Leveling method, computer program, and readable storage medium

Abstract

The present application provides a leveling method, a computer program, and a readable storage medium, which belong to the field of 3D printing technology and are used to solve the problem of manually inputting compensation values ​​when leveling a printer. The leveling method includes: controlling the adsorption component to move toward the detection component so that the adsorption component is adsorbed and connected to the detection component, and the lowest point of the detection component is lower than the lowest point of the nozzle of the print head; controlling the nozzle and the detection component to touch the offset measurement component respectively to obtain the height difference P between the nozzle and the detection component; controlling the detection component to contact multiple points on the printing platform respectively to obtain a plane A parallel to the surface of the printing platform; and performing leveling based on the height difference P between the nozzle and the detection component and the plane A parallel to the surface of the printing platform. This method can realize automatic leveling of the printer, reduce the difficulty of operation, and improve the leveling accuracy.

Description

Technical Field

[0001] The present application belongs to the field of 3D printing technology, and specifically relates to a leveling method, a computer program, and a readable storage medium. Background Art

[0002] 3D printing, also known as additive manufacturing or three-dimensional printing, is currently used for assisted and semi-automatic leveling. Semi-automatic leveling involves the machine automatically detecting the print platform and then manually inputting a compensation value to adjust the distance between the print nozzle and the print platform. This compensation value must be input by the user after each leveling operation. Users can easily enter an excessively large compensation value, causing the nozzle on the print head to scrape against the platform, or an excessively small compensation value, causing the nozzle on the print head to be too far from the print platform, making it difficult for the model to adhere to the platform and requiring repeated corrections. Summary of the Invention

[0003] Therefore, the present application provides a leveling method, a computer program, and a readable storage medium to solve the problem in the prior art that a compensation value needs to be manually input each time a printer is leveled.

[0004] In order to solve the above problems, the first aspect of the present application provides a leveling method applied to a 3D printer, wherein the 3D printer includes an offset measurement component, a detection component, an adsorption component, a print head, and a printing platform, wherein the offset measurement component is used to detachably accommodate the detection component, and the adsorption component is connected to the print head;

[0005] Leveling methods include:

[0006] Controlling the adsorption component to move toward the detection component so that the adsorption component is adsorbed and connected to the detection component, and the lowest point of the detection component is lower than the lowest point of the nozzle of the print head;

[0007] Controlling the nozzle and detection component of the print head to touch the offset measurement component respectively to obtain the height difference P between the nozzle and the detection component;

[0008] Controlling the detection assembly to contact multiple points on the printing platform respectively to obtain a plane A parallel to the surface of the printing platform;

[0009] Leveling is performed based on the height difference P between the nozzle of the print head and the detection assembly and a plane A parallel to the surface of the printing platform.

[0010] Optionally, a receiving groove is provided on the offset measurement component, and the receiving groove is used to receive the detection component;

[0011] After leveling based on the height difference P between the nozzle and the detection assembly and the plane A parallel to the surface of the printing platform, it also includes:

[0012] Controlling the adsorption assembly and the print head to move in a first direction so that the detection assembly is located in the receiving groove;

[0013] The adsorption component and the print head are controlled to move in a second direction to separate the adsorption component from the detection component, and the lowest point of the adsorption component is higher than the lowest point of the nozzle of the print head; the first direction and the second direction are different.

[0014] Optionally, the offset measurement assembly includes a measurement base, the measurement base includes a measurement plane, and the measurement base is further provided with a detection device; controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly, including:

[0015] Control the nozzle pressure detection device to obtain the height coordinate Z1 of the print head when the detection device is triggered;

[0016] The measuring plane is sensed by the detection component, so that the height coordinate Z2 of the print head is acquired when the measuring plane is sensed.

[0017] The height difference P between the nozzle and the detection component is determined according to the height coordinate Z1, the height coordinate Z2 and the preset height difference H, where P = Z2 - Z1 + P1, where P1 = H + h, where h is the preset artificial correction value, and the preset height difference H is the height difference between the trigger position of the detection device and the measuring plane.

[0018] Optionally, the deflection measurement assembly includes a detection device, which begins to retract when the pressure applied to the detection device is greater than a first pressure threshold, so that when the detection device retracts to a first distance threshold, the detection device is triggered to generate a first signal; the detection assembly includes a probe, which begins to retract when the pressure applied to the probe is greater than a second pressure threshold, so that when the probe retracts to a second distance threshold, the second signal is generated;

[0019] When the pressure causing the first signal to be generated is greater than the pressure causing the probe to start to retract, controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly, including:

[0020] Controlling the nozzle pressure detection device to obtain the height coordinate Z3 of the print head when the detection device is triggered;

[0021] Controlling the probe depression detection device of the detection assembly to obtain the height coordinate Z4 of the print head when the second signal is obtained;

[0022] The height difference P between the nozzle and the detection component is determined according to the height coordinate Z3, the height coordinate Z4 and the preset stroke L of the detection device, where P = Z4-(Z3+L)+h, where h is a preset artificial correction value.

[0023] Optionally, the deflection measurement assembly includes a detection device, which begins to retract when the pressure applied to the detection device is greater than a first pressure threshold, so that when the detection device retracts to a first distance threshold, the detection device is triggered to generate a first signal; the detection assembly includes a probe, which begins to retract when the pressure applied to the probe is greater than a second pressure threshold, so that when the probe retracts to a second distance threshold, the second signal is generated;

[0024] When the pressure causing the second signal to be generated is greater than the pressure at which the detection device begins to retract, controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly, including:

[0025] Controlling the nozzle pressure detection device to obtain the height coordinate Z5 of the print head when the detection device is triggered;

[0026] The probe-down detection device of the control detection assembly obtains the height coordinate Z6 of the print head when the second signal is obtained;

[0027] The height difference P between the nozzle and the detection component is determined according to the height coordinates Z5 and Z6, P=Z6-Z5+h, where h is a preset artificial correction value.

