3D printer nozzle calibration device, 3D printer and calibration method thereof

Abstract

The present invention provides a 3D printer nozzle calibration device, a 3D printer and a calibration method thereof, and relates to the field of 3D printing technology. The 3D printer nozzle calibration device includes a calibration module and a camera module, the calibration module includes a calibration part and a reflector, the optical axis of the camera module is arranged perpendicular to the Z direction, and the camera module is connected to a display window. The 3D printer includes a housing, a nozzle assembly, a controller and the above-mentioned 3D printer nozzle calibration device, the nozzle assembly includes at least a first nozzle and a second nozzle; a driving device is arranged in the housing, and the driving device and the camera module are connected to the controller. The calibration method uses the above-mentioned 3D printer nozzle calibration device to calibrate the nozzle assembly of the 3D printer. The nozzle calibration device is simple in structure, convenient in operation, and short in time, and the restriction on the operating experience of the operator is reduced during the calibration process, and the success rate of molding is greatly improved by improving the calibration accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a 3D printer nozzle calibration device, a 3D printer and a calibration method thereof. Background Art

[0002] 3D printing technology has developed rapidly due to its many advantages over existing subtractive processing technology, and the precise calibration process of the nozzle before printing is an important prerequisite for the high stability and high precision of 3D printing technology. In the prior art, the calibration process of dual nozzles or multi-nozzles is generally manual calibration with software control calibration, and sometimes the nozzle end needs to be fixed with corresponding calibration components. These calibration methods will have errors, and the operator needs to give a wide range error value or average error value as a compensation parameter in the software control program. The wide range error value and average error value here are both based on the operator's experience value, which requires a high level of experience and still cannot meet the precise customization requirements; in addition, the above calibration process takes a long time and greatly increases the molding time of 3D printing; in addition, in the prior art, the calibration of the distance between nozzles and the calibration of the nozzle height need to be calibrated separately, which is cumbersome and time-consuming.

[0003] That is, the calibration operation of the nozzle of the existing 3D printer is complicated, time-consuming and has low calibration accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a 3D printer nozzle calibration device, a 3D printer and a calibration method thereof, so as to alleviate the technical problems existing in the prior art that the nozzle calibration operation of the 3D printer is complicated, time-consuming and has low calibration accuracy.

[0005] In a first aspect, an embodiment provides a 3D printer nozzle calibration device, comprising a calibration module and a camera module, wherein the calibration module comprises a calibration member and a reflector, wherein the calibration member is used to calibrate the Z-direction position of a first nozzle of a nozzle assembly of a 3D printer, and the reflector is used to reflectively image the positions of the first nozzle and the second nozzle of the nozzle assembly in an XY plane; the optical axis of the camera module is arranged perpendicular to the Z-direction, and when in use, the reflector, the calibration member and the first nozzle are sequentially arranged at intervals along the Z-direction, and when the first nozzle contacts the calibration member, the camera module can photograph the first nozzle; the camera module can also photograph the image formed by the reflection of the reflector on the first nozzle and / or the second nozzle;

[0006] The camera module is connected to a display window, and the display window is used to display the image captured by the camera module.

[0007] In an optional embodiment, the reflective member further includes a dividing edge, which is capable of dividing the display window into a first calibration window and a second calibration window, wherein the image of the first nozzle is located in the first calibration window, and the image formed by the reflection of the first nozzle and / or the second nozzle by the reflective member is located in the second calibration window.

[0008] In an optional embodiment, the reflective element includes a triangular prism, the three sides of the triangular prism are respectively a first side, a second side and a third side, the intersection edge of the first side and the second side is the dividing edge; the third side is a reflective surface, and the reflective surface is used to reflect and image the position of the first nozzle and / or the second nozzle of the nozzle assembly in the XY plane.

[0009] In an optional embodiment, the triangular prism is a 45° right-angle prism, the first side surface is parallel to the XY plane, the first side surface is perpendicular to the second side surface, and the optical axis of the camera module is perpendicular to the second side surface.

[0010] In an optional embodiment, the calibration module further includes a mounting base, and the calibration component and the reflective component are both fixedly connected to the mounting base.

[0011] In an optional embodiment, the mounting base is provided with a mounting groove, and the reflector is mounted in the mounting groove.

