Zero point calibration method, system, device and medium for five-axis 3D printer

Abstract

The application discloses a kind of zero point calibration method, system, equipment and medium for five-axis 3D printer, comprising: build turntable coordinate system xyz;In the middle of turntable table, any point is selected as the estimated printing origin;The x-axis coordinate value of the estimated printing origin is increased by offset l1, and the printing nozzle is used to rotate printing on the turntable table, to obtain the first reference circle;The y-axis coordinate value of the estimated printing origin is increased by offset l2, and the printing nozzle is used to rotate printing on the turntable table, to obtain the second reference circle;According to offset l1, the diameter of the first reference circle, offset l2 and the diameter of the second reference circle, the error of the estimated printing origin relative to the real printing origin is calculated, and the estimated printing origin is corrected according to the error, to obtain the zero point calibration result of five-axis 3D printer;The application does not need to install additional sensor equipment, and the origin positioning of five-axis 3D printer can be quickly calculated, and the difficulty is small.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of 3D printing, and particularly relates to a zero point calibration method, system, device and medium for a five-axis 3D printer. BACKGROUND

[0002] 3D printing, also known as additive manufacturing, has the advantage that it can directly utilize a three-dimensional digital model generated by a computer to generate a solid entity of any shape through layer-by-layer material stacking, thus making production and manufacturing more convenient and more suitable for future personalized manufacturing modes. Compared with traditional subtractive manufacturing technology, it greatly reduces time cost and material loss.

[0003] At present, the traditional 3D printing technology is limited by the device structure and other reasons, and problems such as step effect or the need to add complex support structures may occur during printing. In order to solve the above problems, domestic and foreign researchers have successively proposed five-axis 3D printing technology that increases the degree of freedom of the printing device to change the printing direction. Among them, a more practical structure is to add a double-rotation cradle type structure turntable to the traditional three-axis 3D printer to form a five-axis 3D printer by adding a two-degree-of-freedom rotating platform, thereby significantly improving the flexibility of 3D printing.

[0004] Since the traditional 3D printer has only three degrees of freedom of movement, the printing origin can be set at any point on the platform, that is, the accuracy requirement for the printing origin is low. When in use, the traditional contact type limit switch can meet the origin calibration requirement. However, when the five-axis 3D printer is applied, due to the limited machining accuracy and the fact that the existing contact type limit switch cannot satisfy the determination of the printing origin of the five-axis 3D printer, that is, it cannot satisfy the zero point calibration requirement of the five-axis 3D printer. When the actual model is printed, if the turntable is not leveled, the extruded filament of the printing nozzle cannot be attached to the turntable surface. Secondly, since the printing origin cannot be accurately determined, the actual value of the model's contour profile will not match the original design size. In addition, if the set position of the printing origin deviates from the actual position, after the turntable rotates during the printing process, the printing nozzle cannot be accurately positioned, which greatly affects the forming quality and surface accuracy. SUMMARY

[0005] In view of the technical problems existing in the prior art, the application provides a zero point calibration method, system, device and medium for a five-axis 3D printer to solve the technical problem that due to the limited machining accuracy and the fact that the existing contact type limit switch cannot satisfy the determination of the printing origin of the five-axis 3D printer, that is, it cannot satisfy the zero point calibration requirement of the five-axis 3D printer.

[0006] To achieve the above purpose, the technical scheme adopted by the application is as follows:

[0007] This invention provides a zero-point calibration method for a five-axis 3D printer, comprising:

[0008] Construct the turntable surface coordinate system of the double-rotating cradle-type turntable to obtain the turntable coordinate system xyz;

[0009] Arbitrarily select a point in the middle of the turntable surface of the double-rotating cradle-type turntable as the estimated printing origin; wherein, the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y).

[0010] An offset l1 is added to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; based on the first reference point, the printing nozzle is used to rotate and print on the turntable to obtain a first reference circle, and the diameter of the first reference circle is measured to be D1.

