CN104057612A - Automatic leveling device for 3D printer, 3D printer and leveling method - Google Patents
Automatic leveling device for 3D printer, 3D printer and leveling method Download PDFInfo
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- CN104057612A CN104057612A CN201410270342.5A CN201410270342A CN104057612A CN 104057612 A CN104057612 A CN 104057612A CN 201410270342 A CN201410270342 A CN 201410270342A CN 104057612 A CN104057612 A CN 104057612A
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Abstract
The invention discloses an automatic leveling device for a 3D printer, the 3D printer and a leveling method. The automatic leveling device for the 3D printer comprises a fixed platform, a linear stepping motor, a distance measuring sensor and a display, wherein the linear stepping motor can be a voice coil motor. The 3D printer disclosed by the invention can acquire the height data of each measuring point positioned on a printing platform through the distance measuring sensor, can be used for adjusting the levelness of the printing platform through the linear stepping motor and can realize the full-automatic or semi-automatic or manual adjustment of the levelness of the printing platform. The leveling method disclosed by the invention can be used for automatically judging whether the leveling is needed or not, the leveling action can be carried out through the linear stepping motor or the voice coil motor if the leveling is needed, so that the heights of all the measuring points positioned on the distance measuring sensor and the printing platform are within an allowable leveling error range, the full automation of leveling is realized, the manual intervention is avoided and the defects of other 3D printers that more time is taken for leveling and the leveling accuracy can not be ensured.
Description
Technical field
The present invention relates to the technical field of 3D printer, relate in particular to a kind of 3D printer self-level(l)ing device and 3D printer and leveling method.
Background technology
3D printer claims again three-dimensional printer, it is a kind of machine of RP technique, it is that a kind of mathematical model file is basis, use powdery metal or the plastics etc. can jointing material, carry out the technology of constructed object by the mode of successively printing, it is a kind of accumulation manufacturing technology, manufacture three-dimensional object by the jointing material of printing from level to level, its general principle is by data and raw material are put in 3D printer, machine can be created product from level to level according to program, and the product printing, and can immediately use.3D printer used is used to modeling in fields such as mould manufacture, industrial designs, existing just gradually for the direct manufacture of some products, can be used for jewelry, footwear, industrial design, building, engineering and construction (AEC), automobile, Aero-Space, dentistry and medical industries, education, GIS-Geographic Information System, civil engineering, and many other fields.
When 3D prints, if each point height differs on printing head and print platform, in the time printing the place of near distance likely shower nozzle point mouth can scratch print platform, the local printing head of distance may not reach print platform or the silk extruded is difficult to and print platform strong bond.
Prior art be generally by print platform and below add regulating spring and adjusting nut between firm banking, by mobile print shower nozzle to diverse location on print platform, by eyes height of observation, regulate the height of each point on printing head and print platform by adjusting nut position.The method needs several circulations repeatedly, very time-consuming, and observes by eyes, and accuracy is too low, is difficult to realize high accuracy and prints, and needs further to be improved.
Summary of the invention
Object of the present invention, proposes a kind of automaticity that can improve manual adjustments print platform in existing 3D printer exactly, has 3D printer self-level(l)ing device and 3D printer and the leveling method of time saving and energy saving and the advantage that accuracy is higher.
The present invention is for solving the problems of the technologies described above, a kind of 3D printer self-level(l)ing device is provided, comprise: fixed platform, for adjusting the linear stepping motor at print platform angle of inclination, for measuring the distance measuring sensor of head mechanism apart from each point height on print platform, and for showing the display of described distance measuring sensor measurement result.
The print platform below of described fixed platform in printer, the quantity of described linear stepping motor is three, three described linear stepping motors are all fixed in described fixed platform, three described linear stepping motors are not on same straight line, described in each, the output screw of linear stepping motor all vertically arranges upward, described in each, the each spiral shell in the upper end of output screw is provided with a spherical pair connector, described spherical pair connector can move up and down under the turning effort of described output screw, described distance measuring sensor is arranged on the head mechanism of printer, described distance measuring sensor is connected with described display.
Preferably, described spherical pair connector comprises spheroid for establishing with described output screw spiral shell and for being fastened on the spherical shell on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect.
