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

Abstract

The application provides an automatic calibration method of a 3D printing device, an electronic device and a storage medium. The method comprises the following steps: obtaining N first coordinates of N alignment marks; calculating a first hot bed inclination angle of the hot bed in a first direction and a second hot bed inclination angle of the hot bed in a second direction according to the N first coordinates; obtaining a maximum coordinate range and a minimum coordinate range of a to-be-printed model in a vertical direction; 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 a printing coordinate range of a nozzle, the minimum coordinate range and the maximum coordinate range; 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. The application can automatically calibrate the nozzle, has high calibration accuracy and can save labor cost.

Description

Technical Field

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

[0002] With the popularization of concepts such as intelligent manufacturing engineering and Industry 4.0, 3D printing technology is becoming increasingly widespread. 3D printing technology first appeared in the mid-1990s and is essentially a new rapid prototyping device utilizing techniques such as photopolymerization and paper lamination. Its working principle is basically the same as ordinary printing; the printer contains liquid or powder "printing materials," and after being connected to a computer, the computer controls the layering of these "printing materials" to ultimately transform the blueprint on the computer into a physical object. This printing technology is called 3D stereolithography.

[0003] In related technologies, the installation of the heated bed in 3D printing equipment will inevitably lead to a certain angle error. Users need to adjust the nozzle to the appropriate position. However, the accuracy of manually adjusting the nozzle is not high. It requires repeated adjustment, printing, and readjustment, which is cumbersome and time-consuming. Summary of the Invention

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

[0005] The first aspect of this application provides an automatic calibration method for a 3D printing device, the 3D printing device including a heated bed and a nozzle, the heated bed having N alignment marks, where N is an integer greater than 1; the method includes: acquiring N first coordinates of the N alignment marks; calculating a first heated bed tilt angle in a first direction and a second heated bed tilt angle in a second direction based on the N first coordinates, the first direction being perpendicular to the second direction; acquiring a maximum coordinate range and a minimum coordinate range of a model to be printed in a vertical direction, wherein the maximum coordinate range characterizes the maximum surface area of ​​the model to be printed, and the minimum coordinate range characterizes the minimum surface area of ​​the model to be printed; calculating a first maximum printing tilt angle of the model to be printed in the first direction and a second maximum printing tilt angle in the second direction based on the printing coordinate range of the nozzle, the minimum coordinate range, and the maximum coordinate range; calculating a first offset in the first direction based on the first heated bed tilt angle and the first maximum printing tilt angle, and calculating a second offset in the second direction based on the second heated bed tilt angle and the second maximum printing tilt angle; and calibrating the nozzle based on the first offset and the second offset.

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

[0007] By setting alignment marks on the heated bed, the first heated bed tilt angle in the first direction and the second heated bed tilt angle in the second direction can be calculated based on the first coordinates of the alignment marks. Since the calculation of the offset to be compensated by the nozzle is also limited by the maximum tilt angle of the model to be printed in the printing area, the first maximum printing tilt angle and the second maximum printing tilt angle of the model to be printed in the first direction are calculated by using the printing coordinate range of the nozzle and the maximum and minimum coordinate ranges of the model to be printed in the vertical direction. Finally, the first offset to be compensated by the nozzle in the first direction is calculated based on the first heated bed tilt angle and the first maximum printing tilt angle, and the second offset to be compensated by the nozzle in the second direction is calculated based on the second heated bed tilt angle and the second maximum printing tilt angle. This ensures high accuracy in calculating the first and second offsets. The nozzle is then calibrated based on the first and second offsets, achieving automatic nozzle calibration with high accuracy and 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 disposed at the four corners of the heated bed; wherein the first alignment mark and the second alignment mark are disposed at the bottom edge of the heated bed, and the third alignment mark and the fourth alignment mark are disposed at the top edge of the heated bed opposite to the bottom edge; the step of calculating the first heated bed inclination angle in a first direction and the second heated bed inclination angle in a second direction based on 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 heated bed inclination angle based on the first midpoint coordinates and the second midpoint coordinates; 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 heated bed inclination angle based on the third midpoint coordinates and the fourth midpoint coordinates.

