A three-coordinate automatic positioning device for 3D printing nozzle and positioning molding method

Abstract

A three-coordinate automatic positioning device and positioning molding method for a 3D printing nozzle belongs to the field of 3D printing technology. The present invention is to solve the problems of existing 3D printer nozzles, such as the lack of a detection and evaluation system, cumbersome manual positioning operations, low positioning accuracy, inability to perform breakpoint printing, and poor light curing effects. The base of the present invention is installed on a carrier for installing the printing nozzle; the image collector, position sensor, and light curing lamp assembly are all installed on the side of the base facing the printing carrier, the image collector is used to take real-time photos of the product on the printing carrier, and transmit them to the projection screen and analysis and evaluation system; the position sensor is used to realize the positioning of the printing nozzle in the vertical direction, ensuring that the vertical distance between the printing nozzle and the printing carrier is within the appropriate printing range; the light curing lamp assembly is used to realize the catalytic curing of photosensitive materials according to the trajectory in a fixed point, accurate, and variable time. The present invention is mainly used for positioning the printing nozzle.

Description

Technical Field

[0001] The present invention belongs to the field of 3D printing technology, and in particular relates to a three-coordinate automatic positioning device and a positioning molding method for a 3D printing nozzle. Background Art

[0002] 3D printers are a rapidly emerging type of prototyping equipment. They utilize a rapid prototyping process that creates three-dimensional models layer by layer. 3D printing is typically achieved using digital material printers. They are often used in mold making, industrial design, and other fields to create models, but can also be used for direct product manufacturing. Parts have already been printed using this technology. This technology has applications in jewelry, footwear, industrial design, architecture, engineering and construction, automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, and other fields. Therefore, the development of 3D printers is an inevitable trend.

[0003] However, existing 3D printers have the following problems:

[0004] First, existing 3D printing nozzles often use a fixed printing starting point, which has high requirements for the specifications of the printing carrier; or use a thickness ruler for positioning, which requires manual measurement and adjustment. However, the manual positioning method has problems such as poor control accuracy, cumbersome operation and long time consumption.

[0005] Secondly, since the existing print head only has a single vertical positioning method, it cannot achieve in-situ printing, so the printing process cannot achieve breakpoint printing. Once the printing is interrupted, it needs to be restarted. For example, in the event of a power outage, reprinting will be time-consuming, energy-consuming and consumable. Moreover, other printing materials cannot be replaced during printing, and the printing nozzle cannot be replaced. There are problems with the single printing material and great limitations.

[0006] Third, the existing 3D printer light curing module is fixed to the printing chamber, and the irradiation range is large, which not only causes large energy loss and poor curing effect, but also has a certain impact on the unformed material.

[0007] Fourth, existing 3D printers rely on the human eye to observe the printing process from the outside, but the printer cavity is small and the distance is far. Models with complex structures in particular will be blocked from view, making it extremely difficult to observe. Once waste products appear, they cannot be discovered in time. Therefore, existing 3D printers lack a detection system and cannot perform real-time detection, evaluation and feedback on the printing process.

[0008] Therefore, the present application provides a three-coordinate automatic positioning device and positioning molding method for a 3D printing nozzle with a breakpoint printing function. Summary of the Invention

[0009] The technical problem to be solved by the present invention is that the existing 3D printer nozzles lack a detection and evaluation system, the manual positioning operation is cumbersome, the positioning accuracy is low, breakpoint printing cannot be performed, and the light curing effect is poor. Therefore, a three-coordinate automatic positioning device and a positioning molding method for a 3D printing nozzle are provided.

[0010] The technical solution adopted by the present invention to solve the above technical problems is:

[0011] A three-coordinate automatic positioning device for a 3D printing nozzle comprises a base, an image collector, a position sensor and a light-curing lamp assembly; the base is mounted on a carrier for mounting the printing nozzle; the image collector, position sensor and light-curing lamp assembly are all mounted on the side of the base facing the printing carrier.

[0012] Furthermore, a plurality of mounting holes are provided on the side of the base facing the printing carrier, and the image collector, the position sensor and the light curing lamp assembly are respectively installed in the mounting holes of the base; and ventilation holes are provided on the side wall of the base.

[0013] Furthermore, the image collector is a camera with a crosshair, and the printing carrier is engraved with a crosshair near the edge.

[0014] Furthermore, the position sensor is an ultrasonic position sensor or a laser position sensor.

[0015] Furthermore, the light curing lamp assembly includes a UV lamp driver and UV lamp beads, the UV lamp beads are installed on the side of the base facing the printing carrier, the UV lamp driver is installed in the base, and the UV lamp driver is electrically connected to the UV lamp beads.

[0016] A three-coordinate automatic positioning and molding method for a 3D printing nozzle, the specific positioning and molding process is as follows:

[0017] Step 1: Establishing a longitudinal coordinate system and longitudinal positioning of the print head: The longitudinal coordinate system is established based on the position sensor. The motion control mechanism of the 3D printer controls the base and the print head carrier to move downward and close to the print carrier. The position sensor determines the distance between the print head and the print carrier. When the distance between the two reaches a preset initial distance value, the position sensor sends a signal to the control system of the 3D printer, and the print head stops moving downward, completing the automatic positioning of the print head in the vertical direction.

[0018] Step 2: Initial horizontal positioning of the print head: The 3D printer's motion control mechanism drives the positioning device and print head to move, using a camera to identify the position of the print substrate until the center of the camera crosshairs coincides with the center of the crosshairs on the print substrate, achieving initial horizontal positioning of the print head.

[0019] Step 3: Establishing the spatial three-dimensional coordinate system of the print head: A horizontal coordinate system is established with the center point of the crosshairs on the print carrier as the coordinate point, and together with the vertical coordinate system established by the position sensor, a spatial three-dimensional coordinate system is formed to determine the spatial three-dimensional coordinates of the print head, realizing breakpoint printing of the 3D printer;

[0020] Step 4: Printing Analysis and Evaluation: The 3D printer controls the print head to print, and uses a camera to capture product images in real time. The captured images are transmitted to the projection screen and the analysis and evaluation system. Based on the output of the analysis and evaluation system, a decision is made as to whether to issue a warning or continue printing, thus achieving real-time monitoring, storage, and analysis of product printing.

[0021] Step 5, curing and shaping: Turn on the UV lamp beads and irradiate the printed material to achieve catalytic curing of the product.

[0022] Furthermore, in the above step 3, when the printing material, nozzle or print head needs to be replaced during printing and a breakpoint occurs, the coordinate value of the breakpoint is determined by the spatial three-coordinate system of the print head, and the 3D printer drives the print head back to the component replacement position through the motion control mechanism. After the replacement is completed, the 3D printer drives the print head back to its position through the motion control mechanism to continue printing the product; if the model of the print head changes, the control panel of the 3D printer switches to the current print head model, and the system automatically calculates the difference between the two print heads based on the models before and after the replacement. The motion control mechanism of the 3D printer automatically performs position correction based on this difference, driving the print head accurately back to the position of the workpiece breakpoint, providing a starting point for continued printing of the product.

[0023] Furthermore, in the step 3, when the spatial three-coordinate system of the print head is lost, steps 1, 2 and 3 are repeated to re-establish the spatial three-coordinate system of the print head, and the motion control mechanism is manually controlled through the control panel to make the printing point of the print head return to the position of the breakpoint. Based on the coordinate value of the breakpoint in the spatial three-coordinate system of the print head and the coordinate value of the breakpoint in the spatial three-coordinate system of the workpiece, the connection between the spatial three-coordinate system of the workpiece and the spatial three-coordinate system of the print head is established, and the system controls the motion control mechanism to drive the print head in the spatial three-coordinate system of the workpiece to continue printing according to the spatial three-coordinate system of the workpiece.

[0024] Furthermore, in step 5, when the product is completely printed, the positioning device is driven to move by the motion control mechanism of the 3D printer so that the ultraviolet lamp beads on the positioning device are aligned with the position that needs to be cured and irradiated, thereby achieving on-demand curing of the product.

[0025] Furthermore, in step 5, when a printing-while-curing method is required, the motion control mechanism of the 3D printer drives the UV lamp beads according to the molding trajectory of the product to achieve layer-by-layer curing; after curing is completed, the motion control mechanism of the 3D printer drives the print head to return to its position and continue printing, and this step is repeated until the product is printed and cured.

[0026] The beneficial effects of the present invention compared with the prior art are:

[0027] 1. This application uses a camera with a crosshair to take real-time photos of the product on the printing carrier, realizes real-time detection of the printing situation, and transmits it to the projection screen and analysis and evaluation system. The printer can observe the printing process intuitively, comprehensively, clearly and in real time through the projection screen, and detect waste products in time. The analysis and evaluation system can also be used to evaluate and analyze the product printing and determine whether to issue a warning or continue printing, which is more advantageous in long-cycle printing.

[0028] 2. This application uses a position sensor to achieve vertical positioning of the print head, so that the vertical distance between the print head and the print carrier is within a suitable printing range, with an accuracy controlled within 0.005mm.

[0029] 3. This application realizes automatic positioning of the horizontal plane through a camera with a crosshair and the crosshairs on the printing carrier, and simultaneously establishes a horizontal plane coordinate system, and forms a spatial three-coordinate system together with the vertical coordinate system established by the position sensor, to ensure that after the print head prints at a breakpoint, it can accurately return to its original position and continue printing based on the determined breakpoint position, with an accuracy of up to 0.01mm, thereby realizing the purpose of automatic positioning, breakpoint printing, nozzle replacement and multi-material printing of the 3D printer print head; it has the characteristics of high positioning accuracy and high degree of automation, while reducing the operating steps, improving the printing quality, reducing the scrap rate, and saving printing time.

[0030] 4. This application realizes the on-demand curing or curing while printing of products according to different printing materials through the motion control mechanism of the 3D printer and the light curing lamp assembly, and can achieve the effect of fixed-point, accurate, and variable-duration catalytic curing along the trajectory.

[0031] 5. The positioning device of the present application is an integrated structure integrating detection, solidification and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are incorporated in and constitute a part of this application and are used to provide a further understanding of the present invention.

[0033] Figure 1 It is the front view of the present invention.

[0034] Figure 2 It is a side view of the present invention.

[0035] Figure 3 It is a rear view of the present invention.

[0036] Figure 4 It is a bottom view of the present invention.

[0037] Explanation of the reference numerals: 1-base; 1-1-ventilation hole; 2-image collector; 3-position sensor; 4-light curing lamp assembly; 4-1-UV lamp driver; 4-2-UV lamp beads. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0039] See also Figures 1 to 4 The embodiment of the present application provides a three-coordinate automatic positioning device for a 3D printing nozzle, which includes a base 1, an image collector 2, a position sensor 3 and a light-curing lamp assembly 4; the base 1 is installed on a carrier for mounting the printing nozzle; the image collector 2, position sensor 3 and light-curing lamp assembly 4 are all installed on the side of the base 1 facing the printing carrier.

[0040] In this embodiment, the image collector 2 is used to take real-time photos of the product on the printing carrier, realize real-time detection of the printing status, and transmit the image to the projection screen and analysis and evaluation system; the position sensor 3 is used to realize the vertical positioning of the print nozzle, ensuring that the vertical distance between the print nozzle and the printing carrier is within the appropriate printing range, with an accuracy controlled within 0.005mm, so as to be used for products of different specifications and thicknesses; the light curing lamp assembly 4 is used to realize the catalytic curing of the photosensitive material in a fixed, accurate, and variable-time trajectory.

[0041] In this embodiment, the light-curing lamp assembly 4, image acquisition device 2, and position sensor 3 are integrated into a base 1, saving space, simplifying wiring, and facilitating maintenance. The light-curing lamp assembly 4 is installed on the side of the base 1 facing the print carrier, closest to the curing material, achieving high efficiency and energy saving, and clearly demarcating the accumulated material from the curing area.

[0042] Furthermore, the base 1 has several mounting holes on the side facing the printing carrier, and the image collector 2, position sensor 3 and light curing lamp assembly 4 are respectively installed in the mounting holes of the base 1; the side wall of the base 1 has ventilation holes 1-1 to achieve heat dissipation.

[0043] Furthermore, the image collector 2 is a camera with a crosshair, and a crosshair is engraved near the edge of the printing carrier. The crosshairs on the camera and the crosshairs on the printing carrier are used for positioning on the horizontal plane, and the three spatial coordinates are established together based on the position sensor 3 to realize the positioning of the three spatial coordinates of the printing nozzle; wherein the crosshairs on the printing carrier are set at the edge to prevent the printed product from covering and affecting the positioning of the printing nozzle.

[0044] Furthermore, the position sensor 3 may be an ultrasonic position sensor or a laser position sensor, and the position sensor 3 emits ultrasonic waves or lasers to the printing carrier to determine the distance between the two.

[0045] Furthermore, the light curing lamp assembly 4 includes a UV lamp driver 4-1 and a UV lamp bead 4-2. The UV lamp bead 4-2 is installed in the mounting hole on the side of the base 1 facing the printing carrier. The UV lamp driver 4-1 is installed in the base 1. The UV lamp driver 4-1 is electrically connected to the UV lamp bead 4-2. The mounting hole opened on the base 1 has a focusing effect on the UV lamp bead 4-2, preventing the UV light from diffusing and affecting the curing of the unprinted material.

[0046] The present application provides a three-coordinate automatic positioning and molding method for a 3D printing nozzle. The specific positioning and molding process is as follows:

[0047] Step 1, establish a longitudinal coordinate system and longitudinal positioning of the print head: Based on the position sensor 3, the longitudinal coordinate system is established. The motion control mechanism of the 3D printer controls the mounting base 1 and the carrier of the print head to move downward and close to the print carrier. The distance between the print head and the print carrier is determined by the position sensor 3. When the distance between the two reaches a preset initial distance value, the position sensor 3 sends a signal to the control system of the 3D printer, and the print head stops moving downward, and the print head completes automatic positioning in the vertical direction.

[0048] Step 2: Initial horizontal positioning of the print head: The 3D printer's motion control mechanism drives the positioning device and the print head to move, and uses the camera to identify the position of the print carrier until the center point of the camera's crosshairs coincides with the center point of the crosshairs on the print carrier, thereby achieving initial horizontal positioning of the print head.

[0049] Step 3, establish the spatial three-coordinate system of the print head: establish a horizontal plane coordinate system with the center point of the crosshairs on the printing carrier as the coordinate point, and form a spatial three-coordinate system together with the vertical coordinate system established by the position sensor 3 to determine the spatial three coordinates of the print head and realize breakpoint printing of the 3D printer; there are two situations for breakpoint printing, one is: the spatial three-coordinate system of the print head always exists. When the printing material, nozzle or print head needs to be replaced in the middle of printing and a breakpoint occurs, the coordinate value of the breakpoint is determined by the spatial three-coordinate system of the print head, and the 3D printer drives the print head to retreat to the component replacement position through the motion control mechanism. After the replacement is completed, the 3D printer drives the print head back to its position through the motion control mechanism to realize continued printing of the product; if the model of the print head changes, the control panel of the 3D printer switches to the current print head model, and the system automatically calculates the difference between the two print heads before and after the replacement according to the models of the two print heads. Based on this difference, the motion control mechanism of the 3D printer automatically corrects the position and drives the print head to accurately return to the position of the workpiece breakpoint, providing a starting point for continued printing of the product.

[0050] The other is: when the spatial three-coordinate system of the print head is lost, such as the 3D printer suddenly loses power, restart the 3D printer, repeat steps 1, 2 and 3, re-establish the spatial three-coordinate system of the print head, manually control the motion mechanism through the control panel to make the printing point of the print head return to the position of the breakpoint, and establish the connection between the spatial three-coordinate system of the workpiece and the spatial three-coordinate system of the print head based on the coordinate value of the breakpoint in the spatial three-coordinate system of the print head and the coordinate value of the breakpoint in the spatial three-coordinate system of the workpiece. The system controls the motion control mechanism to drive the print head in the spatial three-coordinate system of the workpiece and continue printing according to the spatial three-coordinate system of the workpiece.

[0051] Step 4: Printing Analysis and Evaluation: The 3D printer controls the print head to print, uses a camera to capture product images in real time, and transmits the captured images to the projection screen and analysis and evaluation system (Peregrine software). Users can observe the printing process intuitively, comprehensively, clearly, and in real time through the projection screen, and detect waste products in a timely manner.

[0052] The analysis and evaluation system processes images based on convolutional neural networks, taking into account the composition of edges, lines, corners and textures, and uses a custom algorithm to process the pixel values of the image. Based on the obtained results, it determines whether the printing is abnormal. If an anomaly that may affect the quality of the part is detected, it will automatically alert the operator so that adjustments can be made.

[0053] Step 5, curing and shaping: turn on the UV lamp beads 4-2 and irradiate the printed material to achieve fast, accurate and high-quality catalytic curing of the product; there are two specific curing methods, one is on-demand curing: when the product is completely printed, the positioning device is driven to move by the motion control mechanism of the 3D printer so that the UV lamp beads 4-2 on the positioning device are aligned with the position that needs to be cured for irradiation; the other is curing while printing: when the print head stops printing after printing one or several layers, the motion control mechanism of the 3D printer drives the UV lamp beads 4-2 according to the molding trajectory of the product to achieve layer-by-layer curing; after curing is completed, the motion control mechanism of the 3D printer drives the print head to return to its position and continue printing, and repeats this step until the product is printed and cured.

