WO2023125990A1 - Procédé d'impression 3d, et imprimante 3d - Google Patents

Procédé d'impression 3d, et imprimante 3d Download PDF

Info

Publication number
WO2023125990A1
WO2023125990A1 PCT/CN2022/144244 CN2022144244W WO2023125990A1 WO 2023125990 A1 WO2023125990 A1 WO 2023125990A1 CN 2022144244 W CN2022144244 W CN 2022144244W WO 2023125990 A1 WO2023125990 A1 WO 2023125990A1
Authority
WO
WIPO (PCT)
Prior art keywords
printing platform
motion
acceleration
pressure sensors
predetermined
Prior art date
Application number
PCT/CN2022/144244
Other languages
English (en)
Chinese (zh)
Inventor
陈子寒
Original Assignee
深圳拓竹科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳拓竹科技有限公司 filed Critical 深圳拓竹科技有限公司
Priority to CN202280066564.8A priority Critical patent/CN118076474A/zh
Publication of WO2023125990A1 publication Critical patent/WO2023125990A1/fr

Links

Images

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
    • 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
    • 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 disclosure relates to the technical field of 3D printing, and in particular to a method for a 3D printer, a 3D printer, a computer readable storage medium and a computer program product.
  • 3D printers construct three-dimensional objects by printing layer by layer.
  • a 3D printer includes a printhead for extruding printing material and a printing platform for depositing the printing material to form a three-dimensional object.
  • the printhead is configured to move relative to the print platform and to extrude printing material onto the surface of the print platform while moving.
  • the printing material is deposited layer by layer on the surface of the printing platform and fused together to print a three-dimensional object.
  • the 3D printer is also provided with a pressure sensor, which can be used to sense the pressure applied to the surface of the printing platform, so as to detect whether the printing platform is level, for example.
  • a pressure sensor which can be used to sense the pressure applied to the surface of the printing platform, so as to detect whether the printing platform is level, for example.
  • the pressure sensor needs to be calibrated.
  • Embodiments of the present disclosure provide a method for a 3D printer, a 3D printer, a computer-readable storage medium, and a computer program product.
  • a method for a 3D printer includes: a printing platform and N pressure sensors, the printing platform includes a printing plane for carrying printed objects, each of the N pressure sensors It is configured to generate a sensing signal by responding to a force applied to the printing platform, N is a positive integer greater than or equal to 1, the method includes: controlling the printing platform to move along the Z-axis of the 3D printer with a predetermined motion law; acquiring N pressure The value corresponding to the corresponding sensing signal output by the sensor during the movement of the printing platform; and based on the acceleration of the printing platform corresponding to the predetermined movement law during the movement and the value corresponding to the corresponding sensing signal, determine N pressure sensors respective sensitivities.
  • a 3D printer including: a printing platform including a printing plane for carrying a printed object; N pressure sensors, each of which is configured to generate a A sensing signal is generated in response to a force applied to the printing platform, N is a positive integer greater than or equal to 1; and a processor configured to execute instructions to implement the method as described above.
  • a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions, when executed by the processor of the 3D printer as described above, cause the 3D printer to implement the above-mentioned method.
  • a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a 3D printer as described above, causes the 3D printer to implement the method according to the above.
  • the calibration of the pressure sensor can be realized quickly and the operation is simple.
  • FIG. 1 shows a structural diagram of a 3D printer according to an embodiment of the present disclosure
  • FIG. 2 shows a flow chart of a method for a 3D printer according to an embodiment of the present disclosure
  • Fig. 3 shows a flowchart of a method for determining the respective sensitivities of N pressure sensors in Fig. 2;
  • Fig. 4 shows a flowchart of a method for a 3D printer according to an embodiment of the present disclosure.
  • first, second, etc. to describe various elements is not intended to limit the positional relationship, temporal relationship or importance relationship of these elements, and such terms are only used for Distinguishes one element from another.
  • first element and the second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on contextual description.
  • the printing platform may be provided with at least one pressure sensor.
  • the printhead may be controlled to move from a predetermined position towards the surface of the printing platform.
  • the printhead contacts the printbed, the printhead applies force to the printbed.
  • the force generated by the contact can be sensed by the pressure sensor and calculated from the output voltage of the pressure sensor.
  • the pressure actually experienced by the pressure sensor may be equal to the ratio of its output voltage to the sensitivity of the pressure sensor. If there is an error in the sensitivity of the pressure sensor, the pressure value calculated by the output voltage will not match the actual pressure value, which will directly affect the accuracy of the detection result. Therefore, the pressure sensor needs to be calibrated when it is used for the first time or during routine maintenance.
  • the calibration method of the pressure sensor is: apply a known force to the pressure sensor under test, such as placing a weight of known weight, so as to obtain the corresponding relationship between the applied pressure and the output of the pressure sensor.
  • a known force to the pressure sensor under test, such as placing a weight of known weight, so as to obtain the corresponding relationship between the applied pressure and the output of the pressure sensor.
