WO2022142955A1

WO2022142955A1 - Control method for three-dimensional printing device and three-dimensional printing device

Info

Publication number: WO2022142955A1
Application number: PCT/CN2021/134249
Authority: WO
Inventors: 王小军; 王敬杰
Original assignee: 深圳市纵维立方科技有限公司
Priority date: 2020-12-29
Filing date: 2021-11-30
Publication date: 2022-07-07
Also published as: CN112721158B; CN112721158A

Abstract

Provided are a control method for a three-dimensional printing device and a three-dimensional printing device, the three-dimensional printing device comprising a support (1), a printing head (2) and a driving assembly (3). The support (1) comprises a first fixing piece (11), a connecting piece (12) and a second fixing piece (13) which are sequentially connected; the first fixing piece (11) is connected to the printing head (2); the connecting piece (12) comprises a first side surface and a second side surface, the first side surface and second side surface being two opposite surfaces; the first side surface is a plane, and the second side surface is recessed towards the first side surface to form a recessed part; a strain gauge (121) is provided on the first side surface; and the second fixing piece (13) is connected to the driving assembly (3). The method comprises: controlling a printing head (2) to move in a first direction on the basis of N coordinate points of a first plane; according to a voltage value outputted by the strain gauge (121) and the distance moved by the printing head (2) in the first direction, determining three-dimensional coordinate information of N contact points; and on the basis of the three-dimensional coordinate information of the N contact points, determining a reference printing surface corresponding to a printing platform (4). The problems in the existing technology of relatively low leveling precision and relatively complex operations are solved.

Description

Three-dimensional printing device control method and three-dimensional printing device

technical field

The invention relates to the technical field of three-dimensional printing, in particular to a control method of a three-dimensional printing device and a three-dimensional printing device.

Background technique

3D printing is a technology that builds objects by layer-by-layer printing using bondable materials such as powdered metal or plastic based on digital model files. Generally speaking, during the printing process, the print head first moves along the X and Y axes to print the first layer structure, and then moves along the Z axis to print other layers. The printing platform is the bearing platform of the model, but generally speaking, the printing platform is not an absolutely flat plane, so it will cause uneven contact between the first layer of printing model and the printing platform during the printing process, and poor adhesion, which will lead to the printing model of each layer. The adhesion between them is poor, which affects the printing quality of the overall model.

Therefore, before printing, the printing platform needs to be leveled. Currently, in many cases, the user is required to manually level the printing platform before printing, but the precision of manual leveling is low and the operation is relatively complicated.

It can be seen from this that the prior art has the problems of low leveling accuracy and complicated operation, resulting in low quality of the printed model.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a control method for a three-dimensional printing device and a three-dimensional printing device, which can eliminate the leveling operation, thereby solving the problems of low leveling accuracy and complicated operations in the prior art, resulting in low quality of printed models .

In order to solve the above-mentioned technical problems, the present invention is achieved in this way:

In a first aspect, an embodiment of the present invention provides a method for controlling a three-dimensional printing device. The three-dimensional printing device includes a bracket, a print head, and a drive assembly, and the bracket includes a first fixing member, a connecting member, and a second connecting member connected in sequence. A fixing piece, the first fixing piece is connected with the print head; the connecting piece includes a first side surface and a second side surface, the first side surface and the second side surface are two opposite surfaces, and the first side surface is a plane , the second side surface is recessed toward the first side surface to form a concave portion; the first side surface is provided with a strain gauge, and the second fixing member is connected with the driving assembly; the method includes:

Controlling the print head to move in a first direction based on N coordinate points of a first plane, wherein the first plane is a horizontal plane and is located on the side of the printing platform close to the print head; N is a positive integer; The first direction is perpendicular to the first plane and faces the printing platform;

Determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction;

The reference printing surface corresponding to the printing platform is determined based on the three-dimensional coordinate information of the N contact points.

Optionally, the second side surface is an arc-shaped curved surface.