[0028] Optionally, the detection device includes a pressing structure and a switch, and the switch is located below the pressing structure, and pressing the pressing structure downward can trigger the switch.

[0029] Optionally, controlling the detection assembly to contact multiple points on the printing platform respectively to obtain a plane A parallel to the surface of the printing platform includes:

[0030] Controlling the detection component to contact multiple points on the printing platform respectively to obtain the height coordinate of the print head at each point when the detection component is triggered;

[0031] A plane A parallel to the surface contour of the printing platform is established based on the height coordinate of the print head.

[0032] Optionally, leveling is performed based on a height difference P between the nozzle and the detection assembly and a plane A parallel to the surface of the printing platform, including:

[0033] After leveling the print head, the height coordinate of the print head when printing the first layer is Z=Zr-P+m; where Zr is the height coordinate of any point on plane A, and m is the thickness of the first layer of material.

[0034] A second aspect provides a computer program, which implements the above-mentioned leveling method when executed.

[0035] A third aspect provides a readable storage medium, in which the above-mentioned computer program is stored.

[0036] Beneficial effects: In the leveling method of this solution, the adsorption component and the detection component are separately provided. When not leveling, the adsorption component and the detection component are separated, and the detection component does not affect the printing of the 3D printer during printing. During leveling, the movement of the print head is controlled so that the adsorption component on the print head automatically absorbs the detection component; and the movement of the print head is controlled so that the nozzle and the detection component on the print head touch the offset measurement component respectively to obtain the height difference between the nozzle and the detection component, and then obtain the correct leveling height. The lowest point of the detection component is lower than the lowest point of the nozzle of the print head, so that during leveling, the nozzle does not affect the leveling process. This method can automatically obtain the height difference P between the nozzle and the detection component to achieve automatic leveling without the user manually entering the compensation value. It has low operation difficulty and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a leveling method according to an embodiment of the present application;

[0038] Figure 2 This is a schematic diagram of the combined state of the offset measurement component and the detection component according to an embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the exploded structure of the offset measurement assembly according to an embodiment of the present application;

[0040] Figure 4 This is a schematic structural diagram of a detection assembly according to an embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the explosion structure of the detection assembly according to an embodiment of the present application;

[0042] Figure 6 This is a schematic diagram of the structure of the probe according to an embodiment of the present application;

[0043] Figure 7 This is a schematic structural diagram of an adsorption assembly according to an embodiment of the present application;

[0044] Figure 8 This is a schematic diagram of the exploded structure of the adsorption assembly according to an embodiment of the present application;

[0045] Figure 9 This is a schematic diagram of the combined state of the adsorption component and the detection component according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0048] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0050] Currently, three-dimensional (3D) printers are mostly leveled using assisted leveling and semi-automatic leveling. Semi-automatic leveling means that after the machine automatically detects the printing platform, a compensation value is manually input to adjust the distance between the print head and the printing platform. This compensation value needs to be input by the user after each leveling. When using it, the user may easily input an excessively large compensation value, causing the nozzle on the print head to scrape the platform, or input an excessively small compensation value, causing the nozzle on the print head to be too far away from the printing platform, making it difficult for the model to stick to the printing platform, and requiring repeated corrections. Based on this, the present embodiment provides a leveling method to achieve automatic leveling of the distance between the print head and the printing platform.

[0051] The leveling method of this embodiment is applied to a three-dimensional (3D) printer. The 3D printer includes an offset measurement component 1, a detection component 2, an adsorption component 3, a print head and a printing platform. The offset measurement component 1 can be fixed on the printing platform and move synchronously with the printing platform, or it can be fixed on the frame of the 3D printer and cannot be moved. The offset measurement component 1 is used to detachably accommodate the detection component 2. The adsorption component 3 is connected to the print head. It should be noted that the adsorption component 3 and the print head can be directly connected or indirectly connected through other connecting parts, and the adsorption component 3 and the print head can move synchronously. The detection component 2 can be detachably placed on the offset measurement component 1, and the adsorption component 3 can adsorb and fix the detection component 2. At this time, the detection component 2 is separated from the offset measurement component 1.

[0052] In some embodiments, as Figures 2-4 As shown, the offset measurement assembly 1 includes a detection device 11, a measuring plane 12, a measuring base 13, a lower cover 19, and an adjustment device. The measuring base 13 and the lower cover 19 are interlocked to form a shell. The measuring plane 12 is located on the top surface of the measuring base 13. It can be understood that the measuring plane 12 can protrude from the top surface of the measuring base 13 or can be flush with the top surface of the measuring base 13 or lower than the top surface of the measuring base 13. The adjustment device is at least partially located in the shell, the bottom end of the detection device 11 is located in the shell and connected to the adjustment device, the top end of the detection device 11 extends through the measuring base 13 to the outside of the shell, and is used to contact the detection assembly 2 or the nozzle of the print head. The adjustment device is used to adjust the distance that the detection device 11 extends out of the shell, thereby adjusting the height difference between the top surface of the detection device 11 and the measuring plane 12.

[0053] In some examples, such as Figure 3 As shown, the adjustment device includes a first slider 15, a second slider 16, an adjusting bolt 17, and a fixing nut 18. Both the first slider 15 and the second slider 16 are located in the lower cover 19 of the housing, with the inclined surface of the first slider 15 aligned with the inclined surface of the second slider 16. The bottom end of the detection device 11 is connected to the first slider 15. A cavity is defined at the bottom of the second slider 16, and the fixing nut 18 is located in the cavity at the bottom of the second slider 16. The head of the adjusting bolt 17 is located outside the lower cover 19. The rod of the adjusting bolt 17 extends through the side wall of the lower cover 19 and the second slider 16 into the cavity and is connected to the second slider 16 via the fixing nut 18. By rotating the head of the adjusting bolt 17, the second slider 16 can be moved along the extension direction of the rod, thereby changing the distance between the first slider 15 and the bottom of the lower cover 19, thereby changing the distance that the detection device 11 extends out of the housing, and thus changing the height difference between the top surface of the detection device 11 and the measurement plane 12.

