CN107116787A - The leveling system and its range unit and leveling method of a kind of 3 D-printing platform - Google Patents
The leveling system and its range unit and leveling method of a kind of 3 D-printing platform Download PDFInfo
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- CN107116787A CN107116787A CN201710461594.XA CN201710461594A CN107116787A CN 107116787 A CN107116787 A CN 107116787A CN 201710461594 A CN201710461594 A CN 201710461594A CN 107116787 A CN107116787 A CN 107116787A
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- mrow
- msub
- msup
- steering wheel
- leveling
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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
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
-
- 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
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/245—Platforms or substrates
-
- 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
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- 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
-
- 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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The present invention relates to a kind of leveling system of 3 D-printing platform and its range unit and leveling method, belong to rapid shaping technique field.Leveling system includes control unit, range unit, print platform and the adjustment unit of controlled unit control, and adjustment unit includes three elevating mechanisms being supported on below print platform；Range unit is removably mounted on printhead, including steering wheel, contact trigger element and for by the displacement converted mechanism that driving contact trigger element is moved back and forth along Z axis that is converted into of steering wheel, the trigger position of contact trigger element to be less than the lower port of the printing nozzle of printhead；Control unit exports the detection signal of its angular transducer to control unit to steering wheel output control signal, steering wheel；Contact trigger element and export trigger signal to the controller of steering wheel, be used as the Trig control signal of the motor reversal backhaul of control steering wheel.The leveling system can automatically carry out leveling to print platform, and leveling precision is high.
Description
Technical field
The present invention relates to rapid shaping technique field, specifically, it is related to and a kind of 3 D-printing device print platform is entered
The leveling system and its range unit and leveling method of row leveling.
Background technology
3 D-printing device, is a kind of mathematical model based on three-dimensional body, using moulding material, passes through what is successively printed
The equipment that mode constructs three-dimensional body.
As shown in figure 1, be a kind of 3 D-printing device for supplying moulding material to printhead 05 in the form of shaping silk,
Shaping silk 03 is wound with reel 02, in the rotating shaft 01 that the reel 02 is attached to the reel mounting bracket of 3 D-printing device, from
And can realize and shaping silk 03 is supplied to printhead 05.In use, shaping silk 03 is pulled out from reel 02, makes to be drawn
Straight shaping silk is by the flexible conduit 04 that is made up of the less material of frictional resistance, until shaping silk is supplied to printhead 05
The feeding driving wheel 053 and feeding driven pulley 054 driven by motor 055, in feeding driving wheel 053 and feeding driven pulley 054
Clamp driving under, shaping silk 03 enter electric heater 051, shaping silk in electric heater 051, it is heated into molten condition into
Section bar material is extruded from the printing nozzle 052 located at the end of electric heater 051 in the case where subsequent forming silk is promoted and is deposited on printing and put down
On platform 06；The controller of the 3 D-printing device is by controlling printhead 05 to be moved in the X-Y plane of level, while control is beaten
Platform 06 is printed to move in vertical Z-direction, with successively print predetermined three-dimensional object.
During it prints three-dimensional body, the print quality of first floor slicing layer is extremely important, not only needs to ensure initial
The distance of printhead and print platform 06 is less than the thickness of slicing layer during printing, usually 0.1 millimeter to 0.2 millimeter, also needs
The Z axis arrangement of coordinate system of the normal direction of the printing surface of guarantee print platform 06 along printhead 05.
Therefore, before printing is started, manual leveling need to be carried out to the locus of the opposed print heads 05 of print platform 06, led to
Often to be measured using level meter to the horizontality of print platform 06, and by adjusting the tune located at the lower section of print platform 06
The bolt of mechanism is saved, to realize leveling, process complexity, and foozle and putting position relation is not only adjusted, causes to beat
Print head motion and constitute the X-Y plane and horizontal plane of coordinate system in the presence of very big difference, it is difficult to obtain desired levelling effect.
The content of the invention
It is an object of the invention to provide a kind of leveling system of 3 D-printing platform, to improve leveling precision and its automation
Degree；
It is a further object of the present invention to provide a kind of range unit of above-mentioned leveling system；
Another object of the present invention is to provide a kind of leveling method of 3 D-printing platform, and the normal direction of print platform is adjusted
Arranged to along the Z-direction in printhead coordinate system.