  • embodiments of the present disclosure provide a method for a 3D printer and the 3D printer, which can quickly realize the calibration of the pressure sensor and are easy to operate. Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
  • FIG. 1 shows a 3D printer 100 according to an embodiment of the present disclosure.
  • a 3D printer 100 includes: a printing platform 110 and N pressure sensors 130, the printing platform 110 includes a printing plane 112 for carrying a printed object, and each of the N pressure sensors 130 can be configured to respond by applying Alternatively, each of the N pressure sensors 130 may be configured to generate a sense signal indicative of a force applied to the printing plane 112, or, the N pressure sensors 130 may be configured to N is a positive integer greater than or equal to 1 configured to generate a sense signal indicative of a force applied to the printing platform. In the example of FIG. 1 , two pressure sensors 130 are shown.
  • the 3D printer 100 also includes a printing head 120 located above the printing platform 110 .
  • the print head 120 is configured to be movable relative to the printing platform 110, for example, it can move in a horizontal plane.
  • the printing platform 110 defines a printing plane 112 .
  • the printing material extruded from the printing head 120 is deposited layer by layer on the printing plane 112 defined by the printing platform 110 , thereby printing a three-dimensional object.
  • At least one pressure sensor 130 is mounted to printing platform 110 and configured to generate a sensed signal indicative of a force applied to printing plane 112 .
  • the pressure sensor 130 may be any type of pressure sensor capable of generating the aforementioned sensing signal.
  • the pressure sensor 130 is a piezoelectric ceramic sensor.
  • a force applied to the printing plane 112 can cause a corresponding deformation of the piezoceramic sensor.
  • the piezoceramic sensor is further capable of generating a sensed signal (eg, a potential difference) indicative of a force applied to the printing plane 112 based on the amount of deformation.
  • Piezoelectric ceramic sensors are low cost and have high measurement reliability. The use of piezoelectric ceramic pressure sensors is at least beneficial to reduce costs and improve reliability.
  • the pressure sensor 130 may be mounted to the printing platform 110 in any suitable manner as long as it can sense the force applied to the printing plane 112 .
  • pressure sensor 130 is mounted to flexible cantilever structure 115 of printing platform 110 .
  • the flexible cantilever structure 115 is configured to be deformed by a force applied to the printing plane 112 . Mounting the pressure sensor 130 through the flexible cantilever structure 115 enables the pressure sensor 130 to sense the force applied to the printing plane 112 more sensitively and reliably.
  • the 3D printer 100 also includes a lifting mechanism 150 .
  • the lifting mechanism 150 can be connected with the flexible cantilever structure 115 and driven by a driving mechanism (eg, a motor, not shown) to realize the movement of the printing plane 112 on the Z axis (vertical direction in FIG. 1 ). Therefore, the lift mechanism 150 may also be referred to as a "Z block".
  • the 3D printer 100 also includes a processor (not shown) for controlling the printing operation of the 3D printer 100 .
  • the processor can be integrated into the 3D printer 100 .
  • the processor may be independent from the 3D printer 100 and communicate with the 3D printer 100 through wires or wirelessly.
  • the processor can be used to control the lifting mechanism 150 by controlling the driving mechanism, so that the printing plane 112 moves in the Z-axis direction.
  • the processor can also be connected to the pressure sensor 130 in communication, so as to obtain the sensing signal of the pressure sensor 130 .
  • FIG. 2 shows a flowchart of a method 200 for a 3D printer according to an embodiment of the present disclosure.
  • the method 200 includes step S210 to step S240 .
  • the method 200 will be described below in conjunction with the 3D printer 100 of FIG. 1 .
  • step S210 the printing platform 110 is controlled to move along the Z-axis of the 3D printer 100 according to a predetermined movement law.
  • step S220 an acceleration signal is determined from a predetermined motion law, the acceleration signal indicating the acceleration of the printing platform 110 during motion.
  • step S230 corresponding sensing signals output by the N pressure sensors 130 during the movement of the printing platform 110 are obtained.
  • step S240 based on the acceleration signal, the corresponding sensing signal, the mass of the printing platform 110 and the corresponding positions of the N pressure sensors 130 relative to the centroid of the printing platform 110 , the respective sensitivities of the N pressure sensors 130 are determined.
  • the movement of the printing platform 110 along the Z axis can be realized by the movement of the lifting mechanism 150 .
  • the lifting mechanism 150 can be driven by a driving mechanism such as a motor.
  • the processor can further control the displacement of the printing platform 110 along the Z axis by controlling the output of the motor.
  • the predetermined law of motion may be the time-varying law of the displacement of the printing platform 110 .
  • the acceleration signal can be a continuous signal with respect to time, or a discrete sequence with respect to time.
  • the change law of the acceleration with time that is, a continuous signal
  • the processor can execute G-code, and G-code specifies a series of position coordinates of the printing platform 110 on a predetermined law of motion, and the acceleration can be obtained by performing a second-order difference on these discrete position coordinate sequences A discrete sequence that varies over time.
  • the sensing signal may be an electrical signal output by the pressure sensor 130, such as a voltage signal or a current signal.
  • acquiring the sensing signal may be understood as acquiring a value corresponding to the sensing signal.
  • the resultant force ie, inertial force
