3D printing leveling device, 3D printer and leveling method of 3D printer

Abstract

The invention is suitable for the field of 3D printing, and discloses a 3D printing leveling device, a 3D printer and a leveling method of the 3D printer. The 3D printing leveling device comprises a base platform, a resin tank, a forming platform, a laser ranging device and a platform leveling assembly. The laser ranging device is used for emitting ranging laser to the forming platform so as to detect the levelness of the forming platform. The platform leveling assembly comprises a first leveling mechanism and a second leveling mechanism, the first leveling mechanism is used for adjusting the levelness of the forming platform in the first direction, and the second leveling mechanism is used for adjusting the levelness of the forming platform in the second direction. According to the 3D printing leveling device, the levelness of the forming platform can be improved. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and it is ensured that the printing sample piece is accurately and successfully printed.

Description

Technical Field

[0001] The present application relates to the field of 3D printing, and in particular to a 3D printing leveling device, a 3D printer and a leveling method thereof. Background Art

[0002] 3D printing is a technology that manufactures physical parts by adding materials layer by layer. The principle of photo-curing 3D printing is to project each slice image data through DMD (digital micromirror), control light energy and graphic exposure, and solidify a thin layer each time, repeatedly forming a complete product layer by layer.

[0003] In a light-curing 3D printing device, the levelness of the molding platform and the molding film directly determines the quality of the printed sample. However, the current light-curing 3D printing device has poor leveling accuracy, resulting in poor levelness of the molding platform and the molding film, which can easily lead to deformation of the printed sample or printing failure. Summary of the invention

[0004] The purpose of the present application is to provide a 3D printing leveling device, a 3D printer and a leveling method thereof, which is intended to solve the technical problem of improving the leveling accuracy of the 3D printing device.

[0005] To achieve the above objectives, the present application provides a 3D printing leveling device, comprising:

[0006] Base platform;

[0007] A resin tank, which is disposed on the base platform and is used to contain a molding liquid;

[0008] A molding platform, the molding platform is arranged in the resin tank;

[0009] A laser distance measuring device, the laser distance measuring device is used to emit a distance measuring laser toward the molding platform to detect the horizontality of the molding platform;

[0010] A platform leveling assembly, the platform leveling assembly is arranged on the base platform and connected to the molding platform, the platform leveling assembly comprises a first leveling mechanism and a second leveling mechanism, the first leveling mechanism is used to adjust the horizontality of the molding platform in a first direction, and the second leveling mechanism is used to adjust the horizontality of the molding platform in a second direction;

[0011] Wherein, the first direction and the second direction have an included angle.

[0012] The present application also provides a 3D printing leveling device, comprising:

[0013] Base platform;

[0014] A resin tank, which is disposed on the base platform and is used to contain a molding liquid;

[0015] A molding platform, the molding platform is arranged in the resin tank;

[0016] A laser distance measuring device, the laser distance measuring device is used to emit a distance measuring laser toward the surface of the forming film to detect the horizontality of the surface of the forming film;

[0017] A film stretching and leveling assembly, the film stretching and leveling assembly is arranged on the base platform and connected to the resin tank, the film stretching and leveling assembly includes a third leveling mechanism and a fourth leveling mechanism, a leveling base and a ball, a first connecting portion, a second connecting portion and a third connecting portion are arranged at intervals along a first direction, and the second connecting portion and the third connecting portion are arranged at intervals along a second direction;

[0018] The leveling base is rollingly connected to the third connecting portion through a ball bearing, the third leveling mechanism and the fourth leveling mechanism are both arranged on the leveling base, the third leveling mechanism is connected to the first connecting portion, and the fourth leveling mechanism is connected to the second connecting portion;

[0019] Wherein, the first direction and the second direction have an included angle.

[0020] The present application also provides a 3D printer, comprising the 3D printing leveling device as described above.

[0021] The present application also provides a 3D printing leveling method, based on the above-mentioned 3D printing leveling device, the leveling method comprises:

[0022] S1, obtaining laser readings of points A3 and A9 on the plane to be leveled;

[0023] S2, determining the target reading of point A3 or point A9 according to the laser readings of point A3 and point A9;

[0024] S3, according to the target reading of point A9, controlling the second leveling mechanism so that the laser reading of point A9 reaches the target reading, or, according to the target reading of point A3, controlling the second leveling mechanism so that the laser reading of point A3 reaches the target reading;

[0025] S4, obtaining the laser reading of point A3 or point A9 again;

[0026] S5, if the reading difference between the laser reading at point A3 and the laser reading at point A9 is within the preset reading difference range, execute S6; if the reading difference between the laser reading at point A3 and the laser reading at point A9 is outside the preset reading difference range, execute S1;

[0027] S6, obtaining laser readings of points A1 and A3 on the plane to be leveled;

[0028] S7, determining the target reading of point A1 or point A3 according to the laser readings of point A1 and point A3;

[0029] S8, according to the target reading of point A1, controlling the first leveling mechanism so that the laser reading of point A1 reaches the target reading, or, according to the target reading of point A3, controlling the first leveling mechanism so that the laser reading of point A3 reaches the target reading;

[0030] S9, obtaining the laser reading of point A3 or point A1 again;

[0031] S10, if the reading difference between the laser reading at point A3 and the laser reading at point A1 is within the preset reading difference range, then S11 is executed; if the reading difference between the laser reading at point A3 and the laser reading at point A1 is outside the preset reading difference range, then S6 is executed;

[0032] S11, obtaining laser readings at points A1, A3, and A9;

[0033] S12, in the laser readings of points A1, A3, and A9, if the reading difference between the laser readings of any two points is within the preset reading difference range, the leveling is completed; if the reading difference between the laser readings of any two points is outside the preset reading difference range, execute S1;

[0034] Wherein, point A3 and point A9 are spaced apart in the second direction, and point A1 and point A3 are spaced apart in the first direction;

[0035] The plane to be leveled includes a forming platform and / or a forming stretch film surface.

[0036] The 3D printing leveling device, 3D printer and leveling method provided by the present application can detect the horizontality of the molding platform and / or the molding film surface through a laser rangefinder, and level the horizontality of the molding platform in the second direction through the second leveling mechanism of the platform leveling component, and level the horizontality of the molding platform in the first direction through the first leveling mechanism, so as to calibrate the overall horizontality of the molding platform, and / or, can also level the horizontality of the molding film surface in the second direction through the fourth leveling mechanism of the film leveling component, and level the horizontality of the molding film surface in the first direction through the third leveling mechanism, so as to calibrate the overall horizontality of the molding film surface. In this way, the horizontality of the molding platform and / or the molding film surface can be improved. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0038] Figure 1 It is one of the structural schematic diagrams of the 3D printing leveling device provided in the embodiment of the present application;

[0039] Figure 2 This is the second structural schematic diagram of the 3D printing leveling device provided in the embodiment of the present application;

[0040] Figure 3 This is the third structural schematic diagram of the 3D printing leveling device provided in the embodiment of the present application;

[0041] Figure 4 This is the fourth structural schematic diagram of the 3D printing leveling device provided in the embodiment of the present application;

[0042] Figure 5 This is one of the flow charts of the 3D printing leveling method provided in the embodiment of the present application;

[0043] Figure 6 It is a schematic diagram of the detection points of the forming platform of the 3D printing leveling method provided in the embodiment of the present application;

[0044] Figure 7 This is the second flow chart of the 3D printing leveling method provided in the embodiment of the present application;

[0045] Figure 8 It is a schematic diagram of the detection points of the molded stretch film surface of the 3D printing leveling method provided in the embodiment of the present application.

[0046] Description of Figure Numbers:

[0047] a: first direction; b: second direction;

[0048] 10: Molding platform;

[0049] 20: resin tank; 21: forming film surface;

[0050] 30: platform leveling assembly; 31: first leveling mechanism; 311: first leveling base; 312: first driving member; 32: second leveling mechanism; 321: second leveling base; 322: second driving member;

[0051] 40: membrane leveling assembly; 41: third leveling mechanism; 42: fourth leveling mechanism; 43: leveling base; 44: ball bearing; 45: leveling plate; 451: first connection part; 452: second connection part; 453: third connection part;

[0052] 50: first moving axis;

[0053] 60: second moving axis; 61: supporting plate;

[0054] 70: base platform;

[0055] 90: Laser ranging device. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0058] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or may be indirectly connected to the other element through an intermediate element.

