CN118306007B

CN118306007B - Average backlash measurement method, device, terminal and medium for 3D printing lifting shaft

Info

Publication number: CN118306007B
Application number: CN202410442347.5A
Authority: CN
Inventors: 刘建业; 王毅
Original assignee: Shanghai Hanbang United 3d Tech Co ltd
Current assignee: Shanghai Hanbang United 3d Tech Co ltd
Priority date: 2024-04-12
Filing date: 2024-04-12
Publication date: 2025-09-23
Anticipated expiration: 2044-04-12
Also published as: CN118306007A

Abstract

The application provides a method, a device, a terminal and a medium for measuring average reverse gap of a 3D printing lifting shaft, which are applied to 3D printing equipment, wherein the 3D printing equipment comprises the lifting shaft, a substrate and a servo motor which are arranged in a forming cylinder of the 3D printing equipment; based on the established rotation rule of the servo motor, the servo motor is controlled to rotate so as to drive the substrate to perform lifting motion for a plurality of times, and the average reverse gap of the lifting shaft is calculated by acquiring the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion. The method is simple and convenient to operate, and the average reverse gap calculated through cyclic measurement has higher precision.

Description

Average reverse gap measurement method, device, terminal and medium of 3D printing lifting shaft

Technical Field

The application relates to the technical field of 3D printing, in particular to a method, a device, a terminal and a medium for measuring an average reverse gap of a 3D printing lifting shaft.

Background

With the development of the 3D printing industry, the requirement on printing precision is higher and higher, and the printing duration is longer and longer. This results in a back-gap that affects the printing accuracy due to the reciprocating lifting motion during printing.

The influence of the reverse gap on the printing precision can be reduced through the grating ruler compensation, however, in long-time operation, the 3D printing equipment possibly generates errors of various reasons in mechanical aspect, and the risk of cylinder detachment exists, so that the reverse gap of the whole 3D printing equipment needs to be measured in advance, and a safety alarm value is set on the basis of the reverse gap, so that the operation safety of the 3D printing equipment is ensured. However, the reverse gap is different throughout the 3D printing lift axis, and is inaccurate if only a few points are simply tested, and is also considerable if it takes time to measure many points.

Disclosure of Invention

In view of the above-described drawbacks of the prior art, an object of the present application is to provide an average reverse gap measurement method, apparatus, terminal and medium of a 3D printing lifting shaft for solving the above problems in the prior art.

To achieve the above and other related objects, a first aspect of the present application provides a method for measuring an average reverse gap of a 3D printing lifting shaft, which is applied to a 3D printing apparatus, wherein the 3D printing apparatus includes a lifting shaft, a substrate and a servo motor disposed inside a forming cylinder of the 3D printing apparatus, the method includes establishing a servo motor rotation rule based on a starting position and an ending position calibrated on the lifting shaft, controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform lifting movements multiple times, and calculating an average reverse gap of the lifting shaft by obtaining a rotation distance of the servo motor and a movement distance of the substrate in each lifting movement.

In some embodiments of the first aspect of the present application, calibrating the start position and the end position on the lift shaft includes calibrating an initial start position and an initial end position on the lift shaft, determining whether the initial start position and the initial end position are within a set soft limit range, and determining whether the initial start position and the initial end position are the same, and if the initial start position and the initial end position are within a set soft limit range and the initial start position and the initial end position are different, determining the initial start position as the start position and the initial end position as the end position.

In some embodiments of the first aspect of the present application, establishing the servo motor rotation rule based on the starting position and the ending position calibrated on the lifting shaft includes calculating a middle section displacement distance based on the starting position and the ending position calibrated on the lifting shaft according to a set middle section displacement coefficient, calculating a small section displacement distance based on the calculated middle section displacement distance according to a set small section displacement coefficient, calculating a relay displacement distance based on the calculated small section displacement distance according to a set relay displacement coefficient, and based on the calculated small section displacement distance and the relay displacement distance. And establishing a servo motor rotation rule.

In some embodiments of the first aspect of the present application, the established rotation rule of the servo motor includes controlling the servo motor to rotate forward by a small displacement distance from a servo start position and then controlling the servo motor to rotate backward by a small displacement distance when the servo motor is located at the servo start position for the first time, controlling the servo motor to rotate forward by a relay displacement distance from a current servo position and then controlling the servo motor to rotate backward by a small displacement distance when the servo motor is not located at the servo start position for the first time or when the servo motor is located at the rest servo positions, recording the servo position of the servo motor after the completion of the reverse rotation, and updating the servo position of the servo motor after the completion of the reverse rotation to the current servo position.

