can use the radius R1 of the first end 21 to calculate the radius R2 of the second end 22, as detailed in the following steps included in S300.

[0074] S310: Control the first rotating wheel to rotate, so as to drive the workpiece to be printed and the second rotating wheel to rotate, and obtain the first angle of the rotation of the first rotating wheel and the second angle of the rotation of the second rotating wheel.

[0075] As shown in Figures 10 and 11, the control module 400 controls the first motor 212 to drive the first rotating wheel 2111 to rotate, thereby causing the workpiece 2 to rotate, which in turn causes the workpiece 2 to drive the second rotating wheel 2211 to rotate. The first angle detection module 2121 is used to obtain the first angle α of the rotation of the first rotating wheel 2111, and the second angle detection module 222 is used to obtain the second angle β of the rotation of the second rotating wheel 2211.

[0076] S320: Calculate the radius of the second end using the first angle, the second angle, and the radius of the first end.

[0077] As shown in Figure 10, when the first rotating wheel 2111 rotates by a first angle α, the workpiece 2 to be printed rotates by a third angle θ under the drive of the first rotating wheel 2111. At this time, the arc length of the rotation of the first rotating wheel 2111 is... The rotation arc length of the first end 21 of the part to be printed 2 As shown in the formula below.

[0078] in, Let r1 be the arc length of the first rotating wheel 2111, r1 be the radius of the first rotating wheel 2111, and α be the first angle of rotation of the first rotating wheel 2111. R1 is the radius of the first end 21 of the printable part 2, and θ is the third angle of rotation of the printable part 2.

[0079] Since the first rotating wheel 2111 rotates, it drives the workpiece 2 to rotate, and the first rotating wheel 2111 contacts the first end 21 of the workpiece 2, the arc length of the rotation of the first rotating wheel 2111 is... Arc length of rotation relative to printable part 2 They are equal, thus yielding the following expression.

[0080] Furthermore, as shown in Figure 11, when the workpiece 2 to be printed rotates at a third angle θ under the drive of the first rotating wheel 2111, the second rotating wheel 2211 rotates at a second angle β under the drive of the workpiece 2 to be printed. At this time, the arc length of the rotation of the second rotating wheel 2211 is... The rotation arc length of the second end 22 of the part to be printed 2 As shown in the formula below.

[0081] in, Let r2 be the arc length of the second rotating wheel 2211, r2 be the radius of the second rotating wheel 2211, and β be the second angle of rotation of the second rotating wheel 2211. R2 is the rotation arc length of the second end 22 of the part to be printed 2, R2 is the radius of the second end 22 of the part to be printed 2, and θ is the third angle of rotation of the part to be printed.

[0082] Since the workpiece 2 to be printed rotates, thereby driving the second rotating wheel 2211 to rotate, and the second end 22 of the workpiece 2 to be printed contacts the second rotating wheel 2211, the arc length of the rotation of the second end 22 of the workpiece 2 to be printed is... Arc length of rotation of the second rotating wheel 2211 They are equal, thus yielding the following expression.

[0083] Therefore, by simplifying the above formula, we can obtain the following proportional formula.

[0084] The first angle α can be obtained by the first angle detection module 2121, and the second angle β can be obtained by the second angle detection module 222. The radius r1 of the first rotating wheel 2111 and the radius r2 of the second rotating wheel 2211 are both fixed values. The radius R1 of the first end 21 of the printable part 2 has been calculated by S211. Therefore, the radius R2 of the second end 22 of the printable part 2 can be calculated.

[0085] S400: The movable support mechanism is controlled to move up and down according to the radius of the first end and the radius of the second end of the workpiece to be printed, so as to level the first end and the second end of the workpiece to be printed.

[0086] Optionally, the control module 400 calculates a first adjustment height t1 using the radius R1 of the first end 21 and the radius R2 of the second end 22 of the printable 2, so as to level the first end 21 and the second end 22 according to the first adjustment height t1. See the following steps included in S400 for details.

[0087] S410: Calculate the first adjustment height using the radius of the first end and the radius of the second end.

[0088] When the printable part 2 is placed on a horizontal surface, the height difference between the first end 21 and the second end 22 of the printable part 2 in the z-axis direction is the first adjustment height t1. That is, the first adjustment height t1 is equal to twice the difference between the radius R1 of the first end 21 and the radius R2 of the second end 22. Its formula is as follows: t1 = 2*(R1 - R2)

[0089] S420: The movable support mechanism is raised and lowered relative to the main platform according to the first adjustment height control, so as to level the first end and the second end.