Preferably, described linear stepping motor is penetration type linear stepping motor, and described output screw extends out to the outside of described linear stepping motor away from the bottom of described spherical pair connector
The present invention is for solving the problems of the technologies described above, another kind of 3D printer self-level(l)ing device is also provided, comprise: fixed platform, for adjusting the voice coil motor at print platform angle of inclination, for measuring the distance measuring sensor of head mechanism apart from each point height on print platform, and for showing the display of described distance measuring sensor measurement result, the print platform below of described fixed platform in printer.
The quantity of described voice coil motor is three, three described voice coil motors are all fixed in described fixed platform, three described voice coil motors are not on same straight line, described in each, the output shaft of voice coil motor all vertically arranges upward, described in each, the upper end of output shaft respectively arranges a spherical pair connector, described spherical pair connector can move up and down under the effect of described output shaft, and described distance measuring sensor is arranged on the head mechanism of printer, and described distance measuring sensor is connected with described display.
Preferably, described spherical pair connector comprises ball for being connected and fixed with described output shaft and for being fastened on the spherical shell on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect.
The present invention also provides a kind of 3D printer, comprise: frame, X-axis motion, Y-axis motion, Z axis motion, print platform, feeder, head mechanism and controller, described X-axis motion, Y-axis motion, Z axis motion, described print platform and described feeder are all arranged in described frame, described head mechanism is arranged on described X-axis motion and Y-axis motion, described 3D printer also comprises an above-mentioned 3D printer self-level(l)ing device, described fixed platform is liftable to be arranged on described Z axis motion, described print platform is connected and is arranged on the output screw of described linear stepping motor or the output shaft of voice coil motor by described spherical pair connector, distance measuring sensor described in described controller control connection, X-axis motion, Y-axis motion and Z axis motion, described linear stepping motor or described voice coil motor and described controller control connection.
The present invention also proposes a kind of leveling method, comprises the following steps:
Step 1, target setting leveling error are d.
Step 2, choose measurement point, on print platform, choose n the not measurement point on same straight line, n > 2.
Step 3, range finding calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, be designated as successively h1, h2, h3 ... hn, calculates its mean value h=(h1+h2+h3+ ... + hn)/n.
Step 4, judge minimal difference whether meet leveling error requirement: Min (| h-h1|, | h-h2|, | h-h3| ... | h-hn|) <d/2; If meet leveling error requirement, print platform has met leveling requirement, finishes this leveling; If do not meet leveling error requirement, perform step five.
Step 5, respectively by the lifting action of linear stepping motor or voice coil motor, further leveling print platform.
Step 6, again range finding and calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, be designated as successively hh1, hh2, hh3 ... hhn, calculate its mean value hh=(hh1+hh2+hh3+ ... + hhn)/n, substitution h=hh, h1=hh1, h2=hh2, h3=hh3 ... hn=hhn, returns to execution step four, judges whether minimal difference meets leveling error requirement.
Preferably, the measurement point quantity that described step 2 is chosen is 3, and 3 measurement points lay respectively at the edge of print platform end face.
Preferably, described step 5 specifically comprises the steps:
Step 501, measurement are positioned at three motor support point coordinates on print platform
Taking the measurement end position of distance measuring sensor after X, Y-axis back to zero as reference origin, taking X-axis, Y-axis forward move, Z axis moves down as positive direction, sets up coordinate system.
The measurement end of distance measuring sensor mobile plane obtaining on motion platform is P:Z=0, and distance measuring sensor coordinate of each measurement point on motion platform is designated as A1:(X1, Y1,0), A2:(X2, Y2,0) and A3:(X3, Y3,0), on corresponding print platform, the coordinate of each measurement point is B1:(X1, Y1, h1), B2:(X2, Y2, h2) and B3:(X3, Y3, h3).
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1＝0 (1)
Remember that described three motors are M1 motor, M2 motor and M3 motor, its corresponding strong point coordinate is respectively M1:(X11, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), 3 are all positioned in plane P 1, therefore meet equation:
A1*X11+B1*Y11+C1*Z11+1＝0 (2)
A1*X21+B1*Y21+C1*Z21+1＝0 (3)
A1*X31+B1*Y31+C1*Z31+1＝0 (4)
The M1 motor d11 distance that moves up, obtains new strong point coordinate M11:(X11, Y11, Z11-d11).
