CN105904736A - 3D printer printing platform leveling method based on chasing method and hydraulic automatic leveling system - Google Patents
3D printer printing platform leveling method based on chasing method and hydraulic automatic leveling system Download PDFInfo
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- CN105904736A CN105904736A CN201610509458.9A CN201610509458A CN105904736A CN 105904736 A CN105904736 A CN 105904736A CN 201610509458 A CN201610509458 A CN 201610509458A CN 105904736 A CN105904736 A CN 105904736A
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- hydraulic
- print platform
- leveling
- distance measuring
- measuring sensor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C67/00—Shaping techniques not covered by groups B29C39/00 - B29C65/00, B29C70/00 or B29C73/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
Abstract
The invention discloses a 3D printer printing platform leveling method based on a chasing method and a hydraulic automatic leveling system. The 3D printer printing platform leveling method based on the chasing method and the hydraulic automatic leveling system are used for a large forming-breadth 3D printer. A printing head moves in the directions of an X axis, a Y axis and a Z axis; a distance measuring sensor and the printing head are installed on the same horizontal height, and the distance measuring sensor moves along with the printing head; a measured value of the distance measuring sensor is used for reflecting the relative positions of the printing head and a printing platform; the printing platform and a piston rod of a hydraulic cylinder are connected in the manner of a spherical hinge; the piston rod of the hydraulic cylinder is connected with a fixed supporting frame in the same manner of a spherical hinge; and the displacement of a valve element of a fluid electric proportional direction control valve controls lifting of a piston of the hydraulic cylinder to complete the automatic leveling process of the printing platform. The data output end of the distance measuring sensor is connected with the data input end of a controller, and the data output end of the controller is connected with the fluid electric proportional direction control valve. By means of cooperation of the hydraulic system and the controller, fast, accurate and automatic leveling of the printing platform is completed, the leveling workload of the platform is greatly reduced, and the printing precision is improved.
Description
Technical field
The present invention relates to a kind of 3D printer print platform leveling method based on the method for chasing and hydraulic pressure automatic leveling
System, this device includes 3D printer mechanical components, Hydraulic Circuit Design and leveling method.This
The bright 3D that belongs to prints quick forming fabri-cation (quickly increasing material manufacturing technology) field.
Background technology
3D printing technique also known as increase material manufacturing technology, be different from subtract material manufacture and etc. material manufacturing technology, it is with three
Based on dimension module data, obtain the tangent plane data of model by computer, successively process reality according to slice of data
Body, thus eliminate multiple links such as drawing drafting, process implementing, Making mold in classical production process, reach
Arrive the design time that shortens, Emphasis on personality design, the purpose of automatization's integrated level increasing, break tradition simultaneously
Remove the material forming process restriction to design shape.Therefore 3D printing technique is widely used in automobile, aviation
The fields such as space flight, biologic medical, ornameutal handiwork.
Fused glass pellet (Fused Deposition Modeling, FDM) technology is of 3D printing technique
Important branch, FDM forming technique heats heat-fusible materials by printhead, and printhead is at print platform simultaneously
According to the slice of data programming movement path of threedimensional model on the position of top distance print platform certain altitude,
Heat-fusible materials forms two-dimensional section with the motion path of printhead, after completing the print job in a cross section, beats
The distance of a thickness is left, so printhead can print the basis in cross section at last layer between print head and platform
On complete next layer of print job, print modeling process by the 3D of the whole model that has so been layering.