In some embodiments of the first aspect of the present application, controlling the servo motor to rotate based on the established rotation rule of the servo motor to drive the substrate to perform multiple lifting motions includes controlling the servo motor to perform multiple forward and reverse rotations based on the established rotation rule of the servo motor, and driving the lifting shaft to rotate when the servo motor rotates, thereby driving the substrate to perform multiple lifting motions.

In some embodiments of the first aspect of the present application, the 3D printing apparatus further comprises a grating scale disposed inside the forming cylinder for measuring a movement distance of the substrate.

In some embodiments of the first aspect of the present application, calculating the average reverse gap of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement includes measuring the lifting movement distance of the substrate in the lifting movement by the grating scale in each lifting movement, calculating the reverse gap of the lifting movement based on the lifting movement distance of the substrate in the lifting movement and the reverse rotation distance of the servo motor in the lifting movement, and calculating the average reverse gap of the lifting shaft based on the reverse gap of the lifting movement.

To achieve the above and other related objects, a second aspect of the present application provides an average reverse gap measurement apparatus for a 3D printing lift shaft, connected to a 3D printing device, the 3D printing device including a lift shaft disposed inside a forming cylinder of the 3D printing device, a substrate, and a servo motor, the apparatus including a rule establishing module for establishing a servo motor rotation rule based on a start position and an end position calibrated on the lift shaft, and a gap calculating module connected to the rule establishing module for controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform a plurality of lifting movements, and calculating an average reverse gap of the lift shaft by acquiring a rotation distance of the servo motor and a movement distance of the substrate in each lifting movement.

To achieve the above and other related objects, a third aspect of the present application provides an electronic terminal, including a processor and a memory, the memory being configured to store a computer program, the processor being configured to execute the computer program stored in the memory, so that the terminal executes the average reverse gap measurement method of the 3D printing lifting axis.

To achieve the above and other related objects, a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the average reverse gap measurement method of the 3D print lift shaft.

As described above, the method, the device, the terminal and the medium for measuring the average reverse gap of the 3D printing lifting shaft have the following beneficial effects:

The method is applied to 3D printing equipment, the 3D printing equipment comprises a lifting shaft, a substrate and a servo motor, wherein the lifting shaft, the substrate and the servo motor are arranged in a forming cylinder of the 3D printing equipment, the method comprises the steps of establishing a servo motor rotation rule based on a starting position and a stopping position marked on the lifting shaft, controlling the servo motor to rotate based on the established servo motor rotation rule so as to drive the substrate to conduct lifting motion for a plurality of times, and calculating average reverse clearance of the lifting shaft in a mode of obtaining the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion. The method is simple and convenient to operate, and the average reverse gap calculated through cyclic measurement has higher precision.

Drawings

Fig. 1 is a flowchart illustrating an average reverse gap measurement method of a 3D printing lifting shaft according to an embodiment of the application.

Fig. 2 is a schematic structural diagram of a 3D printing apparatus according to an embodiment of the present application.

FIG. 3 is a timing chart illustrating the control of the servo motor according to an embodiment of the application.

Fig. 4is a schematic structural diagram of an average reverse gap measurement method of a 3D printing lifting shaft according to an embodiment of the application.

Fig. 5 is a schematic structural diagram of an electronic terminal according to an embodiment of the application.

Detailed Description

Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures as being related to another element or feature.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "held," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, operations, elements, components, items, categories, and/or groups. It will be further understood that the terms "or" and/or "as used herein are to be interpreted as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of A, B, C, A and B, A and C, B and C, A, B and C". An exception to this definition will occur only when a combination of elements, functions or operations are in some way inherently mutually exclusive.

Before explaining the present invention in further detail, terms and terminology involved in the embodiments of the present invention will be explained, and the terms and terminology involved in the embodiments of the present invention are applicable to the following explanation:

(1) Reverse gap refers to a small difference between the actual moving distance and the expected moving distance of the printing head due to factors such as small elastic deformation or friction of a mechanical structure when the moving direction of the printing head of the 3D printer is changed in the printing process. Such gaps are typically more pronounced in the X-axis and Y-axis of the printer, as these axes are responsible for the horizontal movement of the printheads. When the print head is rapidly switched from one direction to the other, it may not be immediately stopped due to inertia and friction of the mechanical structure, thereby generating a minute deviation in the print path. Such deviations may cause slight stacking errors or alignment problems in the printed object.

