Automatic calibration method of 3D printing equipment, electronic equipment and storage medium

Abstract

The invention provides an automatic calibration method of 3D printing equipment, electronic equipment and a storage medium. The method comprises the steps that N first coordinates of N alignment marks are acquired; calculating a first hot bed inclination angle of the hot bed in the first direction and a second hot bed inclination angle of the hot bed in the second direction according to the N first coordinates; the maximum coordinate range and the minimum coordinate range of the to-be-printed model in the vertical direction are obtained; calculating a first maximum printing inclination angle of the to-be-printed model in the first direction and a second maximum printing inclination angle of the to-be-printed model in the second direction according to the printing coordinate range, the minimum coordinate range and the maximum coordinate range of the nozzle; calculating a first offset in the first direction according to the first hot bed inclination angle and the first maximum printing inclination angle, and calculating a second offset in the second direction according to the second hot bed inclination angle and the second maximum printing inclination angle; and calibrating the nozzle according to the first offset and the second offset. According to the invention, the nozzle can be automatically calibrated, the calibration precision is high, and the labor cost can be saved.

Description

Technical Field

[0001] The present application relates to the field of 3D printing technology, and in particular to an automatic calibration method for a 3D printing device, an electronic device, and a storage medium. Background Art

[0002] With the popularization of concepts such as intelligent manufacturing engineering and Industry 4.0, 3D printing technology is becoming more and more popular. 3D printing technology first appeared in the mid-1990s. It is actually the latest rapid prototyping device using technologies such as photocuring and paper lamination. It has basically the same working principle as ordinary printing. The printer is filled with "printing materials" such as liquid or powder. After connecting to the computer, the "printing materials" are stacked layer by layer through computer control, and finally the blueprint on the computer is turned into a physical object. This printing technology is called 3D stereoscopic printing technology.

[0003] In the related art, since the installation of the hot bed of the 3D printing equipment will inevitably lead to a certain angle error, the user needs to adjust the nozzle to the appropriate position. However, the accuracy of manual adjustment of the nozzle is not high, and it needs to be adjusted, printed, and adjusted again repeatedly. The process is cumbersome and time-consuming. Summary of the invention

[0004] In view of this, the present application provides an automatic calibration method, electronic device and storage medium for a 3D printing device, which can automatically calibrate a nozzle, have high calibration accuracy and save labor costs.

[0005] A first aspect of the present application provides an automatic calibration method for a 3D printing device, the 3D printing device comprising a heated bed and a nozzle, the heated bed being provided with N alignment marks, N being an integer greater than 1; the method comprising: obtaining N first coordinates of the N alignment marks; calculating a first heated bed inclination angle of the heated bed in a first direction and a second heated bed inclination angle in a second direction according to the N first coordinates, the first direction being perpendicular to the second direction; obtaining a maximum coordinate range and a minimum coordinate range of a model to be printed in a vertical direction, wherein the maximum coordinate range is used to characterize a maximum surface of the model to be printed, and the minimum coordinate range is used to characterize a minimum surface of the model to be printed; calculating a first maximum printing inclination angle of the model to be printed in the first direction and a second maximum printing inclination angle in the second direction according to the printing coordinate range, the minimum coordinate range and the maximum coordinate range of the nozzle; calculating a first offset in the first direction according to the first heated bed inclination angle and the first maximum printing inclination angle, and calculating a second offset in the second direction according to the second heated bed inclination angle and the second maximum printing inclination angle; and calibrating the nozzle according to the first offset and the second offset.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages:

[0007] By setting an alignment mark on the hot bed, the first hot bed inclination angle of the hot bed in the first direction and the second hot bed inclination angle in the second direction are calculated according to the first coordinate of the alignment mark; because the calculation of the offset that the nozzle needs to compensate is also limited by the maximum inclination angle of the model to be printed in the printing area, the first maximum printing inclination angle of the model to be printed in the first direction and the second maximum printing inclination angle of the model to be printed are calculated through the printing coordinate range of the nozzle, and the maximum coordinate range and the minimum coordinate range of the model to be printed in the vertical direction. Finally, the first offset that the nozzle needs to compensate in the first direction is calculated according to the first hot bed inclination angle and the first maximum printing inclination angle, and the second offset that the nozzle needs to compensate in the second direction is calculated according to the second hot bed inclination angle and the second maximum printing inclination angle, so that the accuracy of calculating the first offset and the second offset is high, and the nozzle is calibrated according to the first offset and the second offset, so that automatic calibration of the nozzle is realized, and the calibration accuracy is high, saving labor costs.