Mobile distance measuring sensor to three measurement point remeasures, and obtains new height h11, h12, h13, and then the coordinate that obtains each measurement point on print platform is C1:(X1, Y1, h11), C2:(X2, Y2, h12) and C3:(X3, Y3, h13).
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P11：A11*X+B11*Y+C11*Z+1＝0 (5)
Because some M11, in P11 plane, therefore can obtain:
A11*X11+B11*Y11+C11*(Z11-d11)+1＝0 (6)
Move down M1 motor d12 distance, obtain new strong point coordinate M12:(X11, Y11, Z11+h12).
Distance measuring sensor to three on a mobile printer motion platform measurement point remeasures, obtain new height h14, h15, h16, and then the coordinate that obtains each measurement point on print platform is D1:(X1, Y1, h14), D2:(X2, Y2, h15) and D3:(X3, Y3, h16).
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P12：A12*X+B12*Y+C12*Z+1＝0 (7)
Because some M12, in P12 plane, therefore can obtain:
A12*X11+B12*Y11+C12*(Z11+d12)+1＝0 (8)
Consolidated equation (2), (6), (8), can calculate M1 motor support point coordinates M1:(X11, Y11, Z11).
Adopt and use the same method, can obtain M2 motor support point coordinates M2:(X21, Y21, Z21), M3 motor support point coordinates M3:(X31, Y31, Z31).
Step 502, leveling operation
According to the each self-corresponding strong point coordinate M1:(X11 of the M1 motor obtaining, M2 motor and M3 motor, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), starter motor is carried out leveling action, prints as follows platform erection.
If Z21>Z11, starts M2 motor and makes the strong point coordinate M1 distance that moves upward: (Z21-Z11); If Z21<Z11, starts M2 motor and makes strong point coordinate M1 move downward distance: (Z11-Z21).
If Z31>Z11, starts M3 motor and makes the strong point coordinate M3 distance that moves upward: (Z31-Z11); If Z31<Z11, starts M3 motor and makes strong point coordinate M3 move downward distance: (Z11-Z31).
3D printer of the present invention is as follows with the beneficial effect of self-level(l)ing device and 3D printer and leveling method:
1,3D printer of the present invention obtains each point altitude information on print platform with self-level(l)ing device by distance measuring sensor, the altitude information that user reads print platform each point by display is measured situation, can know whether print platform needs to carry out leveling, if need to carry out leveling,, by starting line correspondence stepper motor or voice coil motor, can carry out multi-angle adjustment to print platform.Therefore, 3D printer of the present invention utilizes head mechanism to drive distance measuring sensor to carry out obtaining of altitude information with self-level(l)ing device cleverly, can obtain easily the altitude information of each point on print platform, have advantages of that the fast precision of speed is high, in addition, also utilize the output screw of three linear stepping motors and the output shaft of the voice coil motor straight line lift action in short transverse, form by spherical pair connector is connected with print platform, realization can mechanical automation the levelness of adjustment print platform, adjustment process is convenient, can effectively improve the automaticity of manual adjustments print platform in existing 3D printer, have advantages of time saving and energy saving higher with accuracy.
2,3D printer of the present invention utilizes spherical pair connector to connect with self-level(l)ing device, connects better effects if, and can further avoid appearance in lift adjustment process to interfere stuck situation.If spherical pair connector is to adopt spherical shell being coated the form that spherical becomes spherical pair to connect, can improve the free degree of junction.
3,3D printer of the present invention adopts penetration type linear stepping motor with self-level(l)ing device, because its output screw is that two ends all extend to outside, so user not only can adopt the rotation of driven by power output screw to realize lift action, directly manual actuation output screw is realized lift action away from an end rotation of print platform.
4,3D printer of the present invention can be realized the levelness of full-automatic semi-automatic or manual adjustment print platform, adjustment process is convenient, can effectively improve the automaticity of manual adjustments print platform in existing 3D printer, have advantages of time saving and energy saving higher with accuracy.
5, leveling method of the present invention obtains the altitude information of each measurement point on print platform by distance measuring sensor, and carry out automatic decision and whether need leveling, if desired carry out leveling, carry out leveling action by linear stepping motor or voice coil motor, make each point on distance measuring sensor and print platform keep sustained height.Can realize leveling full-automation, not need manual intervention, having eliminated the each start of other 3D printers all needs manually to carry out leveling, and manual leveling is time-consuming, and the degree of accuracy of the leveling shortcoming that can not ensure.