(2) Grating ruler-the grating ruler is a measuring tool which can accurately measure the moving distance of each shaft of the printer, thereby helping the user to identify and calibrate the gap between mechanical parts.

In order to make the objects, technical solutions and advantages of the present invention more apparent, further detailed description of the technical solutions in the embodiments of the present invention will be given by the following examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Fig. 1 is a schematic flow chart of an average reverse gap measurement method of a 3D printing lifting shaft according to an embodiment of the present invention.

The average reverse gap measuring method of the 3D printing lifting shaft is applied to 3D printing equipment, the 3D printing equipment comprises a lifting shaft, a substrate and a servo motor, wherein the lifting shaft, the substrate and the servo motor are arranged inside a forming cylinder of the 3D printing equipment, and the method comprises the following steps:

And step S101, establishing a servo motor rotation rule based on the starting position and the ending position calibrated on the lifting shaft.

In one embodiment, calibrating the start position and the end position on the lift shaft includes calibrating an initial start position and an initial end position on the lift shaft; judging whether the initial position and the initial final position are within a set soft limit range or not, and judging whether the initial position and the initial final position are the same or not; and if the initial starting position and the initial ending position are in the set soft limit range and the initial starting position is different from the initial ending position, determining the initial starting position as the starting position and the initial ending position as the ending position.

In an embodiment, if the initial starting position and the initial ending position are not within the set soft limit range or the initial starting position and the initial ending position are the same, recalibrating the initial starting position and the initial ending position until the recalibrated initial starting position and the initial ending position are within the set soft limit range and the recalibrated initial starting position and the initial ending position are different.

The distance that the substrate can move on the lifting shaft is smaller than the length of the lifting shaft. The specific value of the soft limit can be set by a person skilled in the art according to the distance the substrate is movable on the lifting shaft.

In one embodiment, the ending position is in a positive direction of the starting position. Specifically, as shown in fig. 2, the substrate is lifted and lowered several times from top to bottom. The positive direction is the direction in which the substrate moves downward (i.e., the direction indicated by the arrow a in fig. 2).

In one embodiment, establishing the servo motor rotation rule based on the starting position and the ending position calibrated on the lifting shaft comprises calculating a middle section displacement distance based on the starting position and the ending position calibrated on the lifting shaft according to a set middle section displacement coefficient, calculating a small section displacement distance based on the calculated middle section displacement distance according to a set small section displacement coefficient, calculating a relay displacement distance based on the calculated small section displacement distance according to a set relay displacement coefficient, and calculating a relay displacement distance based on the calculated small section displacement distance and the relay displacement distance. And establishing a servo motor rotation rule.

Further, the calculating specifically comprises calculating the total displacement distance based on the starting position and the ending position calibrated on the lifting shaft, and specifically, the total displacement distance=the starting position calibrated-the ending position calibrated. Based on the calculated total displacement distance, calculating the middle displacement distance according to the set middle displacement coefficient, and specifically, the middle displacement distance=total displacement distance/middle displacement coefficient. Based on the calculated middle displacement distance, the small displacement distance is calculated according to the set small displacement coefficient, and concretely, the small displacement distance=middle displacement distance +.. And calculating the relay displacement distance according to the set relay displacement coefficient based on the calculated small segment displacement distance, wherein the relay displacement distance=the relay displacement coefficient is multiplied by the small segment displacement distance.

It should be noted that, a person skilled in the art may set the middle displacement coefficient and the small displacement coefficient according to actual requirements. The relay displacement coefficient is typically 2.

In one embodiment, the middle displacement factor is equal to 10, the small displacement factor is equal to 10, and the relay displacement factor is equal to 2. Middle displacement distance = total displacement distance +.10, small displacement distance = middle displacement distance +.10, relay displacement distance = 2x small displacement distance.

Step S102, based on the established rotation rule of the servo motor, controlling the servo motor to rotate so as to drive the substrate to perform lifting motion for a plurality of times, and calculating the average reverse gap of the lifting shaft by acquiring the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion.

In one embodiment, the established rotation rules of the servo motor comprise that when the servo motor is located at the servo starting position for the first time, the servo motor is controlled to rotate forwards by a small section displacement distance from the servo starting position, then the servo motor is controlled to rotate reversely by the small section displacement distance, when the servo motor is not located at the servo starting position for the first time or the servo motor is located at other servo positions, the servo motor is controlled to rotate forwards by a relay displacement distance from the current servo position, then the servo motor is controlled to rotate reversely by the small section displacement distance, the servo position of the servo motor after the reverse rotation is recorded, and the servo position of the servo motor after the reverse rotation is updated to the current servo position.