[0090] The control module 400 controls the movable support mechanism 220 to perform lifting and lowering movements, so that the second rotating wheel 2211 is raised to a first adjustment height t1 along the z-axis direction, thereby making the outer surface of the first end 21 and the second end 22 of the workpiece to be printed on the side close to the printhead 500 equal to the distance from the printhead 500, which is beneficial to improving the printing effect of the printing device 1.

[0091] It is understandable that the movable support mechanism 220 and the host platform 100 can be controlled to move up and down respectively so that the second end 22 of the printable part 2 triggers the detection module 300, thereby calculating the radius R2 of the second end 22 of the printable part 2. Then, by controlling the first rotating wheel 2111 to rotate, the radius R1 of the first end 21 of the printable part 2 can be calculated using the arc length formula, thereby calculating the first adjustment height t1. The principle is the same as the above embodiment, and will not be repeated here.

[0092] In some embodiments, as shown in FIG12, the control method embodiment of the printing device of this application can use the printing device 1 as the execution subject, and obtain a second lifting height L2 for leveling by controlling the lifting movement of the host platform 100 and the lifting movement of the movable support mechanism 220. See the following steps for details.

[0093] M100: Controls the host platform to perform lifting and lowering movements, and obtains the first lifting and lowering height of the host platform when the first end of the workpiece to be printed reaches the preset height.

[0094] As shown in Figure 13, the host platform 100 has a starting position A1, and the distance L between the starting position A1 and the preset height A2 of the detection module 300 is a fixed value. The control module 400 controls the host platform 100 to move up and down along the z-axis. When the first end 21 of the printable part 2 reaches the preset height A2 to trigger the detection module 300, the first lifting height L1 of the host platform 100 is acquired. The first lifting height L1 is the distance of the host platform 100 in the z-axis direction relative to the starting position A1 when the first end 21 of the printable part 2 reaches the preset height A2, that is, the height of the host platform 100 moving up and down from the starting position A1 in the z-axis direction.

[0095] At this point, the distance L between the starting position A1 and the preset height A2 can be expressed by the following formula: L = L1 + 2R1

[0096] Where L is the distance between the starting position A1 and the preset height A2 of the detection module 300, L1 is the first upgrade height, and R1 is the radius of the first end 21 of the workpiece 2 to be printed.

[0097] Optionally, before obtaining the first lifting height L1 of the host platform 100, execute M110: control the active support mechanism to perform lifting movement so that the first end of the workpiece to be printed is higher than the second end of the workpiece to be printed.

[0098] The control module 400 controls the movable support mechanism 220 to perform lifting and lowering movements so that the first end 21 of the printable part 2 is higher than the second end 22 of the printable part 2, so that the first end 21 of the printable part 2 can trigger the detection module 300, which helps to reduce the possibility of detection errors.

[0099] In some embodiments, the radius R1 of the first end 21 of the printable 2 is greater than the radius R2 of the second end 22.

[0100] M200: Controls the movable support mechanism to perform lifting and lowering movements, so that the second end of the workpiece to be printed is higher than the first end of the workpiece to be printed, controls the host platform to perform lifting and lowering movements, and obtains the second lifting and lowering height of the host platform when the second end of the workpiece to be printed reaches the preset height.

[0101] As shown in Figure 13, the control module 400 controls the movable support mechanism 220 to move up and down relative to the host platform 100 so that the second end 22 of the printable part 2 is higher than the first end 21 of the printable part 2. Then, the control module 400 controls the host platform 100 to move up and down. At this time, the detection module 300 will be triggered by the second end 22 of the detection module 300 which is closer to the detection module 300 in the z-axis direction, so as to obtain the second lifting height L2 of the host platform when the second end 22 of the printable part 2 reaches the preset height A2. That is, the second lifting height L2 is the distance between the host platform 100 and the starting position A1 at this time.

[0102] M300: The movable support mechanism is controlled to move up and down according to the first and second lifting heights in order to level the first and second ends of the workpiece to be printed.

[0103] The control module 400 can control the movable support mechanism 220 to move up and down according to the first lifting height L1 and the second lifting height L1, so as to level the first end 21 and the second end 22 of the workpiece 2 to be printed. See the following steps included in M300 for details.

[0104] M310: Obtain the third lifting height of the active support mechanism relative to the host platform.

