CN106335186B - A kind of 3D printer nozzle calibration method - Google Patents
A kind of 3D printer nozzle calibration method Download PDFInfo
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- CN106335186B CN106335186B CN201610783694.XA CN201610783694A CN106335186B CN 106335186 B CN106335186 B CN 106335186B CN 201610783694 A CN201610783694 A CN 201610783694A CN 106335186 B CN106335186 B CN 106335186B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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Abstract
The invention discloses a kind of 3D printer nozzle calibration methods, include the following steps：Establish calibration areas, and camera vertical in calibration areas setting optical axis and upward；The control system of camera and 3D printer is allowed to connect；Real-time display window corresponding with calibration areas is established in control system；The nozzle of spray head and secondary sprinkler composition is moved integrally to the top to calibration areas；So that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, to obtain the position of spray head and secondary nozzle, according to the relative distance of spray head and the location determination of secondary nozzle between the two, is denoted as (△ x, △ y)；(△ x, △ y) is fed back into control system, the compensating parameter as distance between secondary nozzle and spray head.The present invention has the advantages that easy to operate, calibration is accurate, high degree of automation, solves the problem of existing nozzle calibrating mode is existing to be limited by operating experience, the big influence print quality of calibration error and efficiency.
Description
Technical field
The present invention relates to 3D printing technique fields, and in particular to a kind of nozzle calibration method of 3D printer.
Background technology
3D printing technique (i.e. rapid shaping technique) is obtained because of its excellent many advantages in existing subtraction processing technology
It is fast-developing.With the development of technology, those skilled in the art have researched and developed various types of double nozzles and more nozzle 3D are beaten
Print machine, to realize that double/multi-color printing or the subitem of special backing material and cast material print.
For double nozzle 3D printers, because its double nozzle structure be installation be fixed to the same kinematic axis on, and
Work is moved together in print procedure, there is interfere, mutually restrict.When spray head prints, secondary nozzle
Placed in a suspend state and make cooling processing, and when secondary nozzle printing, spray head placed in a suspend state and makees cooling processing.Although
The time that major-minor nozzle suspends every time is all more of short duration, but if cannot accurately control for large-sized printer model
Words, can still extend the whole time-write interval, influence printing effect.Meanwhile in major-minor nozzle interval, even cooling down
Processing still remains the possibility of a little stream material (nozzle for stream material occur is known as flowing material nozzle).This phenomenon can be brought following
Problem：One, when stream material nozzle starts printing, since nozzle is with being in solid material, when printing, is easy to a nozzle side
Stream material wipe on model side, or even molded material can be hit, to cause printing staggered floor or split between layers
Phenomenon；Two, when stream material nozzle and active print nozzle mass motion, it is easy to new molding printable layer is scratched, with
On can either way influence print quality.For more nozzle printing machines, the problem of stream is expected, directly meeting alternately occur for nozzle
Influence printing effect.For solution is double influence printing effect and nozzle appearance stream material are interfered between nozzle or more nozzles
The problem of influencing print quality, this field mainly carry out real beginningization on the basis of spray head, and using the distance between nozzle as
The compensating parameter of printing master control system makes major-minor nozzle time out reach most short to be accurately controlled to print procedure, and
The phenomenon that avoiding stream material nozzle from causing to scratch to printable layer.It can be seen that between accurate perception nozzle away from being double nozzles and more
Nozzle 3D printing technique pursues high stable, high-precision important prerequisite.And its position can be because after use after a period of time for nozzle
Slight variation occurs for vibration, and its position can not also be remained exactly the same with original position after each maintenance, replacement nozzle, this is just
It needs periodically to calibrate printing head, i.e., spray head is positioned again, and determine the distance between nozzle, so as to beat
It prints master control system and compensating parameter is provided, and then ensure print quality and success rate.
