CN104057612B - 3D printer self-level(l)ing device and 3D printer and leveling method - Google Patents
3D printer self-level(l)ing device and 3D printer and leveling method Download PDFInfo
- Publication number
- CN104057612B CN104057612B CN201410270342.5A CN201410270342A CN104057612B CN 104057612 B CN104057612 B CN 104057612B CN 201410270342 A CN201410270342 A CN 201410270342A CN 104057612 B CN104057612 B CN 104057612B
- Authority
- CN
- China
- Prior art keywords
- leveling
- print platform
- distance measuring
- measuring sensor
- motors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Ink Jet (AREA)
Abstract
The present invention discloses a kind of 3D printer self-level(l)ing device and 3D printer and leveling method, and the 3D printer includes fixed platform, linear stepping motor, distance measuring sensor and display with self-level(l)ing device.Wherein, the linear stepping motor can also be voice coil motor.The 3D printer of the present invention obtains the altitude information of each measurement point on print platform by distance measuring sensor, the levelness of print platform is adjusted by motor, the levelness of full-automatic semi-automatic or manual adjustment print platform can be realized, pass through the leveling method of the present invention, it can carry out whether automatic decision needs leveling, if desired leveling is carried out, then leveling is performed by linear stepping motor or voice coil motor to act, so that the height of each point is in leveling error allowed band on distance measuring sensor and print platform, leveling can be achieved full-automatic, manual intervention is not needed, eliminate other 3D printer leveling time-consuming, and the shortcoming that the degree of accuracy of leveling cannot guarantee that.
Description
Technical field
Beaten the present invention relates to the technical field of 3D printer, more particularly to a kind of 3D printer self-level(l)ing device and 3D
Print machine and leveling method.
Background technology
3D printer is also known as a kind of machine of three-dimensional printer, i.e. RP technique, and it is a kind of mathematical model file
Based on, with powdery metal or plastics etc. can jointing material, come the technology of constructed object by way of successively printing, be
A kind of accumulation manufacturing technology, manufactures the object of three-dimensional, its general principle is by handle by the jointing material of printing from level to level
Data and raw material are put into 3D printer, and machine can from level to level be created product according to program, and the product printed, and can
To use immediately.3D printer is often used for modeling in fields such as Making mold, industrial designs in the past, is now increasingly used for
The direct manufacture of some products, available for jewelry, footwear, industrial design, building, engineering and construction (AEC), automobile, aviation boat
My god, dentistry and medical industries, education, GIS-Geographic Information System, civil engineering, and many other fields.
During 3D printing, if printing head highly differs with each point on print platform, having in printing apart near place can
The sharp mouth of energy shower nozzle can scratch print platform, and the remote local printing head of distance may not reach print platform or the silk of extrusion
It is difficult to and print platform strong bond.
Prior art generally by between print platform and lower section firm banking plus regulation spring and adjusting nut,
By diverse location on mobile printing head to print platform, by eye observation height, adjusted by adjusting nut position
The height of printing head and each point on print platform.This method needs several circulations repeatedly, very time-consuming, and is seen by eyes
Examine, accuracy is too low, it is difficult to realize high-precision printing, need to further be improved.
The content of the invention
The purpose of the present invention, exactly proposes that a kind of can improve adjusts the automatic of print platform manually in existing 3D printer
Change degree, has the advantages that time saving and energy saving and the higher 3D printer self-level(l)ing device of accuracy and 3D printer and leveling
Method.
The present invention in order to solve the above technical problems, there is provided a kind of 3D printer self-level(l)ing device, including：It is fixed flat
Platform, the linear stepping motor for adjusting print platform angle of inclination, for measure head mechanism on print platform it is each
The distance measuring sensor of point height, and for showing the display of the distance measuring sensor measurement result.
The fixed platform is in below the print platform of printer, and the quantity of the linear stepping motor is three, three
The individual linear stepping motor is each attached in the fixed platform, three linear stepping motors not on the same line,
The output screw of each linear stepping motor is set upward vertically, is set in each spiral shell in upper end of each output screw
There is a spherical pair connector, the spherical pair connector can be moved up and down under the turning effort of the output screw, it is described to survey
It is arranged on away from sensor on the head mechanism of printer, the distance measuring sensor is connected with the display.
Preferably, the spherical pair connector is including for the spheroid set with the output screw spiral shell and for being connected
Spherical shell on print platform bottom surface, the spherical shell is coated with the spherical and connected into spherical pair.
Preferably, the linear stepping motor is penetration type linear stepping motor, the output screw is away from the sphere
The bottom of secondary connector extends out to the outside of the linear stepping motor
The present invention in order to solve the above technical problems, additionally provide another 3D printer self-level(l)ing device, including：Gu
Fixed platform, the voice coil motor for adjusting print platform angle of inclination, for measure head mechanism on print platform it is each
The distance measuring sensor of point height, and for showing at the display of the distance measuring sensor measurement result, the fixed platform
Below the print platform of printer.
The quantity of the voice coil motor is three, and three voice coil motors are each attached in the fixed platform, three
Not on the same line, the output shaft of each voice coil motor is set the voice coil motor upward vertically, each described
The upper end of output shaft respectively sets a spherical pair connector, the spherical pair connector in the presence of the output shaft can above and below
Mobile, the distance measuring sensor is arranged on the head mechanism of printer, and the distance measuring sensor is connected with the display.
Preferably, the spherical pair connector is including for the ball being connected with the output shaft and for being connected
Spherical shell on print platform bottom surface, the spherical shell is coated with the spherical and connected into spherical pair.
Present invention also offers a kind of 3D printer, including：Frame, X-axis motion, Y-axis motion, Z axis motion
Mechanism, print platform, feeder, head mechanism and controller, the X-axis motion, Y-axis motion, Z axis motion
Mechanism, the print platform and the feeder are arranged in the frame, and the head mechanism is arranged on the X-axis
On motion and Y-axis motion, the 3D printer also includes an above-mentioned 3D printer self-level(l)ing device, described
Fixed platform is liftable to be arranged on the Z axis motion, and the print platform is connected by the spherical pair connector
On the output shaft for being arranged on the output screw of the linear stepping motor or voice coil motor, the controller control connection is described to survey
Away from sensor, X-axis motion, Y-axis motion and Z axis motion, the linear stepping motor or the voice coil motor
It is connected with controller control.
The present invention also proposes a kind of leveling method, comprises the following steps：
Step 1: sets target leveling error is d.
Step 2: choosing measurement point, n measurement points not on the same line, n ＞ 2 are chosen on print platform.
Step 3: ranging and calculating average value, measured respectively using the distance measuring sensor on head mechanism and draw each survey
Amount point is to a height spacing for distance measuring sensor, the hn that h1, h2, h3 is designated as successively ..., calculate its average value h=(h1+h2+h3+ ...+
hn)/n。
Step 4: judging whether minimal difference meets leveling error requirement：Min (| h-h1 |, | h-h2 |, | h-h3 | ... |
h-hn|)<d/2；If meeting leveling error requirement, print platform has met leveling requirement, terminates this leveling；If
Leveling error requirement is unsatisfactory for, then performs step 5.