FDM process equipment has advantage of lower cost, uses the features such as easy to operate, so being widely used in part
The aspects such as just design period, assembly experiment and performance test.But the dimensional accuracy of its forming solid, the accuracy of form and position and
Surface quality is in a relatively low level, and this seriously governs the application of FDM technology.FDM printing precision
Mainly by the shadow of the factors such as its mechanical structured member machining accuracy, kinematic accuracy, print platform state, technological parameter
Ring.In these factors, the state of print platform will directly affect printing precision, if print platform not level
Printhead will be caused to weave silk uneven.When the distance of print platform Yu printhead is too small, printhead can not be smooth
Wire vent, it is easy to problem printhead plug wire occur, if printhead generation plug wire, then must stop marker
Make, and take certain measure to carry out harness cord process, because the diameter of printhead is the least, so harness cord work
More complicated, and under serious conditions, it is necessary to change printhead；When print platform is excessive with the distance of printhead
Time, the adhesion between the silk material of printhead extrusion is inadequate, and the silk material being even extruded when printing basic unit can not
Carrying out bonding with print platform so that model is forced in unsettled print state, unquestionable meeting causes printing loses
Lose.It addition, when print platform is bigger, manual adjustment print platform can be the most bothersome, and it is extremely difficult to reason
Thinking state, flatness precision and the horizontal accuracy of regulation print platform are extremely difficult to error allowed band.
For the above, 3D printer print platform leveling method and hydraulic pressure designed by the present invention are adjusted automatically
Flat system is mainly for the 3D printer based on Deformation In The Fdm Process of large format, by the liquid in hydraulic system
Electricity proportion directional control valve and controller cooperating are capable of the automatic leveling of print platform, regulation process without
Need artificial interference, evade the shortcoming that Traditional Man control method is cumbersome and time consuming, and final regulation knot
Fruit can make print platform be in optimal horizontal level.
Summary of the invention
It is an object of the invention to provide a kind of printing for large format 3D based on Deformation In The Fdm Process printer
Platform erection method and hydraulic pressure automatic horizontal control system, this system is by 3D printer frame for movement, printhead motion
Control circuit and hydraulic pressure automatic leveling loop composition, this leveling method is based on the motionless method of chasing of low spot, the method
Measure the vertical dimension between printhead and print platform first with distance measuring sensor, keep vertical dimension dominant bit
The hydraulic cylinder piston putting place is motionless, and then the hydraulic cylinder piston at other labelling points shrinks, until each labelling point
Consistent to the distance of printhead.By distance measuring sensor, printhead motion controller and hydraulic pressure automatic leveling loop
Coordinate the automatic leveling realizing print platform.
The present invention is to use techniques below means to realize:
The mechanical structure portion of 3D printer include print platform, printhead, printhead motion X direction guiding rail,
Y-direction guide rail and Z-direction guide rail composition, in print procedure, print platform maintains static, and printhead is along X, Y, Z
Move printing action in three directions.
3D printer hydraulic pressure automatic leveling loop includes four hydraulic cylinders, four pressure transducers, nine overflows
Valve, four bidirectional hydraulic locks, four liquid electricity proportion directional control valves, 13 check valves, accumulator, pressure
Table, gear pump, motor, filter, fuel tank；Pressure oil flows to gear pump through filter, and motor drives
Moving gear pump provides power oil for system, and power oil gives four hydraulic cylinder fuel feeding through check valve Hou Fen tetra-tunnel,
Every branch road upward pressure oil first passes around liquid electricity proportion directional control valve, then flows into bidirectional hydraulic lock, and finally
Influent cylinder pressure；In loop, overflow valve plays the effect of relief valve, prevents circuit pressure too high damage hydraulic cylinder；
Pressure transducer is used for detecting whether hydraulic cylinder support member lands, it may be judged whether there is empty leg phenomenon.
Print platform and hydraulic cylinder piston are connected by ball-type hinge, it is ensured that the platform pressure that hydraulic cylinder piston rod is subject to
Power all the time along the axis direction of hydraulic cylinder piston rod, between hydraulic cylinder piston rod with fixing support rack as with ball-type
Chain connection, it is ensured that the counteracting force of the fixing support rack suffered by hydraulic cylinder piston rod is all the time along hydraulic cylinder piston
The axis direction of bar.
