WO2017080369A1 - 三维打印方法和三维打印机 - Google Patents

三维打印方法和三维打印机 Download PDF

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Publication number
WO2017080369A1
WO2017080369A1 PCT/CN2016/103701 CN2016103701W WO2017080369A1 WO 2017080369 A1 WO2017080369 A1 WO 2017080369A1 CN 2016103701 W CN2016103701 W CN 2016103701W WO 2017080369 A1 WO2017080369 A1 WO 2017080369A1
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WO
WIPO (PCT)
Prior art keywords
dimensional printing
dimensional
control unit
printing platform
print head
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Application number
PCT/CN2016/103701
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English (en)
French (fr)
Inventor
苏健强
何永刚
Original Assignee
珠海天威飞马打印耗材有限公司
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Application filed by 珠海天威飞马打印耗材有限公司 filed Critical 珠海天威飞马打印耗材有限公司
Publication of WO2017080369A1 publication Critical patent/WO2017080369A1/zh

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Classifications

    • 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
    • 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

Definitions

  • the present invention relates to the field of three-dimensional printing, and in particular to a three-dimensional printer and a three-dimensional printing method of the three-dimensional printer.
  • This application is based on the application date of November 10, 2015, and the application number is CN.
  • Chinese Patent Application No. 201510766076.X the contents of which is incorporated herein by reference.
  • a 3D printer also known as a 3D printer, is a machine that uses rapid prototyping technology to digital models.
  • Document-based using molding materials, constructed by layer-by-layer printing Three-dimensional entity. Before printing, it needs to be modeled by computer modeling software, and then the partitioned 3D model is 'partitioned' into a layer-by-layer section, ie, slice, to guide the 3D printer to print layer by layer.
  • 3D printers have been widely used in the product manufacturing industry.
  • the working principle of 3D printers is basically the same as that of traditional printers. It consists of control components, mechanical components, print heads, consumables (ie molding materials) and media.
  • the printing principle is basically similar.
  • the print head is formed by extruding the wire onto the three-dimensional printing platform, and then forming a three-dimensional entity.
  • the printing platform is not parallel to the nozzle of the print head, that is, when the printing platform is tilted, the printed model is prone to warping or extruding the wire.
  • the connection is not a problem, and the model has a high scrap rate.
  • the user needs to adjust the flatness of the printing platform before printing, but the general adjustment is only to use the card between the nozzle and the printing platform, and then directly use the visual contrast to achieve, so there is a judgment Inaccurate and easy to exist, the print head nozzle hits the printing platform, causing the printing platform to scratch, etc., which seriously affects the user experience.
  • a first object of the present invention is to provide a three-dimensional printing capable of real-time monitoring of a printing state.
  • a second object of the present invention is to provide a three-dimensional printing platform adjustment method capable of real-time monitoring of a printing state.
  • the present invention provides a three-dimensional printer comprising a print head moving in a horizontal plane, a three-dimensional printing platform moving in a vertical direction, and a control unit for controlling movement of the print head and the three-dimensional printing platform
  • the three-dimensional printing platform comprises a support table, a loading plate and a pressure sensor.
  • the pressure sensor is arranged between the support table and the loading plate, and the control unit controls the print head to print the model on the printing area of the carrier according to the model signal, and the pressure
  • the sensor is disposed under the corresponding area of the printing area, the pressure sensor outputs an acquisition signal to the control unit, and the control unit outputs a control signal according to the model signal and the acquisition signal.
  • the three-dimensional printing platform further comprises a bracket, the bracket is disposed on the support platform, the bracket is provided with a groove, and the pressure sensor and the loading plate are disposed in the groove.
  • the three-dimensional printing platform further includes a plurality of support assemblies, the brackets are disposed on the plurality of support assemblies, the support assembly includes a screw threadedly disposed with the support table and disposed vertically, and a spring sleeved outside the screw, the screw The first end is fixedly coupled to the bracket, and the spring abuts between the bracket and the support table.
  • the present invention provides a three-dimensional printing method for a three-dimensional printer comprising a print head moving in a horizontal plane, a three-dimensional printing platform moving in a vertical direction, and a control unit for controlling The print head and the three-dimensional printing platform move, wherein the three-dimensional printing platform comprises a support table, a loading plate and a pressure sensor, the pressure sensor is disposed between the support table and the loading plate, and the control unit controls the print head according to the model signal in the load
  • the model is printed on the printing area of the board, the pressure sensor is disposed under the corresponding area of the printing area, and the three-dimensional printing method comprises a three-dimensional printing monitoring step.
  • the three-dimensional printing monitoring step comprises: the control unit controls the printing head to print on the stage according to the model signal.
  • the control unit calculates the current weight value according to the data collected by the pressure sensor; determines whether the current weight value matches the model signal; if the current weight value does not match the model signal, the control signal outputs a stop control signal.
  • the three-dimensional printing monitoring step further comprises: the control unit generating a plurality of layered slice model signals according to the model signal.
  • control unit controls the print head to print the model on the stage according to the model signal, and the control unit controls the print head to print the model on the stage according to the layered slice model signal.
  • a further solution is to determine whether the current weight value matches the model signal is to determine whether the current weight value matches the layered slice model signal.
  • the three-dimensional printing platform further comprises a plurality of support assemblies and brackets, the brackets are disposed on the support platform, the brackets are provided with grooves, the pressure sensor and the loading plate are disposed in the grooves, and the brackets are disposed on the plurality of support assemblies
  • the support assembly is configured to move the bracket vertically.
  • the three-dimensional printing method further includes a three-dimensional printing platform adjusting step, and the three-dimensional printing platform adjusting step includes the steps of moving the three-dimensional printing platform to the preset zero position and
  • the step of calibrating the three-dimensional printing platform comprises the steps of performing a first resolution calibration on each supporting component in turn, and the step of performing the first resolution calibration on one supporting component comprises: a three-dimensional printing platform Moving away from the print head to the calibration position; the print head moves to the top of the support assembly to be calibrated; the 3D printing platform moves toward the print head to the preset zero position at the first resolution; the control unit calculates from the data collected by the pressure sensor Current pressure value; determine whether the current pressure value is equal to the pre- If the current pressure value is not equal to the preset pressure value, the bracket is adjusted to the target position by the support component, and the bracket is at the target position to make the current pressure value equal to the preset pressure value; if the current pressure value is equal to the
  • the step of calibrating the three-dimensional printing platform further comprises the step of performing a first resolution calibration on the first support component.