[0054] In some examples, such as Figure 3As shown, the detection device 11 includes a pressing structure and a switch 113. The pressing structure includes a pressing link 111 and a spring 112. The switch 113 is connected to a switch PCB board, which is provided with an interface 113a for connecting to a control system. The switch PCB board is connected to the first slider 15 via a first bolt 14. The top of the pressing link 111 extends through the measuring base 13 and out of the housing, contacting the nozzle on the print head or the detection assembly 2. The bottom of the pressing link 111 abuts the switch 113. The spring 112 is located within the housing and sleeved on the pressing link 111, applying a force to the pressing link 111 away from the switch 113. When the pressing link 111 is pressed, the spring 112 is compressed, causing the pressing link 111 to trigger the switch 113, thereby emitting a first signal. It should be noted that the switch 113 can be any of a large tortoise button, a strain gauge, a load cell, a membrane switch, a micro switch, a membrane pressure sensor, a pressure sensor, and the like. The switch PCB and the first slider 15 may also be connected by welding, snap connection or other connection methods, which are not limited in this embodiment, as long as the switch PCB and the first slider 15 can be fixed.

[0055] In some examples, such as Figure 3 As shown, the offset measurement assembly 1 also includes a cover plate positioned within the housing. The cover plate is provided with a raised portion that extends through the measurement base 13 to the top surface of the measurement base 13. The top surface of the raised portion serves as the measurement plane 12. The cover plate also has a through-hole through which the bottom end of a pressing link 111 abuts against a switch 113. A spring 112 is sleeved around the pressing link 111 and connected between the measurement base 13 and the cover plate. It should be noted that in other embodiments, the measurement plane 12 may be a single plane disposed on the surface of the measurement base 13.

[0056] In some examples, such as Figure 3 As shown, the measuring base 13 is provided with an opening 133, a through hole 134, and a receiving groove 131. The measuring plane 12 extends out of the top surface of the measuring base 13 through the opening 133. The pressing link extends out of the top surface of the measuring base 13 through the through hole 134. The receiving groove 131 is used to accommodate the detection assembly 2. Two screws 132a and 132b are installed in each threaded hole.

[0057] It is understandable that the offset measurement component 1 of this embodiment can be set on the printing platform of the 3D printer or on the frame of the 3D printer, as long as it is located within the travel range of the print head.

[0058] In some embodiments, as Figure 4 and Figure 5As shown, the detection assembly 2 includes a probe 21, a first magnet 22a, a second magnet 22b, a detector housing 23, a detector bottom cover 24 and a detector spring 25. A first mounting hole 231 and a second mounting hole 232 are respectively provided on both sides of the top of the detector housing 23, and a pinhole 233 is provided between the first mounting hole 231 and the second mounting hole 232. The first magnet 22a is located in the first mounting hole 231, and the second magnet 22b is located in the second mounting hole 232. The detector housing 23 and the detector bottom cover 24 are snapped together to form a accommodating cavity. The top of the probe 21 extends out of the accommodating cavity through the pinhole 233, and the bottom of the probe 21 extends out of the accommodating cavity through the detector bottom cover 24. The detector spring 25 is located in the accommodating cavity and is sleeved on the probe 21 to apply a force to the probe 21 to move toward the detector bottom cover 24.

[0059] In some examples, such as Figure 6 As shown, a beam hole 211 is provided at the top of the probe 21. A retaining edge 212 is provided in the middle of the probe 21 along the circumference of the probe 21. Figure 5 The detector spring 25 is sleeved on the probe 21 and connected between the detector housing 23 and the retaining edge 212. The retaining edge 212 also has a limiting function because the outer diameter of the retaining edge 212 is larger than the diameter of the hole in the detector bottom cover 24 for the probe 21 to pass through, thereby preventing the probe 21 from falling out of the hole in the detector bottom cover 24.

[0060] It should be noted that, see Figure 2 and Figure 3 When the detection component 2 is placed in the receiving groove 131 on the offset measurement component 1, the pair of magnets 22a and 22b on the detection component 2 correspond one-to-one to the screws 132a and 132b in the threaded holes at both ends of the receiving groove 131, and the detection component 2 is fixed by the suction force of the pair of magnets 22a and 22b on the screws 132a and 132b.

[0061] In some embodiments, as Figure 7 and Figure 8 As shown, the suction assembly 3 includes a suction cup housing 31, a sensing assembly 32, a first attraction magnet 34a, and a second attraction magnet 34b. The sensing assembly 32 is secured to the suction cup housing 31 via a fixing screw 33. A notch is provided at the bottom of the suction cup housing 31, through which the sensing assembly 32 extends. The first attraction magnet 34a and the second attraction magnet 34b are located at the bottom of the suction cup housing 31, one on either side of the notch.

[0062] In some examples, such as Figure 8As shown, the sensing assembly 32 includes a suction cup PCB 321, an interface 322, and a slotted optical coupler 323. The interface 322 is located on the suction cup PCB 321 and is used to connect to the control system. The slotted optical coupler 323 is connected to the suction cup PCB 321 and extends through a notch at the bottom of the suction cup housing 31 to sense the probe 21. The slotted optical coupler 323 includes a light emitter, a light receiver, and a slot. The light emitter and light receiver are respectively disposed on opposite sides of the slot.