Brief description of the drawings
Fig. 1 is the structural representation of self-level(l)ing device for the 3D printer of specific embodiment.
Fig. 2 is the head mechanism of specific embodiment and the structural representation of distance measuring sensor.
Fig. 3 is the structural representation of the linear stepping motor of specific embodiment.
Fig. 4 is the overall structure schematic diagram of the 3D printer of specific embodiment.
Fig. 5 is the schematic flow sheet of the leveling method of specific embodiment.
Fig. 6 is the changes in coordinates schematic diagram of the leveling process motor support point of specific embodiment.
Number in the figure explanation:
Fixed platform 100, linear stepping motor 200, output screw 210, distance measuring sensor 300, display 400, print platform 500, spherical pair connector 600, head mechanism 700, controller 800.
Detailed description of the invention
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Embodiment mono-:
Fig. 1 is the structural representation of self-level(l)ing device for the 3D printer of specific embodiment.As shown in Figure 1, the present embodiment proposes a kind of 3D printer self-level(l)ing device, comprise: fixed platform 100, for adjusting the linear stepping motor 200 at print platform angle of inclination, for measuring the distance measuring sensor 300 of head mechanism apart from each point height on print platform, and for showing the display 400 of described distance measuring sensor measurement result.
Shown in Fig. 4, print platform 500 belows of the fixed platform 100 of the present embodiment in printer, the quantity of linear stepping motor 200 is three, three linear stepping motors 200 are all fixed in fixed platform 100, three linear stepping motors 200 are not on same straight line, the output screw 210 of each linear stepping motor 200 all vertically arranges upward, as shown in Figure 3, in the upper end of each output screw 210, each spiral shell is provided with a spherical pair connector 600, spherical pair connector 600 can move up and down under the turning effort of output screw 210, as shown in Figure 2, distance measuring sensor 300 is arranged on the head mechanism 700 of printer, distance measuring sensor 300 is connected with display 400.
Concrete, the spherical pair connector 600 of the present embodiment comprises spheroid (not shown) for establishing with output screw 210 spiral shells and for being fastened on the spherical shell (not shown) on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect, and also can directly select the outsourcing piece such as ball hinged universal joint or spherical bearing to form spherical pair and connect use.As further improvement of this embodiment, the linear stepping motor of the present embodiment is selected penetration type linear stepping motor, and described output screw extends out to the outside (the outward extending bottom of not shown output screw) of described linear stepping motor away from the bottom of described spherical pair connector.
Exemplary, the 3D printer of the present embodiment is as follows by the concrete applicable cases of self-level(l)ing device:
User obtains each point altitude information on print platform 500 by distance measuring sensor 300, and altitude information is measured to situation show by display 400, user can know by display 400 whether print platform 500 needs to carry out leveling, if need to carry out leveling, make the 600 oscilaltion campaigns of spherical pair connector by output screw 210 rotations that start line correspondence stepper motor 200, then realize the adjustment of the levelness of print platform 500, wherein, user can adopt output screw 210 rotations of driven by power linear stepping motor 200 to realize lift action, directly manual actuation output screw 210 is realized lift action away from an end rotation of print platform 500.
Embodiment bis-:
The present embodiment proposes another kind of 3D printer self-level(l)ing device, comprise: fixed platform, for adjusting the voice coil motor at print platform angle of inclination, for measuring the distance measuring sensor of head mechanism apart from each point height on print platform, and for showing the display of described distance measuring sensor measurement result.
Each parts label of the present embodiment can be referring to shown in the sign and accompanying drawing thereof of embodiment mono-corresponding component, the print platform below of the fixed platform of the present embodiment in printer, the quantity of described voice coil motor is three, three described voice coil motors are all fixed in described fixed platform, three described voice coil motors are not on same straight line, described in each, the output shaft of voice coil motor all vertically arranges upward, described in each, the upper end of output shaft respectively arranges a spherical pair connector, described spherical pair connector can move up and down under the effect of described output shaft, described distance measuring sensor is arranged on the head mechanism of printer, described distance measuring sensor is connected with described display.