Optionally, the second side surface includes a first position point, a second position point and a third position point that are sequentially spaced from the first end of the second side surface to the second end of the second side surface, so The first end and the second end are two opposite ends of the second side surface, and the vertical distance between the second side surface and the first side surface gradually increases from the first position point to the second position point. Decrease, the vertical distance between the second side surface and the first side surface gradually increases from the second position point to the third position point.

Optionally, the minimum value of the vertical distance between the first side surface and the second side surface is within a preset value range.

Optionally, the first fixing member is a U-shaped structure, the print head is located in the groove of the U-shaped structure, and is fixedly connected to the U-shaped structure.

Optionally, the step of determining the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction includes:

controlling the print head to move in the first direction based on any coordinate point to obtain the voltage value output by the strain gauge;

When the voltage value is greater than a preset value, it is determined that the print head is in contact with the printing platform, and the distance that the print head moves in the first direction is recorded; wherein, the preset value is the the critical voltage value output by the strain gauge when the print head is in contact with the printing platform;

Based on the distance that the print head moves in the first direction, the three-dimensional coordinate information corresponding to the current contact point is determined.

Optionally, the N coordinate points are arranged in an array, and the distance between any two adjacent coordinate points is the same.

In a second aspect, an embodiment of the present invention provides a three-dimensional printing device, the three-dimensional printing device includes a bracket, a print head, a driving assembly and a control device, the bracket includes a first fixing member, a connecting member and a second connecting member connected in sequence A fixing piece, the first fixing piece is connected with the print head; the connecting piece includes a first side surface and a second side surface, the first side surface and the second side surface are two opposite surfaces, and the first side surface is a plane , the second side surface is recessed toward the first side surface to form a concave portion; the first side surface is provided with a strain gauge, and the second fixing member is connected with the drive assembly; the control device includes:

a control module, configured to control the print head to move in a first direction based on N coordinate points of a first plane, wherein the first plane is a horizontal plane and is located on the side of the printing platform close to the print head; N is a positive integer; the first direction is perpendicular to the first plane and faces the printing platform;

a first determination module, configured to determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction;

The second determination module is configured to determine the reference printing surface corresponding to the printing platform based on the three-dimensional coordinate information of the N contact points.

Optionally, the first determining module includes:

an acquisition unit, configured to control the print head to acquire the voltage value output by the strain gauge when the print head moves in the first direction based on any coordinate point;

a first determining unit, configured to determine that the print head is in contact with the printing platform when the voltage value is greater than a preset value, and record the distance that the print head moves in the first direction; wherein, the The preset value is a critical voltage value output by the strain gauge when the print head is in contact with the printing platform;

The second determining unit is configured to determine the three-dimensional coordinate information corresponding to the current contact point based on the distance that the print head moves in the first direction.

In a third aspect, an embodiment of the present application provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the method according to the first aspect are implemented .

In the embodiment of the present invention, whether the printing head has touched the printing platform can be automatically judged through the strain effect of the strain gauge, which improves the sensitivity and precision of detection. At the same time, since the three-dimensional coordinate information of the N contact points obtained by measurement is fitted to form the reference printing surface, the print head can be controlled to move parallel to the reference printing surface during printing, so it is possible to avoid the need to adjust the printing platform before printing. Perform leveling operation. Therefore, when the surface of the printing platform is uneven, the method provided by the embodiment of the present invention can still ensure that the printing head is printed parallel to the printing platform, so that the printing models of each layer are in good contact, thereby improving the quality of the printing models.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a flowchart of a control method of a three-dimensional printing device provided by an embodiment of the present invention;

2 is a schematic structural diagram of a three-dimensional printing device provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a connector of a three-dimensional printing device provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Unless otherwise defined, technical or scientific terms used in the present invention should have the ordinary meaning as understood by those of ordinary skill in the art to which the present invention belongs. The terms "first," "second," and similar terms used herein do not denote any order, quantity, or importance, but are merely used to distinguish different components. "Up", "Down", "Left", "Right", etc. are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