In double nozzles and more nozzle 3D printings field, current nozzle calibration method generally uses manual calibration combination software
The mode of control calibration carries out.The manual calibration that nozzle is carried out when manufacturing assembling, using truing tool to nozzle spacing and spray
Head relative altitude is calibrated, and manual calibration method has that error is big, and is affected by personal experience, general to go back
It need to carry out subsequent calibrations operation.Software control calibration is being calibrated generally in the corresponding calibrating element of nozzle end fixed configurations
According to obtained corresponding data when operation, it is further carried out manual adjusting.Existing calibration method can have error, for this
A error usually gives a wide scope error amount in software control procedure or average error value is modified, and width here
Coverage error value and average error value are all empirical values, are not achieved and accurately require, and can increase 3D printing molding time, are influenced
Printing effect.Meanwhile the printing experience that its operation needs of existing nozzle calibration method are abundant, it can be only achieved relatively preferably
Calibration effect, be affected by personal operating experience, applicability is poor.
Invention content
The object of the present invention is to provide a kind of 3D printer nozzle calibration methods, accurately, certainly with easy to operate, calibration
The high advantage of dynamicization degree can effectively solve to be limited by operating experience existing for existing nozzle calibrating mode, the big shadow of calibration error
The problem of ringing printing effect, ensure that print quality and success rate.
To solve to be influenced by personal operating experience existing for manual calibration combination software calibration mode in the prior art, calibrate
Inaccurately need to be modified by error amount, it is provided by the invention the problem of to affect printing effect and print quality
A kind of 3D printer nozzle calibration method, includes the following steps：
One, calibration areas, and camera vertical in calibration areas setting optical axis and upward are established；Allow camera and 3D printer
Control system connection；
Two, real-time display window corresponding with calibration areas is established in control system；
Three, the top nozzle of spray head and secondary sprinkler composition moved integrally to calibration areas is controlled by control system；
Four, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, to obtain
The position for taking spray head and secondary nozzle is denoted as (△ according to the relative distance of spray head and the location determination of secondary nozzle between the two
X, △ y)；
Five, (△ x, △ y) is fed back into control system, and as the compensating parameter of distance between secondary nozzle and spray head.
Further, a kind of 3D printer nozzle calibration method of the present invention, wherein described real-time in above-mentioned steps two
Calibration mark is equipped in display window；In above-mentioned steps four, (the △ x, △ y) is obtained by the following method：
A, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, so that main
The nozzle of nozzle is aligned with the calibration mark in real-time display window, when nozzle and the calibration in real-time display window of spray head
When label alignment, the position data group that control system records spray head at this time is allowed to be denoted as (X as the position 1 of spray head1, Y1)；
B, continue that nozzle is made integrally to move in the x-y plane of calibration areas, and observed by real-time display window, with
The nozzle of secondary nozzle is set to be aligned with the calibration mark in real-time display window, when in the nozzle and real-time display window of secondary nozzle
When calibration mark is aligned, the position data group that control system records spray head at this time is allowed to be denoted as the position 2 of spray head
(X2, Y2)；
C, control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, i.e.,
For (△ x, △ y).
Further, a kind of 3D printer nozzle calibration method of the present invention, wherein in above-mentioned steps four, described (△ x,
△ y) it obtains by the following method：
D, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determine master
Behind the position of nozzle, allows control system to capture the nozzle of spray head and establish calibration mark in real-time display window；It allows simultaneously
The position data group that control system records spray head at this time is denoted as (X as the position 1 of spray head1, Y1)；
E, continue that nozzle is made integrally to move in the x-y plane of calibration areas, and observed by real-time display window, with
The nozzle of secondary nozzle is set to be aligned with the step d calibration marks established, when the calibration mark pair that the nozzle of secondary nozzle is established with step d
Qi Shi allows the position data group that control system records spray head to be at this time denoted as (X as the position 2 of spray head2, Y2)；
F, control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, i.e.,
For (△ x, △ y).
Further, a kind of 3D printer nozzle calibration method of the present invention, wherein described real-time in above-mentioned steps two
Display window can observe spray head and secondary nozzle simultaneously, and in above-mentioned steps four, (the △ x, △ y) is obtained by the following method：
G, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determine spray
Behind the whole position of head, control system is allowed to shoot the image of nozzle entirety by camera；
H, pixel value in control system statistical picture between the nozzle of spray head and the nozzle of secondary nozzle is allowed, and will statistics
The pixel value obtained is multiplied by a reference value, to obtain distance that pixel value indicates, as (△ x, △ y)；
Wherein, a reference value is that a pixel of the correspondence setting of foundation image pixel and actual range indicates
Actual distance value.