[0059] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0060] During the 3D printing process, the photocuring 3D printing device uses the molding platform as the basis, and projects each layer of slice image data to the molding film surface through the DMD (digital micromirror). Through light energy and graphic exposure control, a thin layer is cured each time, and as the molding platform moves relative to the molding film surface, the molding is repeated layer by layer until a complete printed product is obtained. It can be understood that the levelness of the molding platform and the molding film surface directly determines the quality of the printed sample product. Insufficient levelness of the molding platform and the molding film surface will cause a large height difference in the resin, and the resin will not be evenly attached to the molding platform in the first layer, or the direct curing strength of the resin is insufficient, causing the model to fall off during the printing process, or the printed sample product will be deformed or distorted, resulting in problems such as difficult to control the printing effect or printing failure. The current leveling methods for photocuring 3D printing devices are mostly manual leveling and semi-automatic leveling.

[0061] Among them, manual leveling is mainly achieved by the operator manually adjusting the relevant screws, but this method is more dependent on the operator's operating level and proficiency, and the debugging process is cumbersome, the debugging time is long, and there is no clear judgment standard for the debugging result.

[0062] Semi-automatic leveling is usually achieved by using tools or inputting leveling compensation values. Commonly used tools include A4 paper, level, micrometer, feeler gauge, sensor, etc. However, there are errors in the use of the instrument itself, so the accuracy of the instrument needs to be considered, and maintenance and calibration are also issues that need to be considered. In addition, there is the possibility of human error or improper operation or operation error, or the lack of unified operating standards may also lead to inaccurate data.

[0063] It can be seen that the current leveling method of light-curing 3D printing has poor leveling precision and accuracy, resulting in poor levelness of the molding platform and the molding film surface, which can easily lead to deformation of the printed sample or printing failure.

[0064] To this end, the embodiments of the present application provide a 3D printing leveling device, a 3D printer and a leveling method thereof, which can improve the levelness of the molding platform and / or the molding film surface. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the printed sample can be accurately and successfully printed.

[0065] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0066] like Figures 1 to 4 As shown, the 3D printing leveling device provided in the embodiment of the present application includes a base platform 70 , a resin tank 20 , a molding platform 10 , a laser distance measuring device 90 and a platform leveling assembly 30 .

[0067] The resin tank 20 is disposed on the base platform 70, and the resin tank 20 is used to contain the molding liquid. The molding platform 10 is disposed in the resin tank 20. The laser distance measuring device 90 is used to emit a distance measuring laser toward the molding platform 10 to detect the level of the molding platform 10. The platform leveling assembly 30 is disposed on the base platform 70 and connected to the molding platform 10. The platform leveling assembly 30 includes a first leveling mechanism 31 and a second leveling mechanism 32. The first leveling mechanism 31 is used to adjust the level of the molding platform 10 in the first direction a, and the second leveling mechanism 32 is used to adjust the level of the molding platform 10 in the second direction b. The first direction a and the second direction b have an angle.

[0068] It should be noted that the plane where the first direction a and the second direction b are located is a horizontal plane, and the horizontality of the molding platform 10 in the first direction a and the second direction b is adjusted by the platform leveling component 30 to level the molding platform 10. In the present application, the height of the laser distance measuring device 90 remains unchanged, and the levelness and flatness of the molding platform 10 are achieved by keeping the distance between the laser distance measuring device 90 and each part of the molding platform 10 consistent.

[0069] It should be noted that during the 3D printing process, the molding platform 10 is a support platform for the printed part, and the molding platform 10 is immersed in the molding liquid. Through light energy and pattern exposure control, a thin layer is exposed and cured at the molding film surface 21 each time, and as the molding platform 10 moves relative to the molding film surface 21, molding is repeated layer by layer until a complete printed product is obtained. Exemplarily, the molding liquid includes a resin liquid.

[0070] The 3D printing leveling device provided in the embodiment of the present application can detect the horizontality of the molding platform 10 through the laser distance measuring device 90, and level the horizontality of the molding platform 10 in the second direction b through the second leveling mechanism 32 of the platform leveling assembly 30, and level the horizontality of the molding platform 10 in the first direction a through the first leveling mechanism 31, so as to calibrate the overall horizontality of the molding platform 10. In this way, the horizontality of the molding platform 10 is improved through high-precision automatic leveling of the molding platform 10. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured.

[0071] Exemplarily, the first direction a and the second direction b are perpendicular to each other, so as to facilitate calibration calculation during the leveling process and improve calibration efficiency.

[0072] like Figures 1 to 4As shown, in the embodiment of the present application, the first leveling mechanism 31 includes a first leveling base 311 and a first driving member 312, and the second leveling mechanism 32 includes a second leveling base 321 and a second driving member 322. The first driving member 312 is disposed on the first leveling base 311 and connected to the second leveling base 321, and the second driving member 322 is disposed on the second leveling base 321 and connected to the molding platform 10. The first driving member 312 can drive the second leveling base 321 to level in the first direction a, thereby leveling the horizontality of the molding platform 10 in the first direction a, and the second driving member 322 can directly drive the molding platform 10 to level in the second direction b. Of course, in other embodiments, the second driving member 322 is connected to the first leveling base 311 to drive the first leveling base 311 to level in the second direction b, thereby leveling the molding platform 10, and the first driving member 312 is connected to the molding platform 10 to directly drive the molding platform 10 to level in the first direction a.

[0073] Exemplarily, the first driving member 312 includes a driving motor, which drives the second leveling base 321 to rotate in the first direction a, so as to level the molding platform 10 in the first direction a.

[0074] Exemplarily, the second driving member 322 includes a driving motor, which drives the forming platform 10 to rotate in the second direction b so as to level the forming platform 10 in the second direction b.

[0075] like Figures 1 to 4 As shown, in the embodiment of the present application, the second driving member 322 is located in the middle of the molding platform 10 in the second direction b. In this way, the second driving member 322 can drive the molding platform 10 to rotate directly around its center, which is more conducive to leveling calibration calculation and control compared to the yaw motion, so as to ensure that the molding platform 10 can be accurately leveled in the second direction b.

[0076] like Figures 1 to 4 As shown, in the embodiment of the present application, the first driving member 312 is located on one side of the molding platform 10 in the first direction a. Since the first driving member 312 indirectly drives the molding platform 10 to be leveled in the first direction a through the second leveling base 321, and the second leveling base 321 is installed outside the resin tank 20, the first driving member 312 needs to be located on one side of the molding platform 10 in the first direction a for easy installation. In this way, when the first driving member 312 drives the molding platform 10 to rotate and level, it actually drives the molding platform 10 to perform a yaw motion. When calculating the leveling calibration, it is also necessary to combine the motion trajectory of the molding platform 10 for calculation and control to ensure that the molding platform 10 can be accurately leveled in the first direction a.

[0077] like Figures 1 to 4As shown, in the embodiment of the present application, the 3D printing leveling device further includes a first movable shaft 50, the first movable shaft 50 is connected to the base platform 70, and the platform leveling assembly 30 is connected to the first movable shaft 50 in a manner that it can be raised and lowered. The first movable shaft 50 can drive the platform leveling assembly 30 to rise and fall, that is, to move up and down in the vertical direction, and then can drive the molding platform 10 to move up and down in the vertical direction. In this way, during the 3D printing process, the 3D printing can be achieved by moving the molding platform 10 in the vertical direction relative to the molding film surface 21.

[0078] In some embodiments, the first movable shaft 50 includes a first support frame, a first slide rail, a first screw rod and a first vertical motor. The first support frame is vertically arranged on the base platform 70. The first slide rail and the first screw rod are both arranged on the first support frame in the vertical direction. The first vertical motor is arranged at one end of the first support frame and is driven and connected to the first screw rod. The platform leveling assembly 30 is slidably connected to the first slide rail and is threadedly connected to the first screw rod. Under the drive of the first vertical motor, the first screw rod will rotate, and then the platform leveling assembly 30 can be pushed to move up and down along the first slide rail in the vertical direction to realize the up and down movement of the molding platform 10 in the vertical direction.