As shown in FIG. 1 to FIG. 3 , an embodiment of the present invention provides a control method of a three-dimensional printing device. The three-dimensional printing device includes a bracket 1 , a print head 2 and a driving assembly 3 . The bracket 1 includes a first A fixing member 11, a connecting member 12 and a second fixing member 13, the first fixing member 11 is connected with the print head 2; the connecting member 12 includes a first side surface and a second side surface, the first side surface and The second side surface is two opposite surfaces, the first side surface is flat, and the second side surface is recessed toward the first side surface to form a concave portion; the first side surface is provided with a strain gauge 121, and the second side surface is fixed. The component 13 is connected with the drive assembly 3; the method includes:

Step 101, controlling the print head 2 to move in a first direction based on N coordinate points of a first plane, wherein the first plane is a horizontal plane and is located on the side of the printing platform 4 close to the print head 2; N is a positive integer; the first direction is perpendicular to the first plane and faces the printing platform 4;

It should be understood that the information of the N coordinate points may be pre-input, pre-extracted or manually input. According to the information of any one of the N coordinate points, the print head 2 is first controlled to move to a position corresponding to the coordinate point on the first plane; in one embodiment, the print head 2 can move along the The X-axis direction and the Y-axis direction move, so the print head 2 can be controlled to move to the position of the first plane corresponding to the coordinate point. In another embodiment, the print head 2 can move along the X-axis direction, and the printing platform 4 can move along the Y-axis direction, so the print head 2 can be controlled to move along the X-axis to the first plane corresponding to the The position of the coordinate point in the X-axis direction of the coordinate point is controlled, and the printing platform 4 is controlled to move along the Y-axis to the position corresponding to the coordinate point in the Y-axis direction of the coordinate point. Then, the printing head 2 is controlled to move in the first direction to touch the printing platform 4 . After the print head 2 touches the printing platform 4, the print head 2 is controlled to move in the opposite direction of the first direction until the print head 2 is located on the first plane again. At this time, according to the information of the next coordinate point, the print head 2 is controlled to move to the position of the first plane corresponding to the coordinate point, and then the print head 2 is controlled to move in the first direction to touch The printing platform 4 repeats this cycle until the number of times that the printing head 2 touches the printing platform 4 based on the N coordinate points of the first plane reaches N times.

Step 102: Determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge 121 and the distance that the print head 2 moves in the first direction;

During the movement of the print head 2 in the first direction, the voltage value output by the strain gauge 121 is recorded in real time. It should be understood that the preset value can be obtained by measuring and analyzing the voltage value of the strain gauge 121 when the print head 2 is not in contact with the printing platform 4 . When the printing head 2 touches the printing platform 4 , the printing head 2 will receive a reaction force from the printing platform 4 , and the direction of the reaction force is the opposite direction of the first direction. The reaction force is transmitted to the connecting member 12 along the print head 2 , so that the connecting member 12 is slightly deformed, and the strain gauge 121 disposed on the first side surface is deformed. According to the strain effect of the strain gauge 121 , when the strain gauge 121 is deformed, the resistance value of the strain gauge 121 changes, and the voltage value output by the strain gauge 121 changes. Therefore, when the voltage value output by the strain gauge 121 exceeds the preset value, it can be considered that the print head 2 has touched the printing platform 4 at this time, and then the print head 2 is controlled to stop moving in the first direction, and records are recorded. The distance that the print head 2 moves in the first direction from the first plane to the position where the movement stops. Record this distance as the coordinate value of the corresponding contact point in the Z-axis direction, and combine the original X-axis direction coordinate value and Y-axis direction coordinate value of the N coordinate points to determine the N corresponding to the N coordinate points 3D coordinate information of the contact point.

Step 103: Determine the reference printing surface corresponding to the printing platform 4 based on the three-dimensional coordinate information of the N contact points.