Step 5: passing through linear stepping motor or the lifting action of voice coil motor, further leveling print platform respectively.
Step 6: ranging and calculating average value again, measured and drawn respectively using the distance measuring sensor on head mechanism
Each measurement point is to the height spacing of distance measuring sensor, and the hhn that hh1, hh2, hh3 is designated as successively ... calculates its average value hh=(hh1+
Hh2+hh3+ ...+hhn)/n, h=hh, h1=hh1, h2=hh2, h3=hh3 ... hn=hhn are substituted into, returns and performs step 4,
Judge whether minimal difference meets leveling error requirement.
Preferably, the measurement point quantity that the step 2 is chosen is 3, and 3 measurement points are located at print platform top respectively
The edge in face.
Preferably, the step 5 specifically includes following steps：
Step 501, measurement are located at three motor support point coordinates on print platform
Measurement end position using distance measuring sensor after X, Y-axis back to zero is moved as reference origin with X-axis, Y-axis forward direction
Dynamic, Z axis is moved down as positive direction, sets up coordinate system.
It is P that obtained plane is moved in the measurement end of distance measuring sensor on the moving platform：Z=0, distance measuring sensor is in fortune
The coordinate of each measurement point is designated as A1 on moving platform：(X1,Y1,0)、A2：(X2, Y2,0) and A3：(X3, Y3,0), correspondence printing is flat
The coordinate of each measurement point is B1 on platform：(X1,Y1,h1)、B2：(X2, Y2, h2) and B3：(X3,Y3,h3).
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1=0 (1)
It is M1 motors, M2 motors and M3 motors to remember three motors, and its corresponding support point coordinates is respectively M1：
(X11,Y11,Z11)、M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), 3 points are entirely located on plane P1, therefore satisfaction side
Journey：
A1*X11+B1*Y11+C1*Z11+1=0 (2)
A1*X21+B1*Y21+C1*Z21+1=0 (3)
A1*X31+B1*Y31+C1*Z31+1=0 (4)
M1 motor d11 distances are moved up, new support point coordinates M11 is obtained：(X11,Y11,Z11-d11).
Mobile distance measuring sensor is remeasured to three measurement points, obtains new height h11, h12, h13, and then beaten
The coordinate for printing each measurement point on platform is C1：(X1,Y1,h11)、C2：(X2, Y2, h12) and C3：(X3,Y3,h13).
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P11：A11*X+B11*Y+C11*Z+1=0 (5)
Because point M11 is in P11 planes, therefore can obtain：
A11*X11+B11*Y11+C11* (Z11-d11)+1=0 (6)
M1 motor d12 distances are moved down, new support point coordinates M12 is obtained：(X11,Y11,Z11+h12).
Distance measuring sensor on mobile printer motion platform is remeasured to three measurement points, obtain new height h14,
H15, h16, and then it is D1 to obtain the coordinate of each measurement point on print platform：(X1,Y1,h14)、D2：(X2, Y2, h15) and D3：
(X3,Y3,h16)。
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P12：A12*X+B12*Y+C12*Z+1=0 (7)
Because point M12 is in P12 planes, therefore can obtain：
A12*X11+B12*Y11+C12* (Z11+d12)+1=0 (8)
Consolidated equation (2), (6), (8), can calculate and obtain M1 motor support point coordinates M1：(X11,Y11,Z11).
Using same method, M2 motor support point coordinates M2 can obtain：(X21, Y21, Z21), M3 motor supports point is sat
Mark M3：(X31,Y31,Z31).
Step 502, Levelling operation
According to each self-corresponding strong point coordinate M1 of obtained M1 motors, M2 motors and M3 motors：(X11,Y11,Z11)、
M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), starts motor and performs leveling action, be carried out as follows print platform leveling.
If Z21>Z11, then start M2 motors and to support the upward move distances of point coordinates M1：(Z21-Z11)；If Z21<
Z11, then start M2 motors and cause support point coordinates M1 to move downward distance：(Z11-Z21).
If Z31>Z11, then start M3 motors and to support the upward move distances of point coordinates M3：(Z31-Z11)；If Z31<
Z11, then start M3 motors and cause support point coordinates M3 to move downward distance：(Z11-Z31).
3D printer self-level(l)ing device and 3D printer and leveling method of the present invention have the beneficial effect that：
1st, 3D printer self-level(l)ing device of the invention obtains each point height on print platform by distance measuring sensor
Data, the altitude information that user reads print platform each point by display measures situation, whether can know print platform
Need to carry out leveling, if necessary to carry out leveling, then by starting line correspondence stepper motor or voice coil motor, you can to printing
Platform carries out multi-angle adjustment.Therefore, 3D printer of the invention cleverly utilizes printhead machine with self-level(l)ing device
Structure drives distance measuring sensor to carry out the acquisition of altitude information, can easily obtain the altitude information of each point on print platform, have
The high advantage of the fast precision of speed, in addition, also being existed using the output screw of three linear stepping motors and the output shaft of voice coil motor
The straight line lift action of short transverse, is attached by the form and print platform of spherical pair connector, realization can machinery from
The levelness of the adjustment print platform of dynamicization, adjustment process more facilitates, can effectively improve and be adjusted manually in existing 3D printer
The automaticity of print platform is saved, has the advantages that time saving and energy saving and accuracy is higher.
2nd, 3D printer of the invention is attached with self-level(l)ing device using spherical pair connector, and connection effect is more
It is good, and can further avoid the stuck situation of interference occur during lift adjustment.If spherical pair connector is to use spherical shell
The form that spherical is connected into spherical pair is coated with, the free degree of junction can be improved.
3rd, 3D printer of the invention uses penetration type linear stepping motor with self-level(l)ing device, due to its output screw
It is that two ends each extend to outside, so user not only can realize lift action using the rotation of driven by power output screw,
Can also directly manual actuation output screw away from print platform one end rotation realize lift action.
4th, 3D printer of the invention can realize the levelness of full-automatic semi-automatic or manual adjustment print platform,
Adjustment process more facilitates, and can effectively improve the automaticity for adjusting print platform in existing 3D printer manually, have
The time saving and energy saving and higher advantage of accuracy.
5th, leveling method of the invention obtains the altitude information of each measurement point on print platform by distance measuring sensor, goes forward side by side
Whether row automatic decision needs leveling, if desired carries out leveling, then performing leveling by linear stepping motor or voice coil motor moves
Make so that distance measuring sensor keeps sustained height with each point on print platform.Leveling can be achieved full-automatic, it is not necessary to artificial dry
In advance, eliminating other 3D printers, start is required for carrying out leveling manually every time, and manual leveling is time-consuming, and the degree of accuracy of leveling
The shortcoming that cannot guarantee that.