Concrete, the described spherical pair connector of the present embodiment comprises ball for being connected and fixed with described output shaft and for being fastened on the spherical shell on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect.In other specific embodiments, spherical pair connector also can directly be selected the outsourcing piece such as ball hinged universal joint or spherical bearing to form spherical pair connection and use, and distance measuring sensor also can adopt laser sensor to measure.
Exemplary, the 3D printer of the present embodiment is as follows by the concrete applicable cases of self-level(l)ing device:
User obtains each point altitude information on print platform by distance measuring sensor, and altitude information is measured to situation show by display, user can know by display whether print platform needs to carry out leveling, if need to carry out leveling, by starting corresponding voice coil motor, its output shaft moves back and forth, and makes spherical pair connector oscilaltion campaign, then realizes the adjustment of the levelness of print platform.
Embodiment tri-:
The present embodiment has proposed a kind of 3D printer, comprises frame, X-axis motion, Y-axis motion, Z axis motion, print platform 500, feeder (not shown), head mechanism 700 and controller 800, described X-axis motion, Y-axis motion, Z axis motion, described print platform and described feeder are all arranged in described frame, described head mechanism is arranged on described X-axis motion and Y-axis motion, described 3D printer also comprises the 3D printer self-level(l)ing device described in an embodiment mono-or embodiment bis-, fixed platform 100 is liftable to be arranged on described Z axis motion, print platform 500 is connected and is arranged on the output screw 210 of linear stepping motor 200 or the output shaft of voice coil motor by spherical pair connector 600, controller 800 control connection distance measuring sensors 300, X-axis motion, Y-axis motion and Z axis motion, described linear stepping motor or described voice coil motor and described controller control connection.
Concrete, to the 3D printer self-level(l)ing device described in employing embodiment mono-, the output screw 210 of three linear stepping motors 200 is flexibly connected with print platform 500 bottom surfaces by a spherical pair connector 600 separately, the spheroid of spherical pair connector 600 is arranged in output screw 210 upper ends, the spherical shell of spherical pair connector 600 is fixedly installed on print platform 500 bottom surfaces, spherical shell is being coated described spherical and is becoming spherical pair to connect, what described spheroid was output screw rod 210 rotarily drives oscilaltion campaign, then promote moving up and down of print platform 500 strong points, realize leveling object.
Concrete, to the 3D printer self-level(l)ing device described in employing embodiment bis-, the output shaft of three voice coil motors is flexibly connected with described print platform bottom surface by a spherical pair connector separately, the ball of spherical pair connector is fixedly connected on described output screw upper end, the spherical shell of spherical pair connector is fixedly installed on print platform bottom surface, spherical shell is being coated described spherical and is becoming spherical pair to connect, spheroid is by the drive oscilaltion campaign of described output shaft, then promote moving up and down of the print platform strong point, realize leveling object.
The 3D printer of the present embodiment can be realized the levelness of full-automatic semi-automatic or manual adjustment print platform in actual use, adjustment process is convenient, can effectively improve the automaticity of manual adjustments print platform in existing 3D printer, have advantages of time saving and energy saving higher with accuracy.
Certainly, in other specific embodiments, frame, X-axis motion, Y-axis motion, Z axis motion, print platform, feeder and controller can adopt market to commonly use outsourcing piece, or directly on existing 3D printer, improve, and repeat no more herein.
Embodiment tetra-:
Fig. 5 is the schematic flow sheet of the leveling method of specific embodiment.As shown in Figure 5, the present embodiment has also proposed a kind of leveling method, comprises the following steps:
Step S1, target setting leveling error are d (numerical value of d can need to be adjusted setting according to requirement or the design of printing object).
Step S2, choose measurement point, on print platform, choose 3 not measurement points on same straight line, and 3 measurement points lay respectively at the edge of print platform end face (in order to improve as much as possible the levelness levels of precision of the print platform obtaining, distance between different measuring point is large as much as possible, can be evenly distributed on the edge of print platform end face as far as possible, to reduce the error of calculation, the measurement point quantity of choosing can be to be also greater than other quantity of 3).
Step S3, range finding calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, is designated as successively h1, h2, h3, calculates its mean value h=(h1+h2+h3)/3.