[0063] In some examples, such as Figure 9 As shown, when the adsorption component 3 is adsorbed and connected to the detection component 2, the first adsorption magnet 34a and the first magnet 22a are attracted to each other, the second adsorption magnet 34b and the second magnet 22b are attracted to each other, and the top of the probe 21 is located in the groove of the slot-type optical coupler 323. At this time, the light beam between the light emitter and the light receiver is blocked by the top of the probe 21. Move the detection component 2 downward. If the probe 21 is blocked, the detector spring 25 is compressed and the probe 21 retracts, that is, the probe 21 moves toward the slot-type optical coupler 323. When the light beam through hole 211 at the top of the probe 21 is located between the light emitter and the light receiver, the signal between the light emitter and the light receiver is connected, that is, the sensing component 32 is triggered and the second signal is emitted.

[0064] The above introduces the structure of the three-dimensional (3D) printer. Next, we will explain the leveling method.

[0065] Figure 1 FIG. 1 is a flow chart of the leveling method of this embodiment. Figure 1 As shown, the leveling method of this embodiment is applied to three-dimensional printing. The printer may be the aforementioned three-dimensional printer, which includes an offset measurement component 1, a detection component 2, an adsorption component 3, a print head, and a printing platform. The offset measurement component 1 is used to detachably accommodate the detection component 2, and the adsorption component 3 is connected to the print head. The leveling method includes:

[0066] S1: Control the adsorption component 3 to move toward the detection component 2 so that the adsorption component 3 is adsorbed and connected to the detection component 2, and the lowest point of the detection component 2 is lower than the lowest point of the nozzle of the print head.

[0067] It should be noted that controlling the suction assembly 3 to move toward the detection assembly 2 can be accomplished by first controlling the print head to move until the suction assembly 3 is positioned above the detection assembly 2, and then controlling the suction assembly 3 to descend until the suction assembly 3 and the detection assembly 2 are connected by suction. The lowest point of the detection assembly 2 is lower than the lowest point of the print head nozzle, ensuring that the nozzle does not affect the leveling process during leveling. The suction connection between the suction assembly 3 and the detection assembly 2 can be a magnetic connection.

[0068] S2: Control the nozzle and the detection component 2 of the print head to touch the offset measurement component 1 respectively to obtain the height difference P between the nozzle and the detection component 2.

[0069] By controlling the nozzle of the print head and the detection component 2 to touch the offset measurement component 1 respectively, the height of the print head when the nozzle touches the offset measurement component 1 and the height of the print head when the detection component 2 touches the offset measurement component 1 can be obtained. Based on the height difference between the two, the height difference P between the nozzle and the detection component 2 can be obtained.

[0070] Among them, controlling the nozzle of the print head to touch the offset measuring component 1 includes: controlling the nozzle of the print head to press down the pressing link 111 of the offset measuring component 1 until the switch 113 is triggered to send a first signal. After the control system receives the first signal, it obtains the height of the print head at this time.

[0071] Controlling the detection component 2 to touch the offset measurement component 1 includes: controlling the probe 21 of the detection component 2 to press down the measurement plane 12 of the offset measurement component 1 until the optical path between the optical transmitter and the optical receiver of the slot-type optical coupler 323 is connected to send a second signal, and the control system obtains the height of the print head at this time after receiving the second signal. Or,

[0072] Controlling the detection component 2 to touch the offset measurement component 1 includes: controlling the detection component 2 to move downward, the probe 21 will press down the pressing link 111 of the offset measurement component 1 until the switch 113 is triggered to send a first signal. After the control system receives the first signal, the detection component 2 continues to move downward, and the probe 21 rises due to the force of the pressing link 111 until the optical path between the light emitter and the light receiver of the slot-type optocoupler 323 is connected to send a second signal. After receiving the second signal, the control system obtains the height of the print head at this time.

[0073] S3: Control the detection component 2 to contact multiple points on the printing platform respectively to obtain a plane A parallel to the surface of the printing platform.

[0074] Specifically, the probe 21 of the control detection assembly 2 is controlled to contact multiple points on the printing platform. At each point, when the detection assembly 2 is triggered to emit a third signal, the control system receives the third signal and obtains the height coordinates of the print head at that time. The positions and height coordinates of the multiple points are fitted to form a plane A parallel to the surface of the printing platform. The multiple points can be multiple points distributed in an array on the printing platform, or multiple points distributed in different areas of the printing platform, which is not limited in this embodiment. The number of points is not excessively limited in this embodiment, as long as they can be fitted to form plane A.

[0075] S4: Leveling is performed based on the height difference P between the nozzle of the print head and the detection component 2 and the plane A parallel to the surface of the printing platform 4.

[0076] Specifically, the height difference P between the nozzle of the print head and the detection assembly 2 is the height difference between the nozzle of the print head and the probe 21 of the detection assembly 2, which is also the distance between the surface of the printing platform 4 and the plane A, that is, the compensation value.

[0077] In the leveling method of this embodiment, the adsorption component 3 and the detection component 2 are separately provided. When not leveling, the adsorption component 3 and the detection component 2 are separated, so that the detection component 2 does not affect the printing of the 3D printer during printing. During leveling, the movement of the print head is controlled so that the adsorption component 3 on the print head automatically absorbs the detection component 2; and the movement of the print head is controlled so that the nozzle and the detection component 2 on the print head touch the offset measurement component 1 respectively, so as to obtain the height difference between the nozzle and the detection component 2, and then obtain the correct leveling height. The lowest point of the detection component 2 is lower than the lowest point of the nozzle of the print head, so that during leveling, the nozzle does not affect the leveling process. This method can automatically obtain the height difference P between the nozzle and the detection component 2 to achieve automatic leveling without the user manually inputting the compensation value. It has low operation difficulty and is easy to use. It also reduces the influence of human factors and improves the leveling accuracy.

[0078] It should be noted that although the leveling method of this embodiment includes four steps S1 to S4, it does not limit the specific implementation order of each step.

[0079] In some embodiments, as Figure 2 and Figure 3 As shown, an accommodating groove 131 is provided on the offset measuring component 1 , and the accommodating groove 131 is used to accommodate the detection component 2 .