  • the resultant force can be considered to be applied at the centroid location of the printing platform 110 .
  • the actual pressure on each pressure sensor 130 can be obtained.
  • the sensing signal as a voltage signal as an example
  • the sensitivity of each pressure sensor 130 can be obtained by the ratio of the sensing signal of the pressure sensor 130 to the actual pressure it receives.
  • the respective sensitivities of the N pressure sensors can also be determined based only on the acceleration of the printing platform corresponding to the predetermined motion law during motion and the value corresponding to the corresponding sensing signal, and the present disclosure is not limited in this respect. .
  • the acceleration of the corresponding printing platform during motion may be known.
  • the method 200 may only include step S210, step S230, and step S240.
  • the present disclosure is in This aspect is not limited.
  • Embodiments of the present disclosure provide a method for a 3D printer, which can automatically calculate the sensitivity of a pressure sensor without requiring a user to apply weights for measurement, and is simple to operate and fast.
  • FIG. 3 shows a flow chart of the method for determining respective sensitivities of N pressure sensors in FIG. 2 .
  • the method for determining the respective sensitivities of the N pressure sensors 130 in step S240 specifically includes: step S310 and step S320 .
  • step S310 based on the acceleration signal, the mass of the printing platform 110, and the corresponding positions of the N pressure sensors 130 relative to the center of mass of the printing platform 110, it is determined that the inertial force received by the printing platform 110 during motion is generated at the N pressure sensors 130 corresponding reaction force.
  • step S320 based on the corresponding reaction force and the corresponding sensing signal, the respective sensitivities of the N pressure sensors 130 are determined.
  • the printing platform 110 moves along a predetermined motion law without load, and the inertial force generated during the movement can be sensed by each pressure sensor 130 .
  • the printing platform 110 provided with two pressure sensors 130 as an example, for convenience of description, the left pressure sensor 130 in FIG. 1 is referred to as the first sensor, and the right pressure sensor 130 is referred to as the second sensor.
  • the horizontal distance between the first sensor and the center of mass is L 1
  • the horizontal distance between the second sensor and the center of mass is L 2
  • the reaction force on the first sensor is F 1
  • the reaction force on the second sensor is F 2
  • the printing platform The mass of 110 is m
  • the inertial force on the printing platform 110 during the movement is F.
  • the sensitivity S1 of the first sensor and the sensitivity S2 of the second sensor can be respectively:
  • V 1 is the sensing signal of the first sensor
  • V 2 is the sensing signal of the second sensor
  • the sensing signal is a voltage signal
  • the predetermined law of motion may include uniformly accelerated motion. Because uniform acceleration motion has constant acceleration theoretically, it can be easily detected and calculated.
  • determining the acceleration signal from the predetermined law of motion in step S220 may include: determining the instantaneous acceleration or multiple of the printing platform 110 at a moment during the movement from the predetermined law of motion The average value of the instantaneous acceleration at each moment is used as the acceleration signal.
  • the acceleration signal includes the acceleration of the printing platform 110 during motion.
  • Acquiring the corresponding sensing signals output by the N pressure sensors during the movement of the printing platform 110 in step S230 may include: for each pressure sensor 130, acquiring the output signal of the pressure sensor 130 during the movement of the printing platform 110 at a moment The sampled value or the average value of the sampled values at multiple moments is used as the sensing signal of the pressure sensor 130 .
  • the sensing signal of the pressure sensor 130 includes a value corresponding to the sensing signal.
  • each pressure sensor 130 can be calculated by calculating the instantaneous acceleration at a certain moment and the sampled value of the pressure sensor 130 at that moment, or by calculating the average value of the instantaneous acceleration and the average value of the sampled values at multiple moments.
  • the predetermined motion pattern may include reciprocating motion. It can be understood that, in the actual motion process, due to the flexibility of the motion mechanism, vibration, sensor noise, etc., a relatively long sampling time is required to obtain a stable output from the pressure sensor 130 . If uniform acceleration is adopted, the linear velocity of the printing platform 110 will be relatively large after a relatively long sampling time. For example, if the z-axis carriage accelerates at an acceleration of 1 m/s 2 for sampling for 1 second, the printing platform 110 needs to accelerate to 1 m/s when the sampling ends. For the 3D printer, this movement speed may require higher cost (for example, a more powerful motor, a longer stroke Z-axis, etc.) to achieve.
  • the reciprocating motion can make the printing platform 110 reciprocate within a certain displacement range, which can not only get rid of the limitation of the machine size, but also limit the linear speed within a certain range, thereby reducing the required machine cost and helping to calculate the pressure sensor 130 sensitivity.
  • FIG. 4 shows a flowchart of a method 400 for a 3D printer according to an embodiment of the present disclosure.
  • the method 400 may include: Step S410 to Step S480 .
  • step S410 the printing platform 110 is controlled to move along the Z-axis of the 3D printer according to a predetermined movement rule.
  • step S420 a discrete time sequence a(k) of the acceleration of the printing platform 110 during motion is determined from a predetermined motion law.
  • step S430 Fourier transform is performed on the discrete time sequence a(k) to obtain a transformed acceleration data sequence A'(n).