Brief description of the drawings
Fig. 1 is the structural representation of the 3D printer self-level(l)ing device of specific embodiment.
Fig. 2 is the head mechanism of specific embodiment and the structural representation of distance measuring sensor.
Fig. 3 is the structural representation of the linear stepping motor of specific embodiment.
Fig. 4 is the overall structure diagram of the 3D printer of specific embodiment.
Fig. 5 is the schematic flow sheet of the leveling method of specific embodiment.
Fig. 6 is the changes in coordinates schematic diagram of the leveling process motor support point of specific embodiment.
Label declaration in figure：
Fixed platform 100, linear stepping motor 200, output screw 210, distance measuring sensor 300, display 400, printing
Platform 500, spherical pair connector 600, head mechanism 700, controller 800.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Embodiment one：
Fig. 1 is the structural representation of the 3D printer self-level(l)ing device of specific embodiment.As shown in figure 1, this implementation
Example proposes a kind of 3D printer self-level(l)ing device, including：Fixed platform 100, for adjusting print platform angle of inclination
Linear stepping motor 200, the distance measuring sensor 300 for measuring head mechanism each point height on print platform, and
Display 400 for showing the distance measuring sensor measurement result.
With reference to shown in Fig. 4, the fixed platform 100 of the present embodiment is in the lower section of print platform 500 of printer, straight line stepping
The quantity of motor 200 is three, and three linear stepping motors 200 are each attached in fixed platform 100, three linear stepping motors
200 not on the same line, and the output screw 210 of each linear stepping motor 200 is set upward vertically, as shown in figure 3,
Each spiral shell in upper end of each output screw 210 is provided with a spherical pair connector 600, and spherical pair connector 600 is in output screw 210
Turning effort under can move up and down, as shown in Fig. 2 distance measuring sensor 300 is arranged on the head mechanism 700 of printer,
Distance measuring sensor 300 is connected with display 400.
Specifically, the spherical pair connector 600 of the present embodiment includes being used for the spheroid set with the spiral shell of output screw 210 (in figure
It is not shown) and spherical shell (not shown) for being fastened on print platform bottom surface, the spherical shell is coated with the ball
Body formation spherical pair connection, directly can also be made from the formation spherical pair connection of the outsourcing pieces such as ball hinged universal joint or spherical bearing
With.As further improvement of this embodiment, the linear stepping motor of the present embodiment selects penetration type linear stepping motor, described
The outside that bottom of the output screw away from the spherical pair connector extends out to the linear stepping motor (does not show in figure
Go out the bottom that output screw stretches out).
Exemplary, the concrete application situation of the 3D printer self-level(l)ing device of the present embodiment is as follows：
User obtains each point altitude information on print platform 500 by distance measuring sensor 300, and altitude information is measured
Situation is shown that user can know whether print platform 500 needs progress by display 400 by display 400
Leveling, if necessary to carry out leveling, is then rotated so that sphere by starting the output screw 210 of line correspondence stepper motor 200
The secondary oscilaltion campaign of connector 600, then realizes the adjustment of the levelness of print platform 500, wherein, user can use
Lift action is realized in the rotation of output screw 210 of driven by power linear stepping motor 200, directly manual actuation can also export spiral shell
Lift action is realized in one end rotation of the bar 210 away from print platform 500.
Embodiment two：
The present embodiment proposes another 3D printer self-level(l)ing device, including：Fixed platform, it is flat for adjusting printing
The voice coil motor at platform angle of inclination, the distance measuring sensor for measuring head mechanism each point height on print platform, with
And for showing the display of the distance measuring sensor measurement result.
Each part numbers of the present embodiment can be found in shown in the sign and its accompanying drawing of the corresponding component of embodiment one, the present embodiment
Fixed platform be in below the print platform of printer, the quantity of the voice coil motor is three, three voice coil motors
Be each attached in the fixed platform, three voice coil motors not on the same line, the output of each voice coil motor
Axle is set upward vertically, and a spherical pair connector, the spherical pair connection are respectively set in the upper end of each output shaft
Part can be moved up and down in the presence of the output shaft, and the distance measuring sensor is arranged on the head mechanism of printer, institute
Distance measuring sensor is stated to be connected with the display.
Specifically, the spherical pair connector of the present embodiment includes ball and the use for being used to be connected with the output shaft
In the spherical shell being fastened on print platform bottom surface, the spherical shell is coated with the spherical and connected into spherical pair.At other
In specific embodiment, spherical pair connector can also be directly from the outsourcing pieces such as ball hinged universal joint or spherical bearing formation sphere
Pair connection is used, and distance measuring sensor can also be measured using laser sensor.
Exemplary, the concrete application situation of the 3D printer self-level(l)ing device of the present embodiment is as follows：
User obtains each point altitude information on print platform by distance measuring sensor, and altitude information measurement situation is led to
Cross display to be shown, user can know whether print platform needs to carry out leveling by display, if desired enter
Row leveling, then by starting correspondence voice coil motor, its output shaft is moved back and forth so that spherical pair connector oscilaltion campaign,
Then the adjustment of the levelness of print platform is realized.
Embodiment three：
The present embodiment proposes a kind of 3D printer, including frame, X-axis motion, Y-axis motion, Z axis fitness machine
Structure, print platform 500, feeder (not shown), head mechanism 700 and controller 800, the X-axis motion,
Y-axis motion, Z axis motion, the print platform and the feeder are arranged in the frame, the printing
Head mechanism is arranged on the X-axis motion and Y-axis motion, and the 3D printer also includes an embodiment one or implemented
3D printer self-level(l)ing device described in example two, fixed platform 100 is liftable to be arranged on the Z axis motion,
Print platform 500 connects the output screw 210 for being arranged on linear stepping motor 200 or voice coil loudspeaker voice coil electricity by spherical pair connector 600
On the output shaft of machine, the control connection of controller 800 distance measuring sensor 300, X-axis motion, Y-axis motion and Z axis motion
Mechanism, the linear stepping motor or the voice coil motor are connected with controller control.
Specifically, to using the 3D printer self-level(l)ing device described in embodiment one, three linear stepping motors 200
Output screw 210 be flexibly connected each via a spherical pair connector 600 with the bottom surface of print platform 500, spherical pair connect
The spheroid of fitting 600 is arranged in the upper end of output screw 210, and the spherical shell of spherical pair connector 600 is then fixedly installed on printing
On the bottom surface of platform 500, spherical shell is coated with the spherical and connected into spherical pair, and the spheroid is output the rotating band of screw rod 210
Dynamic oscilaltion campaign, then promotes moving up and down for the strong point of print platform 500, realizes leveling purpose.
Specifically, to using the 3D printer self-level(l)ing device described in embodiment two, the output of three voice coil motors
Axle is flexibly connected each via a spherical pair connector with the print platform bottom surface, and the ball of spherical pair connector, which is fixed, to be connected
The output screw upper end is connected on, and the spherical shell of spherical pair connector is then fixedly installed on print platform bottom surface, spherical shell bag
Cover the spherical to connect into spherical pair, spheroid then promotes printing flat by the drive oscilaltion campaign of the output shaft
Moving up and down for the platform strong point, realizes leveling purpose.