[0079] Exemplarily, the first leveling base 311 is connected to the first movable shaft 50 in a liftable manner, so as to drive the molding platform 10 to be lifted and lowered under the drive of the first movable shaft 50 .

[0080] like Figures 1 to 4 As shown, the 3D printing leveling device provided in the embodiment of the present application also includes a film leveling assembly 40, which is arranged on the base platform 70 through the support plate 61 and connected to the resin tank 20. The film leveling assembly 40 includes a third leveling mechanism 41 and a fourth leveling mechanism 42, a leveling base 43 and a ball 44. The bottom of the resin tank 20 is provided with a first connecting portion 451, a second connecting portion 452 and a third connecting portion 453. Exemplarily, the bottom of the resin tank 20 is provided with an adjustment plate 45, and the first connecting portion 451, the second connecting portion 452 and the third connecting portion 453 are all arranged on the adjustment plate 45. The first connecting portion 451 and the third connecting portion 453 are arranged at intervals along the first direction a, and the second connecting portion 452 and the third connecting portion 453 are arranged at intervals along the second direction b. The leveling base 43 is connected to the third connection part 453 through the ball bearing 44. The third leveling mechanism 41 and the fourth leveling mechanism 42 are both arranged on the leveling base 43. The third leveling mechanism 41 is connected to the first connection part 451, and the fourth leveling mechanism 42 is connected to the second connection part 452. The laser distance measuring device 90 is used to emit a distance measuring laser toward the molded film surface 21 to detect the horizontality of the molded film surface 21.

[0081] It should be noted that the molding film surface 21 is fixed on the resin tank 20. The projection device can expose and cure a thin layer at the molding film surface 21 through light energy and pattern exposure control, so as to perform molding layer by layer. Its position can be determined according to the position of the projection device. In this embodiment, the projection device and the laser distance measuring device 90 are located above the molding platform 10 and the molding film surface 21, the molding film surface 21 is located above the molding platform 10, and the film leveling component 40 is located at the bottom of the resin tank 20. In other embodiments, the projection device and the laser distance measuring device 90 are located below the molding platform 10 and the molding film surface 21, the molding film surface 21 is located below the molding platform 10, and the film leveling component 40 is located at the top of the resin tank 20.

[0082] It should be noted that the leveling base 43 is the supporting structure of the film leveling assembly 40. The leveling base 43 is connected to the third connecting portion 453 by rolling through the ball 44, so that the third connecting portion 453 of the resin tank 20 can be universally rotated relative to the leveling base 43, and then the first connecting portion 451 is adjusted by the third leveling mechanism 41, so that the angle of the resin tank 20 in the direction from the first connecting portion 451 to the third connecting portion 453 can be adjusted, so as to adjust the horizontality of the molded film surface 21 in the first direction a. Similarly, the second connecting portion 452 is adjusted by the fourth leveling mechanism 42, so that the angle of the resin tank 20 in the direction from the second connecting portion 452 to the third connecting portion 453 can be adjusted, so as to adjust the horizontality of the molded film surface 21 in the second direction b.

[0083] The 3D printing leveling device provided in the embodiment of the present application can detect the horizontality of the molded film surface 21 through the laser distance measuring device 90, and level the horizontality of the molded film surface 21 in the second direction b through the fourth leveling mechanism 42 of the film leveling assembly 40, and level the horizontality of the molded film surface 21 in the first direction a through the third leveling mechanism 41, so as to calibrate the overall horizontality of the molded film surface 21. In this way, the horizontality of the molded film surface 21 is improved through high-precision automatic leveling of the molded film surface 21. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured.

[0084] It should be noted that, in the embodiment of the present application, the 3D printing leveling device can only level the molding platform 10, or only level the molding film surface 21. Of course, it can also level both the molding platform 10 and the molding film surface 21. When the laser distance measuring device 90 detects the molding platform 10, the laser emitted by it will pass through the molding film surface 21, and receive the laser reflected by the molding platform 10 to perform laser distance measurement. When the molding film surface 21 is detected, the laser emitted by it will be reflected on the molding film surface 21, and receive the reflected laser to perform laser distance measurement. The control end can determine whether it is the molding platform 10 or the molding film surface 21 to be detected based on the laser signal received by the laser distance measuring device 90, and thereby perform laser distance measurement on the molding platform 10 and the molding film surface 21 respectively. For example, a stronger laser signal is a laser signal for detecting the molding platform 10 , and a weaker laser signal is a laser signal for detecting the molding stretch film surface 21 .

[0085] In other embodiments of the present application, the molding platform 10 may be first inspected and leveled. After the molding platform is leveled, the molding film surface 21 is installed on the resin tank 20, and then the molding film surface 21 is leveled. When the laser distance measuring device 90 inspects the molding platform 10, the laser emitted by it will be reflected on the molding platform 10, and the reflected laser of the molding platform 10 will be received to perform laser distance measurement; when the molding film surface 21 is inspected, the laser emitted by it will be reflected on the molding film surface 21, and the reflected laser will be received to perform laser distance measurement.

[0086] In an embodiment of the present application, the third leveling mechanism 41 includes a lifting motor and a driving ball. The driving motor is connected to the driving ball, thereby driving the driving ball to rise and fall to adjust the angle of the resin tank 20 in the direction from the first connection part 451 to the third connection part 453, thereby leveling the horizontality of the molded stretch film surface 21 in the first direction a.

[0087] In the embodiment of the present application, the fourth leveling mechanism 42 includes a lifting motor and a driving ball. The driving motor is connected to the driving ball, thereby driving the driving ball to rise and fall to adjust the angle of the resin tank 20 in the direction from the second connecting part 452 to the third connecting part 453, thereby leveling the horizontality of the molded stretch film surface 21 in the second direction b.

[0088] Exemplarily, the first connection part 451 has a groove extending along the first direction a to limit the third leveling mechanism 41 to level the horizontal degree of the molded film surface 21 in the first direction a. The second connection part 452 has a groove extending along the second direction b to limit the fourth leveling mechanism 42 to level the horizontal degree of the molded film surface 21 in the second direction b. The third connection part 453 has an arc-shaped groove to limit the rolling of the ball 44 therein to adjust the horizontal degree of the molded film surface 21.

[0089] like Figures 1 to 4 As shown, in the embodiment of the present application, the 3D printing leveling device also includes a second movable shaft 60, the second movable shaft 60 is connected to the base platform 70, and the film leveling assembly 40 is connected to the second movable shaft 60 in a liftable manner. The second movable shaft 60 can drive the film leveling assembly 40 to move up and down, that is, to move up and down in the vertical direction, and then can drive the resin tank 20 to move up and down in the vertical direction. In this way, during the 3D printing process, 3D printing can be achieved by moving the molding platform 10 in the vertical direction relative to the molding film surface 21. Combined with the lifting structure of the aforementioned molding platform 10, the resin tank 20 and the molding platform 10 can be lifted and lowered as a whole to adjust the distance from the projection device to achieve the desired 3D printing effect.

[0090] In some embodiments, the second movable shaft 60 includes a second support frame, a second slide rail, a second screw rod and a second vertical motor. The second support frame is vertically arranged on the base platform 70. The second slide rail and the second screw rod are both arranged on the second support frame in the vertical direction. The second vertical motor is arranged at one end of the second support frame and is driven and connected to the second screw rod. The film leveling assembly 40 is slidably connected to the second slide rail and is threadedly connected to the second screw rod. Driven by the second vertical motor, the second screw rod will rotate, thereby pushing the film leveling assembly 40 to move up and down along the second slide rail in the vertical direction, so as to realize the vertical movement of the resin tank 20.

[0091] It should be noted that the second movable shaft 60 is disposed at one end of the film stretching and leveling assembly, but in some other embodiments, the second movable shaft 60 is disposed below or on the side of the film stretching and leveling assembly.

