Leveling device and leveling method of 3D printer, 3D printer and upper computer

Abstract

The invention provides a leveling device and method of a 3D printer, the 3D printer and an upper computer, and relates to the technical field of 3D printing equipment. The method comprises the steps that a first height value of a first leveling point is obtained, and inclination judgment is conducted; a leveling initialization operation is executed, and a zero calibration operation is executed; acquiring sensor data acquired by the two laser sensors, and executing data validity verification operation; when it is detected that the data verification result is valid, the powder spreading vehicle is controlled to move to a first detection position, and a first set of sensor data is obtained; controlling the powder spreading vehicle to sequentially move to a second detection position and a third detection position, and executing iterative leveling control operation in the moving process of the powder spreading vehicle; and executing cross verification operation, and when it is detected that the cross verification result is verification passing, executing processing initialization operation and feeding back a leveling completion signal. According to the method, automatic leveling of the substrate is achieved, the leveling precision is improved, and the leveling efficiency is improved.

Description

Technical Field

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

[0002] During 3D printing, the flatness of the substrate (i.e., the build platform) is a key factor affecting the quality of the first layer. Precisely leveling the 3D printer's substrate before starting a print job is crucial for ensuring print quality and improving efficiency.

[0003] In the prior art, manual operation is usually used to achieve substrate leveling. Specifically, the operator needs to manually rotate the leveling screws set at the bottom or around the 3D printer, or manually adjust the leveling servo motor to adjust the horizontal state of the substrate.

[0004] However, this manual leveling method has many drawbacks: on the one hand, the operation process relies on the operator's experience and judgment, and requires repeated adjustments to multiple adjustment points, which is cumbersome and time-consuming; on the other hand, due to the existence of subjective errors, it is difficult to ensure the consistency and accuracy of the leveling results. Leveling is particularly difficult for inexperienced novice users, and may even easily lead to printing failures. Summary of the Invention

[0005] The present application provides a leveling device and method for a 3D printer, a 3D printer, and a host computer, which are used to automatically adjust the leveling servo motor through the host computer to achieve automatic leveling of the substrate, improve the leveling accuracy, and enhance the leveling efficiency, thereby reducing dependence on manual operation.

[0006] In a first aspect, the present application provides a leveling device for a 3D printer, wherein the 3D printer includes a printer body, a molding chamber, and a base plate, and the leveling device includes: a powder spreading vehicle part, a feeding part, and a host computer;

[0007] The powder spreading car is slidably arranged inside the molding chamber and above the base plate. The powder spreading car includes a powder spreading car, a shield installed inside the powder spreading car, a leveling cylinder installed on the shield, and a left sensor and a right sensor installed on the shield. The left sensor and the right sensor are symmetrically arranged on both sides of the leveling cylinder. After the leveling cylinder is started, it acts on the shield to make the left sensor and the right sensor work normally.

[0008] The feeding part includes a forming axis servo installed on the printer body, a forming axis fixedly connected to the power output end of the forming axis servo, a forming axis position detector installed on the printer body, a chuck base arranged on the top end of the forming axis, and a first leveling servo and a second leveling servo installed on the lower surface of the chuck base;

[0009] The host computer is installed on the printer main body, and the host computer is in data connection with the powder laying vehicle, the leveling cylinder, the left sensor, the right sensor, the forming shaft servo, the forming shaft position detection member, the first leveling servo, and the second leveling servo.

[0010] In a second aspect, the application provides a leveling method of a 3D printer, which is applied to a host computer in a leveling device of a 3D printer as in the first aspect, and the method comprises the following steps:

[0011] obtaining a first height value of a first leveling point, and performing slope judgment according to a pre-stored fixed point height value and the first height value to obtain a slope judgment result;

[0012] controlling the powder laying vehicle, the forming shaft servo, and the leveling cylinder to perform a leveling initialization operation, and controlling the first leveling servo and the second leveling servo to perform a zero-point calibration operation;

[0013] obtaining sensor data collected by two laser sensors, and performing a data validity verification operation according to the sensor data to obtain a data verification result;

[0014] when it is detected that the data verification result is data valid, controlling the powder laying vehicle to move to a first detection position, and obtaining a first group of sensor data;

[0015] controlling the powder laying vehicle to move to a second detection position and a third detection position in sequence, and performing an iterative leveling control operation in the moving process of the powder laying vehicle;

[0016] performing a cross verification operation to obtain a cross verification result, so that when it is detected that the cross verification result is verified, a processing initialization operation is performed, and a leveling completion signal is fed back.

[0017] In a possible design, the control of the powder laying vehicle to move to the second detection position and the third detection position in sequence, and the execution of the iterative leveling control operation in the moving process of the powder laying vehicle, comprises:

[0018] controlling the powder laying vehicle to move from the first detection position to the second detection position, and controlling the first leveling servo and the second leveling servo to perform a first leveling operation to make the left and right side deviations of the substrate zero;

[0019] controlling the forming shaft servo to drive the forming shaft to zero;

[0020] when it is detected that the slope judgment result is that the pre-stored fixed point height value is lower than the first height value, the forming shaft servo is controlled again to drive the forming shaft to zero, and right sensor data of the substrate at this time is obtained;

[0021] when it is detected that the right sensor data of the substrate at this time is not zero, the second leveling servo is controlled to be regulated in stages;

[0022] The powder laying vehicle is controlled to move from the second detection position to the third detection position, and a second set of sensor data is acquired;

[0023] When it is detected that the second set of sensor data is not zeroed, the first leveling servo and the second leveling servo are controlled to be step-controlled.

[0024] In a possible design, the powder laying vehicle is controlled to move to the second detection position and the third detection position in sequence, and an iterative leveling control operation is performed during the movement of the powder laying vehicle, and the method further includes:

[0025] When it is detected that the inclination judgment result is that the pre-stored fixed point height value is higher than the first height value, the forming shaft servo is controlled again to drive the forming shaft to be zeroed, and left substrate sensor data at this time is acquired;

[0026] When it is detected that the left substrate sensor data is not zeroed, the first leveling servo is controlled to be step-controlled.

