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

Abstract

This application relates to the field of 3D printing and discloses a 3D printing leveling device, a 3D printer, and a leveling method thereof. The 3D printing leveling device includes a base platform, a resin tank, a forming platform, a laser rangefinder, and a platform leveling assembly. The laser rangefinder emits a rangefinder laser towards the forming platform to detect the levelness of the forming platform. The platform leveling assembly includes a first leveling mechanism and a second leveling mechanism. The first leveling mechanism adjusts the levelness of the forming platform in a first direction, and the second leveling mechanism adjusts the levelness of the forming platform in a second direction. The 3D printing leveling device of this application can improve the levelness of the forming platform. During subsequent 3D printing, it can effectively control the printing effect and ensure the accurate and successful printing of the sample.

Description

Technical Field

[0001] This application relates to the field of 3D printing, and more particularly to a 3D printing leveling device, a 3D printer, and a leveling method thereof. Background Technology

[0002] 3D printing is a technology that manufactures solid parts by adding materials layer by layer. Among them, photopolymer 3D printing works by projecting the image data of each layer through a DMD (digital micromirror), and controlling the light energy and pattern exposure to solidify one thin layer at a time, repeating layer by layer to form a complete product.

[0003] In photopolymer 3D printing equipment, the levelness of the forming platform and the forming membrane surface directly determines the quality of the printed sample. However, the leveling accuracy of current photopolymer 3D printing equipment is poor, resulting in poor levelness of the forming platform and the forming membrane surface, which can easily lead to deformation of the printed sample or printing failure. Summary of the Invention

[0004] The purpose of this application is to provide a 3D printing leveling device, a 3D printer and a leveling method thereof, which aims to improve the leveling accuracy of the 3D printing device.

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

[0006] Base platform;

[0007] A resin tank is disposed on the base platform and is used to hold molding liquid.

[0008] A molding platform is disposed within the resin tank;

[0009] A laser ranging device is used to emit a ranging laser towards the forming platform to detect the levelness of the forming platform;

[0010] A platform leveling assembly is disposed on the base platform and connected to the molding platform. The platform leveling assembly includes a first leveling mechanism and a second leveling mechanism. The first leveling mechanism is used to adjust the levelness of the molding platform in a first direction, and the second leveling mechanism is used to adjust the levelness of the molding platform in a second direction.

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

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

[0013] Base platform;

[0014] A resin tank is disposed on the base platform and is used to hold molding liquid.

[0015] A molding platform is disposed within the resin tank;

[0016] A laser ranging device is used to emit a ranging laser towards the molded stretch film surface to detect the levelness of the molded stretch film surface;

[0017] A film leveling assembly is provided on the base platform and connected to the resin tank. The film leveling assembly includes a third leveling mechanism and a fourth leveling mechanism, a leveling base and a ball bearing. The bottom of the resin tank is provided with a first connecting part, a second connecting part and a third connecting part. The first connecting part and the third connecting part are spaced apart along a first direction, and the second connecting part and the third connecting part are spaced apart along a second direction.

[0018] The leveling base is rotatably connected to the third connecting part by ball bearings. The third leveling mechanism and the fourth leveling mechanism are both located on the leveling base. The third leveling mechanism is connected to the first connecting part, and the fourth leveling mechanism is connected to the second connecting part.

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

[0020] This application also provides a 3D printer, including the 3D printing leveling device as described above.

[0021] This application also provides a 3D printing leveling method, based on the 3D printing leveling device described above, the leveling method comprising:

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

[0023] S2, determine the target reading of point A3 or point A9 based on the laser readings of points A3 and A9;

[0024] S3, based on the target reading at point A9, control the second leveling mechanism so that the laser reading at point A9 reaches the target reading; or, based on the target reading at point A3, control the second leveling mechanism so that the laser reading at point A3 reaches the target reading.

[0025] S4, obtain the laser reading at point A3 or A9 again;

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

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

[0028] S7, determine the target reading of point A1 or point A3 based on the laser readings of points A1 and A3;

[0029] S8, based on the target reading at point A1, control the first leveling mechanism so that the laser reading at point A1 reaches the target reading; or, based on the target reading at point A3, control the first leveling mechanism so that the laser reading at point A3 reaches the target reading.

[0030] S9, obtain the laser reading at point A3 or A1 again;

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

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

[0033] In step S12, if the difference between the laser readings of any two points (A1, A3, and A9) is within the preset range, the leveling is complete; if the difference between the laser readings of any two points is outside the preset range, then step S1 is executed.

[0034] Among them, points A3 and A9 are set at intervals in the second direction, and points A1 and A3 are set at intervals 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 in this application can detect the levelness of the forming platform and / or the forming membrane surface using a laser rangefinder. A second leveling mechanism of the platform leveling assembly levels the levelness of the forming platform in a second direction, and a first leveling mechanism levels the levelness of the forming platform in the first direction, thereby calibrating the overall levelness of the forming platform. Alternatively, a fourth leveling mechanism of the membrane leveling assembly can level the levelness of the forming membrane surface in the second direction, and a third leveling mechanism can level the levelness of the forming membrane surface in the first direction, thereby calibrating the overall levelness of the forming membrane surface. This improves the levelness of the forming platform and / or the forming membrane surface. In subsequent 3D printing processes, the printing effect can be effectively controlled, ensuring accurate and successful printing of the sample. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 This is one of the structural schematic diagrams of the 3D printing leveling device provided in the embodiments of this application;

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

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

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

[0042] Figure 5 This is one of the flowcharts illustrating the 3D printing leveling method provided in the embodiments of this application;

[0043] Figure 6 This is a schematic diagram of the detection points of the molding platform in the 3D printing leveling method provided in the embodiments of this application;

[0044] Figure 7 This is the second flowchart illustrating the 3D printing leveling method provided in the embodiments of this application;

[0045] Figure 8 This is a schematic diagram of the detection points on the molded membrane surface of the 3D printing leveling method provided in this application embodiment.

[0046] Explanation of icon numbers:

[0047] a: First direction; b: Second direction;

[0048] 10: Molding platform;

[0049] 20: Resin tank; 21: Molded film surface;

[0050] 30: Platform leveling component; 31: First leveling mechanism; 311: First leveling base; 312: First driving component; 32: Second leveling mechanism; 321: Second leveling base; 322: Second driving component;

[0051] 40: Film stretching and leveling assembly; 41: Third leveling mechanism; 42: Fourth leveling mechanism; 43: Leveling base; 44: Ball bearing; 45: Leveling plate; 451: First connecting part; 452: Second connecting part; 453: Third connecting part;

[0052] 50: First moving axis;

[0053] 60: Second moving axis; 61: Support plate;

[0054] 70: Base platform;

[0055] 90: Laser rangefinder. Detailed Implementation

[0056] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component 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 a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or may be connected to an intermediary component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected to the other component through an intermediary component.