A, B, C, D point it is demarcated as respectively in the position of distance print platform edge six/length of side, and
The hydraulic means such as hydraulic cylinder are connected in the underface of each point.When platform size is more than 600mm*600mm, little
When 1000mm*1000mm, first leveling process makes printhead by appointment to C to D from A to B
Line-of-road movement；When print platform size is more than 1000mm*1000mm, first leveling process makes printhead
Pressing the fixed route motion to C to D to E from A to B, E point is the central point of platform.
Distance measuring sensor measures each fixed point on print platform to the distance between printhead, the number of distance measuring sensor
Being connected with the data input pin of controller according to outfan, measurement data is delivered in controller by distance measuring sensor,
Data are processed by controller according to control algolithm, and the data output end of controller controls with liquid electricity proportion directional
The data receiver of valve is connected, liquid electricity proportion directional control valve according to accept signal quantitatively, displacement spool position
Move, reach the purpose being automatically adjusted platform to level.
Hydraulic pressure automatic horizontal control system designed by the present invention can complete the 3D based on Deformation In The Fdm Process of large format
The automatic leveling of printer print platform, the method completes distance measuring sensor measured value and liquid electricity ratio by controller
Data between example directional control valve shift value map, it is ensured that print platform state promptly and accurately feed back to liquid
Pressure automatic horizontal control system so that leveling software and leveling hardware system closely cooperate；Liquid electricity ratio in hydraulic circuit
Example directional control valve can accurately regulate hydraulic cylinder piston displacement, it is ensured that degree of regulation, the bidirectional hydraulic in loop
Lock enables to print platform reliably to be stopped on a certain position, and holding position is constant.The regulation of this invention
Journey is interfered without anthropic factor, decreases the regulation error that artificial origin causes to a certain extent and even regulates and do not conform to
Lattice, improve regulation efficiency simultaneously, shorten time-write interval, and final regulation result to a certain extent
Print platform can be made to be in optimal horizontal level.
Accompanying drawing explanation
Fig. 1 is 3D printer machinery structure principle chart and hydraulic pressure automatic horizontal control system schematic diagram；
Fig. 2 is 3D printer print platform and hydraulic cylinder piston rod connected mode schematic diagram；
Fig. 3 is 3D printer print platform subscript fixed position schematic diagram；
Fig. 4 is leveling algorithm routine flow chart；
Fig. 5 is Control system architecture schematic diagram；
Wherein: 1-printhead, 2-X direction guiding rail, 3-distance measuring sensor, 4-Z direction guiding rail, 5-Y direction guiding rail, 6-
Print platform, 7-hydraulic cylinder, 8-overflow valve, 9-pressure transducer, 10-bidirectional hydraulic lock, 11-liquid electricity ratio
Directional control valve, 12-Pressure gauge, 13-check valve, 14-gear pump, 15-filter, 16-motor, 17-
Accumulator, 18-the first ball-type hinge, 19-piston rod, 20-piston, 21-piston rod, 22-the second ball-type cuts with scissors
Chain, 23-fixing support rack
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
The mechanical structure portion of 3D printer and hydraulic leveling loop are as it is shown in figure 1, mechanical structure portion includes
Print platform (6), printhead (1), X direction guiding rail (2), Y-direction guide rail (5) and Z-direction guide rail (4)
Forming, X direction guiding rail (2) is paralleled with print platform (6), X direction guiding rail (2) and Y-direction guide rail (5)
Vertically, Z-direction guide rail (4) is vertical with Y-direction guide rail (5), and Y-direction guide rail (5) is arranged on print platform (6)
Both sides, X direction guiding rail (2), Y-direction guide rail (5) and the three-dimensional that Z-direction guide rail (4) is printhead (1)
Adjustment structure, printhead (1), distance measuring sensor (3) be arranged on X direction guiding rail (2), printhead
(1) with the parallel installation of distance measuring sensor (3)；Such as Fig. 2, at six points of print platform (6) edge of distance
One of the position of the length of side be demarcated as A, B, C, D point respectively, and connect hydraulic pressure in the underface of each point
Leveling loop, hydraulic leveling loop altogether include four hydraulic cylinders (7), four pressure transducers (9), nine
Individual overflow valve (8), four bidirectional hydraulic locks (10), four liquid electricity proportion directional control valve (11), ten
Three check valves (13), accumulator (17), Pressure gauge (12), gear pump (14), motor (16),
Filter (15), fuel tank；Wherein hydraulic cylinder (7), overflow valve (8), pressure transducer (9), double
To the control structure that hydraulic lock (10), liquid electricity proportion directional control valve (11) are hydraulic leveling loop, hydraulic pressure
Cylinder (7) is connected with overflow valve (8), pressure transducer (9) respectively, overflow valve (8), pressure transducer
(9) being connected with bidirectional hydraulic lock (10) respectively, bidirectional hydraulic lock (10) is controlled by liquid electricity proportion directional
Valve (11) is connected with fluid power system.
