CN107116787B - A leveling system for a three-dimensional printing platform and its distance measuring device and leveling method - Google Patents

A leveling system for a three-dimensional printing platform and its distance measuring device and leveling method Download PDF

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Publication number
CN107116787B
CN107116787B CN201710461594.XA CN201710461594A CN107116787B CN 107116787 B CN107116787 B CN 107116787B CN 201710461594 A CN201710461594 A CN 201710461594A CN 107116787 B CN107116787 B CN 107116787B
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China
Prior art keywords
printing platform
measuring device
distance measuring
leveling
printing
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CN201710461594.XA
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Chinese (zh)
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CN107116787A (en
Inventor
徐敬华
李俊涛
盛红升
张树有
谭建荣
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Zhejiang University ZJU
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Zhejiang University ZJU
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Priority to CN201910032077.XA priority Critical patent/CN109532001B/en
Priority to CN201710461594.XA priority patent/CN107116787B/en
Publication of CN107116787A publication Critical patent/CN107116787A/en
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Publication of CN107116787B publication Critical patent/CN107116787B/en
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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 [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D 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 [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D 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

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Ink Jet (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention relates to a leveling system of a three-dimensional printing platform, a distance measuring device of the three-dimensional printing platform and a leveling method of the three-dimensional printing platform, and belongs to the technical field of rapid forming. The leveling system comprises a control unit, a distance measuring device, a printing platform and an adjusting unit controlled by the control unit, wherein the adjusting unit comprises three lifting mechanisms supported below the printing platform; the distance measuring device is detachably arranged on the printing head and comprises a steering engine, a contact trigger unit and a displacement conversion mechanism for converting the rotation of the steering engine into driving the contact trigger unit to reciprocate along a Z axis, and the trigger position of the contact trigger unit is lower than the lower port of a printing nozzle of the printing head; the control unit outputs a control signal to the steering engine, and the steering engine outputs a detection signal of an angle sensor of the steering engine to the control unit; the contact trigger unit outputs a trigger signal to a controller of the steering engine as a trigger control signal for controlling the reverse return stroke of a motor of the steering engine. The leveling system can automatically level the printing platform, and the leveling precision is high.

Description

Leveling system of three-dimensional printing platform and distance measuring device and leveling method thereof
Technical Field
The invention relates to the technical field of rapid prototyping, in particular to a leveling system for leveling a printing platform of a three-dimensional printing device, a distance measuring device and a leveling method thereof.
Background
The three-dimensional printing device is a device which is based on a digital model of a three-dimensional object and utilizes a forming material to construct the three-dimensional object in a layer-by-layer printing mode.
As shown in fig. 1, the three-dimensional printing apparatus supplies a molding material to a printing head 05 in the form of a molding wire, the molding wire 03 is wound around a reel 02, and the reel 02 is mounted on a rotation shaft 01 of a reel mounting frame of the three-dimensional printing apparatus, so that the molding wire 03 can be supplied to the printing head 05. In the using process, the forming wire 03 is pulled out from the reel 02, the straightened forming wire passes through the soft guide pipe 04 made of the material with smaller friction resistance until the forming wire is supplied to the feeding driving wheel 053 and the feeding driven wheel 054 which are driven by the motor 055 on the printing head 05, the forming wire 03 enters the electric heater 051 under the clamping driving of the feeding driving wheel 053 and the feeding driven wheel 054, the forming wire is arranged in the electric heater 051, and the forming material which is heated into a molten state is extruded from the printing nozzle 052 arranged at the tail end of the electric heater 051 and is deposited on the printing platform 06 under the pushing of the subsequent forming wire; the controller of the three-dimensional printing device controls the printing head 05 to move in a horizontal X-Y plane and controls the printing platform 06 to move in a vertical Z direction simultaneously so as to print the predetermined three-dimensional object layer by layer.
In the process of printing a three-dimensional object, the printing quality of the first layer of sliced layer is very important, and not only is the distance between the printing head and the piece 06 of the printing platform during initial printing required to be smaller than the layer thickness of the sliced layer, usually 0.1 mm to 0.2 mm, but also the normal direction of the printing surface of the printing platform 06 is required to be arranged along the Z axis of the coordinate system of the printing head 05.
