具体实施方式 DETAILED DESCRIPTION

[0064] 为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。 [0064] In order to more clearly illustrate the embodiments or the prior art technical solutions embodiment of the present invention, it will implement the following figures for the cases described in the prior art or require the use of a simple introduction, Obviously, in the following description The drawings are only some embodiments of the present invention, those of ordinary skill in terms of creative effort without precondition, you can also obtain other drawings based on these drawings.

[0065] 实施例一： [0065] Example One:

[0066] 图1为具体实施例的3D打印机用自动调平装置的结构示意图。 [0066] FIG. 1 is a specific embodiment of the 3D printer device structure diagram with automatic leveling. 如图1所示，本实施例提出一种3D打印机用自动调平装置，包括：固定平台100,用于调整打印平台倾斜角度的直线步进电机200,用于测量打印头机构距离打印平台上各点高度的测距传感器300,以及用于显示所述测距传感器测量结果的显示器400。 1, the present embodiment proposes a 3D printer with automatic leveling device, comprising: a fixed platform 100, linear stepper motor is used to adjust the tilt angle of 200 printing platform for measuring distance print head mechanism platform the height of each point of the distance measuring sensor 300, and a distance measuring sensor for displaying the measurement result display 400.

[0067] 结合图4所示，本实施例的固定平台100处于打印机的打印平台500下方，直线步进电机200的数量为三个，三个直线步进电机200均固定在固定平台100上，三个直线步进电机200不在同一直线上，每一直线步进电机200的输出螺杆210均坚直朝上设置，如图3 所示，在每一输出螺杆210的上端部各螺设有一球面副连接件600,球面副连接件600在输出螺杆210的旋转作用下可上下移动，如图2所示，测距传感器300设置在打印机的打印头机构700上，测距传感器300与显示器400连接。 [0067] in conjunction with FIG. 4, fixed platform 100 of the present embodiment is located below the printer printing platform 500, the number of linear stepper motor 200 for three, three linear stepper motor 200 are fixed to the fixed platform 100, three linear stepper motor 200 is not in the same line, the output of each screw linear stepper motor 200 210 are firmly straight into the set, as shown in the upper portion of each screw each output screw 210 is provided with a spherical 3 second connection member 600, the spherical connector 600 at the sub output rotation of the screw 210 can be moved up and down, as shown, a distance measuring sensor 300 is provided on the print head of the printer mechanism 700, the distance measuring sensor 300 connected with the display 400 in Figure 2 .

[0068] 具体的，本实施例的球面副连接件600包括用于与输出螺杆210螺设的球体（图中未示出）和用于连接固定在打印平台底面上的球壳（图中未示出），所述球壳包覆着所述球体形成球面副连接，也可直接选用球铰式万向节或球面轴承等外购件形成球面副连接使用。 [0068] Specifically, spherical pair connector 600 of the present embodiment comprises a screw 210 screwed with the output provided sphere (not shown) and means for connecting the fixed platform in the bottom surface of the print spherical shell (not shown), the spherical shell coated with the spherical balls forming the second connection, and can be directly used hinge ball joints or spherical bearings and other purchased parts form spherical pair connection. 作为本实施例的进一步改进，本实施例的直线步进电机选用贯穿式直线步进电机，所述输出螺杆远离所述球面副连接件的下端部向外延伸至所述直线步进电机的外部（图中未示出输出螺杆向外延伸的下端部）。 As a further improvement of the present embodiment, the linear actuator of the present embodiment is chosen through linear stepper motor, the output of the screw away from the outside of the lower end of the spherical pair connector extends outwardly from the linear stepper motor (not shown in the lower portion of the output of the screw extends outwardly).