  • step S440 an acceleration data item with a predetermined serial number is selected from the transformed acceleration data sequence A'(n) for calculating the acceleration signal.
  • step S460 Fourier transform is performed on each discrete time sequence ⁇ v j (k) ⁇ to obtain a transformed sensing data sequence ⁇ V′ j (n) ⁇ .
  • step S480 based on the acceleration signal, the corresponding sensing signal, the mass of the printing platform 110 , and the corresponding positions of the N pressure sensors 130 relative to the centroid of the printing platform 110 , the respective sensitivities of the N pressure sensors 130 are determined.
  • step S410 and step S480 are respectively the same as the above-mentioned step S210 and step S240, for details, reference may be made to the description of the above-mentioned embodiment.
  • Steps S420 to S440 may be a specific implementation of step S220
  • steps S450 to S470 may be a specific implementation of step S230.
  • the processor can periodically output a control signal to control the motion of the printing platform 110
  • fs can be the control frequency for the processor to control the motion and the sampling frequency of the pressure sensor 130 .
  • the acceleration signal can be represented by a discrete time sequence a(k)
  • the output signal of the pressure sensor 130 can also be represented by a discrete time sequence ⁇ v j (k) ⁇ of sampled values, that is, for each pressure sensor 130 with a sampling frequency fs to sample to obtain the discrete time sequence ⁇ v j (k) ⁇ of sampled values.
  • the acceleration signal can be expressed as a discrete time sequence a(k).
  • the discrete time series v 1 (k) of the sampling values of the first sensor and the discrete time series v 2 (k) of the sampling values of the second sensor can be obtained through sampling.
  • the discrete time sequence a(k) can be Fourier transformed to obtain the transformed acceleration data sequence A'(n). And Fourier transform is performed on the discrete time series v 1 (k) and v 2 (k) to obtain transformed sensing data sequences V' 1 (n) and V' 2 (n) respectively.
  • the discrete time series a(k), v 1 (k) and v 2 (k) can be expressed as sequences A′(n), V′ 1 (n ), V′ 2 (n), each data item corresponding to n can represent a frequency component.
  • a predetermined serial number c corresponding to the 3D printer the sensitivity of the pressure sensor 130 can be calculated, and c can be a frequency or a frequency component of a predetermined motion law.
  • of the acceleration data item with the predetermined sequence number c in the sequence A'(n) is used as the acceleration signal
  • calculating the corresponding sensing signal includes: calculating the acceleration data item with the predetermined sequence number c
  • corresponding to each sensing data item is used as a corresponding sensing signal.
  • the acceleration data item of the predetermined serial number when the acceleration data item of the predetermined serial number itself is a positive real number, the acceleration data item may be directly used as the acceleration signal, for example, the number of the acceleration data item of the predetermined serial number is 1.
  • a(k), v 1 (k) and v 2 (k) after Fourier transformation can be expressed as A′(c) and V′ 1 (c) in complex form respectively , V′ 2 (c).
  • V′ 1 (c) R 1 +i*I 1
  • V′ 2 (c) R 2 +i*I 2
  • modulus values corresponding to A′(c), V′ 1 (c), and V′ 2 (c) are respectively:
  • the acceleration signal and the sensing signal will have glitches and other interferences. If only the acceleration signal and sensing signal at a certain point are collected, the calculated sensitivity will have a large error. After the Fourier transform, all data points within the entire sampling time can be used as the basis for calculating the sensitivity, thereby reducing the impact of noise on the accuracy of the calculation results. Moreover, by comprehensively calculating multiple data points, the accuracy of sensitivity calibration can be further improved.
  • the reciprocating motion is a simple harmonic motion with a frequency of F 0 Hz
  • the acceleration data item with a predetermined sequence number is A'(F 0 *T)
  • each sensing data item with a predetermined sequence number is ⁇ V' j (F 0 *T) ⁇ .
  • the change law of the displacement with time of the simple harmonic motion can be a sine function or a cosine function law.
  • the discrete time series a(k) of acceleration can be expressed as:
  • A is the maximum amplitude of reciprocating motion.
  • the predetermined sequence number c F 0 *T in step S440 and step S470, the simple harmonic motion law is simple, and it is easier to calculate the sensitivity.
  • the present disclosure also provides a 3D printer, including: a printing platform 110, a processor, and N pressure sensors 130, the printing platform 110 includes a printing plane 112 for carrying printed objects; each of the N pressure sensors 130 is configured to Generating a sensing signal indicating the force applied to the printing plane 112, N is a positive integer greater than or equal to 1; the processor is configured to execute instructions to implement the above-mentioned method for a 3D printer.
  • the structures and functions of the printing platform 110, the processor, and the N pressure sensors 130 can refer to the above-mentioned embodiments, and will not be repeated here.
  • the present disclosure also provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions, when executed by a processor of the 3D printer, cause the 3D printer to implement the above method for the 3D printer.
  • the present disclosure also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor of the 3D printer, causes the 3D printer to implement the above method for a 3D printer.
  • first”, “second”, “third”, etc. are used for descriptive purposes only, and should not be interpreted as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first”, “second” and “third” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • a first feature being “on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
  • “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • “Below”, “beneath” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)