[0008] In some possible implementations, the N alignment marks include a first alignment mark, a second alignment mark, a third alignment mark, and a fourth alignment mark respectively arranged at the four corners of the hot bed; wherein the first alignment mark and the second alignment mark are arranged at the bottom edge of the hot bed, and the third alignment mark and the fourth alignment mark are arranged at the top edge of the hot bed opposite to the bottom edge; the calculating the first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction according to the N first coordinates includes: calculating the first midpoint coordinates of the first alignment mark and the second alignment mark, and the second midpoint coordinates of the third alignment mark and the fourth alignment mark; calculating the first hot bed inclination angle according to the first midpoint coordinate and the second midpoint coordinate; calculating the third midpoint coordinates of the first alignment mark and the third alignment mark, and the fourth midpoint coordinates of the second alignment mark and the fourth alignment mark; and calculating the second hot bed inclination angle according to the third midpoint coordinate and the fourth midpoint coordinate.

[0009] By adopting this technical solution, the inclination angle of the hot bed can be calculated more accurately, thereby improving the accuracy of subsequent offset calculations, and further improving the accuracy of the automatic calibration method.

[0010] In some possible implementations, calculating the first hot bed inclination angle according to the first midpoint coordinate and the second midpoint coordinate includes: calculating according to the following formula: θ x-bed =sin -1 (z r -z l / x r -xl ), where θ x-bed is the first hot bed inclination angle, z r is the vertical coordinate of the second midpoint, z l is the vertical coordinate of the first midpoint, x r is the horizontal coordinate of the second midpoint, x l is the horizontal coordinate of the first midpoint coordinate; the calculating the second hot bed inclination angle according to the third midpoint coordinate and the fourth midpoint coordinate comprises: calculating according to the following formula: θ y-bed =sin -1 (z q -z p / y p -y q ), where θ y-bed is the second hot bed inclination angle, z q is the vertical coordinate of the fourth midpoint coordinate, z p is the vertical coordinate of the third midpoint coordinate, y p is the ordinate of the fourth midpoint coordinate, y q is the ordinate of the third midpoint coordinate.

[0011] By adopting this technical solution, a feasible method for calculating the inclination angle of the hot bed is realized.

[0012] In some possible implementations, the printing coordinate range corresponds to a first quadrilateral, the minimum coordinate range corresponds to a second quadrilateral, and the maximum coordinate range corresponds to a third quadrilateral; the first maximum printing inclination angle of the model to be printed in the first direction is calculated according to the printing coordinate range of the nozzle, the minimum coordinate range and the maximum coordinate range, including: extracting the first left vertex coordinate of the lower left vertex of the first quadrilateral in the printing coordinate range, extracting the second left vertex coordinate of the lower left vertex of the second quadrilateral in the minimum coordinate range, and extracting the third left vertex coordinate of the lower left vertex of the third quadrilateral in the maximum coordinate range; calculating the first angle to be compared according to the first left vertex coordinate, the second left vertex coordinate and the third left vertex coordinate; extracting the coordinates of the remaining three vertices of the first quadrilateral, the second quadrilateral and the third quadrilateral in turn, and calculating the second angle to be compared, the third angle to be compared and the fourth angle to be compared in the same way as the first angle to be compared; determining the first maximum printing inclination angle from the first angle to be compared, the second angle to be compared, the third angle to be compared and the fourth angle to be compared.

[0013] By adopting this technical solution, the first maximum printing inclination angle can be calculated more accurately, so that the accuracy of the offset calculation can be subsequently improved, thereby improving the accuracy of the automatic calibration method.

[0014] In some possible implementations, determining the first maximum printing inclination angle from the first angle to be compared, the second angle to be compared, the third angle to be compared, and the fourth angle to be compared includes: determining the first maximum printing inclination angle according to the following formula: Among them, the θ x-mod is the first maximum printing inclination angle, α x-ld is the first angle to be compared, α x-rd is the second angle to be compared, α x-lu is the third angle to be compared, α x-ru is the fourth angle to be compared, θ x-bed is the inclination angle of the first hot bed.

[0015] By adopting this technical solution, a feasible method for calculating the first maximum printing inclination angle is realized.

[0016] In some possible implementations, the method further includes: calculating a third offset in the vertical direction according to the heated bed inclination angle, the first maximum printing inclination angle, the second heated bed inclination angle, and the second maximum printing inclination angle; and calibrating the nozzle according to the third offset.

[0017] By adopting this technical solution, the automatic calibration of the nozzle in the vertical direction can be achieved without manual adjustment of the nozzle position, which is simple to operate and saves labor costs.

[0018] In some possible implementations, calculating the third offset in the vertical direction according to the heated bed inclination angle, the first maximum printing inclination angle, the second heated bed inclination angle, and the second maximum printing inclination angle includes: selecting a smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle as a first final inclination angle, selecting a smaller angle between the second heated bed inclination angle and the second maximum printing inclination angle as a second final inclination angle, and calculating the third offset according to the following formula: Offset z =(L×(1-cosθ x )+L×(1-cosθ y )) / 2; where Offset z is the third offset, L is the distance between the nozzle and the hot bed, θ x is the first final inclination angle, θ y is the second final inclination angle.