[0092] Exemplarily, the support plate 61 is connected to the second movable shaft 60 in a liftable manner, so as to drive the resin tank 20 to be lifted and lowered under the driving of the second movable shaft 60 .

[0093] like Figures 1 to 4As shown, in the embodiment of the present application, the setting position of the laser ranging device 90 can be determined according to the arrangement of the projection device. The laser ranging device 90 needs to be located on one side of the projection device so as to be able to emit ranging laser toward the forming platform 10 and / or the forming film surface 21 and detect the horizontality of the forming platform 10 and / or the forming film surface 21.

[0094] Exemplarily, the projection device is located above the molding platform 10 and the molding film surface 21, and the molding film surface 21 is located above the molding platform 10. The projection device uses light energy and pattern exposure control to expose and cure a thin layer at the molding film surface 21 from above each time, and as the molding platform 10 moves relative to the molding film surface 21, the molding is repeated layer by layer until a complete printed product is obtained. At this time, the laser distance measuring device 90 is also located above the molding platform 10 and the molding film surface 21, and can detect the levelness of the molding platform 10 and / or the molding film surface 21 by emitting a distance measuring laser downward.

[0095] In some other examples, the projection device is located below the molding platform 10 and the molding film surface 21, and the molding film surface 21 is located below the molding platform 10. The projection device uses light energy and pattern exposure control to expose and cure a thin layer at the molding film surface 21 from below each time, and as the molding platform 10 moves relative to the molding film surface 21, the molding is repeated layer by layer until a complete printed product is obtained. At this time, the laser distance measuring device 90 is also located below the molding platform 10 and the molding film surface 21, and can detect the levelness of the molding platform 10 and / or the molding film surface 21 by emitting a distance measuring laser upward.

[0096] It should be noted that the laser distance measuring device 90 is mainly used to detect the relative position of the various positions of the molding platform 10 and / or the molding film surface 21 and the laser distance measuring device 90. After the distance measurement, these data can be fed back to the control end, and the control end can control the position angle of the molding platform 10 and / or the resin tank 20 according to these data to accurately level the molding platform 10 and / or the molding film surface 21. Exemplarily, the laser distance measuring device 90 includes a high-precision laser distance measuring sensor and a connection structure. The high-precision laser distance measuring sensor is connected to the outside of the projection device through the connection structure to maintain the stable installation of the laser distance measuring device 90, thereby ensuring the accurate distance measurement of the molding platform 10 and the molding film surface 21. The high-precision laser distance measuring sensor has a resolution of 1um, can accurately measure the distance, and the laser emitted by it can be parallel to the projection light path of the projection device, so as to be able to emit laser toward the molding platform 10 and the molding film surface 21.

[0097] In the embodiment of the present application, the laser distance measuring device 90 includes a transmitting end and a receiving end, and the laser emitting direction of the transmitting end and the laser receiving direction of the receiving end have an angle. That is to say, there is an angle between the laser emitted by the laser distance measuring device 90 and the laser received, so that when the laser distance measuring device 90 is used to measure the distance, the mutual influence between the emitted laser and the received laser can be avoided, and the reading of the laser distance measuring device 90 is ensured to be accurate, so as to improve the leveling accuracy of the molding platform 10. In addition, when the molding surface stretch film surface is calibrated by the laser distance measuring device 90, it is also possible to avoid the vertically incident laser directly passing through the transparent molding surface stretch film surface and affecting the accuracy of the reading, thereby improving the leveling accuracy and precision of the molding surface stretch film surface.

[0098] Exemplarily, the laser emitting direction of the laser distance measuring device 90 and the vertical direction have an angle, that is, the angle setting between the laser emitting direction and the laser receiving direction is achieved by the angular installation of the laser distance measuring device 90 .

[0099] In addition, considering that the laser emitting direction and the laser receiving direction of the laser distance measuring device 90 have an angle, when the height of the molding platform 10 and / or the molding film surface 21 changes in the vertical direction, the detection point of the laser distance measuring device 90 on the molding platform 10 and / or the molding film surface 21 will also change, that is, before and after leveling, the detection point of the laser distance measuring device 90 on the molding platform 10 and / or the molding film surface 21 will change. Therefore, in the actual leveling calibration process, the reading change of the detection point of the molding platform 10 and / or the molding film surface 21 will be compensated by calculation. For example, when the detection point of the molding platform 10 and / or the molding film surface 21 actually moves 1mm in the vertical direction, the reading change of the laser distance measuring device 90 is not necessarily 1mm, but 1mm±20um. At this time, the control end needs to perform additional calibration on the reading.

[0100] In the embodiment of the present application, the laser emission direction and the laser receiving direction are both located in the first plane, and the first direction a or the second direction b is located in the first plane. It should be noted that, due to the angle between the laser emission direction and the laser receiving direction, when calibrating the direction on the first plane, the angle setting of the laser ranging device 90 will significantly affect the calibration in that direction, while having little effect on the horizontal calibration of the direction outside the first plane, especially having little effect on the horizontal calibration of the direction perpendicular to the first plane. Therefore, at least one of the first direction a or the second direction b is located in the first plane, which can at least ensure that the angle setting of the laser ranging device 90 reduces the effect on the horizontal calibration of one of the directions, especially when the first direction a and the second direction b are perpendicular, it can at least ensure that the angle setting of the laser ranging device 90 has no effect on the horizontal calibration of one of the directions.

[0101] In the embodiment of the present application, when calibrating the levelness by means of the laser ranging device 90, the levelness of the direction on the first plane can be calibrated first, that is, the direction that is more difficult to accurately calibrate can be calibrated first. After calibrating this direction, the levelness of the direction outside the first plane can be calibrated. In this way, the success rate of leveling can be increased and the leveling efficiency can be improved.

[0102] like Figures 1 to 4 As shown, in the embodiment of the present application, the base platform 70 includes a planar moving platform so that the base platform 70 can move horizontally relative to the laser distance measuring device 90. When the base platform 70 moves horizontally, the molding platform 10 and / or the molding film surface 21 thereon will also move horizontally relative to the laser distance measuring device 90, so that the laser distance measuring device 90 can measure different detection points on the molding platform 10 and / or the molding film surface 21. In this embodiment, the position of the laser distance measuring device 90 remains unchanged, and only the base platform 70 is mobilized to move, which can avoid the laser distance measuring device 90 from changing its emission angle or height during the movement process, thereby affecting the accuracy of the horizontal calibration. The molding platform 10 and / or the molding film surface 21 itself needs to adjust the levelness, and moving it horizontally can still ensure the levelness of the molding platform 10 and / or the molding film surface 21 during the subsequent horizontal calibration process.

[0103] Exemplarily, the planar moving platform includes an X-axis moving platform and a Y-axis moving platform. The X-axis moving platform can drive the base platform 70 to move in the X-axis direction, and the Y-axis moving platform can drive the base platform 70 to move in the Y-axis direction. The X-axis direction is consistent with the aforementioned first direction a, and the Y-axis direction is consistent with the aforementioned second direction b. In this way, the base platform 70 can be moved in the first direction a and the second direction b, and it is also convenient for the laser ranging device 90 to detect and calibrate different detection points. For example, when detecting and calibrating points A3 and A9, it is only necessary to move the base platform 70 relative to the laser ranging device 90 in the Y-axis direction, so that the laser ranging device 90 can detect and calibrate points A3 and A9 in the second direction b.

[0104] The 3D printer of the embodiment of the present application includes a 3D printing leveling device. The 3D printing leveling device provided in the embodiment of the present application can detect the level of the molding platform 10 and / or the molding film surface 21 through the laser rangefinder 90, and calibrate the overall level of the molding platform 10 through the platform leveling component 30, and / or the film leveling component 40 calibrates the overall level of the molding film surface 21. In this way, the level of the molding platform 10 and / or the molding film surface 21 is improved. When the 3D printer performs 3D printing, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured.

[0105] In the embodiment of the present application, the 3D printer further includes a projection device, which can expose and solidify a thin layer at the molding film surface 21 through light energy and pattern exposure control, and repeatedly mold layer by layer as the molding platform 10 moves relative to the molding film surface 21 until a complete printed product is obtained. The projection device is disposed above the resin tank 20, and the laser distance measuring device 90 is fixed to the outside of the projection device.