  • a further solution is, after the step of calibrating the three-dimensional printing platform, the step of adjusting the three-dimensional printing platform further comprises the step of calibrating the imaging distance, and the step of calibrating the imaging distance comprises: the three-dimensional printing platform is oriented toward the third resolution The step of moving the head; the step of adjusting the imaging distance between the carrier and the print head; and the step of setting the imaging distance to the imaging zero.
  • the three-dimensional printing method and the three-dimensional printer provided by the present invention perform three-dimensional model imaging on a stage according to a predetermined slice stratified model data and a predetermined trajectory according to a model signal by a print head of a three-dimensional printer, and are disposed under the stage.
  • the pressure sensor With the pressure sensor, the pressure value or weight value can be obtained in real time through the pressure sensor. According to the analysis of the model data and the comparison of the data collected by the pressure sensor, if the control unit judges that the model data does not match the collected data portion, that is, the print head may be clogged.
  • control unit If the wire is insufficient, the control unit outputs a stop control signal, so that the three-dimensional printer stops printing, and at the same time, a reminder control signal can be issued, which can also prevent the machine from continuing to idle operation and waste printing time, and then realize the printing. Monitoring of the implementation of the status.
  • the installation of the bracket facilitates the installation of the pressure sensor and the stage, and the support is fixed and supported by the adjustable support assembly, which makes it easier to adjust the flatness of the stage.
  • control unit can compare the signal of the layered slice model with the signal collected by the pressure sensor, and can more accurately and Get the status of printing in a timely manner.
  • the leveling plate to be leveled is placed on the supporting component, and at least three supporting components are sequentially adjusted to pass. Raise the 3D printing platform to a preset position, contact the print head or the stage, and use the pressure value collected by the pressure sensor as a reference for calibration, effectively improving calibration accuracy and convenience, and then more effectively and intuitively
  • the load plate is leveled, which in turn improves the quality of the molding.
  • Figure 1 is a block diagram showing an embodiment of a three-dimensional printer of the present invention.
  • FIG. 2 is a structural diagram of a print head and a three-dimensional printing platform in an embodiment of the three-dimensional printer of the present invention.
  • FIG. 3 is a structural exploded view of a three-dimensional printing platform in an embodiment of the three-dimensional printer of the present invention.
  • FIG. 4 is a cross-sectional view of a three-dimensional printing platform in an embodiment of a three-dimensional printer of the present invention.
  • Figure 5 is an enlarged view of A in Figure 4.
  • Figure 6 is a system block diagram of an embodiment of a three dimensional printer of the present invention.
  • Figure 7 is a flow chart of an embodiment of the three-dimensional printing method of the present invention.
  • FIG. 8 is a flow chart of an embodiment of a three-dimensional printing platform adjustment step in an embodiment of the three-dimensional printing method of the present invention.
  • FIG. 9 is a flow chart of coarse adjustment of a printing platform in an embodiment of the three-dimensional printing method of the present invention.
  • FIG. 10 is a flow chart showing fine adjustment of the printing platform in the embodiment of the three-dimensional printing method of the present invention.
  • Figure 11 is a flow chart showing the coarse adjustment of the corresponding support assembly in the embodiment of the three-dimensional printing method of the present invention.
  • Figure 12 is a flow chart showing the fine adjustment of the corresponding support assembly in the embodiment of the three-dimensional printing method of the present invention.
  • Figure 13 is a flow chart for calibrating the imaging distance in an embodiment of the three-dimensional printing method of the present invention.
  • Figure 14 is a flow chart showing the steps of three-dimensional printing monitoring in the embodiment of the three-dimensional printing method of the present invention.
  • FIG. 1 is a structural diagram of a three-dimensional printer 1 including a three-dimensional printing platform 11 mounted in a three-dimensional printer, a print head 12, a Z-axis servo motor 131, and a Y-axis servo motor 132.
  • the print head 12 is mounted on an X-axis guide rod, and the X-axis guide rod is connected with an X-axis servo motor 133. Under the X-axis servo motor 133, the print head 12 can be moved along the X-axis, and the X-axis guide rod is also connected with the Y-axis.
  • a guide rod (not shown) to which the Y-axis servo motor 132 is connected is driven by the Y-axis servo motor 132, but the X-guide rod is moved along the Y-axis.
  • FIG. 2 is a structural view of the three-dimensional printing platform 11 and the print head 12, and FIG. 3 is an exploded view of the three-dimensional printing platform 11, in which the three-dimensional printing platform 11 includes a carrier board 3, three support assemblies 4,
  • the support table 5, the pressure sensor 6, the bracket 7 and the heater 8, the carrier plate 3 is coated with a coating
  • the bracket 7 is provided with a recess for accommodating the carrier plate 3
  • the heater 8 is arranged in a sheet shape
  • the heater 8 is disposed on the back of the groove of the bracket 7, the heater 8 is electrically heated to transfer heat to the bracket 7 and the carrier board 3,
  • the pressure sensor 6 and the carrier board 3 are disposed in the recess of the bracket 7, and the pressure sensor 6 is located
  • the print head 12 will extrude the wire on the printing area on the carrier plate 3 and perform model printing, while the pressure sensor 6 is adjacent to the carrier plate 3 and disposed on the carrier.
  • the plate 3 is located below the corresponding printing area so that the pressure sensor 6 can collect the weight of the model on the stage 3 or the contact pressure from the print head 12 through the stage 3.
  • the pressure sensor 6 is a force sensitive sensor provided in a sheet shape, and the force sensor may be a strain type resistance sensor or a piezoelectric force sensor or a capacitive force sensor.