Further, a kind of 3D printer nozzle calibration method of the present invention, wherein the calibration areas is set to 3D printing area
The outside in domain.
A kind of 3D printer nozzle calibration method of the present invention has the following advantages compared with prior art：The present invention is by building
Vertical calibration areas, and camera vertical in calibration areas setting optical axis and upward, meanwhile, it is established in control system corresponding with calibration areas
Real-time display window.Nozzle is allowed integrally to be moved in the x-y plane of calibration areas in a calibration process, to obtain spray head and pair
The position of nozzle, the relative distance of location determination between the two according to spray head and with secondary nozzle, is denoted as (△ x, △ y)；It will
(△ x, △ y) feeds back to printer control system, you can as the compensating parameter in print procedure, to accurately control spray head
With time-write interval, time out and the print position of secondary nozzle.By analyzing the 3D printer nozzle school it is found that the present invention above
Quasi- method has the advantages that easy to operate, calibration is accurate, high degree of automation, and nozzle calibration process is simple, quick, and to behaviour
It is low to make skill requirement, print quality and success rate can be effectively improved, and solves and is operated existing for existing nozzle calibrating mode
The problem of experience limits, calibration error big influence printing effect, improves practicability and applicability.
Illustrated embodiment makees further specifically a kind of 3D printer nozzle calibration method of the present invention below in conjunction with the accompanying drawings
It is bright：
Description of the drawings
Fig. 1 is schematic diagram when nozzle is aligned with camera in a kind of 3D printer nozzle calibration method of the present invention；
Fig. 2 is display window and the schematic diagram of calibration mark in a kind of 3D printer nozzle calibration method of the present invention.
Specific implementation mode
A kind of specific implementation mode of 3D printer nozzle calibration method of the present invention as depicted in figs. 1 and 2, include mainly with
Lower step：
One, calibration areas, and camera vertical in calibration areas setting optical axis and upward are established；Allow camera and 3D printer
Control system connection；
Two, real-time display window corresponding with calibration areas is established in control system；
Three, the top nozzle of spray head and secondary sprinkler composition moved integrally to calibration areas is controlled by control system；
Four, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, to obtain
The position for taking spray head and secondary nozzle is denoted as (△ according to the relative distance of spray head and the location determination of secondary nozzle between the two
X, △ y)；
Five, (△ x, △ y) is fed back into control system, and as the compensating parameter of distance between secondary nozzle and spray head.
The 3D printer nozzle calibration method of the present invention is by establishing calibration areas, and and court vertical in calibration areas setting optical axis
On camera, meanwhile, establish corresponding with calibration areas real-time display window in control system.Allow nozzle whole in a calibration process
Body moves in the x-y plane of calibration areas, to obtain the position of spray head and secondary nozzle, the position according to spray head and with secondary nozzle
The relative distance determined between the two is set, is denoted as (△ x, △ y)；(△ x, △ y) is fed back into printer control system, you can make
For the compensating parameter in print procedure, to accurately control time-write interval, time out and the printing of spray head and secondary nozzle
Position.The 3D printer nozzle calibration method of the present invention has the advantages that easy to operate, calibration is accurate, high degree of automation,
Nozzle calibration process is simple, quick, and low to operating experience requirement, can effectively improve print quality and success rate, and solve
The problem of existing nozzle calibrating mode is existing to be limited by operating experience, calibration error big influence printing effect, improves practicality
Property and applicability.
A kind of 3D printer nozzle calibration method of the present invention, can be used following three kinds of modes and obtains (△ x, △ y), i.e. main jet
The relative distance of the location determination of head and secondary nozzle between the two.The first obtain (△ x, △ y) mode be：
Calibration mark is set in real-time display window；
So that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, so that main jet
The nozzle of head is aligned with the calibration mark in real-time display window, when nozzle and the calibration mark in real-time display window of spray head
When note alignment, the position data group that control system records spray head at this time is allowed to be denoted as (X as the position 1 of spray head1, Y1)；
Continue that nozzle is made integrally to move in the x-y plane of calibration areas, and is observed by real-time display window, so that
The nozzle of secondary nozzle is aligned with the calibration mark in real-time display window, when nozzle and the school in real-time display window of secondary nozzle
When quasi- label alignment, the position data group that control system records spray head at this time is allowed to be denoted as (X as the position 2 of spray head2,
Y2)；
Control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, as
(△ x, △ y).
Second obtain (△ x, △ y) mode be：
So that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determines main jet
Behind the position of head, allows control system to capture the nozzle of spray head and establish calibration mark in real-time display window；Allow control simultaneously
The position data group that system processed records spray head at this time is denoted as (X as the position 1 of spray head1, Y1)；
Continue that nozzle is made integrally to move in the x-y plane of calibration areas, and is observed by real-time display window, so that
The nozzle of secondary nozzle is aligned with the step d calibration marks established, when the nozzle of secondary nozzle is aligned with the step d calibration marks established
When, allow the position data group that control system records spray head to be at this time denoted as (X as the position 2 of spray head2, Y2)；
Control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, as
(△ x, △ y).
The third obtain (△ x, △ y) mode be：
So that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determines nozzle
Behind whole position, control system is allowed to shoot the image of nozzle entirety by camera；
It allows pixel value in control system statistical picture between the nozzle of spray head and the nozzle of secondary nozzle, and will count
The pixel value gone out is multiplied by a reference value, to obtain distance that pixel value indicates, as (△ x, △ y)；
Wherein, a reference value is that a pixel of the correspondence setting of foundation image pixel and actual range indicates
Actual distance value.
It should be noted that the 3D printer nozzle calibration method of the present invention usually sets calibration areas in application
Set the outside in 3D printing region.Since the diameter of major-minor spray nozzle is usually in the range of 0.3~0.6mm, calibrating
Cheng Zhong allows the nozzle of major-minor nozzle to be aligned with calibration mark, can effectively ensure that calibration accuracy, error is usually positive and negative
In the range of 0.01mm, to realize that high stable, high-precision 3D printing provide sufficient premise guarantee.While it may be noted that
, the present invention not only adapts to the nozzle calibration method with double nozzle 3D printers, equally applicable multi-nozzle 3D printer nozzle
Calibration, calibrating principle and process are equal to double nozzle 3D printers.
Above example is only the description carried out to the preferred embodiment of the present invention, and model not is claimed to the present invention
The restriction for enclosing progress, under the premise of not departing from design concept of the present invention, the technical side of those skilled in the art according to the present invention
The various forms of deformations that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (4)
1. a kind of 3D printer nozzle calibration method, which is characterized in that include the following steps：
One, calibration areas, and camera vertical in calibration areas setting optical axis and upward are established；Allow the control of camera and 3D printer
System connection processed；
Two, real-time display window corresponding with calibration areas is established in control system, calibration mark is equipped in display window；
Three, the top nozzle of spray head and secondary sprinkler composition moved integrally to calibration areas is controlled by control system；
Four, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, to obtain master
The position of nozzle and secondary nozzle is denoted as (△ x, △ according to the relative distance of spray head and the location determination of secondary nozzle between the two
Y), preparation method is：
A, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, so that spray head
Nozzle be aligned with the calibration mark in real-time display window, the calibration mark in nozzle and the real-time display window of spray head
When alignment, the position data group that control system records spray head at this time is allowed to be denoted as (X as the position 1 of spray head1, Y1)；
B, continue that nozzle is made integrally to move in the x-y plane of calibration areas, and observed by real-time display window, so that secondary
The nozzle of nozzle is aligned with the calibration mark in real-time display window, when nozzle and the calibration in real-time display window of secondary nozzle
When label alignment, the position data group that control system records spray head at this time is allowed to be denoted as (X as the position 2 of spray head2, Y2)；
C, control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, as (△
X, △ y)；
Five, (△ x, △ y) is fed back into control system, and as the compensating parameter of distance between secondary nozzle and spray head.
2. a kind of 3D printer nozzle calibration method described in accordance with the claim 1, which is characterized in that in above-mentioned steps four,
(the △ x, △ y) is obtained by the following method：
D, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determine spray head
Position after, allow control system capture spray head nozzle and establish calibration mark in real-time display window；Allow control simultaneously
The position data group that system records spray head at this time is denoted as (X as the position 1 of spray head1, Y1)；
E, continue that nozzle is made integrally to move in the x-y plane of calibration areas, and observed by real-time display window, so that secondary
The nozzle of nozzle is aligned with the step d calibration marks established, when the nozzle of secondary nozzle is aligned with the step d calibration marks established
When, allow the position data group that control system records spray head to be at this time denoted as (X as the position 2 of spray head2, Y2)；
F, control system is allowed to calculate the 2 (X of position of spray head2, Y2) relative to 1 (X of position1, Y1) location variation, as (△
X, △ y).
3. a kind of 3D printer nozzle calibration method described in accordance with the claim 1, which is characterized in that in above-mentioned steps two,
The real-time display window can observe spray head and secondary nozzle simultaneously, and in above-mentioned steps four, (the △ x, △ y) is pressed with lower section
Method obtains：
G, so that nozzle is integrally moved in the x-y plane of calibration areas, and observed by real-time display window, determine that nozzle is whole
Behind the position of body, control system is allowed to shoot the image of nozzle entirety by camera；
H, it allows pixel value in control system statistical picture between the nozzle of spray head and the nozzle of secondary nozzle, and statistics is obtained
Pixel value be multiplied by a reference value, to obtain distance that pixel value indicates, as (△ x, △ y)；
Wherein, a reference value is the reality indicated according to a pixel of the correspondence setting of image pixel and actual range
Distance value.
4. a kind of 3D printer nozzle calibration method described in accordance with the claim 1, which is characterized in that the calibration areas is set to
The outside in 3D printing region.
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| CN108656550B (en) * | 2018-05-09 | 2020-07-10 | 浙江闪铸三维科技有限公司 | Calibration method of double-nozzle 3D printer |
| US10787773B2 (en) * | 2018-08-08 | 2020-09-29 | Caterpillar Sarl | Calibration system and method for a spraying machine |
| CN109077339A (en) * | 2018-09-16 | 2018-12-25 | 深圳亿瓦创新科技有限公司 | Food printer stock position identification device and calibration method and recognition methods |
| CN109367008A (en) * | 2018-09-29 | 2019-02-22 | 南昌大学 | A kind of more spray head 3D printing equipment spray head bias compensation methodologies |
| CN111391327B (en) * | 2020-03-11 | 2022-09-16 | 先临三维科技股份有限公司 | Printing error determination method, printing error determination device, electronic equipment and storage medium |
| CN111688201A (en) * | 2020-06-19 | 2020-09-22 | 上海远铸智能技术有限公司 | Automatic calibration method and device for nozzle position of 3D printer |
| CN112873839B (en) * | 2020-12-23 | 2023-03-24 | 华中科技大学鄂州工业技术研究院 | Tool setting device and method of multi-nozzle 3D printer based on visual sensing |
| CN114536754A (en) * | 2022-03-10 | 2022-05-27 | 深圳快造科技有限公司 | 3D printer, printing platform and method for calibrating 3D printer |
| CN114536753B (en) * | 2022-03-10 | 2023-06-13 | 深圳快造科技有限公司 | 3D printer with square calibration target and method for calibrating 3D printer |
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| US9205690B2 (en) * | 2012-03-16 | 2015-12-08 | Stratasys, Inc. | Automated calibration method for additive manufacturing system, and method of use thereof |
| TWI655108B (en) * | 2014-09-03 | 2019-04-01 | 三緯國際立體列印科技股份有限公司 | Three-dimensional printing apparatus and method for compensating coordinate offset of nozzle thereof |
| CN105773968B (en) * | 2016-03-09 | 2018-04-24 | 深圳市众进思创科技开发有限公司 | The secondary printing localization method of 3D printing positioned using camera |
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