The rotation direction for driving the substrate to move downward is defined as the forward rotation direction of the servo motor.

In one embodiment, as shown in FIG. 2, the 3D printing apparatus further includes a grating scale disposed inside the forming cylinder for measuring a moving distance of the substrate.

In one embodiment, controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform multiple lifting motions comprises controlling the servo motor to perform multiple forward and reverse rotations based on the established servo motor rotation rule, and driving the lifting shaft to rotate when the servo motor rotates to further drive the substrate to perform multiple lifting motions.

Specifically, as shown in fig. 2, when the servo motor 1 rotates, the servo motor 1 drives the lifting shaft 2 to rotate, so as to drive the substrate disposed on the lifting shaft 2 to move. The grating scale 4 may measure the movement distance of the substrate during the movement of the substrate.

In an embodiment, calculating the average reverse gap of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting movement comprises measuring the lifting movement distance of the substrate in the lifting movement by the grating ruler in each lifting movement, calculating the reverse gap of the lifting movement based on the lifting movement distance of the substrate in the lifting movement and the reverse rotation distance of the servo motor in the lifting movement, and calculating the average reverse gap of the lifting shaft based on the reverse gap of the lifting movement.

The specific process of calculating the average reverse gap of the lift shaft will be explained in detail as follows:

At the measurement start time, the substrate is positioned at a set start position on the lifting shaft. Meanwhile, the servo motor is located at a servo starting position.

During the measurement, the servo motor is controlled to rotate according to the timing chart shown in fig. 3:

When the servo motor is positioned at the servo starting position for the first time (namely, the measurement starting time), the servo motor is controlled to rotate forward by a small section from the servo starting position for a distance of displacement, and meanwhile, the substrate is driven by the servo motor to move downwards. After the forward rotation is completed, the servo motor is controlled to reversely rotate for a small section of displacement distance, and meanwhile, the substrate is driven by the servo motor to ascend. After the reverse rotation is completed, the servo motor is returned to the servo start position again. This process of performing the lowering motion and then the raising motion of the substrate is called a lifting motion of the substrate.

In this lifting movement, the movement distance (i.e., the lifting movement distance) of the substrate during the lifting movement is measured by the grating scale. And subtracting the lifting movement distance of the substrate in the lifting movement by using the distance of the reverse rotation of the servo motor in the lifting movement (the distance of the reverse rotation of the servo motor in the lifting movement is a small displacement distance), so as to obtain a reverse gap of the lifting movement.

When the servo motor is not positioned at the servo starting position for the first time or when the servo motor is positioned at other servo positions, the servo motor is controlled to rotate forward by the distance of the relay displacement distance from the current servo position, and meanwhile, the substrate is driven by the servo motor to move downwards. After the forward rotation is completed, the servo motor is controlled to reversely rotate for a small section of displacement distance, and meanwhile, the substrate is driven by the servo motor to ascend. And recording the servo position of the servo motor after the reverse rotation is completed, and updating the servo position of the servo motor after the reverse rotation is completed into the current servo position. Similarly, the process of moving the substrate downward and then upward is called a single lifting motion of the substrate.

And under the condition that the servo motor is not positioned at the servo starting position for the first time or is positioned at the rest servo positions, the distance of the reverse rotation of the servo motor in each lifting movement of the substrate is a relay displacement distance. And subtracting the lifting movement distance of the substrate in each lifting movement from the relay displacement distance to obtain a reverse gap of each lifting movement.

The lifting movement of the substrate to the end position is the last lifting movement in the whole measuring process, and when the lifting movement of the substrate to the end position is finished, the servo motor is controlled to stop rotating.

And calculating the average value of the reverse gaps of all lifting motions in the measuring process to obtain the average reverse gap of the lifting shaft.

For example, the substrate undergoes 10 lifting movements during one measurement. Based on the reverse gap of the 10 lifting motions, an average value of the reverse gaps of the 10 lifting motions is calculated. The calculated average value is taken as the average reverse gap of the lifting shaft.

Similar to the above embodiment, the invention also provides an average reverse gap measurement device of the 3D printing lifting shaft.

Specific embodiments are provided below with reference to the accompanying drawings:

as shown in fig. 4, a schematic structural diagram of an average reverse gap measurement device of a 3D printing lifting shaft in an embodiment of the present invention is shown.