  • the bracket 7 is disposed on three support assemblies 4, and the three support assemblies 4 are disposed through the support table 5, and the three support assemblies 4 are disposed not in the same straight line. Since the three-dimensional printing platform 11 can be moved vertically in the drive of the servo motor, that is, the three-dimensional printing platform 11 is moved to a position in contact with the print head 12.
  • FIG. 4 is a cross-sectional view of the three-dimensional printing platform 11, and FIG. 5 is an enlarged view of A in FIG.
  • the support assembly includes a screw 41 that is threadedly engaged with the through hole of the support table 5 and is vertically disposed, and a spring 42 that is sleeved outside the screw.
  • the screw 41 passes through the support table 5, and the first end of the screw 41 abuts the bracket 7.
  • the second end of the screw 41 is located on the other side of the support table 5, and the spring 42 abuts between the support table 5 and the second end of the screw 41.
  • the screw 41 is rotated, the screw 41 is pushed while moving vertically.
  • the bracket 7 is moved vertically downwards, which in turn enables a movable adjustment of the support assembly 4 in the vertical direction.
  • the pressure sensor 6 abuts at a position between the carriage 7 and the carrier plate 3, and the print head 12 extrudes the image forming wire 121 on the printing area of the carrier plate 3, and three-dimensional model imaging is realized by stacking the image forming wire 121.
  • the pressure sensor employs a sheet-shaped pressure sensor, and the electrical signal converted by the deformation of the sheet-shaped pressure sensor is changed, and the change pressure value or the change weight value can be accurately known.
  • the pressure sensor 6 is capable of collecting the pressure applied to the model on the stage 3 via the stage 3, and then the pressure sensor 6 outputs the collected signal to the control unit 14 and obtains the weight value of the model by processing. In addition, when the carrier 3 is in contact with the printhead, the pressure sensor 6 can obtain the pressure applied by the printhead 12.
  • Fig. 7 is a system block diagram of the three-dimensional printer 1.
  • the control unit 14 outputs drive signals to the Z-axis servo motor 131, the Y-axis servo motor 132, and the X-axis servo motor 133, respectively, to respectively rotate the servo motors, thereby enabling the three-dimensional printing platform 11 to be driven down by the Z-axis servo motor 131.
  • the printhead 12 Moving inward, the printhead 12 is moved in a horizontal plane defined by the X-axis and the Y-axis.
  • the control unit 14 receives the acquisition signal output by the pressure sensor 6, and the control unit 14 calculates a corresponding current pressure value according to the acquisition signal, and outputs the current pressure value to the display unit 15, which is used for displaying the current pressure value and the preset.
  • the display screen of the pressure value Further, when weight monitoring is performed on the model on the carrier board 3, the control unit 15 calculates a corresponding weight value based on the acquired signal, and displays the weight value on the display unit 15.
  • FIG. 7 is a flowchart of an embodiment of a three-dimensional printing method.
  • the three-dimensional printer 1 installs a three-dimensional printing method for three-dimensional imaging during three-dimensional printing. Specifically, the three-dimensional printing method sequentially includes a three-dimensional printing platform adjustment step and a three-dimensional printing monitoring step. .
  • FIG 8 is a flow chart of the adjustment steps of the three-dimensional printing platform.
  • step S1 is executed to input a three-dimensional printing platform adjustment instruction, and then step S2 is performed, the three-dimensional printing platform is moved up to a preset zero point, and then the step of calibrating the three-dimensional printing platform is performed.
  • the step of calibrating the three-dimensional printing platform includes steps S3 and S4. First, step S3 is performed to perform coarse adjustment on the three-dimensional printing platform, and then step S4 is performed to fine-tune the three-dimensional printing platform, and finally step S5 is performed. , calibrate the imaging distance between the 3D printing platform and the printhead.
  • Figure 9 is a flow chart for coarse adjustment of a three-dimensional printing platform.
  • step S31 is performed to perform coarse adjustment on the first support component
  • step S32 is performed to perform coarse adjustment on the second support component
  • step S33 is performed to perform coarse adjustment on the third support component
  • step S34 is performed, and fourth is performed.
  • the flatness of the support assembly is coarsely adjusted.
  • Figure 10 is a flow chart for fine tuning a three-dimensional printing platform.
  • step S41 is performed to fine-tune the first supporting component
  • step S42 is performed to fine-tune the second supporting component
  • step S43 is performed to fine-tune the third supporting component
  • step S44 is performed, and fourth is performed.
  • the support assembly is fine-tuned.
  • FIG 11 is a flow chart for coarse adjustment of the respective support assembly, i.e., a coarse adjustment of the first support assembly, the second support assembly, or the third support assembly.
  • step S61 the three-dimensional printing platform is lowered from the preset zero position by 5 mm to the calibration position, and then step S62 is performed, the print head is moved over the support assembly that needs to be adjusted, and then step S63 is performed, and the three-dimensional printing platform is at the first resolution. Move toward the print head to the preset zero position, that is, the 3D printing platform slowly rises to the preset zero position with a resolution of 0.06 mm.
  • step S64 the control unit calculates the current pressure value according to the data collected by the pressure sensor, and then performs step S65 to determine whether the current pressure value is equal to the preset pressure value.
  • step S66 is performed to adjust the bracket to the target position by the support assembly.
  • the adjusting screw 41 moves the bracket 7 upward or downward, and the bracket 7 rises or falls. The movement will drive the movement of the pressure sensor 6 and the carrier plate 3, which will cause the current pressure value to be equal to the preset pressure value at the target position.
  • step S67 is performed
  • step S63, S64, and S65 are sequentially performed. If the current pressure value is equal to the preset pressure value, the next support component is performed.
  • a resolution calibration is performed.
  • Figure 12 is a flow chart for fine-tuning the respective support assembly, i.e., a fine-tuning of the first support assembly, the second support assembly, or the third support assembly.