The 3D printer of the present embodiment can realize full-automatic semi-automatic or manual adjustment printing in actual use
The levelness of platform, adjustment process more facilitates, can effectively improve in existing 3D printer regulation print platform manually from
Dynamicization degree, has the advantages that time saving and energy saving and accuracy is higher.
Of course, in other specific embodiments, frame, X-axis motion, Y-axis motion, Z axis motion, beat
Outsourcing piece can often be used using market by printing platform, feeder and controller, or directly be entered on existing 3D printer
Row is improved, and here is omitted.
Example IV：
Fig. 5 is the schematic flow sheet of the leveling method of specific embodiment.As shown in figure 5, the present embodiment also proposed one kind
Leveling method, comprises the following steps：
Step S1, sets target leveling error be d (d numerical value can according to printing object requirement or design need into
Row adjustment setting).
Step S2, selection measurement point, choose 3 measurement points not on the same line, and 3 measurements on print platform
Point respectively positioned at the edge of print platform top surface (in order to improve the levelness essence of acquired print platform as far as possible
True degree, the distance between different measurement points are big as far as possible, and the surrounding of print platform top surface is can be uniformly distributed in as far as possible
Edge, to reduce calculation error, the measurement point quantity of selection can also be greater than the other quantity of 3).
Step S3, ranging simultaneously calculate average value, are measured respectively using the distance measuring sensor on head mechanism and draw each survey
Amount point is designated as h1, h2, h3, calculates its average value h=(h1+h2+h3)/3 successively to the height spacing of distance measuring sensor.
Step S4, judge whether minimal difference meets leveling error requirement：Min(|h-h1|,|h-h2|,|h-h3|)<d/
2；If meeting leveling error requirement, print platform has met leveling requirement, terminates this leveling；If being unsatisfactory for leveling
Error requirements, then perform step S5.
Step S5, pass through the lifting action of linear stepping motor or voice coil motor, further leveling print platform respectively.
Step S6, again ranging simultaneously calculate average value, are measured and drawn respectively using the distance measuring sensor on head mechanism
Each measurement point is designated as hh1, hh2, hh3 successively to the height spacing of distance measuring sensor, calculates its average value hh=(hh1+hh2+
Hh3)/3, h=hh, h1=hh1, h2=hh2, h3=hh3 are substituted into, returns and performs step S4, judge whether minimal difference meets
Leveling error requirement.
Specifically, the step S5 of the present embodiment specifically includes following steps：
Step S501, measurement are located at three motor support point coordinates on print platform
With reference to shown in Fig. 6, reference origin is in the measurement end position using distance measuring sensor after X, Y-axis back to zero, with X
The positive movement of axle, Y-axis, Z axis are moved down as positive direction, set up coordinate system；
It is P that obtained plane is moved in the measurement end of distance measuring sensor on the moving platform：Z=0, distance measuring sensor is in fortune
The coordinate of each measurement point is designated as A1 on moving platform：(X1,Y1,0)、A2：(X2, Y2,0) and A3：(X3, Y3,0), correspondence printing is flat
The coordinate of each measurement point is B1 on platform：(X1,Y1,h1)、B2：(X2, Y2, h2) and B3：(X3,Y3,h3)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1=0 (1)
It is M1 motors, M2 motors and M3 motors to remember three motors, and its corresponding support point coordinates is respectively M1：
(X11,Y11,Z11)、M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), 3 points are entirely located on plane P1, therefore satisfaction side
Journey：
A1*X11+B1*Y11+C1*Z11+1=0 (2)
A1*X21+B1*Y21+C1*Z21+1=0 (3)
A1*X31+B1*Y31+C1*Z31+1=0 (4)
M1 motor d11 distances are moved up, new support point coordinates M11 is obtained：(X11,Y11,Z11-d11).
Mobile distance measuring sensor is remeasured to three measurement points, obtains new height h11, h12, h13, and then beaten
The coordinate for printing each measurement point on platform is C1：(X1,Y1,h11)、C2：(X2, Y2, h12) and C3：(X3,Y3,h13).
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P11：A11*X+B11*Y+C11*Z+1=0 (5)
Because point M11 is in P11 planes, therefore can obtain：
A11*X11+B11*Y11+C11* (Z11-d11)+1=0 (6)
M1 motor d12 distances are moved down, new support point coordinates M12 is obtained：(X11,Y11,Z11+h12).
Distance measuring sensor on mobile printer motion platform is remeasured to three measurement points, obtain new height h14,
H15, h16, and then it is D1 to obtain the coordinate of each measurement point on print platform：(X1,Y1,h14)、D2：(X2, Y2, h15) and D3：
(X3,Y3,h16)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P12：A12*X+B12*Y+C12*Z+1=0 (7)
Because point M12 is in P12 planes, therefore can obtain：
A12*X11+B12*Y11+C12* (Z11+d12)+1=0 (8)
Consolidated equation (2), (6), (8), can calculate and obtain M1 motor support point coordinates M1：(X11,Y11,Z11).
Using same method, M2 motor support point coordinates M2 can obtain：(X21, Y21, Z21), M3 motor supports point is sat
Mark M3：(X31,Y31,Z31)；
Step S502, Levelling operation
According to each self-corresponding strong point coordinate M1 of obtained M1 motors, M2 motors and M3 motors：(X11,Y11,Z11)、
M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), starts motor and performs leveling action, be carried out as follows print platform leveling；
If Z21>Z11, then start M2 motors and to support the upward move distances of point coordinates M1：(Z21-Z11)；If Z21<
Z11, then start M2 motors and cause support point coordinates M1 to move downward distance：(Z11-Z21)；
If Z31>Z11, then start M3 motors and to support the upward move distances of point coordinates M3：(Z31-Z11)；If Z31<
Z11, then start M3 motors and cause support point coordinates M3 to move downward distance：(Z11-Z31).
Exemplary, the leveling method of the present embodiment can be applied on the 3D printer of embodiment three, i.e., by control
Device processed is programmed according to the teaching of above-mentioned leveling method, and self-level(l)ing device is automatically controlled by controller, 3D printing
Machine can obtain the altitude information of each measurement point on print platform by distance measuring sensor, and altitude information is sent on controller
Carry out whether computing and automatic decision need leveling according to the leveling method of the present embodiment, if desired carry out leveling, then control logical
Cross linear stepping motor or voice coil motor and perform leveling action automatically so that distance measuring sensor keeps same with each point on print platform
One highly or in the range of allowable error d.It can be seen that the present embodiment can realize that leveling is full-automatic, whole process need not be artificial
Intervene, eliminating other 3D printers, start is required for carrying out leveling manually every time, and manual leveling is time-consuming, and leveling is accurate
Spend the shortcoming that cannot guarantee that.
