Correction method for an extrusion processing device and extrusion processing device

Abstract

The application discloses an extrusion processing device and a correction method thereof. The correction method comprises the following steps: S1, a first extrusion part is homed to a first initial position, and a second extrusion part is homed to a second initial position; S2, the first extrusion part is moved from the first initial position by a distance of ΔX1 and ΔY1, and a first discharge port reaches a first discharge port horizontal origin O1; S3, the first extrusion part is moved from the first initial position by a distance of ΔX2 and ΔY2, and a camera shoots a first image; S4, the second extrusion part is moved from the second initial position by a distance of ΔX3 and ΔY3, and the camera shoots a second image; S5, a control system calculates a distance ΔX and ΔY between the first discharge port in S3 and the second discharge port in S4; and S6, taking O1 as the origin, the control system calculates horizontal coordinates of the first discharge port and the second discharge port. The application can correct the positions of different discharge ports on at least two extrusion parts, and is helpful to improve the extrusion precision and product quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of extrusion processing, and in particular to a correction method for an extrusion processing device and the extrusion processing device. BACKGROUND

[0002] In the production manufacturing industry, there are often devices that can extrude non-Newtonian fluids or powders on a processing platform or workpiece according to a set path, such as glue dispensers for dispensing glue on chips, 3D printers for additive manufacturing, etc. Such extrusion processing devices usually include a processing platform and an extrusion member capable of relative movement on the processing platform. The extrusion member has a discharge port and is connected to a feeding device, so as to be able to extrude glue, metal powder, ceramic powder, plastic or liquid photosensitive resin and other certain consumables to the processing platform or the workpiece of the processing platform according to process requirements. Common extrusion processing devices are provided with only one extrusion member, such as a conventional 3D printer provided with only one print head for jetting a single consumable. Such extrusion processing devices have relatively single functions. With the development of process technology and the improvement of user requirements, some extrusion processing devices are provided with two or more extrusion members, and the corresponding multiple discharge ports can be used to simultaneously discharge to improve processing efficiency, or can be used to jet different colors and / or different properties of consumables to obtain products with more complex structures and more diverse forms.

[0003] In order to ensure the processing quality and precision of the final product, it is crucial to obtain the real coordinates of each discharge port relative to the processing platform. For the above-mentioned extrusion processing devices with multiple extrusion members, there is still a lack of an efficient and accurate discharge port position correction method in the prior art. In some extrusion processing devices, multiple extrusion members are fixedly arranged to form an extrusion module, and the volume of the extrusion module is large, which is prone to collision and interference with the product on the processing platform when moving, and has poor flexibility. In such extrusion processing devices, the prior art usually only calibrates the discharge port of one of the extrusion members, and the positions of the discharge ports of the other extrusion members are calculated according to the installation support size, the specification parameters of the extrusion members, etc. However, in actual use, each extrusion member is detachably installed on the support, and the installation structures between different supports and extrusion members are different. After each installation of the extrusion member, the relative positions between different discharge ports may not be as expected. Therefore, the correction positions calculated only by relying on the parameters of the components may have errors, thereby reducing the processing quality of the final product. In other extrusion processing devices, multiple extrusion members are arranged to be relatively movable. The installation positions of the extrusion members in different devices and the relative positions of the discharge ports in different specification extrusion members are different, and there is no effective and feasible position correction method suitable for two or more independently movable extrusion members disclosed on the market. SUMMARY

[0004] The present application aims at the problems existing in the prior art, and provides a correction method for an extrusion processing device and the extrusion processing device suitable for the correction method.

[0005] To achieve the above-mentioned purpose, the present application adopts the technical scheme of:

[0006] The present application provides a correction method for an extrusion processing device, wherein the extrusion processing device comprises a processing platform, a first extrusion part and a second extrusion part, the first extrusion part is movably arranged relative to the processing platform, the second extrusion part is movably arranged relative to the processing platform, the first extrusion part has a first discharge port, the second extrusion part has a second discharge port, and the correction method comprises the following steps:

[0007] S1, the first extrusion part is returned to a first initial position, and the second extrusion part is returned to a second initial position;

[0008] S2, the first extrusion part is moved by a distance ΔX1 along an X direction and a distance ΔY1 along a Y direction from the first initial position, the first discharge port reaches a first discharge port horizontal origin O1, and a control system records the ΔX1 and the ΔY1, wherein the X direction and the Y direction respectively extend along a horizontal direction, and the X direction and the Y direction are perpendicular to each other;

[0009] S3, the first extrusion part is moved by a distance ΔX2 along the X direction and a distance ΔY2 along the Y direction from the first initial position, the first discharge port enters a shooting area of a camera, the control system records the ΔX2 and the ΔY2, and the camera shoots a first image of the first discharge port at this time;

[0010] S4, the second extrusion part is moved by a distance ΔX3 along the X direction and a distance ΔY3 along the Y direction from the second initial position, the second discharge port enters the shooting area of the camera, the control system records the ΔX3 and the ΔY3, and the camera shoots a second image of the second discharge port at this time;

[0011] S5, the control system acquires the first image and the second image, calculates a distance ΔX along the X direction and a distance ΔY along the Y direction between the first discharge port in S3 and the second discharge port in S4, and records the ΔX and the ΔY;

[0012] S6, taking the first discharge port horizontal origin O1 as an origin in a horizontal direction, when the first extrusion part is located at the first initial position, the horizontal coordinates of the first discharge port are (X 01 , Y 01), the horizontal coordinates of the second discharge port being (X 02 , Y 02 ) when the second extrusion member is in the second initial position, the control system calculating (X 01 , Y 01 ) and (X 02 , Y 02 ) according to ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, ΔY;

[0013] Wherein, the S2, S3, S4 are not in order.

[0014] In some embodiments, the first extrusion member and the second extrusion member are arranged to be relatively movable.

[0015] In some embodiments, the first extrusion member and the second extrusion member are arranged to be relatively fixed.

[0016] In some embodiments, the correction method further comprises the following steps:

[0017] T1, the first extrusion member starts from the first initial position, the machining platform and the first extrusion member move relatively along the Z direction, when the first discharge port triggers the detection signal of the height sensor, the control system records the distance ΔZ1 of the machining platform and the first extrusion member relatively moving along the Z direction, the Z direction being the direction perpendicular to the horizontal plane;

[0018] T2, the second extrusion member starts from the second initial position, the machining platform and the second extrusion member move relatively along the Z direction, when the second discharge port triggers the detection signal of the height sensor, the control system records the distance ΔZ2 of the machining platform and the second extrusion member relatively moving along the Z direction;

[0019] Wherein, the T1, T2 and S1 are not in order.

[0020] In some embodiments, in the T1, the machining platform remains stationary along the Z direction, and the first extrusion member moves relatively along the Z direction.

[0021] In some embodiments, in the T1, the first extrusion member remains stationary along the Z direction, and the machining platform moves relatively along the Z direction.

[0022] In some embodiments, in the T1, the first extrusion member and the machining platform are respectively movable relatively along the Z direction.

[0023] In some embodiments, in the T2, the machining platform remains stationary along the Z direction, and the second extrusion member moves relatively along the Z direction.

[0024] In some embodiments, in the T2, the second extrusion part is kept stationary along the Z direction, and the processing platform moves relatively along the Z direction.

[0025] In some embodiments, in the T2, the second extrusion part and the processing platform are capable of moving relatively along the Z direction respectively.

[0026] In some embodiments, the height sensor is used to detect pressure, and the height sensor is fixedly arranged opposite to the processing platform, and the upper surface of the detection end of the height sensor is in the same horizontal plane as the upper surface of the processing platform.

[0027] In some embodiments, in the S1, whether the first extrusion part reaches the first initial position along the X direction is detected by a first sensor, and whether the first extrusion part reaches the first initial position along the Y direction is detected by a second sensor.

[0028] In some embodiments, whether the second extrusion part reaches the second initial position along the X direction is detected by a third sensor, and whether the second extrusion part reaches the second initial position along the Y direction is detected by a fourth sensor.

[0029] In some embodiments, the first sensor and the third sensor are the same sensor.

[0030] In some embodiments, the second sensor and the fourth sensor are the same sensor.

[0031] An extrusion processing device, comprising a processing platform, a first extrusion part and a second extrusion part, the first extrusion part and the processing platform are arranged to be capable of moving relatively, the second extrusion part and the processing platform are arranged to be capable of moving relatively, the first extrusion part has a first discharge port, the second extrusion part has a second discharge port, the extrusion processing device adopts the discharge port correction method for extrusion processing device, the extrusion processing device further comprises the camera and the control system, and the control system is signal connected with the first extrusion part, the second extrusion part, the camera respectively.

[0032] In some embodiments, the extrusion processing device further comprises a height sensor, and the height sensor and the camera are arranged opposite to the processing platform respectively, and the upper surface of the detection end of the height sensor is in the same horizontal plane as the upper surface of the processing platform.

[0033] In some embodiments, the extrusion processing device further comprises a bracket and a moving frame, the moving frame is movably connected with the bracket, the first extrusion member is movably connected with the moving frame; the extrusion processing device further comprises a first sensor and a second sensor, the first sensor is used for detecting whether the first extrusion member reaches the first initial position along the X direction, the second sensor is used for detecting whether the first extrusion member is located at the first initial position along the Y direction, one of the first sensor and the second sensor is arranged on the moving frame, and the other is arranged on the bracket.

[0034] In some embodiments, the extrusion processing device further comprises a third sensor and a fourth sensor, the third sensor is used for detecting whether the second extrusion member reaches the second initial position along the X direction, and the fourth sensor is used for detecting whether the second extrusion member reaches the second initial position along the Y direction.

[0035] In some embodiments, the first sensor and the third sensor are the same sensor.

[0036] In some embodiments, the second sensor and the fourth sensor are the same sensor.

[0037] In some embodiments, the extrusion processing device further comprises a bracket and a moving frame, the moving frame is movably connected with the bracket along the Y direction, and the first extrusion member and the second extrusion member are movably connected with the moving frame along the X direction respectively; the extrusion processing device further comprises a first sensor and a third sensor, the first sensor and the third sensor are arranged on the moving frame respectively, and the first sensor and the third sensor are arranged on different sides of the moving frame along the X direction, the first sensor is used for detecting whether the first extrusion member reaches the first initial position along the X direction, and the third sensor is used for detecting whether the second extrusion member reaches the second initial position along the X direction.

[0038] In some embodiments, the extrusion processing device further comprises a second sensor arranged on the bracket, the second sensor is used for detecting whether the moving frame reaches the moving frame origin along the Y direction, when the moving frame is located at the moving frame origin, the first extrusion member is located at the first initial position along the Y direction, and the second extrusion member is located at the second initial position along the Y direction.

[0039] Due to the application of the above-mentioned technical solution, the correction method for an extrusion processing device and the extrusion processing device provided by the present invention can perform position correction on different outlets of at least two extrusions. The method can customize the origin of the processing platform according to actual needs before each processing, and determine the accurate distance between the two outlets through a few simple translation movements of the two extrusions, and efficiently and quickly obtain the true coordinates of the two outlets relative to the horizontal origin of the first outlet. Furthermore, the method according to the present invention can also simply derive a correction method for more than three outlets, and the correction method is applicable to various situations where multiple extrusions are relatively fixed or relatively moving. Therefore, the correction method can be actively applied in various types of extrusion processing devices, which helps to improve the extrusion processing accuracy and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0041] Attachment Figure 1 This is a partial front view schematic diagram of the extrusion processing device in Example 1 of the present invention;

[0042] Attachment Figure 2 This is a partial top view schematic diagram of the extrusion processing device in Example 1;

[0043] Attachment Figure 3 It is a partial side view schematic diagram of the extrusion processing device in Example 1;

[0044] Attachment Figure 4 Schematic diagram of the calibration method of the extrusion processing device in Example 1;

[0045] Attachment Figure 5 Schematic diagram of the calibration method of the extrusion processing device in Example 2;

[0046] Attachment Figure 6 Schematic diagram of the calibration method of the extrusion processing device in Example 3;

[0047] Attachment Figure 7 Schematic diagram of the calibration method of the extrusion processing device in Example 4;

[0048] Among them: 10, first extrusion; 11, first discharge port; 20, second extrusion; 21, second discharge port; 40, processing platform; 41, camera; 42, height sensor; 43, base; 51, bracket; 511, first bracket; 512, second bracket; 52, mobile frame; 521, first mobile frame; 522, second mobile frame; 531, first mounting frame; 532, second mounting frame; 61, first sensor; 62, second sensor; 63, third sensor; 64, fourth sensor. DETAILED DESCRIPTION

[0049] The advantages and features of the present application will be understood more easily by the following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings. Embodiment 1

[0050] Referring to Figures 1 to 4 As shown in the drawings, the present embodiment provides an extrusion processing device and a correction method thereof, which is specifically exemplified by a 3D printer. The extrusion processing device comprises a processing platform 40, a first extrusion member 10 and a second extrusion member 20, wherein the first extrusion member 10 and the processing platform 40 are arranged in relative movement, the second extrusion member 20 and the processing platform 40 are arranged in relative movement, the first extrusion member 10 has a first discharge port 11, and the second extrusion member 20 has a second discharge port 21. In the present embodiment, the first extrusion member 10 and the second extrusion member 20 are arranged in relative movement, the first extrusion member 10 and the second extrusion member 20 are both located above the processing platform 40, and the first discharge port 11 and the second discharge port 21 are both arranged downward, so as to extrude the printing consumables to the processing platform 40.

[0051] In the present embodiment, the extrusion processing device further comprises a base 43, a support 51, a moving frame 52 and the like, and further comprises an overall rack (not shown in the drawings), the base 43 is arranged in the rack or integrally arranged with the rack, and the processing platform 40 is arranged in relative movement on the base 43, so as to level the processing platform 40 before printing, and ensure that the upper surface of the processing platform 40 is located in the horizontal plane. In the present embodiment, for the convenience of description and understanding, the XYZ three-dimensional coordinate system is established with the base 43 as the reference, the X direction, the Y direction and the Z direction are perpendicular to each other, the X direction and the Y direction respectively extend along the horizontal direction, and the Z direction is the vertical direction perpendicular to the horizontal direction.

[0052] Referring to Figures 1 to 4 As shown in the drawings, in the present embodiment, the support 51 is fixedly arranged with the rack, the moving frame 52 is connected with the support 51 in relative movement along the Y direction, and the first extrusion member 10 and the second extrusion member 20 are respectively connected with the moving frame 52 in relative movement along the X direction. Specifically, the support 51 has two supports arranged on the X direction different sides of the processing platform 40, respectively a first support 511 and a second support 512 (not shown in the drawings), the moving frame 52 is connected with the first support 511 and the second support 512 in relative movement along the Y direction, and the first extrusion member 10 and the second extrusion member 20 are respectively connected with the moving frame 52 in relative movement along the X direction. Figures 1 to 3The first support 511 and the second support 512 respectively extend along the Y direction, and the moving frame 52 extends along the X direction. The two ends of the moving frame 52 are respectively connected to the supports 51 on the same side in a sliding manner. In this embodiment, the moving frame 52 is further provided with a first mounting frame 531 and a second mounting frame 532 in a sliding manner. The first extrusion member 10 is mounted on the first mounting frame 531, and the second extrusion member 20 is mounted on the second mounting frame 532. The extrusion processing device further comprises a control system (not shown in the figure). The control system is respectively connected to the moving frame 52, the first mounting frame 531, the second mounting frame 532, the first extrusion member 10, the second extrusion member 20, and the like in a signal manner. Thus, the control system can control the relative movement of each component, and drive the first extrusion member 10 and the second extrusion member 20 to move in a preset direction by a preset distance according to the installation program. On the other hand, the first extrusion member 10 and the second extrusion member 20 can move along the Z direction relative to the processing platform 40, so as to perform layer-by-layer printing along the Z direction. In this embodiment, the relative movement is realized by the moving frame 52, which can be raised and lowered relative to the support 51, so as to drive the first extrusion member 10 and the second extrusion member 20 to be raised and lowered.

[0053] In other embodiments, the movement and driving mode of the first extrusion member 10 and the second extrusion member 20 relative to the processing platform 40 in the three-dimensional space can also adopt many alternative solutions. For details, reference can be made to the prior art, and the present application is not limited. For example, the number of supports 51 can be one or more than three; the first extrusion member 10 and the second extrusion member 20 can be respectively arranged on the independently moving supports 51 and moving frames 52, instead of sharing a set of moving frames 52; the support 51 can be arranged to be capable of moving along the Z direction relative to the processing platform 40; the first mounting frame 531 and the second mounting frame 532 can be arranged to be capable of moving along the Z direction relative to the moving frame 52; the first extrusion member 10 and the second extrusion member 20 cannot move along the Z direction relative to the rack, while the processing platform 40 can be raised and lowered along the Z direction relative to the rack; the first extrusion member 10, the second extrusion member 20, and the processing platform 40 can respectively move along the Z direction relative to the rack, and the like.

[0054] Referring to Figures 1 to 4As shown, in the embodiment, the extrusion processing device further comprises a camera 41, a height sensor 42, a first sensor 61, a second sensor 62 and a third sensor 63, and the control system is respectively signal connected with the camera 41, the height sensor 42, the first sensor 61, the second sensor 62 and the third sensor 63, so that the control system can comprehensively control the movement of the first extrusion part 10 and the second extrusion part 20 according to different detection signals. The camera 41 and the height sensor 42 are respectively fixedly arranged on the processing platform 40, the camera 41 can take a photo upward along the Z direction and transmit the photo to the control system. Here, the height sensor 42 is specifically used for detecting pressure, that is, a pressure sensor, and the upper surface of the detection end of the height sensor 42 is located in the same horizontal plane as the upper surface of the processing platform 40. In the embodiment, the second sensor 62 is arranged on the support 51, specifically at one end of the second support 512, along the Y direction, the first extrusion part 10 and the second extrusion part 20 are arranged on one side of the moving frame 52, and the second sensor 62 is arranged on the other side of the moving frame 52. The first sensor 61 and the third sensor 63 are respectively arranged on the moving frame 52, along the X direction, the first sensor 61 and the third sensor 63 are respectively arranged on different sides of the moving frame 52, the first extrusion part 10 and the second extrusion part 20 can move between the first sensor 61 and the third sensor 63, and the first extrusion part 10 is relatively located on the side close to the first sensor 61, and the second extrusion part 20 is relatively located on the side close to the third sensor 63. In the embodiment, one or more of the first sensor 61, the second sensor 62 and the third sensor 63 can also be a pressure sensor, so that when the moving frame 52 moves along the Y direction and abuts against the detection end of the second sensor 62, the second sensor 62 can detect a pressure signal, indicating that the moving frame 52 has moved to a specific position of the support 51 (hereinafter referred to as "moving frame origin"); similarly, when the first extrusion part 10 or the first mounting frame 531 moves along the X direction and abuts against the detection end of the first sensor 61, the first sensor 61 detects a pressure signal, indicating that the first extrusion part 10 has moved to a specific position of the moving frame 52; when the second extrusion part 20 or the second mounting frame 532 moves along the X direction and abuts against the detection end of the third sensor 63, the third sensor 63 detects a pressure signal, indicating that the second extrusion part 20 has moved to a specific position of the moving frame 52.

[0055] In other embodiments, the specific selection of the height sensor 42, the first sensor 61, the second sensor 62 and the third sensor 63 can also not be limited to pressure sensors, for example, a laser displacement sensor can be used to measure the distance between the to-be-detected component and the sensor; or a conductive sensor can be used to determine whether the to-be-detected component is in contact with the sensor by whether the circuit is conductive or not, etc. The purpose of the sensor is to determine whether the moving component such as the first extrusion 10, the second extrusion 20 or the moving frame 52 has moved to a certain known specific position, and the specific detection method is not limited by the present application, and the prior art can be used.

[0056] The following will be described in detail Figure 4 The correction method for the extrusion processing device in the embodiment is specifically introduced, and the correction method includes the following steps:

[0057] S1, the first extrusion 10 is homed to the first initial position, and the second extrusion 20 is homed to the second initial position;

[0058] S2, the first extrusion 10 moves a distance ΔX1 along the X direction and a distance ΔY1 along the Y direction from the first initial position, and the first discharge port 11 reaches the first discharge port horizontal origin O1, and the control system records ΔX1 and ΔY1;

[0059] S3, the first extrusion 10 moves a distance ΔX2 along the X direction and a distance ΔY2 along the Y direction from the first initial position, and the first discharge port 11 enters the shooting area of the camera 41, the control system records ΔX2 and ΔY2, and the camera 41 shoots the first image of the first discharge port 11 at this time;

[0060] S4, the second extrusion 20 moves a distance ΔX3 along the X direction and a distance ΔY3 along the Y direction from the second initial position, and the second discharge port 21 enters the shooting area of the camera 41, the control system records ΔX3 and ΔY3, and the camera 41 shoots the second image of the second discharge port 21 at this time;

[0061] S5, the control system acquires the first image and the second image, calculates the distance ΔX along the X direction and the distance ΔY along the Y direction between the first discharge port 11 in S3 and the second discharge port 21 in S4, and the control system records ΔX and ΔY;

[0062] S6, taking the first discharge port horizontal origin O1 as the origin in the horizontal direction, when the first extrusion 10 is located at the first initial position, the horizontal coordinates of the first discharge port 11 are (X 01 , Y 01 ), and when the second extrusion 20 is located at the second initial position, the horizontal coordinates of the second discharge port 21 are (X 02 , Y 02), the control system is calculated based on ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, ΔY (X 01 , Y 01 ) and (X 02 , Y 02 );

[0063] Among them, S2, S3, and S4 are in no particular order.

[0064] It should be noted that during the movement of the first extrusion 10 or the second extrusion 20, the movement along the X direction and the movement along the Y direction are not sequential and can be performed simultaneously. To facilitate subsequent description and calculation, in this embodiment, the values ​​of displacements or distances such as ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, and ΔY are defined to be greater than or equal to zero. In actual computer programming, the positive and negative directions of the X and Y directions can also be defined. For example, Figure 4 In the X-direction, rightward movement is defined as positive, and leftward movement is defined as negative. Therefore, when the second extrusion 20 moves a distance ΔX3 to the left along the X-direction, ΔX3 is negative, and so on. In short, as long as the logic in each step of the calibration method is unified, the control system can calculate the true coordinates of the first extrusion 10 and the second extrusion 20 based on the recorded values.

[0065] In this embodiment, in S1, the first sensor 61 detects whether the first extrusion 10 reaches the first initial position along the X direction, the third sensor 63 detects whether the second extrusion 20 reaches the second initial position along the X direction, and the second sensor 62 detects whether the movable frame 52 reaches the movable frame origin along the Y direction. When the movable frame 52 reaches the movable frame origin, the first extrusion 10 reaches the first initial position along the Y direction, and the second extrusion 20 reaches the second initial position along the Y direction. Figure 2 and Figure 4 From the perspective of , the first initial position is located at the upper left corner of the processing platform 40, and the second initial position is located at the upper right corner of the processing platform 40. It should be noted that when the first extrusion 10 is located at the first initial position and the second extrusion 20 is located at the second initial position, the coordinates of the first outlet 11 and the second outlet 21 relative to the processing platform 40 cannot be directly known, because in different processes, the first extrusion 10 and the second extrusion 20 are both detachable and replaceable, the specifications of different first extrusions 10 are not the same, and their installation positions on the first mounting frame 531 are also different. Therefore, the actual position of the first outlet 11 cannot be directly calculated based on the position of the first extrusion 10, and the same is true for the second extrusion 20 and the second outlet 21.

[0066] In this embodiment, the displacement distances ΔX1, ΔY1, ΔX2, ΔY2, ΔX3 and ΔY3 are artificially set, and the staff inputs the above parameters to the control system according to experience or actual needs, or can be adjusted in real time during the movement to control the movement of the first extrusion part 10 or the second extrusion part 20 relative to the processing platform 40; and ΔX and ΔY are measured by the control system according to the photographed image, and the control system records the two measurement values for the coordinate calculation of the first discharge port 11 and the second discharge port 21. Among them, the position of the first discharge port horizontal origin O1 is determined by ΔX1 and ΔY1, and the position of the first discharge port horizontal origin O1 relative to the processing platform 40 is selected in relation to the product to be printed, and the staff can set the first discharge port horizontal origin O1 at the center or corner of the processing platform 40 according to needs.

[0067] Referring to Figure 4 As shown in the figure, in this embodiment, the first discharge port horizontal origin O1 is taken as the origin in the horizontal direction, the right direction is taken as the positive direction of the X direction, and the upward direction is taken as the positive direction of the Y direction. Then in the XY horizontal coordinate system, when the first extrusion part 10 is located at the first initial position, the coordinates of the first discharge port 11 are (-ΔX1, -ΔY1), and when the second extrusion part 20 is located at the second initial position, the coordinates of the second discharge port 21 are (ΔX3+ΔX+ΔX2-ΔX1, ΔY3-ΔY-ΔY2+ΔY1).

[0068] In this embodiment, the correction method of the extrusion processing device further includes the following steps:

[0069] T1, the first extrusion part 10 starts from the first initial position, the processing platform 40 and the first extrusion part 10 move relative to each other in the Z direction, and when the first discharge port 11 triggers the detection signal of the height sensor 42, the control system records the distance ΔZ1 of the relative movement of the processing platform 40 and the first extrusion part 10 in the Z direction;

[0070] T2, the second extrusion part 20 starts from the second initial position, the processing platform 40 and the second extrusion part 20 move relative to each other in the Z direction, and when the second discharge port 21 triggers the detection signal of the height sensor 42, the control system records the distance ΔZ2 of the relative movement of the processing platform 40 and the second extrusion part 20 in the Z direction;

[0071] Among them, T1, T2 and S1 are not in order. That is, the position correction of the first discharge port 11 and the second discharge port 21 in the Z direction and the position correction of each of them in the XY horizontal plane can be performed in order or interlaced, and neither of them affects the final correction result.

[0072] In this embodiment, the moving frame 52 can be lifted relative to the support frame 51, so that in T1, the machining platform 40 remains stationary along the Z direction, and the first extrusion 10 moves relative to the machining platform 40 along the Z direction; in T2, the machining platform 40 remains stationary along the Z direction, and the second extrusion 20 moves relative to the machining platform 40 along the Z direction. In other embodiments, if the machining platform 40 can be lifted along the Z direction, the following mode can also be adopted: in T1, the first extrusion 10 remains stationary along the Z direction, and the machining platform 40 moves relative to the first extrusion 10 along the Z direction; in T2, the second extrusion 20 remains stationary along the Z direction, and the machining platform 40 moves relative to the second extrusion 20 along the Z direction. In other embodiments, the following mode can also be adopted: in T1, the first extrusion 10 and the machining platform 40 move relative to each other along the Z direction; in T2, the second extrusion 20 and the machining platform 40 move relative to each other along the Z direction. In other embodiments, in T1 and T2, the movement modes of the first extrusion 10, the second extrusion 20 and the machining platform 40 are not limited to the above cases, as long as the relative movement between the extrusion to be corrected and the machining platform 40 along the Z direction occurs.

[0073] In this embodiment, in T1, the first extrusion 10 starts from the first initial position, moves along the XY direction to the position directly above the height sensor 42, and then gradually descends until the height sensor 42 detects a pressure signal, indicating that the first discharge port 11 has reached the horizontal plane of the upper surface of the machining platform 40. The control system records the descent height ΔZ1 of the first extrusion 10 at this time, and ΔZ1 is the height coordinate of the first discharge port 11 relative to the upper surface of the machining platform 40 when the first extrusion 10 is in the first initial position. Similarly, ΔZ2 is the height coordinate of the second discharge port 21 relative to the upper surface of the machining platform 40 when the second extrusion 20 is in the second initial position. In other embodiments, if a laser displacement sensor is used as the height sensor 42, in T1, the first discharge port 11 does not necessarily need to completely contact the detection end of the height sensor 42. The worker can pre-set the horizontal plane above the machining platform 40 at a distance ΔZ0 (hereinafter referred to as the "origin plane") as the height origin of the first discharge port 11. When the height sensor 42 detects that the first discharge port 11 is at a distance ΔZ0 therefrom, the first extrusion 10 stops descending, and the control system records the descent height ΔZ1 of the first extrusion 10 at this time. Then ΔZ1 is the height coordinate of the first discharge port 11 relative to the origin plane when the first extrusion 10 is in the first initial position. Similarly, by using the same method, ΔZ2 is the height coordinate of the second discharge port 21 relative to the origin plane when the second extrusion 20 is in the second initial position. Embodiment 2

[0074] Reference Figure 5As shown, this embodiment provides an extrusion processing device and a calibration method thereof, wherein the structure of the extrusion processing device is the same as that of Example 1, and the steps of the calibration method are also basically the same as those of Example 1, and are not repeated here. The main difference between this embodiment and Example 1 is that in the calibration method, the specific values ​​of ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, and ΔY are different, resulting in the horizontal coordinate (X 02 , Y 02 ) are different, but the operation logic is the same.

[0075] Compare Figure 4 and Figure 5 It can be seen that in Example 1, the horizontal origin O1 of the first discharge port is located on the left side of the camera 41's shooting area, while in this embodiment, the horizontal origin O1 of the first discharge port is located on the right side of the camera 41's shooting area. In Example 1, the first discharge port 11 in S3 is located to the upper left of the second discharge port 21 in S4, while in this embodiment, the first discharge port 11 in S3 is located to the lower right of the second discharge port 21 in S4. In this embodiment, the horizontal origin O1 of the first discharge port is also used as the origin in the horizontal direction, the right is the positive direction of the X direction, and the upward direction is the positive direction of the Y direction. Then, in the XY horizontal coordinate system, when the first extrusion 10 is in the first initial position, the coordinates of the first discharge port 11 are (-ΔX1, -ΔY1). When the second extrusion 20 is in the second initial position, the coordinates of the second discharge port 21 are (ΔX3-ΔX+ΔX2-ΔX1, ΔY3+ΔY-ΔY2+ΔY1). Example 3

[0076] See also Figure 6 As shown, this embodiment provides an extrusion processing device and a calibration method thereof. The structure of the extrusion processing device in this embodiment is basically the same as that in Example 1, and the steps of the calibration method are also basically the same as those in Example 1. The main difference lies in the specific settings of the bracket 51 and the movable frame 52.

[0077] In the embodiment, the support 51 comprises a first support 511 and a second support 512, and the moving frame 52 comprises a first moving frame 521 and a second moving frame 522. The first support 511 and the second support 512 extend along the X direction respectively, the first moving frame 521 and the second moving frame 522 extend along the Y direction respectively, and the first support 511 and the second support 512 are arranged on different sides of the Y direction of the machining platform 40. The first moving frame 521 is connected to the first support 511 in relative movement along the X direction, the first mounting frame 531 is connected to the first moving frame 521 in relative movement along the Y direction, and the first extrusion part 10 is mounted on the first moving frame 521. The second moving frame 522 is connected to the second support 512 in relative movement along the X direction, the second mounting frame 532 is connected to the second moving frame 522 in relative movement along the Y direction, and the second extrusion part 20 is mounted on the second mounting frame 532. In this way, the first extrusion part 10 and the second extrusion part 20 can move completely independently of each other.

[0078] Referring to Figure 6 In the embodiment, the extrusion machining device comprises a first sensor 61, a second sensor 62, a third sensor 63 and a fourth sensor 64. The first sensor 61 is arranged on the first support 511, the second sensor 62 is arranged on the first moving frame 521, and the two sensors cooperate to determine whether the first extrusion part 10 is returned to the first initial position. The third sensor 63 is arranged on the second support 512, and the fourth sensor 64 is arranged on the second moving frame 522, and the two sensors cooperate to determine whether the second extrusion part 20 is returned to the second initial position. In the embodiment, the first initial position is located at the upper left corner of the machining platform 40, and the second initial position is located at the lower left corner of the machining platform 40. The fourth sensor 64 also uses a pressure sensor, and the working principle of each sensor is the same as that of the first sensor 61, which will not be described here.

[0079] In the embodiment, the horizontal origin point O1 of the first discharge port is taken as the origin point in the horizontal direction, the right direction is taken as the positive direction of the X direction, and the upward direction is taken as the positive direction of the Y direction. In the XY horizontal coordinate system, when the first extrusion part 10 is located at the first initial position, the coordinates of the first discharge port 11 are (-ΔX1, -ΔY1), and when the second extrusion part 20 is located at the second initial position, the coordinates of the second discharge port 21 are (-ΔX3-ΔX+ΔX2-ΔX1, -ΔY3+ΔY-ΔY2+ΔY1). Embodiment 4

[0080] Referring to Figure 7 In the embodiment, an extrusion machining device and a correction method thereof are provided. The structure of the extrusion machining device in the embodiment is basically the same as that in the first embodiment, and the main difference lies in the specific arrangement of the support 51, the moving frame 52 and the mounting support.

[0081] In this embodiment, the first extrusion member 10 and the second extrusion member 20 are installed on the same mounting bracket (not shown in the figure) to form an extrusion module, so that the two can move synchronously in the XYZ coordinate system, but due to differences in specifications, sizes, and installation methods, the first discharge port 11 and the second discharge port 21 need to be corrected in position respectively, and the correction method is the same as that in Embodiment 1.

[0082] Specifically, in this embodiment, only one set of bracket 51 and moving frame 52 are provided, the bracket 51 extends along the Y direction, the moving frame 52 extends along the X direction, the moving frame 52 is movably connected with the bracket 51 along the Y direction, and the extrusion module is movably connected with the moving frame 52 along the X direction. The first sensor 61 is arranged on the moving frame 52, which is used to detect whether the first extrusion member 10 reaches the first initial position along the X direction and whether the second extrusion member 20 reaches the second initial position along the X direction; the second sensor 62 is arranged on the bracket 51, which is used to detect whether the first extrusion member 10 reaches the first initial position along the Y direction and whether the second extrusion member 20 reaches the second initial position along the Y direction. As can be known from the above Embodiments 1-4, in different embodiments, due to different arrangement modes of the bracket 51, the moving frame 52 and other moving structures, the first sensor 61 and the third sensor 63 can be two separate sensors or one sensor, and the second sensor 62 and the fourth sensor 64 can be two separate sensors or one sensor, but their functions and working principles are the same, which can be flexibly adjusted according to actual conditions.

[0083] In this embodiment, the horizontal origin O1 of the first discharge port is taken as the origin in the horizontal direction, and the right direction is taken as the positive direction of the X direction and the upward direction is taken as the positive direction of the Y direction. Then, in the XY horizontal coordinate system, when the first extrusion member 10 is located at the first initial position, the coordinate of the first discharge port 11 is (-ΔX1, -ΔY1), and when the second extrusion member 20 is located at the second initial position, the coordinate of the second discharge port 21 is (-ΔX3+ΔX+ΔX2-ΔX1, ΔY3-ΔY-ΔY2+ΔY1).

[0084] In other embodiments, if the first initial position is located to the right of the horizontal origin O1 of the first discharge port, the initial coordinate of the first discharge port 11 is (ΔX1, ΔY1). That is, in different embodiments, due to differences in the structure of the extrusion processing device, the selection of the horizontal origin O1 of the first discharge port, the relative displacement of the first extrusion member 10 and the second extrusion member 20, etc., the finally calculated (X 01 , Y 01 ) and (X 02 , Y 02The formula of the above-mentioned equation can be different, but can be calculated according to the known parameters ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, ΔY and plane geometry analysis, and has good applicability.

[0085] Further, the correction method for the extrusion processing device provided by the present application is also applicable to the case of more than three extrusion members, in which case, one of the extrusion members is defined as the first extrusion member 10, and the other extrusion members are sequentially defined as the second extrusion member 20, and then the second extrusion member 20 is sequentially corrected according to the method described in S4-S6 and T2. When the extrusion processing device comprises more than three extrusion members, whether the extrusion members can move relative to each other or some of the extrusion members are relatively fixed, the correction method provided by the present application is applicable, and the real coordinates of the discharge port of each extrusion member relative to the same coordinate origin can be accurately calculated by repeating the simple steps.

[0086] It should be noted that although the extrusion processing device in each of the above-mentioned embodiments is taken as an example of a 3D printer, the structure and correction method provided by the present application are also applicable to other types of extrusion processing devices. For example, when the extrusion processing device is a dispensing machine, the workpiece to be dispensed can be placed on the processing platform, and the first extrusion member and the second extrusion member are respectively dispensing heads, each of which can be movably arranged above the processing platform with the discharge port facing downward, so that each dispensing head can respectively extrude glue downward toward the workpiece to realize dispensing, and the position correction method of the first extrusion member and the second extrusion member can be referred to the above-mentioned embodiments.

[0087] In summary, the extrusion processing device and the correction method thereof provided by the present application can quickly and accurately calibrate and position the discharge ports of the extrusion members in the extrusion processing device, thereby improving the precision of the cooperation of the extrusion members and improving the quality of the final product.

[0088] The above-mentioned embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application, and any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

Claims

1. A calibration method for an extrusion processing device, wherein the extrusion processing device includes a processing platform, a first extrusion member, and a second extrusion member, wherein the first extrusion member and the processing platform are arranged to be relatively movable, the second extrusion member and the processing platform are arranged to be relatively movable, the first extrusion member has a first discharge port, and the second extrusion member has a second discharge port, characterized in that: The calibration method comprises the following steps: S1, the first extrusion member returns to a first initial position, and the second extrusion member returns to a second initial position; S2. The first extrusion moves from the first initial position in the X direction by a distance ΔX1 and in the Y direction by a distance ΔY1 until the first discharge port reaches the first discharge port horizontal origin O1. The control system records ΔX1 and ΔY1, where the X direction and the Y direction extend in the horizontal direction and are perpendicular to each other. S3: The first extrusion moves from the first initial position in the X direction by a distance ΔX2 and in the Y direction by a distance ΔY2. The first discharge port enters the camera's shooting area. The control system records ΔX2 and ΔY2. The camera captures a first image of the first discharge port at this time. S4: The second extrusion moves from the second initial position in the X direction by a distance ΔX3 and in the Y direction by a distance ΔY3. The second discharge port enters the camera's shooting area. The control system records ΔX3 and ΔY3. The camera captures a second image of the second discharge port at this time. S5, the control system acquires the first image and the second image, calculates the distance ΔX along the X direction and the distance ΔY along the Y direction between the first discharge port in S3 and the second discharge port in S4, and the control system records ΔX and ΔY; S6. With the horizontal origin O1 of the first discharge port as the origin in the horizontal direction, when the first extrusion piece is located at the first initial position, the horizontal coordinate of the first discharge port is (X 01 , Y 01 ), when the second extrusion piece is at the second initial position, the horizontal coordinate of the second discharge port is (X 02 , Y 02 ), the control system calculates the (X according to the ΔX1, ΔY1, ΔX2, ΔY2, ΔX3, ΔY3, ΔX, ΔY 01 , Y 01 ) and (X 02 , Y 02 ); Among them, the said S2, S3, S4 are not in particular order, and the position of the horizontal origin O1 of the first discharge port is determined according to the set ΔX1 and ΔY1; The first extrusion piece and the second extrusion piece are arranged to be movable relative to each other, or the first extrusion piece and the second extrusion piece are arranged to be fixed relative to each other.

2. The calibration method for an extrusion processing device according to claim 1, characterized in that: The calibration method further comprises the following steps: T1: The first extrusion starts from the first initial position, and the processing platform and the first extrusion move relative to each other in the Z direction. When the first discharge port triggers a detection signal from the height sensor, the control system records the distance ΔZ1 of the relative movement between the processing platform and the first extrusion in the Z direction, where the Z direction is a direction perpendicular to the horizontal plane. T2: The second extrusion starts from the second initial position, and the processing platform and the second extrusion move relative to each other along the Z direction. When the second discharge port triggers the detection signal of the height sensor, the control system records the distance ΔZ2 of the relative movement between the processing platform and the second extrusion along the Z direction; Among them, T1, T2 and S1 are not ranked in order.

3. The calibration method for an extrusion processing device according to claim 2, characterized in that: In T1, the processing platform remains stationary along the Z direction, and the first extrusion piece moves relatively along the Z direction; or, In T1, the first extrusion piece remains stationary along the Z direction, and the processing platform moves relatively along the Z direction; or, In T1, the first extrusion component and the processing platform are capable of relative movement along the Z direction.

4. The calibration method for an extrusion processing device according to claim 2, characterized in that: In the step T2, the processing platform remains stationary along the Z direction, and the second extrusion piece moves relatively along the Z direction; or, In said T2, the second extrusion piece remains stationary along the Z direction, and the processing platform moves relatively along the Z direction; or, In T2, the second extrusion piece and the processing platform are capable of relative movement along the Z direction.

5. The calibration method for an extrusion processing device according to claim 2, characterized in that: The height sensor is used to detect pressure. The height sensor and the processing platform are fixedly arranged relative to each other. The upper surface of the detection end of the height sensor and the upper surface of the processing platform are located in the same horizontal plane.

6. The calibration method for an extrusion processing device according to claim 1, characterized in that: In S1 , a first sensor is used to detect whether the first extrusion member has reached the first initial position along the X direction, and a second sensor is used to detect whether the first extrusion member has reached the first initial position along the Y direction.

7. The calibration method for an extrusion processing device according to claim 6, characterized in that: In S1 , a third sensor is used to detect whether the second extrusion piece reaches the second initial position along the X direction, and a fourth sensor is used to detect whether the second extrusion piece reaches the second initial position along the Y direction.

8. The calibration method for an extrusion processing device according to claim 7, characterized in that: The first sensor and the third sensor are the same sensor.

9. The calibration method for an extrusion processing device according to claim 7, characterized in that: The second sensor and the fourth sensor are the same sensor.

10. An extrusion processing device, comprising a processing platform, a first extrusion member, and a second extrusion member, wherein the first extrusion member and the processing platform are arranged to be movable relative to each other, the second extrusion member and the processing platform are arranged to be movable relative to each other, the first extrusion member has a first discharge port, and the second extrusion member has a second discharge port, characterized in that: The extrusion processing device adopts the correction method for the extrusion processing device according to any one of claims 1 to 9, and the extrusion processing device also includes the camera and the control system, and the control system is signal-connected to the first extrusion piece, the second extrusion piece, and the camera respectively.

11. The extrusion processing device according to claim 10, characterized in that: The extrusion processing device also includes a height sensor. The height sensor and the camera are respectively fixedly arranged relative to the processing platform. The upper surface of the detection end of the height sensor and the upper surface of the processing platform are located in the same horizontal plane.

12. The extrusion processing device according to claim 10, characterized in that: The extrusion processing device also includes a bracket and a movable frame, the movable frame is connected to the bracket so as to be relatively movable, and the first extrusion piece is connected to the movable frame so as to be relatively movable; the extrusion processing device also includes a first sensor and a second sensor, the first sensor is used to detect whether the first extrusion piece reaches the first initial position along the X direction, and the second sensor is used to detect whether the first extrusion piece is located at the first initial position along the Y direction, one of the first sensor and the second sensor is arranged on the movable frame, and the other is arranged on the bracket.

13. The extrusion processing device according to claim 12, characterized in that: The extrusion processing device further includes a third sensor and a fourth sensor. The third sensor is used to detect whether the second extrusion piece reaches the second initial position along the X direction. The fourth sensor is used to detect whether the second extrusion piece reaches the second initial position along the Y direction.

14. The extrusion processing device according to claim 13, characterized in that: The first sensor and the third sensor are the same sensor.

15. The extrusion processing device according to claim 13, characterized in that: The second sensor and the fourth sensor are the same sensor.

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