[0105] The third lifting height l3 can be the height of the active support mechanism 220 relative to the host platform 100 when the active support mechanism 220 makes the first end 21 of the printable part 2 higher than the second end 22.

[0106] As shown in Figure 13, with the distance between the second end 22 of the printable part 2 and the host platform 100 being a third lifting height l3, the host platform 100 is controlled to move up and down. The first lifting height L1 of the host platform 100 is obtained when the first end 21 of the printable part 2 reaches a preset height A2. The relationship between the third lifting height l3 and the first lifting height L1 is shown in the following formula: L = l3 + L1 + 2R2

[0107] Where L is the distance between the starting position A1 and the preset height A2 of the detection module 300, L1 is the first lifting height, l3 is the third lifting height, and R2 is the radius of the second end 22 of the workpiece to be printed 2.

[0108] In some embodiments, the radius R1 of the first end 21 of the printable part 2 is greater than the radius R2 of the second end 22. Therefore, when the third lifting height l3 of the movable support mechanism 220 relative to the host platform 100 is 0, the first end 21 of the printable part 2 is still higher than the second end 22.

[0109] M320: Obtain the fourth lifting height of the active support mechanism relative to the host platform.

[0110] After the control module 400 controls the movable support mechanism 220 to move up and down relative to the host platform 100, the movable support mechanism 220 has a fourth lifting height l4 relative to the host platform 100. That is, the fourth lifting height l4 is the minimum distance between the second end 22 of the printable part 2 and the host platform 100 at this time. At this time, after the second end 22 of the printable part 2 is lifted, it is closer to the preset height A2 of the detection module 300 in the z-axis direction than the first end 21.

[0111] Based on the distance of the second end 22 of the printable part 2 to the host platform 100 being the fourth lifting height l4, the host platform 100 is controlled to move up and down. When the second end 22 of the printable part 2 reaches the preset height A2, the second lifting height L2 of the host platform 100 is obtained. That is, the second lifting height L2 is the distance between the host platform 100 and the starting position A1 at this time. The relationship between the fourth lifting height l4 and the second lifting height L2 is shown in the following formula: L = l4 + L2 + 2R2

[0112] Where L is the distance between the starting position A1 and the preset height A2 of the detection module 300, L2 is the second lifting height, l4 is the fourth lifting height, and R2 is the radius of the second end 22 of the workpiece to be printed.

[0113] M330: The adjustment height of the second end of the workpiece to be printed is determined by the difference between the fourth and third lifting heights, the first lifting height, and the second lifting height.

[0114] After obtaining the first lifting height L1, the second lifting height L2, the third lifting height l3, and the fourth lifting height l4, the second adjustment height t2 of the second end 22 of the part to be printed 2 can be calculated using the first lifting height L1, the second lifting height L2, the third lifting height l3, and the fourth lifting height l4.

[0115] Furthermore, the difference between the fourth lifting height l4 and the third lifting height l3 is the difference height L3. The second adjustment height t2 is equal to the sum of the second lifting height L2 and the difference height L3 minus the difference between the first lifting height L1. The formula for the second adjustment height t2 is as follows: t2=L2+L3-L1

[0116] M340: The second height adjustment control mechanism moves up and down to level the first and second ends of the workpiece to be printed.

[0117] The control module 400 controls the movable support mechanism 220 to perform lifting and lowering movements, so that the second rotating wheel 2211 is raised to the second adjustment height t2 along the z-axis direction, thereby making the outer surface of the first end 21 and the second end 22 of the workpiece to be printed on the side close to the printhead 500 equal to the distance from the printhead 500, which is beneficial to improving the printing effect of the printing device 1.

[0118] Optionally, before controlling the host platform 100 and the movable support mechanism 220 to perform lifting movements to obtain a first lifting height L1 and / or a second lifting height L2 of the host platform 100, the host platform 100 may also translate in a reference direction F2, which is perpendicular to the direction of lifting movement and the length direction F3. The reference direction F2 may be, for example, the y-axis direction. See the following steps for details.

[0119] M400: Controls the host platform to translate in the reference direction, and obtains the first translation parameter of the host platform when the printable part starts to trigger the detection module, and obtains the second translation parameter of the host platform when the printable part stops to trigger the detection module.