  • step S71 the three-dimensional printing platform is lowered by 5 mm to the calibration position, and then step S72 is performed, the print head is moved over the support assembly to be adjusted, and then step 73 is performed, and the three-dimensional printing platform is moved toward the print head at the second resolution to The preset zero position, that is, the 3D printing platform slowly rises to the preset zero position with a resolution of 0.01 mm.
  • step S74 the control unit calculates the current pressure value according to the data collected by the pressure sensor, and then performs step S75 to determine whether the current pressure value is equal to the preset pressure value.
  • step S76 is performed to adjust the bracket to the target position by the support assembly.
  • the adjusting screw 41 moves the bracket 7 upward or downward, and the bracket 7 rises or falls. The movement will drive the movement of the pressure sensor 6 and the carrier plate 3, which will cause the current pressure value to be equal to the preset pressure value at the target position.
  • step S77 is performed
  • step S73, S74, and S75 are sequentially performed. If the current pressure value is equal to the preset pressure value, the next support component is performed. Two resolution calibration.
  • FIG. 13 is a flow chart for calibration of the imaging distance.
  • step S51 the three-dimensional printing platform moves toward the print head at a third resolution, that is, the three-dimensional printing platform rises at a resolution of 0.01 mm, and then step S52 is performed to adjust the imaging distance between the carrier and the print head, that is, in the imaging. When the distance is appropriate, the movement of the three-dimensional printing platform is stopped. Finally, step S53 is performed to set the imaging distance to the imaging zero point.
  • the three-dimensional printing platform will rise to the imaging zero point, and the printing head extrudes the imaging silk material to the carrier plate. .
  • step S81 is performed.
  • the control unit receives the model signal and generates a plurality of layered slice model signals according to the model signal.
  • the layered slice model signal includes a model to be printed for each layer, a walking path of the print head, a length of the walking path, and a printing.
  • the control unit controls the print head to extrude the wire at the stage according to the layered slice model signal and realize the printing model, and then performs step S83, the pressure sensor is loaded
  • the model weight on the object board collects data in real time, and then proceeds to step S84, the control unit calculates the current weight value according to the data collected by the pressure sensor, that is, the weight value of the model on the carrier board, and then performs step S85, and the control unit will
  • the layered slice model signal is compared with the current weight value to determine whether the current weight value matches the layered slice model signal, because the print head prints the image layer by layer on the load board according to the layered slice model signal, that is,
  • the model is also stacked on a load-bearing plate layer by layer, so it is combined by a layered slice model signal.
  • Silk material of unit weight can be known at the current print should progress weight value, the current weight value of the weight values should be lower than the current progress of the printing, it is determined whether the two values match, it is possible to know whether the print state is normal. If the current weight value does not match the weight value in the layered slice model signal, that is, the print head is clogged or missing the wire, so that the wire cannot be normally extruded from the print head, so step S87 is performed, and the control signal is executed. The output stop control signal is that the 3D printer stops printing. If the current weight value matches the weight value that should be present in the layered slice model signal, step S86 is performed to continue the current three-dimensional printing. After the printing is completed, the molded model is placed on the three-dimensional printing platform, and the weight of the model can also be calculated by the pressure sensor and displayed on the display unit.
  • the flatness of the three-dimensional printing platform is adjusted before the three-dimensional imaging, thereby effectively improving the quality of the three-dimensional imaging model, and at the same time, the print head of the three-dimensional printer according to the model signal according to the predetermined model data and the predetermined trajectory on the stage.
  • the three-dimensional model is imaged, so a pressure sensor is arranged under the stage, so that the pressure value or the weight value can be obtained in real time through the pressure sensor, according to the analysis of the model data and the comparison of the data collected by the pressure sensor, such as the control unit judging the model data.
  • the control unit If the print head does not match, that is, the print head may be clogged or the wire is insufficient, the control unit outputs a stop control signal, so that the three-dimensional printer stops printing, and can also issue a reminder control signal, which can also be avoided while reminding the user.
  • the machine continues to run idle and wastes printing time, which in turn enables monitoring of the print status.
  • the above embodiment is only a preferred embodiment of the present invention.
  • other conventional technical solutions can be used to adjust the bracket in the vertical direction, for example, using a cam as a support assembly and a cam.
  • the height of the bracket can be adjusted by abutting the cam surface with the bracket and by rotating the cam, or the height can be adjusted by using the wedge block assembly, and the object of the invention can also be achieved, and the invention can also adopt four
  • the support assembly or the five support assemblies support the carrier plate, and the object of the invention can also be achieved.
  • the three-dimensional printing method and the three-dimensional printer of the invention are suitable for use in three-dimensional printing imaging applications, and the products and methods of the invention can be used to avoid the machine continuing to idle operation and waste printing time when the silk material is insufficient, and then realize the monitoring of the printing state.