Step S4, judge minimal difference whether meet leveling error requirement: Min (| h-h1|, | h-h2|, | h-h3|) <d/2; If meet leveling error requirement, print platform has met leveling requirement, finishes this leveling; If do not meet leveling error requirement, perform step S5.
Step S5, respectively by the lifting action of linear stepping motor or voice coil motor, further leveling print platform.
Step S6, again range finding and calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, be designated as successively hh1, hh2, hh3, calculate its mean value hh=(hh1+hh2+hh3)/3, substitution h=hh, h1=hh1, h2=hh2, h3=hh3, returns to execution step S4, judges whether minimal difference meets leveling error requirement.
Concrete, the step S5 of the present embodiment specifically comprises the steps:
Step S501, measurement are positioned at three motor support point coordinates on print platform
Shown in Fig. 6, taking the measurement end position of distance measuring sensor after X, Y-axis back to zero as reference origin, taking X-axis, Y-axis forward move, Z axis moves down as positive direction, sets up coordinate system;
The measurement end of distance measuring sensor mobile plane obtaining on motion platform is P:Z=0, and distance measuring sensor coordinate of each measurement point on motion platform is designated as A1:(X1, Y1,0), A2:(X2, Y2,0) and A3:(X3, Y3,0), on corresponding print platform, the coordinate of each measurement point is B1:(X1, Y1, h1), B2:(X2, Y2, h2) and B3:(X3, Y3, h3);
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1＝0 (1)
Remember that described three motors are M1 motor, M2 motor and M3 motor, its corresponding strong point coordinate is respectively M1:(X11, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), 3 are all positioned in plane P 1, therefore meet equation:
A1*X11+B1*Y11+C1*Z11+1＝0 (2)
A1*X21+B1*Y21+C1*Z21+1＝0 (3)
A1*X31+B1*Y31+C1*Z31+1＝0 (4)
The M1 motor d11 distance that moves up, obtains new strong point coordinate M11:(X11, Y11, Z11-d11).
Mobile distance measuring sensor to three measurement point remeasures, and obtains new height h11, h12, h13, and then the coordinate that obtains each measurement point on print platform is C1:(X1, Y1, h11), C2:(X2, Y2, h12) and C3:(X3, Y3, h13).
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P11：A11*X+B11*Y+C11*Z+1＝0 (5)
Because some M11, in P11 plane, therefore can obtain:
A11*X11+B11*Y11+C11*(Z11-d11)+1＝0 (6)
Move down M1 motor d12 distance, obtain new strong point coordinate M12:(X11, Y11, Z11+h12).
Distance measuring sensor to three on a mobile printer motion platform measurement point remeasures, obtain new height h14, h15, h16, and then the coordinate that obtains each measurement point on print platform is D1:(X1, Y1, h14), D2:(X2, Y2, h15) and D3:(X3, Y3, h16);
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P12：A12*X+B12*Y+C12*Z+1＝0 (7)
Because some M12, in P12 plane, therefore can obtain:
A12*X11+B12*Y11+C12*(Z11+d12)+1＝0 (8)
Consolidated equation (2), (6), (8), can calculate M1 motor support point coordinates M1:(X11, Y11, Z11).
Adopt and use the same method, can obtain M2 motor support point coordinates M2:(X21, Y21, Z21), M3 motor support point coordinates M3:(X31, Y31, Z31);
Step S502, leveling operation
According to the each self-corresponding strong point coordinate M1:(X11 of the M1 motor obtaining, M2 motor and M3 motor, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), starter motor is carried out leveling action, prints as follows platform erection;
If Z21>Z11, starts M2 motor and makes the strong point coordinate M1 distance that moves upward: (Z21-Z11); If Z21<Z11, starts M2 motor and makes strong point coordinate M1 move downward distance: (Z11-Z21);
If Z31>Z11, starts M3 motor and makes the strong point coordinate M3 distance that moves upward: (Z31-Z11); If Z31<Z11, starts M3 motor and makes strong point coordinate M3 move downward distance: (Z11-Z31).