The N contact points are discrete points. According to the three-dimensional coordinate information of the N contact points, the N discrete points can be fitted to obtain a corresponding fitting equation, and the surface described by the fitting equation is the reference. print side. In the process of 3D printing, the coordinate value of each printing point in the Z-axis direction can be obtained according to the fitting equation. When printing, for the printing of the same layer, the moving distance of the print head 2 in the Z-axis direction is controlled according to the coordinate value of the printing point in the Z-axis direction obtained by the fitting equation, so that the print head 2 is in the Z-axis direction. When printing each printing point of the same layer, the distance between the printing head 2 and the printing platform 4 is the same, that is, the printing head 2 is controlled to move parallel to the reference printing surface.

It should be understood that when the surface of the printing platform 4 is smooth and flat, the graph corresponding to the fitting equation is a plane; when the surface of the printing platform 4 is uneven, the graph corresponding to the fitting equation is a plane. for the surface.

It should be understood that, in one embodiment, the driving assembly 3 is used to drive the print head 2 to move along the X-axis direction, the Y-axis direction and the Z-axis direction. In another embodiment, the drive assembly 3 includes a first drive assembly and a second drive assembly, the first drive assembly is used to drive the print head 2 to move along the X-axis direction and the Z-axis direction, the first drive assembly Two driving assemblies are used to drive the printing platform 4 to move along the Y-axis direction, and the second fixing member 13 is connected to the first driving assembly.

It should be understood that the first plane is a horizontal plane and is located on the side of the printing platform 4 close to the printing head 2 . Wherein, the distance between the first plane and the printing platform 4 is not limited herein. In this embodiment, when determining the three-dimensional coordinate information of the contact point corresponding to any coordinate point, the print head 2 should first control the print head 2 to move to the first plane of the any coordinate point The corresponding position is then controlled to move the print head 2 along the first direction. After confirming the three-dimensional coordinate information of the contact point corresponding to any coordinate point, the print head 2 should be controlled to move to the first plane along the opposite direction of the first direction. On the one hand, using the first plane as the starting plane facilitates the recording of the distance that the print head 2 moves in the first direction. On the other hand, since the print head 2 should return to the first plane after touching the print platform 4, the print head 2 is reduced due to unevenness of the print platform 4 when the print head 2 moves. possibility of damage.

It should be understood that the connection manner of the first fixing member 11 , the connecting member 12 and the second fixing member 13 is not limited herein. For example, in one embodiment, the first fixing member 11 , the connecting member 12 and the second fixing member 13 are integrally formed. In another embodiment, the first fixing member 11 and the connecting member 12 are fixed by welding, and the connecting member 12 and the second fixing member 13 are fixed by welding.

It should be understood that the second side surface is recessed toward the first side surface to form a recessed portion, and the shape of the recessed portion is not limited herein. For example, in one embodiment, the recesses are a plurality of U-shaped structures. Further, a plurality of the U-shaped structures are connected in sequence and have different sizes. In yet another embodiment, the recessed portion is a hole structure.

In the embodiment of the present invention, whether the printing head 2 has touched the printing platform 4 can be automatically judged through the strain effect of the strain gauge 121, which improves the sensitivity and precision of detection. At the same time, since the three-dimensional coordinate information of the N contact points obtained by measurement is fitted to form the reference printing surface, the print head 2 can be controlled to move parallel to the reference printing surface during printing, so it is possible to avoid the need for printing before printing. The platform 4 performs a leveling operation. Therefore, in the case where the surface of the printing platform 4 is uneven, the method provided by the embodiment of the present invention can still ensure that the printing head 2 is printed parallel to the printing platform 4, so that the printing models of each layer are in good contact, thereby improving the printing model. the quality of.

Optionally, the second side surface is an arc-shaped curved surface.