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Abstract

一种三维打印机（1）和三维打印方法，三维打印机（1）包括打印头（12）、三维打印平台（11）和控制单元（14），三维打印平台（11）包括支撑台（5）、载物板（3）和压力传感器（6），压力传感器（6）设置在支撑台（5）和载物板（3）之间，控制单元（14）控制打印头（12）根据模型信号在载物板（3）的打印区域上打印模型，压力传感器（6）设置在载物板（3）位于打印区域对应的下方，压力传感器（6）向控制单元（14）输出采集信号，控制单元（14）根据模型信号和采集信号输出控制信号。

Description

三维打印方法和三维打印机 技术领域
本发明涉及三维打印领域，尤其涉及一种三维打印机以及该三维打印机的三维打印方法。本申请是基于申请日为2015年11月10日，申请号为CN 201510766076.X 的中国发明专利申请，该申请的内容引入本文作为参考。
背景技术
3D 打印机又称三维打印机，是一种利用快速成型技术的机器，以 数字模型 文件为基础，采用成型材料，通过逐层打印的方式来构造 三维的实体。在打印前，需要利用计算机建模软件建模，再将建成的三维模型'分区'成逐层的截面，即切片，从而指导3D打印机逐层打印。3D打印机在产品制造业获得了广泛的应用，3D打印机的工作原理和传统打印机基本相同，由控制组件、机械组件、打印头、耗材（即成型材料）和介质等组成，打印原理也基本类似。
3D 打印头通过向三维打印平台上挤出丝料，继而形成三维实体，当打印平台与打印头的喷嘴不平行时，即打印平台出现倾斜时，打印出的模型容易出现翘曲或挤出丝料连接不上问题，到时模型报废率较高。因此，从打印机出厂后，用户打印前都需要对打印平台的平整情况做调整，但是一般的调整仅仅是用卡片卡在喷嘴和打印平台之间，再直接利用目视对比来实现，这样存在判断不准确而且容易存在打印头喷嘴碰到打印平台，导致打印平台刮花等情况，严重影响用户体验。
另外，在打印过程中当打印头喷嘴出现堵塞或打印丝料不足时，导致在打印运行中没有持续喷丝，同时使得机器继续空转运行，这也将导致打印时间和资源的浪费。
 技术问题
本发明的第一目的是提供一种能够对打印状态实时监测的三维打印。
本发明的第二目的是提供一种能够对打印状态实时监测的三维打印平台调整方法。
 技术解决方案
为了实现本发明的第一目的，本发明提供一种三维打印机，包括在水平面内移动的打印头、沿垂向移动的三维打印平台和控制单元，控制单元用于控制打印头和三维打印平台移动，其中，三维打印平台包括支撑台、载物板和压力传感器，压力传感器设置在支撑台和载物板之间，控制单元控制打印头根据模型信号在载物板的打印区域上打印模型，压力传感器设置在载物板位于打印区域对应的下方，压力传感器向控制单元输出采集信号，控制单元根据模型信号和采集信号输出控制信号。
更进一步的方案是，三维打印平台还包括支架，支架设置在支撑台上，支架设置有凹槽，压力传感器和载物板设置在凹槽内。
更进一步的方案是，三维打印平台还包括多个支撑组件，支架设置在多个支撑组件上，支撑组件包括与支撑台螺纹配合并沿垂向设置的螺钉以及套在螺钉外的弹簧，螺钉的第一端部与支架固定连接，弹簧抵接在支架和支撑台之间。
为了实现本发明的第二目的，本发明提供一种三维打印机用的三维打印方法，三维打印机包括在水平面内移动的打印头、沿垂向移动的三维打印平台和控制单元，控制单元用于控制打印头和三维打印平台移动，其中，所述三维打印平台包括支撑台、载物板和压力传感器，压力传感器设置在支撑台和载物板之间，控制单元控制打印头根据模型信号在载物板的打印区域上打印模型，压力传感器设置在载物板位于打印区域对应的下方，三维打印方法包括三维打印监测步骤，三维打印监测步骤包括：控制单元控制打印头根据模型信号在载物台打印模型；控制单元根据压力传感器采集的数据计算得出当前重量值；判断当前重量值是否与模型信号匹配；如当前重量值与模型信号不匹配，则控制信号输出停止控制信号。
更进一步的方案是，在控制单元控制打印头根据模型信号在载物台打印模型之前，三维打印监测步骤还包括：控制单元根据模型信号生成多个分层切片模型信号。
更进一步的方案是，控制单元控制打印头根据模型信号在载物台打印模型的步骤为控制单元控制打印头根据分层切片模型信号在载物台打印模型。
更进一步的方案是，判断当前重量值是否与模型信号匹配的步骤为判断当前重量值是否与分层切片模型信号匹配。
更进一步的方案是，三维打印平台还包括多个支撑组件和支架，支架设置在支撑台上，支架设置有凹槽，压力传感器和载物板设置在凹槽内，支架设置在多个支撑组件上，支撑组件用于使支架沿垂向移动，在三维打印监测步骤之前，三维打印方法还包括三维打印平台调整步骤，三维打印平台调整步骤包括将三维打印平台移动至预设零点位置的步骤和对三维打印平台进行校准的步骤，对三维打印平台进行校准的步骤包括依次对每一个支撑组件进行第一分辨率校准的步骤，对一个支撑组件进行第一分辨率校准的步骤包括：三维打印平台背向打印头移动至校准位置；打印头移动至需要校准的支撑组件的上方；三维打印平台以第一分辨率朝向打印头移动至预设零点位置；控制单元根据压力传感器采集的数据计算得出当前压力值；判断当前压力值是否等于预设压力值；如当前压力值不等于预设压力值，则通过支撑组件将支架调节至目标位置，支架在目标位置使当前压力值等于预设压力值；如当前压力值等于预设压力值，则对下一支撑组件进行第一分辨率校准。
更进一步的方案是，依次对每一个支撑组件进行第一分辨率校准的步骤之后，对三维打印平台进行校准的步骤还包括再对第一个支撑组件进行第一分辨率校准的步骤。
更进一步的方案是，对三维打印平台进行校准的步骤之后，三维打印平台调整步骤还包括对成像距离进行校准的步骤，对成像距离进行校准的步骤包括：三维打印平台以第三分辨率朝向打印头移动的步骤；调整载物板和打印头之间的成像距离的步骤；将成像距离设置为成像零点的步骤。