[0019] In some possible implementations, calculating the first offset in the first direction according to the first heated bed inclination angle and the first maximum printing inclination angle includes: selecting the smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle as the third final inclination angle, and calculating the first offset Offset according to the following formula: x =L×sinθ x ; Among them, Offset x is the first offset, L is the distance between the nozzle and the hot bed, θ x is the third final inclination angle; the calculating the second offset in the second direction according to the second hot bed inclination angle and the second maximum printing inclination angle includes: selecting the smaller angle between the second hot bed inclination angle and the second maximum printing inclination angle as the fourth final inclination angle, and calculating the second offset according to the following formula: Offset y =L×sinθ y ; Among them, Offset y is the second offset, L is the distance between the nozzle and the hot bed, θ y is the fourth final inclination angle.

[0020] A second aspect of the present application discloses an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned automatic calibration method of the 3D printing device.

[0021] The third aspect of the present application discloses a storage medium, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned automatic calibration method for a 3D printing device.

[0022] It can be understood that the electronic device of the second aspect and the storage medium of the third aspect provided above correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a flow chart of an automatic calibration method for a 3D printing device provided in one embodiment of the present application.

[0025] Figure 2 A schematic diagram of the structure of a hot bed provided in one embodiment of the present application.

[0026] Figure 3 This is a schematic diagram of a heated bed viewed from the front along the XZ plane of a spatial rectangular coordinate system provided by an embodiment of the present application.

[0027] Figure 4 A schematic diagram of the structure of a model to be printed provided in one embodiment of the present application.

[0028] Figure 5 A schematic diagram of a first quadrilateral, a second quadrilateral, and a third quadrilateral in a spatial rectangular coordinate system provided in an embodiment of the present application.

[0029] Figure 6 A simplified diagram of a model to be printed and a heated bed when calculating a first angle to be compared provided in an embodiment of the present application.

[0030] Figure 7 A schematic diagram of calculating a first angle to be compared provided in an embodiment of the present application.

[0031] Figure 8 A simplified diagram of a model to be printed and a heated bed when calculating a second angle to be compared provided in an embodiment of the present application.

[0032] Fig. 9 A schematic diagram of calculating a second angle to be compared provided in an embodiment of the present application.

[0033] Fig.10 A simplified diagram of a model to be printed and a heated bed when calculating a third angle to be compared provided in an embodiment of the present application.

[0034] Fig.11 A simplified diagram of a model to be printed and a heated bed when calculating a fourth angle to be compared provided in an embodiment of the present application.

[0035] Fig.12 A simplified diagram of a model to be printed and a heated bed when calculating a fifth angle to be compared provided in an embodiment of the present application.

[0036] Fig.13 A simplified diagram of a model to be printed and a heated bed when calculating a sixth angle to be compared provided in an embodiment of the present application.

[0037] Fig.14 A simplified diagram of a model to be printed and a heated bed when calculating a seventh angle to be compared provided in an embodiment of the present application.

[0038] Fig.15 A simplified diagram of a model to be printed and a heated bed when calculating an eighth angle to be compared provided in an embodiment of the present application.

[0039] Fig.16 A schematic diagram of calculating a first angle to be compared provided in an embodiment of the present application.

[0040] Fig.17 A schematic diagram of calculating a first angle to be compared provided in an embodiment of the present application.

[0041] Fig.18 This is a flow chart of an automatic calibration method for a 3D printing device provided in one embodiment of the present application.

[0042] Fig.19 A flowchart of a 3D printing device provided in one embodiment of the present application.

[0043] Fig. 20 A schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0047] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0048] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0049] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0050] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0051] 3D printing equipment, also known as three-dimensional printers, is a rapid prototyping process equipment, usually using digital technology to print materials. 3D printing equipment is often used to manufacture models or parts in the fields of mold manufacturing, industrial design, etc.

[0052] Please refer to Figure 1 , is a flow chart of an automatic calibration method for a 3D printing device provided in an embodiment of the present application, wherein the 3D printing device includes a heated bed and a nozzle, and the method includes the following steps:

[0053] Step 101: Obtain N first coordinates of N alignment marks.

[0054] Wherein, N is an integer greater than 1. It is understandable that this embodiment does not specifically limit the value of N, and it can be set according to actual needs.

[0055] Please refer to Figure 2 , is a schematic diagram of the structure of the hot bed provided in the embodiment of the present application. Figure 2 As shown, the N alignment marks include a first alignment mark A, a second alignment mark B, a third alignment mark C and a fourth alignment mark D respectively arranged at the four corners of the hot bed; wherein the midpoint between the first alignment mark A and the third alignment mark C is l x , the midpoint between the second alignment mark B and the fourth alignment mark D is r x .

[0056] It is understandable that when setting the alignment mark in this embodiment, it is necessary to ensure that the 3D printing device can read the coordinates of the alignment mark.

[0057] Step 102: Calculate a first heated bed inclination angle in the first direction and a second heated bed inclination angle in the second direction according to the N first coordinates.

[0058] Specifically, the first direction in this embodiment is the direction of the X axis in the spatial rectangular coordinate system, and the second direction is the direction of the Y axis in the spatial rectangular coordinate system.