[0069] 示例性的，本实施例的3D打印机用自动调平装置的具体应用情况如下： [0069] Exemplary, 3D printer of the present embodiment is an automatic leveling device specific applications as follows:

[0070] 使用者通过测距传感器300获取打印平台500上各点高度数据，并将高度数据测量情况通过显示器400进行显示，使用者通过显示器400可以获知打印平台500是否需要进行调平，如果需要进行调平，则通过启动对应直线步进电机200的输出螺杆210旋转使得球面副连接件600上下升降运动，继而实现打印平台500的水平度的调整，其中，使用者可以采用电力驱动直线步进电机200的输出螺杆210旋转实现升降作用，还可以直接手动驱动输出螺杆210远离打印平台500的一端部旋转实现升降作用。 [0070] User 500 points height data ranging sensor 300 obtains printing platform, and the height data measurement conditions displayed by the display 400, the user can display 400 by 500 to know whether you need to print platform leveling, if desired be leveling through to initiate the corresponding linear stepper motor output rotation of the screw 210 200 so that the spherical deputy up and down movement of the connecting member 600, and then adjust the level of realization of the print platform 500, in which the user can use the electric drive linear actuator Output 200 of 210 rotary screw motor to achieve the lifting action, it can also direct manual drive output end of the screw 210 away from the rotary printing platform 500 to achieve the lifting effect.

[0071] 实施例二： [0071] Example Two:

[0072] 本实施例提出另一种3D打印机用自动调平装置，包括：固定平台，用于调整打印平台倾斜角度的音圈电机，用于测量打印头机构距离打印平台上各点高度的测距传感器， 以及用于显示所述测距传感器测量结果的显示器。 [0072] The present embodiment proposes another 3D printer with automatic leveling device, comprising: a fixed platform, a voice coil motor for adjusting the angle of inclination of the printing platform for measuring the height of the printhead mechanism measuring the distance between each point on the printing platform from the sensor, and the distance measuring sensor measurement result display for displaying.

[0073] 本实施例的各部件标号可参见实施例一相应部件的标示及其附图所示，本实施例的固定平台处于打印机的打印平台下方，所述音圈电机的数量为三个，三个所述音圈电机均固定在所述固定平台上，三个所述音圈电机不在同一直线上，每一所述音圈电机的输出轴均坚直朝上设置，在每一所述输出轴的上端部各设置一球面副连接件，所述球面副连接件在所述输出轴的作用下可上下移动，所述测距传感器设置在打印机的打印头机构上，所述测距传感器与所述显示器连接。 Each member reference numeral [0073] This embodiment can be found in its embodiment shown in the drawings indicate corresponding parts of one embodiment, the present embodiment is a fixed platform located below the platform of the printer to print, the number of the voice coil motor is three, Three of the voice coil motor are fixed to the fixed platform, three of the voice coil motor is not the same line, each of said voice coil motor output shaft are firmly straight into the set, each of said at the upper end portion of the output shaft of each provided with a spherical pair connections, the spherical pair connector at the output shaft can be moved up and down action, the distance sensor is provided on the print head mechanism of the printer, the distance sensor connected to the display.

[0074] 具体的，本实施例的所述球面副连接件包括用于与所述输出轴连接固定的球和用于连接固定在打印平台底面上的球壳，所述球壳包覆着所述球体形成球面副连接。 [0074] Specifically, the spherical coupling member vice present embodiment includes an output shaft for connection with said fixed connection and a ball secured to the bottom surface of the printing platform spherical shell, said spherical shell covered with the said deputy connection formed into a spherical ball. 在其他具体实施例中，球面副连接件也可以直接选用球铰式万向节或球面轴承等外购件形成球面副连接进行使用，测距传感器也可以采用激光传感器进行测量。 In other embodiments, the spherical pair connectors can also be directly used hinge ball joints or spherical bearings and other purchased parts are formed using a spherical pair connection distance-measuring sensor can also be used to measure laser sensor.