[0106] In the embodiment of the present application, the 3D printer further includes a control end, which can receive detection information of the laser distance measuring device 90 on the molding platform 10 and / or the molding film surface 21, and control the platform leveling component 30 and / or the film leveling component 40 to operate, so as to achieve leveling of the molding platform 10 and / or the molding film surface 21. In addition, the control end can also control the 3D printer to perform corresponding 3D printing work.

[0107] like Figures 1 to 6 As shown, in some embodiments, the 3D printing leveling method of the present application, based on the 3D printing leveling device, the leveling method includes:

[0108] S1, obtain the laser readings of point A3 and point A9 on the forming platform 10. Point A3 and point A9 are arranged at intervals in the second direction b. Point A3 and point A9 are two detection points of the forming platform 10 in the second direction b. For example, point A3 and point A9 are two detection points on both sides of the center of the forming platform 10 in the second direction b. When the forming platform 10 is not horizontal or flat in the second direction b, the difference in the laser readings of the two detection points is more obvious, which can facilitate the subsequent level calibration.

[0109] S2, according to the laser readings of points A3 and A9, determine the target reading of point A3 or point A9. After receiving the laser readings of points A3 and A9, the control end can determine the target reading of point A3 or point A9 by calculation, so as to facilitate the subsequent leveling control.

[0110] Specifically, the steps include:

[0111] S21, determining a first adjustment amount according to the laser readings of point A9 and point A3. The first adjustment amount is an intermediate amount between point A9 and point A3 adjusted to a horizontal level, wherein the first adjustment amount of point A9 is different from the first adjustment amount of point A3.

[0112] In this embodiment, according to the formula T = [(L9-L3) / S] × f(LK*), the first adjustment amount LK9 of point A9 and the first adjustment amount LK3 of point A3 can be obtained respectively. Among them, T is the target height difference between A9 and A3, L9 is the laser reading of point A9, L3 is the laser reading of point A3, and S is the coordinate distance between point A9 and point A3. T is a non-zero constant, and the smaller its value is, the higher the leveling accuracy that can be achieved.

[0113] S22, determine the target reading of point A9 or point A3 according to the first adjustment amount. That is, after obtaining the first adjustment amount LK9, the target reading L9' can be obtained by the formula LK9=f(L9'), and after obtaining the first adjustment amount LK3, the target reading L3' can be obtained by the formula LK3=f(L3').

[0114] S3, according to the target reading of point A9, control the second leveling mechanism 32 so that the laser reading of point A9 reaches the target reading, or, according to the target reading of point A3, control the second leveling mechanism 32 so that the laser reading of point A3 reaches the target reading. It can be understood that the target reading of point A3 and the target reading of point A9 are the readings after the molding platform 10 is adjusted to the level in the second direction b. Therefore, here, it is only necessary to adjust the laser reading of any one of points A3 and A9 to the target reading through the second leveling mechanism 32, which theoretically means that the molding platform 10 has reached the level in the second direction b. In this embodiment, during the leveling process through the second leveling mechanism 32, the laser distance measuring device 90 always detects toward one of points A3 or A9 until the laser reading of point A3 or A9 measured by the laser distance measuring device 90 reaches the target reading.

[0115] S4, obtaining the laser reading of point A3 or point A9 again. After the above steps, it is known that the laser reading of point A9 or point A3 is the target reading, so only the laser reading of another point needs to be obtained to determine whether the calibrated molding platform 10 is horizontal in the second direction b.

[0116] S5, if the reading difference between the laser reading at point A3 and the laser reading at point A9 is within the preset reading difference range, then S6 is executed. If the reading difference is within the preset reading difference range, it indicates that the horizontality of the molding platform 10 in the second direction b meets the requirement, so the next level calibration operation can be performed.

[0117] If the reading difference between the laser reading at point A3 and the laser reading at point A9 is outside the preset reading difference range, S1 is executed. If the reading difference is outside the preset reading difference range, it indicates that the levelness of the building platform 10 in the second direction b does not meet the requirements. By repeating steps S1 to S5, the levelness of the building platform 10 in the second direction b is accurately calibrated until it meets the requirements, and then the next level calibration operation can be performed.

[0118] S6, obtaining laser readings of points A1 and A3 on the molding platform 10. Points A1 and A3 are arranged at intervals in the first direction a. Points A1 and A3 are two detection points of the molding platform 10 in the first direction a. For example, points A3 and A9 are two detection points on both sides of the center of the molding platform 10 in the first direction a. When the molding platform 10 is not horizontal or flat in the first direction a, the difference in laser readings of the two detection points is more obvious, which can facilitate subsequent level calibration.

[0119] S7, determining the target reading of point A1 or point A3 according to the laser readings of point A1 and point A3. After receiving the laser readings of point A1 and point A3, the control end can determine the target readings of point A1 and point A3 by calculation, so as to facilitate the subsequent leveling control.

[0120] Specifically, the steps include:

[0121] S71, determining a first adjustment amount according to the laser readings of point A1 and point A3. The first adjustment amount is an intermediate amount between point A1 and point A3 adjusted to a horizontal level, wherein the first adjustment amount of point A1 is different from the first adjustment amount of point A3.

[0122] In this embodiment, according to the formula T = [(L1-L3) / S] × f(LK*), the first adjustment amount LK1 of point A1 and the first adjustment amount LK3 of point A3 can be obtained respectively. Among them, T is the target height difference between A1 and A3, L1 is the laser reading of point A1, L3 is the laser reading of point A3, and S is the coordinate distance between points A1 and A3. T is a non-zero constant, and the smaller its value is, the higher the leveling accuracy that can be achieved.

[0123] S72, determine the target reading of point A1 or point A3 according to the first adjustment amount. That is, after obtaining the first adjustment amount LK1, the target reading L1' can be obtained by the formula LK1 = f(L1'), and after obtaining the first adjustment amount LK3, the target reading L3' can be obtained by the formula LK3 = f(L3').

[0124] S8, according to the target reading of point A1, control the first leveling mechanism 31 so that the laser reading of point A1 reaches the target reading, or, according to the target reading of point A3, control the first leveling mechanism 31 so that the laser reading of point A3 reaches the target reading. It can be understood that the target reading of point A3 and the target reading of point A1 are the readings after the molding platform 10 is adjusted to the level in the first direction a. Therefore, here, it is only necessary to adjust the laser reading of any one of points A3 and A1 to the target reading through the first leveling mechanism 31, which theoretically means that the molding platform 10 has reached the level in the first direction a. In this embodiment, during the leveling process through the first leveling mechanism 31, the laser distance measuring device 90 always detects toward one of points A3 or A1 until the laser reading of point A3 or A1 measured by the laser distance measuring device 90 reaches the target reading.

[0125] Exemplarily, S8, the step of controlling the first leveling mechanism 31 according to the target reading of point A1, includes:

[0126] Obtain the motion trajectory of the first leveling mechanism 31 when controlling the motion of the molding platform 10. Based on the specific structure of the first leveling mechanism 31, the first driving member 312 actually drives the molding platform 10 to perform a yaw motion. Therefore, in order to accurately level the first direction a, its motion trajectory also needs to be obtained.

[0127] According to the target reading and motion trajectory of point A1, the control amount of the first leveling mechanism 31 is determined, and the operation of the first leveling mechanism 31 is controlled according to the control amount. In this way, the operation of the first leveling mechanism 31 can be accurately controlled so that point A1 reaches the target reading, thereby achieving the leveling of the molding platform 10 in the first direction a.

[0128] S9, obtaining the laser reading of point A3 or point A1 again. After the above steps, it is known that the laser reading of point A1 or point A3 is the target reading, so only the laser reading of another point needs to be obtained to determine whether the calibrated molding platform 10 is horizontal in the first direction a.

[0129] S10, if the reading difference between the laser reading at point A3 and the laser reading at point A1 is within the preset reading difference range, then S11 is executed. If the reading difference is within the preset reading difference range, it indicates that the horizontality of the molding platform 10 in the first direction a meets the requirement, so the next operation can be performed.