[0059] In some embodiments, the first midpoint coordinates of the first alignment mark A and the third alignment mark C, and the second midpoint coordinates of the second alignment mark B and the fourth alignment mark D are calculated, and then the inclination angle of the first heated bed is calculated based on the first midpoint coordinates and the second midpoint coordinates.

[0060] In some embodiments, the third midpoint coordinates of the first alignment mark A and the second alignment mark B, and the fourth midpoint coordinates of the third alignment mark C and the fourth alignment mark D are calculated, and then the inclination angle of the second heated bed is calculated based on the third midpoint coordinates and the fourth midpoint coordinates.

[0061] Please refer to Figure 3 , which is a schematic diagram of a hot bed viewed from the front along the XZ plane of the spatial rectangular coordinate system provided in an embodiment of the present application.

[0062] like Figure 3 As shown, according to the trigonometric function relationship, the first hot bed inclination angle θ in the X-axis direction is x-bed =sin -1 (z r -z l / x r -x l ), where θ x-bed is the first hot bed inclination angle, z r is the vertical coordinate of the second midpoint, z l is the vertical coordinate of the first midpoint, x r is the horizontal coordinate of the second midpoint, x l is the horizontal coordinate of the first midpoint.

[0063] Specifically, assuming that the coordinates of the first alignment mark A are (x a ,y a , z a ); The coordinates of the second alignment mark B are (x b ,y b , z b ), the coordinates of the third alignment mark C are (x c ,y c , z c ), the coordinates of the fourth alignment mark D are (x d ,y d , z d ), assuming the coordinates of the first midpoint are (x l ,y l , z l ), the abscissa of the first midpoint is the same as that of points A and C, that is, x l =x a =x c , and then calculate the ordinate based on the positional relationship between A, C, and the first midpoint Vertical coordinate That is, the coordinates of the first midpoint are

[0064] Assume that the coordinates of the second midpoint are (x r ,y r , z r ), the horizontal coordinate of the second midpoint is the same as that of points B and D, that is, x r =x b =x d , and then calculate the ordinate based on the positional relationship between points B, D, and the second midpoint Vertical coordinate That is, the coordinates of the second midpoint are

[0065] After finding the coordinates of the first midpoint and the second midpoint, the first hot bed inclination angle θ can be calculated. x-bed The value of .

[0066] Similarly, the second hot bed inclination angle θ in the Y-axis direction is y-bed =sin -1 (z q -z p / y p -y q ), where θ y-bed is the second hot bed inclination angle, z q is the vertical coordinate of the fourth midpoint coordinate, z p is the vertical coordinate of the third midpoint coordinate, y p is the ordinate of the fourth midpoint, y q is the ordinate of the third midpoint.

[0067] Fourth midpoint coordinate y p and the third midpoint coordinate y q The calculation method is the same as the above x l and x r The calculation method of is similar, so in order to avoid repetition, it will not be repeated here.

[0068] Step 103: Obtain the maximum coordinate range and the minimum coordinate range of the model to be printed in the vertical direction.

[0069] In some embodiments, the maximum coordinate range is used to characterize the maximum surface of the model to be printed, and the minimum coordinate range is used to characterize the minimum surface of the model to be printed.

[0070] For ease of understanding, the following Figure 4 The definitions of the maximum coordinate range and the minimum coordinate range in this embodiment are specifically described as follows:

[0071] Please refer to Figure 4, is a schematic diagram of the structure of the model to be printed provided in the embodiment of the present application. Figure 4 As shown, through the maximum coordinate range Range mod-down and the minimum coordinate range Range mod-up Defines the size of the model to be printed. It is understandable that Range mod-down and Range mod-up The structures represented are all quadrilaterals.

[0072] Step 104: Calculate a first maximum printing inclination angle of the to-be-printed model in the first direction and a second maximum printing inclination angle in the second direction according to the printing coordinate range, the minimum coordinate range and the maximum coordinate range of the nozzle.

[0073] In some embodiments, the printing coordinate range of the nozzle is the maximum range within which the nozzle can move.

[0074] Please refer to Figure 5 , which is a schematic diagram of the first quadrilateral, the second quadrilateral and the third quadrilateral provided in the present application in a spatial rectangular coordinate system. Figure 5 As shown, the printing coordinate range corresponds to the first quadrilateral Range noz ; The minimum coordinate range corresponds to the second quadrilateral Range mod-up , the maximum coordinate range corresponds to the third quadrilateral Range mod-down .

[0075] Assume that the first quadrilateral Range noz The coordinates of (x noz-start ,y noz-start , z noz-start ,x noz-end ,y noz-end , z noz-end ); the second quadrilateral Range mod-ip The coordinates of (x mod-up-start ,y mod-up-start , z mod-up-start ,x mod-up-end ,y mod-up-end , z mod-up-end ); the third quadrilateral Range mod-down The coordinates of (x mod-down-start ,y mod-down-start , z mod-down-start ,x mod-down-end ,y mod-down-end , z mod-down-end ).

[0076] Depend on Figure 5It can be seen that the three points of each side of the three quadrilaterals form a group, and a group forms four groups of data. Taking the lower left vertex as an example, the maximum printing inclination angle of the x-axis and y-axis is calculated: the first left vertex coordinate LD of the lower left vertex of the first quadrilateral is extracted in the printing coordinate range noz =(x noz-start ,y noz-start , z noz-ld ), extract the second left vertex coordinate LD of the lower left vertex of the second quadrilateral in the minimum coordinate range mod-up =(x mod-up-start ,y mod-up-start , z mod-up ), extract the third left vertex coordinate LD of the lower left vertex of the third quadrilateral in the maximum coordinate range mod-down =(x mod-down-start ,y mod-down-start , z mod-down ).

[0077] Please refer to Figure 6 to Figure 7 In order to facilitate calculation and improve the calculation efficiency of the 3D printing device, the coordinates of the first left vertex, the second left vertex and the third left vertex are processed in two dimensions, and the coordinates of the X-axis and the Z-axis are retained, and the following equations are obtained: LD mod-up =(x mod-up-start , z mod-up );LD mod-down =(x mod-down-start , z mod-down );LD c =(x noz-start , z noz-down-start );

[0078] Figure 7 m = NORM (LD mod-up ,LD mod-down ), n=NORM(LD mod-down ,LD c ); NORM is a modulo operation, i.e. taking the length of the straight line between two points.

[0079] Also because LD noz =(x noz-start , h); l = NORM (LD mod-up ,LD noz );

[0080] It can be obtained that the maximum left tilt angle of the model to be printed is: the first angle to be compared α x-ld =sin -1 l / 2m, where l / 2m∈[-l,+l].

[0081] Please refer to Figures 8 to 9, taking the lower right vertex as an example, calculate the maximum printing inclination angle of the x-axis and y-axis: extract the coordinate RD of the lower right vertex of the first quadrilateral in the printing coordinate range noz =(x noz-end ,y noz-start , z noz-rd ), extract the coordinate RD of the lower right vertex of the second quadrilateral in the minimum coordinate range mod-up =(x mod-up-end ,y mod-up-start , z mod-up ), extract the coordinate RD of the lower right vertex of the third quadrilateral in the maximum coordinate range mod-down =(x mod-down-end ,y mod-down-start , z mod-down ).

[0082] Calculate the first angle α to be compared as above x-ld The maximum right tilt angle of the model to be printed can be calculated by: The second printing angle α x-rd =sin -1 L1 / 2M1, where L1 / 2M1∈[-l,+l].

[0083] Please refer to Figure 10 to Figure 11 , Fig.10 A simplified diagram of the model to be printed and the heated bed when calculating the third angle to be compared provided in an embodiment of the present application, Fig.11 A simplified diagram of a model to be printed and a heated bed when calculating a fourth angle to be compared provided in an embodiment of the present application.

[0084] Understandably, Fig.10 The third angle to be compared α is shown x-lu and Fig.11 The fourth angle to be compared α is shown x-ru Compared with the first angle α x-ld and the second angle to be compared α x-rd The calculation method of is similar, so in order to avoid repetition, it will not be repeated here.

[0085] In some embodiments, after obtaining the first angle to be compared, the second angle to be compared, the third angle to be compared, and the fourth angle to be compared, a first maximum printing inclination angle is determined from these four angles.

[0086] Specifically, the first maximum printing inclination angle is determined according to the following formula:

[0087] Among them, the θ x-mod is the first maximum printing inclination angle, α x-ld is the first angle to be compared, α x-rd is the second angle to be compared, α x-luis the third angle to be compared, α x-ru is the fourth angle to be compared, θ x-bed is the inclination angle of the first hot bed.

[0088] For the second maximum printing inclination angle, the method of calculating the first maximum printing inclination angle is similar:

[0089] Please refer to Figures 12 to 15 , perform two-dimensional processing on the aforementioned first left vertex coordinates, second left vertex coordinates and third left vertex coordinates, retain the coordinates of the Y axis and Z axis, and calculate the maximum left tilt angle of the model to be printed on the YZ plane: the fifth angle to be compared α y-ld ; Similarly, calculate the sixth angle to be compared α y-rd 、The seventh angle to be compared α y-lu and the eighth angle to be compared α y-ru .

[0090] Then determine the second maximum printing inclination angle according to the following formula:

[0091] Among them, the θ y-mod is the second maximum printing inclination angle, α y-ld is the fifth angle to be compared, α y-rd is the sixth angle to be compared, α y-lu is the seventh angle to be compared, α y-ru is the eighth angle to be compared, θ y-bed is the inclination angle of the second hot bed.

[0092] Step 105: Calculate a first offset in the first direction according to the first heated bed inclination angle and the first maximum printing inclination angle, and calculate a second offset in the second direction according to the second heated bed inclination angle and the second maximum printing inclination angle.

[0093] In some embodiments, the smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle is selected as the third final inclination angle, and the smaller angle between the second heated bed inclination angle and the second maximum printing inclination angle is selected as the fourth final inclination angle. Specifically, the third final inclination angle is the angle to be compensated in the X-axis direction, and the fourth final inclination angle is the angle to be compensated in the Y-axis direction.

[0094] It is worth mentioning that when the inclination angle of the heated bed is too large, part of the model to be printed will exceed the maximum printable range of the nozzle, which will lead to poor printing effect of the 3D printing device. By selecting the minimum value of the first heated bed inclination angle and the first maximum printing inclination angle as the third final inclination angle of the nozzle to be compensated in the X-axis, and selecting the minimum value of the second heated bed inclination angle and the second maximum printing inclination angle as the fourth final inclination angle of the nozzle to be compensated in the Y-axis, when faced with the situation of "the inclination of the heated bed causes the model to be printed to incline, thereby requiring nozzle offset compensation", on the one hand, the position of the nozzle can be effectively corrected, and on the other hand, the printing of the model to be printed can be ensured to be complete, thereby ensuring the printing effect of the 3D printing device.

[0095] Please refer to Figure 16 to Figure 17 , Fig.16 A schematic diagram of the structure of the model to be printed and the hot bed provided in the embodiment of the present application, Fig.17 A schematic diagram of calculating a first offset and a second offset provided in an embodiment of the present application.

[0096] like Fig.17 As shown in the figure, assuming that the height of the layer where the nozzle is located is L, the coordinates of point A are the original position coordinates of the nozzle, and the coordinates of point B are the final position coordinates of the nozzle after compensation. In other words, the coordinates of point B can be obtained by linearly adding the first offset in the X-axis direction and the second offset in the Y-axis direction to the coordinates of point A. Since the third final inclination angle and the fourth final inclination angle are fixed values, when the height of the layer where the nozzle is located is L, the first offset and the second offset are also fixed values.

[0097] Therefore, the first offset is calculated according to the following formula:

[0098] Offset x =L×sinθ x ; Among them, Offset x is the first offset, L is the distance between the nozzle and the hot bed, θ x is the third final inclination angle;

[0099] The second offset is calculated according to the following formula:

[0100] Offset y =L×sinθ y ; Among them, Offset y is the second offset, L is the distance between the nozzle and the hot bed, θ y is the fourth final inclination angle.

[0101] Step 106: Calibrate the nozzle according to the first offset and the second offset.

[0102] In some embodiments, the offset is updated to a system for controlling the 3D printing device, so that the offset of the nozzle in the horizontal direction can be calibrated.

[0103] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting an alignment mark on the hot bed, the first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction of the hot bed are calculated according to the first coordinate of the alignment mark; because the calculation of the offset that the nozzle needs to compensate is also limited by the maximum inclination angle of the model to be printed in the printing area, the first maximum printing inclination angle in the first direction and the second maximum printing inclination angle in the second direction of the model to be printed are calculated through the printing coordinate range of the nozzle, and the maximum coordinate range and the minimum coordinate range of the model to be printed in the vertical direction. Finally, the first offset that the nozzle needs to compensate in the first direction is calculated according to the first hot bed inclination angle and the first maximum printing inclination angle, and the second offset that the nozzle needs to compensate in the second direction is calculated according to the second hot bed inclination angle and the second maximum printing inclination angle, so that the accuracy of calculating the first offset and the second offset is high, and the nozzle is calibrated according to the first offset and the second offset, so as to realize automatic calibration of the nozzle, and the calibration is high in accuracy, saving labor costs.

[0104] Please refer to Fig.18 , which is a flow chart of an automatic calibration method for a 3D printing device provided in an embodiment of the present application. This embodiment is applied to the 3D printing device of the aforementioned embodiment. The 3D printing device includes a first nozzle, a second nozzle and a module detection platform, and includes the following steps:

[0105] Steps 101 to 106 in the above embodiment are executed.

[0106] Step 201: Calculate a third offset in the vertical direction according to the heated bed inclination angle, the first maximum printing inclination angle, the second heated bed inclination angle and the second maximum printing inclination angle.

[0107] In some embodiments, the smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle is selected as the first final inclination angle, and the smaller angle between the second heated bed inclination angle and the second maximum printing inclination angle is selected as the second final inclination angle.

[0108] Please refer again Fig.17 , the third offset is calculated according to the following formula:

[0109] Offset z =(L×(1-cosθ x )+L×(1-cosθ y )) / 2; where Offset z is the third offset, L is the distance between the nozzle and the hot bed, θ x is the first final inclination angle, θy is the second final inclination angle.

[0110] Step 202: Calibrate the nozzle according to the third offset.

[0111] In some embodiments, since the third offset is only related to the height L of the layer where the nozzle is located, when the height of the Z axis changes during the printing process, the 3D printing device calculates and updates the third offset, and feeds back to the parsing and correction of the G0 / G1 instructions in the gcode file (the gcode file is used to command the 3D printing work), thereby ensuring timely compensation for the offset of the nozzle in the Z-axis direction, further improving the printing effect of the 3D printing device.

[0112] For ease of understanding, the following Fig.19 The automatic calibration principle of this embodiment is specifically described:

[0113] like Fig.19 The figure shows a workflow diagram of the 3D printing device provided in an embodiment of the present application.

[0114] 1. Select the gcode file of the model to be printed.

[0115] 2. According to the printing parameters of the gcode file, obtain the coordinates of the bottom and top areas of the model to be printed on the Z axis.

[0116] 3. Get the inclination angle of the hot bed in the X-axis and Y-axis directions.

[0117] 4. Combined with the coordinates of the maximum area where the nozzle is allowed to move in the control system of the 3D printing equipment, calculate the correction angles of the nozzle on the X-axis and Y-axis.

[0118] 5. Read the next gcode instruction to be executed, which includes G0 / G1 instructions.

[0119] 6. Determine whether the G0 / G1 command needs to update the Z-axis coordinate. If necessary, update the third offset.

[0120] 7. If the G0 / G1 instruction does not need to update the Z-axis coordinate, determine whether the G0 / G1 instruction needs to update the X-axis and Y-axis coordinates. If necessary, update the first offset and the second offset.

[0121] 8. If the coordinates of the X-axis and Y-axis do not need to be updated, end the process when the current gcode instruction is the last instruction, otherwise return to the step of reading the next gcode instruction to be executed.

[0122] Compared with the related art, the embodiments of the present application have at least the following advantages: by setting an alignment mark on the hot bed, the first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction of the hot bed are calculated according to the first coordinate of the alignment mark; because the calculation of the offset that the nozzle needs to compensate is also limited by the maximum inclination angle of the model to be printed in the printing area, the first maximum printing inclination angle in the first direction and the second maximum printing inclination angle in the second direction of the model to be printed are calculated through the printing coordinate range of the nozzle, and the maximum coordinate range and the minimum coordinate range of the model to be printed in the vertical direction. Finally, the first offset that the nozzle needs to compensate in the first direction is calculated according to the first hot bed inclination angle and the first maximum printing inclination angle, and the second offset that the nozzle needs to compensate in the second direction is calculated according to the second hot bed inclination angle and the second maximum printing inclination angle, so that the accuracy of calculating the first offset and the second offset is high, and the nozzle is calibrated according to the first offset and the second offset, so as to realize automatic calibration of the nozzle, and the calibration is high in accuracy, saving labor costs.

[0123] Please refer to Fig. 20 , is a schematic diagram of the hardware structure of the electronic device 1000 provided in the embodiment of the present application. Fig. 20 As shown, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above method in the electronic device 1000.

[0124] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

[0125] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0126] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or circulated. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0127] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0128] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0129] This embodiment further provides a storage medium, in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the method in the above-mentioned embodiment.

[0130] Among them, the electronic device and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0131] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0132] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0133] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0134] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0135] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0136] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for automatic calibration of a 3D printing device, characterized in that: The 3D printing device comprises a heated bed and a nozzle, and the heated bed is provided with N alignment marks, where N is an integer greater than 1; The method comprises: Obtaining N first coordinates of the N alignment marks; Calculate a first heated bed inclination angle in a first direction and a second heated bed inclination angle in a second direction according to the N first coordinates, wherein the first direction is perpendicular to the second direction; Acquire a maximum coordinate range and a minimum coordinate range of the model to be printed in the vertical direction, wherein the maximum coordinate range is used to characterize the maximum surface of the model to be printed, and the minimum coordinate range is used to characterize the minimum surface of the model to be printed; Calculating a first maximum printing inclination angle of the to-be-printed model in the first direction and a second maximum printing inclination angle in the second direction according to the printing coordinate range of the nozzle, the minimum coordinate range and the maximum coordinate range; Calculate a first offset in the first direction according to the first heated bed inclination angle and the first maximum printing inclination angle, and calculate a second offset in the second direction according to the second heated bed inclination angle and the second maximum printing inclination angle; The nozzle is calibrated according to the first offset and the second offset.

2. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: The N alignment marks include a first alignment mark, a second alignment mark, a third alignment mark and a fourth alignment mark respectively arranged at the four corners of the heated bed; wherein the first alignment mark and the second alignment mark are arranged at the bottom edge of the heated bed, and the third alignment mark and the fourth alignment mark are arranged at the top edge of the heated bed opposite to the bottom edge; The step of calculating a first heated bed inclination angle in a first direction and a second heated bed inclination angle in a second direction of the heated bed according to the N first coordinates comprises: Calculating first midpoint coordinates of the first alignment mark and the third alignment mark, and second midpoint coordinates of the second alignment mark and the fourth alignment mark; Calculate the first hot bed inclination angle according to the first midpoint coordinates and the second midpoint coordinates; Calculating the third midpoint coordinates of the first alignment mark and the second alignment mark, and the fourth midpoint coordinates of the third alignment mark and the fourth alignment mark; The second hot bed inclination angle is calculated according to the third midpoint coordinate and the fourth midpoint coordinate.