[0075] 示例性的，本实施例的3D打印机用自动调平装置的具体应用情况如下： [0075] Exemplary, 3D printer of the present embodiment is an automatic leveling device specific applications as follows:

[0076] 使用者通过测距传感器获取打印平台上各点高度数据，并将高度数据测量情况通过显示器进行显示，使用者通过显示器可以获知打印平台是否需要进行调平，如果需要进行调平，则通过启动对应音圈电机，其输出轴往复运动，使得球面副连接件上下升降运动， 继而实现打印平台的水平度的调整。 [0076] users to access data through the ranging sensor height of each point on the printing platform, and the height data measurement conditions displayed by the display, the user can be informed through the display if printing platform leveling is required, if the need for leveling, then by activating the corresponding voice coil motor, the output shaft is reciprocated up and down so that the lifting motion spherical pair connector, and then adjust the level of realization of the print platform.

[0077] 实施例三： [0077] Example Three:

[0078] 本实施例提出了一种3D打印机，包括机架、X轴运动机构、Y轴运动机构、Z轴运动机构、打印平台500、给料机构（图中未示出）、打印头机构700和控制器800,所述X轴运动机构、Y轴运动机构、Z轴运动机构、所述打印平台和所述给料机构均设置在所述机架上，所述打印头机构设置在所述X轴运动机构和Y轴运动机构上，所述3D打印机还包括一实施例一或实施例二所述的3D打印机用自动调平装置，固定平台100可升降的设置在所述Z轴运动机构上，打印平台500通过球面副连接件600连接设置在直线步进电机200的输出螺杆210或音圈电机的输出轴上，控制器800控制连接测距传感器300、X轴运动机构、Y轴运动机构和Z轴运动机构，所述直线步进电机或所述音圈电机与所述控制器控制连接。 [0078] printhead mechanism of the present embodiment proposes a 3D printer, including the chassis, X-axis movement mechanism, Y-axis movement mechanism, Z-axis movement mechanism, printing platform 500, a feeding mechanism (not shown) 700 and a controller 800, the X-axis movement mechanism, Y-axis movement mechanism, Z-axis movement mechanism, the printing platform and the feed means are provided on said frame, said print mechanism disposed in the head the above-described X-axis and Y-axis movement mechanism moving mechanism, the 3D printer further comprises an embodiment of a 3D printer or as described in Example II with automatic leveling device, fixed platform 100 can be raised and lowered in the Z-axis motion provided institutional, printing platform 500 by spherical pair connector 600 is connected to the output shaft output set screw linear stepper motor or a voice coil motor 200, 210, the controller 800 controls the connection distance sensor 300, X-axis movement mechanism, Y-axis sports bodies and Z-axis movement mechanism, the linear stepper motor or a voice coil motor and the controller connections.

[0079] 具体的，对采用实施例一所述的3D打印机用自动调平装置，三个直线步进电机200的输出螺杆210各自通过一球面副连接件600与打印平台500底面进行活动连接，球面副连接件600的球体螺设在输出螺杆210上端部，而球面副连接件600的球壳则固定设置在打印平台500底面上，球壳包覆着所述球体形成球面副连接，所述球体被输出螺杆210的旋转带动上下升降运动，继而推动打印平台500支撑点的上下移动，实现调平目的。 [0079] Specifically, the use of 3D printers to an embodiment of the automatic leveling device, the output of the three screw linear stepper motor 200 210 each by a connecting member 600 and the spherical pair printing platform activities connected to the bottom surface 500, Deputy spherical ball screw connector 600 is provided at the output of the upper end of the screw 210, and spherical pair connector 600 of the spherical shell fixed at 500 on the bottom surface printing platform, forming a spherical shell coated with the spherical balls auxiliary connection, the is output to drive the ball screw is rotated up and down movement of 210, 500 and then push the anchor up and down movement of the print platform, leveling purposes.