Fluid power system include check valve (13), accumulator (17), Pressure gauge (12), gear pump (14),
Motor (16), filter (15), fuel tank；Gear pump (14) is by filter (15) with fuel tank even
Connecing, gear pump (14) is connected with motor (16), gear pump (14) and liquid electricity proportion directional control valve (11)
Between be provided with check valve (13), the branch road between gear pump (14) and check valve (13) is provided with Pressure gauge
(12), the branch road between check valve (13) and liquid electricity proportion directional control valve (11) is provided with accumulator (17).
Fig. 2 illustrates the connected mode between print platform and hydraulic cylinder piston rod, for ensureing hydraulic cylinder piston rod
It is all by first by active force along its axis direction, print platform (6) and hydraulic cylinder piston rod (19)
Ball-type hinge (18) connects, by the second ball-type hinge between hydraulic cylinder (21) and fixing support rack (23)
(22) connect.
Pressure oil flows to gear pump (14), motor (16) driving gear pump (14) through filter (15)
Thering is provided power oil for system, power oil divides four branch roads to supply to four hydraulic cylinders respectively after check valve (13)
Oil, the pressure oil on every branch road first passes around liquid electricity proportion directional control valve (11), then flows into two-way
Hydraulic lock (10), in last influent cylinder pressure (7), according to the spool of liquid electricity proportion directional control valve (11)
Displacement and spool moving direction shrink or uphold hydraulic cylinder piston rod；In loop, overflow valve (8) plays safety
The effect of valve, prevents circuit pressure too high damage hydraulic cylinder；Pressure transducer (9) is used for detecting hydraulic cylinder and props up
Whether support member lands, it may be judged whether there is empty leg phenomenon.
When platform size is more than 600mm*600mm, and during less than 1000mm*1000mm, leveling process is first
Make printhead by from A to B to C to D fixed route move；When print platform size is more than
During 1000mm*1000mm, first leveling process makes printhead by specified circuit to C to D to E from A to B
Line moves, and E point is the central point of platform, and print platform is installed as under other fixed points immediately below E point
Hydraulic Elements.When printhead moves to the position of fixed point on print platform, distance measuring sensor is measured and is printed
Distance between head and print platform, represents the print platform that distance measuring sensor is measured respectively with a, b, c, d
Upper fixed point is to the distance between printhead；The data output end of distance measuring sensor and the data input pin of controller
Being connected, measurement data is delivered in controller by distance measuring sensor, and data are carried out by controller according to control algolithm
Process, controller leveling algorithm routine flow chart such as Fig. 4 to Measurement and Data Processing, and be more than more than b with a
C illustrates more than as a example by d, first determines whether that whether the difference between four measured values a, b, c, d is at platform
In the range of error allowed, if the difference between four measured values is in the range of error that platform allows, then adjust
Reef knot bundle；If the scope that the difference of 4 measured values is allowed more than leveling error, obtain four points further
In lowest point, and calculate distance measuring sensor measured value and other positions range finding at lowest point and pass
The difference of sensor measured value, controller processes the amplified device of data and is input to the data of liquid electricity proportion directional control valve
Receiving terminal, liquid electricity proportion directional control valve accepts the control signal of controller, and becomes ratio according to input electrical signal
The output spool displacement of example, and the direction moved with the positive and negative change spool of the signal of telecommunication, in addition to minimum point, other
Hydraulic cylinder piston rod movement value corresponding at location point is equal to distance measuring sensor measured value at lowest point and is somebody's turn to do
The difference of some measured value, the shrinkage direction of direction sensing hydraulic cylinder piston, following distance measuring sensor carries out second
Secondary measurement, and repeat said process, until print platform horizontal error is in the range of error allows, institute
Leveling automatically and accurately can be carried out according to the measurement result of distance measuring sensor, during this with print platform
Control system architecture principle such as Fig. 5 signal that hydraulic pressure automatic horizontal control system relates to.