3. The automatic calibration method of a 3D printing device according to claim 2, characterized in that: The calculating the first hot bed inclination angle according to the first midpoint coordinate and the second midpoint coordinate comprises: calculating according to the following formula: θ x-bed =sin -1 (z r -z l / x r -x l ), where θ x-bed is the first hot bed inclination angle, z r is the vertical coordinate of the second midpoint, z l is the vertical coordinate of the first midpoint, x r is the horizontal coordinate of the second midpoint, x l is the abscissa of the coordinates of the first midpoint; The calculating the second hot bed inclination angle according to the third midpoint coordinate and the fourth midpoint coordinate comprises: calculating according to the following formula: θ y-bed =sin -1 (z q -z p / y p -y q ), where θ y-bed is the second hot bed inclination angle, z q is the vertical coordinate of the fourth midpoint coordinate, z p is the vertical coordinate of the third midpoint coordinate, y p is the ordinate of the fourth midpoint coordinate, y q is the ordinate of the third midpoint coordinate.

4. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: The printing coordinate range corresponds to the first quadrilateral, the minimum coordinate range corresponds to the second quadrilateral, and the maximum coordinate range corresponds to the third quadrilateral; The calculating the first maximum printing inclination angle of the to-be-printed model in the first direction according to the printing coordinate range of the nozzle, the minimum coordinate range and the maximum coordinate range comprises: Extracting the first left vertex coordinate of the lower left vertex of the first quadrilateral in the printing coordinate range, extracting the second left vertex coordinate of the lower left vertex of the second quadrilateral in the minimum coordinate range, and extracting the third left vertex coordinate of the lower left vertex of the third quadrilateral in the maximum coordinate range; Calculate a first angle to be compared according to the first left vertex coordinate, the second left vertex coordinate and the third left vertex coordinate; Sequentially extracting coordinates of the remaining three vertices of the first quadrilateral, the second quadrilateral, and the third quadrilateral, and calculating the second angle to be compared, the third angle to be compared, and the fourth angle to be compared in the same manner as calculating the first angle to be compared; The first maximum printing inclination angle is determined from the first angle to be compared, the second angle to be compared, the third angle to be compared, and the fourth angle to be compared.

5. The automatic calibration method of a 3D printing device according to claim 4, characterized in that: The determining the first maximum printing inclination angle from the first angle to be compared, the second angle to be compared, the third angle to be compared, and the fourth angle to be compared comprises: The first maximum printing inclination angle is determined according to the following formula: Among them, the θ x-mod is the first maximum printing inclination angle, α x-ld is the first angle to be compared, α x-rd is the second angle to be compared, α x-lu is the third angle to be compared, α x-ru is the fourth angle to be compared, θ x-bed is the inclination angle of the first hot bed.

6. The automatic calibration method of a 3D printing device according to claim 1, characterized in that: The method further comprises: Calculating a third offset in the vertical direction according to the heated bed inclination angle, the first maximum printing inclination angle, the second heated bed inclination angle, and the second maximum printing inclination angle; The nozzle is calibrated according to the third offset.

7. The automatic calibration method of a 3D printing device according to claim 6, characterized in that: The calculating the third offset in the vertical direction according to the heated bed inclination angle, the first maximum printing inclination angle, the second heated bed inclination angle and the second maximum printing inclination angle comprises: The smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle is selected as the first final inclination angle, the smaller angle between the second heated bed inclination angle and the second maximum printing inclination angle is selected as the second final inclination angle, and the third offset is calculated according to the following formula: Offset z =(L×(1-cosθ x )+L×(1-cosθ y )) / 2; where Offset z is the third offset, L is the distance between the nozzle and the hot bed, θ x is the first final inclination angle, θ y is the second final inclination angle.

8. The automatic calibration method for a 3D printing device according to any one of claims 1 to 7, characterized in that: The calculating the first offset in the first direction according to the first heated bed inclination angle and the first maximum printing inclination angle comprises: The smaller angle between the first heated bed inclination angle and the first maximum printing inclination angle is selected as the third final inclination angle, and the first offset is calculated according to the following formula: Offset x =L×sinθ x ; Among them, Offset x is the first offset, L is the distance between the nozzle and the hot bed, θ x is the third final inclination angle; The calculating the second offset in the second direction according to the second heated bed inclination angle and the second maximum printing inclination angle comprises: The smaller angle between the second hot bed inclination angle and the second maximum printing inclination angle is selected as the fourth final inclination angle, and the second offset is calculated according to the following formula: Offset y =L×sinθ y ; Among them, Offset y is the second offset, L is the distance between the nozzle and the hot bed, θ y is the fourth final inclination angle.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the automatic calibration method for a 3D printing device according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The method comprises computer instructions, which, when executed on an electronic device, enable the electronic device to execute the automatic calibration method for a 3D printing device according to any one of claims 1 to 8.

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