 有益效果
本发明提供的三维打印方法和三维打印机，通过三维打印机的打印头根据模型信号在载物台上按照预定的切片分层模型数据以及预定的轨迹进行三维模型成像，并在载物台的下方设置有压力传感器，便能够通过压力传感器实时获取压力值或重量值，根据模型数据的分析以及压力传感器采集数据的比对，如控制单元判断模型数据与采集数据部不匹配，即打印头可能出现堵塞或丝料不足，则控制单元输出停止控制信号，使得三维打印机停止打印，同时也可以发出提醒控制信号，在提醒使用人员的同时，也可避免机器继续空转运行和浪费打印时间，继而实现对打印状态的实施监控。
此外，通过支架的设置有利于压力传感器和载物台的安装，以及通过可调节的支撑组件对支架进行支撑固定，能够更加方便地对载物台的平整度进行调节。
并且，通过对模型信号进行分层切片并使打印头根据分层切片模型信号逐层打印，同时，控制单元能够根据分层切片模型信号与压力传感器采集的信号进行比对，能够更加准确地和及时地获知打印状态。
此外，在打印之前，为了提高打印精度故需要对载物台的平整度进行调节，具体地，将需要调平的载物板设置在支撑组件上，并依次至少三个支撑组件进行调整，通过将三维打印平台上升至预设位置，打印头或与载物台接触，并利用压力传感器采集的压力值作为校准的基准，有效地提高校准准确性以及便利性，继而更为有效地直观地将载物板调平，继而提高成型品质。
 附图说明
图1是本发明三维打印机实施例的结构图。
图2是本发明三维打印机实施例中打印头和三维打印平台的结构图。
图3是本发明三维打印机实施例中三维打印平台的结构分解图。
图4是本发明三维打印机实施例中三维打印平台的剖视图。
图5是图4中A处放大图。
图6是本发明三维打印机实施例的系统框图。
图7是本发明三维打印方法实施例的流程图。
图8是本发明三维打印方法实施例中三维打印平台调整步骤实施例的流程图。
图9是本发明三维打印方法实施例中对打印平台进行粗调校准的流程图。
图10是本发明三维打印方法实施例中对打印平台进行细调校准的流程图。
图11是本发明三维打印方法实施例中对相应支撑组件进行粗调的流程图。
图12是本发明三维打印方法实施例中对相应支撑组件进行细调的流程图。
图13是本发明三维打印方法实施例中对成像距离进行校准的流程图。
图14是本发明三维打印方法实施例中三维打印监测步骤的流程图。
以下结合附图及实施例对本发明作进一步说明。
 本发明的实施方式
三维打印机实施例：
参照图1并结合图7，图1是三维打印机1的结构图，三维打印机1包括均安装在三维打印机的框体内三维打印平台11、打印头12、Z轴伺服电机131、Y轴伺服电机132、X轴伺服电机133、控制单元14、压力传感器6和显示单元15，螺杆21穿过三维打印平台11，在螺杆21的下端部上连接有Z轴伺服电机131，在螺杆21的两侧还设置有导杆。
打印头12安装在X轴导杆上，X轴导杆连接有X轴伺服电机133，在X轴伺服电机133驱动下，打印头12可沿X轴移动，X轴导杆还连接有Y轴导杆(未示出)，Y轴导杆连接有Y轴伺服电机132，在Y轴伺服电机132驱动下，可是X导杆沿Y轴移动。
参照图2和图3，图2是三维打印平台11和打印头12的结构图，图3是三维打印平台11的分解图，在三维打印平台11包括载物板3、三个支撑组件4、支撑台5、压力传感器6、支架7和加热器8，载物板3上涂覆有涂层，支架7设置有用于容纳载物板3的凹槽，加热器8呈片状设置，加热器8设置在支架7凹槽的背部，加热器8通电加热后可对支架7和载物板3传递热量，压力传感器6和载物板3设置在支架7的凹槽内，且压力传感器6位于载物板3和支架7之间的位置上，打印头12将在载物板3上的打印区域挤出丝料并实现模型打印，而压力传感器6与载物板3邻接并设置在载物板3位于打印区域对应的下方，使得压力传感器6通过载物台3能够采集载物台3上模型的重量或来自打印头12的接触压力。在本实施例中，压力传感器6是采用片状设置的力敏传感器，该力敏传感器既可采用应变式电阻传感器或压电式力传感器，又可以采用电容式力传感器。
支架7设置在三个支撑组件4上，三个支撑组件4穿过支撑台5地设置，三个支撑组件4呈不在同一直线上地设置。由于三维打印平台11在伺服电机的驱动下能够沿垂向移动，即三维打印平台11移动至与打印头12接触的位置。
参照图4和图5，图4是三维打印平台11的剖视图，图5是图4中A处的放大图。支撑组件包括与支撑台5的通孔螺纹配合并可沿垂向设置的螺钉41以及套在该螺钉外的弹簧42，螺钉41穿过支撑台5，螺钉41的第一端与支架7邻接，螺钉41的第二端位于支撑台5的另一侧上，弹簧42抵接在支撑台5和螺钉41的第二端上之间，旋转螺钉41时，在螺钉41沿垂向移动的同时推动支架7在垂向上下移动，继而实现支撑组件4的在垂向方向上可移动调节。
压力传感器6邻接在支架7和载物板3之间的位置上，打印头12在载物板3的打印区域上挤出成像丝料121，通过堆积成像丝料121实现三维模型成像。在本实施例中压力传感器采用片状的压力传感器，通过片状的压力传感器的形变而转化成的电信号改变，能够准确地获知变化压力值或变化重量值。压力传感器6通过载物台3能够采集载物台3上模型向其施加的压力，继而压力传感器6向控制单元14输出采集的信号并通过处理获得该模型的重量值。另外，当载物板3与打印头接触，压力传感器6能够获得打印头12施加的压力。
参照图7，图7是三维打印机1的系统框图。控制单元14分别向Z轴伺服电机131、Y轴伺服电机132、X轴伺服电机133输出驱动信号，分别使各伺服电机转动，继而使三维打印平台11能够在Z轴伺服电机131驱动下沿垂向移动，使打印头12在由X轴和Y轴确定的水平面内移动。
控制单元14接收压力传感器6输出的采集信号，控制单元14根据采集信号计算对应的当前压力值，并将该当前压力值输出至显示单元15，显示单元15为用于显示当前压力值和预设压力值的显示屏幕。另外在对载物板3上的模型进行重量监测时，控制单元15对根据采集的信号计算对应的重量值，并在显示单元15上显示该重量值。
三维打印方法实施例：
参照图7，图7是三维打印方法实施例的流程图，三维打印机1在三维打印时将安装三维打印方法进行三维成像，具体地，三维打印方法依次包括三维打印平台调整步骤和三维打印监测步骤。
参照图8，图8是三维打印平台调整步骤的流程图。首先执行步骤S1，输入三维打印平台调整指令，随后执行步骤S2，三维打印平台往上移动至预设零点，随后执行对三维打印平台进行校准的步骤。
对三维打印平台进行校准的步骤包括步骤S3和步骤S4，首先，执行步骤S3，对三维打印平台进行粗调校准，随后执行步骤S4，对三维打印平台进行细调校准，最后执行步骤S5，对三维打印平台和打印头之间的成像距离进行校准。
参照图9，图9是对三维打印平台进行粗调校准的流程图。首先执行步骤S31，对第一支撑组件进行粗调，随后执行步骤S32，对第二支撑组件进行粗调，然后执行步骤S33，对第三支撑组件进行粗调，最后执行步骤S34，对第四支撑组件的平整度进行粗调。
参照图10，图10是对三维打印平台进行细调校准的流程图。首先执行步骤S41，对第一支撑组件进行细调，随后执行步骤S42，对第二支撑组件进行细调，然后执行步骤S43，对第三支撑组件进行细调，最后执行步骤S44，对第四支撑组件进行细调。
参照图11，图11是对相应支撑组件进行粗调的流程图，即对第一支撑组件、第二支撑组件或第三支撑组件进行粗调的流程图。首先执行步骤S61，三维打印平台从预设零点位置下降5毫米至校准位置，随后执行步骤S62，打印头移动到需要调整的支撑组件的上方，然后执行步骤S63，三维打印平台以第一分辨率朝向打印头移动至预设零点位置，即三维打印平台以0.06毫米的分辨率缓慢上升至预设零点位置。
随后执行步骤S64，控制单元根据压力传感器采集的数据计算得出当前压力值，然后执行步骤S65，判断当前压力值是否等于预设压力值。
如当前压力值不等于预设压力值，则执行步骤S66，通过支撑组件将支架调节至目标位置，可参照图4即调节螺钉41使支架7往上或往下移动，支架7的上升或下移将带动压力传感器6和载物板3的移动，支架7在目标位置将使当前压力值等于预设压力值。
随后再重新对该支撑组件进行校准，即执行步骤S67，三维打印平台下降5毫米，然后依次执行步骤S63、S64和S65，如当前压力值等于预设压力值，则对下一支撑组件进行第一分辨率校准。
参照图12，图12是对相应支撑组件进行细调的流程图，即对第一支撑组件、第二支撑组件或第三支撑组件进行细调的流程图。首先执行步骤S71，三维打印平台下降5毫米至校准位置，随后执行步骤S72，打印头移动到需要调整的支撑组件的上方，然后执行步骤73，三维打印平台以第二分辨率朝向打印头移动至预设零点位置，即三维打印平台以0.01毫米的分辨率缓慢上升至预设零点位置。
随后执行步骤S74，控制单元根据压力传感器采集的数据计算得出当前压力值，然后执行步骤S75，判断当前压力值是否等于预设压力值。
如当前压力值不等于预设压力值，则执行步骤S76，通过支撑组件将支架调节至目标位置，可参照图4即调节螺钉41使支架7往上或往下移动，支架7的上升或下移将带动压力传感器6和载物板3的移动，支架7在目标位置将使当前压力值等于预设压力值。
随后再重新对该支撑组件进行校准，即执行步骤S77，三维打印平台下降5毫米，然后依次执行步骤S73、S74和S75，如当前压力值等于预设压力值，则对下一支撑组件进行第二分辨率校准。
参照图13，图13是成像距离进行校准的流程图。首先执行步骤S51，三维打印平台以第三分辨率朝向打印头移动，即三维打印平台以0.01毫米分辨率上升，随后执行步骤S52，调整载物板和打印头之间的成像距离，即在成像距离合适时停止三维打印平台的移动，最后执行步骤S53，将成像距离设置为成像零点，在进行三维实体成像时，三维打印平台将上升到成像零点，打印头向载物板挤出成像丝料。
在执行完三维打印平台调整步骤后，将执行三维打印监测步骤，参照图14，图14是三维打印监测步骤的流程图。首先执行步骤S81，控制单元接收模型信号并根据模型信号生成多个分层切片模型信号，分层切片模型信号包括每一层所需打印的模型、打印头的行走路径，行走路径的长度、打印的挤出速度和成像丝料的单位重量，随后执行步骤S82，控制单元控制打印头根据分层切片模型信号在载物台挤出丝料并实现打印模型，随后执行步骤S83，压力传感器对载物板上的模型重量进行实时采集数据，然后执行步骤S84，控制单元根据压力传感器采集的数据计算得出当前重量值，即位于载物板上模型的重量值，随后执行步骤S85，控制单元将分层切片模型信号与当前重量值进行比对，判断当前重量值是否与分层切片模型信号是否匹配，由于打印头是根据分层切片模型信号在载物板上逐层往上打印成像，即模型在载物板上也是逐层堆积成型，故通过分层切片模型信号结合成像丝料的单位重量能够获知在当前打印进度下应有的重量值，将当前重量值与当前打印进度下应有的重量值比对，判断两数值是否匹配，便能够获知打印状态是否正常。如当前重量值与分层切片模型信号中应有的重量值不匹配，即表示打印头出现堵塞或缺失丝料，使得丝料无法正常地从打印头挤出成型，故执行步骤S87，控制信号输出停止控制信号是三维打印机停止打印。如当前重量值与分层切片模型信号中应有的重量值匹配，则执行步骤S86，继续当前三维打印。在打印完成后，成型的模型位于该三维打印平台上，还可通过压力传感器对模型计算其重量并显示在显示单元上。
由上可见，在三维成像之前对三维打印平台的平整度进行调整，有效地提高三维成像模型的品质，同时由于三维打印机的打印头根据模型信号在载物台上按照预定模型数据以及预定的轨迹进行三维模型成像，故在载物台的下方设置有压力传感器，便能够通过压力传感器实时获取压力值或重量值，根据模型数据的分析以及压力传感器采集数据的比对，如控制单元判断模型数据与采集数据部不匹配，即打印头可能出现堵塞或丝料不足，则控制单元输出停止控制信号，使得三维打印机停止打印，同时也可以发出提醒控制信号，在提醒使用人员的同时，也可避免机器继续空转运行和浪费打印时间，继而实现对打印状态的实施监控。