To achieve these goals, the 3 D-printing platform leveling system that the present invention is provided includes 3 D-printing device and survey
Away from device, 3 D-printing device includes control unit and objective table；Objective table is controlled including print platform and controlled unit
Adjustment unit, adjustment unit includes three elevating mechanisms being supported on below print platform, and three strong points are not conllinear；Survey
Be removably mounted on away from device on printhead, including steering wheel, contact trigger element and for by the rotation of steering wheel be converted into drive
The displacement converted mechanism that dynamic contact trigger element is moved back and forth along Z axis, the trigger position of contact trigger element is less than printhead
The lower port of printing nozzle；Control unit exports its angular transducer to steering wheel output control signal, steering wheel to control unit
Detect signal；Contact trigger element and export trigger signal to the controller of steering wheel, be used as the motor reversal backhaul for controlling steering wheel
Trig control signal.
In the course of the work, print platform printing surface is measured by the range unit being removably mounted on printhead to exist
Coordinate value at three strong points, consequently facilitating the adjustment subsequently through control elevating mechanism to printing position of platform, to reach
Leveling purpose；And after leveling is completed, range unit can be dismantled from printhead, beaten to prevent range unit with printhead
It is vibrated and its fixed position is produced variation during print, influence follow-up leveling precision, and can be avoided in print procedure with
The three-dimensional body printed produces interference.In addition, contacting the inspection that trigger element realizes position in Z-direction by servo driving
Survey, range accuracy can be effectively improved.
Specific scheme is that displacement converted mechanism is cam mechanism, and the output shaft transmission of the cam and steering wheel of cam mechanism connects
Connect, the lower end of driven member is fixedly connected with contacting trigger element.The angle displacement of cam is obtained by steering wheel angular transducer, and
Driven member is close in the presence of spring restoring force with cam, and the two is combined, and can be effectively prevented from the mistake of backhaul in the prior art
The appearance and accumulation of difference.
It is preferred that scheme company is removably secured by the electromagnet that is installed in its frame and printhead for range unit
Connect.It is easy to being fixedly connected and dismantling for range unit and printhead.
In order to realize above-mentioned another object, the range unit that the present invention is provided includes steering wheel, cam mechanism and contact triggering
Unit；The cam of cam mechanism and the output shaft of steering wheel are connected, and end of the driven member on its movable direction is with contacting
Trigger element is fixedly connected；Controller output contact trigger signal of the trigger element to steering wheel is contacted, the electricity of control steering wheel is used as
The trigger signal of machine revolution.Returned signal, i.e. contact type measurement are obtained by trigger element, range accuracy can be effectively improved；
Meanwhile, by steering wheel angular transducer obtain cam angle displacement, and driven member in the presence of spring restoring force with cam
It is close to, the appearance and accumulation of hysterisis error of the prior art can be effectively prevented from.
Specific scheme is that contact trigger element is travel switch.
It is preferred that scheme for range unit frame on be provided with two as it is outer even fixed port electromagnet, two electricity
Spacing of the magnet on movable direction is adjustable.It is easy to range unit being releasably attached to the printhead of 3 D-printing device
While upper, the 3 D-printing device of different model was more preferably matched.
In order to realize above-mentioned a further object, the 3 D-printing platform erection method that the present invention is provided includes obtaining step with adjusting
Synchronizing is rapid；Obtaining step includes coordinate value P of the printing surface of acquisition print platform at three strong points1=(x1, y1, z1), P2
=(x2, y2, z2), P3=(x3, y3, z3), and the coordinate value based on acquisition determines the normal vector n of print platformp, the strong point is three
Support pin joint of the individual elevating mechanism being supported on below the print platform to print platform；Set-up procedure is included with peak
Or minimum point P3Local coordinate system P is set up for origin3-x3y3z3, method of acquiring vector npWith x3P3z3The angle α of interplanar and with
y3P3z3The angle of interplanarAnd with P3For fixed point, adjustment point P1、P2Around y3Axle rotation alpha angle and around x3Axle rotatesAngle.