[0130] If the reading difference between the laser reading at point A3 and the laser reading at point A1 is outside the preset reading difference range, S6 is executed. If the reading difference is outside the preset reading difference range, it indicates that the levelness of the building platform 10 in the first direction a does not meet the requirements. By repeating steps S6 to S10, the levelness of the building platform 10 in the first direction a is accurately calibrated until it meets the requirements, and then the next operation can be performed.

[0131] S11, obtain laser readings of points A1, A3, and A9.

[0132] S12, in the laser readings of points A1, A3, and A9, if the reading difference of the laser readings of any two points is within the preset reading difference range, the leveling is completed. If the reading difference of any two points is within the preset reading difference range, it indicates that the molding platform 10 is adjusted to the level in both the first direction a and the second direction b, which means that the molding platform 10 as a whole has been adjusted to the level.

[0133] If the reading difference between the laser readings of any two points is outside the preset reading difference range, S1 is executed. If the reading difference between any two points is outside the preset reading difference range, it indicates that the levelness of the molding platform 10 in the first direction a and / or the second direction b does not meet the requirements, and the steps S1 to S12 are repeated to accurately calibrate the overall levelness of the molding platform 10 until the requirements are met.

[0134] like Figure 6 As shown, in the embodiment of the present application, point A1, point A3, and point A9 are three corresponding points on the molding platform 10. In this embodiment, the molding platform 10 is divided into nine detection points A1-A9 according to the nine-square grid, wherein point A1 and point A3 are two detection points set at intervals in the first direction a, and point A3 and point A9 are two detection points set at intervals in the second direction b. It can be understood that point A1 and point A3 are the two detection points farthest apart in the first direction a. Therefore, when the molding platform 10 is not horizontal or flat in the first direction a, the difference in laser readings of these two detection points is more obvious, which can facilitate subsequent horizontal calibration. Similarly, point A3 and point A9 are the two detection points farthest apart in the second direction b. Therefore, when the molding platform 10 is not horizontal or flat in the second direction b, the difference in laser readings of these two detection points is more obvious, which can facilitate subsequent horizontal calibration.

[0135] The 3D printing leveling method provided in the embodiment of the present application can first detect the horizontality of the molding platform 10 in the second direction b through the laser distance measuring device 90, and level the horizontality of the molding platform 10 in the second direction b through the second leveling mechanism 32, and then detect the horizontality of the molding platform 10 in the first direction a through the laser distance measuring device 90, and level the horizontality of the molding platform 10 in the first direction a through the first leveling mechanism 31, and calibrate the overall horizontality of the molding platform 10 through repeated detection and adjustment. In this way, the horizontality of the molding platform 10 is improved. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured.

[0136] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, in some other embodiments, the 3D printing leveling method of the embodiment of the present application is based on the 3D printing leveling device, and the leveling method includes:

[0137] S1, obtain the laser readings of point A3 and point A9 on the molded film surface 21. Point A3 and point A9 are arranged at intervals in the second direction b. Point A3 and point A9 are two detection points on the molded film surface 21 in the second direction b. For example, point A3 and point A9 are two detection points on both sides of the center of the molded film surface 21 in the second direction b. When the molded film surface 21 is not horizontal or flat in the second direction b, the difference in laser readings of the two detection points is more obvious, which can facilitate subsequent level calibration.

[0138] S2, according to the laser readings of points A3 and A9, determine the target reading of point A3 or point A9. After receiving the laser readings of points A3 and A9, the control end can determine the target reading of point A3 or point A9 by calculation, so as to facilitate the subsequent leveling control.

[0139] Specifically, the steps include:

[0140] S21, determining a first adjustment amount according to the laser readings of point A9 and point A3. The first adjustment amount is an intermediate amount between point A9 and point A3 adjusted to a horizontal level, wherein the first adjustment amount of point A9 is different from the first adjustment amount of point A3.

[0141] In this embodiment, according to the formula T = [(L9-L3) / S] × f(LK*), the first adjustment amount LK9 of point A9 and the first adjustment amount LK3 of point A3 can be obtained respectively. Among them, T is the target height difference between A9 and A3, L9 is the laser reading of point A9, L3 is the laser reading of point A3, and S is the coordinate distance between point A9 and point A3. T is a non-zero constant, and the smaller its value is, the higher the leveling accuracy that can be achieved.

[0142] S72, determine the target reading of point A9 or point A3 according to the first adjustment amount. That is, after obtaining the first adjustment amount LK9, the target reading L9' can be obtained by the formula LK9=f(L9'), and after obtaining the first adjustment amount LK3, the target reading L3' can be obtained by the formula LK3=f(L3').

[0143] S3, according to the target reading of point A9, control the fourth leveling mechanism 42 so that the laser reading of point A9 reaches the target reading, or, according to the target reading of point A3, control the fourth leveling mechanism 42 so that the laser reading of point A3 reaches the target reading. It can be understood that the target reading of point A3 and the target reading of point A9 are the readings after the molded film surface 21 is adjusted to the horizontal in the second direction b. Therefore, here, it is only necessary to adjust the laser reading of any one of points A3 and A9 to the target reading through the fourth leveling mechanism 42, which theoretically means that the molded film surface 21 has reached the horizontal in the second direction b. In this embodiment, during the leveling process through the fourth leveling mechanism 42, the laser distance measuring device 90 always detects toward one of points A3 or A9 until the laser reading of point A3 or A9 measured by the laser distance measuring device 90 reaches the target reading.

[0144] S4, obtaining the laser reading of point A3 or point A9 again. After the above steps, it is known that the laser reading of point A9 or point A3 is the target reading, so only the laser reading of another point needs to be obtained to determine whether the calibrated formed stretch film surface 21 is horizontal in the second direction b.

[0145] S5, if the reading difference between the laser reading at point A3 and the laser reading at point A9 is within the preset reading difference range, then S6 is executed. If the reading difference is within the preset reading difference range, it indicates that the horizontality of the formed stretch film surface 21 in the second direction b meets the requirement, so the next level calibration operation can be performed.

[0146] If the reading difference between the laser reading at point A3 and the laser reading at point A9 is outside the preset reading difference range, S1 is executed. If the reading difference is outside the preset reading difference range, it indicates that the horizontality of the molded film surface 21 in the second direction b does not meet the requirements. By repeating steps S1 to S5, the horizontality of the molded film surface 21 in the second direction b is accurately calibrated until it meets the requirements, and then the next level calibration operation can be performed.

[0147] S6, obtaining laser readings of points A1 and A3 on the molded film surface 21. Points A1 and A3 are two detection points on the molded film surface 21 in the first direction a. For example, points A3 and A9 are two detection points on both sides of the center of the molded film surface 21 in the first direction a. When the molded film surface 21 is not horizontal or flat in the first direction a, the difference in laser readings of the two detection points is more obvious, which can facilitate subsequent level calibration.

[0148] S7, determining the target reading of point A1 or point A3 according to the laser readings of point A1 and point A3. After receiving the laser readings of point A1 and point A3, the control end can determine the target readings of point A1 and point A3 by calculation, so as to facilitate the subsequent leveling control.

[0149] Specifically, the steps include:

[0150] S71, determining a first adjustment amount according to the laser readings of point A1 and point A3. The first adjustment amount is an intermediate amount between point A1 and point A3 adjusted to a horizontal level, wherein the first adjustment amount of point A1 is different from the first adjustment amount of point A3.

[0151] In this embodiment, according to the formula T = [(L1-L3) / S] × f(LK*), the first adjustment amount LK1 of point A1 and the first adjustment amount LK3 of point A3 can be obtained respectively. Among them, T is the target height difference between A1 and A3, L1 is the laser reading of point A1, L3 is the laser reading of point A3, and S is the coordinate distance between points A1 and A3. T is a non-zero constant, and the smaller its value is, the higher the leveling accuracy that can be achieved.

[0152] S72, determine the target reading of point A1 or point A3 according to the first adjustment amount. That is, after obtaining the first adjustment amount LK1, the target reading L1' can be obtained by the formula LK1 = f(L1'), and after obtaining the first adjustment amount LK3, the target reading L3' can be obtained by the formula LK3 = f(L3').