[0012] In an optional embodiment, the calibration module also includes a mounting base, and the reflector is fixedly connected to the mounting base; the calibration component includes a straight rod-shaped calibration part and a connecting part fixedly connected to the calibration part, the connecting part is detachably fixed to the mounting base, and the length direction of the calibration part is arranged perpendicular to the Z direction.

[0013] In an optional embodiment, the length direction of the calibration portion is arranged parallel to the length direction of the dividing edge.

[0014] In an optional embodiment, the mounting base is provided with a snap-in slot, and the connecting portion is matched and snap-into the snap-in slot.

[0015] In an optional embodiment, the display window is provided with a calibration mark, and the calibration mark serves as a calibration reference for the positions of the first nozzle and the second nozzle in the XY plane.

[0016] In an optional embodiment, the 3D printer nozzle calibration device further includes a shell, the calibration module and the camera module are both mounted on the shell, and the calibration member and the reflective member of the calibration module protrude from the shell.

[0017] In a second aspect, an embodiment provides a 3D printer, comprising a housing, a nozzle assembly, a controller and the above-mentioned 3D printer nozzle calibration device, wherein the nozzle assembly comprises at least a first nozzle and a second nozzle; a driving device for driving the nozzle assembly to move in XYZ directions is provided in the housing, and the driving device and the camera module of the 3D printer nozzle calibration device are both connected to the controller.

[0018] In a third aspect, an embodiment provides a calibration method, using the 3D printer nozzle calibration device described in any one of the aforementioned embodiments to calibrate the nozzle assembly of the 3D printer, connecting the camera module of the 3D printer nozzle calibration device to the controller of the 3D printer, and the calibration step includes Z-direction calibration and XY-direction calibration, wherein the Z-direction calibration step includes:

[0019] Controlling the driving device of the 3D printer to drive the first nozzle of the nozzle assembly to contact with the calibration piece, observing and confirming the contact state of the first nozzle and the calibration piece through the display window, and the controller recording the Z-direction calibration data of the first nozzle;

[0020] The XY calibration steps include:

[0021] The camera module displays the image information of the first nozzle and / or the second nozzle through the display window and transmits it to the controller. The controller records the XY coordinates of the first nozzle and the second nozzle, and calculates the relative distance between the first nozzle and the second nozzle according to the XY coordinates of the first nozzle and the second nozzle to obtain the XY calibration data.

[0022] The controller uses the Z-axis calibration data as the Z-axis molding height value of the 3D printer, that is, the Z-axis molding height value of the effective molding print from the printer's print nozzle to the printer's printing platform, and uses the XY-axis calibration data as the compensation parameter for controlling the driving stroke of the driving device.

[0023] In an optional embodiment, the XY calibration step specifically includes:

[0024] A calibration mark is provided in the display window, and the control driving device drives the nozzle assembly to move in the XY plane, and aligns the nozzle of the first nozzle with the calibration mark in the display window to obtain the XY coordinates (x1, y1) of the first nozzle; or, the control driving device drives the nozzle assembly to move to a set position in the XY plane to obtain the XY coordinates (x1, y1) of the first nozzle, and establishes a calibration mark corresponding to the nozzle of the first nozzle in the display window;

[0025] The control driving device drives the nozzle assembly to move in the XY plane, and aligns the nozzle of the second nozzle with the calibration mark of the display window to obtain the XY coordinates (x2, y2) of the first nozzle;

[0026] The controller calculates the position change of the XY coordinate (x2, y2) of the first nozzle relative to the XY coordinate (x1, y1), obtains the relative distance between the first nozzle and the second nozzle, and further obtains XY calibration data.

[0027] The beneficial effects of the 3D printer nozzle calibration device, 3D printer and calibration method thereof of the present invention include:

[0028] The present invention provides a 3D printer nozzle calibration device, a 3D printer and a calibration method thereof, wherein the 3D printer nozzle calibration device comprises a calibration module commonly used for calibration, a camera module for photographing a nozzle assembly and a display window for displaying an image photographed by the camera module, wherein a calibration component of the calibration module is used to calibrate a first nozzle of the nozzle assembly in the Z direction, and a reflector of the calibration module is used to reflect the positions of the first nozzle and the second nozzle of the nozzle assembly in the XY plane to the camera module; wherein the 3D printer comprises a box body providing a printing platform and space, a nozzle assembly for printing, a driving device for driving the nozzle assembly to move, a controller for storing and processing data information and capable of adjusting and controlling various components, and the nozzle calibration device capable of calibrating the nozzle of the nozzle assembly; wherein the calibration method uses the nozzle calibration device to calibrate the nozzle of the nozzle assembly.