Therefore, before printing, the spatial position of the printing platform 06 relative to the printing head 05 needs to be manually leveled, usually, a level meter is used to measure the horizontal state of the printing platform 06, and the leveling is realized by adjusting the bolt of the adjusting mechanism arranged below the printing platform 06, so that not only the adjusting process is complicated, but also the manufacturing error and the placing position relationship cause a large difference between the X-Y plane of the coordinate system formed by the movement of the printing head and the horizontal plane, and the expected leveling effect is difficult to obtain.
Disclosure of Invention
The invention aims to provide a leveling system of a three-dimensional printing platform, which aims to improve the leveling precision and the automation degree thereof;
another object of the present invention is to provide a distance measuring device for the leveling system;
it is a further object of the present invention to provide a method of leveling a three-dimensional printing platform to adjust the normal direction of the printing platform to be arranged along the Z-axis direction in the print head coordinate system.
In order to achieve the purpose, the three-dimensional printing platform leveling system provided by the invention comprises a three-dimensional printing device and a distance measuring device, wherein the three-dimensional printing device comprises a control unit and an object stage; the objective table comprises a printing platform and an adjusting unit controlled by the control unit, the adjusting unit comprises three lifting mechanisms supported below the printing platform, and three supporting points are not collinear; the distance measuring device is detachably arranged on the printing head and comprises a steering engine, a contact trigger unit and a displacement conversion mechanism for converting the rotation of the steering engine into driving the contact trigger unit to reciprocate along a Z axis, and the trigger position of the contact trigger unit is lower than the lower port of a printing nozzle of the printing head; the control unit outputs a control signal to the steering engine, and the steering engine outputs a detection signal of an angle sensor of the steering engine to the control unit; the contact trigger unit outputs a trigger signal to a controller of the steering engine as a trigger control signal for controlling the reverse return stroke of a motor of the steering engine.
In the working process, the coordinate values of the printing surface of the printing platform at three supporting points are measured by the distance measuring device detachably arranged on the printing head, so that the position of the printing platform can be conveniently adjusted by controlling the lifting mechanism subsequently, and the leveling purpose is achieved; after the leveling is finished, the distance measuring device can be detached from the printing head, so that the fixed position of the distance measuring device is prevented from being changed along with the printing head due to vibration in the printing process, the subsequent leveling precision is influenced, and interference with a printed three-dimensional object can be avoided in the printing process. In addition, the steering engine drives the contact trigger unit to realize the detection of the position in the Z-axis direction, so that the distance measurement precision can be effectively improved.
The specific scheme is that the displacement conversion mechanism is a cam mechanism, a cam of the cam mechanism is in transmission connection with an output shaft of the steering engine, and the lower end of the driven piece is fixedly connected with the contact triggering unit. The angle displacement of the cam is obtained through the steering engine angle sensor, the driven piece is tightly attached to the cam under the action of the spring restoring force, and the cam and the driven piece are combined, so that the return error in the prior art can be effectively avoided from occurring and accumulating.
The preferred scheme is that the distance measuring device is detachably and fixedly connected with the printing head through an electromagnet fixedly arranged on a rack of the distance measuring device. The fixed connection and the disassembly of the distance measuring device and the printing head are convenient.
In order to achieve the other purpose, the distance measuring device provided by the invention comprises a steering engine, a cam mechanism and a contact triggering unit; the cam of the cam mechanism is in transmission connection with an output shaft of the steering engine, and the tail end of the driven piece in the movable direction is fixedly connected with the contact triggering unit; the contact trigger unit outputs a contact trigger signal to a controller of the steering engine as a trigger signal for controlling the rotation of a motor of the steering engine. The return signal is acquired through the trigger unit, namely contact measurement is carried out, so that the ranging precision can be effectively improved; meanwhile, the angle displacement of the cam is obtained through the steering engine angle sensor, the driven piece is tightly attached to the cam under the action of the restoring force of the spring, and the occurrence and accumulation of return errors in the prior art can be effectively avoided.
The specific scheme is that the contact trigger unit is a travel switch.
The preferable scheme is that two electromagnets serving as external fixed ports are installed on a frame of the distance measuring device, and the distance between the two electromagnets in the movable direction is adjustable. The distance measuring device can be conveniently and detachably mounted on the printing head of the three-dimensional printing device, and meanwhile, the distance measuring device can be better matched with the three-dimensional printing devices of different models.