Exemplary, the leveling method of the present embodiment can be applied on the 3D printer of embodiment tri-, by programming according to the instruction of above-mentioned leveling method at controller, by controller, self-level(l)ing device is controlled automatically, 3D printer can obtain by distance measuring sensor the altitude information of each measurement point on print platform, and altitude information is sent to and on controller, carries out computing according to the leveling method of the present embodiment and whether automatic decision needs leveling, if desired carry out leveling, control by linear stepping motor or voice coil motor and automatically perform leveling action, make on distance measuring sensor and print platform each point keep sustained height or in the scope of allowable error d.Visible the present embodiment can be realized leveling full-automation, and whole process does not need manual intervention, and having eliminated the each start of other 3D printers all needs manually to carry out leveling, and manual leveling is time-consuming, and the degree of accuracy of the leveling shortcoming that can not ensure.
With above-mentioned be only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (9)
1. a 3D printer self-level(l)ing device, comprising:
Fixed platform,
For adjusting the linear stepping motor at print platform angle of inclination,
For measuring the distance measuring sensor of head mechanism apart from each point height on print platform, and
For showing the display of described distance measuring sensor measurement result;
The print platform below of described fixed platform in printer, the quantity of described linear stepping motor is three, three described linear stepping motors are all fixed in described fixed platform, three described linear stepping motors are not on same straight line, described in each, the output screw of linear stepping motor all vertically arranges upward, described in each, the each spiral shell in the upper end of output screw is provided with a spherical pair connector, described spherical pair connector can move up and down under the turning effort of described output screw, described distance measuring sensor is arranged on the head mechanism of printer, described distance measuring sensor is connected with described display.
2. 3D printer self-level(l)ing device as claimed in claim 1, it is characterized in that: described spherical pair connector comprises spheroid for establishing with described output screw spiral shell and for being fastened on the spherical shell on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect.
3. 3D printer self-level(l)ing device as claimed in claim 1 or 2, it is characterized in that: described linear stepping motor is penetration type linear stepping motor, described output screw extends out to the outside of described linear stepping motor away from the bottom of described spherical pair connector.
4. a 3D printer self-level(l)ing device, comprising:
Fixed platform,
For adjusting the voice coil motor at print platform angle of inclination,
For measuring the distance measuring sensor of head mechanism apart from each point height on print platform, and
For showing the display of described distance measuring sensor measurement result;
The print platform below of described fixed platform in printer, the quantity of described voice coil motor is three, three described voice coil motors are all fixed in described fixed platform, three described voice coil motors are not on same straight line, described in each, the output shaft of voice coil motor all vertically arranges upward, described in each, the upper end of output shaft respectively arranges a spherical pair connector, described spherical pair connector can move up and down under the effect of described output shaft, described distance measuring sensor is arranged on the head mechanism of printer, and described distance measuring sensor is connected with described display.
5. 3D printer self-level(l)ing device as claimed in claim 4, it is characterized in that: described spherical pair connector comprises ball for being connected and fixed with described output shaft and for being fastened on the spherical shell on print platform bottom surface, described spherical shell is being coated described spherical and is becoming spherical pair to connect.
6. a 3D printer, comprise frame, X-axis motion, Y-axis motion, Z axis motion, print platform, feeder, head mechanism and controller, described X-axis motion, Y-axis motion, Z axis motion, described print platform and described feeder are all arranged in described frame, described head mechanism is arranged on described X-axis motion and Y-axis motion, it is characterized in that: described 3D printer also comprises just like the 3D printer self-level(l)ing device described in claim 1-5 any one, described fixed platform is liftable to be arranged on described Z axis motion, described print platform is connected and is arranged on the output screw of described linear stepping motor or the output shaft of voice coil motor by described spherical pair connector, distance measuring sensor described in described controller control connection, X-axis motion, Y-axis motion and Z axis motion, described linear stepping motor or described voice coil motor and described controller control connection.
7. a leveling method, is characterized in that: comprise the following steps:
Step 1, target setting leveling error are d;
Step 2, choose measurement point, on print platform, choose n the not measurement point on same straight line, n > 2;
Step 3, range finding calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, be designated as successively h1, h2, h3 ... hn, calculates its mean value h=(h1+h2+h3+ ... + hn)/n;
Step 4, judge minimal difference whether meet leveling error requirement: Min (| h-h1|, | h-h2|, | h-h3| ... | h-hn|) <d/2; If meet leveling error requirement, print platform has met leveling requirement, finishes this leveling; If do not meet leveling error requirement, perform step five;
Step 5, respectively by the lifting action of linear stepping motor or voice coil motor, further leveling print platform;
Step 6, again range finding and calculating mean value, utilize the distance measuring sensor on head mechanism to measure respectively the height spacing of each measurement point to distance measuring sensor, be designated as successively hh1, hh2, hh3 ... hhn, calculate its mean value hh=(hh1+hh2+hh3+ ... + hhn)/n, substitution h=hh, h1=hh1, h2=hh2, h3=hh3 ... hn=hhn, returns to step 4, judges whether minimal difference meets leveling error requirement.