[0080] 具体的，对采用实施例二所述的3D打印机用自动调平装置，三个音圈电机的输出轴各自通过一球面副连接件与所述打印平台底面进行活动连接，球面副连接件的球固定连接在所述输出螺杆上端部，而球面副连接件的球壳则固定设置在打印平台底面上，球壳包覆着所述球体形成球面副连接，球体被所述输出轴的带动上下升降运动，继而推动打印平台支撑点的上下移动，实现调平目的。 [0080] Specifically, for the use of 3D printer described in Example II with automatic leveling device, three voice coil motor output shaft through a spherical pair each connection with the activities connected to the bottom surface of the printing platform, spherical pair connection The ball member fixedly attached to the upper end portion of the output of the screw, and the second connection member is spherical spherical shell is fixedly disposed on the bottom surface of the printing platform, the spherical shell coated with the spherical balls are formed second connection, said output shaft being spheres drive up and down motion, thereby promoting printing platform support point moves up and down to achieve leveling purposes.

[0081] 本实施例的3D打印机在实际使用中能够实现全自动或半自动或手动的调整打印平台的水平度，调整过程更加方便，能够有效提高现有3D打印机中手动调节打印平台的自动化程度，具有省时省力和精确度较高的优点。 [0081] The 3D printer embodiment in actual use can achieve the level of automatic or semi-automatic or manual adjustment of printing platform, the adjustment process more convenient, can effectively improve the automation of existing 3D printer manually adjust the print platform, with a time-saving and high accuracy advantages.

[0082] 当然了，在其他具体实施例中，机架、X轴运动机构、Y轴运动机构、Z轴运动机构、 打印平台、给料机构和控制器可以采用市场常用外购件，或者直接在现有的3D打印机上面进行改进，此处不再赘述。 [0082] Of course, in other specific embodiments, the racks, X-axis movement mechanism, Y-axis movement mechanism, Z-axis movement mechanism, printing platform, the feed mechanism and the controller can use market commonly purchased items, or direct 3D printer on top of the existing improvements, not repeat them here.

[0083] 实施例四： [0083] Example Four:

[0084] 图5为具体实施例的调平方法的流程示意图。 [0084] FIG. 5 is a specific embodiment of the leveling process flow diagram. 如图5所示，本实施例还提出了一种调平方法，包括以下步骤： 5, the present embodiment also proposes a leveling method comprising the steps of:

[0085] 步骤S1、设定目标调平误差为d(d的数值可以根据打印物件的要求或设计需要进行调整设定）。 [0085] Step S1, set goals leveling error is d (d value may need to be adjusted according to the requirements or design to set print object).

[0086] 步骤S2、选取测量点，在打印平台上选取3个不在同一直线上的测量点，且3个测量点分别位于打印平台顶面的四周边缘处（为了尽可能的提高所获取的打印平台的水平度精确程度，不同测量点之间的距离要尽可能的大，尽量能够均匀分布在打印平台顶面的四周边缘处，以减小计算误差，选取的测量点数量也可以是大于3个的其他数量）。 [0086] step S2, the selected measured, selected three measurement points is not a straight line on the printing platform, and three measuring points are located around the top surface of the printing platform at the edge (to the extent possible to improve the acquired print the level of accuracy of the platform, at different distances between measurement points to be as large as possible, as far as possible evenly distributed around the edges of the top surface of the printing platform to reduce the calculation error, the number of measurement points can be selected more than 3 a number of the other).

[0087] 步骤S3、测距并计算平均值，利用打印头机构上的测距传感器分别测量得出各测量点到测距传感器的高度间距，依次记为hi、h2、h3,计算其平均值h = (hl+h2+h3)/3。 [0087] Step S3, and calculates the average distance using a distance measuring sensor on the printhead mechanism obtained were measured for each measurement point to the height of the spacing distance measuring sensor, sequentially denoted hi, h2, h3, calculate the average h = (hl + h2 + h3) / 3.