In order to achieve the above further object, the leveling method of the three-dimensional printing platform provided by the invention comprises an obtaining step and an adjusting step; the acquiring step includes acquiring coordinates of the printing surface of the printing platform at three support pointsValue P1＝(x1，y1，z1)，P2＝(x2，y2，z2)，P3＝(x3，y3，z3) And determining a normal vector n of the printing platform based on the obtained coordinate valuepThe supporting points are three supporting hinge points of the lifting mechanism supported below the printing platform to the printing platform; the adjusting step includes the step of adjusting the height to the highest or lowest point P3Establishing a local coordinate system P for the origin3-x3y3z3Obtaining a normal vector npAnd x3P3z3Angle α between planes and y3P3z3Angle between planesAnd with P3To set point, adjust point P1、P2Around y3The shaft rotates α degrees and rotates around x3Rotation of the shaftAnd (4) an angle.
By the angle adjusting method, the normal direction of the printing surface of the printing platform can be better adjusted to be matched with the Z axis in the coordinate system of the printing head, so that a better leveling effect is achieved.
The specific scheme is that P is3To set point, adjust point P1、P2Around y3The shaft rotates α degrees and rotates around x3Rotation of the shaftThe angle step includes:
(1) control point P1The adjustment amount of the lifting mechanism is
And a control point P2Is ascending ofThe adjustment amount of the lowering mechanism is
To obtain an adjusted point P1' and P2′；
(2) Set point P1The adjustment amount of the lifting mechanism at' is
And an adjustment point P2The adjustment amount of the lifting mechanism at' is
Obtaining a leveled printing platform;
wherein,
another specific scheme is that the distance measuring device is used for measurement, and the step of obtaining the coordinate values of the printing surface of the printing platform at three supporting points comprises the following steps: controlling the print head to move to a point P in the X-Y plane1、P2、P3And (3) acquiring x and y values in the coordinate values, driving the steering engine to rotate so as to drive the travel switch to move downwards until the travel switch is triggered, and acquiring a z value in the coordinate values.
The preferable scheme is that before the adjusting step and after the obtaining step, the method further comprises the following judging step: obtaining a normal vector npIf the smaller included angle between the Z axis and the Z axis is larger than a preset threshold value, the adjusting step is carried out; otherwise, the leveling process is finished, and the printing platform is in a horizontal state. The judgment step is advanced so as to avoid unnecessary adjustment steps on the printing platform which is in a leveling state.
Drawings
FIG. 1 is a schematic structural diagram of a conventional three-dimensional printing apparatus;
FIG. 2 is a perspective view of a distance measuring device according to an embodiment of the present invention;
FIG. 3 is an exploded view of a distance measuring device according to an embodiment of the present invention;
FIG. 4 is a perspective view of an object table in an embodiment of the invention;
FIG. 5 is a schematic process diagram of the determination step in the embodiment of the present invention;
FIG. 6 is a schematic process diagram of a leveling step in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
Examples
Referring to fig. 2 to 4, the automatic leveling system of the three-dimensional printing platform includes a three-dimensional printing device and a distance measuring device 10, the three-dimensional printing device includes a control unit, a printing head and a stage 11, the stage 11 includes a printing platform 12 and an adjusting unit controlled by the control unit.
Referring to fig. 2 and 3, the distance measuring device 10 includes a frame 2, a mounting plate 3, a steering engine 4, a cam mechanism 5, a travel switch 6, and two electromagnets 7.
The frame 2 is a section structure, the mounting plate 70 of the electromagnet 7 is fixed on the frame 2 through a fixing bolt 71, and the fixing bolt 71 can slide along the i-shaped groove 20, so that the distance between the two electromagnets 7 can be adjusted. And the entire distance measuring device 10 is detachably mounted to the print head by means of two electromagnets 7.
The mounting plate 3 is fixed on the frame 2 by two fixing bolts 30, and the position of the mounting plate 3 can be adjusted by adjusting the positions of the fixing bolts 30 in the I-shaped groove 21.
The steering engine 4 is fixed on the mounting plate 3 through a fixing bolt 40, and includes a housing 41, a motor, an angle sensor, a controller, a small-diameter gear 42 and a rudder disc 43, the rudder disc 43 is in transmission connection with the small-diameter gear 42, so as to receive the rotational displacement generated by the motor through the small-diameter gear, and the rudder disc 42 constitutes an output shaft of the steering engine 4 in this embodiment. In this embodiment, the parameters of the steering engine 4 are as follows: the dead zone is 4 mu s, the maximum pulse width is 500-2500 mu s, the maximum angle is 295 degrees, the voltage range is 4.8V-6.6V, the speed is 0.25s/60 degrees at 4.8V, 0.21s/60 degrees at 6.6V, the torsion is 19.9 kg-cm at 4.8V, 25.3 kg-cm at 6.6V, and the number of output teeth is 25.
The cam mechanism 5 forms a displacement conversion mechanism for converting the rotary displacement output by the steering engine 4 into the displacement of the travel switch 6 along the vertical movement, and comprises a cam 51, a driven member 52, a return spring 53 and a frame 54.
The cam 51 is fixed to the rudder plate 42 of the steering engine 4 by a fixing screw 510.
The follower 52 comprises a receiving plate 521 and a T-shaped transfer plate 522, the T-shaped transfer plate 522 comprises a vertical plate part 523 and a transverse plate part 524, the vertical plate part 523 is provided with a vertical guide groove 525 arranged along the length direction thereof, and the transverse plate part 524 is provided with a transverse mounting groove 526 arranged along the length direction thereof.
The frame 54 includes a mounting base 540 and a guide base 541, the mounting base 540 is fixed on the frame 2 by a fixing bolt 543, and the position of the mounting base along the profile structure of the frame 2 in the vertical direction is adjustable. The guide holder 541 is a T-shaped circular truncated cone structure, and guide holes are vertically arranged and matched with the vertical plate portion 523.
The upper end of the vertical plate 523 of the T-shaped transmission plate 522 passes through the guide hole of the guide holder 541 and then is inserted into the mounting hole of the lower end of the receiving tray 521 to be fixedly connected therewith, and the spring 53 is sleeved outside the vertical plate 523 and pressed between the guide holder 541 and the receiving tray 521, i.e. the receiving tray 521 is forced to be away from the guide holder 541 by the elastic restoring force. Of course, the upper end of the guide groove 525 may be provided as an open end and a guide rod cooperating with the guide groove 525 may be provided in the inner hole of the mounting 540 or the guide hole of the guide holder 541.
The travel switch 6 is fixed to the lateral plate portion 524 by a screw, and the mounting position of the travel switch 6 in the lateral direction is adjusted by adjusting the position of the screw in the lateral mounting 526.
Referring to fig. 4, the adjustment unit includes three lifting mechanisms 13, one located at the middle of one edge portion and the other located at the middle of the opposite edge portion, on the printing platform 12, and three support points constituting P1、P2、P3An isosceles triangle is formed, namely the isosceles triangle, the lifting mechanism 13 and the lifting mechanism are not collinear, and the lifting mechanism comprises an adjusting nut 14, an adjusting screw 15, a coupler 16 and a stepping motor 17; in the present embodiment, the coupling 16 is an oldham coupling. The adjusting nut 14 is fixedly connected with the printing platform 12, and the stepping motor 17 drives the adjusting screw 15 to rotate through the coupler 16 to drive the adjusting nut 14 to reciprocate vertically along the adjusting nut, so that the supporting point of the printing platform 12 is driven to adjust the position in the vertical direction, namely, to displace along the z-axis direction.
The control unit of the three-dimensional printing device outputs a control signal to the controller of the steering engine 4, the controller of the steering engine 4 outputs a detection signal of the angle sensor of the steering engine 4 to the control unit, the travel switch 6 forms a contact trigger unit in the embodiment and outputs a trigger signal to the controller of the steering engine 4, and the trigger signal is used as a trigger control signal for the motor reverse return stroke of the steering engine 4.
The leveling method of the leveling system comprises an obtaining step S1, a judging step S2 and an adjusting step S3.
In the obtaining step S1, referring to fig. 4 and 5, the triangle P is measured by the distance measuring device 101P2P3Three vertex coordinates P1＝(x1，y1，z1)，P2＝(x2，y2，z2)，P3＝(x3，y3，z3) I.e. three non-collinear measurement points P1、P2、P3Coordinate values in the print head coordinate system, in the present embodiment, the point P1、P2、P3The three orthogonal projection positions of the supporting hinge points of the lifting mechanism 13 and the printing platform 12 on the printing plane are provided, and moreover, a calibration convex structure such as a cylinder can be arranged at the three points, so that the positioning can be adjusted during the measurement process. The specific acquisition process comprises the following steps: controlling the print head to move to any three points P in the x-y plane1、P2、P3Right above the position to obtain the values of the x and y axes in the coordinate values of the three measuring points, and drive the steering engine 4 to rotate to drive the travel switch 6 to move downwards until being triggered, so as to obtain the value of the z axis in the coordinate values of the three measuring points. And when the travel switch 6 contacts the printing platform, the steering engine continues to rotate until the travel switch 6 is triggered, so that a trigger signal is sent to a controller of the steering engine 4, and the controller controls the motor to rotate and controls the driven member 5 to move back to a preset height position after receiving the trigger signal, so that the coordinate value of a lower point can be measured.
Based on obtaining P1、P2、P3The normal vector of the printing surface of the printing platform is obtained by the coordinate values of the points as follows:
decision step S2, print headThe z-axis direction vector in the coordinate system is nZ＝(0,0,1)TThen, the angle between the two vectors can be expressed as:
that is, an included angle between the Z axis and the normal direction of the printing plane is represented, when the included angle is smaller than a preset threshold, the parallelism of the Z axis and the printing plane is within an acceptable error range, and if the included angle is larger than the preset threshold, it is represented that the leveling process needs to be performed, that is, the following adjustment step S3 is performed.
Adjusting step S3, referring to FIG. 6, first determines the highest or lowest point P of the three points3At a point P3Establishing a local horizontal coordinate system P for the origin3-x3y3z3And the normal vector n of the printing platform is usedpRespectively to x3P3z3Plane sum y3P3z3Orthogonal projection is carried out on the plane to obtain a normal vector n of the platformpAngle α between two coordinate planesLeveling, the point P in the platform1、P2First winding y3The shaft is rotated α degrees, ① directions as shown, to obtain the adjusted normal n'pTo give n'pWith it in y3P3z3By coincidence of orthogonal projections of the planes, rewinding x3Rotation of the shaftThe angle, ② direction in the figure, obtains the normal n ″, which is not shown in the figure after adjustmentpSo that n ″)pAnd z3The leveling can be finished by the superposition of the directions. The specific process is as follows:
npat y3The orthogonal projection vector of (a) is:
in the same way, n is knownpAt x3The orthogonal projection vector of (a) is:
npx3＝np·x3
at z3The orthogonal projection vector of (a) is:
npz3＝np·z3
wherein x is3，y3，z3Respectively, unit direction vectors of three coordinate axes.
Therefore, the following steps are carried out:
coordinate system P3-x3y3z3The coordinates of the three support points are:
P1＝(x1-x3，y1-y3，z1-z3)T，
P2＝(x2-x3，y2-y3，z2-z3)T，
P3＝(0，0，0)T
the adjusting process is as follows:
the first step is as follows: adjusting the platform around y3The process of rotating the shaft by α degrees is that P is used3To a fixed pointAdjusting P2And P1Around y3Shaft rotation α:
point P1And y3The distance of the axes is:
point P1The screw feed adjustment amount is:
at this point, P is obtained after adjustment1The coordinates of' are:
point P2And y3The distance of the axes is:
then P is2The screw feed adjustment amount is:
at this point, P is obtained after adjustment2The coordinates of' are:
the second step is that: adjusting the platform around x3The process of rotating the shaft by β degrees is that P is used3To set point, adjust P2' and P1' winding x3Shaft rotation β:
point P1' and x3The distance of the axes is:
point P1The lead screw feed adjustment amount of' is:
point P2' and x3The distance of the axes is:
point P2The lead screw feed adjustment amount of' is:
the above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (8)

1.一种三维打印平台的调平系统，包括三维打印装置及测距装置，所述三维打印装置包括控制单元、打印头及载物台；1. A leveling system for a three-dimensional printing platform, comprising a three-dimensional printing device and a ranging device, the three-dimensional printing device comprising a control unit, a print head and a stage; 所述载物台包括打印平台及受所述控制单元控制的调整单元，所述调整单元包括三个支撑在所述打印平台下方的升降机构，且三个支撑点不共线；The stage includes a printing platform and an adjustment unit controlled by the control unit, the adjustment unit includes three lifting mechanisms supported under the printing platform, and the three supporting points are not collinear; 其特征在于：It is characterized by: 所述测距装置可拆卸地安装在所述打印头上，包括舵机、接触触发单元及用于将所述舵机的转动转换成驱动所述接触触发单元沿Z轴往复移动的位移转换机构，所述接触触发单元的触发位置低于所述打印头的打印喷嘴的下端口；所述舵机包括机壳、电机、角度传感器、控制器、小径齿轮及舵盘；所述舵盘与所述小径齿轮传动连接，以通过所述小径齿轮接收由所述电机产生的转动位移；所述舵盘构成所述舵机的输出轴；The distance measuring device is detachably mounted on the print head, and includes a steering gear, a contact trigger unit, and a displacement conversion mechanism for converting the rotation of the steering gear into a reciprocating movement of the contact trigger unit along the Z axis. , the trigger position of the contact trigger unit is lower than the lower port of the print nozzle of the print head; the steering gear includes a casing, a motor, an angle sensor, a controller, a small diameter gear and a steering wheel; the steering wheel and the The small-diameter gear is connected in a transmission to receive the rotational displacement generated by the motor through the small-diameter gear; the steering plate constitutes the output shaft of the steering gear; 所述位移转换机构为凸轮机构，所述凸轮机构的凸轮与所述输出轴传动连接，从动件的下端与所述接触触发单元固定连接；The displacement conversion mechanism is a cam mechanism, the cam of the cam mechanism is drivingly connected with the output shaft, and the lower end of the follower is fixedly connected with the contact trigger unit; 所述控制单元向所述舵机输出控制信号，所述舵机向所述控制单元输出其角度传感器的检测信号；所述接触触发单元向所述舵机的控制器输出触发信号，作为控制所述舵机的电机反转回程的触发控制信号。The control unit outputs a control signal to the steering gear, and the steering gear outputs the detection signal of its angle sensor to the control unit; the contact trigger unit outputs a trigger signal to the controller of the steering gear as a control unit. The trigger control signal for the reverse return of the motor of the steering gear. 2.根据权利要求1所述的调平系统，其特征在于：2. The leveling system according to claim 1, characterized in that: 所述测距装置通过固设在其机架上的电磁铁与所述打印头可拆卸地固定连接。The distance measuring device is detachably and fixedly connected to the print head through an electromagnet fixed on its frame. 3.一种三维打印平台调平用的测距装置，其特征在于，包括舵机、凸轮机构及接触触发单元；3. A distance measuring device for leveling a three-dimensional printing platform, characterized in that it comprises a steering gear, a cam mechanism and a contact trigger unit; 所述舵机包括机壳、电机、角度传感器、控制器、小径齿轮及舵盘；所述舵盘与所述小径齿轮传动连接，以通过所述小径齿轮接收由所述电机产生的转动位移；所述舵盘构成所述舵机的输出轴；The steering gear includes a casing, a motor, an angle sensor, a controller, a small diameter gear and a steering wheel; the steering wheel is drive-connected with the small diameter gear, so as to receive the rotational displacement generated by the motor through the small diameter gear; The steering wheel constitutes the output shaft of the steering gear; 所述凸轮机构的凸轮与所述输出轴传动连接，从动件在其可移动方向上的末端与所述接触触发单元固定连接；The cam of the cam mechanism is drivingly connected with the output shaft, and the end of the follower in its movable direction is fixedly connected with the contact trigger unit; 所述接触触发单元向所述舵机的控制器输出接触触发信号，作为控制所述舵机的电机回转的触发信号。