With it is above-mentioned be only the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications should also be regarded
For protection scope of the present invention.
Claims (3)
1. a kind of leveling method, carries out leveling with self-level(l)ing device, the 3D printer is with automatically using a kind of 3D printer
Levelling device includes：Fixed platform, the linear stepping motor for adjusting print platform angle of inclination, for measuring printhead machine
The structure distance measuring sensor of each point height and display for showing the distance measuring sensor measurement result on print platform
Device；Wherein, the fixed platform is in below the print platform of printer, and the quantity of the linear stepping motor is three, three
The individual linear stepping motor is each attached in the fixed platform, three linear stepping motors not on the same line,
The output screw of each linear stepping motor is set upward vertically, is set in each spiral shell in upper end of each output screw
There is a spherical pair connector, the spherical pair connector can be moved up and down under the turning effort of the output screw, it is described to survey
It is arranged on away from sensor on the head mechanism of printer, the distance measuring sensor is connected with the display；The spherical pair
Connector includes the spheroid for being set with the output screw spiral shell and the spherical shell for being fastened on print platform bottom surface, institute
State spherical shell and be coated with the spherical into spherical pair connection；It is characterised in that it includes following steps：
Step 1: sets target leveling error is d；
Step 2: choosing measurement point, n measurement points not on the same line, n ＞ 2 are chosen on print platform；
Step 3: ranging and calculating average value, measured respectively using the distance measuring sensor on head mechanism and draw each measurement point
To the height spacing of distance measuring sensor, the hn that h1, h2, h3 is designated as successively ..., calculate its average value h=(h1+h2+h3+ ...+hn)/
n；
Step 4: judging whether minimal difference meets leveling error requirement：Min (| h-h1 |, | h-h2 |, | h-h3 | ... | h-hn
|)<d/2；If meeting leveling error requirement, print platform has met leveling requirement, terminates this leveling；If discontented
Sufficient leveling error requirement, then perform step 5；
Step 5: passing through linear stepping motor or the lifting action of voice coil motor, further leveling print platform respectively；
Step 6: ranging and calculating average value again, measured respectively using the distance measuring sensor on head mechanism and draw each survey
Amount point is to a height spacing for distance measuring sensor, and the hhn that hh1, hh2, hh3 is designated as successively ... calculates its average value hh=(hh1+hh2+
Hh3+ ...+hhn)/n, h=hh is substituted into, h1=hh1, h2=hh2, h3=hh3 ... hn=hhn, return to step four judge minimum
Whether difference meets leveling error requirement；Wherein：
The measurement point quantity that the step 2 is chosen is 3, and 3 measurement points are located at the edge of print platform top surface respectively
Place；In addition, the step 5 specifically includes following steps：
Step 501, measurement are located at three motor support point coordinates on print platform
Reference origin is in measurement end position using distance measuring sensor after X, Y-axis back to zero, with X-axis, the positive movement of Y-axis, Z axis
Move down as positive direction, set up coordinate system；
It is P that obtained plane is moved in the measurement end of distance measuring sensor on the moving platform：Z=0, distance measuring sensor is flat in motion
The coordinate of each measurement point is designated as A1 on platform：(X1,Y1,0)、A2：(X2, Y2,0) and A3：On (X3, Y3,0), correspondence print platform
The coordinate of each measurement point is B1：(X1,Y1,h1)、B2：(X2, Y2, h2) and B3：(X3,Y3,h3)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1=0 (1)
It is M1 motors, M2 motors and M3 motors to remember three motors, and its corresponding support point coordinates is respectively M1：(X11,
Y11,Z11)、M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), 3 points are entirely located on plane P1, therefore meet equation：
A1*X11+B1*Y11+C1*Z11+1=0 (2)
A1*X21+B1*Y21+C1*Z21+1=0 (3)
A1*X31+B1*Y31+C1*Z31+1=0 (4)
M1 motor d11 distances are moved up, new support point coordinates M11 is obtained：(X11,Y11,Z11-d11)；
Mobile distance measuring sensor is remeasured to three measurement points, obtains new height h11, h12, h13, and then it is flat to obtain printing
The coordinate of each measurement point is C1 on platform：(X1,Y1,h11)、C2：(X2, Y2, h12) and C3：(X3,Y3,h13)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P11：A11*X+B11*Y+C11*Z+1=0 (5)
Because point M11 is in P11 planes, therefore can obtain：
A11*X11+B11*Y11+C11* (Z11-d11)+1=0 (6)
M1 motor d12 distances are moved down, new support point coordinates M12 is obtained：(X11,Y11,Z11+h12)；
Distance measuring sensor on mobile printer motion platform is remeasured to three measurement points, obtain new height h14, h15,
H16, and then it is D1 to obtain the coordinate of each measurement point on print platform：(X1,Y1,h14)、D2：(X2, Y2, h15) and D3：(X3,
Y3,h16)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P12：A12*X+B12*Y+C12*Z+1=0 (7)
Because point M12 is in P12 planes, therefore can obtain：
A12*X11+B12*Y11+C12* (Z11+d12)+1=0 (8)
Consolidated equation (2), (6), (8), can calculate and obtain M1 motor support point coordinates M1：(X11,Y11,Z11)；Using same
Method, can obtain M2 motor support point coordinates M2：(X21, Y21, Z21), M3 motor support point coordinates M3：(X31,Y31,Z31)；
Step 502, Levelling operation
According to each self-corresponding strong point coordinate M1 of obtained M1 motors, M2 motors and M3 motors：(X11,Y11,Z11)、M2：
(X21,Y21,Z21)、M3：(X31, Y31, Z31), starts motor and performs leveling action, be carried out as follows print platform leveling；
If Z21 ＞ Z11, start M2 motors and to support the upward move distances of point coordinates M1：(Z21-Z11)；If Z21 ＜ Z11,
Then starting M2 motors causes support point coordinates M1 to move downward distance：(Z11-Z21)；
If Z31 ＞ Z11, start M3 motors and to support the upward move distances of point coordinates M3：(Z31-Z11)；If Z31 ＜ Z11,
Then starting M3 motors causes support point coordinates M3 to move downward distance：(Z11-Z31).
2. leveling method as claimed in claim 1, it is characterised in that：The linear stepping motor is penetration type straight line stepping electricity
Machine, bottom of the output screw away from the spherical pair connector extends out to the outside of the linear stepping motor.