[0059] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0060] In the 3D printing process, photopolymer 3D printing devices use a molding platform as a base. The image data of each layer is projected onto the molding membrane surface via a DMD (Digital Micromirror). Through light energy and pattern exposure control, one thin layer is cured with each exposure. This process is repeated layer by layer as the molding platform moves relative to the molding membrane surface until a complete printed product is obtained. The levelness of the molding platform and the molding membrane surface directly determines the quality of the printed sample. Insufficient levelness can lead to significant height differences in the resin, resulting in problems such as resin not adhering evenly to the molding platform in the first layer, insufficient resin curing strength causing the model to detach during printing, or deformation or distortion of the printed sample. These issues make it difficult to control the printing effect or lead to printing failure. Currently, most photopolymer 3D printing devices use manual or semi-automatic leveling methods.

[0061] Manual leveling is mainly achieved by the operator manually adjusting the relevant screws. However, this method is highly dependent on the operator's skill level and proficiency. The debugging process is cumbersome, takes a long time, and there is no clear standard for judging the debugging results.

[0062] Semi-automatic leveling is usually achieved by using tools or inputting leveling compensation values. Commonly used tools include A4 paper, a level, a micrometer, a feeler gauge, and sensors. However, the use of instruments inherently involves errors, so the accuracy of the instruments, maintenance, and calibration must also be considered. Furthermore, human error, improper operation, or a lack of standardized operating procedures can also lead to inaccurate data.

[0063] It is evident that the current photopolymer 3D printing leveling method has poor leveling precision and accuracy, resulting in poor levelness of the forming platform and the forming film surface, which can easily lead to deformation of the printed sample or printing failure.

[0064] Therefore, this application provides a 3D printing leveling device, a 3D printer, and a leveling method thereof, which can improve the levelness of the forming platform and / or the forming membrane surface. In the subsequent 3D printing process, the printing effect can be effectively controlled, ensuring that the printed sample is accurately and successfully printed.

[0065] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

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

[0067] A resin tank 20 is mounted on a base platform 70 and is used to hold the molding liquid. A molding platform 10 is mounted inside the resin tank 20. A laser rangefinder 90 emits a rangefinder laser toward the molding platform 10 to detect the levelness of the molding platform 10. A platform leveling assembly 30 is mounted 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 levelness of the molding platform 10 in a first direction a, and the second leveling mechanism 32 is used to adjust the levelness of the molding platform 10 in a second direction b. The first direction a and the second direction b form an included angle.

[0068] It should be noted that the plane containing the first direction a and the second direction b is the horizontal plane. The leveling component 30 is used to adjust the levelness of the forming platform 10 in the first direction a and the second direction b to level the forming platform 10. In this application, the height of the laser ranging device 90 remains constant. By keeping the distance between the laser ranging device 90 and the forming platform 10 at all points consistent, the levelness and flatness of the forming platform 10 are achieved.

[0069] It is important to understand that during the 3D printing process, the molding platform 10 serves as a support platform for the printed part. 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. As the molding platform 10 moves relative to the molding film surface 21, the process is repeated layer by layer until a complete printed product is obtained. For example, the molding liquid includes a resin liquid.

[0070] The 3D printing leveling device provided in this embodiment can detect the levelness of the forming platform 10 using a laser rangefinder 90, and level the forming platform 10 in the second direction b using a second leveling mechanism 32 of the platform leveling assembly 30, and level the forming platform 10 in the first direction a using a first leveling mechanism 31, thereby calibrating the overall levelness of the forming platform 10. In this way, the levelness of the forming platform 10 is improved through high-precision automated leveling. In the subsequent 3D printing process, the printing effect can be effectively controlled, and the accurate and successful printing of the sample can be ensured.

[0071] For example, the first direction a and the second direction b are perpendicular to each other to facilitate calibration calculations during the leveling process and improve calibration efficiency.

[0072] like Figures 1 to 4As shown in the embodiment of this 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 forming 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 forming platform 10 in the first direction a. The second driving member 322 can directly drive the forming 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 forming platform 10, while the first driving member 312 is connected to the forming platform 10 to directly drive the forming platform 10 to level in the first direction a.

[0073] For example, the first driving member 312 includes a drive motor that drives the second leveling base 321 to rotate in the first direction a, so as to level the forming platform 10 in the first direction a.

[0074] For example, the second drive member 322 includes a drive motor that drives the molding platform 10 to rotate in the second direction b in order to level the molding platform 10 in the second direction b.

[0075] like Figures 1 to 4 As shown in the embodiment of this application, the second driving member 322 is located at the center 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 and calibration calculation and control than 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 this 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 level 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 wobble. During the leveling calibration calculation, 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 this embodiment, the 3D printing leveling device further includes a first moving shaft 50, which is connected to the base platform 70. The platform leveling component 30 is vertically connected to the first moving shaft 50. The first moving shaft 50 can drive the platform leveling component 30 to move up and down, that is, to move vertically, thereby driving the forming platform 10 to move vertically. In this way, during the 3D printing process, 3D printing can be achieved by the vertical movement of the forming platform 10 relative to the forming membrane surface 21.

[0078] In some embodiments, the first moving shaft 50 includes a first support frame, a first slide rail, a first lead screw, and a first vertical motor. The first support frame is erected on the base platform 70. The first slide rail and the first lead screw are both vertically arranged on the first support frame. The first vertical motor is located at one end of the first support frame and is driven and connected to the first lead screw. The platform leveling assembly 30 is slidably connected to the first slide rail and threadedly connected to the first lead screw. Driven by the first vertical motor, the first lead screw rotates, thereby pushing the platform leveling assembly 30 to move up and down along the first slide rail in the vertical direction, so as to realize the vertical movement of the molding platform 10.

[0079] For example, the first leveling base 311 is vertically connected to the first moving shaft 50 so as to drive the molding platform 10 to move up and down under the drive of the first moving shaft 50.