It should be understood that the size of the interval between the first position point, the second position point and the third position point is not limited herein. For example, in one embodiment, the first location point is located at the end point of the first end of the second side surface, and the second location point is located between the first end of the second side surface and the second side surface The midpoint between the second ends, the third position point is located at the end point of the second end of the second side, and the vertical distance between the second side and the first side is determined by the second side The first end of the side surface and the second end of the second side surface gradually decrease and then gradually increase.

In another embodiment, there is an interval between the first position point and the end point of the first end of the second side surface, and the vertical distance between the second side surface and the first side surface is from the first side surface. The end points of the first ends of the two side surfaces remain unchanged from the first position point.

In yet another embodiment, there is a gap between the third position point and the end point of the second end of the second side surface, and the vertical distance between the second side surface and the first side surface is from the third side surface The position point to the second end of the second side remains unchanged.

In this embodiment, on the one hand, the vertical distance between the first side surface and the second side surface is smaller in the middle of the connecting piece 12 , and it can be considered that the thickness of the middle portion of the connecting piece is smaller at the same time. Under the force of , the deformation of the position with smaller thickness is more obvious. Therefore, the deformation of the position where the strain gauge 121 is attached to the middle of the connector 12 is more obvious, so that the detection of the strain gauge 121 is more sensitive. On the other hand, since both ends of the connecting member 12 have a certain thickness, the connecting member 12 still has a certain strength, which can reduce the shaking of the print head 2 during the movement process, thereby further improving the measurement accuracy. Sensitivity and precision.

It should be understood that the preset value ranges corresponding to the connectors 12 made of different materials are different. For example, in one embodiment, the material of the connecting member 12 is aluminum alloy, and the preset value range is 1.6 mm˜2 mm.

Optionally, the first fixing member 11 is a U-shaped structure, the print head 2 is located in the groove of the U-shaped structure, and is fixedly connected to the U-shaped structure.

It should be understood that the connection manner of the print head 2 and the U-shaped structure is not limited herein. For example, in one embodiment, the print head 2 and the U-shaped structure are fastened and fixed. In another embodiment, the print head 2 and the U-shaped structure are screwed together.

Optionally, in step 102, the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points is determined according to the voltage value output by the strain gauge 121 and the distance that the print head 2 moves in the first direction. :

controlling the print head 2 to move in the first direction based on any coordinate point to obtain the voltage value output by the strain gauge 121;

During the movement of the print head 2 in the first direction, the voltage value output by the strain gauge 121 is recorded in real time. When the printing head 2 touches the printing platform 4 , the printing head 2 will receive a reaction force from the printing platform 4 , and the direction of the reaction force is the opposite direction of the first direction. The reaction force is transmitted to the connecting piece 12 along the print head 2 , so that the connecting piece 12 is slightly deformed, so that the strain gauge 121 disposed on the first side is also deformed. According to the strain effect of the strain gauge 121 , when the strain gauge 121 is deformed, the resistance value of the strain gauge 121 will change, and then the voltage value output by the strain gauge 121 will change.

When the voltage value is greater than the preset value, it is determined that the print head 2 is in contact with the printing platform 4, and the distance that the print head 2 moves in the first direction is recorded; wherein the preset value is the critical voltage value output by the strain gauge 121 when the print head 2 is in contact with the printing platform 4;

It should be understood that the preset value can be obtained by measuring and analyzing the voltage value of the strain gauge 121 when the print head 2 is not in contact with the printing platform 4 . When the print head 2 is in contact with the printing platform 4 , it will be subjected to the reaction force of the printing platform 4 , causing the strain gauge 121 to deform, thereby increasing the voltage value of the strain gauge 121 . Therefore, when the voltage value output by the strain gauge 121 exceeds the preset value, it can be considered that the printing head 2 has touched the printing platform 4 at this time, as the basis for determining that the printing head 2 is in contact with the printing platform 4.

Based on the distance that the print head 2 moves in the first direction, the three-dimensional coordinate information corresponding to the current contact point is determined.