[0011] An offset l2 is added to the estimated y-axis coordinate value of the printing origin to obtain a second reference point; based on the second reference point, the print head is used to rotate and print on the turntable to obtain a second reference circle, and the diameter of the second reference circle is measured to be D2.

[0012] The error of the estimated printing origin relative to the actual printing origin is calculated based on the offset l1, the diameter D1 of the first reference circle, the offset l2, and the diameter D2 of the second reference circle.

[0013] By using the error between the estimated printing origin and the actual printing origin, the estimated printing origin is corrected to obtain the actual printing origin, which is the zero-point calibration result of the five-axis 3D printer.

[0014] Furthermore, the process of constructing the turntable coordinate system of the double-rotating cradle-type turntable and obtaining the turntable coordinate system xyz is as follows:

[0015] Define the axis of rotation of the double-rotating cradle-type turntable around the horizontal direction as the x-axis of the turntable coordinate system xyz, define the axis of rotation around the normal direction of the turntable surface as the z-axis of the turntable coordinate system xyz, define the true center of the double-rotating cradle-type turntable as the origin of the turntable coordinate system xyz, and determine the y-axis of the turntable coordinate system xyz according to the right-hand rule.

[0016] Furthermore, based on the first reference point, the process of obtaining the first reference circle by rotating the printhead on the turntable surface to print is as follows:

[0017] Move the print head above the first reference point, rotate the turntable surface with the z-axis of the turntable coordinate system xyz as the rotation axis, and print a circular outline on the turntable surface using the print head to obtain the first reference circle.

[0018] Further, according to the second reference point, the process of rotating printing on the turntable table by the printing nozzle to obtain the second reference circle is as follows:

[0019] The printing nozzle is moved above the second reference point, the turntable table is rotated with the z-axis of the turntable coordinate system xyz as the rotation axis, and the printing nozzle is used to print a circular contour on the turntable table to obtain the second reference circle.

[0020] Further, the error of the estimated printing origin relative to the real printing origin includes an x-axis coordinate error and a y-axis coordinate error;

[0021] The calculation process of the x-axis coordinate error and the y-axis coordinate error is as follows:

[0022]

[0023]

[0024] Where Δx is the x-axis coordinate error, and Δy is the y-axis coordinate error.

[0025] Further, the coordinate value of the real printing origin is (x+Δx, y+Δy).

[0026] Further, after obtaining the real printing origin, the zero point calibration step of the printing nozzle is further included.

[0027] The zero point calibration step of the printing nozzle is as follows:

[0028] The printing nozzle is moved above the real printing origin, and the zero point calibration operation of the five-axis 3D printer is completed.

[0029] The application also provides a zero point calibration system for a five-axis 3D printer, comprising:

[0030] A coordinate system module is used to construct a turntable table coordinate system of a double-rotation cradle structure turntable to obtain a turntable coordinate system xyz.

[0031] An origin estimation module is used to select an arbitrary point in the middle of the turntable table of the double-rotation cradle structure turntable as an estimated printing origin, wherein the coordinate of the estimated printing origin in the turntable coordinate system xyz is (x, y).

[0032] A first reference circle module is configured to add an offset l1 to an x-axis coordinate value of the estimated printing origin to obtain a first reference point, and to perform rotational printing on a rotary table surface by using a printing head according to the first reference point to obtain a first reference circle and measure a diameter D1 of the first reference circle.

[0033] A second reference circle module is configured to add an offset l2 to a y-axis coordinate value of the estimated printing origin to obtain a second reference point, and to perform rotational printing on the rotary table surface by using the printing head according to the second reference point to obtain a second reference circle and measure a diameter D2 of the second reference circle.

[0034] An error calculation module is configured to calculate an error of the estimated printing origin relative to a real printing origin according to the offset l1, the diameter D1 of the first reference circle, the offset l2 and the diameter D2 of the second reference circle.

[0035] An origin correction module is configured to correct the estimated printing origin according to the error of the estimated printing origin relative to the real printing origin to obtain the real printing origin, i.e., to obtain a zero-point calibration result of the five-axis 3D printer.