3. a kind of leveling method, carries out leveling with self-level(l)ing device, the 3D printer is with automatically using a kind of 3D printer
Levelling device includes：Fixed platform, the voice coil motor for adjusting print platform angle of inclination, for measure head mechanism away from
Display from the distance measuring sensor of each point height on print platform and for showing the distance measuring sensor measurement result；Its
In, the fixed platform is in below the print platform of printer, and the quantity of the voice coil motor is three, three voice coil loudspeaker voice coils
Motor is each attached in the fixed platform, three voice coil motors not on the same line, each voice coil motor
Output screw is set upward vertically, and a spherical pair connector, the ball are respectively set in the upper end of each output screw
Face pair connector can be moved up and down in the presence of the output shaft, and the distance measuring sensor is arranged on the printhead machine of printer
On structure, the distance measuring sensor is connected with the display；The spherical pair connector includes being used to be connected with the output shaft
Fixed spheroid and the spherical shell for being fastened on print platform bottom surface, the spherical shell are coated with the spherical into sphere
Pair connection；It is characterised in that it includes following steps：
Step 1: sets target leveling error is d；
Step 2: choosing measurement point, n measurement points not on the same line, n ＞ 2 are chosen on print platform；
Step 3: ranging and calculating average value, measured respectively using the distance measuring sensor on head mechanism and draw each measurement point
To the height spacing of distance measuring sensor, the hn that h1, h2, h3 is designated as successively ..., calculate its average value h=(h1+h2+h3+ ...+hn)/
n；
Step 4: judging whether minimal difference meets leveling error requirement：Min (| h-h1 |, | h-h2 |, | h-h3 | ... | h-hn
|)<d/2；If meeting leveling error requirement, print platform has met leveling requirement, terminates this leveling；If discontented
Sufficient leveling error requirement, then perform step 5；
Step 5: passing through voice coil motor or the lifting action of voice coil motor, further leveling print platform respectively；Step 6: weight
New ranging simultaneously calculates average value, is measured respectively using the distance measuring sensor on head mechanism and show that each measurement point is sensed to ranging
The height spacing of device, the hhn that hh1, hh2, hh3 is designated as successively ... calculates its average value hh=(hh1+hh2+hh3+ ...+hhn)/n,
H=hh is substituted into, h1=hh1, h2=hh2, h3=hh3 ... hn=hhn, return to step four judge whether minimal difference meets tune
Flat error requirements, wherein：
The measurement point quantity that the step 2 is chosen is 3, and 3 measurement points are located at the edge of print platform top surface respectively
Place；In addition, the step 5 specifically includes following steps：
Step 501, measurement are located at three motor support point coordinates on print platform
Reference origin is in measurement end position using distance measuring sensor after X, Y-axis back to zero, with X-axis, the positive movement of Y-axis, Z axis
Move down as positive direction, set up coordinate system；
It is P that obtained plane is moved in the measurement end of distance measuring sensor on the moving platform：Z=0, distance measuring sensor is flat in motion
The coordinate of each measurement point is designated as A1 on platform：(X1,Y1,0)、A2：(X2, Y2,0) and A3：On (X3, Y3,0), correspondence print platform
The coordinate of each measurement point is B1：(X1,Y1,h1)、B2：(X2, Y2, h2) and B3：(X3,Y3,h3)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1=0 (1)
It is M1 motors, M2 motors and M3 motors to remember three motors, and its corresponding support point coordinates is respectively M1：(X11,
Y11,Z11)、M2：(X21,Y21,Z21)、M3：(X31, Y31, Z31), 3 points are entirely located on plane P1, therefore meet equation：
A1*X11+B1*Y11+C1*Z11+1=0 (2)
A1*X21+B1*Y21+C1*Z21+1=0 (3)
A1*X31+B1*Y31+C1*Z31+1=0 (4)
M1 motor d11 distances are moved up, new support point coordinates M11 is obtained：(X11,Y11,Z11-d11)；
Mobile distance measuring sensor is remeasured to three measurement points, obtains new height h11, h12, h13, and then it is flat to obtain printing
The coordinate of each measurement point is C1 on platform：(X1,Y1,h11)、C2：(X2, Y2, h12) and C3：(X3,Y3,h13)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P11：A11*X+B11*Y+C11*Z+1=0 (5)
Because point M11 is in P11 planes, therefore can obtain：
A11*X11+B11*Y11+C11* (Z11-d11)+1=0 (6)
M1 motor d12 distances are moved down, new support point coordinates M12 is obtained：(X11,Y11,Z11+h12)；
Distance measuring sensor on mobile printer motion platform is remeasured to three measurement points, obtain new height h14, h15,
H16, and then it is D1 to obtain the coordinate of each measurement point on print platform：(X1,Y1,h14)、D2：(X2, Y2, h15) and D3：(X3,
Y3,h16)；
Plane equation where obtaining it can be calculated according to the coordinate of three measurement points on print platform：
P12：A12*X+B12*Y+C12*Z+1=0 (7)
Because point M12 is in P12 planes, therefore can obtain：
A12*X11+B12*Y11+C12* (Z11+d12)+1=0 (8)
Consolidated equation (2), (6), (8), can calculate and obtain M1 motor support point coordinates M1：(X11,Y11,Z11)；Using same
Method, can obtain M2 motor support point coordinates M2：(X21, Y21, Z21), M3 motor support point coordinates M3：(X31,Y31,Z31)；
Step 502, Levelling operation
According to each self-corresponding strong point coordinate M1 of obtained M1 motors, M2 motors and M3 motors：(X11,Y11,Z11)、M2：
(X21,Y21,Z21)、M3：(X31, Y31, Z31), starts motor and performs leveling action, be carried out as follows print platform leveling；
If Z21 ＞ Z11, start M2 motors and to support the upward move distances of point coordinates M1：(Z21-Z11)；If Z21 ＜ Z11,
Then starting M2 motors causes support point coordinates M1 to move downward distance：(Z11-Z21)；
If Z31 ＞ Z11, start M3 motors and to support the upward move distances of point coordinates M3：(Z31-Z11)；If Z31 ＜ Z11,
Then starting M3 motors causes support point coordinates M3 to move downward distance：(Z11-Z31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410270342.5A CN104057612B (en) | 2014-06-17 | 2014-06-17 | 3D printer self-level(l)ing device and 3D printer and leveling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410270342.5A CN104057612B (en) | 2014-06-17 | 2014-06-17 | 3D printer self-level(l)ing device and 3D printer and leveling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104057612A CN104057612A (en) | 2014-09-24 |