When it is determined that the print head 2 touches the printing platform 4, the print head 2 is controlled to stop moving in the first direction, and the process of the print head 2 moving from the first plane to the position where it stops moving is recorded. , the distance moved in the first direction. Record this distance as the coordinate value of the corresponding contact point in the Z-axis direction, and combine the original X-axis direction coordinate value and Y-axis direction coordinate value of the N coordinate points to determine the N corresponding to the N coordinate points 3D coordinate information of the contact point.

It should be understood that the N coordinate points are arranged in an array, and the distance between any two adjacent coordinate points is the same, which means that the N coordinate points are composed of an array of coordinate points of N1 rows and N2 columns, wherein The spacing between any two adjacent coordinate points in any row is the same, and the size of the spacing is M1; the spacing between any two adjacent coordinate points in any column is the same, and the size of the spacing is M2; among them, The value of M1 is equal to the value of M2.

It should be understood that the distance between any two adjacent coordinate points is the same, and the size of the distance is not limited herein.

In this embodiment, the N coordinate points are arranged in an array, and the distance between any two adjacent coordinate points is the same. Since the N coordinate points are uniformly distributed points on the printing platform 4 , the error between the reference printing surface obtained by fitting and the actual printing platform 4 is reduced. By reducing the size of the distance, data of more coordinate points can be obtained, so that the accuracy of the fitting equation can be further improved, and the error between the reference printing surface obtained by fitting and the actual printing platform 4 can be reduced.

The embodiment of the present invention further provides a three-dimensional printing device, the three-dimensional printing device includes a bracket 1, a printing head 2, a driving assembly 3 and a control device, and the bracket 1 includes a first fixing member 11 and a connecting member 12 connected in sequence. and a second fixing member 13, the first fixing member 11 is connected with the print head 2; the connecting member 12 includes a first side surface and a second side surface, and the first side surface and the second side surface are two opposite surfaces, The first side surface is flat, and the second side surface is recessed toward the first side surface to form a concave portion; the first side surface is provided with a strain gauge 121 , the second fixing member 13 and the driving assembly 3 connection; the control device includes:

A control module for controlling the print head 2 to move in a first direction based on N coordinate points of a first plane, wherein the first plane is a horizontal plane and is located on the printing platform 4 close to the print head 2 side; N is a positive integer; the first direction is perpendicular to the first plane and faces the printing platform 4;

a first determination module, configured to determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge 121 and the distance that the print head 2 moves in the first direction;

The second determination module is configured to determine the reference printing surface corresponding to the printing platform 4 based on the three-dimensional coordinate information of the N contact points.

Optionally, the first determining module includes:

an acquisition unit, configured to control the print head 2 to acquire the voltage value output by the strain gauge 121 when the print head 2 moves in the first direction based on any coordinate point;

a first determining unit, configured to determine that the print head 2 is in contact with the printing platform 4 when the voltage value is greater than a preset value, and record the distance that the print head 2 moves in the first direction; Wherein, the preset value is the threshold voltage value output by the strain gauge 121 when the print head 2 is in contact with the printing platform 4;

The second determining unit is configured to determine the three-dimensional coordinate information corresponding to the current contact point based on the distance that the print head 2 moves in the first direction.

Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, each process of the above-mentioned embodiment of the control method for a three-dimensional printing device can be achieved, and can achieve The same technical effect, in order to avoid repetition, will not be repeated here. Wherein, the computer-readable storage medium, such as read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), magnetic disk or optical disk and so on.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions for causing a computer to perform the methods described in the various embodiments of the present invention.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of the present invention, without departing from the spirit of the present invention and the scope protected by the claims, many forms can be made, which all belong to the protection of the present invention.