[0036] The application further provides a zero-point calibration device for a five-axis 3D printer, which comprises:

[0037] A memory is configured to store a computer program.

[0038] A processor is configured to execute the computer program to implement the steps of the zero-point calibration method for the five-axis 3D printer.

[0039] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the zero-point calibration method for the five-axis 3D printer.

[0040] Compared with the prior art, the application has the following beneficial effects:

[0041] The application provides a zero point calibration method and system for a five-axis 3D printer. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The principle diagram of the zero point calibration method for the five-axis 3D printer is described for the embodiments. DETAILED DESCRIPTION

[0043] In order to make the technical problems solved by the application, the technical solutions and beneficial effects more clearly understood, the following specific embodiments are used to further describe the application in detail. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0044] The application provides a zero point calibration method for a five-axis 3D printer, the five-axis 3D printer comprising a 3D printer body and a double-rotation cradle structure turntable; the 3D printer body is a traditional 3D printer, wherein a printing nozzle is arranged; the double-rotation cradle structure turntable comprises a turntable table surface, and the turntable table surface has a horizontal direction rotation degree of freedom and a normal direction rotation degree of freedom.

[0045] Specifically, the zero point calibration method for the five-axis 3D printer comprises the following steps:

[0046] Step 1, constructing a turntable table surface coordinate system of the double-rotation cradle structure turntable to obtain a turntable coordinate system xyz; specifically, defining a rotation shaft of the double-rotation cradle structure turntable rotating in the horizontal direction as an x axis of the turntable coordinate system xyz, defining a rotation shaft rotating in a normal direction of the turntable table surface of the double-rotation cradle structure turntable as a z axis of the turntable coordinate system xyz, defining a real center of the double-rotation cradle structure turntable as a coordinate origin of the turntable coordinate system xyz, and determining a y axis of the turntable coordinate system xyz according to the right-hand rule.

[0047] Step 2, an arbitrary point in the middle of the turntable tabletop of the double-rotation cradle structure turntable is selected as an estimated printing origin; wherein the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y).

[0048] Step 3, an offset l1 is added to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; according to the first reference point, a first reference circle is obtained by rotating printing on the turntable tabletop using a printing head, and the diameter of the first reference circle is measured to be D1; wherein the following steps are specifically included:

[0049] An offset l1 is added to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; wherein the coordinates of the first reference point are (x+l1, y);

[0050] The printing head is moved above the first reference point, the turntable tabletop is rotated about the z-axis of the turntable coordinate system xyz, and a circular contour is printed on the turntable tabletop using the printing head to obtain the first reference circle;

[0051] The diameter of the first reference circle is measured to obtain that the diameter of the first reference circle is D1.

[0052] Step 4, an offset l2 is added to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; according to the second reference point, a second reference circle is obtained by rotating printing on the turntable tabletop using a printing head, and the diameter of the second reference circle is measured to be D2; wherein the following steps are specifically included:

[0053] An offset l2 is added to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; wherein the coordinates of the second reference point are (x, y+l2);

[0054] The printing head is moved above the second reference point, the turntable tabletop is rotated about the z-axis of the turntable coordinate system xyz, and a circular contour is printed on the turntable tabletop using the printing head to obtain the second reference circle;

[0055] The diameter of the second reference circle is measured to obtain that the diameter of the second reference circle is D2.

[0056] Step 5, according to the offset l1, the diameter D1 of the first reference circle, the offset l2, and the diameter D2 of the second reference circle, the error of the estimated printing origin relative to the true printing origin is calculated; wherein the error of the estimated printing origin relative to the true printing origin includes x-axis coordinate error and y-axis coordinate error;

[0057] Wherein, the calculation process of the x-axis coordinate error and the y-axis coordinate error is as follows:

[0058]

[0059]

[0060] Wherein, Δx is the x-axis coordinate error, and Δy is the y-axis coordinate value error.