| CN104057612B true CN104057612B (en) | 2017-08-04 |
Family
ID=51545669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410270342.5A Active CN104057612B (en) | 2014-06-17 | 2014-06-17 | 3D printer self-level(l)ing device and 3D printer and leveling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104057612B (en) |
Families Citing this family (60)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104405172A (en) * | 2014-10-30 | 2015-03-11 | 贵州南源电力科技股份有限公司 | Telegraph pole printing device and printing method thereof |
| EP3766608A1 (en) * | 2014-11-14 | 2021-01-20 | Nikon Corporation | Shaping apparatus and shaping method |
| CN104626582A (en) * | 2015-01-21 | 2015-05-20 | 深圳长朗三维科技有限公司 | Leveling device and leveling method of large-size fused deposition 3D printer |
| CN104723556B (en) * | 2015-02-27 | 2017-01-11 | 江苏浩宇电子科技有限公司 | One-step type working platform limiting and regulating device |
| CN104690975A (en) * | 2015-03-18 | 2015-06-10 | 柳州市新锐科技有限公司 | Adjusting device and method for height of hot bed of 3D (Three-Dimensional) printer |
| CN104786499B (en) * | 2015-04-16 | 2017-12-19 | 英华达（上海）科技有限公司 | The three-dimensional printer of printing height can be increased |
| CN104890244B (en) * | 2015-06-11 | 2017-10-17 | 浙江闪铸三维科技有限公司 | A kind of 3D printer motor extruder head |
| CN105150531B (en) * | 2015-08-24 | 2018-10-23 | 珠海天威飞马打印耗材有限公司 | 3 D-printing platform method of adjustment and three-dimensional printer |
| CN106476278A (en) * | 2015-08-28 | 2017-03-08 | 东友科技股份有限公司 | Print platform adjustment system and its adjusting process |
| NL2015361B1 (en) * | 2015-08-28 | 2017-03-20 | Ultimaker Bv | Print bed levelling system and method for additive manufacturing. |
| CN105128329B (en) * | 2015-09-01 | 2018-10-12 | 繁昌县倍思生产力促进中心有限公司 | A kind of practicality 3D printing equipment |
| CN105128331B (en) * | 2015-09-01 | 2018-10-09 | 繁昌县倍思生产力促进中心有限公司 | A kind of 3D printing equipment |
| CN105563828B (en) * | 2015-11-06 | 2017-12-12 | 济南海域广信息技术有限公司 | Automatic leveling formula 3D printer |
| CN105291435B (en) * | 2015-11-09 | 2019-01-01 | 珠海天威飞马打印耗材有限公司 | 3 D-printing platform method of adjustment and three-dimensional printer |
| CN105252770B (en) * | 2015-11-10 | 2018-04-03 | 珠海天威飞马打印耗材有限公司 | 3 D-printing method and three-dimensional printer |
| CN105415683B (en) * | 2015-12-15 | 2017-08-29 | 杭州缤果信息科技有限公司 | A kind of 3 D-printing equipment |
| US10894363B2 (en) | 2015-12-30 | 2021-01-19 | Revotek Co., Ltd | Bioprinter and calibration method of the bioprinter |
| KR101830923B1 (en) * | 2016-02-24 | 2018-04-05 | 경남대학교 산학협력단 | Three demension printer |
| CN107229430B (en) * | 2016-03-23 | 2021-04-27 | 深圳维示泰克技术有限公司 | Automatic leveling method and leveling equipment applied to 3D printing |
| CN105690774A (en) * | 2016-04-12 | 2016-06-22 | 张萍 | High-stability intelligent 3D printer based on Internet of Things |
| CN105751518B (en) * | 2016-05-10 | 2018-02-16 | 深圳市七号科技有限公司 | A kind of FDM3D printer and its automatic leveling Method of printing and system |
| US11745430B2 (en) | 2016-05-12 | 2023-09-05 | Hewlett-Packard Development Company, L.P. | Calibration method and build unit |
| CN105855547B (en) * | 2016-06-07 | 2017-12-01 | 青岛前哨精密机械有限责任公司 | A kind of automatic fine motion leveling system of 3D printer substrate |
| CN118076003A (en) * | 2016-06-08 | 2024-05-24 | 苏州泛普科技股份有限公司 | Printing motion control method for flexible touch control film |
| CN105904736A (en) * | 2016-06-29 | 2016-08-31 | 北京恒创增材制造技术研究院有限公司 | 3D printer printing platform leveling method based on chasing method and hydraulic automatic leveling system |
| TWI615282B (en) | 2016-12-09 | 2018-02-21 | 東友科技股份有限公司 | Adjustment device and adjusting method thereof |
| CN106584834A (en) * | 2016-12-15 | 2017-04-26 | 西京学院 | Melting deposition 3D printer self-adaption leveling system and leveling method thereof |
| CN106903887A (en) * | 2017-03-13 | 2017-06-30 | 成都振中电气有限公司 | A kind of supporting auxiliary mould of three-dimensional modeling machine |
| CN106863805A (en) * | 2017-03-13 | 2017-06-20 | 成都振中电气有限公司 | Supporting base station suitable for 3D printing technique |
| CN106827541A (en) * | 2017-03-13 | 2017-06-13 | 成都振中电气有限公司 | For the adjustable base station of height digital display type of 3D printing |
| CN108621411A (en) * | 2017-03-21 | 2018-10-09 | 磐纹科技（上海）有限公司 | The method for automatically leveling of self-leveling 3D printer and 3D printer |
| CN107187018B (en) * | 2017-06-07 | 2019-07-26 | 陕西恒通智能机器有限公司 | A kind of 3D printer with pallet self-cleaning function |
| CN107521089A (en) * | 2017-06-14 | 2017-12-29 | 江苏威宝仕科技有限公司 | A kind of full-automatic leveling technology of 3D printer |
| CN109532001B (en) * | 2017-06-16 | 2020-06-16 | 浙江大学 | Leveling method of three-dimensional printing platform and leveling system using same |
| CN107471504A (en) * | 2017-08-22 | 2017-12-15 | 广东工业大学 | A kind of micro-structural hits the regulation platform and its adjusting method of a machining tool light-conducting board mold |
| CN107457405B (en) * | 2017-08-24 | 2019-10-18 | 北京星航机电装备有限公司 | A kind of selective laser fusing former substrate automatic horizontal control system and leveling method |
| CN107672172A (en) * | 2017-09-05 | 2018-02-09 | 中北大学 | 3D printer hott bed method for automatically leveling and levelling device |
| CN108311698B (en) * | 2018-01-22 | 2024-02-20 | 华南理工大学 | Multi-dimensional printing platform of metal 3D printer and adjustment and printing method |
| CN108481741A (en) * | 2018-03-13 | 2018-09-04 | 珠海天威飞马打印耗材有限公司 | A kind of three-dimensional printer and 3 D-printing platform method of adjustment |
| CN108407296A (en) * | 2018-04-27 | 2018-08-17 | 张梓萱 | A kind of 3D printing all-in-one machine |
| CN108673883A (en) * | 2018-06-22 | 2018-10-19 | 西安增材制造国家研究院有限公司 | A kind of 3D printing equipment based on digital light processing |
| CN109016499B (en) * | 2018-07-17 | 2020-09-11 | 新沂市锡沂高新材料产业技术研究院有限公司 | 3D printing system based on cloud server |
| CN108943726B (en) * | 2018-09-19 | 2020-04-24 | 湖北工业大学 | Leveling device and leveling method for desktop type 3D printer |
| CN108995216A (en) * | 2018-09-28 | 2018-12-14 | 贺云峰 | A kind of levelling device for 3D printer |
| CN110901072B (en) * | 2019-12-20 | 2021-12-24 | 北京工业大学 | Feedback type automatic leveling method for parallel arm three-dimensional printer |