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

[0010] In some possible implementations, calculating the first heated bed tilt angle based on the coordinates of the first midpoint and the second midpoint includes: calculating θ according to the following formula: x-bed =sin -1 (z r -z l / x r -xl ); where θ x-bed Let z be the inclination angle of the first heated bed. r Let z be the vertical coordinate of the second midpoint. l Let x be the vertical coordinate of the first midpoint. r Let x be the x-coordinate of the second midpoint. l Let θ be the abscissa of the first midpoint coordinate; the calculation of the second heated bed inclination angle based on the third and fourth midpoint coordinates includes: calculating θ according to the following formula: y-bed =sin -1 (z q -z p / y p -y q ); where θ y-bed Let z be the inclination angle of the second heated bed. q Let z be the vertical coordinate of the fourth midpoint. p Let y be the vertical coordinate of the third midpoint. p Let y be the ordinate of the fourth midpoint. q The ordinate of the third midpoint is given.

[0011] By adopting this technical solution, a feasible method for calculating the inclination angle of a heated bed has been achieved.

[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 step of calculating the first maximum printing tilt angle of the model to be printed in the first direction based on the print coordinate range of the nozzle, the minimum coordinate range, and the maximum coordinate range includes: extracting the coordinates of the first left vertex of the lower left vertex of the first quadrilateral within the printing coordinate range; extracting the coordinates of the second left vertex of the lower left vertex of the second quadrilateral within the minimum coordinate range; and extracting the coordinates of the third left vertex of the lower left vertex of the third quadrilateral within the maximum coordinate range; calculating a first comparison angle based on the first, second, and third left vertex coordinates; sequentially extracting the coordinates of the remaining three vertices of the first, second, and third quadrilaterals, and calculating the second, third, and fourth comparison angles in the same manner as calculating the first comparison angle; and determining the first maximum printing tilt angle from the first, second, third, and fourth comparison angles.

[0013] By adopting this technical solution, the first maximum printing tilt angle can be calculated more accurately, thereby improving the accuracy of subsequent offset calculations and ultimately enhancing the accuracy of the automatic calibration method.

[0014] In some possible implementations, determining the first maximum printing tilt 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 tilt angle according to the following formula: Wherein, the θ x-mod For the first maximum printing tilt angle, α x-ld Let α be the first angle to be compared. x-rd Let α be the second angle to be compared. x-lu Let α be the third angle to be compared. x-ru Let θ be the fourth angle to be compared. x-bed The inclination angle of the first heated bed.

[0015] By adopting this technical solution, a feasible method for calculating the first maximum printing tilt angle has been achieved.

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

[0017] By adopting this technical solution, the nozzle can be automatically calibrated in the vertical direction without the need for manual adjustment of the nozzle position. This is simple to operate and saves labor costs.

[0018] In some possible implementations, calculating the third offset in the vertical direction based on the heated bed tilt angle, the first maximum printing tilt angle, the second heated bed tilt angle, and the second maximum printing tilt angle includes: selecting the smaller angle between the first heated bed tilt angle and the first maximum printing tilt angle as the first final tilt angle, selecting the smaller angle between the second heated bed tilt angle and the second maximum printing tilt angle as the second final tilt 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 The third offset is L, where L is the distance between the nozzle and the heated bed, and θ is the distance between the nozzle and the heated bed. x Let θ be the first final tilt angle. y This is the second final tilt angle.

[0019] In some possible implementations, calculating the first offset in the first direction based on the first heated bed tilt angle and the first maximum printing tilt angle includes: selecting the smaller angle between the first heated bed tilt angle and the first maximum printing tilt angle as the third final tilt angle, and calculating the first offset Offset according to the following formula. x =L×sinθ x ; where Offset x Let θ be the first offset, L be the distance between the nozzle and the heated bed, and θ be the distance between the nozzle and the heated bed. x The third final tilt angle; the calculation of the second offset in the second direction based on the second heated bed tilt angle and the second maximum printing tilt angle includes: selecting the smaller angle between the second heated bed tilt angle and the second maximum printing tilt angle as the fourth final tilt angle, and calculating the second offset according to the following formula: Offset y =L×sinθ y ; where Offset y The second offset is θ, where L is the distance between the nozzle and the heated bed. y This refers to the fourth final tilt angle.

[0020] A second aspect of this application discloses an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the above-described automatic calibration method for 3D printing equipment.