[0153] S8, according to the target reading of point A1, control the third leveling mechanism 41 so that the laser reading of point A1 reaches the target reading, or, according to the target reading of point A3, control the third leveling mechanism 41 so that the laser reading of point A3 reaches the target reading. It can be understood that the target reading of point A3 and the target reading of point A1 are the readings after the molded film surface 21 is adjusted to the level in the first direction a. Therefore, here, it is only necessary to adjust the laser reading of any one of points A3 and A1 to the target reading through the third leveling mechanism 41, which theoretically means that the molded film surface 21 has reached the level in the first direction a. In this embodiment, during the leveling process through the third leveling mechanism 41, the laser distance measuring device 90 always detects toward one of points A3 or A1 until the laser reading of point A3 or A1 measured by the laser distance measuring device 90 reaches the target reading.

[0154] S9, obtaining the laser reading of point A3 or point A1 again. After the above steps, it is known that the laser reading of point A1 or point A3 is the target reading, so only the laser reading of another point needs to be obtained to determine whether the calibrated formed stretch film surface 21 is horizontal in the first direction a.

[0155] S10, if the reading difference between the laser reading at point A3 and the laser reading at point A1 is within the preset reading difference range, then S11 is executed. If the reading difference is within the preset reading difference range, it indicates that the horizontality of the formed stretch film surface 21 in the first direction a meets the requirement, so the next step can be performed.

[0156] If the reading difference between the laser reading at point A3 and the laser reading at point A1 is outside the preset reading difference range, S6 is executed. If the reading difference is outside the preset reading difference range, it indicates that the horizontality of the formed film surface 21 in the first direction a does not meet the requirements. By repeating steps S6 to S10, the horizontality of the formed film surface 21 in the first direction a is accurately calibrated until it meets the requirements, and then the next operation can be performed.

[0157] S11, obtain laser readings of points A1, A3, and A9.

[0158] S12, in the laser readings of points A1, A3, and A9, if the reading difference of the laser readings of any two points is within the preset reading difference range, the leveling is completed. If the reading difference of any two points is within the preset reading difference range, it indicates that the molded film surface 21 is adjusted to the level in both the first direction a and the second direction b, which means that the molded film surface 21 is adjusted to the level as a whole.

[0159] If the reading difference between the laser readings of any two points is outside the preset reading difference range, S1 is executed. If the reading difference between any two points is outside the preset reading difference range, it indicates that the levelness of the molded film surface 21 in the first direction a and / or the second direction b does not meet the requirements, and the steps S1 to S12 are repeated to accurately calibrate the overall levelness of the molded film surface 21 until the requirements are met.

[0160] like Figure 8 As shown, in the embodiment of the present application, point A1, point A3, and point A9 are three corresponding points on the molded film surface 21. In this embodiment, the molded film surface 21 is divided into nine detection points A1-A9 according to the nine-square grid, among which point A1 and point A3 are two detection points set at intervals in the first direction a, and point A3 and point A9 are two detection points set at intervals in the second direction b. It can be understood that point A1 and point A3 are the two detection points farthest apart in the first direction a. Therefore, when the molding platform 10 is not horizontal or uneven in the first direction a, the difference in laser readings of these two detection points is more obvious, which can facilitate subsequent horizontal calibration. Similarly, point A3 and point A9 are the two detection points farthest apart in the second direction b. Therefore, when the molded film surface 21 is not horizontal or uneven in the second direction b, the difference in laser readings of these two detection points is more obvious, which can facilitate subsequent horizontal calibration.

[0161] In some embodiments, three points on the molding platform 10 can correspond to three points on the molding film surface 21. In this way, the laser ranging device 90 can simultaneously detect the detection points on the molding platform 10 and the detection points on the molding film surface 21, so as to calibrate the horizontality of the molding platform 10 and the molding film surface 21 at the same time.

[0162] The 3D printing leveling method provided in the embodiment of the present application can first detect the horizontality of the molded film surface 21 in the second direction b through the laser distance measuring device 90, and level the horizontality of the molding platform 10 in the second direction b through the fourth leveling mechanism 42, and then detect the horizontality of the molded film surface 21 in the first direction a through the laser distance measuring device 90, and level the horizontality of the molding platform 10 in the first direction a through the third leveling mechanism 41, and after repeated detection and adjustment, calibrate the overall horizontality of the molded film surface 21. In this way, the horizontality of the molded film surface 21 is improved. In the subsequent 3D printing process, the printing effect of 3D printing can be effectively controlled, and the accurate and successful printing of the printed sample can be ensured.

[0163] In the embodiment of the present application, since the laser distance measuring device 90 is installed at an angle, the laser emission direction and the laser receiving direction have an angle, and during the leveling process of the molding platform 10 and / or the molding film surface 21, there is an error between the theoretical laser reading of the detection point and the actual measurement reading measured by the laser distance measuring device 90. Therefore, before leveling, the present application further includes:

[0164] S100, obtaining a theoretical laser reading of a reference point measured by the laser distance measuring device 90. The reference point is a fixed point relative to the laser distance measuring device 90. For example, the reference point may be a fixed point on the base platform 70. After the 3D printing device is installed, the actual distance between the 3D printing device and the laser distance measuring device 90 is a certain value. Therefore, the theoretical laser reading is the actual distance between the laser distance measuring device 90 and the reference point.

[0165] S200, obtaining the actual measurement reading of the reference point measured by the laser distance measuring device 90. The actual measurement reading is the laser reading displayed by the laser distance measuring device 90 when measuring the reference point, which is a value obtained by the algorithm of the laser distance measuring device 90 itself. Since the laser emission direction and the laser reception direction have an angle, there is a certain error between the actual measurement reading and the theoretical laser reading.

[0166] S300, determines the error algorithm based on the actual measurement reading and the theoretical laser reading.

[0167] Specifically, the steps include:

[0168] S301, according to the theoretical laser reading, determine the theoretical measurement point of the laser distance measuring device 90. It can be understood that when the laser distance measuring device 90 emits a vertical laser directly at the reference point, the laser reading displayed by it is consistent with the theoretical laser reading. The theoretical measurement point here can be understood as the position when the laser distance measuring device 90 is measuring the reference point, which can be understood as a point on the laser distance measuring device 90 directly facing the reference point in the vertical direction.

[0169] S302, determine the error algorithm according to the theoretical measurement point, the theoretical laser reading, the actual measurement reading, the position of the transmitting end and the receiving end. In this embodiment, let the distance between the transmitting end and the reference point be A, the distance between the reference point and the receiving end be B, the distance between the transmitting end and the receiving end be C, the distance between the transmitting end and the theoretical measurement point be d, and the distance between the theoretical measurement point and the reference point be D. On the basis that the laser distance measuring device 90 has been installed, the C value and the d value have been determined. Since the laser emission direction is always perpendicular to the emission of the transmitting end, d can be obtained. 2 +A 2 =D 2 , C 2 +A 2 =B 2 , where the theoretical laser reading L 理 =f(D), actual measurement reading L 测 =f(A+B), according to the above formula, we can get L 理 =f(L 测 ), which is the error algorithm.

[0170] S400, determining the laser reading according to the measurement reading and the error algorithm during the detection by the laser distance measuring device 90. The laser reading determined by the measurement reading and the error algorithm is the theoretical laser reading. In this way, when the laser distance measuring device 90 is used for distance measurement detection, the accuracy of the detection calibration can be ensured, and the measurement error caused by the angle installation thereof can be reduced.

[0171] In the embodiment of the present application, the laser emission direction and the laser receiving direction of the laser ranging device 90 are both located in the first plane, and the second direction b is located in the first plane. Since the laser emission direction and the laser receiving direction are both located in the second plane, the angle setting of the laser ranging device 90 will significantly affect the horizontal calibration in the second direction b, but will have little effect on the horizontal calibration in the first direction a.