[0061] Step 6, the estimated printing origin is corrected by using the error of the estimated printing origin relative to the real printing origin, so that the real printing origin is obtained, that is, the zero point calibration result of the five-axis 3D printer is obtained; wherein the coordinate value of the real printing origin is (x+Δx, y+Δy).

[0062] Step 7, zero point calibration of the printing head; specifically, the printing head is moved above the real printing origin, and thus the zero point calibration operation of the five-axis 3D printer is completed.

[0063] Zero point calibration principle:

[0064] The zero point calibration method for the five-axis 3D printer provided by the application establishes a turntable coordinate system xyz, selects an arbitrary point in the middle of the turntable table as an estimated printing origin, sets offset amounts for the x-axis coordinate value and the y-axis coordinate value of the estimated printing origin respectively, obtains two reference circles by rotating the turntable table around the z-axis through the printing head, obtains the error value of the estimated printing origin and the real printing origin according to the diameters of the two reference circles and the offset amounts of the x-axis coordinate value and the y-axis coordinate value of the estimated printing origin, and combines the plane geometric relationship, and the coordinate value of the real printing origin is obtained by correcting the coordinate value of the estimated printing origin according to the error value, so that the zero point calibration of the five-axis 3D printer is realized.

[0065] In the application, the five-axis 3D printer can be quickly positioned at the origin without installing additional sensor equipment, the printing origin of the five-axis 3D printer can be effectively determined, and the application has the advantages of low cost, high speed, wide applicability, and the like.

[0066] The application further provides a zero point calibration system for a five-axis 3D printer, comprising a coordinate system module, a origin point estimation module, a first reference circle module, a second reference circle module, an error calculation module and an origin point correction module; the coordinate system module is used for constructing a turntable table surface coordinate system of a double-rotation cradle structure turntable, and obtaining a turntable coordinate system xyz; the origin point estimation module is used for selecting an arbitrary point in the middle of the turntable table surface of the double-rotation cradle structure turntable as an estimated printing origin point; wherein the coordinates of the estimated printing origin point in the turntable coordinate system xyz are (x, y); the first reference circle module is used for adding an offset l1 to the x-axis coordinate value of the estimated printing origin point, and obtaining a first reference point; according to the first reference point, the printing nozzle is used for rotating printing on the turntable table surface, a first reference circle is obtained, and the diameter D1 of the first reference circle is measured; the second reference circle module is used for adding an offset l2 to the y-axis coordinate value of the estimated printing origin point, and obtaining a second reference point; according to the second reference point, the printing nozzle is used for rotating printing on the turntable table surface, a second reference circle is obtained, and the diameter D2 of the second reference circle is measured; the error calculation module is used for calculating the error of the estimated printing origin point relative to the real printing origin point according to the offset l1, the diameter D1 of the first reference circle, the offset l2 and the diameter D2 of the second reference circle; and the origin point correction module is used for correcting the estimated printing origin point according to the error of the estimated printing origin point relative to the real printing origin point, and obtaining the real printing origin point, that is, obtaining the zero point calibration result of the five-axis 3D printer.

[0067] The application further provides a zero point calibration device for a five-axis 3D printer, comprising a memory for storing a computer program and a processor for executing the computer program to realize the steps of the zero point calibration method for the five-axis 3D printer.

[0068] The processor implements the steps of the above-mentioned zero point calibration method for a five-axis 3D printer when executing the computer program, for example: constructing a turntable table coordinate system of a double-rotation cradle structure turntable to obtain a turntable coordinate system xyz; selecting an arbitrary point in the middle of the turntable table of the double-rotation cradle structure turntable as an estimated printing origin; wherein the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y); adding an offset amount l1 to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; according to the first reference point, using a printing nozzle to perform rotary printing on the turntable table to obtain a first reference circle, and measuring that the diameter of the first reference circle is D1; adding an offset amount l2 to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; according to the second reference point, using a printing nozzle to perform rotary printing on the turntable table to obtain a second reference circle, and measuring that the diameter of the second reference circle is D2; according to the offset amount l1, the diameter D1 of the first reference circle, the offset amount l2 and the diameter D2 of the second reference circle, the error of the estimated printing origin relative to the real printing origin is calculated; using the error of the estimated printing origin relative to the real printing origin, the estimated printing origin is corrected to obtain the real printing origin, that is, the zero point calibration result of the five-axis 3D printer is obtained.