上述实施例只是本发明的较佳实施例，除了采用上述实施例中的支撑组件还可以采用其他本领域常规的技术方案使支架可沿垂向进行调节，例如采用凸轮作为支撑组件，通过凸轮的凸轮面与支架抵接以及通过旋转凸轮便可实现支架的高度可调，又或者采用楔形块组件同样是可以实现高度可调，同样是可以实现本发明的目的，以及本发明还可以采用四个支撑组件或五个支撑组件对载物板进行支撑，也同样可实现本发明的目的。
 工业实用性
本发明的三维打印方法和三维打印机适用于三维打印成像场合中，应用本发明的产品和方法，可避免机器在丝料不足时继续空转运行和浪费打印时间，继而实现对打印状态的实施监控。
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Claims (10)

  1. 三维打印机，包括在水平面内移动的打印头、沿垂向移动的三维打印平台和控制单元，所述控制单元用于控制所述打印头和所述三维打印平台移动；
    其特征在于：
    所述三维打印平台包括支撑台、载物板和压力传感器，所述压力传感器设置在所述支撑台和所述载物板之间，所述控制单元控制所述打印头根据模型信号在所述载物板的打印区域上打印模型，所述压力传感器设置在所述载物板位于所述打印区域对应的下方，所述压力传感器向所述控制单元输出采集信号，所述控制单元根据所述模型信号和所述采集信号输出控制信号。
  2. 根据权利要求1所述三维打印机，其特征在于：
    所述三维打印平台还包括支架，所述支架设置在所述支撑台上，所述支架设置有凹槽，所述压力传感器和所述载物板设置在所述凹槽内。
  3. 根据权利要求2所述三维打印机，其特征在于：
    所述三维打印平台还包括多个支撑组件，所述支架设置在多个所述支撑组件上，所述支撑组件包括与所述支撑台螺纹配合并沿垂向设置的螺钉以及套在所述螺钉外的弹簧，所述螺钉的第一端部与所述支架固定连接，所述弹簧抵接在所述支架和所述支撑台之间。
  4. 三维打印机用的三维打印方法，所述三维打印机包括在水平面内移动的打印头、沿垂向移动的三维打印平台和控制单元，所述控制单元用于控制所述打印头和所述三维打印平台移动；
    其特征在于：
    所述三维打印平台包括支撑台、载物板和压力传感器，所述压力传感器设置在所述支撑台和所述载物板之间，所述控制单元控制所述打印头根据模型信号在所述载物板的打印区域上打印模型，所述压力传感器设置在所述载物板位于所述打印区域对应的下方；
    所述三维打印方法包括三维打印监测步骤，所述三维打印监测步骤包括：
    所述控制单元控制所述打印头根据模型信号在所述载物台打印模型；
    所述控制单元根据所述压力传感器采集的数据计算得出当前重量值；
    判断所述当前重量值是否与所述模型信号匹配；
    如所述当前重量值与所述模型信号不匹配，则所述控制信号输出停止控制信号。
  5. 根据权利要求4所述的三维打印方法，其特征在于：
    在所述控制单元控制所述打印头根据所述模型信号在所述载物台打印模型之前，所述三维打印监测步骤还包括：
    所述控制单元根据所述模型信号生成多个分层切片模型信号。
  6. 根据权利要求5所述的三维打印方法，其特征在于：。
    所述控制单元控制所述打印头根据所述模型信号在所述载物台打印模型的步骤为所述控制单元控制所述打印头根据所述分层切片模型信号在所述载物台打印模型。
  7. 根据权利要求6所述的三维打印方法，其特征在于：
    判断所述当前重量值是否与所述模型信号匹配的步骤为判断当前重量值是否与所述分层切片模型信号匹配。
  8. 根据权利要求4至7任一项所述的三维打印方法，其特征在于：
    所述三维打印平台还包括多个支撑组件和支架，所述支架设置在所述支撑台上，所述支架设置有凹槽，所述压力传感器和所述载物板设置在所述凹槽内，所述支架设置在多个所述支撑组件上，所述支撑组件用于使所述支架沿垂向移动；
    在三维打印监测步骤之前，所述三维打印方法还包括三维打印平台调整步骤，所述三维打印平台调整步骤包括将所述三维打印平台移动至预设零点位置的步骤和对所述三维打印平台进行校准的步骤；
    对所述三维打印平台进行校准的步骤包括依次对每一个所述支撑组件进行第一分辨率校准的步骤；
    对一个所述支撑组件进行第一分辨率校准的步骤包括：
    所述三维打印平台背向所述打印头移动至校准位置；
    所述打印头移动至需要校准的所述支撑组件的上方；
    所述三维打印平台以第一分辨率朝向所述打印头移动至预设零点位置；
    所述控制单元根据所述压力传感器采集的数据计算得出当前压力值；
    判断所述当前压力值是否等于预设压力值；
    如所述当前压力值不等于所述预设压力值，则通过所述支撑组件将所述支架调节至目标位置，所述支架在所述目标位置使所述当前压力值等于所述预设压力值；
    如所述当前压力值等于所述预设压力值，则对下一所述支撑组件进行第一分辨率校准。
  9. 根据权利要求8所述的三维打印方法，其特征在于：
    依次对每一个所述支撑组件进行第一分辨率校准的步骤之后，对所述三维打印平台进行校准的步骤还包括再对第一个所述支撑组件进行第一分辨率校准的步骤。
  10. 根据权利要求8或9所述的三维打印方法，其特征在于：
    对所述三维打印平台进行校准的步骤之后，所述三维打印平台调整步骤还包括对成像距离进行校准的步骤，对成像距离进行校准的步骤包括：
    所述三维打印平台以第三分辨率朝向所述打印头移动的步骤；
    调整所述载物板和所述打印头之间的所述成像距离的步骤；
    将所述成像距离设置为成像零点的步骤。
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