Abstract

Procédé d'impression 3D, et imprimante 3D. L'imprimante 3D comprend : un plateforme d'impression et N capteurs de pression. La plateforme d'impression comprend un plan d'impression pour porter un objet imprimé, et les N capteurs de pression sont conçus pour générer un signal de détection indiquant une force appliquée au plan d'impression, N étant un nombre entier positif supérieur ou égal à 1. Le procédé consiste : à commander la plateforme d'impression de se déplacer le long d'un axe Z de l'imprimante 3D en fonction d'une règle de mouvement prédéterminée ; à obtenir des signaux de détection émis par les N capteurs de pression durant un mouvement de la plateforme d'impression ; et à déterminer la sensibilité respective des N capteurs de pression sur la base d'un signal d'accélération de la plateforme d'impression durant le mouvement et les signaux de détection correspondants.
PCT/CN2022/144244 2021-12-31 2022-12-30 Procédé d'impression 3d, et imprimante 3d WO2023125990A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280066564.8A CN118076474A (zh) 2021-12-31 2022-12-30 用于3d打印机的方法及3d打印机

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111681976.6 2021-12-31
CN202111681976.6A CN114311683B (zh) 2021-12-31 2021-12-31 用于3d打印机的方法及3d打印机

Publications (1)

Publication Number Publication Date
WO2023125990A1 true WO2023125990A1 (fr) 2023-07-06

Family

ID=81022252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/144244 WO2023125990A1 (fr) 2021-12-31 2022-12-30 Procédé d'impression 3d, et imprimante 3d

Country Status (2)