[0069] Alternatively, the processor implements the functions of the modules in the above-mentioned system when executing the computer program, for example: a coordinate system module for constructing a turntable table coordinate system of a double-rotation cradle structure turntable to obtain a turntable coordinate system xyz; an origin estimation module for selecting an arbitrary point in the middle of the turntable table of the double-rotation cradle structure turntable as an estimated printing origin; wherein the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y); a first reference circle module for adding an offset amount l1 to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; according to the first reference point, using a printing nozzle to perform rotary printing on the turntable table to obtain a first reference circle, and measuring that the diameter of the first reference circle is D1; a second reference circle module for adding an offset amount l2 to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; according to the second reference point, using a printing nozzle to perform rotary printing on the turntable table to obtain a second reference circle, and measuring that the diameter of the second reference circle is D2; an error calculation module for calculating the error of the estimated printing origin relative to the real printing origin according to the offset amount l1, the diameter D1 of the first reference circle, the offset amount l2 and the diameter D2 of the second reference circle; an origin correction module for correcting the estimated printing origin using the error of the estimated printing origin relative to the real printing origin to obtain the real printing origin, that is, the zero point calibration result of the five-axis 3D printer is obtained.

[0070] For example, the computer program can be divided into a coordinate system module, an origin estimation module, a first reference circle module, a second reference circle module, an error calculation module, and an origin correction module, and the specific functions of each module are as follows: the coordinate system module is used to construct a turntable surface coordinate system of a double-rotation cradle structure turntable to obtain a turntable coordinate system xyz; the origin estimation module is used to select an arbitrary point in the middle of the turntable surface of the double-rotation cradle structure turntable as an estimated printing origin; wherein the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y); the first reference circle module is used to add an offset amount l1 to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; according to the first reference point, the printing nozzle is used to perform rotational printing on the turntable surface to obtain a first reference circle, and the diameter D1 of the first reference circle is measured; the second reference circle module is used to add an offset amount l2 to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; according to the second reference point, the printing nozzle is used to perform rotational printing on the turntable surface to obtain a second reference circle, and the diameter D2 of the second reference circle is measured; the error calculation module is used to calculate the error of the estimated printing origin relative to the true printing origin according to the offset amount l1, the diameter D1 of the first reference circle, the offset amount l2, and the diameter D2 of the second reference circle; and the origin correction module is used to correct the estimated printing origin according to the error of the estimated printing origin relative to the true printing origin to obtain the true printing origin, i.e., to obtain the zero-point calibration result of the five-axis 3D printer.

[0071] For example, the computer program can be divided into a coordinate system module, an origin estimation module, a first reference circle module, a second reference circle module, an error calculation module, and an origin correction module, and the specific functions of each module are as follows: the coordinate system module is used to construct a turntable surface coordinate system of a double-rotation cradle structure turntable to obtain a turntable coordinate system xyz; the origin estimation module is used to select an arbitrary point in the middle of the turntable surface of the double-rotation cradle structure turntable as an estimated printing origin; wherein the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y); the first reference circle module is used to add an offset amount l1 to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; according to the first reference point, the printing nozzle is used to perform rotational printing on the turntable surface to obtain a first reference circle, and the diameter D1 of the first reference circle is measured; the second reference circle module is used to add an offset amount l2 to the y-axis coordinate value of the estimated printing origin to obtain a second reference point; according to the second reference point, the printing nozzle is used to perform rotational printing on the turntable surface to obtain a second reference circle, and the diameter D2 of the second reference circle is measured; the error calculation module is used to calculate the error of the estimated printing origin relative to the true printing origin according to the offset amount l1, the diameter D1 of the first reference circle, the offset amount l2, and the diameter D2 of the second reference circle; and the origin correction module is used to correct the estimated printing origin according to the error of the estimated printing origin relative to the true printing origin to obtain the true printing origin, i.e., to obtain the zero-point calibration result of the five-axis 3D printer.