[0080] like Figures 1 to 4 As shown in the embodiment of this application, the 3D printing leveling device further includes a film stretching leveling assembly 40. The film stretching leveling assembly 40 is mounted on the base platform 70 via a support plate 61 and connected to the resin tank 20. The film stretching leveling assembly 40 includes a third leveling mechanism 41 and a fourth leveling mechanism 42, a leveling base 43, and a ball bearing 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. For example, the bottom of the resin tank 20 is provided with an adjusting plate 45, and the first connecting portion 451, the second connecting portion 452, and the third connecting portion 453 are all disposed on the adjusting plate 45. The first connecting portion 451 and the third connecting portion 453 are spaced apart along a first direction a, and the second connecting portion 452 and the third connecting portion 453 are spaced apart along a second direction b. The leveling base 43 is connected to the third connecting part 453 via ball bearings 44. The third leveling mechanism 41 and the fourth leveling mechanism 42 are both located on the leveling base 43. The third leveling mechanism 41 is connected to the first connecting part 451, and the fourth leveling mechanism 42 is connected to the second connecting part 452. The laser ranging device 90 emits a ranging laser towards the formed stretching membrane surface 21 to detect the levelness of the formed stretching membrane surface 21.

[0081] It is important to understand that the molding stretch film surface 21 is fixed on the resin tank 20. The projection device, through light energy and pattern exposure control, can expose and cure a thin layer on the molding stretch film surface 21, thus accumulating layers for molding. Its position depends on the location of the projection device. In this embodiment, the projection device and laser rangefinder 90 are located above the molding platform 10 and the molding stretch film surface 21, with the molding stretch film surface 21 above the molding platform 10, and the stretch film leveling assembly 40 located at the bottom of the resin tank 20. In other embodiments, the projection device and laser rangefinder 90 are located below the molding platform 10 and the molding stretch film surface 21, with the molding stretch film surface 21 below the molding platform 10, and the stretch film leveling assembly 40 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 stretching leveling assembly 40. The leveling base 43 is rolledly connected to the third connecting part 453 via ball bearings 44, allowing the third connecting part 453 of the resin tank 20 to rotate omnidirectionally relative to the leveling base 43. The third leveling mechanism 41 then adjusts the position of the first connecting part 451, thereby adjusting the angle of the resin tank 20 in the direction from the first connecting part 451 to the third connecting part 453, thus leveling the horizontality of the molded stretching film surface 21 in the first direction a. Similarly, the fourth leveling mechanism 42 adjusts the position of the second connecting part 452, thereby adjusting the angle of the resin tank 20 in the direction from the second connecting part 452 to the third connecting part 453, thus leveling the horizontality of the molded stretching film surface 21 in the second direction b.

[0083] The 3D printing leveling device provided in this embodiment can detect the levelness of the formed stretch film surface 21 using a laser rangefinder 90, and level the levelness of the formed stretch film surface 21 in the second direction b using a fourth leveling mechanism 42 of the stretch film leveling assembly 40, and level the levelness of the formed stretch film surface 21 in the first direction a using a third leveling mechanism 41, thereby calibrating the overall levelness of the formed stretch film surface 21. In this way, the levelness of the formed stretch film surface 21 is improved through high-precision automated leveling. In the subsequent 3D printing process, the printing effect can be effectively controlled, and the accurate and successful printing of the sample can be ensured.

[0084] It should be noted that in this embodiment, the 3D printing leveling device can level only the forming platform 10, or only the forming stretch film surface 21, or both. When the laser ranging device 90 detects the forming platform 10, the emitted laser passes through the forming stretch film surface 21, and the reflected laser light from the forming platform 10 is received for laser ranging. When detecting the forming stretch film surface 21, the emitted laser light is reflected on the forming stretch film surface 21, and the reflected laser light is received for laser ranging. The control terminal can determine whether the laser ranging device 90 is detecting the forming platform 10 or the forming stretch film surface 21 based on the laser signal received by the laser ranging device 90, thereby performing laser ranging on the forming platform 10 and the forming stretch film surface 21 respectively. For example, the stronger laser signal is the laser signal used to detect the forming platform 10, and the weaker laser signal is the laser signal used to detect the forming film surface 21.

[0085] In some other embodiments of this application, the molding platform 10 can be inspected and leveled first. After the molding platform is leveled, the molding stretching film surface 21 is installed onto the resin tank 20, and then the molding stretching film surface 21 is leveled again. When the laser ranging device 90 inspects the molding platform 10, the laser it emits is reflected on the molding platform 10, and the device receives the reflected laser from the molding platform 10 to perform laser ranging. When inspecting the molding stretching film surface 21, the laser it emits is reflected on the molding stretching film surface 21, and the device receives the reflected laser to perform laser ranging.

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

[0087] In this embodiment, the fourth leveling mechanism 42 includes a lifting motor and a drive ball. The drive motor is connected to the drive ball, thereby driving the drive 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] For example, the first connecting portion 451 has a groove extending along the first direction a to limit the leveling ability of the third leveling mechanism 41 to adjust the horizontality of the molded stretch film surface 21 in the first direction a. The second connecting portion 452 has a groove extending along the second direction b to limit the leveling ability of the fourth leveling mechanism 42 to adjust the horizontality of the molded stretch film surface 21 in the second direction b. The third connecting portion 453 has an arc-shaped groove to limit the rolling of the ball 44 therein, thereby achieving adjustment of the horizontality of the molded stretch film surface 21.

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

[0090] In some embodiments, the second moving shaft 60 includes a second support frame, a second slide rail, a second lead screw, and a second vertical motor. The second support frame is erected on the base platform 70. The second slide rail and the second lead screw are both vertically arranged on the second support frame. The second vertical motor is located at one end of the second support frame and is driven and connected to the second lead screw. The film leveling assembly 40 is slidably connected to the second slide rail and threadedly connected to the second lead screw. Driven by the second vertical motor, the second lead screw rotates, 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 moving shaft 60 is located at one end of the membrane leveling assembly, but in some other embodiments, the second moving shaft 60 is located below or to the side of the membrane leveling assembly.

[0092] For example, the support plate 61 is vertically connected to the second movable shaft 60 so as to drive the resin tank 20 to move up and down under the drive of the second movable shaft 60.

[0093] like Figures 1 to 4As shown in the embodiment of this application, the location 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 that it can generate ranging laser towards the forming platform 10 and / or the forming stretch film surface 21 and detect the levelness of the forming platform 10 and / or the forming stretch film surface 21.