[0027] In a possible design, the first leveling servo and the second leveling servo are controlled to perform a first leveling operation to zero the left-right deviation of the substrate, and the method includes:

[0028] The first leveling servo and the second leveling servo are controlled to perform a first leveling operation, so that a deviation value between current left sensor data and current right sensor data acquired by the laser sensor is less than or equal to a preset deviation threshold value;

[0029] When it is detected that the current left sensor data is greater than the current right sensor data, the first leveling servo is controlled to move, otherwise the second leveling servo is controlled to move, until the left-right deviation of the substrate is zeroed.

[0030] In a possible design, the powder laying vehicle, the forming shaft servo, and the leveling cylinder are controlled to perform a leveling initialization operation, and the method includes:

[0031] The powder laying vehicle is controlled to move to a mechanical origin;

[0032] The forming shaft servo is controlled to drive the forming shaft to rise until the forming shaft reaches a leveling position, and the leveling cylinder is controlled to be started, so as to complete the leveling initialization operation.

[0033] In a possible design, the sensor data includes left substrate sensor data and right substrate sensor data;

[0034] Correspondingly, a data validity verification operation is performed according to the sensor data, and a data verification result is obtained, and the method includes:

[0035] According to the left substrate sensor data and the right substrate sensor data, a left-right deviation value of the substrate and a left-right ratio of the substrate are obtained;

[0036] When it is detected that the deviation values of the left and right sides of the substrate are greater than the preset deviation values and / or the ratio of the left and right sides of the substrate exceeds the preset ratio range, a data verification result of invalid sensor data is obtained, otherwise a data verification result of valid sensor data is obtained.

[0037] In a possible design, a cross-validation operation is performed to obtain a cross-validation result, including:

[0038] A third set of sensor data of the powder spreading vehicle at the second detection position is obtained, and the powder spreading vehicle is controlled to move from the second detection position to a third detection position to obtain a fourth set of sensor data of the powder spreading vehicle at the third detection position;

[0039] Data comparison is performed according to the third set of sensor data and the fourth set of sensor data, and when it is detected that the deviation of the third set of sensor data and the fourth set of sensor data is within a preset verification deviation range, a cross-validation result of passing verification is obtained, otherwise a cross-validation result of failing cross-validation is obtained;

[0040] A processing initialization operation is performed, and a leveling completion signal is fed back, including:

[0041] The powder spreading vehicle is controlled to return to the mechanical origin;

[0042] The forming shaft servo is controlled to drive the forming shaft to rise to a processing position;

[0043] The leveling cylinder is controlled to be closed and a leveling completion signal is fed back.

[0044] In a third aspect, the present application provides a 3D printer, including: a printer main body and the leveling device of the 3D printer according to the first aspect.

[0045] In a fourth aspect, the present application provides a host computer, including: a processor, and a memory in communication connection with the processor;

[0046] The memory stores computer execution instructions;

[0047] The processor executes the computer execution instructions stored in the memory, to implement the leveling method of the 3D printer according to the second aspect.

[0048] On the basis of the implementation manners of the above aspects, the present application can be further combined to provide more implementation manners.

[0049] The application provides a leveling device and method of a 3D printer, a 3D printer and an upper computer, which comprises the following steps: firstly, a first height value of a first leveling point is obtained, and a slope judgment is performed according to a pre-stored fixed point height value and the first height value to obtain a slope judgment result; then, a powder laying vehicle, a forming shaft servo and a leveling cylinder are controlled to perform a leveling initialization operation, and a first leveling servo and a second leveling servo are controlled to perform a zero point calibration operation; sensor data collected by two laser sensors is obtained, and a data validity verification operation is performed according to the sensor data to obtain a data verification result; when it is detected that the data verification result is data valid, the powder laying vehicle is controlled to move to a first detection position, and a first group of sensor data is obtained; then, the powder laying vehicle is controlled to move to a second detection position and a third detection position in sequence, and an iterative leveling control operation is performed in the moving process of the powder laying vehicle; finally, a cross verification operation is performed to obtain a cross verification result, and when it is detected that the cross verification result is verified, a processing initialization operation is performed, and a leveling completion signal is fed back. The following technical effects are achieved: the powder laying vehicle is controlled to move to the first detection position first, and a first group of sensor data used for substrate leveling is obtained, then the powder laying vehicle is controlled to move to the second detection position and the third detection position in sequence, and sensor data collected in real time is compared with the first group of sensor data in the moving process of the powder laying vehicle, an iterative leveling control operation is performed according to the comparison result, automatic leveling of the substrate is realized, leveling precision is improved, and leveling efficiency is improved, thereby reducing the dependence on manual operation, making the leveling operation of the 3D printer simpler and more reliable, and being suitable for a wider user group; the powder laying vehicle, the forming shaft servo and the leveling cylinder are controlled to perform the leveling initialization operation, and the first leveling servo and the second leveling servo are controlled to perform the zero point calibration operation, so that cumulative errors are eliminated, substrate leveling precision is improved, a uniform starting state and environment are provided for subsequent leveling operations, and the accuracy of subsequent adjustment is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0051] The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the present application, and together with the specification serve to explain the principles of the present application.

[0052] Figure 1 A structural schematic diagram of a leveling device of a 3D printer provided by the embodiments of the present application;

[0053] Figure 2A structure schematic view of a powder laying vehicle part provided for an embodiment of the present application;

[0054] Figure 3 A flow schematic view of a leveling method of a 3D printer provided for an embodiment of the present application;

[0055] Figure 4 A relative position schematic view of a powder laying vehicle and a detection position on a substrate provided for an embodiment of the present application;

[0056] Figure 5 A structure schematic view of a host computer provided for an embodiment of the present application.