Claims

A control method of a three-dimensional printing device, characterized in that the three-dimensional printing device includes a bracket, a print head and a drive assembly, the bracket includes a first fixing piece, a connecting piece and a second fixing piece connected in sequence, the first fixing piece A fixing member is connected with the print head; the connecting member includes a first side surface and a second side surface, the first side surface and the second side surface are two opposite surfaces, the first side surface is a plane, and the second side surface is a plane. A depression is formed toward the first side surface; a strain gauge is provided on the first side surface, and the second fixing member is connected with the driving assembly; the method includes: controlling the print head to be based on the first plane The N coordinate points of , move along a first direction, wherein the first plane is a horizontal plane and is located on the side of the printing platform close to the print head; N is a positive integer; the first direction is perpendicular to the first plane, and facing the printing platform;

Determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction;

The reference printing surface corresponding to the printing platform is determined based on the three-dimensional coordinate information of the N contact points.
The method according to claim 1, wherein the second side surface is an arc-shaped curved surface.
The method according to claim 2, wherein the second side surface comprises a first position point, a second position point and a second position point, which are sequentially spaced from the first end of the second side surface to the second end of the second side surface. A position point and a third position point, the first end and the second end are two opposite ends of the second side surface, and the vertical distance between the second side surface and the first side surface is from the first position It gradually decreases from the point to the second position point, and the vertical distance between the second side surface and the first side surface gradually increases from the second position point to the third position point.
The method according to claim 1, wherein the minimum value of the vertical distance between the first side surface and the second side surface is within a preset value range.
The method of claim 1, wherein the first fixing member is a U-shaped structure, the print head is located in a groove of the U-shaped structure, and is fixedly connected to the U-shaped structure.
The method according to claim 1, wherein the three-dimensional dimensions of the N contact points corresponding to the N coordinate points are determined according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction The step of coordinate information includes: controlling the print head to move in a first direction based on any coordinate point to obtain a voltage value output by the strain gauge;

When the voltage value is greater than a preset value, it is determined that the print head is in contact with the printing platform, and the distance that the print head moves in the first direction is recorded; wherein, the preset value is the the critical voltage value output by the strain gauge when the print head is in contact with the printing platform;

Based on the distance that the print head moves in the first direction, the three-dimensional coordinate information corresponding to the current contact point is determined.
The method according to claim 1, wherein the N coordinate points are arranged in an array, and the distance between any two adjacent coordinate points is the same.
A three-dimensional printing device is characterized in that, the three-dimensional printing device includes a bracket, a printing head, a driving component and a control device, the bracket includes a first fixing member, a connecting member and a second fixing member connected in sequence, and the first fixing member is connected in sequence. A fixing member is connected with the print head; the connecting member includes a first side surface and a second side surface, the first side surface and the second side surface are two opposite surfaces, the first side surface is a plane, and the second side surface is a plane. The first side is recessed to form a recess; the first side is provided with a strain gauge, and the second fixing member is connected with the driving assembly; the control device includes: a control module for controlling the The print head moves in a first direction based on N coordinate points of a first plane, wherein the first plane is a horizontal plane and is located on the side of the printing platform close to the print head; N is a positive integer; the first The direction is perpendicular to the first plane and faces the printing platform;

a first determination module, configured to determine the three-dimensional coordinate information of the N contact points corresponding to the N coordinate points according to the voltage value output by the strain gauge and the distance that the print head moves in the first direction;

The second determination module is configured to determine the reference printing surface corresponding to the printing platform based on the three-dimensional coordinate information of the N contact points.
The three-dimensional printing device according to claim 8, wherein the first determining module comprises:

an acquisition unit, configured to control the print head to acquire the voltage value output by the strain gauge when the print head moves in the first direction based on any coordinate point;

a first determining unit, configured to determine that the print head is in contact with the printing platform when the voltage value is greater than a preset value, and record the distance that the print head moves in the first direction; wherein, the The preset value is a critical voltage value output by the strain gauge when the print head is in contact with the printing platform;

The second determining unit is configured to determine the three-dimensional coordinate information corresponding to the current contact point based on the distance that the print head moves in the first direction.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the control method of the three-dimensional printing apparatus according to any one of claims 1-7 are implemented.