By angle adjusting method, can preferably by the normal direction of print platform printing surface adjust to in printhead coordinate system
Z axis matches, to reach more preferable levelling effect.
Specific scheme is with P3For fixed point, adjustment point P1、P2Around y3Axle rotation alpha angle and around x3Axle rotatesThe step of angle
Suddenly include：
(1) control point P1The adjustment amount of the elevating mechanism at place is
And control point P2The adjustment amount of the elevating mechanism at place is
To obtain the point P after adjustment1' and P2′；
(2) adjustment point P1The adjustment amount of elevating mechanism at ' place is
And adjustment point P2The adjustment amount of elevating mechanism at ' place is
To obtain the print platform after leveling；
Wherein,
Another specific scheme is to be measured using above-mentioned range unit, obtains the printing surface of print platform at three
The step of coordinate value at the strong point, includes：Control printhead is moved to point P in X-Y plane1、P2、P3Surface at, obtain
X, y value in coordinate value are taken, driving steering wheel is rotated to drive travel switch to move down until being triggered, and obtains z in coordinate value
Value.
It is preferred that scheme be in addition to judgment step before set-up procedure and after obtaining step：Method of acquiring vector np
The smaller of angle between Z axis, if the smaller is more than predetermined threshold value, carries out the set-up procedure；Otherwise terminate leveling to enter
Journey, and the print platform is in horizontality.It is preposition by judgment step, to avoid putting down the printing for being in the good state of leveling
Platform performs unnecessary set-up procedure.
Brief description of the drawings
Fig. 1 is a kind of existing structural representation of 3 D-printing device；
Fig. 2 is the stereogram of range unit in the embodiment of the present invention；
Fig. 3 is the structure decomposition figure of range unit in the embodiment of the present invention；
Fig. 4 is the stereogram of objective table in the embodiment of the present invention；
Fig. 5 is the process schematic of judgment step in the embodiment of the present invention；
Fig. 6 is the process schematic of leveling step in the embodiment of the present invention.
Embodiment
With reference to embodiments and its accompanying drawing the invention will be further described.
Embodiment
Referring to Fig. 2 to Fig. 4, the automatic horizontal control system of this 3 D-printing platform includes 3 D-printing device and range unit
10,3 D-printing device includes control unit, printhead and objective table 11, and the objective table 11 includes print platform 12 and controlled
The adjustment unit of unit control.
Referring to Fig. 2 and Fig. 3, this range unit 10 includes frame 2, installing plate 3, steering wheel 4, cam mechanism 5, travel switch 6
And two electromagnet 7.
Frame 2 is a profile structure, and the installing plate 70 of electromagnet 7 is fixed in frame 2 by fixing bolt 71, fixed spiral shell
Bolt 71 can be slided along I-shaped groove 20, so that the spacing between two electromagnet 7 is adjustable.And will be whole by two electromagnet 7
Range unit 10 is releasably attached on printhead.
Installing plate 3 is fixed in frame 2 by two fixing bolts 30, and can be by adjusting fixing bolt 30 in I-shaped groove
Position in 21 and the position for adjusting installing plate 3.
Steering wheel 4 is fixed on installing plate 3 by fixing bolt 40, and it includes casing 41, motor, angular transducer, control
Device, small-diameter gear 42 and steering wheel 43, steering wheel 43 are connected with small-diameter gear 42, are produced so as to be received by small-diameter gear by motor
Raw rotation displacement, steering wheel 42 constitutes the output shaft of steering wheel 4 in the present embodiment.In the present embodiment, the parameter of steering wheel 4 is used
For：The μ s of dead band 4, maximum pulse width is 500-2500 μ s, and maximum angle is 295 °, voltage range 4.8V-6.6V, and speed is in 4.8V
For 0.25s/60 °, it is 0.21s/60 ° in 6.6V, torsion is 19.9kgcm in 4.8V, is 25.3kg in 6.6V
Cm, the output number of teeth is 25.
Cam mechanism 5 constitutes the position that the rotary type displacement for exporting steering wheel 4 is converted into the vertically moving displacement of travel switch 6
Transfer converting mechanism, including cam 51, driven member 52, back-moving spring 53 and frame 54.
Cam 51 is fixed on the steering wheel 42 of steering wheel 4 by fixing screws 510.