The contact trigger unit outputs a contact trigger signal to the controller of the steering gear as a trigger signal for controlling the rotation of the motor of the steering gear. 4.根据权利要求3所述的测距装置，其特征在于：4. The distance measuring device according to claim 3, wherein: 所述接触触发单元为行程开关。The contact trigger unit is a travel switch. 5.根据权利要求3或4所述的测距装置，其特征在于：5. The distance measuring device according to claim 3 or 4, characterized in that: 所述测距装置的机架上安装有两个作为外连固定端口的电磁铁，两个电磁铁在所述可移动方向上的间距可调。Two electromagnets serving as external connection fixed ports are installed on the frame of the distance measuring device, and the distance between the two electromagnets in the movable direction is adjustable. 6.一种三维打印平台的调平方法，其特征在于，包括：6. A method for leveling a three-dimensional printing platform, comprising: 获取步骤，基于权利要求3至4任一项权利要求所述的测距装置，获取打印平台的打印面在三个支撑点处的坐标值P1＝(x1，y1，z1)，P2＝(x2，y2，z2)，P3＝(x3，y3，z3)，并基于获取的坐标值确定打印平台的法向量np，所述支撑点为三个支撑在所述打印平台下方的升降机构对所述打印平台的支撑铰接点；The obtaining step is to obtain the coordinate values P 1 =(x 1 , y 1 , z 1 ) of the printing surface of the printing platform at the three support points based on the distance measuring device according to any one of claims 3 to 4, P 2 =(x 2 , y 2 , z 2 ), P 3 =(x 3 , y 3 , z 3 ), and the normal vector n p of the printing platform is determined based on the acquired coordinate values, and the support points are three the supporting hinge point of the printing platform by the lifting mechanism supported under the printing platform; 调整步骤，以最高点或最低点P3为原点建立局部坐标系P3-x3y3z3，获取法向量np与x3P3z3平面间的夹角α及与y3P3z3平面间的夹角并以P3为定点，调整点P1、P2绕y3轴旋转α角度及绕x3轴旋转角度；In the adjustment step, a local coordinate system P 3 -x 3 y 3 z 3 is established with the highest point or the lowest point P 3 as the origin, and the angle α between the normal vector n p and the x 3 P 3 z 3 plane and the angle α between it and y 3 P are obtained Angle between 3 z 3 planes And take P 3 as a fixed point, adjust the points P 1 and P 2 to rotate α around the y 3 axis and rotate around the x 3 axis angle; 以P3为定点，调整点P1、P2绕y3轴旋转α角度及绕x3轴旋转角度的步骤包括：Taking P 3 as the fixed point, adjust the points P 1 and P 2 to rotate around the y 3 axis by an α angle and around the x 3 axis The angle steps include: (1)控制点P1处的升降机构的调整量为( 1 ) The adjustment amount of the lifting mechanism at the control point P1 is 及控制点P2处的升降机构的调整量为And the adjustment amount of the lifting mechanism at the control point P2 is 以获取调整后的点P′1及P′2；to obtain the adjusted points P′ 1 and P′ 2 ; (2)调整点P′1处的升降机构的调整量为( 2 ) The adjustment amount of the lifting mechanism at the adjustment point P'1 is: 及调整点P′2处的升降机构的调整量为And the adjustment amount of the lifting mechanism at the adjustment point P' 2 is 以获取调平后的打印平台；to obtain the leveled printing platform; 其中，in, 7.根据权利要求6所述的调平方法，其特征在于，采用权利要求4所述的测距装置进行测量，获取打印平台的打印面在三个支撑点处的坐标值的步骤包括：7. The leveling method according to claim 6, wherein the distance measuring device according to claim 4 is used for measurement, and the step of obtaining the coordinate values of the printing surface of the printing platform at three support points comprises: 控制打印头在X-Y平面内移动至点P1、P2、P3的正上方处，获取坐标值中的x、y值，驱动舵机转动以驱动行程开关向下移动直至被触发，获取坐标值中z值。Control the print head to move directly above the points P 1 , P 2 , and P 3 in the XY plane, obtain the x and y values in the coordinate values, and drive the steering gear to rotate to drive the travel switch to move down until it is triggered to obtain the coordinates The z value in the value. 8.根据权利要求6所述的调平方法，其特征在于，在所述调整步骤之前及所述获取步骤之后，还包括判断步骤：8. The leveling method according to claim 6, characterized in that, before the adjusting step and after the obtaining step, it further comprises a judging step: 获取法向量np与Z轴间夹角的较小者，若该较小者大于预设阈值，则进行所述调整步骤；反之结束调平进程，且该打印平台处于水平状态。Obtain the smaller of the angle between the normal vector n p and the Z axis. If the smaller is greater than the preset threshold, the adjustment step is performed; otherwise, the leveling process ends and the printing platform is in a horizontal state.
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