[0072] The zero-point calibration device for the five-axis 3D printer can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The zero-point calibration device for the five-axis 3D printer can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above is an example of the zero-point calibration device for the five-axis 3D printer, and does not constitute a limitation on the zero-point calibration device for the five-axis 3D printer, and can include more components than the above, or combine certain components, or different components, for example, the zero-point calibration device for the five-axis 3D printer can also include an input / output device, a network access device, a bus, and the like.

[0073] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like, which is the control center of the zero point calibration device for the five-axis 3D printer, and is connected to various parts of the zero point calibration device for the five-axis 3D printer through various interfaces and lines.

[0074] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the zero point calibration device for the five-axis 3D printer by running or executing the computer program and / or modules stored in the memory, and calling the data stored in the memory.

[0075] The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.), etc.; and the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0076] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the zero point calibration method for the five-axis 3D printer.

[0077] The modules / units of the zero point calibration system for the five-axis 3D printer, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium.

[0078] Based on such understanding, the present application implements all or part of the above-mentioned zero-point calibration method for a five-axis 3D printer, which can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned zero-point calibration method for a five-axis 3D printer when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or preset intermediate forms, etc.

[0079] The computer-readable storage medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. that can carry the computer program code.

[0080] It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0081] Embodiment

[0082] Taking the zero-point calibration process of a mainstream five-axis 3D printer as an example, the five-axis 3D printer is a prusa-i3 type 3D printer with a double-rotation cradle structure turntable. The double-rotation cradle structure turntable includes a turntable table, which has a horizontal rotation degree of freedom and a normal direction rotation degree of freedom. In order to realize the two rotation degrees of freedom of the turntable table, the double-rotation cradle structure turntable is provided with two rotation shafts in the horizontal direction and the normal direction, and the two rotation shafts are respectively driven by a step motor and a reducer.

[0083] The embodiment provides a zero-point calibration method for a five-axis 3D printer, which includes the following steps:

[0084] Step 1, establishing a turntable coordinate system xyz

[0085] A turntable table coordinate system of the double-rotation cradle structure turntable is constructed to obtain a turntable coordinate system xyz; wherein, a rotation shaft of the double-rotation cradle structure turntable rotating in a horizontal direction is defined as an x-axis of the turntable coordinate system xyz, a rotation shaft of the double-rotation cradle structure turntable rotating in a normal direction of a turntable table surface of the double-rotation cradle structure turntable is defined as a z-axis of the turntable coordinate system xyz, and a real center of the double-rotation cradle structure turntable is defined as a coordinate origin of the turntable coordinate system xyz, and a y-axis of the turntable coordinate system xyz is determined according to a right-hand rule.

[0086] It should be noted that the turntable table surface of the double-rotation cradle structure turntable is in a horizontal state; wherein, in order to ensure that the turntable plane is in a horizontal state, that is, the x-axis is horizontal, an inclination instrument is used to monitor the inclination of the turntable plane, real-time readings of the inclination instrument are obtained through a serial port, the rotation direction of a stepping motor is used to reach a preset position, so that the turntable plane is in a horizontal state, and the horizontal state is defined as the zero position of the x-axis and the z-axis.

[0087] Step 2, setting an estimated printing origin

[0088] An arbitrary point in the middle of the turntable table surface of the double-rotation cradle structure turntable is selected as an estimated printing origin, and is denoted as M; wherein, the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x, y).