[0088] 步骤S4、判断最小差值是否满足调平误差要求： Min(|h-hl|，|h-h2|，|h-h3|)〈d/2 ;如果满足调平误差要求，则打印平台已经满足调平要求，结束此次调平；如果不满足调平误差要求，则执行步骤S5。 [0088] step S4, the judge meets the minimum difference leveling error requirement: Min (| h-hl |, | h-h2 |, | h-h3 |) <d / 2; if the leveling error requirements, printing platform leveling requirements have been met, ending the leveling; leveling error requirements. If not, step S5 is executed.

[0089] 步骤S5、分别通过直线步进电机或音圈电机的升降动作，进一步调平打印平台。 [0089] step S5, the respective vertical movement by linear stepper motor or a voice coil motor, further leveling printing platform.

[0090] 步骤S6、重新测距并计算平均值，利用打印头机构上的测距传感器分别测量得出各测量点到测距传感器的高度间距，依次记为hhl、hh2、hh3,计算其平均值hh = (hhl+hh2+hh3)/3,代入h = hh，hl = hhl，h2 = hh2，h3 = hh3,返回执行步骤S4,判断最小差值是否满足调平误差要求。 [0090] step S6, the re-ranging and calculate the average, the use of distance measuring sensor on the print head mechanism are obtained from the measurement of each measurement point to the distance measuring sensor height spacing, followed credited to hhl, hh2, hh3, calculate the average value hh = (hhl + hh2 + hh3) / 3, substituting h = hh, hl = hhl, h2 = hh2, h3 = hh3, execution returns to step S4, the judge meets the minimum difference leveling error requirement.

[0091] 具体的，本实施例的步骤S5具体包括如下步骤： [0091] Specifically, in step S5 of this embodiment specifically includes the following steps:

[0092] 步骤S501、测量位于打印平台上的三个电机支撑点坐标 [0092] step S501, the measurement is located three motors anchor coordinate print platform

[0093] 结合图6所示，以X、Y轴回零后测距传感器的测量末端所在位置为参考原点，以X 轴、Υ轴正向移动、Ζ轴向下移动为正方向，建立坐标系； [0093] in conjunction with FIG. 6, after the end of the measurement location in X, Y axis homing distance sensor as a reference origin, X-axis, Υ axis moves forward, Ζ axis downward movement as a positive direction, to establish the coordinates Department;

[0094] 测距传感器的测量末端在运动平台上移动得到的平面为Ρ :Ζ = 0,测距传感器在运动平台上各测量点的坐标记为Α1 : (XI，Υ1，0)、Α2 : (Χ2, Υ2, 0)和A3 : (Χ3, Υ3, 0)，对应打印平台上各测量点的坐标为Β1 : (XI，Yl，hi)、Β2 : (Χ2, Υ2, h2)和Β3 : (Χ3, Υ3, h3); [0094] Measuring the distance measuring sensor at the end of the campaign to get the plane moving platform Ρ: Ζ = 0, distance measuring sensor at each measurement point on a moving platform to sit labeled Α1: (XI, Υ1,0), Α2: (Χ2, Υ2, 0) and A3: (Χ3, Υ3, 0), corresponding to the coordinates of each measuring point on the printing platform for Β1: (XI, Yl, hi), Β2: (Χ2, Υ2, h2) and Β3: (Χ3, Υ3, h3);

[0095] 根据打印平台上三个测量点的坐标可计算得到其所在的平面方程 [0095] it can be calculated based on the coordinates in the plane equation on the printing platform of the three measuring points

[0096] PI :A1*X+B1*Y+C1*Z+1 = 0 (1) [0096] PI: A1 * X + B1 * Y + C1 * Z + 1 = 0 (1)

[0097] 记所述三个电机为Ml电机、M2电机和M3电机，其对应的支撑点坐标分别为Ml : (父11，¥11，211)、]«2:(乂21，¥21，221)、]\0:(乂31，¥31，231)，三点全部位于平面？ [0097] remember the three motors of the motor Ml, M2 and M3 motor motor, its corresponding anchor coordinates are Ml: (Father 11, ¥ 11,211),] ​​«2 :( qe 21, ¥ 21, 221)] \ 0 :( qe 31, ¥ 31,231), all located in the plane three o'clock? 1上，故满足方程： 1 on, it satisfies the equation:

[0098] A1*X11+B1*Y11+C1*Z11+1 = 0 (2) [0098] A1 * X11 + B1 * Y11 + C1 * Z11 + 1 = 0 (2)

[0099] A1*X21+B1*Y21+C1*Z21+1 = 0 (3) [0099] A1 * X21 + B1 * Y21 + C1 * Z21 + 1 = 0 (3)

[0100] A1*X31+B1*Y31+C1*Z31+1 = 0 (4) [0100] A1 * X31 + B1 * Y31 + C1 * Z31 + 1 = 0 (4)

[0101] 向上移动Ml电机dll距离，得到新的支撑点坐标Mil :(Xll，Yll，Zll-dll)。 [0101] to move up the motor Ml dll distance, get new anchor coordinate Mil: (Xll, Yll, Zll-dll).

[0102] 移动测距传感器到三个测量点重新测量，得到新的高度hll、hl2、hl3,进而得到打印平台上各测量点的坐标为C1 : (XI，Yl，hll)、C2 : (X2, Y2, hl2)和C3 : (X3, Y3, hl3)。 [0102] moving distance sensor to measure three measuring points again to give new heights hll, hl2, hl3, then get the coordinates of each measuring point on the print platform for C1: (XI, Yl, hll), C2: (X2 , Y2, hl2), and C3: (X3, Y3, hl3).

[0103] 根据打印平台上三个测量点的坐标可计算得到其所在的平面方程： [0103] According to the coordinates of three measuring points on the print platforms it can be calculated in the plane equation:

[0104] Pll :A11*X+B11*Y+C11*Z+1 = 0 (5) [0104] Pll: A11 * X + B11 * Y + C11 * Z + 1 = 0 (5)

[0105] 因为点Mil在Pll平面上，因此可得： [0105] Because the point on Pll Mil plane, so you can get:

[0106] All*Xll+Bll*Yll+Cll*(Zll-dll)+l = 0 (6) [0106] All * Xll + Bll * Yll + Cll * (Zll-dll) + l = 0 (6)

[0107] 向下移动Ml电机dl2距离，得到新的支撑点坐标M12 :(Xll，Yll，Zll+hl2)。 [0107] to move down motor Ml dl2 distance, get new anchor coordinates M12: (Xll, Yll, Zll + hl2).

[0108] 移动打印机运动平台上的测距传感器到三个测量点重新测量，得到新的高度hl4、 hl5、hl6,进而得到打印平台上各测量点的坐标为D1 :(Xl，Yl，hl4)、D2 :(X2，Y2，hl5)和D3 : (X3，Y3，hl6); [0108] distance sensor motion platform mobile printer to re-measure the three measuring points, get new heights hl4, hl5, hl6, then get the coordinates of each measuring point on the print platform D1: (Xl, Yl, hl4) , D2: (X2, Y2, hl5) and D3: (X3, Y3, hl6);

[0109] 根据打印平台上三个测量点的坐标可计算得到其所在的平面方程： [0109] According to the coordinates of three measuring points on the print platforms it can be calculated in the plane equation:

[0110] P12 :A12*X+B12*Y+C12*Z+1 = 0 (7) [0110] P12: A12 * X + B12 * Y + C12 * Z + 1 = 0 (7)

[0111] 因为点M12在P12平面上，因此可得： [0111] Because the point on the M12 P12 plane, so you can get:

[0112] A12*Xll+B12*Yll+C12*(Zll+dl2)+l = 0 (8) [0112] A12 * Xll + B12 * Yll + C12 * (Zll + dl2) + l = 0 (8)

[0113] 综合方程（2)、（6)、（8)，可计算得到Ml电机支撑点坐标Ml : (XII，ΥΙΙ,ΖΙΙ)。 [0113] Integrated Equation (2), (6), (8), the motor support point coordinates can be calculated Ml Ml: (XII, ΥΙΙ, ΖΙΙ).