[0080] After leveling based on the height difference P between the nozzle of the print head and the detection assembly 2 and the plane A parallel to the surface of the printing platform, the leveling method further includes:

[0081] The adsorption component 3 and the print head are controlled to move in the first direction so that the detection component 2 is located in the accommodating groove 131 .

[0082] The adsorption component 3 and the print head are controlled to move in the second direction to separate the adsorption component 3 from the detection component 2, and the lowest point of the adsorption component 3 is higher than the lowest point of the nozzle of the print head; the first direction and the second direction are different.

[0083] In some examples, the first direction is a vertical direction and the second direction is a horizontal direction.

[0084] In other examples, the first direction and the second direction may also be along the horizontal direction, for example, the first direction and the second direction are along the X-axis direction and the Y-axis direction respectively.

[0085] It can be understood that before controlling the adsorption component 3 and the print head to move in the first direction, the adsorption component 3 and the print head can be moved to corresponding positions, such as directly above the accommodating groove 131, and then the adsorption component 3 and the print head can be controlled to move in the first direction, such as downward, so as to facilitate the setting of the detection component 2 in the accommodating groove 131.

[0086] This embodiment controls the print head to move in a first direction to place the detection component 2 into the receiving groove 131, and then controls the print head to move in a second direction. At this time, under the blocking effect of the side wall of the receiving groove 131, the detection component 2 cannot follow the movement of the print head, thereby realizing the automatic separation of the detection component 2 and the adsorption component 3 without manual disassembly, avoiding the situation where the nozzle is still far away from the printing platform when the detection component 2 touches the printing platform during the printing process of the model, and realizing the smooth printing of the model.

[0087] In some embodiments, controlling the detection assembly 2 to contact multiple points on the printing platform to obtain a plane A parallel to the surface of the printing platform includes:

[0088] Controlling the detection component 2 to contact multiple points on the printing platform respectively to obtain the height coordinate of the print head at each point when the detection component 2 is triggered;

[0089] A plane A parallel to the surface contour of the printing platform is established based on the height coordinate of the print head.

[0090] In some examples, the multiple contact points between the detection assembly 2 and the printing platform are distributed in an array, such as a rectangular array. In other examples, a circular or other polygonal array may be used, or points may be selected only at the four corners of the printing platform. This embodiment does not impose too many limitations on this.

[0091] When controlling the detection component 2 to contact multiple points on the printing platform, the detection component 2 is first controlled to move above each point on the printing platform, and then the detection component 2 is controlled to move downward. The detection component 2 contacts the printing platform, or contacts to a certain extent. When the detection component 2 senses contact with the printing platform, the height coordinates of the print head at that time are obtained. When the height coordinates of the print head corresponding to all points are obtained, the difference compensation is performed on other points to obtain a plane. Since the points on this plane are parallel to the height of the surface of the printing platform, the plane is plane A parallel to the surface contour of the printing platform.

[0092] In this embodiment, the movement of the print head is controlled so that the detection component 2 contacts multiple points on the printing platform respectively. Based on the position and height of each point, a plane A parallel to the surface contour of the printing platform is established. The distance between the plane A and the printing platform is the height difference P between the nozzle and the detection component 2. After plane A is established, the height coordinates of any point on plane A can be obtained. Combined with the P value obtained in the previous steps, automatic leveling of the nozzle can be achieved.

[0093] In some embodiments, leveling is performed based on a height difference P between the nozzle and the detection assembly 2 and a plane A parallel to the surface of the printing platform, including:

[0094] After leveling the print head, the height coordinate of the print head when printing the first layer is Z=Zr-P+m; where Zr is the height coordinate of any point on plane A, and m is the thickness of the first layer material.

[0095] It should be noted that since plane A is obtained when the detection component 2 touches the printing platform, the distance between any point on plane A and the printing platform is the height difference P between the nozzle and the detection component 2, and the height of the print head when printing the first layer is the thickness of the first layer of material. Therefore, the height coordinate Z of the print head when printing the first layer is Zr-P+m.

[0096] This embodiment can automatically obtain the height coordinates of the print head when printing the first layer, so that there is a uniform gap between the nozzle and the printing platform equal to the thickness of the first layer of material, ensuring that the printed model can fit the printing platform and improving the success rate of printing.

[0097] The leveling method of this embodiment has been described above. Next, the specific steps of obtaining the height difference P between the nozzle and the detection assembly 2 in the above leveling method will be specifically introduced.

[0098] In some embodiments, as Figure 2 As shown, the offset measurement assembly 1 includes a measurement base 13 , the measurement base 13 includes a measurement plane 12 , and a detection device 11 is also provided on the measurement base 13 .

[0099] Controlling the nozzle of the print head and the detection component 2 to touch the offset measurement component 1 respectively to obtain the height difference P between the nozzle and the detection component 2, including:

[0100] The nozzle depression detection device 11 of the print head is controlled, and when the detection device 11 is triggered, the height coordinate Z1 of the print head is obtained.

[0101] Specifically, the nozzle of the print head is controlled to press down the pressing link 111 of the offset measurement assembly 1 until the switch 113 is triggered to send a first signal. After receiving the first signal, the control system obtains the height coordinate Z1 of the print head at this time.

[0102] The switch 113 may be any one of a large turtle button, a strain gauge, a load cell, a membrane switch, a micro switch, a membrane pressure sensor, a pressure sensor, etc. For example, when the switch 113 is a large turtle button, pressing the connecting rod 111 downward to push the large turtle button can connect the circuit on the switch PCB, thereby sending a first signal to the control system through the interface 113a.

[0103] The measuring plane 12 is sensed by the detection component 2 , so that the height coordinate Z2 of the print head is acquired when the measuring plane 12 is sensed.

[0104] The detection assembly 2 senses the measurement plane 12 through the probe 21. It is understandable that other types of elements may also be used, such as non-contact distance sensors, to indirectly sense the measurement plane 12, or other types of contact sensors may be used to sense the measurement plane 12.