[0029] First of all, it should be pointed out that the nozzle assembly includes at least two nozzles, and the first nozzle and the second nozzle in the text can be any two of the nozzles, and are not limited. Here, the first nozzle is the main nozzle and the second nozzle is the auxiliary nozzle. The camera module forms a calibration area in the area where the calibration module is located according to its shooting range. When the nozzle assembly needs to be calibrated, the nozzle end face of the nozzle is first cleaned. The calibration step includes the Z-direction calibration of the main nozzle and the XY-direction calibration of the main nozzle and the auxiliary nozzle. The Z-direction calibration step of the main nozzle is as follows: the driving device is controlled to drive the main nozzle to reach the calibration area, the camera module shoots the main nozzle and transmits the image information to the controller, and displays the image information through the display window. The operator can view the relative position of the main nozzle and the calibration part through the display window, and control the main nozzle to approach the calibration part under the drive of the driving device. When the nozzle end face of the main nozzle contacts the calibration part, it is confirmed that it has reached the calibration position. The controller automatically records the Z-direction coordinate of the main nozzle in the 3D printer box at this moment to obtain the Z-direction calibration data.

[0030] Among them, when calibrating the XY direction of the main nozzle and the auxiliary nozzle, the wire outlet direction of the main nozzle and the auxiliary nozzle is set along the Z direction, the nozzles of the main nozzle and the auxiliary nozzle are both facing the reflector, and the end face of the nozzle outlet is parallel to the optical axis direction of the camera module. The reflector reflects the image of the nozzle of the main nozzle and the auxiliary nozzle in the XY plane to the area that the camera module can shoot. The camera module then transmits the captured image information to the controller and displays the image information through the display window. The controller obtains the XY coordinates of the main nozzle and the auxiliary nozzle in the XY plane, and calculates the relative distance between the two according to the XY coordinates of the main nozzle and the auxiliary nozzle, and then obtains the XY calibration data. At this time, the controller obtains the Z calibration data of the main nozzle and the XY calibration data of the main nozzle and the auxiliary nozzle, and uses this as the compensation parameter for the subsequent driving device to drive the nozzle assembly to print, so that the 3D printer can accurately control the printing time, pause time and spatial printing position of the main nozzle and the auxiliary nozzle.

[0031] The 3D printer using the nozzle calibration device can simultaneously obtain the Z-direction calibration data and the XY-direction calibration data of the nozzle assembly, that is, it can calibrate the three-dimensional XYY spatial position of the nozzle assembly at the same time, with a simple structure, convenient operation, and short time consumption; in addition, the nozzle calibration device reduces the restrictions on the operator's operating experience during the calibration process, and greatly improves the success rate of molding by improving the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of a 3D printer nozzle calibration device provided by an embodiment of the present invention when calibrating a nozzle;

[0034] Figure 2 for Figure 1 Schematic diagram of the calibration module;

[0035] Figure 3 for Figure 2 An exploded view of the triangular prism and mounting base in the calibration module;

[0036] Figure 4 for Figure 2 A schematic diagram of another viewing angle of the mounting base;

[0037] Figure 5A schematic diagram of a display window in a 3D printer nozzle calibration device provided by an embodiment of the present invention.

[0038] Icons: 100-calibration module; 110-calibration part; 120-triangular prism; 121-first side surface; 122-second side surface; 123-reflection surface; 124-dividing edge; 130-mounting base; 131-mounting slot; 132-clamping slot; 200-camera module; 210-camera; 220-circuit board; 300-display window; 310-first calibration window; 320-second calibration window; 330-calibration mark; 400-nozzle assembly. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present invention, it should be noted that the terms "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the inventive product is usually placed when in use, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0043] In addition, the terms "horizontal" and "vertical" do not mean that the components must be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0046] This embodiment provides a 3D printer nozzle calibration device, such as Figure 1 As shown, it includes a calibration module 100 and a camera module 200. The calibration module 100 includes a calibration part and a reflector. The calibration part is used to calibrate the Z-direction position of the first nozzle of the nozzle assembly 400 of the 3D printer, and the reflector is used to reflect the positions of the first nozzle and the second nozzle of the nozzle assembly 400 in the XY plane for imaging. The optical axis of the camera module 200 is arranged perpendicular to the Z-direction. When in use, the reflector, the calibration part and the first nozzle are arranged in sequence along the Z-direction, and when the first nozzle contacts the calibration part, the camera module 200 can photograph the first nozzle. The camera module 200 can also photograph the image formed by the reflection of the first nozzle and / or the second nozzle by the reflector. The camera module 200 is connected to a display window 300, and the display window 300 is used to display the image photographed by the camera module 200.

[0047] The present embodiment also provides a 3D printer, comprising a housing, a nozzle assembly 400, a controller and the above-mentioned 3D printer nozzle calibration device, wherein the nozzle assembly 400 comprises at least a first nozzle and a second nozzle; a driving device for driving the nozzle assembly 400 to move in the XYZ directions is provided in the housing, and the driving device and the camera module 200 of the 3D printer nozzle calibration device are both connected to the controller.

[0048] This embodiment also provides a calibration method, using the above-mentioned 3D printer nozzle calibration device to calibrate the nozzle assembly 400 of the 3D printer, connecting the camera module of the 3D printer nozzle calibration device to the controller of the 3D printer, and the calibration steps include Z-direction calibration and XY-direction calibration, wherein the Z-direction calibration step includes: controlling the driving device of the 3D printer to drive the first nozzle of the nozzle assembly 400 to contact the calibration piece, observing and confirming the contact state of the first nozzle and the calibration piece through the display window 300, and the controller records the Z-direction calibration data of the first nozzle; the XY-direction calibration step includes: The camera module 200 displays the image information of the first nozzle and / or the second nozzle through the display window 300 and transmits it to the controller. The controller records the XY coordinates of the first nozzle and the second nozzle, and calculates the relative distance between the first nozzle and the second nozzle based on the XY coordinates of the first nozzle and the second nozzle to obtain the XY calibration data; the controller uses the Z calibration data as the Z-axis molding height value of the 3D printer, that is, the Z-axis molding height value of the effective molding print from the printer's printing nozzle to the printer's printing platform, and uses the XY calibration data as the compensation parameter for controlling the driving stroke of the driving device.

[0049] The present embodiment provides a 3D printer nozzle calibration device, a 3D printer and a calibration method thereof, wherein the 3D printer nozzle calibration device comprises a calibration module 100 for calibration, a camera module 200 for photographing a nozzle assembly 400 and a display window 300 for displaying an image photographed by the camera module 200, wherein the calibration member of the calibration module 100 is used to calibrate the first nozzle of the nozzle assembly 400 in the Z direction, and the reflector of the calibration module 100 is used to reflect the positions of the first nozzle and the second nozzle of the nozzle assembly 400 in the XY plane to the camera module 200; wherein the 3D printer comprises a box body providing a printing platform and space, a nozzle assembly 400 for printing, a driving device for driving the nozzle assembly 400 to move, a controller for storing and processing data information and being able to adjust and control various components, and the nozzle calibration device capable of calibrating the nozzle of the nozzle assembly 400; wherein the calibration method uses the nozzle calibration device to calibrate the nozzle of the nozzle assembly 400.

[0050] First of all, it should be pointed out that the nozzle assembly 400 includes at least two nozzles, and the first nozzle and the second nozzle in the text can be any two of the nozzles without limitation. Here, the first nozzle is the main nozzle and the second nozzle is the auxiliary nozzle. The camera module 200 forms a calibration area in the area where the calibration module 100 is located according to its shooting range. When the nozzle assembly 400 needs to be calibrated, the nozzle end face of the nozzle is first cleaned. The calibration steps include Z-direction calibration of the main nozzle and XY-direction calibration of the main nozzle and the auxiliary nozzle. Among them, the Z-direction calibration steps of the main nozzle are as follows: the driving device is controlled to drive the main nozzle to reach the calibration area, the camera module 200 shoots the main nozzle and transmits the image information to the controller, and displays the image information through the display window 300. The operator can view the relative position of the main nozzle and the calibration part through the display window 300, and control the main nozzle to approach the calibration part under the drive of the driving device. When the nozzle end face of the main nozzle contacts the calibration part, it is confirmed that it has reached the calibration position. The controller automatically records the Z-direction coordinate of the main nozzle in the 3D printer housing at this moment to obtain the Z-direction calibration data.

[0051] Among them, when calibrating the XY direction of the main nozzle and the auxiliary nozzle, the wire outlet direction of the main nozzle and the auxiliary nozzle is set along the Z direction, the nozzles of the main nozzle and the auxiliary nozzle are all facing the reflector, and the end face of the nozzle outlet is parallel to the optical axis direction of the camera module 200. The reflector reflects the image of the nozzle of the main nozzle and the auxiliary nozzle in the XY plane to the area that the camera module 200 can shoot. The camera module 200 then transmits the captured image information to the controller and displays the image information through the display window 300. The controller obtains the XY coordinates of the main nozzle and the auxiliary nozzle in the XY plane, and calculates the relative distance between the two according to the XY coordinates of the main nozzle and the auxiliary nozzle, and then obtains the XY calibration data. At this time, the controller obtains the Z calibration data of the main nozzle and the XY calibration data of the main nozzle and the auxiliary nozzle, and uses this as the compensation parameter for the subsequent driving device to drive the nozzle assembly 400 to print, so that the 3D printer can accurately control the printing time, pause time and spatial printing position of the main nozzle and the auxiliary nozzle.

[0052] The 3D printer using the nozzle calibration device can simultaneously obtain the Z-direction calibration data and the XY-direction calibration data of the nozzle assembly 400, that is, it can simultaneously calibrate the three-dimensional XYY spatial position of the nozzle assembly 400, with a simple structure, convenient operation, and short time consumption; in addition, the nozzle calibration device reduces the restrictions on the operator's operating experience during the calibration process, and greatly improves the success rate of molding by improving the calibration accuracy.

[0053] Specifically, the display window 300 can be a computer screen or an operating panel of a printer; the diameter of the nozzle of the nozzle assembly 400 is 0.2-1.2 mm, and commonly used sizes are 0.2 mm, 0.4 mm and 0.6 mm; according to the accuracy selection of the driving device and camera module of the 3D printer, the XY calibration accuracy of the above calibration method can reach ±0.007 mm, and the Z calibration accuracy can reach ±0.0008 to ±0.0015 mm.

[0054] Specifically, the X, Y, and Z directions described in the text are as follows: Figure 1 As shown in the coordinate axis, the X direction, Y direction and Z direction are set vertically in pairs, and Figure 1 The relative directions of the three are only indicated in FIG. 4 , and are not limited to specific directions. For example, when the nozzle assembly 400 is actually used, the nozzle is set vertically downward. Figure 1 As shown, during the calibration process, the nozzle assembly 400, the calibration component and the reflector are arranged from top to bottom along the vertical direction (Z direction); if the nozzle assembly 400 is set along other directions during actual use, the nozzle calibration device as a whole corresponds to the nozzle assembly 400.

[0055] It should be noted that the connection relationship between the controller and the driving device, camera module 200, display window 300, etc. falls within the protection scope of this application, but setting the control program in the controller and the control operation of the controller on the driving device, etc. belong to the prior art and do not constitute an improvement of this application.

[0056] Optionally, in the above calibration process, the following three methods can be used for the XY calibration step:

[0057] The first method: a calibration mark 330 is provided in the display window 300, and the calibration mark 330 serves as a calibration reference for the positions of the main nozzle and the auxiliary nozzle in the XY plane. The control driving device drives the nozzle assembly 400 to move in the XY plane (the XY plane at this time can be the XY plane where the main nozzle is located after the Z-direction calibration, or it can be other XY planes), and the nozzle of the main nozzle is aligned with the calibration mark 330 of the display window 300 to obtain the XY coordinates (x1, y1) of the main nozzle; the control driving device drives the nozzle assembly 400 to move in the XY plane, and the nozzle of the auxiliary nozzle is aligned with the calibration mark 330 of the display window 300 to obtain the XY coordinates (x2, y2) of the main nozzle at this time; the controller calculates the position change of the XY coordinates (x2, y2) of the main nozzle relative to the XY coordinates (x1, y1), obtains the relative distance between the main nozzle and the auxiliary nozzle, and then obtains the XY calibration data.

[0058] The second method: the control driving device drives the nozzle assembly 400 to move to the set position in the XY plane, obtains the XY coordinates (x1, y1) of the main nozzle, and establishes a calibration mark 330 corresponding to the nozzle of the main nozzle in the display window 300; the control driving device drives the nozzle assembly 400 to move in the XY plane, and aligns the nozzle of the auxiliary nozzle with the calibration mark 330 in the display window 300, and obtains the XY coordinates (x2, y2) of the main nozzle at this time; the controller calculates the position change of the XY coordinates (x2, y2) of the main nozzle relative to the XY coordinates (x1, y1), obtains the relative distance between the main nozzle and the auxiliary nozzle, and then obtains the XY calibration data.

[0059] The third method: the control driving device drives the nozzle assembly 400 to move to the set position in the XY plane, the camera module 200 shoots the nozzle assembly 400 and transmits the image information to the controller, the controller calculates the pixel value between the nozzle of the main nozzle and the nozzle of the auxiliary nozzle, and multiplies the statistical pixel value by the reference value to obtain the relative distance between the two, and then obtains the XY calibration data.

[0060] Optionally, the camera module 200 may include a camera 210 and a circuit board 220, and the circuit of the camera 210 and the circuit of the controller are both connected to the circuit board 220, thereby realizing the electrical connection between the camera 210 and the controller; specifically, a wireless transmitter may also be set on the circuit board 220 to realize the wireless connection between the camera 210 and the controller.

[0061] In this embodiment, Figure 3 and Figure 5 As shown, the reflector may further include a splitting edge 124, which can split the display window 300 into a first calibration window 310 and a second calibration window 320, wherein the image of the first nozzle is located in the first calibration window 310, and the image formed by the reflection of the first nozzle and / or the second nozzle by the reflector is located in the second calibration window 320. The splitting edge 124 is located between the real object of the nozzle assembly 400 and the image reflected by the reflector. Accordingly, in the image captured by the camera module 200, the splitting edge 124 splits the display window 300 into the first calibration window 310 and the second calibration window 320, wherein the real object image of the nozzle assembly 400 for Z-direction calibration is located in the first calibration window 310, and the image of the nozzle assembly 400 for XY-direction calibration reflected by the reflector is located in the second calibration window 320. The provision of the splitting edge 124 facilitates the operator to distinguish between the Z-direction calibration and XY-direction calibration images, and the display window 300 can further improve the convenience of operation on the basis of being able to simultaneously display the XYZ-direction calibration images.

[0062] Specifically, in this embodiment, Figure 4As shown, the reflective element may include a triangular prism 120, the three sides of which are respectively a first side 121, a second side 122 and a third side, and the intersection edge of the first side 121 and the second side 122 is a dividing edge 124; the third side is a reflecting surface 123, and the reflecting surface 123 is used to reflect and image the positions of the first nozzle and the second nozzle of the nozzle assembly 400 in the XY plane; specifically, the triangular prism 120 is a 45° right-angle prism, the first side 121 is parallel to the XY plane, the first side 121 is perpendicular to the second side 122, and the optical axis of the camera module 200 is perpendicular to the second side 122. This is a specific form of a reflector, wherein the angles between the reflective surface 123 and the first side surface 121 and the second side surface 122 are both 45°. During calibration, the reflective surface 123 can reflect the image of the nozzle assembly 400 located in the XY plane (parallel to the first side surface 121) into an image parallel to the second side surface 122, which faces the camera module 200, and the camera module 200 captures the reflected image. At this time, the dividing edge 124 can divide the display window 300 into two calibration windows of equal size, further facilitating the operator to identify the display window 300. Specifically, the coordinates in the display window 300 can be converted according to the inclination angle of the reflective surface 123, etc.

[0063] Optionally, the inclination angle of the reflecting surface of the above-mentioned triangular prism can also be other angles, such as 30°, 60°, 120°, etc., and the user can set it according to actual needs; in addition, in addition to using a triangular prism, a plane mirror can also be used as the reflector. The plane mirror reflects the nozzle and reflects the nozzle in the XY plane to the camera area of ​​the camera module.

[0064] Optionally, in this embodiment, if Figure 1-Figure 3 As shown, the calibration module 100 may also include a mounting base 130, and the calibration member and the reflector are both fixedly connected to the mounting base 130. Here is a specific arrangement of the calibration member and the reflector, and the mounting base 130 is used as a carrier to mount the calibration member and the reflector, and fix the relative position of the calibration member and the reflector. Specifically, a mounting groove 131 may be provided on the mounting base 130, and the reflector is mounted in the mounting groove 131; Figure 3 As shown, the mounting base 130 is provided with a triangular prism-shaped mounting groove 131, as shown in FIG. Figure 2 As shown, the triangular prism 120 is embedded in the mounting groove 131 , and the first side surface 121 and the second side surface 122 of the triangular prism 120 are both located at the notch of the mounting groove 131 to ensure the normal transmission of the reflected light.

[0065] In this embodiment, the calibration part may include a straight rod-shaped calibration part 110 and a connecting part fixed to the calibration part 110, the connecting part is detachably fixed to the mounting base 130, and the length direction of the calibration part 110 is perpendicular to the Z direction; preferably, the length direction of the calibration part 110 is parallel to the length direction of the dividing edge 124. This is a specific form of the calibration part, wherein the calibration part 110 is used to calibrate the Z-direction position of the nozzle assembly 400, and the connecting part is used to fix the calibration part 110 to the mounting base 130; the length direction of the calibration part 110 is parallel to the length direction of the dividing edge 124, and when the nozzle assembly 400 is calibrated in the XY direction, the driving device can be controlled to drive the nozzle assembly 400 to translate along the length direction of the calibration part 110, and the calibration part 110 can limit the nozzle assembly 400, thereby improving the translation position accuracy of the nozzle assembly 400, and improving the convenience and accuracy of calibration.

[0066] Specifically, in this embodiment, Figure 3 and Figure 4 As shown, a clamping groove 132 can be provided on the mounting base 130, and the connecting part is matched and clamped in the clamping groove 132. This is a specific form of detachable fixing of the connecting part and the mounting base 130. The operator can limit the position where the connecting part is clamped in the clamping groove 132 according to the needs to adjust the calibration part 110; or the operator can replace the calibration part according to the needs.

[0067] In this embodiment, the 3D printer nozzle calibration device may further include a shell, and the calibration module 100 and the camera module 200 are both installed in the shell, and the calibration member and the reflector of the calibration module 100 protrude from the shell. On the one hand, the shell can integrate the calibration module 100 and the camera module 200 into one component, improve the integrity of the nozzle calibration device, and improve the relative position stability of the calibration module 100 and the camera module 200, ensuring the coordinated calibration work of the two; on the other hand, the shell can also protect the calibration module 100 and the camera module 200 without affecting the work of the calibration member and the reflector. Specifically, the calibration module 100 and the camera module 200 can be connected to the shell by snap-on connection, plug-in connection or other forms of fixed connection; optionally, a wire groove can be provided in the shell, and the wires between the camera 210 of the camera module 200 and the circuit board 220 can be embedded in the wire groove.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A 3D printer nozzle calibration device, characterized in that: The invention comprises a calibration module (100) and a camera module (200), wherein the calibration module (100) comprises a calibration piece and a reflector, wherein the calibration piece is used to calibrate the position of a first nozzle of a nozzle assembly (400) of a 3D printer in the Z direction, and the reflector is used to reflect and image the positions of the first nozzle and the second nozzle of the nozzle assembly (400) in the XY plane; the optical axis of the camera module (200) is arranged perpendicular to the Z direction; when in use, the reflector, the calibration piece and the first nozzle are arranged in sequence along the Z direction at intervals, and when the first nozzle contacts the calibration piece, the camera module (200) can photograph the first nozzle; and the camera module (200) can also photograph the image formed by the reflection of the first nozzle and / or the second nozzle by the reflector; The camera module (200) is connected to a display window (300), and the display window (300) is used to display the image captured by the camera module (200); The reflective element comprises a triangular prism (120); the three side surfaces of the triangular prism (120) are respectively a first side surface (121), a second side surface (122) and a third side surface; the intersection edge of the first side surface (121) and the second side surface (122) is a dividing edge (124); the dividing edge (124) is capable of dividing the display window (300) into a first calibration window (310) and a second calibration window (320); wherein the image of the first nozzle is located in the first calibration window (310), and the image formed by the reflection of the first nozzle and / or the second nozzle by the reflective element is located in the second calibration window (320); The calibration module (100) further comprises a mounting base (130), the reflector being fixedly connected to the mounting base (130); the calibration component comprises a straight rod-shaped calibration portion (110) and a connecting portion fixedly connected to the calibration portion (110), the connecting portion being detachably fixedly connected to the mounting base (130), and the length direction of the calibration portion (110) being arranged perpendicular to the Z direction; The display window (300) is provided with a calibration mark (330), and the calibration mark (330) serves as a calibration reference for the positions of the first nozzle and the second nozzle in the XY plane.