Country Link
CN (2) CN114311683B (fr)
WO (1) WO2023125990A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114311683B (zh) * 2021-12-31 2023-11-17 深圳拓竹科技有限公司 用于3d打印机的方法及3d打印机
CN117532884A (zh) * 2023-11-13 2024-02-09 深圳拓竹科技有限公司 一种3d打印机、固有频率的测量方法及电子设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105252770A (zh) * 2015-11-10 2016-01-20 珠海天威飞马打印耗材有限公司 三维打印方法和三维打印机
US20160039148A1 (en) * 2014-08-05 2016-02-11 Delaware Capital Formation, Inc. 3-d printer having motion sensors
CN109895383A (zh) * 2018-11-01 2019-06-18 先临三维科技股份有限公司 一种光固化3d打印机及其自动调平方法
CN114311683A (zh) * 2021-12-31 2022-04-12 深圳拓竹科技有限公司 用于3d打印机的方法及3d打印机

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150130100A1 (en) * 2013-11-12 2015-05-14 John D. Fiegener Method and apparatus for leveling a three dimensional printing platform
CN104535258B (zh) * 2015-01-05 2017-01-04 广州赛宝计量检测中心服务有限公司 一种动态力传感器自动校准装置
CN109397703B (zh) * 2018-10-29 2020-08-07 北京航空航天大学 一种故障检测方法及装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160039148A1 (en) * 2014-08-05 2016-02-11 Delaware Capital Formation, Inc. 3-d printer having motion sensors
CN105252770A (zh) * 2015-11-10 2016-01-20 珠海天威飞马打印耗材有限公司 三维打印方法和三维打印机
WO2017080369A1 (fr) * 2015-11-10 2017-05-18 珠海天威飞马打印耗材有限公司 Procédé d'impression tridimensionnelle et imprimante tridimensionnelle
CN109895383A (zh) * 2018-11-01 2019-06-18 先临三维科技股份有限公司 一种光固化3d打印机及其自动调平方法
CN114311683A (zh) * 2021-12-31 2022-04-12 深圳拓竹科技有限公司 用于3d打印机的方法及3d打印机

Also Published As

Publication number Publication date
CN118076474A (zh) 2024-05-24
CN114311683A (zh) 2022-04-12
CN114311683B (zh) 2023-11-17

Similar Documents

Publication Publication Date Title
WO2023125990A1 (fr) Procédé d'impression 3d, et imprimante 3d
US6044569A (en) Measuring method and measuring instrument
US10775148B2 (en) Determining a position of a movable part of a coordinate measuring machine
KR101485083B1 (ko) 강체특성 식별장치 및 강체특성 식별방법
US10564032B2 (en) Vibration mode determining apparatus
CN104634338B (zh) 振动稳健的转速传感器
JP2005531780A (ja) 走査システムの較正方法
CN103776464B (zh) 用于调整转速传感器的方法
CN115014386A (zh) 用于确定、测量和/或监测传感器系统特性的方法和传感器系统
CN110394817A (zh) 使用机器人推断负载重量和重心位置的装置、方法及程序
WO2013058936A1 (fr) Procédés et appareils à utiliser dans la détermination de l'état de mouvement d'un dispositif mobile
US9500669B2 (en) System and method for calibrating an inertial sensor
WO2014192181A1 (fr) Terminal mobile, système de détermination d'état de terminal mobile, programme, support d'informations et procédé de détermination d'état de terminal mobile
CN105866473B (zh) 马达振动加速度的测量方法及装置
JP2003097940A (ja) 形状測定方法、形状測定装置、形状測定用のコンピュータプログラムを格納する記憶媒体及び形状測定用のコンピュータプログラム
JP2018052346A (ja) 自転車用自動変速システム
JP5831904B2 (ja) 粘弾性測定方法及び粘弾性測定装置
CN109061225A (zh) 一种加速度测量装置及其加速度测量方法
TWI752720B (zh) 電子設備及其控制方法
CN107532903B (zh) 转动速率传感器和方法
JP2003050118A (ja) 計測方法および計測装置
JP2014126482A (ja) 車両重量測定装置及び車両重量測定方法
JP2014130102A (ja) 歩行の安定性を評価可能な携帯型情報装置、プログラム及び方法
CN108369145B (zh) 用于对驱动单元进行转矩测量的方法
JP2006081600A (ja) 体動測定装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22915237

Country of ref document: EP

Kind code of ref document: A1