[0105] When detection assembly 2 uses probe 21 to sense measurement plane 12, it controls probe 21 of detection assembly 2 to deflect measurement plane 12 from measurement assembly 1 until the optical path between the light emitter and light receiver of slot-type optical coupler 323 is connected, thereby emitting a second signal. At this point, detection assembly 2 senses measurement plane 12. After receiving the second signal, the control system obtains the height Z2 of the print head at this time.

[0106] The height difference P between the nozzle and the detection component 2 is determined according to the height coordinate Z1, the height coordinate Z2 and the preset height difference H, where P = Z2 - Z1 + P1, where P1 = H + h, where h is the preset artificial correction value, and the preset height difference H is the height difference between the trigger position of the detection device and the measuring plane.

[0107] It should be noted that the height coordinate Z1 is the height coordinate of the print head when the nozzle trigger detection device 11 of the print head.

[0108] Height coordinate Z2 is the height coordinate of the print head when the detection assembly 2 senses the measurement plane 12. Since the height difference between the trigger position of the detection device 11 and the measurement plane is H, and the height difference between the nozzle and the detection assembly 2 is P, Z1 = Z2 + HP. Therefore, P = Z2 - Z1 + P1, where P1 = H + h, where h is a preset artificial correction value.

[0109] It can be understood that the height difference H between the triggered position of the detection device 11 and the measurement plane 12 can be a positive value or a negative value.

[0110] In some examples, h defaults to zero, meaning that no human intervention is required for leveling, thus achieving fully automatic leveling. When a problem occurs with the 3D printer, the value h can be manually corrected.

[0111] This embodiment controls the movement of the print head so that the nozzle and the detection component 2 touch the detection device 11 and the measuring plane 12 respectively, and automatically calculates the height difference P between the nozzle and the detection component 2 based on the height coordinates of the nozzle obtained from the two touches. The height difference P is the compensation value, thereby achieving the purpose of not requiring manual input of the compensation value.

[0112] In some embodiments, as Figure 2 As shown, the displacement measurement assembly 1 includes a detection device 11. When the pressure applied to the detection device 11 is greater than a first pressure threshold, the detection device 11 begins to retract, so that when it retracts to a first distance threshold, the detection device 11 is triggered to generate a first signal.

[0113] Specifically, the detection device 11 includes a push rod 111, a spring 112, and a switch 113. When the pressure applied to the push rod 111 exceeds the elastic force of the spring 112, i.e., a first pressure threshold, the spring 112 is compressed, the push rod 111 begins to retract, and the switch 113 is pressed downward. When the push rod 111 retracts to a first distance threshold, the switch 113 closes, and the switch PCB issues a first signal. This first signal can be transmitted to the control system via an interface 113a.

[0114] The detection assembly 2 includes a probe 21. When the pressure applied to the probe 21 is greater than a second pressure threshold, the probe 21 begins to retract, so as to generate a second signal when retracted to a second distance threshold.

[0115] Specifically, the detection assembly 2 includes a probe 21 and a probe spring 25. When the pressure applied to the probe 21 exceeds the spring force of the probe spring 25, i.e., a second pressure threshold, the probe spring 25 is compressed, and the probe 21 retracts. When the light emitter and light receiver of the slotted optical coupler 323 align with the light beam hole 211 at the top of the probe 21, the slotted optical coupler 323 generates a second signal. This second signal is transmitted to the control system via the interface 322 on the suction cup PCB 321.

[0116] When the pressure causing the first signal to be generated is greater than the pressure causing the probe 21 to begin to retract, that is, the detection device 11 is pressed down by the detection assembly 2. When the probe 21 begins to retract and generates the second signal, the detection device 11 does not retract. The nozzle and the detection assembly 2 are controlled to touch the offset measurement assembly 1 respectively to obtain the height difference P between the nozzle and the detection assembly 2, including:

[0117] The nozzle depression detection device 11 is controlled, and when the detection device 11 is triggered, the height coordinate Z3 of the print head is obtained.

[0118] Specifically, the pressing link 111 of the nozzle depression detection device 11 is controlled until the switch 113 is triggered to send a first signal. After receiving the first signal, the control system obtains the height coordinate Z3 of the print head at this time.

[0119] Controlling the probe 21 of the detection assembly 2 to press down the detection device 11, and obtaining the height coordinate Z4 of the print head when the second signal is obtained;

[0120] Specifically, the probe of the detection component 2 is controlled to press down the pressing link 111 of the offset measurement component 1 until the optical path between the light emitter and the light receiver of the slot-type optical coupler 323 is connected to send a second signal. After receiving the second signal, the control system obtains the height coordinate Z4 of the print head at this time. At this time, the pressing link 111 has not begun to retract.

[0121] The height difference P between the nozzle and the detection component 2 is determined according to the height coordinate Z3, the height coordinate Z4 and the preset stroke L of the detection device 11, where P = Z4-(Z3+L)+h, where h is a preset artificial correction value.

[0122] It should be noted that the height coordinate Z3 is the height coordinate of the print head when the nozzle of the print head triggers the detection device 11. At this time, the detection device 11 retracts to the first distance threshold (the first distance threshold is the stroke L of the detection device 11), so when the detection device 11 has not started to retract, the height coordinate of the print head is Z3+L.

[0123] Height coordinate Z4 is the height coordinate of the print head when the detection assembly 2 is triggered on the detection device 11. At this time, the detection device 11 has not yet begun to retract, so Z4 = Z3 + L + P. Then P = Z4 - (Z3 + L) + h, where h is a preset artificial correction value.

[0124] In some examples, h defaults to 0, which means that no human intervention is required for leveling, and fully automatic leveling is achieved. When a problem occurs with the 3D printer, the value h can be manually corrected.