[0120] As shown in Figure 14, since different printable parts 2 have different sizes and shapes, when printable parts 2 are placed on the support fixture 200, the highest position of the printable part 2 near the nozzle 500 may be misaligned with the laser beam emitted by the detection module 300 in space. Normally, the projection of the highest position of printable part 2 on the host platform 100 overlaps with the center line A3 of printable part 2. That is, when the highest position of printable part 2 is misaligned with the laser beam, the projection of the laser beam on the host platform 100 does not overlap with the projection of the center line A3 of printable part 2 on the host platform 100. Therefore, the position of printable part 2 can be adjusted by controlling the host platform 100 to translate in the reference direction F2.

[0121] Specifically, the control module 400 acquires the first translation parameter of the host platform 100 when the printable 2 starts to trigger the detection module 300, and acquires the second translation parameter of the host platform 100 when the printable 2 stops triggering the detection module 300. That is, when the host platform 100 is between the first translation parameter and the second translation parameter along the reference direction F2, the printable 2 will trigger the detection module 300.

[0122] M410: Determines the centerline of the workpiece to be printed along its length direction based on the first translation parameter and the second translation parameter, and controls the alignment of the centerline with the propagation direction of the laser beam.

[0123] For the printable part 2, when the host platform 100 is at the first translation parameter along the reference direction F2, the laser beam emitted by the detection module 300 will determine the first contact point P at the first end 21 of the printable part 2. When the host platform 100 is at the second translation parameter along the reference direction F2, the laser beam emitted by the detection module 300 will determine the second contact point Q at the first end 21 of the printable part 2. These two contact points can determine an outer contour arc PQ at the first end 21 of the printable part 2. The midpoint of the arc PQ is the highest position of the first end 21 of the printable part 2, thereby determining the center line A3 of the printable part 2. Then, the host platform 100 is controlled to translate along the reference direction F2 so that the center line A3 is aligned with the propagation direction of the laser beam. At this time, the center line A3 of the printable part 2 overlaps with the projection of the laser beam on the host platform 100.

[0124] Optionally, after leveling the workpiece 2, the printhead 500 can be moved to the optimal printing distance between itself and the workpiece 2. For example, the printhead 500 can be moved to a minimum distance of 1mm, 1.5mm, 2mm, 2.5mm, etc. between itself and the outer surface of the workpiece 2. Of course, other distances are also possible.

[0125] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A printing device, characterized in that, The printing device includes: frame; The host platform is mounted on the rack and can be raised and lowered relative to the rack. A support fixture, disposed on the host platform, is used to support a workpiece to be printed. The support fixture includes a fixed support mechanism and a movable support mechanism spaced apart. The fixed support mechanism supports a first end of the workpiece to be printed, and the movable support mechanism supports a second end of the workpiece to be printed and is capable of vertical movement relative to the host platform. The radius of the first end of the workpiece to be printed is different from the radius of the second end of the workpiece to be printed; and... A detection module is disposed on the frame and located above the support fixture. The detection module is used to detect whether the workpiece to be printed has reached a preset height.

2. The printing device according to claim 1, characterized in that, The support fixture includes a bracket, and the fixed support mechanism and the movable support mechanism are spaced apart on the bracket along the extension direction of the bracket. The movable support mechanism can slide relative to the bracket along the extension direction to move closer to or further away from the fixed support mechanism.

3. The printing device according to claim 2, characterized in that, The fixed support mechanism includes a connecting frame and a first support assembly. The connecting frame is fixedly connected to the bracket. The first support assembly is used to support the first end of the workpiece to be printed. The first support assembly includes two first rotating wheels and two first rotating shafts corresponding to the two first rotating wheels. Each first rotating wheel and its corresponding first rotating shaft are coaxial. The first rotating shaft is rotatably connected to the connecting frame. The first rotating wheel is disposed at one end of the first rotating shaft near the movable support mechanism. The two first rotating wheels are used to jointly support the first end of the workpiece to be printed.

4. A control method for the printing device according to claim 1, characterized in that, The control method includes: The host platform is controlled to perform lifting and lowering movements, and the first lifting and lowering height of the host platform is obtained when the first end of the workpiece to be printed reaches the preset height. The active support mechanism is controlled to move up and down so that the second end of the printable part is higher than the first end of the printable part. The host platform is controlled to move up and down, and the second lifting height of the host platform is obtained when the second end of the printable part reaches the preset height. The movable support mechanism is controlled to move up and down according to the first lifting height and the second lifting height, so as to level the first end and the second end of the workpiece to be printed.