[0172] It should be noted that if the horizontality of the first direction a of the molding platform 10 and / or the molding stretch membrane surface 21 is first leveled, and then the horizontality of the second direction b of the molding platform 10 and / or the molding stretch membrane surface 21 is leveled, the angle setting of the laser ranging device 90 will obviously affect the horizontal calibration in the second direction b. Even after the horizontal calibration in the second direction b is completed, the molding platform 10 and / or the molding stretch membrane surface 21 will be uneven in the first direction a, that is, the leveling of the molding platform 10 and / or the molding stretch membrane surface 21 in the first direction a is invalid. In this case, it is necessary to re-perform the horizontal calibration in the first direction a and the second direction b, which reduces the success rate of one-time leveling and affects the leveling efficiency. In the present application, the horizontality of the second direction b of the molding platform 10 and / or the molding stretch membrane surface 21 is first leveled, and then the horizontality of the first direction a of the molding platform 10 and / or the molding stretch membrane surface 21 is leveled. In this way, the direction that is more difficult to accurately calibrate, that is, the second direction b, can be calibrated first. After the horizontality in this direction is calibrated, since the angle setting of the laser ranging device 90 has basically no effect on the horizontal calibration of the first direction a, the horizontal calibration of the first direction a can reduce the influence on the horizontality of the second direction b, thereby increasing the success rate of one-time leveling and improving the leveling efficiency.

[0173] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A 3D printing leveling device, characterized in that: include: Base platform; A resin tank, which is disposed on the base platform and is used to contain a molding liquid; A molding platform, the molding platform is arranged in the resin tank; A laser distance measuring device, the laser distance measuring device is used to emit a distance measuring laser toward the molding platform to detect the horizontality of the molding platform; A platform leveling assembly, the platform leveling assembly is arranged on the base platform and connected to the molding platform, the platform leveling assembly comprises a first leveling mechanism and a second leveling mechanism, the first leveling mechanism is used to adjust the horizontality of the molding platform in a first direction, and the second leveling mechanism is used to adjust the horizontality of the molding platform in a second direction; Wherein, the first direction and the second direction have an included angle.

2. The 3D printing leveling device according to claim 1, characterized in that: The laser distance measuring device comprises a transmitting end and a receiving end, and the laser emitting direction of the transmitting end and the laser receiving direction of the receiving end have an angle.

3. The 3D printing leveling device according to claim 1, characterized in that: The laser emitting direction and the laser receiving direction are both located in a first plane, and the first direction or the second direction is located in the first plane.

4. The 3D printing leveling device according to claim 1, characterized in that: It also includes a first movable shaft, which is connected to the base platform, and the platform leveling assembly is connected to the first movable shaft in a liftable manner.

5. The 3D printing leveling device according to claim 1, characterized in that: The first leveling mechanism includes a first leveling base and a first driving member, and the second leveling mechanism includes a second leveling base and a second driving member. The first driving member is arranged on the first leveling base and connected to the second leveling base, and the second driving member is arranged on the second leveling base and connected to the forming platform.

6. The 3D printing leveling device according to claim 5, characterized in that: The second driving member is located at the middle of the molding platform in the second direction, and / or the first driving member is located at one side of the molding platform in the first direction.

7. A 3D printing leveling device, characterized in that: include: Base platform; A resin tank, which is disposed on the base platform and is used to contain a molding liquid; A molding platform, the molding platform is arranged in the resin tank; A laser distance measuring device, the laser distance measuring device is used to emit a distance measuring laser toward the surface of the forming film to detect the horizontality of the surface of the forming film; A film stretching and leveling assembly, the film stretching and leveling assembly is arranged on the base platform and connected to the resin tank, the film stretching and leveling assembly includes a third leveling mechanism and a fourth leveling mechanism, a leveling base and a ball, a first connecting portion, a second connecting portion and a third connecting portion are arranged at intervals along a first direction, and the second connecting portion and the third connecting portion are arranged at intervals along a second direction; The leveling base is rollingly connected to the third connecting portion through a ball bearing, the third leveling mechanism and the fourth leveling mechanism are both arranged on the leveling base, the third leveling mechanism is connected to the first connecting portion, and the fourth leveling mechanism is connected to the second connecting portion; Wherein, the first direction and the second direction have an included angle.

8. A 3D printer, characterized in that: It comprises the 3D printing leveling device as described in any one of claims 1 to 7.

9. A 3D printing leveling method, based on the 3D printing leveling device according to any one of claims 1 to 7, characterized in that: The leveling method comprises: S1, obtaining laser readings of points A3 and A9 on the plane to be leveled; S2, determining the target reading of point A3 or point A9 according to the laser readings of point A3 and point A9; S3, according to the target reading of point A9, controlling the second leveling mechanism so that the laser reading of point A9 reaches the target reading, or, according to the target reading of point A3, controlling the second leveling mechanism so that the laser reading of point A3 reaches the target reading; S4, obtaining the laser reading of point A3 or point A9 again; S5, if the reading difference between the laser reading at point A3 and the laser reading at point A9 is within the preset reading difference range, execute S6; if the reading difference between the laser reading at point A3 and the laser reading at point A9 is outside the preset reading difference range, execute S1; S6, obtaining laser readings of points A1 and A3 on the plane to be leveled; S7, determining the target reading of point A1 or point A3 according to the laser readings of point A1 and point A3; S8, according to the target reading of point A1, controlling the first leveling mechanism so that the laser reading of point A1 reaches the target reading, or, according to the target reading of point A3, controlling the first leveling mechanism so that the laser reading of point A3 reaches the target reading; S9, obtaining the laser reading of point A3 or point A1 again; S10, if the reading difference between the laser reading at point A3 and the laser reading at point A1 is within the preset reading difference range, then S11 is executed; if the reading difference between the laser reading at point A3 and the laser reading at point A1 is outside the preset reading difference range, then S6 is executed; S11, obtaining laser readings at points A1, A3, and A9; S12, in the laser readings of points A1, A3, and A9, if the reading difference between the laser readings of any two points is within the preset reading difference range, the leveling is completed; if the reading difference between the laser readings of any two points is outside the preset reading difference range, execute S1; Wherein, point A3 and point A9 are spaced apart in the second direction, and point A1 and point A3 are spaced apart in the first direction; The plane to be leveled includes a forming platform and / or a forming stretch film surface.

10. The 3D printing leveling method according to claim 9, characterized in that: Determining the target reading of A1 or A3 according to the laser readings of point A1 and point A3 includes: Determine a first adjustment amount according to the laser readings at points A1 and A3; According to the first adjustment amount, a target reading of point A1 or point A3 is determined.

11. The 3D printing leveling method according to claim 10, characterized in that: The step of obtaining a first adjustment amount according to the laser readings at points A1 and A3 includes: According to the formula T = [(L1-L3) / S] × f(LK*), the first adjustment amount LK1 of point A1 and the first adjustment amount LK3 of point A3 can be obtained respectively; Where T is the target height difference between A1 and A3, L1 is the laser reading at A1, L3 is the laser reading at A3, and S is the coordinate distance between A1 and A3.

12. The 3D printing leveling method according to claim 9, characterized in that: Before leveling, also include: Obtaining a theoretical laser reading of a reference point measured by the laser distance measuring device; Obtaining an actual measurement reading of a reference point measured by the laser ranging device; determining an error algorithm based on the actual measurement reading and the theoretical laser reading; Determining the laser reading according to the measurement reading during detection by the laser distance measuring device and the error algorithm; The step of determining an error algorithm based on the actual measurement reading and the theoretical laser reading comprises: Determining a theoretical measurement point of the laser distance measuring device according to the theoretical laser reading; The error algorithm is determined according to the theoretical measurement point, the theoretical laser reading, the actual measurement reading, the transmitting end, and the receiving end.

13. The 3D printing leveling method according to claim 12, characterized in that: The laser emission direction and the laser receiving direction of the laser distance measuring device are both located in a first plane, and the second direction is located in the first plane; The step of controlling the first leveling mechanism according to the target reading of point A1 comprises: Acquire a motion trajectory of the first leveling mechanism when controlling the motion of the plane to be leveled; The control amount of the first leveling mechanism is determined according to the target reading of point A1 and the motion trajectory, and the operation of the first leveling mechanism is controlled according to the control amount.

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