[0125] This embodiment controls the movement of the print head so that the nozzle and the detection assembly 2 respectively press down the detection device 11. When the nozzle presses down the detection device 11, when the detection device 11 retracts to the first distance threshold, the detection device 11 is triggered to generate a first signal. Upon receiving the first signal, the control system obtains the height coordinate Z3 of the nozzle. When the probe 21 of the detection assembly 2 presses down the detection device 11, since the first pressure threshold is greater than the second pressure threshold, the detection device 11 does not retract when the probe 21 begins to retract. When the probe 21 retracts to the second distance threshold, a second signal is generated. Upon receiving the second signal, the control system obtains the height coordinate Z4 of the nozzle. The height difference P between the nozzle and the detection assembly is determined based on the height coordinate Z3, the height coordinate Z4, and the preset stroke L of the detection device. This embodiment realizes the automatic measurement of the height difference P, reduces the influence of human factors, and improves accuracy.

[0126] In some embodiments, as Figure 2As shown, when the pressure causing the second signal to be generated is greater than the pressure causing the detection device 11 to start to retract, that is, the detection device 11 is pressed down by the detection assembly 2, and when the detection device 22 starts to retract and generates the first signal, the probe 21 does not retract, and the nozzle and the detection assembly 2 are controlled to touch the offset measurement assembly 1 respectively to obtain the height difference P between the nozzle and the detection assembly 2, including:

[0127] The nozzle depression detection device 11 is controlled, and when the detection device 11 is triggered, the height coordinate Z5 of the print head is obtained.

[0128] Specifically, the nozzle of the print head is controlled to press down the pressing link 111 of the offset measurement component 1 until the switch 113 is triggered to send a first signal. After receiving the first signal, the control system obtains the height coordinate Z5 of the print head at this time.

[0129] The probe 21 of the detection assembly 2 is controlled to press down the detection device 11, and when the second signal is obtained, the height coordinate Z6 of the print head is obtained.

[0130] Specifically, probe 21 of detection assembly 2 is controlled to press down on push link 111 of offset measurement assembly 1. After switch 113 is triggered and emits a first signal, the switch becomes blocked and cannot move. Detection assembly 2 continues to move downward until probe 21 begins to retract. When the optical path between the optical transmitter and optical receiver of slot-type optical coupler 323 is connected and emits a second signal, the control system receives the second signal and obtains the height coordinate Z6 of the print head at that moment.

[0131] The height difference P between the nozzle and the detection component is determined according to the height coordinates Z5 and Z6, P=Z6-Z5+h, where h is a preset artificial correction value.

[0132] It should be noted that height coordinate Z5 is the print head height coordinate when the print head nozzle triggers detection device 11. Height coordinate Z6 is the print head height coordinate when detection assembly 2 triggers the detection device and detection assembly 2 itself is also triggered. Therefore, Z6 - P = Z5. In other words, P = Z6 - Z5 + h, where h is a preset artificial correction value.

[0133] In some examples, h defaults to 0, which means that no human intervention is required for leveling, and fully automatic leveling is achieved. When a problem occurs with the 3D printer, the value h can be manually corrected.

[0134] This embodiment controls the movement of the print head so that the nozzle and the detection assembly 2 respectively press down the detection device 11. When the nozzle presses down the detection device 11, when the detection device 11 retracts to the first distance threshold, the detection device 11 is triggered to generate a first signal. Upon receiving the first signal, the control system obtains the height coordinate Z5 of the nozzle. When the probe 21 of the detection assembly 2 presses down the detection device 11, since the first pressure threshold is less than the second pressure threshold, the probe 21 does not retract when the detection device 11 begins to retract. When the probe 21 presses the detection device 11 down to the first distance threshold, a first signal is generated. Upon receiving the first signal, the control system obtains the height coordinate Z6 of the nozzle. The height difference P between the nozzle and the detection assembly is determined based on the height coordinate Z5, the height coordinate Z6, and the preset travel L of the detection device. This embodiment also enables automatic measurement of the height difference P, reducing the influence of human factors and improving accuracy.

[0135] In other embodiments, other methods may be used to obtain the P value, for example, controlling the detection assembly 2 to contact the measurement plane 12 and the detection device 11 respectively, and calculating the P value based on the obtained height coordinates of the two nozzles and the height difference between the measurement plane 12 and the detection device 11. No further restrictions are imposed herein.

[0136] In some embodiments, the detection device 11 includes a pressing structure and a switch 113 . The switch 113 is located below the pressing structure. Pressing the pressing structure downward can trigger the switch 113 .

[0137] In some examples, such as Figure 3 As shown, the pressing structure includes a pressing link 111 and a spring 112. A switch 113 is connected to a switch PCB board, which has an interface 113a for connecting to a control system. The probe 21 of the detection assembly 2 or the nozzle of the print head is controlled to press the pressing link 111 downward, compressing the spring 112 and forcing the pressing link 111 toward the switch 113. When the switch 113 is triggered, a first signal is generated. Upon receiving the first signal, the control system obtains the height coordinates of the print head.

[0138] The detection device 11 of this embodiment can utilize the print head to drive the nozzle or the detection component 2 to be pressed down and triggered, thereby simplifying the leveling operation steps.

[0139] This embodiment also provides a computer program, which implements the above-mentioned leveling method when executed.

[0140] In some examples, when the computer program is executed on a computer, the computer program causes the computer to perform one or more steps of the leveling method provided in the embodiments of the present disclosure.

[0141] It will be understood that the computer program of this embodiment includes computer-readable program instructions or codes, which can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to a computer or storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions or codes from the network and forwards the computer-readable program instructions or codes for storage in a readable storage medium in each computing / processing device.

[0142] This embodiment further provides a readable storage medium, in which the above-mentioned computer program is stored. When the computer program instructions are executed on a processor, the processor executes one or more steps of the leveling method provided in the embodiment of the present disclosure.