5. The control method according to claim 4, characterized in that, Before obtaining the first lifting height of the host platform, the control method further includes: The movable support mechanism is controlled to move up and down so that the first end of the workpiece to be printed is higher than the second end of the workpiece to be printed.

6. The control method according to claim 5, characterized in that, The radius of the first end of the workpiece to be printed is greater than the radius of the second end of the workpiece to be printed.

7. The control method according to claim 5, characterized in that, The step of controlling the movable support mechanism to move up and down according to the first lifting height and the second lifting height to level the first end and the second end of the workpiece to be printed includes: Obtain the third lifting height of the active support mechanism relative to the host platform; Obtain the fourth lifting height of the active support mechanism relative to the host platform; The adjustment height of the second end of the workpiece to be printed is determined by using the difference between the fourth lifting height and the third lifting height, the first lifting height, and the second lifting height; The movable support mechanism is controlled to move up and down according to the height adjustment, so as to level the first and second ends of the workpiece to be printed.

8. The control method according to claim 7, characterized by, The determination of the adjustment height of the second end of the workpiece to be printed includes: t = L2 + L3 - L1 Where t is the adjustment height, L1 is the first lifting height, L2 is the second lifting height, and L3 is the difference between the fourth lifting height and the third lifting height.

9. The control method according to claim 6, characterized in that, The detection module includes a transmitting module and a receiving module. The transmitting module is disposed on one side of the support fixture and is used to emit a laser beam. The receiving module is disposed on the other side of the support fixture and is used to receive the laser beam. The workpiece to be printed has a length direction from a first end to a second end, and the propagation direction of the laser beam is parallel to the length direction.

10. The control method according to claim 9, characterized by, The host platform can also translate in a reference direction, which is perpendicular to the direction of the lifting motion and the length direction; Before acquiring the first lifting height of the host platform and / or acquiring the second lifting height of the host platform, the control method further includes: The host platform is controlled to translate in the reference direction, and a first translation parameter of the host platform is obtained when the printable starts to trigger the detection module, and a second translation parameter of the host platform is obtained when the printable stops triggering the detection module. The centerline of the workpiece to be printed along the length direction is determined based on the first translation parameter and the second translation parameter, and the centerline is controlled to be aligned with the propagation direction of the laser beam.

11. A control method for the printing device according to claim 1, characterized in that, The control method includes: The host platform is controlled to perform lifting and lowering movements, and the first lifting and lowering height of the host platform is obtained when the first end of the workpiece to be printed reaches the preset height. The radius of the first end of the workpiece to be printed is calculated based on the preset height and the first lifting height. Calculate the radius of the second end of the workpiece to be printed based on the radius of the first end of the workpiece to be printed; The movable support mechanism is controlled to move up and down according to the radius of the first end and the radius of the second end of the workpiece to be printed, so as to level the first end and the second end of the workpiece to be printed.

12. The control method according to claim 11, characterized in that, Before obtaining the first lifting height of the host platform, the control method further includes: The movable support mechanism is controlled to move up and down so that the first end of the workpiece to be printed is higher than the second end of the workpiece to be printed.

13. The control method according to claim 12, characterized in that, The radius of the first end of the workpiece to be printed is greater than the radius of the second end of the workpiece to be printed.

14. The control method according to claim 12, characterized in that, The fixed support mechanism includes two first rotating wheels, which together support the first end of the workpiece to be printed; the movable support mechanism includes two second rotating wheels, which together support the second end of the workpiece to be printed; wherein, when the first rotating wheels rotate, they can drive the workpiece to be printed to rotate, and the workpiece to be printed can further drive the second rotating wheels to rotate; The step of calculating the radius of the second end of the workpiece to be printed based on the radius of the first end of the workpiece includes: Control the first rotating wheel to rotate, so as to drive the workpiece to be printed and the second rotating wheel to rotate, and obtain the first angle of rotation of the first rotating wheel and the second angle of rotation of the second rotating wheel; The radius of the second end of the workpiece to be printed is calculated using the first angle, the second angle, and the radius of the first end of the workpiece to be printed.

15. The control method according to claim 14, characterized in that, The step of calculating the radius of the first end of the workpiece to be printed based on the preset height and the first lifting height includes: The radius of the first end is calculated using the minimum distance between the first rotating wheel and the host platform, the radius of the first rotating wheel, the distance between the rotating shafts of the two first rotating wheels, the preset height, and the first lifting height.

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