Claims (5)
1. a 3D printer print platform hydraulic pressure automatic horizontal control system based on the method for chasing, it is characterised in that:
This system includes mechanical structure portion and hydraulic leveling loop, mechanical structure portion include print platform (6),
Printhead (1), X direction guiding rail (2), Y-direction guide rail (5) and Z-direction guide rail (4) composition, X direction guiding rail
(2) paralleling with print platform (6), X direction guiding rail (2) is vertical with Y-direction guide rail (5), Z-direction guide rail
(4) vertical with Y-direction guide rail (5), Y-direction guide rail (5) is arranged on the both sides of print platform (6), X
Direction guiding rail (2), Y-direction guide rail (5) and the three-dimensional adjustment structure that Z-direction guide rail (4) is printhead (1),
Printhead (1), distance measuring sensor (3) are arranged on X direction guiding rail (2), printhead (1) and survey
Parallel installation away from sensor (3)；Position punishment in distance print platform (6) edge 1/6th length of side
It is not demarcated as A, B, C, D point, and connects hydraulic leveling loop, hydraulic leveling in the underface of each point
Loop altogether include four hydraulic cylinders (7), four pressure transducers (9), nine overflow valves (8), four
Individual bidirectional hydraulic lock (10), four liquid electricity proportion directional control valve (11), 13 check valves (13),
Accumulator (17), Pressure gauge (12), gear pump (14), motor (16), filter (15),
Fuel tank；Wherein hydraulic cylinder (7), overflow valve (8), pressure transducer (9), bidirectional hydraulic lock (10),
Liquid electricity proportion directional control valve (11) is the control structure in hydraulic leveling loop；Hydraulic cylinder (7) is respectively with excessive
Stream valve (8), pressure transducer (9) connect, meanwhile, two hydraulic fluid ports of bidirectional hydraulic lock (10) respectively with liquid
Cylinder pressure (7) two oil pockets connect, bidirectional hydraulic lock (10) by liquid electricity proportion directional control valve (11) with
Fluid power system connects；
Fluid power system include check valve (13), accumulator (17), Pressure gauge (12), gear pump (14),
Motor (16), filter (15), fuel tank；Gear pump (14) is by filter (15) with fuel tank even
Connecing, gear pump (14) is connected with motor (16), gear pump (14) and liquid electricity proportion directional control valve (11)
Between be provided with check valve (13), the branch road between gear pump (14) and check valve (13) is provided with Pressure gauge
(12), the branch road between check valve (13) and liquid electricity proportion directional control valve (11) is provided with accumulator (17).
A kind of 3D printer print platform hydraulic pressure based on the method for chasing the most according to claim 1 is automatic
Leveling system, it is characterised in that: for ensureing that hydraulic cylinder piston rod is all along its axis direction by active force, beat
Print platform (6) and hydraulic cylinder piston rod (19) are connected by the first ball-type hinge (18), hydraulic cylinder (21)
It is connected by the second ball-type hinge (22) with between fixing support rack (23).