The average reverse gap measuring device 4 of the 3D printing lifting shaft is connected with 3D printing equipment, the 3D printing equipment comprises a lifting shaft, a substrate and a servo motor, wherein the lifting shaft, the substrate and the servo motor are arranged inside a forming cylinder of the 3D printing equipment, and the device 4 comprises:

A rule establishing module 41, configured to establish a servo motor rotation rule based on a starting position and an ending position calibrated on the lifting shaft;

The gap calculating module 42 is connected to the rule establishing module 41, and is configured to control the servo motor to rotate based on the established rotation rule of the servo motor, so as to drive the substrate to perform lifting motion for multiple times, and calculate the average reverse gap of the lifting shaft by obtaining the rotation distance of the servo motor and the movement distance of the substrate in each lifting motion.

It should be noted that, the modules provided in this embodiment are similar to the methods provided above, and therefore, the description thereof is omitted. It should be further noted that, it should be understood that the division of each module of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into one physical entity or may be physically separated. The modules can be realized in the form of software which is called by the processing element, in the form of hardware, in the form of software which is called by the processing element, and in the form of hardware. For example, the gap calculating module 42 may be a processing element that is set up separately, may be implemented as integrated into a chip of the above-described apparatus, or may be stored in a memory of the above-described apparatus in the form of program codes, and the functions of the gap calculating module 42 may be called and executed by a processing element of the above-described apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.

For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as one or more Application SPECIFIC INTEGRATED Circuits (ASICs), or one or more microprocessors (DIGITAL SIGNAL processors, DSPs), or one or more field programmable gate arrays (Field Programmable GATE ARRAY, FPGAs), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

In one embodiment, the 3D printing apparatus further comprises a grating scale disposed inside the forming cylinder for measuring a movement distance of the substrate.

Fig. 5 is a schematic structural diagram of an electronic terminal according to an embodiment of the present invention.

The terminal 5 comprises a processor 52 and a memory 51, wherein the memory 51 is used for storing a computer program, and the processor 52 is used for executing the computer program stored in the memory so that the terminal 5 executes the average reverse gap measuring method of the 3D printing lifting shaft as shown in figure 1.

Alternatively, the number of the memories 51 may be one or more, and the number of the processors 52 may be one or more, and one is taken as an example in fig. 5.

Optionally, the processor 52 in the control device loads one or more instructions corresponding to the process of the application program into the memory 51 according to the steps as shown in fig. 1, and the processor 52 executes the application program stored in the first memory, so as to implement various functions in the average reverse gap measuring method of the 3D printing lifting shaft as shown in fig. 1.

Optionally, the memory 51 may include, but is not limited to, high speed random access memory, nonvolatile memory. Such as one or more disk storage devices, flash memory devices, or other non-volatile solid state memory devices, the processor 52 may include, but is not limited to, a central Processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc., a digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Alternatively, the processor 52 may be a general-purpose processor, including a central Processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc., or may be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

The present invention also provides a computer readable storage medium storing a computer program which when run implements a method of measuring average reverse gap of a 3D printed lift shaft as described in fig. 1. The computer-readable storage medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disk-read only memories), magneto-optical disks, ROMs (read-only memories), RAMs (random access memories), EPROMs (erasable programmable read only memories), EEPROMs (electrically erasable programmable read only memories), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be an article of manufacture that is not accessed by a computer device or may be a component used by an accessed computer device.

In some embodiments of the invention, the computer-readable and writable storage medium may include read-only memory, random-access memory, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, U-disk, removable hard disk, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. In addition, any connection is properly termed a computer-readable medium. For example, if the instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that computer-readable and data storage media do not include connections, carrier waves, signals, or other transitory media, but are intended to be directed to non-transitory, tangible storage media. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

In summary, the application provides a method, a device, a terminal and a medium for measuring average reverse clearance of a 3D printing lifting shaft, which are applied to 3D printing equipment, wherein the 3D printing equipment comprises a lifting shaft, a substrate and a servo motor which are arranged in a forming cylinder of the 3D printing equipment, and the method comprises the steps of establishing a servo motor rotation rule based on a starting position and a stopping position marked on the lifting shaft; based on the established rotation rule of the servo motor, the servo motor is controlled to rotate so as to drive the substrate to perform lifting motion for a plurality of times, and the average reverse gap of the lifting shaft is calculated by acquiring the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion. The method is simple and convenient to operate, and the average reverse gap calculated through cyclic measurement has higher precision. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. The average reverse gap measuring method of the 3D printing lifting shaft is characterized by being applied to 3D printing equipment, wherein the 3D printing equipment comprises a lifting shaft, a substrate and a servo motor, wherein the lifting shaft, the substrate and the servo motor are arranged inside a forming cylinder of the 3D printing equipment, and the method comprises the following steps:

establishing a servo motor rotation rule based on a starting position and a stopping position calibrated on the lifting shaft;