[0143] It is understood that the readable storage medium can be a tangible device that can hold and store instructions used by the instruction execution device. For example, it can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specifically, (a non-exhaustive list) includes: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. For example, the readable storage medium can be the internal storage unit of the 3D printer described in the aforementioned embodiments, such as a hard disk or memory, or an external storage device of the 3D printer, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. It can also include both the internal storage unit and external storage device of the 3D printer. It should be noted that the readable storage medium is used to store the aforementioned computer program and other programs and data required by the aforementioned device, and can also be used to temporarily store data that has been output or is about to be output.

[0144] The beneficial effects of the above-mentioned computer program and readable storage medium are the same as the beneficial effects of the leveling method described in some of the above-mentioned embodiments, and will not be repeated here.

[0145] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0146] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A leveling method, characterized in that: Applicable to a three-dimensional printer, the three-dimensional printer includes an offset measurement component, a detection component, an adsorption component, a print head and a printing platform, the offset measurement component is used to detachably accommodate the detection component, and the adsorption component is connected to the print head; The leveling method comprises: Controlling the adsorption component to move toward the detection component so that the adsorption component is adsorbed and connected to the detection component, and the lowest point of the detection component is lower than the lowest point of the nozzle of the print head; Controlling the nozzle of the print head and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly; Controlling the detection assembly to contact multiple points on the printing platform respectively to obtain a plane A parallel to the surface of the printing platform; Leveling is performed based on a height difference P between the nozzle of the print head and the detection assembly and a plane A parallel to the surface of the printing platform; The offset measurement assembly includes a measurement base, the measurement base includes a measurement plane, and the measurement base is also provided with a detection device; the controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain the height difference P between the nozzle and the detection assembly includes: controlling the nozzle to press down the detection device, and obtaining the height coordinate Z1 of the print head when the detection device is triggered; sensing the measuring plane by the detection component, so as to obtain a height coordinate Z2 of the print head when the measuring plane is sensed; The height difference P between the nozzle and the detection assembly is determined according to the height coordinate Z1, the height coordinate Z2 and the preset height difference H, where P = Z2 - Z1 + P1, where P1 = H + h, where h is a preset artificial correction value, and the preset height difference H is the height difference between the trigger position of the detection device and the measuring plane.

2. The leveling method according to claim 1, characterized in that: The offset measurement assembly is provided with a receiving groove for receiving the detection assembly; after leveling based on the height difference P between the nozzle and the detection assembly and a plane A parallel to the surface of the printing platform, the method further includes: Controlling the adsorption assembly and the print head to move in a first direction so that the detection assembly is located in the receiving groove; The adsorption component and the print head are controlled to move in a second direction so that the adsorption component is separated from the detection component, and the lowest point of the adsorption component is higher than the lowest point of the nozzle of the print head; the first direction and the second direction are different.

3. The leveling method according to claim 1, characterized in that: The displacement measurement assembly includes a detection device, which begins to retract when the pressure applied to the detection device is greater than a first pressure threshold, so that the detection device is triggered to generate a first signal when it retracts to a first distance threshold; the detection assembly includes a probe, which begins to retract when the pressure applied to the probe is greater than a second pressure threshold, so that the probe generates a second signal when it retracts to a second distance threshold; When the pressure causing the first signal to be generated is greater than the pressure causing the probe to start to retract, controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly includes: controlling the nozzle to press down the detection device, and obtaining a height coordinate Z3 of the print head when the detection device is triggered; controlling the probe of the detection assembly to press down the detection device, and obtaining the height coordinate Z4 of the print head when the second signal is obtained; The height difference P between the nozzle and the detection assembly is determined according to the height coordinate Z3, the height coordinate Z4 and the preset stroke L of the detection device, where P=Z4-(Z3+L)+h, where h is a preset artificial correction value.

4. The leveling method according to claim 1, characterized in that: The displacement measurement assembly includes a detection device, which begins to retract when the pressure applied to the detection device is greater than a first pressure threshold, so that the detection device is triggered to generate a first signal when it retracts to a first distance threshold; the detection assembly includes a probe, which begins to retract when the pressure applied to the probe is greater than a second pressure threshold, so that the probe generates a second signal when it retracts to a second distance threshold; When the pressure causing the second signal to be generated is greater than the pressure at which the detection device starts to retract, controlling the nozzle and the detection assembly to touch the offset measurement assembly respectively to obtain a height difference P between the nozzle and the detection assembly includes: controlling the nozzle to press down the detection device, and obtaining a height coordinate Z5 of the print head when the detection device is triggered; controlling the probe of the detection assembly to press down the detection device, and obtaining the height coordinate Z6 of the print head when the second signal is obtained; The height difference P between the nozzle and the detection assembly is determined according to the height coordinate Z5 and the height coordinate Z6, where P=Z6-Z5+h, wherein h is a preset artificial correction value.

5. The leveling method according to any one of claims 3 to 4, characterized in that: The detection device includes a pressing structure and a switch. The switch is located below the pressing structure. Pressing down the pressing structure can trigger the switch.

6. The leveling method according to any one of claims 1 to 4, characterized in that: The step of controlling the detection assembly to contact a plurality of points on the printing platform to obtain a plane A parallel to the surface of the printing platform includes: Controlling the detection component to contact a plurality of points on the printing platform respectively to obtain the height coordinate of the print head at each of the points when the detection component is triggered; A plane A parallel to the surface contour of the printing platform is established based on the height coordinate of the printing head.

7. The leveling method according to any one of claims 1 to 4, characterized in that: The leveling based on the height difference P between the nozzle and the detection assembly and the plane A parallel to the surface of the printing platform includes: After the print head is leveled, the height coordinate of the print head when printing the first layer is Z=Zr-P+m; wherein Zr is the height coordinate of any point on the plane A, and m is the thickness of the first layer material.

8. A computer program, characterized in that When the computer program is executed, the leveling method according to any one of claims 1 to 7 is implemented.

9. A readable storage medium, characterized in that The computer program according to claim 8 is stored in the readable storage medium.

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