[0054] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A three-coordinate automatic positioning molding method for a 3D printing nozzle, characterized by: The invention is realized by using a three-coordinate automatic positioning device for a 3D printing nozzle, which comprises a base (1), an image collector (2), a position sensor (3) and a light curing lamp assembly (4); the base (1) is mounted on a carrier for mounting the printing nozzle; the image collector (2), the position sensor (3) and the light curing lamp assembly (4) are all mounted on the side of the base (1) facing the printing carrier; the side of the base (1) facing the printing carrier is provided with a plurality of mounting holes, and the image collector (2), the position sensor (3) and the light curing lamp assembly (4) are respectively mounted in the mounting holes of the base (1); a ventilation hole (1-1) is provided on the side wall of the base (1); the image collector (2) is a camera with a crosshair, and a crosshair is engraved near the edge of the printing carrier; the specific positioning and molding process is as follows: Step 1, establishing a longitudinal coordinate system and longitudinal positioning of the print head: a longitudinal coordinate system is established based on a position sensor (3), a motion control mechanism of the 3D printer controls the base (1) and the carrier of the print head to move downward and approach the print carrier, and the distance between the print head and the print carrier is determined by the position sensor (3), until the distance between the two reaches a preset initial distance value, the position sensor (3) sends a signal to the control system of the 3D printer, the print head stops moving downward, and the print head completes automatic positioning in the vertical direction; Step 2: Initial horizontal positioning of the print head: The 3D printer's motion control mechanism drives the positioning device and print head to move, using a camera to identify the position of the print substrate until the center of the camera crosshairs coincides with the center of the crosshairs on the print substrate, achieving initial horizontal positioning of the print head. Step 3, establishing a spatial three-coordinate system for the print head: establishing a horizontal coordinate system with the center point of the crosshairs on the print carrier as the coordinate point, and forming a spatial three-coordinate system together with the vertical coordinate system established by the position sensor (3) to determine the spatial three coordinates of the print head and realize breakpoint printing of the 3D printer; Step 4: Printing Analysis and Evaluation: The 3D printer controls the print head to print, and uses a camera to capture product images in real time. The captured images are transmitted to the projection screen and the analysis and evaluation system. Based on the output of the analysis and evaluation system, a decision is made as to whether to issue a warning or continue printing, thus achieving real-time monitoring, storage, and analysis of product printing. Step 5, curing and shaping: Turn on the UV lamp beads (4-2) and irradiate the printed material to achieve catalytic curing of the product.

2. A three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 1, characterized in that: In the above step 3, when the printing material, nozzle or print head needs to be replaced during printing and a breakpoint occurs, the coordinate value of the breakpoint is determined by the spatial three-coordinate system of the print head, and the 3D printer drives the print head back to the component replacement position through the motion control mechanism. After the replacement is completed, the 3D printer drives the print head back to its position through the motion control mechanism to continue printing the product; if the model of the print head changes, the control panel of the 3D printer switches to the current print head model, and the system automatically calculates the difference between the two print heads based on the models before and after the replacement. The motion control mechanism of the 3D printer automatically corrects the position based on this difference, driving the print head accurately back to the position of the workpiece breakpoint, providing a starting point for continued printing of the product.

3. The three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 1, characterized in that: In the above-mentioned step 3, when the spatial three-coordinate system of the print head is lost, steps 1, 2 and 3 are repeated to re-establish the spatial three-coordinate system of the print head. The motion control mechanism is manually controlled through the control panel to make the printing point of the print head return to the position of the breakpoint. Based on the coordinate value of the breakpoint in the spatial three-coordinate system of the print head and the coordinate value of the breakpoint in the spatial three-coordinate system of the workpiece, the connection between the spatial three-coordinate system of the workpiece and the spatial three-coordinate system of the print head is established. The system controls the motion control mechanism to drive the print head in the spatial three-coordinate system of the workpiece to continue printing according to the spatial three-coordinate system of the workpiece.

4. A three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 2 or 3, characterized in that: In step 5, when the product is completely printed, the motion control mechanism of the 3D printer drives the positioning device to move, so that the ultraviolet lamp beads (4-2) on the positioning device are aligned with the position that needs to be cured and irradiated, thereby achieving on-demand curing of the product.

5. A three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 2 or 3, characterized in that: In step 5, when a printing and curing method is required, the motion control mechanism of the 3D printer drives the ultraviolet lamp beads (4-2) according to the molding trajectory of the product to achieve layer-by-layer curing; after curing is completed, the motion control mechanism of the 3D printer drives the print head to return to its position and continue printing, and this step is repeated until the product is printed and cured.

6. The three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 1, characterized in that: The position sensor (3) is an ultrasonic position sensor or a laser position sensor.

7. The three-coordinate automatic positioning molding method for a 3D printing nozzle according to claim 1, characterized in that: The light curing lamp assembly (4) comprises an ultraviolet lamp driver (4-1) and an ultraviolet lamp bead (4-2), wherein the ultraviolet lamp bead (4-2) is mounted on a side of the base (1) facing the printing carrier, and the ultraviolet lamp driver (4-1) is mounted inside the base (1), and the ultraviolet lamp driver (4-1) is electrically connected to the ultraviolet lamp bead (4-2).

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