Based on the established rotation rule of the servo motor, controlling the servo motor to rotate so as to drive the substrate to perform lifting motion for a plurality of times, and calculating the average reverse gap of the lifting shaft by acquiring the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion;

The servo motor rotation rule is established based on the starting position and the ending position calibrated on the lifting shaft, and comprises the steps of calculating a middle section displacement distance based on the starting position and the ending position calibrated on the lifting shaft according to a set middle section displacement coefficient, calculating a small section displacement distance based on the calculated middle section displacement distance according to a set small section displacement coefficient, calculating a relay displacement distance based on the calculated small section displacement distance according to a set relay displacement coefficient, and establishing the servo motor rotation rule based on the calculated small section displacement distance and the relay displacement distance;

The established servo motor rotation rules comprise that when the servo motor is located at the servo starting position for the first time, the servo motor is controlled to rotate forwards by a small section displacement distance from the servo starting position, then the servo motor is controlled to rotate reversely by the small section displacement distance, when the servo motor is not located at the servo starting position for the first time or the servo motor is located at other servo positions, the servo motor is controlled to rotate forwards by a relay displacement distance from the current servo position, then the servo motor is controlled to rotate reversely by the small section displacement distance, the servo position of the servo motor after the reverse rotation is recorded, and the servo position of the servo motor after the reverse rotation is updated to be the current servo position.

2. The method of measuring the average back clearance of a 3D printing lift shaft of claim 1, wherein calibrating a start position and an end position on the lift shaft comprises:

calibrating an initial starting position and an initial ending position on the lifting shaft;

judging whether the initial position and the initial final position are within a set soft limit range or not, and judging whether the initial position and the initial final position are the same or not;

And if the initial starting position and the initial ending position are in the set soft limit range and the initial starting position is different from the initial ending position, determining the initial starting position as the starting position and the initial ending position as the ending position.

3. The method for measuring the average reverse gap of the 3D printing lifting shaft according to claim 1, wherein controlling the servo motor to rotate based on the established servo motor rotation rule to drive the substrate to perform lifting motion for a plurality of times comprises controlling the servo motor to perform forward and reverse rotation for a plurality of times based on the established servo motor rotation rule, and driving the lifting shaft to rotate when the servo motor rotates to drive the substrate to perform lifting motion for a plurality of times.

4. The method for measuring the average reverse gap of the 3D printing lifting shaft according to claim 1, wherein the 3D printing device further comprises a grating scale arranged inside the forming cylinder for measuring the movement distance of the substrate.

5. The method of measuring an average reverse gap of a 3D printing lift shaft according to claim 4, wherein calculating the average reverse gap of the lift shaft by acquiring a rotation distance of a servo motor and a movement distance of a substrate in each lifting movement comprises:

in each lifting movement, measuring the lifting movement distance of the substrate in the lifting movement by using the grating ruler;

Calculating a reverse gap of the lifting motion based on the lifting motion distance of the substrate in the lifting motion and the reverse rotation distance of the servo motor in the lifting motion;

an average back-off gap of the lift shaft is calculated based on the back-off gap of each lift motion.

6. An average reverse gap measuring apparatus of a 3D printing lifting shaft, connected to a 3D printing device, the 3D printing device including a lifting shaft provided inside a forming cylinder of the 3D printing device, a substrate, and a servo motor, the apparatus performing the average reverse gap measuring method of the 3D printing lifting shaft according to any one of claims 1 to 5, comprising:

The rule establishing module is used for establishing a servo motor rotation rule based on the starting position and the ending position calibrated on the lifting shaft;

And the gap calculation module is connected with the rule establishment module and is used for controlling the servo motor to rotate based on the established rotation rule of the servo motor so as to drive the substrate to perform lifting motion for a plurality of times, and calculating the average reverse gap of the lifting shaft by acquiring the rotation distance of the servo motor and the motion distance of the substrate in each lifting motion.

7. An electronic terminal is characterized by comprising a processor and a memory;

the memory is used for storing a computer program;

the processor is configured to execute the computer program stored in the memory, so as to cause the terminal to perform the method according to any one of claims 1 to 5.

8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of any one of claims 1 to 5.