8. leveling method as claimed in claim 7, is characterized in that: the measurement point quantity that described step 2 is chosen is 3, and 3 measurement points lay respectively at the edge of print platform end face.
9. leveling method as claimed in claim 8, is characterized in that: described step 5 specifically comprises the steps:
Step 501, measurement are positioned at three motor support point coordinates on print platform
Taking the measurement end position of distance measuring sensor after X, Y-axis back to zero as reference origin, taking X-axis, Y-axis forward move, Z axis moves down as positive direction, sets up coordinate system;
The measurement end of distance measuring sensor mobile plane obtaining on motion platform is P:Z=0, and distance measuring sensor coordinate of each measurement point on motion platform is designated as A1:(X1, Y1,0), A2:(X2, Y2,0) and A3:(X3, Y3,0), on corresponding print platform, the coordinate of each measurement point is B1:(X1, Y1, h1), B2:(X2, Y2, h2) and B3:(X3, Y3, h3);
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform
P1：A1*X+B1*Y+C1*Z+1＝0 (1)
Remember that described three motors are M1 motor, M2 motor and M3 motor, its corresponding strong point coordinate is respectively M1:(X11, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), 3 are all positioned in plane P 1, therefore meet equation:
A1*X11+B1*Y11+C1*Z11+1＝0 (2)
A1*X21+B1*Y21+C1*Z21+1＝0 (3)
A1*X31+B1*Y31+C1*Z31+1＝0 (4)
The M1 motor d11 distance that moves up, obtains new strong point coordinate M11:(X11, Y11, Z11-d11).
Mobile distance measuring sensor to three measurement point remeasures, and obtains new height h11, h12, h13, and then the coordinate that obtains each measurement point on print platform is C1:(X1, Y1, h11), C2:(X2, Y2, h12) and C3:(X3, Y3, h13).
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P11：A11*X+B11*Y+C11*Z+1＝0 (5)
Because some M11, in P11 plane, therefore can obtain:
A11*X11+B11*Y11+C11*(Z11-d11)+1＝0 (6)
Move down M1 motor d12 distance, obtain new strong point coordinate M12:(X11, Y11, Z11+h12).
Distance measuring sensor to three on a mobile printer motion platform measurement point remeasures, obtain new height h14, h15, h16, and then the coordinate that obtains each measurement point on print platform is D1:(X1, Y1, h14), D2:(X2, Y2, h15) and D3:(X3, Y3, h16);
Can calculate the plane equation at its place according to the coordinate of three measurement points on print platform:
P12：A12*X+B12*Y+C12*Z+1＝0 (7)
Because some M12, in P12 plane, therefore can obtain:
A12*X11+B12*Y11+C12*(Z11+d12)+1＝0 (8)
Consolidated equation (2), (6), (8), can calculate M1 motor support point coordinates M1:(X11, Y11, Z11).Adopt and use the same method, can obtain M2 motor support point coordinates M2:(X21, Y21, Z21), M3 motor support point coordinates M3:(X31, Y31, Z31);
Step 502, leveling operation
According to the each self-corresponding strong point coordinate M1:(X11 of the M1 motor obtaining, M2 motor and M3 motor, Y11, Z11), M2:(X21, Y21, Z21), M3:(X31, Y31, Z31), starter motor is carried out leveling action, prints as follows platform erection;
If Z21>Z11, starts M2 motor and makes the strong point coordinate M1 distance that moves upward: (Z21-Z11); If Z21<Z11, starts M2 motor and makes strong point coordinate M1 move downward distance: (Z11-Z21);
If Z31>Z11, starts M3 motor and makes the strong point coordinate M3 distance that moves upward: (Z31-Z11); If Z31<Z11, starts M3 motor and makes strong point coordinate M3 move downward distance: (Z11-Z31).
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