[0089] Step 3, printing a reference circle

[0090] Step 31, an offset amount l1 is added to the x-axis coordinate value of the estimated printing origin to obtain a first reference point, and is denoted as N; wherein, the coordinates of the first reference point are (x+l1, y); the printing head is moved above the first reference point, the turntable table surface is rotated around the z-axis of the turntable coordinate system xyz, a circle contour is printed on the turntable table surface by using the printing head, the first reference circle is obtained, and is denoted as C1; the diameter of the first reference circle is measured to obtain the diameter D1 of the first reference circle, as shown in the accompanying drawings. Figure 1

[0091] Step 32, an offset amount l2 is added to the y-axis coordinate value of the estimated printing origin to obtain a second reference point, and is denoted as K; wherein, the coordinates of the second reference point are (x, y+l2); the printing head is moved above the second reference point, the turntable table surface is rotated around the z-axis of the turntable coordinate system xyz, a circle contour is printed on the turntable table surface by using the printing head, the second reference circle is obtained, and is denoted as C2; the diameter of the second reference circle is measured to obtain the diameter D2 of the second reference circle, as shown in the accompanying drawings. Figure 1

[0092] Step 4, calculating an origin error

[0093] ​​According to the offset l1, the diameter D1 of the first reference circle, the offset l2 and the diameter D2 of the second reference circle, the estimated printing origin relative to the real printing origin error is calculated; wherein the estimated printing origin relative to the real printing origin error includes x-axis coordinate error and y-axis coordinate error;

[0094] Wherein, the calculation process of the x-axis coordinate error and the y-axis coordinate error is as follows:

[0095]

[0096]

[0097] Wherein, Δx is the x-axis coordinate error, and Δy is the y-axis coordinate error.

[0098] Step 5, origin correction

[0099] Using the estimated printing origin relative to the real printing origin error, the estimated printing origin is corrected to obtain the real printing origin and is recorded as P, that is, the zero point calibration result of the five-axis 3D printer is obtained; wherein the coordinate value of the real printing origin is (x+Δx, y+Δy)

[0100] Step 6, zero point calibration of the printing nozzle

[0101] The printing nozzle is moved above the real printing origin, and the zero point calibration operation of the five-axis 3D printer is completed.

[0102] The description of the system, device and related part of the computer readable storage medium for the zero point calibration of the five-axis 3D printer provided in the embodiment can refer to the detailed description of the corresponding part of the zero point calibration method for the five-axis 3D printer described in the embodiment, which will not be repeated here.

[0103] The zero point calibration method and system for the five-axis 3D printer provided in the embodiment calculate the error value of the estimated printing origin and the real printing origin by using two reference circles, correct the estimated printing origin according to the error value, and obtain the real printing origin, that is, the zero point calibration of the five-axis 3D printer is realized, without the need to increase external sensor equipment, which has the advantages of low cost, fast speed and wide applicability.

[0104] The above embodiment is only one of the implementation manners of the technical scheme of the present application, and the scope of protection claimed by the present application is not limited to the embodiment, but also includes any changes, substitutions and other implementation manners easily thought by those skilled in the art within the technical scope disclosed by the present application.

Claims

1. A zero-point calibration method for a five-axis 3D printer, characterized in that, include: Construct the turntable surface coordinate system of the double-rotating cradle-type turntable to obtain the turntable coordinate system xyz; Arbitrarily select a point in the middle of the turntable surface of the double-rotating cradle-type turntable as the estimated printing origin; wherein, the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x,y). An offset l1 is added to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; based on the first reference point, the printing nozzle is used to rotate and print on the turntable to obtain a first reference circle, and the diameter of the first reference circle is measured to be D1. An offset l2 is added to the estimated y-axis coordinate value of the printing origin to obtain a second reference point; based on the second reference point, the print head is used to rotate and print on the turntable to obtain a second reference circle, and the diameter of the second reference circle is measured to be D2. The error of the estimated printing origin relative to the actual printing origin is calculated based on the offset l1, the diameter D1 of the first reference circle, the offset l2, and the diameter D2 of the second reference circle. By using the error between the estimated printing origin and the actual printing origin, the estimated printing origin is corrected to obtain the actual printing origin, which is the zero-point calibration result of the five-axis 3D printer.

2. The zero-point calibration method for a five-axis 3D printer according to claim 1, characterized in that, The process of constructing the turntable coordinate system of a double-rotating cradle-type turntable and obtaining the turntable coordinate system xyz is as follows: Define the axis of rotation of the double-rotating cradle-type turntable around the horizontal direction as the x-axis of the turntable coordinate system xyz, define the axis of rotation around the normal direction of the turntable surface as the z-axis of the turntable coordinate system xyz, define the true center of the double-rotating cradle-type turntable as the origin of the turntable coordinate system xyz, and determine the y-axis of the turntable coordinate system xyz according to the right-hand rule.

3. The zero-point calibration method for a five-axis 3D printer according to claim 2, characterized in that, Based on the first reference point, the process of obtaining the first reference circle by rotating the printhead on the turntable surface to print using the print head is as follows: Move the print head above the first reference point, rotate the turntable surface with the z-axis of the turntable coordinate system xyz as the rotation axis, and print a circular outline on the turntable surface using the print head to obtain the first reference circle.

4. The zero-point calibration method for a five-axis 3D printer according to claim 2, characterized in that, Based on the second reference point, the process of obtaining the second reference circle by rotating the printhead on the turntable surface and printing according to the second reference point is as follows: Move the print head above the second reference point, rotate the turntable surface with the z-axis of the turntable coordinate system xyz as the rotation axis, and print a circular outline on the turntable surface using the print head to obtain the second reference circle.

5. A zero-point calibration method for a five-axis 3D printer according to claim 1, characterized in that, The error of the estimated printing origin relative to the actual printing origin includes the x-axis coordinate error and the y-axis coordinate error; The calculation process for the x-axis coordinate error and the y-axis coordinate error is as follows: Where Δx is the x-axis coordinate error and Δy is the y-axis coordinate error.

6. A zero-point calibration method for a five-axis 3D printer according to claim 5, characterized in that, The coordinates of the actual printing origin are (x+Δx, y+Δy).

7. A zero-point calibration method for a five-axis 3D printer according to claim 1, characterized in that, After obtaining the true printing origin, the zero-point calibration step of the print head is also included; The zero-point calibration steps for the printhead are as follows: Move the print head above the actual print origin, and the zero-point calibration operation of the five-axis 3D printer is complete.

8. A zero-point calibration system for a five-axis 3D printer, characterized in that, include: The coordinate system module is used to construct the turntable surface coordinate system of the double-rotation cradle-type turntable, and obtain the turntable coordinate system xyz; The origin estimation module is used to select any point in the middle of the turntable surface of the double-rotating cradle-type turntable as the estimated printing origin; wherein, the coordinates of the estimated printing origin in the turntable coordinate system xyz are (x,y). The first reference circle module is used to add an offset l1 to the x-axis coordinate value of the estimated printing origin to obtain a first reference point; based on the first reference point, the printing nozzle is used to rotate and print on the turntable to obtain a first reference circle, and the diameter of the first reference circle is measured to be D1. The second reference circle module is used to add an offset l2 to the estimated y-axis coordinate value of the printing origin to obtain a second reference point; based on the second reference point, the printing nozzle is used to rotate and print on the turntable to obtain a second reference circle, and the diameter of the second reference circle is measured to be D2. The error calculation module is used to calculate the error of the estimated printing origin relative to the actual printing origin based on the offset l1, the diameter D1 of the first reference circle, the offset l2, and the diameter D2 of the second reference circle. The origin correction module is used to correct the estimated printing origin by utilizing the error between the estimated printing origin and the actual printing origin, so as to obtain the actual printing origin, that is, to obtain the zero-point calibration result of the five-axis 3D printer.

9. A zero-point calibration device for a five-axis 3D printer, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the zero-point calibration method for a five-axis 3D printer as described in any one of claims 1-7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the zero-point calibration method for a five-axis 3D printer as described in any one of claims 1-7.

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