[0057] Reference Signs:

[0058] 100-printer main body; 200-molding cabin; 300-substrate;

[0059] 1-powder laying vehicle part; 2-feeding part;

[0060] 11-powder laying vehicle; 12-shutter; 13-leveling cylinder; 14-left sensor; 15-right sensor;

[0061] 21-molding shaft servo; 22-molding shaft; 23-molding shaft position detection member; 24-chuck base; 25-first leveling servo; 26-second leveling servo;

[0062] 301-first detection position; 302-second detection position; 303-third detection position;

[0063] 510-processor; 520-memory; 530-communication component; 540-bus. DETAILED DESCRIPTION

[0064] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements throughout. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements throughout. The following exemplary embodiments described in the following description are not meant to be limiting in terms of the scope of the application. Rather, they are example embodiments to be used as a basis for protecting the application as set forth in the appended claims.

[0065] In the embodiments of the present application, the same items or similar items with basically same functions and effects are distinguished by using "first", "second", etc. It can be understood by those skilled in the art that "first", "second", etc. do not limit the quantity and execution sequence, and "first", "second", etc. do not necessarily mean different. It should be noted that in the embodiments of the present application, "exemplary" or "for example" is used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, "exemplary" or "for example" is used to present the relevant concept in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more than two.

[0066] It should be noted that "at the time of" in the embodiments of the present application can be at the moment when a certain condition occurs, or in a period of time after a certain condition occurs, which is not limited in the embodiments of the present application. In addition, the leveling method of the 3D printer provided in the embodiments of the present application is only an example, and the leveling method of the 3D printer can also include more or less content.

[0067] In order to clearly describe the technical solutions of the embodiments of the present application, the following briefly introduces some terms and technologies involved in the embodiments of the present application:

[0068] Data connection: refers to an electrical connection mode that can realize signal transmission and control instruction interaction between devices. In the embodiments of the present application, a wired mode is adopted, such as a wire, an industrial bus, a terminal wire, etc.

[0069] Servo: refers to a motor system with closed-loop feedback control capability, used for accurate control of angle, speed or position.

[0070] In the 3D printing process, the leveling accuracy of the substrate directly affects the first layer adhesion quality, the interlayer bonding strength and the overall printing success rate. Therefore, before starting printing, leveling the substrate of the 3D printer is crucial to ensure the printing quality and efficiency of the 3D printer.

[0071] In the prior art, manual leveling is generally relied on, and the operator needs to rotate the mechanical screws at the bottom or around the substrate, or manually control the leveling servo motor, to gradually adjust the substrate and realize the leveling operation of the substrate.

[0072] However, this method requires the operator to have certain technical knowledge and experience, and needs to repeatedly adjust multiple screws or servo motors, which is tedious and time-consuming. In addition, manual operation is easily affected by subjective errors, and it is difficult to ensure the consistency of the leveling result. Since the operator needs to have mechanical assembly experience and spatial geometry calibration ability, and multiple adjustment points need to be repeatedly adjusted for single leveling, the time consumption is usually about 6 minutes. Moreover, the subjective error causes the leveling result to fluctuate in the range of ±0.2 millimeters (the industry standard requires ≤±0.05 mm), which easily causes defects such as first layer warping and uneven layer thickness.

[0073] Therefore, the embodiment of the present application provides a leveling device, a leveling method, a 3D printer and an upper computer for a 3D printer, which can be used in the technical field of 3D printing equipment, and aims to solve the problems of complex manual leveling operation, low efficiency and poor consistency in the prior art. The leveling operation is automatically performed by the upper computer controlling the leveling servo motor, the leveling time is reduced from an average of 6 minutes of manual operation to 2.5 minutes, and the leveling precision is controlled to 0.025 millimeters, so that high-precision and high-efficiency automatic leveling of the substrate is realized, thereby improving the overall printing quality and the intelligent level of the equipment.

[0074] The technical solutions of the present application and how the technical solutions solve the above-mentioned technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0075] In order to facilitate understanding of the technical solutions of the present application, first, the structure of a leveling device for a 3D printer provided by the embodiments of the present application will be introduced. It should be noted that in the embodiments of the present application, unless otherwise specified, fixed connection can refer to connection by bolt fixing, welding, riveting or threaded connection.

[0076] Figure 1 The structure of a leveling device for a 3D printer provided by the embodiments of the present application is shown in the structure diagram. As shown in the structure diagram, the 3D printer includes a printer main body 100, a forming cabin 200 and a substrate 300, and the leveling device includes a powder laying vehicle part 1, a feeding part 2 and an upper computer. Figure 1

[0077] The powder laying vehicle part 1 is slidably arranged inside the forming cabin 200 above the substrate 300. The feeding part 2 includes a forming shaft servo 21 installed on the printer main body 100, a forming shaft 22 fixedly connected with the power output end of the forming shaft servo 21, a forming shaft position detection member 23 installed on the printer main body 100, a chuck base 24 arranged at the top end of the forming shaft 22, and a first leveling servo 25 and a second leveling servo 26 installed on the lower surface of the chuck base 24.​

[0078] Figure 2 The structure schematic diagram of the powder spreading vehicle part is provided in the embodiment of the present application. As shown in the figure, the powder spreading vehicle part 1 comprises a powder spreading vehicle 11, a shutter 12 installed in the powder spreading vehicle 11, a leveling cylinder 13 installed on the shutter 12, and a left sensor 14 and a right sensor 15 installed on the shutter 12, wherein the left sensor 14 and the right sensor 15 are symmetrically arranged on both sides of the leveling cylinder 13, and the leveling cylinder 13 acts on the shutter 12 to make the left sensor 14 and the right sensor 15 work normally after being started. Figure 2

[0079] The host computer is installed on the printer main body 100, and the host computer is data-connected with the powder spreading vehicle 11, the leveling cylinder 13, the left sensor 14, the right sensor 15, the forming shaft servo 21, the forming shaft position detection member 23, the first leveling servo 25, and the second leveling servo 26.

[0080] In the embodiment of the present application, the main components of the 3D printer include a printer main body 100, a forming cabin 200, and a base plate 300. Among them, the printer main body 100 is the basic support structure of the whole printer; the forming cabin 200 is located inside the printer main body 100, used to accommodate the base plate 300 and the powder spreading vehicle part 1; the base plate 300 is used to carry the printing material and perform layer-by-layer forming.