Driven member 52 includes take-up reel 521 and T-shaped transmission plate 522, and T-shaped transmission plate 522 includes vertical plate portion 523
And horizontal plate portion 524, vertical plate portion 523 is provided with the vertical guide groove 525 arranged along its length, horizontal plate portion 524
Groove 526 is transversely mounted provided with what is arranged along its length.
Frame 54 includes mounting seat 540 and guide holder 541, and mounting seat 540 is fixed in frame 2 by fixing bolt 543,
And position of its profile structure along frame 2 on vertical is adjustable.Guide holder 541 is a T-shaped frustum cone structure, be which is provided with along perpendicular
To the guide hole arranged and be engaged with vertical plate portion 523.
The upper end in the vertical plate portion 523 of T-shaped transmission plate 522 is located at through insertion after the guide hole on guide holder 541 to be connect
In the mounting hole closed on 521 bottoms and connection fixed thereto, spring 53 is placed on vertical plate portion 523 outside and is pressed on guide holder
Between 541 and take-up reel 521, i.e., elastic restoring force forces take-up reel 521 away from guide holder 541.Of course, groove 525 can be directed to
Upper end be set to openend and set what is be engaged with guide groove 525 in the endoporus or the guide hole of guide holder 541 for installing 540
Guide rod.
Travel switch 6 is fixed by screws in horizontal plate portion 524, and is being transversely mounted by adjusting screw in 526
Position and adjust the installation site in the transverse direction of travel switch 6.
Referring to Fig. 4, adjustment unit includes three parts the elevating mechanism 13 on print platform 12, and one is located at an edge
At the medium position in portion, another two is located at the medium position of relative another side edge, and three strong points constitute P1、P2、P3Constitute
One isosceles triangle, i.e. three be not conllinear, and elevating mechanism 13 includes adjusting nut 14, adjusting screw rod 15, shaft coupling 16 and stepping
Motor 17；In the present embodiment, shaft coupling 16 is sliding cross coupling.Adjusting nut 14 is fixedly connected with print platform 12,
Stepper motor 17 drives adjusting screw rod 15 to rotate and drives adjusting nut 14 vertically being moved back and forth along it by shaft coupling 16, from
And drive the strong point of print platform 12 to be in the adjustment of vertical upper position, i.e., displacement along the z-axis direction.
Wherein, the control unit of 3 D-printing device is to the controller output control signal of steering wheel 4, and the control of steering wheel 4
Device is by the detection signal output of the angular transducer of steering wheel 4 to control unit, and the contact that travel switch 6 is constituted in the present embodiment is touched
Bill member, its to steering wheel 4 controller export trigger signal, the trigger signal as the motor reversal backhaul of steering wheel 4 triggering
Control signal.
The leveling method of above-mentioned leveling system includes obtaining step S1, judgment step S2 and set-up procedure S3.
Obtaining step S1, referring to Fig. 4 and Fig. 5, puts 10 by Ce Ju Installed and measures triangle P1P2P3Three apex coordinate P1
=(x1, y1, z1), P2=(x2, y2, z2), P3=(x3, y3, z3), that is, obtain three not conllinear measurement point P1、P2、P3In printhead
Coordinate value in coordinate system, in the present embodiment, point P1、P2、P3Support for three elevating mechanisms 13 and print platform 12 is hinged
Point prints the rectangular projection location point in plane at it, furthermore, it is possible to demarcation bulge-structure is set at three points, such as cylinder,
Positioned so as to be adjusted in measurement process.Specifically acquisition process is：Control printhead is moved to any 3 points P in x-y plane1、
P2、P3Surface, with obtain the x in three measurement point coordinate values, y-axis value, and drive steering wheel 4 to rotate to drive stroke to open
Close 6 to move down up to being triggered, obtain the value of z-axis in three measurement point coordinate values.And put down when travel switch 6 touches printing
During platform, steering wheel, which continues to rotate to travel switch 6, to be triggered, so as to send trigger signal to the controller of steering wheel 4, controller is connecing
The trigger signal is received, controlled motor is turned round and controls the drawback movement of driven member 5 to desired height position, so as to carry out lower point
The measurement of coordinate value.
Based on acquisition P1、P2、P3Point coordinate value obtain print platform printing surface normal vector be：
Z-axis direction vector in judgment step S2, printhead coordinate system is nZ=(0,0,1)T, then the angle of two vectors can
To be expressed as：
Z axis and the angle of printing plane normal direction are represented, when the angle is less than predetermined threshold value, the depth of parallelism of the two is represented
In the range of acceptable error, if more than the predetermined threshold value, then it represents that need to carry out leveling process, that is, carry out following set-up procedures
S3。
Set-up procedure S3, referring to Fig. 6, it is first determined peak or minimum point P in 3 points3, with point P3For origin foundation office
Portion horizontal coordinates P3-x3y3z3, and by the normal vector n of print platformpRespectively to x3P3z3Plane and y3P3z3Plane carries out orthogonal
Projection, can obtain the normal vector n of platformpWith respect to two coordinate planes angle α andDuring leveling, by the point P in platform1、P2First
Around y3Axle rotation alpha angle, i.e., the 1. direction shown in figure obtains the normal direction n ' after being adjusted not shown in figurep, so as to get n 'pWith it
In y3P3z3Plane rectangular projection overlap, further around x3Axle rotatesAngle, i.e., 2. direction shown in figure obtains and adjusted not shown in figure
Normal direction n " after wholepSo that n "pWith z3Direction, which is overlapped, can complete leveling.Detailed process is as follows：
npIn y3Rectangular projection vector be：
Similarly understand npIn x3Rectangular projection vector be：
npx3=np·x3
In z3Rectangular projection vector be：
npz3=np·z3
Wherein, x3, y3, z3It is the unit direction vector of three reference axis respectively.
Understand：
Coordinate system P3-x3y3z3Under, the coordinate of three strong points is：
P1=(x1-x3, y1-y3, z1-z3)T,
P2=(x2-x3, y2-y3, z2-z3)T,
P3=(0,0,0)T
Adjustment process is：
The first step：Platform is adjusted around y3The process of axle rotation alpha angle is：With P3For fixed point, P is adjusted2And P1Around y3Axle rotates
α：
Point P1With y3The distance of axle is：
Point P1Leading screw feeding adjustment amount be：
Now, P is obtained after adjustment1' coordinate be：
Point P2With y3The distance of axle is：
Then P2Leading screw feeding adjustment amount be：
Now, P is obtained after adjustment2' coordinate be：
Second step：Platform is adjusted around x3The process of axle rotation β angle is：With P3For fixed point, P is adjusted2' and P1' around x3Axle revolves
Turn β：
Point P1' and x3The distance of axle is：
Point P1' leading screw feeding adjustment amount be：
Point P2' and x3The distance of axle is：
Point P2' leading screw feeding adjustment amount be：
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all be included within the scope of the present invention.
Claims (10)
1. a kind of leveling system of 3 D-printing platform, including 3 D-printing device and range unit, the 3 D-printing device
Including control unit and objective table；
The objective table includes print platform and the adjustment unit controlled by described control unit, and the adjustment unit includes three
The elevating mechanism below print platform is supported on, and three strong points are not conllinear；
It is characterized in that：
The range unit is removably mounted on the printhead, including steering wheel, contact trigger element and for will be described
The displacement converted mechanism for being converted into driving the contact trigger element to move back and forth along Z axis of steering wheel, the contact triggering
Lower port of the trigger position of unit less than the printing nozzle of the printhead；
Described control unit exports its angular transducer to the steering wheel output control signal, the steering wheel to described control unit
Detection signal；The contact trigger element exports trigger signal to the controller of the steering wheel, is used as the control steering wheel
The Trig control signal of motor reversal backhaul.
2. automatic horizontal control system according to claim 1, it is characterised in that：
The displacement converted mechanism is cam mechanism, and the output shaft of the cam of the cam mechanism and the steering wheel is connected,
The lower end of driven member is fixedly connected with the trigger element that contacts.
3. automatic horizontal control system according to claim 1 or 2, it is characterised in that：
The range unit is removably secured with the printhead by the electromagnet being installed in its frame and is connected.
4. a kind of range unit of 3 D-printing platform erection, it is characterised in that including steering wheel, cam mechanism and contact triggering
Unit；
The output shaft of the cam of the cam mechanism and the steering wheel is connected, end of the driven member on its movable direction
It is fixedly connected with the trigger element that contacts；
The contact trigger element is used as the motor for controlling the steering wheel to the controller output contact trigger signal of the steering wheel
The trigger signal of revolution.
5. range unit according to claim 4, it is characterised in that：
The contact trigger element is travel switch.
6. the range unit according to claim 4 or 5, it is characterised in that：
Be provided with the frame of the range unit two as it is outer even fixed port electromagnet, two electromagnet it is described can
Spacing on moving direction is adjustable.
7. a kind of leveling method of 3 D-printing platform, it is characterised in that including：
Obtaining step, obtains coordinate value P of the printing surface of print platform at three strong points1=(x1,y1,z1), P2=(x2,
y2,z2), P3=(x3,y3,z3), and the coordinate value based on acquisition determines the normal vector n of print platformp, the strong point is three
It is supported on support pin joint of the elevating mechanism below the print platform to the print platform；
Set-up procedure, with peak or minimum point P3Local coordinate system P is set up for origin3-x3y3z3, method of acquiring vector npWith
x3P3z3The angle α of interplanar and and y3P3z3The angle of interplanarAnd with P3For fixed point, adjustment point P1、P2Around y3Axle rotation alpha angle
Spend and around x3Axle rotatesAngle.
8. leveling method according to claim 7, it is characterised in that with P3For fixed point, adjustment point P1、P2Around y3Axle rotation alpha
Angle and around x3Axle rotatesThe step of angle, includes：
(1) control point P1The adjustment amount of the elevating mechanism at place is
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To obtain the print platform after leveling；
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9. leveling method according to claim 7, it is characterised in that carried out using the range unit described in claim 5
Measurement, the step of obtaining coordinate value of the printing surface of print platform at three strong points includes：
Control printhead is moved to point P in X-Y plane1、P2、P3Surface at, obtain coordinate value in x, y value, driving rudder
Machine is rotated to drive travel switch to move down until being triggered, and obtains z values in coordinate value.
10. the leveling method according to any one of claim 7 to 9 claim, it is characterised in that in the set-up procedure
Before and after the obtaining step, in addition to judgment step：
Method of acquiring vector npThe smaller of angle between Z axis, if the smaller is more than predetermined threshold value, carries out the set-up procedure；
Otherwise terminate leveling process, and the print platform is in horizontality.
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| CN108311698A (en) * | 2018-01-22 | 2018-07-24 | 华南理工大学 | A kind of various dimensions print platform of metal 3D printer and adjustment and Method of printing |
| 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 |
| CN108819222A (en) * | 2018-06-08 | 2018-11-16 | 浙江大学 | A kind of double pendulum moves 3 D-printing device and its linkage leveling method |
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| CN114407358A (en) * | 2021-12-24 | 2022-04-29 | 上海工程技术大学 | Multi-degree-of-freedom continuous composite fiber material 3D printer |
| CN114559650A (en) * | 2022-03-03 | 2022-05-31 | 辽宁工业大学 | 3D printer with super-hydrophobic surface structure for bone cement printing and method |
| CN114559650B (en) * | 2022-03-03 | 2024-02-23 | 辽宁工业大学 | 3D printer with super-hydrophobic surface structure for bone cement printing and method |
| WO2024060772A1 (en) * | 2022-09-21 | 2024-03-28 | 深圳市纵维立方科技有限公司 | Touch apparatus, contact pin, three-dimensional forming device and printing control method |
| CN115256950A (en) * | 2022-09-27 | 2022-11-01 | 西安知象光电科技有限公司 | Three-dimensional copying device and working method thereof |
| CN115519908A (en) * | 2022-11-28 | 2022-12-27 | 季华实验室 | Multi-degree-of-freedom micro-motion table adjusting device and method |
| CN117161413A (en) * | 2023-11-02 | 2023-12-05 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
| CN117161413B (en) * | 2023-11-02 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109532001B (en) | 2020-06-16 |
| CN109532001A (en) | 2019-03-29 |
| CN107116787B (en) | 2019-04-02 |
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