[0094] For example, the projection device is located above the forming platform 10 and the forming stretch film surface 21. The forming stretch film surface 21 is located above the forming platform 10. The projection device controls the light energy and pattern exposure to expose and cure a thin layer on the forming stretch film surface 21 from above each time. As the forming platform 10 moves relative to the forming stretch film surface 21, the process is repeated layer by layer until a complete printed product is obtained. At this time, the laser rangefinder 90 is also located above the forming platform 10 and the forming stretch film surface 21. By emitting a rangefinder laser downwards, it can detect the levelness of the forming platform 10 and / or the forming stretch film surface 21.

[0095] In some other examples, the projection device is located below the forming platform 10 and the forming film surface 21. The forming film surface 21 is located below the forming platform 10. The projection device controls the light energy and pattern exposure, exposing and curing one thin layer at a time from below the forming film surface 21. As the forming platform 10 moves relative to the forming film surface 21, the process is repeated layer by layer until a complete printed product is obtained. At this time, the laser rangefinder 90 is also located below the forming platform 10 and the forming film surface 21. By emitting a rangefinder laser upwards, it can detect the levelness of the forming platform 10 and / or the forming film surface 21.

[0096] It is important to understand that the laser ranging device 90 primarily detects the relative positions of the molding platform 10 and / or the molding stretching film surface 21 to the laser ranging device 90 itself. After ranging, this data can be fed back to the control terminal, which can then control the position and angle of the molding platform 10 and / or the resin tank 20 based on this data to precisely level the molding platform 10 and / or the molding stretching film surface 21. For example, the laser ranging device 90 includes a high-precision laser ranging sensor and a connecting structure. The high-precision laser ranging sensor is connected to the outside of the projection device via the connecting structure to maintain the stable installation of the laser ranging device 90, thereby ensuring accurate ranging of the molding platform 10 and the molding stretching film surface 21. The high-precision laser ranging sensor has a resolution of 1µm, enabling accurate ranging, and the laser it emits can be parallel to the projection light path of the projection device, allowing it to emit laser light towards the molding platform 10 and the molding stretching film surface 21.

[0097] In this embodiment, the laser ranging device 90 includes a transmitter and a receiver, with the laser emission direction of the transmitter and the laser reception direction of the receiver forming an angle. That is, there is an angle between the laser emitted and the laser received by the laser ranging device 90. This prevents mutual interference between the emitted and received lasers when measuring distances using the laser ranging device 90, ensuring accurate readings and improving the leveling accuracy of the forming platform 10. Furthermore, when calibrating the forming surface stretch film using the laser ranging device 90, it also prevents perpendicularly incident laser light from directly passing through the transparent forming surface stretch film, thus improving the leveling accuracy and precision of the forming surface stretch film.

[0098] For example, the laser emission direction of the laser rangefinder 90 has an angle with the vertical direction. That is, the angle between the laser emission direction and the laser receiving direction is achieved by angulating the laser rangefinder 90.

[0099] Furthermore, given the angle between the laser emission direction and the laser receiving direction of the laser rangefinder 90, the detection point of the laser rangefinder 90 on the forming platform 10 and / or the forming membrane surface 21 will also change when the height of the forming platform 10 and / or the forming membrane surface 21 changes in the vertical direction. In other words, the detection point of the laser rangefinder 90 on the forming platform 10 and / or the forming membrane surface 21 will change before and after leveling. Therefore, in the actual leveling and calibration process, the change in the reading of the detection point on the forming platform 10 and / or the forming membrane surface 21 will be compensated for through calculation. For example, if the detection point on the forming platform 10 and / or the forming membrane surface 21 actually moves 1 mm in the vertical direction, the change in the reading of the laser rangefinder 90 is not necessarily 1 mm, but rather 1 mm ± 20 μm. In this case, the control unit needs to perform supplementary calibration on the reading.

[0100] In this embodiment, both the laser emission direction and the laser reception direction are located on a first plane, and either the first direction a or the second direction b is located on the first plane. It should be noted that, since there is an angle between the laser emission direction and the laser reception direction, when calibrating a direction on the first plane, the angle setting of the laser ranging device 90 will significantly affect the calibration in that direction, while having a smaller impact on the horizontal calibration in directions outside the first plane, especially for the horizontal calibration of directions perpendicular to the first plane. Therefore, having at least one of the first direction a or the second direction b located on the first plane can at least ensure that the angle setting of the laser ranging device 90 reduces the impact on the horizontal calibration of one of those 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 impact on the horizontal calibration of one of those directions.

[0101] In this embodiment of the application, when calibrating the levelness using the laser ranging device 90, the levelness in the direction on the first plane can be calibrated first, that is, the direction that is more difficult to calibrate accurately can be calibrated first. After the direction is calibrated, the levelness in 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 this embodiment, the base platform 70 includes a planar moving platform, enabling the base platform 70 to move horizontally relative to the laser rangefinder 90. When the base platform 70 moves horizontally, the forming platform 10 and / or the forming membrane surface 21 on it also move horizontally relative to the laser rangefinder 90. This allows the laser rangefinder 90 to measure different detection points on the forming platform 10 and / or the forming membrane surface 21. In this embodiment, keeping the position of the laser rangefinder 90 unchanged and only moving the base platform 70 avoids changes in the emission angle or height of the laser rangefinder 90 during movement, which could affect the accuracy of horizontal calibration. Since the forming platform 10 and / or the forming membrane surface 21 themselves require leveling, moving them horizontally ensures the levelness of the forming platform 10 and / or the forming membrane surface 21 during subsequent horizontal calibration.

[0103] For example, 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 move in the first direction a and the second direction b, and it also facilitates the laser ranging device 90 to perform detection and calibration on 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 in this embodiment includes a 3D printing leveling device. The 3D printing leveling device provided in this embodiment can detect the levelness of the forming platform 10 and / or the forming membrane surface 21 using a laser rangefinder 90, and calibrate the overall levelness of the forming platform 10 using a platform leveling component 30, and / or calibrate the overall levelness of the forming membrane surface 21 using a membrane leveling component 40. This improves the levelness of the forming platform 10 and / or the forming membrane surface 21. During 3D printing, the printing effect can be effectively controlled, ensuring accurate and successful printing of the sample.

[0105] In this embodiment, the 3D printer also includes a projection device. The projection device can control the exposure and curing of a thin layer on the forming film surface 21 using light energy and pattern exposure. As the forming platform 10 moves relative to the forming film surface 21, the thin layer is repeatedly formed until a complete printed product is obtained. The projection device is positioned above the resin tank 20, and the laser rangefinder 90 is fixed to the outside of the projection device.

[0106] In this embodiment, the 3D printer also includes a control terminal. The control terminal can receive detection information from the laser rangefinder 90 regarding the forming platform 10 and / or the forming stretching film surface 21, and control the platform leveling component 30 and / or the stretching film leveling component 40 to operate, thereby achieving leveling of the forming platform 10 and / or the forming stretching film surface 21. Furthermore, the control terminal can also control the 3D printer to perform corresponding 3D printing operations.

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

[0108] S1, acquire the laser readings at points A3 and A9 on the molding platform 10. Points A3 and A9 are spaced apart in the second direction b. Points A3 and A9 are two detection points on the molding platform 10 in the second direction b. For example, points A3 and A9 are two detection points on either side of the center of the molding platform 10 in the second direction b. When the molding platform 10 is not horizontal or level in the second direction b, the difference in laser readings between these two detection points is more significant, facilitating subsequent horizontal calibration.

[0109] S2, based on the laser readings of points A3 and A9, determines the target reading of point A3 or A9. After receiving the laser readings of points A3 and A9, the control terminal can calculate and determine the target reading of point A3 or A9 to facilitate subsequent leveling control.

[0110] Specifically, the steps include:

[0111] S21. Determine the first adjustment amount based on the laser readings of points A9 and A3. The first adjustment amount is an intermediate value for adjusting points A9 and A3 to a horizontal position, wherein the first adjustment amount of point A9 is different from that 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. Where 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 points A9 and A3. T is a non-zero constant; the smaller its value, the higher the leveling accuracy can be achieved.

[0113] S22, determine the target reading of point A9 or A3 based on 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, based on the target reading at point A9, control the second leveling mechanism 32 to make the laser reading at point A9 reach the target reading; or, based on the target reading at point A3, control the second leveling mechanism 32 to make the laser reading at point A3 reach the target reading. It can be understood that the target readings at points A3 and A9 are the readings after the forming platform 10 is leveled in the second direction b. Therefore, theoretically, if the laser reading at either point A3 or A9 is adjusted to the target reading via the second leveling mechanism 32, it means that the forming platform 10 has reached a horizontal position in the second direction b. In this embodiment, during the leveling process via the second leveling mechanism 32, the laser ranging device 90 continuously detects either point A3 or A9 until the laser reading at point A3 or A9 measured by the laser ranging device 90 reaches the target reading.

[0115] S4, acquire the laser reading at point A3 or A9 again. After the above steps, it is known that the laser reading at point A9 or A3 is the target reading. Therefore, it is only necessary to acquire the laser reading at another point to determine whether the calibrated molding platform 10 is horizontal in the second direction b.

[0116] S5, if the difference between the laser readings at points A3 and A9 is within the preset reading difference range, then proceed to S6. If the reading difference is within the preset range, it indicates that the levelness of the forming platform 10 in the second direction b meets the requirements, and therefore the next leveling calibration operation can be performed.

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

[0118] S6, acquire the laser readings of points A1 and A3 on the molding platform 10. Points A1 and A3 are spaced apart along the first direction a. Points A1 and A3 are two detection points on the molding platform 10 along the first direction a. For example, points A3 and A9 are two detection points on either side of the center of the molding platform 10 along the first direction a. When the molding platform 10 is not horizontal or level along the first direction a, the difference in laser readings between these two detection points is significant, facilitating subsequent horizontal calibration.

[0119] S7: Based on the laser readings of points A1 and A3, determine the target reading of point A1 or A3. After receiving the laser readings of points A1 and A3, the control terminal can calculate and determine the target readings of points A1 and A3 to facilitate subsequent leveling control.

[0120] Specifically, the steps include:

[0121] S71, determine the first adjustment amount based on the laser readings of points A1 and A3. The first adjustment amount is an intermediate amount that adjusts points A1 and A3 to a horizontal position, wherein the first adjustment amount of point A1 is different from that of point A3.

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

[0123] S72, determine the target reading of point A1 or A3 based on 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, based on the target reading at point A1, control the first leveling mechanism 31 to make the laser reading at point A1 reach the target reading; or, based on the target reading at point A3, control the first leveling mechanism 31 to make the laser reading at point A3 reach the target reading. It can be understood that the target readings at points A3 and A1 are the readings after the forming platform 10 is leveled in the first direction a. Therefore, theoretically, if the laser reading at either point A3 or A1 is adjusted to the target reading using the first leveling mechanism 31, it means that the forming platform 10 has reached a horizontal position in the first direction a. In this embodiment, during the leveling process using the first leveling mechanism 31, the laser ranging device 90 continuously detects either point A3 or A1 until the laser reading at point A3 or A1 measured by the laser ranging device 90 reaches the target reading.

[0125] For example, S8, the step of controlling the first leveling mechanism 31 based on the target reading at point A1 includes:

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

[0127] Based on the target reading and motion trajectory at point A1, the control quantity of the first leveling mechanism 31 is determined, and the operation of the first leveling mechanism 31 is controlled according to the control quantity. In this way, the operation of the first leveling mechanism 31 can be precisely controlled so that point A1 reaches the target reading, thereby achieving the horizontality of the forming platform 10 in the first direction a.

[0128] S9, acquire the laser reading at point A3 or A1 again. After the above steps, it is known that the laser reading at point A1 or A3 is the target reading. Therefore, it is only necessary to acquire the laser reading at another point to determine whether the calibrated molding platform 10 is horizontal in the first direction a.

[0129] S10, if the difference between the laser readings at point A3 and point A1 is within the preset reading difference range, then execute S11. If the reading difference is within the preset reading difference range, it indicates that the levelness of the forming platform 10 in the first direction a meets the requirements, and therefore the next operation can be performed.

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

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

[0132] If the difference between the laser readings at points S12, A1, A3, and A9 is within the preset range, then the leveling is complete. If the difference between the readings at any two points is within the preset range, it indicates that the forming platform 10 has been leveled in both the first direction a and the second direction b, which means that the forming platform 10 as a whole has been leveled.

[0133] If the difference between the laser readings of any two points is outside the preset reading difference range, then execute S1. If the difference between the readings of 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. By repeating steps S1 to S12, the overall levelness of the molding platform 10 is precisely calibrated until the requirements are met.

[0134] like Figure 6 As shown in the embodiment of this application, points A1, A3, and 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) using a 3x3 grid. Points A1 and A3 are two detection points spaced apart in the first direction a, and points A3 and A9 are two detection points spaced apart in the second direction b. It can be understood that points A1 and A3 are the two detection points furthest apart in the first direction a. Therefore, when the molding platform 10 is not horizontal or level in the first direction a, the difference in laser readings between these two detection points is significant, facilitating subsequent leveling calibration. Similarly, points A3 and A9 are the two detection points furthest apart in the second direction b. Therefore, when the molding platform 10 is not horizontal or level in the second direction b, the difference in laser readings between these two detection points is significant, facilitating subsequent leveling calibration.

[0135] The 3D printing leveling method provided in this application embodiment first uses a laser rangefinder 90 to detect the levelness of the forming platform 10 in the second direction b, and then uses a second leveling mechanism 32 to level the forming platform 10 in the second direction b. Next, the laser rangefinder 90 detects the levelness of the forming platform 10 in the first direction a, and then uses a first leveling mechanism 31 to level the forming platform 10 in the first direction a. Through repeated detection and adjustment, the overall levelness of the forming platform 10 is calibrated. This improves the levelness of the forming platform 10. In the subsequent 3D printing process, the printing effect can be effectively controlled, and the accurate and successful printing of the 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 this application, based on a 3D printing leveling device, includes the following:

[0137] S1, acquire laser readings at points A3 and A9 on the molded stretching membrane surface 21. Points A3 and A9 are spaced apart along the second direction b. Points A3 and A9 are two detection points on the molded stretching membrane surface 21 along the second direction b. For example, points A3 and A9 are two detection points on either side of the center of the molded stretching membrane surface 21 along the second direction b. When the molded stretching membrane surface 21 is not horizontal or uneven along the second direction b, the difference in laser readings between these two detection points is more significant, facilitating subsequent horizontal calibration.

[0138] S2, based on the laser readings of points A3 and A9, determines the target reading of point A3 or A9. After receiving the laser readings of points A3 and A9, the control terminal can calculate and determine the target reading of point A3 or A9 to facilitate subsequent leveling control.

[0139] Specifically, the steps include:

[0140] S21. Determine the first adjustment amount based on the laser readings of points A9 and A3. The first adjustment amount is an intermediate value for adjusting points A9 and A3 to a horizontal position, wherein the first adjustment amount of point A9 is different from that 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. Where 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 points A9 and A3. T is a non-zero constant; the smaller its value, the higher the leveling accuracy can be achieved.

[0142] S72, determine the target reading of point A9 or A3 based on 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, based on the target reading at point A9, control the fourth leveling mechanism 42 to make the laser reading at point A9 reach the target reading; or, based on the target reading at point A3, control the fourth leveling mechanism 42 to make the laser reading at point A3 reach the target reading. It can be understood that the target readings at points A3 and A9 are the readings after the formed stretching film surface 21 is leveled in the second direction b. Therefore, theoretically, if the laser reading at either point A3 or A9 is adjusted to the target reading via the fourth leveling mechanism 42, it means that the formed stretching film surface 21 has reached a horizontal position in the second direction b. In this embodiment, during the leveling process via the fourth leveling mechanism 42, the laser ranging device 90 continuously detects either point A3 or A9 until the laser reading at point A3 or A9 measured by the laser ranging device 90 reaches the target reading.

[0144] S4, acquire the laser reading at point A3 or A9 again. After the above steps, it is known that the laser reading at point A9 or A3 is the target reading. Therefore, it is only necessary to acquire the laser reading at another point to determine whether the calibrated molded membrane surface 21 is horizontal in the second direction b.

[0145] S5, if the difference between the laser readings at points A3 and A9 is within the preset reading difference range, then proceed to S6. If the reading difference is within the preset reading difference range, it indicates that the levelness of the formed stretch film surface 21 in the second direction b meets the requirements, and therefore the next level calibration operation can be performed.

[0146] If the difference between the laser readings at points A3 and A9 is outside the preset range, then step S1 is executed. If the difference is outside the preset range, it indicates that the levelness of the formed stretch film surface 21 in the second direction b does not meet the requirements. By repeating steps S1 to S5, the levelness of the formed stretch film surface 21 in the second direction b is precisely calibrated until the requirements are met, and then the next level calibration operation can be performed.

[0147] S6, acquire the laser readings at points A1 and A3 on the molded stretching membrane surface 21. Points A1 and A3 are two detection points on the molded stretching membrane surface 21 in the first direction a. For example, points A3 and A9 are two detection points on either side of the center of the molded stretching membrane surface 21 in the first direction a. When the molded stretching membrane surface 21 is not horizontal or uneven in the first direction a, the difference in laser readings at these two detection points is more obvious, which can facilitate subsequent horizontal calibration.

[0148] S7: Based on the laser readings of points A1 and A3, determine the target reading of point A1 or A3. After receiving the laser readings of points A1 and A3, the control terminal can calculate and determine the target readings of points A1 and A3 to facilitate subsequent leveling control.

[0149] Specifically, the steps include:

[0150] S71, determine the first adjustment amount based on the laser readings of points A1 and A3. The first adjustment amount is an intermediate amount that adjusts points A1 and A3 to a horizontal position, wherein the first adjustment amount of point A1 is different from that of point A3.

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

[0152] S72, determine the target reading of point A1 or A3 based on 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, based on the target reading at point A1, control the third leveling mechanism 41 to make the laser reading at point A1 reach the target reading; or, based on the target reading at point A3, control the third leveling mechanism 41 to make the laser reading at point A3 reach the target reading. It can be understood that the target readings at points A3 and A1 are the readings after the formed stretching film surface 21 is leveled in the first direction a. Therefore, theoretically, if the laser reading at either point A3 or A1 is adjusted to the target reading using the third leveling mechanism 41, it means that the formed stretching film surface 21 has reached a horizontal position in the first direction a. In this embodiment, during the leveling process using the third leveling mechanism 41, the laser ranging device 90 continuously detects either point A3 or A1 until the laser reading at point A3 or A1 measured by the laser ranging device 90 reaches the target reading.

[0154] S9, acquire the laser reading at point A3 or A1 again. After the above steps, it is known that the laser reading at point A1 or A3 is the target reading. Therefore, it is only necessary to acquire the laser reading at another point to determine whether the calibrated molded membrane surface 21 is horizontal in the first direction a.

[0155] S10, if the difference between the laser readings at point A3 and point A1 is within the preset reading difference range, then execute S11. If the reading difference is within the preset reading difference range, it indicates that the levelness of the formed stretch film surface 21 in the first direction a meets the requirements, and therefore the next operation can be performed.

[0156] If the difference between the laser readings at point A3 and point A1 is outside the preset range, then proceed to step S6. If the difference is outside the preset range, it indicates that the levelness of the formed stretch film surface 21 in the first direction a does not meet the requirements. By repeating steps S6 to S10, the levelness of the formed stretch film surface 21 in the first direction a is precisely calibrated until the requirements are met, and then the next step can be performed.

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

[0158] If the difference between the laser readings at points S12, A1, A3, and A9 is within the preset range, then the leveling is complete. If the difference between the readings at any two points is within the preset range, it indicates that the formed stretching film surface 21 has been leveled in both the first direction a and the second direction b, which means that the entire formed stretching film surface 21 has been leveled.

[0159] If the difference between the laser readings of any two points is outside the preset reading difference range, then execute S1. If the difference between the readings of any two points is outside the preset reading difference range, it indicates that the levelness of the formed stretch film surface 21 in the first direction a and / or the second direction b does not meet the requirements. By repeating steps S1 to S12, the overall levelness of the formed stretch film surface 21 is precisely calibrated until the requirements are met.

[0160] like Figure 8 As shown in the embodiment of this application, points A1, A3, and A9 are three corresponding points on the forming tension film surface 21. In this embodiment, the forming tension film surface 21 is divided into nine detection points A1-A9 using a nine-square grid. Points A1 and A3 are two detection points spaced apart in the first direction a, and points A3 and A9 are two detection points spaced apart in the second direction b. It can be understood that points A1 and A3 are the two detection points farthest apart in the first direction a. Therefore, when the forming platform 10 is not horizontal or uneven in the first direction a, the difference in laser readings between these two detection points is more obvious, which facilitates subsequent horizontal calibration. Similarly, points A3 and A9 are the two detection points farthest apart in the second direction b. Therefore, when the forming tension film surface 21 is not horizontal or uneven in the second direction b, the difference in laser readings between these two detection points is more obvious, which facilitates subsequent horizontal calibration.

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

[0162] The 3D printing leveling method provided in this application embodiment first uses a laser rangefinder 90 to detect the levelness of the formed stretch film surface 21 in the second direction b, and then uses a fourth leveling mechanism 42 to level the levelness of the forming platform 10 in the second direction b. Next, the laser rangefinder 90 detects the levelness of the formed stretch film surface 21 in the first direction a, and then uses a third leveling mechanism 41 to level the levelness of the forming platform 10 in the first direction a. Through repeated detection and adjustment, the overall levelness of the formed stretch film surface 21 is calibrated. This improves the levelness of the formed stretch film surface 21. In subsequent 3D printing processes, the printing effect can be effectively controlled, and the accurate and successful printing of the sample can be ensured.

[0163] In this embodiment, since the laser ranging device 90 is installed at an angle, the laser emission direction and the laser receiving direction have an angle. During the leveling process of the forming platform 10 and / or the forming stretch film surface 21, there is an error between the theoretical laser reading at the detection point and the actual measurement reading measured by the laser ranging device 90. Therefore, before leveling, the 3D printing leveling method of this application further includes:

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

[0165] S200: Obtain the actual measurement reading of the laser rangefinder 90 at the reference point. The actual measurement reading is the laser reading displayed by the laser rangefinder 90 at the reference point. It is a value obtained by the algorithm of the laser rangefinder 90 itself. Since the laser emission direction and the laser receiving direction are at 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 actual measurement readings and theoretical laser readings.

[0167] Specifically, the steps include:

[0168] S301, Determine the theoretical measurement point of the laser rangefinder 90 based on the theoretical laser reading. It can be understood that when the laser rangefinder 90 emits a perpendicular laser beam towards the reference point, the displayed laser reading is consistent with the theoretical laser reading. The theoretical measurement point can be understood as the position of the laser rangefinder 90 when measuring towards the reference point; it can be understood as a point on the laser rangefinder 90 directly opposite the reference point in the vertical direction.

[0169] S302, based on the theoretical measurement point, theoretical laser reading, actual measurement reading, and the positions of the transmitting and receiving ends, an error algorithm is determined. In this embodiment, let A be the distance between the transmitting end and the reference point, B be the distance between the reference point and the receiving end, C be the distance between the transmitting end and the receiving end, d be the distance between the transmitting end and the theoretical measurement point, and D be the distance between the theoretical measurement point and the reference point. Since the laser ranging device 90 has already been installed, the values ​​of C and d are already determined. Because the laser emission direction is always perpendicular to the transmitting end, d can be obtained. 2 +A 2 =D 2 C 2 +A 2 =B 2 Among them, the theoretical laser reading L 理 =f(D), actual measured reading L 测 =f(A+B), and based on the above formula, L can be obtained. 理 =f(L 测 This is also known as the error algorithm.

[0170] S400 determines the laser reading based on the measurement readings and error algorithm used by the laser rangefinder 90. The determined laser reading, obtained through the measurement readings and error algorithm, is the theoretical laser reading. Thus, when performing distance measurement using the laser rangefinder 90, the accuracy of the calibration can be ensured, reducing measurement errors caused by its angled installation.

[0171] In this embodiment, the laser emission direction and laser reception direction of the laser ranging device 90 are both located on the first plane, and the second direction b is located on the first plane. Since both the laser emission direction and laser reception direction are located on the second plane, the angle setting of the laser ranging device 90 will significantly affect the horizontal calibration in the second direction b, while having virtually no impact on the horizontal calibration in the first direction a.

[0172] It is important to understand that if the level of the forming platform 10 and / or the forming stretch film surface 21 in the first direction a is adjusted first, and then the level of the forming platform 10 and / or the forming stretch film surface 21 in the second direction b is adjusted, the angle setting of the laser rangefinder 90 will significantly affect the level calibration in the second direction b. Even after the level calibration in the second direction b is completed, the forming platform 10 and / or the forming stretch film surface 21 will become uneven in the first direction a, thus causing the leveling of the forming platform 10 and / or the forming stretch film surface 21 in the first direction a to fail. In this case, the level calibration in the first direction a and the second direction b needs to be repeated, which reduces the success rate of the leveling and affects the leveling efficiency. In this application, the horizontality of the second direction b of the forming platform 10 and / or the forming stretch film surface 21 is adjusted first, and then the horizontality of the first direction a of the forming platform 10 and / or the forming stretch film surface 21 is adjusted. In this way, the direction that is more difficult to calibrate accurately, namely the second direction b, can be calibrated first. After the horizontality of this direction is calibrated, since the angle setting of the laser rangefinder 90 has little effect on the horizontal calibration of the first direction a, the horizontal calibration of the first direction a can reduce the impact on the horizontality of the second direction b. In this way, the success rate of leveling in one step is increased and the leveling efficiency is improved.

[0173] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of this application's specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A 3D printing leveling device, characterized in that, include: Base platform; A resin tank is disposed on the base platform and is used to hold molding liquid. A molding platform is disposed within the resin tank; A laser ranging device is provided, which emits a ranging laser towards the forming platform and the forming stretch film surface to detect the levelness of the forming platform and the forming stretch film surface; the laser ranging device includes a transmitting end and a receiving end, the laser emission direction of the transmitting end and the laser receiving direction of the receiving end have an angle; both the laser emission direction and the laser receiving direction are located in a first plane; A platform leveling assembly is disposed on the base platform and connected to the molding platform. The platform leveling assembly includes a first leveling mechanism and a second leveling mechanism. The first leveling mechanism is used to adjust the levelness of the molding platform in a first direction, and the second leveling mechanism is used to adjust the levelness of the molding platform in a second direction. Wherein, the first direction and the second direction form an angle; the first direction or the second direction is located in the first plane; A film leveling assembly is provided on the base platform and connected to the resin tank. The film leveling assembly includes a third leveling mechanism and a fourth leveling mechanism, a leveling base and a ball bearing. The bottom of the resin tank is provided with a first connecting part, a second connecting part and a third connecting part. The first connecting part and the third connecting part are spaced apart along a first direction, and the second connecting part and the third connecting part are spaced apart along a second direction. The leveling base is rotatably connected to the third connecting part by ball bearings. The third leveling mechanism and the fourth leveling mechanism are both located on the leveling base. The third leveling mechanism is connected to the first connecting part, and the fourth leveling mechanism is connected to the second connecting part. The control terminal is configured to: determine whether the detection is of the forming platform or the forming stretching film surface based on the intensity of the laser signal received by the laser ranging device, perform laser ranging on the forming platform and the forming stretching film surface respectively, and control the platform leveling component and the stretching film leveling component to perform leveling; Furthermore, the control terminal is configured to: first control the second leveling mechanism or the fourth leveling mechanism to level the second direction, and then control the first leveling mechanism or the third leveling mechanism to level the first direction.

2. The 3D printing leveling device as described in claim 1, characterized in that, It also includes a first movable axis, which is connected to the base platform, and the platform leveling assembly is vertically and vertically connected to the first movable axis.

3. The 3D printing leveling device as described in 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 disposed on the first leveling base and connected to the second leveling base, and the second driving member is disposed on the second leveling base and connected to the forming platform.

4. The 3D printing leveling device as described in claim 3, characterized in that, The second drive member is located at the center of the molding platform in the second direction, and / or the first drive member is located on one side of the molding platform in the first direction.

5. A 3D printer, characterized in that, Includes the 3D printing leveling device as described in any one of claims 1 to 4.

6. A 3D printing leveling method, based on the 3D printing leveling device according to any one of claims 1 to 4, characterized in that, The leveling method includes: S1, acquire laser readings at points A3 and A9 on the plane to be leveled; S2, determine the target reading of point A3 or point A9 based on the laser readings of points A3 and A9; S3, based on the target reading at point A9, control the second leveling mechanism so that the laser reading at point A9 reaches the target reading; or, based on the target reading at point A3, control the second leveling mechanism so that the laser reading at point A3 reaches the target reading. S4, obtain the laser reading at point A3 or A9 again; S5, if the difference between the laser readings at point A3 and point A9 is within the preset range, then execute S6; if the difference between the laser readings at point A3 and point A9 is outside the preset range, then execute S1. S6, acquire the laser readings of points A1 and A3 on the plane to be leveled; S7, determine the target reading of point A1 or point A3 based on the laser readings of points A1 and A3; S8, based on the target reading at point A1, control the first leveling mechanism so that the laser reading at point A1 reaches the target reading; or, based on the target reading at point A3, control the first leveling mechanism so that the laser reading at point A3 reaches the target reading. S9, obtain the laser reading at point A3 or A1 again; S10, If the difference between the laser readings at point A3 and point A1 is within the preset range, then execute S11; if the difference between the laser readings at point A3 and point A1 is outside the preset range, then execute S6. S11, obtain the laser readings at points A1, A3, and A9; S12: If the difference between the laser readings of any two points (A1, A3, A9) is within the preset range, then the leveling is complete; if the difference between the laser readings of any two points is outside the preset range, then S1 is executed. Among them, points A3 and A9 are set at intervals in the second direction, and points A1 and A3 are set at intervals in the first direction; The plane to be leveled includes a forming platform and / or a forming stretch film surface.

7. The 3D printing leveling method as described in claim 6, characterized in that, The step of determining the target reading of A1 or A3 based on the laser readings of points A1 and A3 includes: Determine the first adjustment amount based on the laser readings at points A1 and A3; Based on the first adjustment amount, determine the target reading at point A1 or point A3.

8. The 3D printing leveling method as described in claim 7, characterized in that, The step of obtaining the first adjustment amount based on the laser readings at points A1 and A3 includes: According to the formula T=[(L1-L3) / S]×f(LK*), the first adjustment amount LK1 at point A1 and the first adjustment amount LK3 at point A3 can be obtained respectively. Where T is the target height difference between A1 and A3, L1 is the laser reading at point A1, L3 is the laser reading at point A3, and S is the coordinate distance between points A1 and A3.

9. The 3D printing leveling method as described in claim 6, characterized in that, Before leveling, it also includes: Obtain the theoretical laser reading of the measurement reference point of the laser ranging device; Obtain the actual measurement readings of the reference point of the laser ranging device; The error algorithm is determined based on the actual measured readings and the theoretical laser readings; The laser reading is determined based on the measurement readings taken during detection by the laser rangefinder and the error algorithm. The error determination algorithm based on the actual measured reading and the theoretical laser reading includes: Based on the theoretical laser readings, the theoretical measurement point of the laser ranging device is determined; The error algorithm is determined based on the theoretical measurement point, the theoretical laser reading, the actual measurement reading, and the positions of the transmitting end and the receiving end.

10. The 3D printing leveling method as described in claim 9, characterized in that, The laser emission direction and laser receiving direction of the laser ranging device are both located in the first plane, and the second direction is located in the first plane; The step of controlling the first leveling mechanism based on the target reading at point A1 includes: Obtain the motion trajectory of the first leveling mechanism when it controls the movement of the plane to be leveled; Based on the target reading at point A1 and the motion trajectory, the control quantity of the first leveling mechanism is determined, and the operation of the first leveling mechanism is controlled according to the control quantity.

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