[0081] The leveling device of the 3D printer is a key component to ensure the quality of 3D printing, mainly including the powder spreading vehicle part 1, the feeding part 2, and the host computer.

[0082] Among them, the powder spreading vehicle 11 is slidingly arranged inside the forming cabin 200 and located above the base plate 300. The powder spreading vehicle 11 as a moving carrier can drive the powder spreading vehicle part 1 to move horizontally in the forming cabin 200. Specifically, the powder spreading vehicle 11 can be arranged inside the forming cabin 200 through a sliding groove or a guide rail.

[0083] The shutter 12 is installed in the powder spreading vehicle 11 and can be used to control the distribution of powder. Specifically, the shutter can be directly fixed in the powder spreading vehicle 11 through bolts, screws, or clamps, or can be installed in the powder spreading vehicle 11 using a sliding groove or a guide rail, which is not specifically limited here.

[0084] The leveling cylinder 13 can be fixedly installed on the shutter through bolts, used to drive the shutter to act, thereby affecting the working state of the sensor.

[0085] The left sensor 14 and the right sensor 15 can both be laser sensors, and the left sensor 14 and the right sensor 15 are symmetrically arranged on both sides of the leveling cylinder 13, and the left sensor 14 and the right sensor 15 are made to work normally by the action of the started leveling cylinder 13, so as to detect the surface height and flatness of the base plate 300. ​

[0086] The forming shaft servo 21 in the feeding part 2 can be fixedly installed on the printer body 100 by bolts, and is used to provide power for the up-down movement of the forming shaft 22.

[0087] The forming shaft 22 and the power output end of the forming shaft servo 21 can be fixedly connected by bolts.

[0088] The forming shaft position detection member 23 can be a high-precision grating ruler or a laser displacement sensor, etc. detection component, which is used to detect the position of the forming shaft 22 in real time, and feed the measured position data of the forming shaft 22 to the upper computer 3.

[0089] The chuck base 24 can be fixedly installed on the top end of the forming shaft 22 by bolts, and is used to fix the first leveling servo 25 and the second leveling servo 26.

[0090] The first leveling servo 25 and the second leveling servo 26 can be fixedly installed on the lower surface of the chuck base 24 by bolts. They can be used to adjust the levelness of the substrate 300, and realize accurate leveling of the substrate 300.

[0091] The upper computer can be fixedly installed on the printer body 100 by bolts, and can be electrically connected to the powder spreading vehicle 11, the leveling cylinder 13, the left sensor 14, the right sensor 15, the forming shaft servo 21, the forming shaft position detection member 23, the first leveling servo 25 and the second leveling servo 26 through a wire, a terminal line or an industrial bus, etc. The upper computer is used to control the actions of the powder spreading vehicle 11, the leveling cylinder 13, the forming shaft servo 21, the first leveling servo 25 and the second leveling servo 26, etc. after data processing according to the data fed back by the left sensor 14, the right sensor 15 and the forming shaft position detection member 23, so as to ensure accurate leveling of the substrate 300 during printing.

[0092] Specifically, the working process of the leveling device of the 3D printer includes:

[0093] At the beginning, the upper computer receives the leveling instruction of the user, drives the forming shaft 22 to rise until the forming shaft 22 reaches the leveling position through the forming shaft servo 21 according to the position data of the forming shaft 22 fed back by the forming shaft position detection member 23, controls the powder spreading vehicle 11 to move to the mechanical origin, and controls the leveling cylinder 13 to start. The powder spreading vehicle 11 is controlled to move to different detection positions in sequence through the sensor data fed back by the left sensor 14 and the right sensor 15, and the iterative leveling control operation is performed by the first leveling servo 25 and the second leveling servo 26 during the movement of the powder spreading vehicle 11, and after leveling is completed, a leveling completion signal is fed back to the user.

[0094] Next, how the leveling device of the 3D printer automatically levels the substrate 300 will be described in detail.

[0095] Figure 3 A flowchart of a leveling method of a 3D printer is provided in the embodiments of the present application. The method is applied to the host computer in the leveling device of the 3D printer described above, as shown in the figure, the method comprises: Figure 3

[0096] S301, obtain a first height value of a first leveling point, and perform slope judgment according to a pre-stored fixed point height value and the first height value to obtain a slope judgment result.

[0097] In the embodiments of the present application, the leveling method of the 3D printer is controlled by the host computer to ensure that the substrate 300 meets the printing requirements.

[0098] Figure 4 A schematic diagram of the relative position of the powder laying vehicle and the detection position on the substrate is provided in the embodiments of the present application. As shown in the figure, there are three detection positions on the substrate 300, which are the first detection position 301 corresponding to the position of the pre-stored fixed point, the second detection position 302 corresponding to the installation position of the second leveling servo 26, and the third detection position 303 corresponding to the installation position of the first leveling servo 25. Figure 4

[0099] Specifically, the first leveling point is the third detection position 303. In the process of leveling the substrate 300 by the host computer, the first height value of the first leveling point can be obtained through the data feedback by the left sensor 14 or the data feedback by the contact probe arranged at the first leveling point. By comparing the first height value with the pre-stored fixed point height value, the current inclination angle or deviation value of the substrate 300 can be obtained, and then the slope judgment result (such as normal, slight inclination, severe inclination, etc.) can be output.

[0100] Further, if the slope judgment result of the substrate 300 shows that the substrate 300 is severely inclined, the host computer can adjust the first height value of the first leveling point through the first leveling servo 25 to make the slope of the substrate 300 within the preset slope range. Or, when the substrate 300 is severely inclined, an alarm is issued and the process is paused to wait for manual intervention.

[0101] S302, control the powder laying vehicle, the forming shaft servo and the leveling cylinder to perform leveling initialization operation, and control the first leveling servo and the second leveling servo to perform zero point calibration operation.

[0102] Specifically, after the slope judgment, the host computer can control the powder laying vehicle 11 to move to the mechanical origin, control the forming shaft servo 21 to drive the forming shaft 22 to rise until the forming shaft 22 reaches the leveling position, and control the leveling cylinder 13 to start, drive the shutter 12 to act, and make the left sensor 14 and the right sensor 15 enter the preparation state, so as to complete the leveling initialization operation and provide a unified starting state and environment for subsequent leveling operation.​​

[0103] And control the first leveling servo 25 and the second leveling servo 26 to perform the zero point calibration operation. For example, control the first leveling servo 25 and the second leveling servo 26 to return to the mechanical zero point, so as to eliminate the cumulative error, improve the leveling accuracy, and ensure the accuracy of subsequent adjustment.

[0104] S303, obtain the sensor data collected by the two laser sensors, and perform a data validity verification operation according to the sensor data to obtain a data verification result.

[0105] Specifically, the host computer can obtain the sensor data collected by the left sensor 14 and the right sensor 15 in real time. And perform a data validity verification operation according to the sensor data to obtain a data verification result. For example, data filtering, outlier rejection, etc. are performed, and it is judged whether the sensor data is within a preset sensor data range (such as not exceeding the maximum threshold and the minimum threshold), or the deviation between the left and right sensor data is calculated to ensure that the numerical deviation between the left and right sides of the substrate 300 is within a preset deviation range, and the data verification result of the sensor data can be finally output. If the collected sensor data is invalid, resampling or an error reporting mechanism can be triggered.

[0106] Optionally, the preset sensor data range can be -4.5 millimeters to 0.5 millimeters, or -5 millimeters to 1 millimeter, etc. Here, no specific limitation is made.

[0107] S304, when it is detected that the data verification result is data valid, control the powder laying vehicle to move to the first detection position, and obtain a first group of sensor data.

[0108] Specifically, when it is detected that the data verification result is data valid, the host computer can control the powder laying vehicle 11 to move to the first detection position 301, i.e. the position of the pre-stored fixed point. And obtain a first group of sensor data. The first group of sensor data includes the left side substrate sensor data collected by the left sensor 14 and the right side substrate sensor data collected by the right sensor 15. The first group of sensor data can be used as reference data to compare the sensor data collected when the powder laying vehicle 11 moves to different detection positions, so as to level the substrate 300 through the first group of sensor data, so that the second detection position 302 and the third detection position 303 are consistent with the height of the first detection position 301.

[0109] S305, control the powder laying vehicle to move to the second detection position and the third detection position in turn, and perform an iterative leveling control operation in the moving process of the powder laying vehicle.

[0110] Specifically, after the host computer obtains the first set of sensor data for substrate leveling at the first detection position 301, the powder laying vehicle 11 can be controlled to move to the second detection position 302 and the third detection position 303 in sequence, and sensor data is collected in real time by the left sensor 14 and the right sensor 15 at each detection position. Then, the real-time collected sensor data is compared with the first set of sensor data, and according to the comparison result, the leveling operation of the substrate 300 is completed by controlling the forming shaft servo 21, the first leveling servo 25 and the second leveling servo 26 to act.

[0111] S306, a cross-validation operation is performed to obtain a cross-validation result, and when it is detected that the cross-validation result is verified, a processing initialization operation is performed, and a leveling completion signal is fed back.

[0112] Specifically, after the host computer completes the substrate leveling operation, the sensor data obtained at each different detection position can be compared to determine whether the deviation of the sensor data of different detection positions is within a preset verification deviation range, to obtain a cross-validation result. When the cross-validation result is verified, the powder laying vehicle 11 is controlled to return to the mechanical origin, the forming shaft servo 21 is controlled to drive the forming shaft 22 to rise to a processing position, the leveling cylinder 13 is controlled to be closed, and a leveling completion signal is fed back.

[0113] Further, if the cross-validation result is not passed, the host computer can return to the iterative leveling stage to continue the substrate leveling operation.

[0114] The leveling method of the 3D printer provided in the embodiment is applied to a host computer in a leveling device of a 3D printer, and the method comprises the following steps: first, obtaining a first height value of a first leveling point, and performing slope judgment according to a pre-stored fixed point height value and the first height value to obtain a slope judgment result; then, controlling a powder laying vehicle, a forming shaft servo and a leveling cylinder to perform a leveling initialization operation, and controlling a first leveling servo and a second leveling servo to perform a zero point calibration operation; then, obtaining sensor data collected by two laser sensors, and performing a data validity verification operation according to the sensor data to obtain a data verification result; when it is detected that the data verification result is valid, controlling the powder laying vehicle to move to a first detection position, and obtaining a first set of sensor data; then, controlling the powder laying vehicle to move to a second detection position and a third detection position in sequence, and performing an iterative leveling control operation in the moving process of the powder laying vehicle; finally, performing a cross-validation operation to obtain a cross-validation result, and when it is detected that the cross-validation result is verified, performing a processing initialization operation, and feeding back a leveling completion signal.

[0115] The following technical effects are achieved: by controlling the powder laying vehicle to first move to the first detection position, and obtaining the first group of sensor data for substrate leveling, then controlling the powder laying vehicle to move to the second detection position and the third detection position in turn, and comparing the real-time collected sensor data with the first group of sensor data during the movement of the powder laying vehicle, and performing iterative leveling control operation according to the comparison result, automatic leveling of the substrate is realized, the leveling precision is improved, and the leveling efficiency is improved, thereby reducing the dependence on manual operation, making the leveling operation of the 3D printer simpler and more reliable, and suitable for a wider user group; by controlling the powder laying vehicle, the forming shaft servo and the leveling cylinder to perform leveling initialization operation, and controlling the first leveling servo and the second leveling servo to perform zero point calibration operation, the cumulative error is eliminated, the substrate leveling precision is improved, a uniform starting state and environment are provided for subsequent leveling operation, and the accuracy of subsequent adjustment is ensured.

[0116] In a possible implementation, the sensor data includes substrate left side sensor data and substrate right side sensor data. Accordingly, in the step S303, the data validity verification operation is performed according to the sensor data to obtain a data verification result, including: obtaining a left-right deviation value and a left-right ratio value of the substrate according to the substrate left side sensor data and the substrate right side sensor data; when it is detected that the left-right deviation value of the substrate is greater than a preset deviation value and / or the left-right ratio value of the substrate is out of a preset ratio value range, a data verification result that the sensor data is invalid is obtained, otherwise a data verification result that the sensor data is valid is obtained.

[0117] Specifically, the preset deviation value can be 0.2 mm or 0.3 mm, etc., which is not limited here. The preset ratio value range can be -0.7 to 0.7, or -0.8 to 0.8, etc., which is not limited here.

[0118] The host computer can calculate the data difference index of the substrate 300 in the left-right direction according to the substrate left side sensor data collected by the left sensor 14 in real time and the substrate right side sensor data collected by the right sensor 15 in real time. Specifically, the left-right deviation value of the substrate can be obtained by calculating the difference between the substrate left side sensor data and the substrate right side sensor data; the left-right ratio value of the substrate can be obtained by calculating the ratio between the substrate left side sensor data and the substrate right side sensor data.

[0119] When it is detected that the left-right deviation value of the substrate is greater than the preset deviation value and / or the left-right ratio value of the substrate is out of the preset ratio value range, it is determined that the data verification result is that the sensor data is invalid; and when it is detected that the left-right deviation value of the substrate is less than or equal to the preset deviation value and the left-right ratio value of the substrate is within the preset ratio value range, it is determined that the data verification result is that the sensor data is valid.

[0120] Through this dual judgment mechanism of deviation plus ratio, the host computer can more comprehensively identify abnormal sensor data, effectively filter out abnormal data caused by sensor failure or installation deviation, effectively avoid misjudgment, and thus ensure the reliability of subsequent control logic.

[0121] In one possible implementation, in the above step S305, the powder spreading vehicle is controlled to move to the second detection position and the third detection position in sequence, and an iterative leveling control operation is performed during the movement of the powder spreading vehicle, including: controlling the powder spreading vehicle to move from the first detection position to the second detection position, and controlling the first leveling servo and the second leveling servo to perform the first leveling operation to return the left and right side deviations of the substrate to zero; controlling the forming axis servo to drive the forming axis to zero; when it is detected that the inclination judgment result is that the pre-stored fixed point height value is lower than the first height value, the forming axis servo is controlled to drive the forming axis to zero again, and the sensor data of the right side of the substrate at this time is obtained; when it is detected that the sensor data of the right side of the substrate at this time is not returned to zero, the second leveling servo is controlled to perform graded regulation; the powder spreading vehicle is controlled to move from the second detection position to the third detection position, and the second set of sensor data is obtained; when it is detected that the second set of sensor data is not returned to zero, the first leveling servo and the second leveling servo are controlled to perform graded regulation.

[0122] Specifically, the host computer first controls the powder spreading vehicle 11 to move smoothly from the current first detection position 301 to the second detection position 302 to reach the new detection point and collect more sensor data through the left sensor 14 and the right sensor 15. Then, the host computer controls the first leveling servo 25 and the second leveling servo 26 to perform a first leveling operation, returning the left and right side deviations of the substrate 300 to zero, so that the substrate 300 remains level at the second detection position 302.

[0123] Furthermore, the first leveling servo and the second leveling servo are controlled to perform a first leveling operation to return the deviation of the left and right sides of the substrate to zero, including: controlling the first leveling servo and the second leveling servo to perform a first leveling operation to make the deviation value between the current left sensor data and the current right sensor data obtained by the laser sensor less than or equal to a preset deviation threshold; when it is detected that the current left sensor data is greater than the current right sensor data, the first leveling servo is controlled to move, otherwise the second leveling servo is controlled to move until the deviation of the left and right sides of the substrate returns to zero.

[0124] Specifically, at the second detection position 302, the host computer can perform a substrate leveling operation by controlling the first leveling servo 25 and the second leveling servo 26 so that the deviation between the current left sensor data obtained by the left sensor 14 and the current right sensor data obtained by the right sensor 15 is less than or equal to a preset deviation threshold. The preset deviation threshold can be a value such as 0.025 mm or 0.02 mm, which is not specifically limited here.

[0125] When the host computer detects that the current left sensor data is greater than the current right sensor data, the host computer can control the first leveling servo 25 to move. Conversely, when the host computer detects that the current right sensor data is greater than the current left sensor data, the host computer can control the second leveling servo 26 to move, until the detected left sensor data and right sensor data are equal, i.e., the left and right deviations of the substrate 300 are zeroed.

[0126] After the left and right deviations of the substrate 300 are zeroed, the host computer can further control the forming shaft servo 21 to drive the forming shaft 22 to zero position, so that the forming shaft 22 reaches the leveling position.

[0127] When the host computer detects that the slope judgment result in step S301 is that the pre-stored fixed point height value is lower than the first height value, the host computer can again control the forming shaft servo 21 to drive the forming shaft 22 to zero position, so that the forming shaft 22 reaches the leveling position. And get the right sensor 15 real-time acquisition of the substrate right sensor data.

[0128] When the host computer detects that the substrate right sensor data at this time is not zeroed, the host computer can control the second leveling servo 26 to complete the leveling operation of the substrate 300. Specifically, if the substrate right sensor data at this time is greater than or equal to the first sensor threshold, the host computer can control the second leveling servo 26 to make the moving amount of the second detection position each time be the first moving amount; if the substrate right sensor data at this time is less than the first sensor threshold, the host computer can control the second leveling servo 26 to make the moving amount of the second detection position each time be the second moving amount. And when the substrate right sensor data is less than 0.025 millimeters, the leveling operation of the substrate 300 is completed. Wherein, the first sensor threshold can be 0.1 millimeter or 0.2 millimeter, etc. Here, no specific limit is made; the first moving amount can be 0.1 millimeter or 0.2 millimeter, etc. Here, no specific limit is made; the second moving amount can be 0.01 millimeter or 0.02 millimeter, etc. Here, no specific limit is made.

[0129] Further, when it is detected that the slope judgment result is that the pre-stored fixed point height value is higher than the first height value, the forming shaft servo is controlled again to drive the forming shaft to zero, and the substrate left sensor data at this time is obtained; when it is detected that the substrate left sensor data is not zeroed, the first leveling servo is controlled to be controlled.

[0130] Specifically, when the host computer detects that the slope judgment result in step S301 is that the pre-stored fixed point height value is higher than the first height value, the host computer can again control the forming shaft servo 21 to drive the forming shaft 22 to zero position, so that the forming shaft 22 reaches the leveling position. And get the left sensor 14 real-time acquisition of the substrate left sensor data.

[0131] When it is detected that the substrate left side sensor data at this time is not zero, the host computer can control the first leveling servo 25 to complete the leveling operation of the substrate 300 by staged regulation. Specifically, if the substrate left side sensor data at this time is greater than or equal to the first sensor threshold, the host computer can control the first leveling servo 25 to make the moving amount of the third detection position each time be the first moving amount; if the substrate left side sensor data at this time is less than the first sensor threshold, the host computer can control the first leveling servo 25 to make the moving amount of the third detection position each time be the second moving amount. And when the substrate left side sensor data is less than 0.025 millimeters, the leveling operation of the substrate 300 is completed.

[0132] By controlling the first leveling servo 25 and the second leveling servo 26 to regulate in stages, when the sensor data is large (greater than or equal to the first sensor threshold), a large step (the moving amount each time is the first moving amount) is used to control the first leveling servo 25 or the second leveling servo 26; when the sensor data is small (less than the first sensor threshold), a small step (the moving amount each time is the second moving amount) is used to control the first leveling servo 25 or the second leveling servo 26. On the basis of ensuring the efficiency of substrate leveling, the precision of substrate leveling is improved.

[0133] After the second detection position 302 completes the leveling operation of the substrate 300, the host computer can continue to control the powder laying vehicle 11 to move smoothly from the current second detection position 302 to the third detection position 303 to reach a new detection point, and collect a second group of sensor data through the left sensor 14 and the right sensor 15. When it is detected that the substrate right side sensor data in the second group of sensor data is not zero, the host computer can control the second leveling servo 26 to complete the leveling operation of the substrate 300 by staged regulation; when it is detected that the substrate left side sensor data in the second group of sensor data is not zero, the host computer can control the first leveling servo 25 to complete the leveling operation of the substrate 300 by staged regulation. The specific staged regulation method is similar to the method of the powder laying vehicle 11 at the second detection position 302, which will not be described here.

[0134] In a possible implementation, in the step S306, a cross-validation operation is performed to obtain a cross-validation result, including: acquiring a third group of sensor data of the powder laying vehicle at the second detection position, and controlling the powder laying vehicle to move from the second detection position to the third detection position to acquire a fourth group of sensor data of the powder laying vehicle at the third detection position; performing data comparison operation according to the third group of sensor data and the fourth group of sensor data, when it is detected that the deviation of the third group of sensor data and the fourth group of sensor data is within a preset verification deviation range, a cross-validation result of passing verification is obtained, otherwise a cross-validation result of failing to pass verification is obtained.

[0135] Specifically, after the host computer completes the leveling operation of the substrate 300 at the third detection position 303, it can further control the powder laying vehicle 11 to move from the third detection position 303 to the second detection position 302, and collect a third set of sensor data through the left sensor 14 and the right sensor 15; then, continue to control the powder laying vehicle 11 to move from the second detection position 302 to the third detection position 303, and collect a fourth set of sensor data through the left sensor 14 and the right sensor 15. Then, calculate a first difference value between the left side substrate sensor data in the third set of sensor data and the left side substrate sensor data in the fourth set of sensor data; and calculate a second difference value between the right side substrate sensor data in the third set of sensor data and the right side substrate sensor data in the fourth set of sensor data. When both the first difference value and the second difference value are within a preset verification deviation range, it is determined that the cross verification result is verified to pass; when the first difference value and / or the second difference value is not within the preset verification deviation range, it is determined that the cross verification result is cross verification failed. Wherein, the preset verification deviation range can be specifically-0.01 millimeter to 0.01 millimeter, or-0.015 millimeter to 0.015 millimeter, etc. range of numerical values, which is not limited here.

[0136] By performing the cross verification operation, the accuracy of the substrate leveling can be further improved.

[0137] Further, the embodiment of the present application also provides a 3D printer, which comprises a printer body and a leveling device of the 3D printer according to any one of the above-mentioned embodiments.

[0138] Figure 5 The structure schematic diagram of the host computer provided by the embodiment of the present application is shown in FIG. 5. As shown in the figure, the host computer comprises at least one processor 510 and a memory 520. The host computer further comprises a communication component 530. Wherein, the processor 510, the memory 520 and the communication component 530 are connected through a bus 540. Figure 5

[0139] In the specific implementation process, the at least one processor 510 executes the computer execution instructions stored in the memory 520, so that the at least one processor 510 executes the leveling method of the 3D printer on the host computer side as described above.

[0140] The specific implementation process of the processor 510 can refer to the above-mentioned method embodiments, which has similar implementation principles and technical effects, and will not be described here again in this embodiment.

[0141] ​In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0142] The memory can include a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory.

[0143] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0144] The functions realized by the host computer and the master device described above are introduced for the scheme provided by the embodiments of the present application. It can be understood that the host computer or the master device includes the hardware structure and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example described in the embodiments of the present application, the embodiments of the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solution of the embodiments of the present application.

[0145] The present application also provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, when the processor executes the computer execution instructions, for realizing the leveling method of the 3D printer as above.

[0146] The readable storage medium described above can be realized by any type of volatile or nonvolatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0147] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a host computer or a master device.

[0148] The present application also provides a computer program product, which includes a computer program stored in a readable storage medium. The computer program can be read by at least one processor of the host computer from the readable storage medium, and the at least one processor executes the computer program to enable the host computer to perform the scheme provided by the above-mentioned embodiments.

[0149] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the foregoing storage medium includes ROM, RAM, magnetic disk or optical disk and various storage media that can store program codes.

[0150] So far, the technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above embodiments are only used to illustrate the technical scheme of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical scheme recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the scope of the technical scheme of the embodiments of the present application.

Claims

1. A leveling device for a 3D printer, characterized in that, The 3D printer comprises a printer body, a forming cabin and a base plate, and the leveling device comprises a powder laying vehicle part, a feeding part and a host computer; The powder laying vehicle part is slidably arranged inside the forming cabin above the base plate, and comprises a powder laying vehicle, a shutter installed in the powder laying vehicle, a leveling cylinder installed on the shutter, and left and right sensors installed on the shutter, wherein the left and right sensors are symmetrically arranged on both sides of the leveling cylinder, and the leveling cylinder acts on the shutter to make the left and right sensors work normally after being started; The feeding part comprises a forming shaft servo installed on the printer body, a forming shaft fixedly connected with the power output end of the forming shaft servo, a forming shaft position detection member installed on the printer body, a chuck base arranged at the top end of the forming shaft, and first and second leveling servos installed on the lower surface of the chuck base; The host computer is installed on the printer body, and is data-connected with the powder laying vehicle, the leveling cylinder, the left and right sensors, the forming shaft servo, the forming shaft position detection member, the first leveling servo and the second leveling servo.

2. A method of leveling a 3D printer, the method comprising: The host computer applied to the leveling device of the 3D printer of claim 1, the method comprises: obtaining a first height value of a first leveling point, and performing slope judgment according to a pre-stored fixed point height value and the first height value to obtain a slope judgment result; controlling the powder laying vehicle, the forming shaft servo and the leveling cylinder to perform leveling initialization operation, and controlling the first and second leveling servos to perform zero point calibration operation; obtaining sensor data collected by two laser sensors, and performing data validity verification operation according to the sensor data to obtain a data verification result; when it is detected that the data verification result is data valid, the powder laying vehicle is controlled to move to a first detection position, and a first group of sensor data is obtained; controlling the powder laying vehicle to move to a second detection position and a third detection position in turn, and performing iterative leveling control operation in the moving process of the powder laying vehicle; performing cross-validation operation to obtain a cross-validation result, and when it is detected that the cross-validation result is verified, performing processing initialization operation and feeding back a leveling completion signal.

3. The method of claim 2, wherein, The control of the powder laying vehicle moving to the second detection position and the third detection position in turn, and the iterative leveling control operation in the moving process of the powder laying vehicle, comprises: controlling the powder laying vehicle to move from the first detection position to the second detection position, and controlling the first and second leveling servos to perform first leveling operation to make the left and right side deviations of the base plate zero; controlling the forming shaft servo to drive the forming shaft to zero; when it is detected that the slope judgment result is that the pre-stored fixed point height value is lower than the first height value, the forming shaft servo is controlled again to drive the forming shaft to zero, and right side sensor data of the base plate at this time is obtained; when it is detected that the right side sensor data of the base plate at this time is not zero, the second leveling servo is controlled to be step-regulated; controlling the powder laying vehicle to move to the second detection position and a third detection position, and obtaining a second set of sensor data; when it is detected that the second set of sensor data is not zeroed, controlling the first leveling servo and the second leveling servo to be controlled in stages.

4. The method of claim 3, wherein, The control of the powder laying vehicle moving to the second detection position and the third detection position in turn, and the iterative leveling control operation is performed during the movement of the powder laying vehicle, and further comprises: When it is detected that the inclination judgment result is that the pre-stored fixed point height value is higher than the first height value, the forming shaft servo is controlled again to drive the forming shaft to zero, and the left substrate sensor data at this time is obtained. When it is detected that the left substrate sensor data is not zeroed, the first leveling servo is controlled to be controlled in stages.

5. The method of claim 3, wherein, The control of the first leveling servo and the second leveling servo performing the first leveling operation to zero the left and right side deviation of the substrate comprises: controlling the first leveling servo and the second leveling servo to perform the first leveling operation, so that the deviation value between the current left sensor data and the current right sensor data obtained by the laser sensor is less than or equal to a preset deviation threshold value; When it is detected that the current left sensor data is greater than the current right sensor data, the first leveling servo is controlled to move, otherwise the second leveling servo is controlled to move, until the left and right side deviation of the substrate is zeroed.

6. The method of claim 2, wherein, The control of the powder laying vehicle, the forming shaft servo and the leveling cylinder to perform the leveling initialization operation comprises: controlling the powder laying vehicle to move to the mechanical origin; controlling the forming shaft servo to drive the forming shaft to rise until the forming shaft reaches the leveling position, and controlling the leveling cylinder to start to complete the leveling initialization operation.

7. The method of claim 2, wherein, The sensor data comprises left substrate sensor data and right substrate sensor data; Correspondingly, the data validity verification operation according to the sensor data comprises: According to the left substrate sensor data and the right substrate sensor data, the left and right side deviation value and the left and right side ratio of the substrate are obtained. When it is detected that the left and right side deviation value is greater than a preset deviation value and / or the left and right side ratio exceeds a preset ratio range, a data verification result that the sensor data is invalid is obtained, otherwise a data verification result that the sensor data is valid is obtained.

8. The method according to any one of claims 2 to 7, characterized in that, The cross verification operation comprises: obtaining a third set of sensor data of the powder laying vehicle at the second detection position, and controlling the powder laying vehicle to move from the second detection position to the third detection position to obtain a fourth set of sensor data of the powder laying vehicle at the third detection position; According to the data comparison operation of the third set of sensor data and the fourth set of sensor data, when it is detected that the deviation of the third set of sensor data and the fourth set of sensor data is within a preset verification deviation range, a cross verification result that the verification is passed is obtained, otherwise a cross verification result that the cross verification is not passed is obtained; The processing initialization operation is performed, and a leveling completion signal is fed back, comprising: controlling the powder laying vehicle to return to the mechanical origin; controlling the forming shaft servo to drive the forming shaft to rise to the processing position; controlling the leveling cylinders to close and feeding back a leveling completion signal.

9. A 3D printer characterized by, The leveling device of the 3D printer comprises a printer body and the leveling device of claim 1.

10. A host computer, characterized by comprising: a memory, a processor; the memory stores computer-executed instructions; the processor executes the computer-executed instructions stored in the memory, so that the processor executes the method of any one of claims 2 to 8.

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