A kind of 3D printer print platform hydraulic pressure based on the method for chasing the most according to claim 1 is automatic
Leveling system, it is characterised in that: pressure oil flows to gear pump (14), motor (16) through filter (15)
Driving gear pump (14) provides power oil for system, and power oil divides four branch roads to divide after check valve (13)
Not Gei four hydraulic cylinder fuel feeding, the pressure oil on every branch road first passes around liquid electricity proportion directional control valve (11),
Then flow into bidirectional hydraulic lock (10), in last influent cylinder pressure (7), control according to liquid electricity proportion directional
Spool displacement and the spool moving direction of valve (11) shrink or uphold hydraulic cylinder piston rod；Overflow valve in loop
(8) play the effect of relief valve, prevent circuit pressure too high damage hydraulic cylinder；Pressure transducer (9) is used for
Whether detection hydraulic cylinder support member lands, it may be judged whether there is empty leg phenomenon.
A kind of 3D printer print platform hydraulic pressure based on the method for chasing the most according to claim 1 is automatic
Leveling system, it is characterised in that:
When platform size is more than 600mm*600mm, and during less than 1000mm*1000mm, leveling process is first
Make printhead by from A to B to C to D fixed route move；When print platform size is more than
During 1000mm*1000mm, first leveling process makes printhead by specified circuit to C to D to E from A to B
Line moves, and E point is the central point of platform, and print platform is installed as under other fixed points immediately below E point
Hydraulic Elements；When printhead moves to the position of fixed point on print platform, distance measuring sensor is measured and is printed
Distance between head and print platform, represents the print platform that distance measuring sensor is measured respectively with a, b, c, d
Upper fixed point is to the distance between printhead；The data output end of distance measuring sensor and the data input pin of controller
Being connected, measurement data is delivered in controller by distance measuring sensor, and data are carried out by controller according to control algolithm
Process.
A kind of 3D printer print platform hydraulic pressure based on the method for chasing the most according to claim 1 is automatic
Leveling system, it is characterised in that:
First determine whether the difference between four measured values a, b, c, d whether in the range of error that platform allows,
If the difference between four measured values is in the range of error that platform allows, then leveling terminates；If 4 surveys
The scope that the difference of value is allowed more than leveling error, obtains the lowest point in four points further, and
Calculate distance measuring sensor measured value and the difference of other position distance measuring sensor measured values at lowest point,
Controller processes the amplified device of data and is input to the data receiver of liquid electricity proportion directional control valve, liquid electricity ratio side
The control signal of controller is accepted to control valve, and according to the output spool displacement proportional to input electrical signal,
And the direction moved with the positive and negative change spool of the signal of telecommunication, in addition to minimum point, hydraulic pressure corresponding at other location points
Cylinder piston rod movement value is equal to the difference of distance measuring sensor measured value at lowest point with this measured value, direction
Pointing to the shrinkage direction of hydraulic cylinder piston, following distance measuring sensor carries out second time and measures, and repeats above-mentioned mistake
Journey, until print platform horizontal error is in the range of error allows, so print platform can be according to survey
Measurement result away from sensor carries out leveling automatically and accurately.
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| CN201610509458.9A CN105904736A (en) | 2016-06-29 | 2016-06-29 | 3D printer printing platform leveling method based on chasing method and hydraulic automatic leveling system |
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| CN106476275A (en) * | 2016-10-17 | 2017-03-08 | 北京恒创增材制造技术研究院有限公司 | A kind of large format three-dimensional printer print platform leveling method and its leveling system |
| CN106827539A (en) * | 2017-01-04 | 2017-06-13 | 深圳市晓控通信科技有限公司 | A kind of high accuracy family expenses 3D printing system of health environment-friendly |
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