| CN111016167B (en) * | 2019-12-23 | 2020-11-17 | 浙江大学 | Additive manufacturing equipment with high-response parallel leveling mechanism and leveling method |
| CN111283193A (en) * | 2020-01-22 | 2020-06-16 | 华东理工大学 | Double-forming-cylinder device for SLM equipment and powder spreading system thereof |
| CN111590888A (en) * | 2020-04-30 | 2020-08-28 | 申志杰 | Intelligent platform for 3D printing |
| CN112248435A (en) * | 2020-09-23 | 2021-01-22 | 福州外语外贸学院 | 3D printer capable of being quickly leveled and adjusting working space |
| CN112846237B (en) * | 2020-12-04 | 2022-04-22 | 北京星航机电装备有限公司 | 3D printing equipment leveling system and automatic leveling method thereof |
| CN113001962B (en) * | 2021-02-18 | 2024-01-30 | 河南鲲智教育科技有限公司 | Leveling device of 3D printer |
| CN114290684A (en) * | 2021-12-07 | 2022-04-08 | 深圳市纵维立方科技有限公司 | Control method of 3D printer, 3D printer and readable storage medium |
| CN114413770A (en) * | 2022-01-26 | 2022-04-29 | 昆山三河汇电子机械设备有限公司 | Automatic leveling system measuring equipment |
| CN114536756A (en) * | 2022-03-10 | 2022-05-27 | 深圳快造科技有限公司 | 3D printer, printing platform and leveling method thereof |
| CN114734629B (en) * | 2022-04-21 | 2023-09-12 | 深圳市云图创智科技有限公司 | 3D printing equipment with stable locking mechanism |
| CN114905749B (en) * | 2022-05-25 | 2024-06-14 | 深圳市纵维立方科技有限公司 | Printer control method and device, printer and readable storage medium |
| CN115195117B (en) * | 2022-06-09 | 2024-04-16 | 深圳市纵维立方科技有限公司 | Leveling control method of 3D printer, 3D printer and storage medium |
| CN117621456A (en) * | 2022-08-12 | 2024-03-01 | 深圳市创想三维科技股份有限公司 | Height compensation method, apparatus, computer device and storage medium |
| CN116766135B (en) * | 2023-08-23 | 2023-11-07 | 成都国营锦江机器厂 | Helicopter main reducer stay bar hole center distance measuring tool and method |
| CN117734161A (en) * | 2024-01-10 | 2024-03-22 | 北京京城增材科技有限公司 | Movable type material increasing and decreasing integrated forming guarantee factory |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6850334B1 (en) * | 2000-01-18 | 2005-02-01 | Objet Geometries Ltd | System and method for three dimensional model printing |
| CN201998962U (en) * | 2010-10-25 | 2011-10-05 | 安徽博微长安电子有限公司 | Electromechanical leveling support leg |
| CN103395209A (en) * | 2013-08-08 | 2013-11-20 | 西安非凡士机器人科技有限公司 | Large 3D printer based on FDM principles |
| CN103660300B (en) * | 2013-12-04 | 2017-01-18 | 北京太尔时代科技有限公司 | Automatic-leveling 3D printer and printing method thereof |
| CN203876240U (en) * | 2014-06-17 | 2014-10-15 | 韩成超 | Automatic leveling device for 3D printer and 3D printer |
-
2014
- 2014-06-17 CN CN201410270342.5A patent/CN104057612B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104057612A (en) | 2014-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104057612B (en) | 3D printer self-level(l)ing device and 3D printer and leveling method | |
| CN203876240U (en) | Automatic leveling device for 3D printer and 3D printer | |
| CN111472217A (en) | Rapid intelligent fine tuning system and fine tuning method for CRTS III type track slab | |
| CN104249456B (en) | A kind of Quick-type color three-dimensional printer | |
| CN203864020U (en) | Liquid level control system of 3D printer based on SLA (stereo lithography apparatus) principle | |
| CN104826773A (en) | Efficient dispenser for hot melt adhesive | |
| CN203805320U (en) | Calibration workbench for 3-dimensional printer | |
| CN203259123U (en) | Large-scale revolution workpiece inner wall size measurement apparatus and system thereof | |
| CN105751518B (en) | A kind of FDM3D printer and its automatic leveling Method of printing and system | |
| CN103391708B (en) | The apparatus for work of element or substrate and element fixing apparatus | |
| CN109631826B (en) | Satellite automation precision detection method | |
| CN106645570A (en) | Method and device for detecting surface defects of wind driven generator blade | |
| CN105157569B (en) | A kind of evaporative pattern mold laser measuring machine | |
| CN104002482A (en) | Printing parameter setting method and device of three-dimensional printer | |
| CN102345390A (en) | Method for compensating for deflection of concrete pump truck arm support | |
| CN106483987A (en) | Material-level detecting device, paver and material level detection method | |
| CN104096928A (en) | Wire electric discharge machine which performs taper cutting | |
| CN112916339A (en) | Method and device for setting glue dispensing amount and glue dispensing equipment | |
| CN108943726A (en) | A kind of levelling device and leveling method of Table top type 3D printer | |
| CN115847408A (en) | Intelligent identification and pose adjustment method for operation and maintenance robot | |
| CN108016039A (en) | A kind of nozzle automatic distance-adjusting 3D printer | |
| CN206536846U (en) | A kind of self-alignment 3D printer of degree | |
| CN206551479U (en) | A kind of 3D printer based on fused glass pellet technology | |
| CN209485281U (en) | A kind of measuring system during the sheet fabrication towards ship surface | |
| CN106197267A (en) | To the measuring method of bag platform irregularly shaped object on halved belt sorter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Free format text: FORMER OWNER: ZHONG JINGWEN SHEN ZHUJUAN Effective date: 20150512 Owner name: SUZHOU HANYIN PRECISION MACHINERY TECHNOLOGY CO., Free format text: FORMER OWNER: HAN CHENGCHAO Effective date: 20150512 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 201210 PUDONG NEW AREA, SHANGHAI TO: 215513 SUZHOU, JIANGSU PROVINCE |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20150512 Address after: Four 215513 Jiangsu Sea city of Suzhou province Changshu economic and Technological Development Zone No. 11 Building No. 1 room 607 Branch Park Applicant after: Suzhou Han Precision Machinery Technology Co., Ltd. Address before: 201210 Shanghai city Pudong New Area Zu Road No. 2288 Building No. 3 room 801 Spreadtrum Center Applicant before: Han Chengchao Applicant before: Zhong Jingwen Applicant before: Shen Zhujuan |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20170707 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 unit 1 building 17 Zhuyuan 3 floor B District 305 Applicant after: Dongguan far casting Intelligent Technology Co., Ltd. Address before: Four 215513 Jiangsu Sea city of Suzhou province Changshu economic and Technological Development Zone No. 11 Building No. 1 room 607 Branch Park Applicant before: Suzhou Han Precision Machinery Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |