Method for correcting posture of lifting door in 3D printing device and 3D printing device

Abstract

The application provides a posture correction method of a lifting door in a 3D printing device and the 3D printing device, and relates to the technical field of 3D printing machinery. The initial horizontal error after the Mth running of a lifting door mechanism and the current horizontal error after the Nth running are used to determine the error type of the lifting door, that is, the error type of the lifting door is determined based on the horizontal errors before and after the running, so that the error cause can be quickly located; and based on the error type of the lifting door and the current horizontal error, the horizontal adjusting component of the lifting door mechanism is adjusted to correct the horizontal posture of the lifting door, that is, the error is adjusted according to the error type, so that the horizontal posture error caused by different fault factors can be accurately eliminated, the debugging efficiency of the mechanism is significantly improved, and the use performance is improved.

Description

Technical Field

[0001] This application relates to the field of 3D printing mechanical technology, and more specifically, to a method for posture correction of a lifting door in a 3D printing device and the 3D printing device itself. Background Technology

[0002] Photopolymer 3D printing equipment, due to its high precision and rapid prototyping capabilities, is widely used in various fields such as dentistry, medical, jewelry, and manufacturing. However, because the printing process requires frequent resin tank changes and demands high levels of UV protection, most printing equipment utilizes electrically operated lifting doors for automated control and safety isolation. However, a key technical problem arises during long-term operation: issues such as motor drive eccentricity, assembly errors, and guide rail precision cause the door to gradually deviate from its horizontal reference point during repeated raising and lowering, thus affecting the safe operation and lifespan of the printing equipment.

[0003] In most related technologies, sensors are used to collect deviation signals, and then actuators (hydraulic cylinders, lead screw mechanisms, air cylinders, etc.) are used to adjust the horizontal position of the lifting door so that the lifting door as a whole remains stable.

[0004] However, the above adjustment scheme requires the introduction of external sensors, which increases the complexity of the mechanical structure and the overall size, making it unsuitable for space-constrained or portable devices. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a posture correction method for a lifting door in a 3D printing device and a 3D printing device in order to solve the technical problems existing in the prior art.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a method for posture correction of a lifting door in a 3D printing device, the method comprising: Obtain the initial horizontal error of the lifting door mechanism after the Mth operation and the current horizontal error after the Nth operation, where N is greater than M; Determine whether both the initial level error and the current level error are less than a preset error threshold; If not, the error type of the lifting door in the lifting door mechanism is determined based on the difference between the initial horizontal error and the current horizontal error. Based on the error type of the lifting door and the current level error, the level adjustment component of the lifting door mechanism is adjusted to correct the horizontal posture of the lifting door.

[0007] Optionally, determining the error type of the lifting door in the lifting door mechanism based on the difference between the initial horizontal error and the current horizontal error includes: If the difference between the initial horizontal error and the current horizontal error is less than a preset threshold, then the error type of the lifting door is determined to be an assembly error. If the difference between the initial horizontal error and the current horizontal error is greater than or equal to the preset threshold, then the error type of the lifting door is determined to be eccentric load error.

[0008] Optionally, the step of adjusting the leveling component of the lifting door mechanism according to the error type of the lifting door and the current level error includes: If the error type is an assembly error, then based on the current level error, a first prompt message is output. The first prompt message includes the height to which the high side of the lifting door is lowered, and the height to which the high side is lowered is the current level error. This allows the user to reassemble each set of support adjustment screws of the lifting door mechanism based on the first prompt message, so as to lower the high side of the lifting door.

[0009] Optionally, the step of adjusting the leveling component of the lifting door mechanism according to the error type of the lifting door and the current level error includes: If the error type is eccentric load error, then obtain the pre-constructed horizontal error correction model and the operating parameters of the lifting door mechanism; Based on the horizontal error correction model and the operating parameters of the lifting door mechanism, the actual eccentricity error compensation value of the lifting door is determined. Based on the actual eccentricity error compensation value of the lifting door, the upper frame assembly of the lifting door mechanism is reinstalled.

[0010] Optionally, the horizontal error correction model includes: ; in, This is the actual eccentricity error compensation value. The width of the lifting door is [value missing]. The kinetic energy provided to the motor in the lifting door mechanism. For lifting force, Let g be the weight of the lifting door. The total distance traveled by the lifting door mechanism after N operations is given.

[0011] Optionally, determining the actual eccentricity error compensation value of the lifting door based on the horizontal error correction model and the operating parameters of the lifting door mechanism includes: Obtain the operating parameters of the lifting door mechanism, including: the width of the lifting door, kinetic energy, lifting force, gravity of the lifting door, and the total travel distance of the lifting door mechanism after N operations; The operating parameters of the lifting door mechanism are input into the horizontal error correction model to calculate the actual eccentricity error compensation value of the lifting door.

[0012] Optionally, reinstalling the upper frame assembly on the lifting door mechanism based on the actual eccentricity error compensation value of the lifting door includes: Based on the actual eccentricity error compensation value of the lifting door, the thickness of the adjustment piece to be added to the upper frame assembly is determined, and a second prompt message is output. The second prompt message includes the thickness and is used to prompt the user to install the adjustment piece with the thickness into the inner groove of the upper frame assembly to adjust the horizontal height of the upper frame of the lifting door.

[0013] Secondly, this application also provides a 3D printing device, which includes: a lifting door mechanism and an adjustment control module; the lifting door mechanism includes: a lifting door, a lifting door support frame, a lifting door upper frame, a linear guide rail, and a horizontal adjustment component; The lifting door support frame is installed in the slide groove of the linear guide rail, and the upper end of the lifting door support is fixedly connected to the lifting door. The linear guide rail is used to support the sliding groove of the linear guide rail to slide on the linear guide rail; The upper frame of the lifting door is installed at the upper end of the lifting door and is used to push and pull the lifting door; The horizontal adjustment component is disposed on the lifting door support frame or inside the upper frame of the lifting door, and is used to adjust the horizontal posture of the lifting door. The adjustment control module is used to execute the steps of the method provided in the first aspect above, so as to adjust the horizontal adjustment component.

[0014] Optionally, the horizontal adjustment assembly includes: a support adjustment component and an upper frame assembly; The support adjustment component is disposed on the lifting door support frame, and the upper frame assembly is disposed inside the upper frame of the lifting door.

[0015] Optionally, the support adjustment component includes: a first set of support adjustment screws, a second set of support adjustment screws, and a third set of support adjustment screws; The first set of support adjusting screws is connected to the fixing block in the lifting door mechanism; the second set of support adjusting screws is connected to the bottom of the first slide groove of the linear guide rail; and the third set of support adjusting screws is connected to the bottom of the second slide groove of the linear guide rail.

[0016] The beneficial effects of this application are: This application provides a method for posture correction of a lifting door in a 3D printing device and the 3D printing device itself. By utilizing the initial horizontal error of the lifting door mechanism after the Mth run and the current horizontal error after the Nth run, the error type of the lifting door is determined. That is, based on the horizontal error of the lifting door before and after operation, the error type of the lifting door is judged to achieve rapid location of the error cause. Based on the error type of the lifting door and the current horizontal error, the horizontal adjustment component of the lifting door mechanism is adjusted to correct the horizontal posture of the lifting door. In other words, corresponding adjustments are made to the introduced error according to the error type, accurately eliminating horizontal posture errors caused by different fault factors, significantly improving the debugging efficiency of the mechanism and enhancing its performance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the architecture of a 3D printing device provided in an embodiment of this application; Figure 2 A schematic diagram of the lifting door mechanism in a 3D printing device provided in this application embodiment. Figure 1 ; Figure 3 A schematic diagram of the lifting door mechanism in a 3D printing device provided in this application embodiment. Figure 2 ; Figure 4 A schematic diagram of the structure of a lifting mechanism assembly in a lifting door mechanism assembly provided in this application embodiment. Figure 1 ; Figure 5 A schematic diagram of the structure of a lifting mechanism assembly in a lifting door mechanism assembly provided in this application embodiment. Figure 2 ; Figure 6 This is a schematic diagram of the structure of a support adjustment component provided on a lifting door support according to an embodiment of this application; Figure 7 A cross-sectional schematic diagram of an upper frame assembly within the upper frame of a lifting door, provided as an embodiment of this application; Figure 8 A schematic diagram showing the upper frame assembly installed on the lifting door mechanism according to an embodiment of this application; Figure 9A flowchart illustrating another posture correction method for a lifting door in a 3D printing device provided in this application embodiment; Figure 10 A flowchart illustrating another method for posture correction of a lifting door in a 3D printing device provided in this application embodiment; Figure 11 A flowchart illustrating another method for posture correction of a lifting door in a 3D printing device provided in this application embodiment; Figure 12 A mechanical schematic diagram illustrating the motion of the lifting door mechanism provided in this application embodiment; Figure 13 A schematic diagram of another upper frame component inside the upper frame of a lifting door provided in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of an industrial control computer in a 3D printing device provided in an embodiment of this application.

[0019] Icons: 1-Lifting door; 2-Lifting door support frame; 3-Door frame; 4-Linear guide rail; 5-Door panel; 6-Lifting mechanism assembly; 7-Fixing block; 8-Jerk switch; 9-Lower bracket of lifting mechanism assembly; 10-First synchronous pulley; 11-First synchronous belt; 12-Motor; 13-Second synchronous pulley; 14-Motor bracket; 15-Tension spring; 16-Upper bracket of lifting mechanism assembly; 17-Lifting door upper frame; 18-Groove; 19-Threaded hole; 61-Bearing seat; 62-Drive shaft; 63-Fixing seat; 64-Slider; 65-First belt pressure block; 66-Lifting guide rail; 67-Tension adjustment seat; 68-Bearing; 69-Bearing pressure block; 610-Third synchronous pulley; 611-Optical shaft; 612-Second synchronous belt; 613-Belt adjustment block; 614-Second belt pressure block. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] First, the background technology involved in this application will be introduced.

[0023] Before introducing the adjustment method of the lifting door mechanism in the 3D printing equipment provided in this application, the structure of the lifting door mechanism in the 3D printing equipment provided in this application will be introduced first.

[0024] Optionally, refer to Figure 1 The diagram shown is a schematic of the architecture of a 3D printing device provided in an embodiment of this application. The 3D printing device includes a lifting door mechanism and an adjustment control module. The adjustment control module can be an industrial control computer in the 3D printing device. The adjustment control module is used to execute the method steps of the posture correction method of the lifting door in the 3D printing device provided in this application to adjust the horizontal adjustment component.

[0025] refer to Figures 2-3 The diagram shown is a structural schematic of a lifting door mechanism in a 3D printing device according to an embodiment of this application. Figure 2 As shown, the lifting door mechanism includes: a lifting door 1, a lifting door support frame 2, a door frame 3, a linear guide rail 4, a door panel 5, a lifting mechanism assembly 6, a fixing block 7, a jog switch 8, a lower support for the lifting mechanism assembly 9, a first synchronous pulley 10, a first synchronous belt 11, a motor 12, a second synchronous pulley 13, a motor bracket 14, a tension spring 15, an upper support for the lifting mechanism assembly 16, and a horizontal adjustment assembly; The lifting door 1 is a transparent door made of dark brown polycarbonate sheet. It can move up and down under the drive of the lifting mechanism assembly 6 and is mainly used to protect the human body from the harmful effects of ultraviolet rays.

[0026] The lifting door support frame 2 is installed on the slide groove of the linear guide rail 4. The upper end of the lifting door support frame 2 is fixedly connected to the lifting door 1 by screws, and the lower end of the lifting door support frame 2 is connected to the lifting mechanism assembly 6 to transfer the kinetic energy of the lifting mechanism assembly 6 to the lifting door 1. Door frame 3 is used to install and secure the entire lifting door mechanism.

[0027] The linear guide rail 4 includes two rails, left and right. The linear guide rail 4 is installed on the door frame 3, and the slide groove used to support the linear guide rail 4 slides on the linear guide rail 4. The door panel 5 is installed on the lower half of the door frame 3 to protect the internal structure of the 3D printing equipment and for its exterior decoration.

[0028] The fixing block 7 is installed on the lifting mechanism assembly 6 to balance the weight of the lifting door 1; The jog switch 8 is installed at the bottom of the door frame 3 and is used to output a control signal after the jog switch 8 is pressed, that is, to manually trigger the lifting signal.

[0029] The lower bracket 9 of the lifting mechanism assembly is installed at the bottom of the door frame 3 to fix the lifting mechanism assembly 6.

[0030] Motor 12 is used to output kinetic energy under the action of control commands; The second synchronous pulley 13 is mounted on the output shaft of the motor 12 and is used to transmit the kinetic energy output by the motor 12 to the first synchronous belt 11. The first synchronous belt 11 is installed on the first synchronous pulley 10 and the second synchronous pulley 13 to transmit the rotational motion of the second synchronous pulley 13 to the first synchronous pulley 10. The first synchronous pulley 10 is installed on the drive shaft 62 of the lifting mechanism assembly 6 to transmit the kinetic energy of the first synchronous belt 11 to the lifting mechanism assembly 6. The lifting mechanism assembly 6 is used to transfer the kinetic energy transmitted by the first synchronous belt 11 to the lifting door 1, so as to drive the lifting door 1 to move.

[0031] The motor bracket 14 is installed at the bottom of the door frame 3, mainly for fixing the motor 12; One end of the tension spring 15 is fixed to the motor 12, and the other end is installed on the motor bracket 14 to tighten the motor 12, thereby tensioning the first synchronous belt 11; the upper bracket 16 of the lifting component mechanism is installed in the middle of the door frame 3 to fix the lifting mechanism component 6. The horizontal adjustment component is installed on the lifting door support frame or inside the upper frame 17 of the lifting door, and is used to adjust the horizontal posture of the lifting door.

[0032] Optionally, this application provides a lifting door mechanism for a 3D printing device. The protective door provided in this application is an adjustable lifting door, and the horizontal posture of the lifting door can be corrected when it moves up and down, thereby improving the stability of the 3D printing device.

[0033] refer to Figures 4-5 The diagram shown is a structural schematic of the lifting mechanism assembly 6 in a lifting door mechanism assembly provided in an embodiment of this application. Figures 4-5As shown, the lifting mechanism assembly 6 includes: bearing seat 61, drive shaft 62, fixed seat 63, slider 64, first belt pressure block 65, lifting guide rail 66, bearing 68, bearing pressure block 69, third synchronous pulley 610, optical shaft 611, second synchronous belt 612, tension adjustment seat 67, belt adjustment block 613, and second belt pressure block 614.

[0034] The bearing housing 61 includes two parts, upper and lower, for fixing the bearing 68 and the optical axis 611.

[0035] The drive shaft 62 is mounted on the bearing 68 to transmit the rotational motion of the first synchronous pulley 10 to the third synchronous pulley 610.

[0036] Four sliders 64 are mounted on the fixed base 63 to transmit the motion pattern to the fixed block 7.

[0037] There are eight sliders 64 in the lifting mechanism assembly 6. They are installed on the lifting guide rail 66 and slide along the lifting guide rail 66 for guiding and supporting functions.

[0038] The first belt clamp 65 is installed on the fixed base 63 to fix the second synchronous belt 612.

[0039] There are two lifting guide rails 66, which are fixed together to support the linear movement of the slider 64.

[0040] Tension adjustment seat 67 is installed on four sliders 64 to transmit the reciprocating linear motion of lifting mechanism assembly 6 to lifting door support frame 2.

[0041] There are four bearings 68, which are installed on two bearing seats 61 to support the drive shaft 62 and the optical shaft 611, respectively.

[0042] There are four bearing clamps 69, which are installed on two bearing seats 61 and are used to fix the four bearings 68 respectively.

[0043] There are two third synchronous pulleys 610, which are installed on the drive shaft 62 and the optical shaft 611 respectively.

[0044] The optical shaft 611 is mounted on the left and right bearings 68 to transmit the rotational motion of the third synchronous pulley 610 to the tension adjustment seat 67.

[0045] The second synchronous belt 612 is installed on the two third synchronous pulleys 610. It is an open synchronous belt and is mainly used to form a belt motion group with the second synchronous pulley 13 to transmit rotational motion. At the same time, the length can be adjusted by the tensioning mechanism to control the change of tension force.

[0046] The belt adjusting block 613 is installed on the tension adjusting seat 67 and is used to adjust the tension of the second synchronous belt 612.

[0047] The second belt clamp 614 is installed on the fixed base 63 to fix the second synchronous belt 612.

[0048] Optionally, refer to Figure 6 As shown, when the horizontal adjustment assembly is installed on the lifting door support frame, the support adjustment component on the lifting door support frame 2 consists of six adjusting screws. The support adjustment component includes: a first set of support adjusting screws, a second set of support adjusting screws, and a third set of support adjusting screws. The first set of support adjusting screws includes screws 21 and 22; the second set includes screws 23 and 24; and the third set includes screws 25 and 26. The six screw mounting holes are clearance fit. Specifically, screws 21 and 22 are connected to the tension adjustment seat 67 in the lifting door mechanism; screws 23 and 24 are connected to the bottom of the first slide groove (i.e., the left side slide) of the left linear guide rail 4; and screws 25 and 26 are connected to the bottom of the second slide groove (i.e., the right side slide) of the right linear guide rail 4 when adjusting the overall tilt angle of the lifting door.

[0049] The specific adjustment process is as follows: First, unscrew the four screws 23-26, and loosen screws 21 and 22 without unscrewing them. Keep the lifting door support and the tension adjustment seat 67 in the lifting door mechanism in a hinged state. Manually push the lifting door to the highest position. Adjust the lifting door support according to the current horizontal error (i.e., the left and right deviation value). Then, tighten screws 21-26 and manually push and pull to confirm that the lock is secure.

[0050] Optionally, refer to Figures 7-8 As shown, Figure 7 This is a cross-sectional view of the upper frame 17 of the lifting door. Figure 8 This is a schematic diagram showing the installation of the upper frame 17 of the lifting door onto the lifting door mechanism. (See diagram below.) Figures 7-8 As shown, when the leveling component is installed within the upper frame 17 of the lifting door, the upper frame component on the upper frame 17 includes a groove 18 and six threaded holes 19. The cross-sectional area within the upper frame 17 is the mounting area of ​​the lifting door 1. Adjustment is performed by first loosening the screws installed in the six threaded holes 19 on the side of the upper frame 17, then adding an adjusting piece to the corresponding position on the upper frame 17. The adjusting piece is made of stainless steel, with a size of 20×5mm. The adjusting piece is installed in the groove 18 on the side requiring elevation, and its thickness is equal to the calculated actual eccentricity error compensation value. After adding the adjusting piece, the upper frame 17 is installed on the upper edge of the lifting door 1, and the screws installed in the six threaded holes 19 are tightened.

[0051] The following will explain the implementation principle and corresponding beneficial effects of the adjustment method steps of the lifting door mechanism in the 3D printing equipment provided in this application through several specific embodiments.

[0052] In one embodiment, reference Figure 9 As shown, a method for posture correction of a lifting door in a 3D printing equipment is provided. Optionally, the execution subject of this method can be an industrial control computer in the 3D printing equipment, which is a processing device with data processing function.

[0053] It should be understood that in other embodiments, the order of some steps in the posture correction method for the lifting door in the 3D printing equipment can be interchanged according to actual needs, or some steps can be omitted or deleted. For example... Figure 9 As shown, the method includes: S801. Obtain the initial horizontal error of the lifting door mechanism after M runs and the current horizontal error after N runs.

[0054] Where N is greater than M. For example, M is 10 and N is 50.

[0055] In one feasible approach, obtaining the initial horizontal error of the lifting door mechanism after M operations and the current horizontal error after N operations includes the following process: Step 1: Power on the industrial computer in the 3D printing equipment and connect it to the test program: Power on the lifting door mechanism and connect it to the industrial computer, then start the test program; Step 2: Start motor 12: Trigger the control program to power on motor 12 and enable it; Step 3: Trigger the lifting door to the highest position: Press the jog switch 8, and the lifting door 1 will stop after moving to the upper limit position; Step 4: Measure the horizontal error of the lifting door 1 (i.e., the gap between the upper frame and the door edge of the lifting door): Obtain the initial horizontal error a1 of the lifting door mechanism after the 10th operation and the current horizontal error a2 after the 50th operation; Wherein, the initial horizontal error a1 is the horizontal error of the lifting door in its initial state; the current horizontal error a2 is the horizontal error of the lifting door after multiple runs under eccentric load conditions.

[0056] S802. Determine whether both the initial horizontal error and the current horizontal error are less than the preset error threshold.

[0057] For example, the error threshold can be set based on empirical values.

[0058] Optionally, in order to ensure that the obtained horizontal error is relatively accurate, it is proposed to measure the gap between the upper frame of the transparent door and the door edge on both sides of the lifting door multiple times in the initial state, calculate the average value, and mark the gap value on the left side after the lifting movement as l1 and the gap value on the right side after the lifting movement as r1. Then the initial horizontal error a1=l1-r1 in the initial state can be calculated. Meanwhile, during the Nth run of the lifting door 1, to ensure that the motion error of the lifting mechanism can be fully amplified, the lifting program is executed N times, N=1000; after the lifting door mechanism moves up and down 1000 times, the gap values ​​between the upper frame of the transparent door on the left and right sides and the door edge are measured again, and the average values ​​are calculated and marked as l2 for the left side gap after the lifting movement and r2 for the right side gap after the lifting movement. The current horizontal error a2=l2-r2 can then be calculated.

[0059] S803. If not, then determine the error type of the lifting door in the lifting door mechanism based on the difference between the initial horizontal error and the current horizontal error.

[0060] In one feasible approach, if both the initial horizontal error and the current horizontal error are less than a preset error threshold, the error type of the lifting door can be determined by the difference between the initial horizontal error and the current horizontal error. If the difference between the initial horizontal error and the current horizontal error is zero, it means that the horizontal error of the lifting door has not changed before and after multiple runs, that is, the horizontal error of the lifting door is constant, and the error type of the lifting door can be determined to be assembly error.

[0061] S804. Adjust the level adjustment component of the lifting door mechanism according to the error type and current level error of the lifting door to correct the level posture of the lifting door.

[0062] Optionally, the adjustment amount of the leveling component can be determined based on the error type of the lifting door and the current level error to correct the level attitude of the lifting door. In this way, the level attitude of the lifting door can be corrected in a timely manner to ensure that the lifting door is in a stable state of center of gravity during operation, thereby improving the reliability and stability of the lifting door's operation.

[0063] In this embodiment, the fault type can be quickly identified based on the horizontal error of the lifting door before and after multiple runs, and the introduced error can be adjusted accordingly based on the error type, which significantly improves the debugging efficiency of the mechanism and enhances its performance.

[0064] In summary, this application provides a method for correcting the posture of a lifting door in a 3D printing device. By utilizing the initial horizontal error of the lifting door mechanism after the Mth run and the current horizontal error after the Nth run, the error type of the lifting door is determined. That is, based on the horizontal errors before and after the lifting door's operation, the error type is judged to quickly locate the cause of the error. Furthermore, based on the error type of the lifting door and the current horizontal error, the horizontal adjustment component of the lifting door mechanism is adjusted to correct the horizontal posture of the lifting door. In other words, corresponding adjustments are made to the introduced error according to the error type, accurately eliminating horizontal posture errors caused by different fault factors, significantly improving the debugging efficiency of the mechanism and enhancing its performance.

[0065] Optionally, refer to Figure 10 As shown, step S803 above includes: S901. If the difference between the initial horizontal error and the current horizontal error is less than a preset threshold, then the error type of the lifting door is determined to be assembly error.

[0066] S902. If the difference between the initial horizontal error and the current horizontal error is greater than or equal to a preset threshold, then the error type of the lifting door is determined to be eccentric load error.

[0067] For example, the preset threshold is 0.05.

[0068] In one feasible approach, if the difference between the initial horizontal error and the current horizontal error is less than 0.05, it indicates that the horizontal error of the lifting door has not changed before and after multiple runs, meaning the horizontal error of the lifting door is constant, and the error type is determined to be assembly error. Conversely, if the difference between the initial horizontal error and the current horizontal error is greater than or equal to 0.05, it indicates that the horizontal error of the lifting door has changed before and after multiple runs, meaning the horizontal error of the lifting door is dynamically changing, and the error type is determined to be eccentric load error. Therefore, the fault type can be quickly identified based on the horizontal error of the lifting door before and after multiple runs.

[0069] The first type of error in the lifting door is assembly error. The adjustment process is as follows: Optionally, the leveling components of the lifting door mechanism are adjusted according to the error type of the lifting door and the current level error, including: If the error type is assembly error, then based on the current level error, the first prompt information is output. The first prompt information includes the height of the lowering of the high side of the lifting door, and the height of the lowering of the high side is the current level error, so that the user can adjust the level adjustment component of the lifting door mechanism based on the first prompt information.

[0070] Among them, assembly error refers to the error in the horizontal state of the lifting door, which is caused by various factors such as assembly differences, processing precision, and load size during the assembly process.

[0071] In one feasible approach, if the error type is assembly error, a first prompt message can be output based on the current horizontal error. This first prompt message includes the height to be lowered on the higher side of the lifting door; that is, the height to be lowered on the higher side represents the current horizontal error. Based on this first prompt message, the user can reassemble the various sets of support adjustment screws of the lifting door mechanism (see reference...). Figure 6 As shown in the diagram, the higher side of the lifting door is lowered. This effectively eliminates errors caused by various factors such as assembly differences, machining precision, and load size, significantly improving the efficiency of mechanism debugging and enhancing performance.

[0072] The second type, when the error type of the lifting door is eccentric load error, the adjustment process is as follows: Optionally, refer to Figure 11 The above step S804 includes: S1001. If the error type is eccentric load error, then obtain the pre-built horizontal error correction model and the operating parameters of the lifting door mechanism.

[0073] Among them, the horizontal error correction model is based on the motion law of the lifting door mechanism and establishes a mathematical model that includes parameters such as load force, motion resistance, driving force, and eccentric lever arm.

[0074] S1002. Based on the horizontal error correction model and the operating parameters of the lifting door mechanism, determine the actual eccentricity error compensation value of the lifting door.

[0075] S1003. Based on the actual eccentricity error compensation value of the lifting door, reinstall the upper frame assembly of the lifting door mechanism.

[0076] Among them, the eccentric load error refers to the horizontal state error of the lifting door, which is the horizontal attitude error caused by the eccentric load during the operation of the lifting door.

[0077] In another feasible approach, such as when the error type is eccentric load error, the actual eccentric error compensation value of the lifting door can be determined based on the horizontal error correction model and the operating parameters of the lifting door mechanism. Based on the actual eccentric error compensation value of the lifting door, the upper frame component of the lifting door mechanism can be reinstalled to accurately eliminate the horizontal attitude error caused by the eccentric load and improve the performance.

[0078] Optionally, the horizontal error correction model includes: ; in, This is the actual eccentricity error compensation value. The width of the lifting door. The kinetic energy provided to the motor in the lifting door mechanism. For lifting force, For the weight of the sliding door, Let N be the total travel distance of the lifting door mechanism after N operations, where N is the total travel distance. The unit is meters. The unit is joule. The unit is Newton. The unit is Newton. The unit is meters.

[0079] Optionally, refer to Figure 12 The diagram shown is a mechanical schematic of the lifting door mechanism. Figure 11As shown in the diagram, based on the mechanical principle diagram of the lifting door mechanism's motion, the force analysis of the lifting door mechanism is first performed, as shown in the following formula (1): (1) Where Fr represents the lifting force, G represents the weight of the lifting door, and Fz represents the motion resistance of the lifting door mechanism, which is mainly generated by the friction between the linear guide rail 4 and the lifting door mechanism. θ represents the eccentricity angle of the lifting door 1; the expression is expanded into the relationship between the motion resistance Fz and the eccentricity angle θ, as shown in the following formula (2): (2) The eccentricity angle of the lifting door 1 can be calculated by measuring the left and right gap values ​​of the transparent door, as shown in the following formula (3): (3) Where ri represents the right gap value after the i-th lifting motion, and li represents the left gap value after the i-th lifting motion; During its vertical movement, the lifting door 1 is constantly subjected to the impact of eccentric load force. Therefore, if the guiding accuracy of the linear guide rail 4 is not strictly controlled, the horizontal attitude error of the lifting door 1 will gradually increase. Specifically, this can be expressed as follows, as shown in formula (4): (4) Where Ee represents the energy input from motor 12 to the lifting door mechanism, Mo represents the torque at hinge point O, and Wz represents the work done by the motion resistance Fz. The work done by the resistance force Wz can be expanded into the product of the resistance force Fz and the stroke e, as shown in the following formula (5): (5) The torque Mo can be expressed as shown in the following formula (6): (6) Where d is the eccentricity of the lifting door 1, and k is the width of the lifting door 1; Each time the lifting door 1 moves through one ascending and descending cycle, the motor 12 will do work dEe on the lifting door mechanism system, and the lifting door 1 will generate an angular offset dθ, as shown in the following formula (7): (7) The expanded form is shown in the following formula (8): (8) To make it more intuitive, we will still use the unexpanded formula for explanation. After n lifting and lowering movements, the cumulative angle deviation Δθ can be expressed as the following formula (9): (9) Therefore, it can be explained that as θ increases, the motion resistance Fz will increase continuously. When θ approaches a stable value θf, Fz will also approach a stable value Fzf. At this time, all the work done by motor 12 on the lifting door mechanism within a unit lifting cycle is converted into heat energy loss, and the system tends to be stable, which can be expressed as shown in the following formula (10): (10) Therefore, the final angular deviation Δθ can be expressed as shown in the following formula (11): (11) Finally, the adjustment amount hf of the left and right height difference of the lifting door can be expressed as shown in the following formula (12): (12) in,

[0080] Optionally, based on the horizontal error correction model and the operating parameters of the lifting door mechanism, the actual eccentricity error compensation value of the lifting door 1 is determined, including: Obtain the operating parameters of the lifting door mechanism, including: the width of lifting door 1. ,kinetic energy Lifting force The gravity of lifting door 1 The total travel distance of the lifting door mechanism after N operations. The operating parameters of the lifting door mechanism are input into the horizontal error correction model to calculate the actual eccentricity error compensation value of the lifting door. .

[0081] In one feasible approach, the width of the lifting door 1 can be obtained. ,kinetic energy Lifting force The gravity of the lifting door The total travel distance of the lifting door mechanism after N operations. and the width of the lifting door ,kinetic energy Lifting force The gravity of the lifting door The total travel distance of the lifting door mechanism after N operations. Substituting into the above formula (12), the actual eccentricity error compensation value of the lifting door can be calculated. .

[0082] Optionally, based on the actual eccentricity error compensation value of the lifting door, the upper frame assembly on the lifting door mechanism is reinstalled, including: Based on the actual eccentricity error compensation value of the lifting door, the thickness of the adjustment piece to be added to the upper frame assembly is determined, and a second prompt message is output. The second prompt message includes the thickness and is used to prompt the user to install the adjustment piece with the thickness into the inner groove of the upper frame assembly to adjust the horizontal height of the upper frame of the lifting door.

[0083] In this embodiment, the thickness of the adjusting piece to be added to the upper frame assembly can be determined based on the actual eccentricity error compensation value of the lifting door, and a second prompt message is output. The second prompt message includes the thickness and is used to prompt the user to install the adjusting piece with the required thickness into the inner groove of the upper frame assembly to adjust the horizontal height of the upper frame of the lifting door, as shown in the reference. Figure 7 As shown, the cross-sectional area inside the upper frame of the lifting door is the installation area of ​​the lifting door. To adjust, first loosen the 6 mounting screws on the side of the upper frame of the lifting door, then add an adjusting piece to the corresponding position on the upper frame of the lifting door. The adjusting piece is made of stainless steel and has a size of 20×5mm. The adjusting piece is installed in the groove on the side that needs to be raised. The thickness of the adjusting piece is equal to the calculated actual eccentricity error compensation value. After adding the adjusting piece, install the upper frame of the lifting door onto the upper edge of the lifting door and tighten the 6 mounting screws.

[0084] Optionally, refer to Figure 13 As shown, to be applicable to more working conditions, this application provides another upper frame component on the lifting door mechanism. There are 8 threaded holes 171-178 in the groove of the upper frame 17 of the lifting door for installing height adjustment screws. After calculating the corresponding actual eccentricity error compensation value, the height of the screw at the corresponding position is adjusted to the actual eccentricity error compensation value. After tightening the screw, the upper frame of the lifting door is fixed again.

[0085] Optionally, in this embodiment, based on the motion law of the lifting door mechanism, a mathematical model including parameters such as load force, motion resistance, driving force, and eccentric lever arm is established. The actual eccentricity error compensation value of the lifting door mechanism can be calculated according to the horizontal error per unit time, so as to accurately eliminate the horizontal attitude error caused by eccentric load.

[0086] Optionally, this application addresses the problem of the horizontal attitude error of a lifting door gradually increasing over time due to eccentric load. It proposes a horizontal attitude adjustment method for lifting doors based on eccentric load. By analyzing the motion law of the lifting mechanism and the action law of the eccentric load force, a mathematical model is established, including parameters such as load force, motion resistance, driving force, and eccentric lever arm. Based on the mathematical model, the actual eccentric error compensation value is calculated. This method can effectively compensate for and eliminate the gradually increasing motion error, effectively eliminating errors caused by various factors such as assembly differences, machining accuracy, and load size. It significantly improves the mechanism's debugging efficiency and enhances its performance.

[0087] Figure 14This is a schematic diagram of the structure of an industrial control computer in a 3D printing device provided in an embodiment of this application. The industrial control computer can be integrated into a terminal device or a chip of a terminal device, and the industrial control computer can be a processing device with data processing functions.

[0088] The industrial control computer includes: processor 1301 and memory 1302.

[0089] The memory 1302 is used to store programs, and the processor 1301 calls the programs stored in the memory 1302 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described again here.

[0090] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0091] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0092] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0093] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0094] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for posture correction of a lifting door in a 3D printing device, characterized in that, The method includes: Obtain the initial horizontal error of the lifting door mechanism after the Mth operation and the current horizontal error after the Nth operation, where N is greater than M; Determine whether both the initial level error and the current level error are less than a preset error threshold; If not, the error type of the lifting door in the lifting door mechanism is determined based on the difference between the initial horizontal error and the current horizontal error. Based on the error type of the lifting door and the current level error, adjust the level adjustment component of the lifting door mechanism to correct the horizontal attitude of the lifting door; The step of determining the error type of the lifting door in the lifting door mechanism based on the difference between the initial horizontal error and the current horizontal error includes: If the difference between the initial horizontal error and the current horizontal error is less than a preset threshold, then the error type of the lifting door is determined to be an assembly error. If the difference between the initial horizontal error and the current horizontal error is greater than or equal to the preset threshold, then the error type of the lifting door is determined to be eccentric load error. The step of adjusting the leveling component of the lifting door mechanism according to the error type of the lifting door and the current level error includes: If the error type is assembly error, then according to the current level error, a first prompt message is output. The first prompt message includes the height of the lowering of the high side of the lifting door. The height of the lowering of the high side is the current level error, so that the user can reassemble each set of support adjustment screws of the lifting door mechanism based on the first prompt message to lower the high side of the lifting door. The step of adjusting the leveling component of the lifting door mechanism according to the error type of the lifting door and the current level error includes: If the error type is eccentric load error, then obtain the pre-constructed horizontal error correction model and the operating parameters of the lifting door mechanism; Based on the horizontal error correction model and the operating parameters of the lifting door mechanism, the actual eccentricity error compensation value of the lifting door is determined. Based on the actual eccentricity error compensation value of the lifting door, the upper frame assembly of the lifting door mechanism is reinstalled.

2. The method according to claim 1, characterized in that, The horizontal error correction model includes: ； in, This is the actual eccentricity error compensation value. The width of the lifting door is [value missing]. The kinetic energy provided to the motor in the lifting door mechanism. For lifting force, Let g be the weight of the lifting door. The total distance traveled by the lifting door mechanism after N operations is given.

3. The method according to claim 2, characterized in that, The step of determining the actual eccentricity error compensation value of the lifting door based on the horizontal error correction model and the operating parameters of the lifting door mechanism includes: Obtain the operating parameters of the lifting door mechanism, including: the width of the lifting door, kinetic energy, lifting force, gravity of the lifting door, and the total travel distance of the lifting door mechanism after N operations; The operating parameters of the lifting door mechanism are input into the horizontal error correction model to calculate the actual eccentricity error compensation value of the lifting door.

4. The method according to claim 1, characterized in that, The step of reinstalling the upper frame assembly on the lifting door mechanism based on the actual eccentricity error compensation value of the lifting door includes: Based on the actual eccentricity error compensation value of the lifting door, the thickness of the adjustment piece to be added to the upper frame assembly is determined, and a second prompt message is output. The second prompt message includes the thickness and is used to prompt the user to install the adjustment piece with the thickness into the inner groove of the upper frame assembly to adjust the horizontal height of the upper frame of the lifting door.

5. A 3D printing device, characterized in that, The 3D printing equipment includes: a lifting door mechanism and an adjustment and control module; the lifting door mechanism includes: a lifting door, a lifting door support frame, a lifting door upper frame, a linear guide rail, and a horizontal adjustment component; The lifting door support frame is installed in the slide groove of the linear guide rail, and the upper end of the lifting door support frame is fixedly connected to the lifting door. The linear guide rail is used to support the sliding groove of the linear guide rail to slide on the linear guide rail; The upper frame of the lifting door is installed at the upper end of the lifting door and is used to push and pull the lifting door; The horizontal adjustment component is disposed on the lifting door support frame or inside the upper frame of the lifting door, and is used to adjust the horizontal posture of the lifting door. The adjustment control module is used to perform the steps of the method according to any one of claims 1-4 to adjust the horizontal adjustment component.

6. The 3D printing equipment according to claim 5, characterized in that, The horizontal adjustment component includes: a support adjustment part or an upper frame component; The support adjustment component is disposed on the lifting door support frame, and the upper frame assembly is disposed inside the upper frame of the lifting door.

7. The 3D printing equipment according to claim 6, characterized in that, The support adjustment component includes: a first set of support adjustment screws, a second set of support adjustment screws, and a third set of support adjustment screws; The first set of support adjusting screws is connected to the fixing block in the lifting door mechanism; the second set of support adjusting screws is connected to the bottom of the first slide groove of the linear guide rail; and the third set of support adjusting screws is connected to the bottom of the second slide groove of the linear guide rail.

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