[0114] 采用同样的方法，可得到M2电机支撑点坐标M2 : (X21，Y21，Z21)，M3电机支撑点坐标M3 :(X31，Y31，Z31); [0114] Using the same method, the motor M2 anchor coordinates obtained M2: (X21, Y21, Z21), M3 anchor coordinates motor M3: (X31, Y31, Z31);

[0115] 步骤S502、调平操作 [0115] step S502, the leveling operation

[0116] 根据得到的Ml电机、M2电机和M3电机各自对应的支撑点坐标Ml : (X11，Y11，Z11)、M2 :(X21，Y21，Z21)、M3 :(父31，丫31，231)，启动电机执行调平动作，如下进行打印平台调平； [0116] According to the obtained motor Ml, M2 and M3 motor Motor respective anchor coordinates Ml: (X11, Y11, Z11), M2: (X21, Y21, Z21), M3 :( father of 31, Ah 31,231 ), start the motor to perform leveling action, as printing platform leveling;

[0117] 若Z2DZ11，则启动M2电机使得支撑点坐标Ml向上运动距离：（Ζ21-Ζ11);若Z2KZ11，则启动M2电机使得支撑点坐标Ml向下运动距离：（Ζ11-Ζ21); [0117] If Z2DZ11, then start the motor M2 Ml coordinate movement distance so that the anchor up: (Ζ21-Ζ11); if Z2KZ11, then start the motor M2 so that the downward movement of the anchor coordinate Ml distance: (Ζ11-Ζ21);

[0118] 若Z3DZ11，则启动M3电机使得支撑点坐标M3向上运动距离：（Ζ31-Ζ11);若Z3KZ11，则启动M3电机使得支撑点坐标M3向下运动距离：（Ζ11-Ζ31)。 [01] If Z3DZ11, M3 motor is started so that the upward movement of the anchor coordinate M3 distance: (Ζ31-Ζ11); if Z3KZ11, then start making the anchor coordinate M3 M3 motor sport distance down: (Ζ11-Ζ31).

[0119] 示例性的，可将本实施例的调平方法应用在实施例三的3D打印机上，即通过在控制器按照上述调平方法的教导进行编程，由控制器对自动调平装置进行自动控制，3D打印机可通过测距传感器获取打印平台上各测量点的高度数据，并将高度数据传送到控制器上按照本实施例的调平方法进行运算和自动判断是否需要调平，若需要进行调平，则控制通过直线步进电机或音圈电机自动执行调平动作，使得测距传感器与打印平台上各点保持同一高度或在允许误差d的范围内。 Leveling Method [0119] exemplary embodiment of the present can be used in the 3D printer Example III, that is, by the controller in accordance with the teachings of the above-described method of leveling can be programmed by the controller for automatic leveling device automatic control, 3D printer available height data of each measuring point on the print platform by a distance measuring sensor, and transmits the data to the controller in accordance with the height of the leveling method of this embodiment is carried out automatically determine whether the operations and needs leveling, if desired be leveling, control leveling operation performed automatically by linear stepper motor or a voice coil motor, so that each point on the distance measuring sensor and print platform remains the same height, or within an allowable range of error d. 可见本实施例可实现调平全自动化，整个过程不需要人工干预，消除了其他3D打印机每次开机都需要手动进行调平，手动调平费时，而且调平的准确度也不能保证的缺点。 This embodiment can be seen leveling achieve full automation, the whole process does not require human intervention, eliminating the other 3D printers require manual leveling each boot, time-consuming manual leveling, and leveling accuracy can not be guaranteed shortcomings.

[0120] 以上述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。 [0120] The above are only preferred embodiments of the present invention, it should be noted that those of ordinary skill in the art, in the present invention without departing from the principle of the premise, you can also make a number of improvements and modifications, such modifications and Retouch should also be considered as the scope of the invention.