2. The 3D printer nozzle calibration device according to claim 1, characterized in that: The third side surface is a reflective surface (123), and the reflective surface (123) is used to reflect and image the position of the first nozzle and / or the second nozzle of the nozzle assembly (400) in the XY plane.

3. The 3D printer nozzle calibration device according to claim 2, characterized in that: The triangular prism (120) is a 45° right-angle prism, the first side surface (121) is parallel to the XY plane, the first side surface (121) is perpendicular to the second side surface (122), and the optical axis of the camera module (200) is perpendicular to the second side surface (122).

4. The 3D printer nozzle calibration device according to claim 1, characterized in that: The length direction of the calibration portion (110) is arranged parallel to the length direction of the dividing edge (124).

5. A 3D printer, characterized in that: The invention comprises a housing, a nozzle assembly (400), a controller and a 3D printer nozzle calibration device according to any one of claims 1 to 4, wherein the nozzle assembly (400) comprises at least a first nozzle and a second nozzle; a driving device for driving the nozzle assembly (400) to move in XYZ directions is provided in the housing, and the driving device and a camera module (200) of the 3D printer nozzle calibration device are both connected to the controller.

6. A calibration method, characterized in that: The nozzle assembly (400) of the 3D printer is calibrated using the nozzle calibration device of any one of claims 1 to 4, and the camera module of the nozzle calibration device of the 3D printer is connected to the controller of the 3D printer. The calibration step includes Z-direction calibration and XY-direction calibration, wherein the Z-direction calibration step includes: Controlling a driving device of the 3D printer to drive a first nozzle of the nozzle assembly (400) to contact the calibration piece, observing and confirming the contact state of the first nozzle and the calibration piece through a display window (300), and the controller recording Z-direction calibration data of the first nozzle; The XY calibration steps include: The camera module (200) displays the image information of the first nozzle and / or the second nozzle through the display window (300), and transmits the information to the controller, the controller records the XY coordinates of the first nozzle and the second nozzle, and calculates the relative distance between the first nozzle and the second nozzle according to the XY coordinates of the first nozzle and the second nozzle to obtain XY calibration data; The controller uses the Z-axis calibration data as the Z-axis molding height value of the 3D printer, and uses the XY-axis calibration data as the compensation parameter for controlling the driving stroke of the driving device.

7. The calibration method according to claim 6, characterized in that: The XY calibration steps include: A calibration mark (330) is provided in the display window (300), and the control driving device drives the nozzle assembly (400) to move in the XY plane, and aligns the nozzle of the first nozzle with the calibration mark (330) in the display window (300), thereby obtaining the XY coordinates (x1, y1) of the first nozzle; or, the control driving device drives the nozzle assembly (400) to move to a set position in the XY plane, thereby obtaining the XY coordinates (x1, y1) of the first nozzle, and establishing a calibration mark (330) corresponding to the nozzle of the first nozzle in the display window (300); Controlling the driving device to drive the nozzle assembly (400) to move in the XY plane, and aligning the nozzle of the second nozzle with the calibration mark (330) of the display window (300), thereby obtaining the XY coordinates (x2, y2) of the first nozzle; The controller calculates the position change of the XY coordinate (x2, y2) of the first nozzle relative to the XY coordinate (x1, y1), obtains the relative distance between the first nozzle and the second nozzle, and further obtains XY calibration data.

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