[0021] A third aspect of this application discloses a storage medium including computer instructions that, when executed on an electronic device, cause the electronic device to perform the aforementioned automatic calibration method for a 3D printing device.

[0022] Understandably, 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 they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A flowchart illustrating an automatic calibration method for a 3D printing device provided in an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of the structure of a heated bed provided in one embodiment of this application.

[0026] Figure 3 This is a schematic diagram of a heated bed viewed from the XZ plane along a spatial rectangular coordinate system, according to an embodiment of this application.

[0027] Figure 4 This is a schematic diagram of the structure of a printable model provided in an embodiment of this application.

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

[0029] Figure 6 A simplified diagram of the printable model and the heated bed provided for calculating the first comparison angle in an embodiment of this application.

[0030] Figure 7 This is a schematic diagram illustrating the calculation of a first angle to be compared, provided as an embodiment of this application.

[0031] Figure 8 A simplified diagram of the printable model and the heated bed provided for calculating the second comparison angle in an embodiment of this application.

[0032] Figure 9 This is a schematic diagram illustrating the calculation of the second angle to be compared, provided as an embodiment of this application.

[0033] Figure 10 A simplified diagram of the printable model and the heated bed provided for calculating the third comparison angle in an embodiment of this application.

[0034] Figure 11 A simplified diagram of the printable model and the heated bed provided for calculating the fourth comparison angle in an embodiment of this application.

[0035] Figure 12 A simplified diagram of the printable model and heated bed for calculating the fifth comparison angle provided in an embodiment of this application.

[0036] Figure 13 A simplified diagram of the printable model and heated bed for calculating the sixth comparison angle provided in an embodiment of this application.

[0037] Figure 14 A simplified diagram of the printable model and heated bed for calculating the seventh comparison angle provided in an embodiment of this application.

[0038] Figure 15 A simplified diagram of the printable model and heated bed for calculating the eighth comparison angle provided in an embodiment of this application.

[0039] Figure 16 This is a schematic diagram illustrating the calculation of a first angle to be compared, provided as an embodiment of this application.

[0040] Figure 17 This is a schematic diagram illustrating the calculation of a first angle to be compared, provided as an embodiment of this application.

[0041] Figure 18 A flowchart illustrating an automatic calibration method for a 3D printing device provided in an embodiment of this application.

[0042] Figure 19 A flowchart illustrating the operation of a 3D printing device provided in one embodiment of this application.

[0043] Figure 20 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0044] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0045] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0047] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

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

[0049] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0050] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0051] 3D printing equipment, also known as three-dimensional printers or stereo printers, is a rapid prototyping process that typically uses digital technology to print materials. 3D printing equipment is commonly used in mold making, industrial design, and other fields to create models or parts.

[0052] Please refer to Figure 1 This is a flowchart of an automatic calibration method for a 3D printing device provided in an embodiment of this application. The 3D printing device includes a heated bed and a nozzle. The method includes the following steps:

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

[0054] Where N is an integer greater than 1. It is understood that this embodiment does not impose specific limitations on the value of N, and can be set according to actual needs.

[0055] Please refer to Figure 2 This is a schematic diagram of the structure of the heated bed provided in an embodiment of this 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, which are respectively set at the four corners of the heated 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 marker B and the fourth alignment marker D is r. x .

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

[0057] Step 102: Calculate the first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction based on the N first coordinates.

[0058] The first direction is perpendicular to the second direction. Specifically, in this embodiment, the first direction 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 coordinates of the first midpoint of the first alignment mark A and the third alignment mark C, and the coordinates of the second midpoint of the second alignment mark B and the fourth alignment mark D are calculated, and then the first hotbed tilt angle is calculated based on the coordinates of the first midpoint and the second midpoint.

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

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

[0062] like Figure 3 As shown, based on trigonometric relationships, the first hotbed inclination angle θ in the X-axis direction can be obtained. x-bed =sin -1 (z r -z l / x r -x l ); where θ x-bed Let z be the inclination angle of the first heated bed. r Let z be the vertical coordinate of the second midpoint. l Let x be the vertical coordinate of the first midpoint. r Let x be the x-coordinate of the second midpoint. l Let x be the x-coordinate of the first midpoint.

[0063] Specifically, suppose the coordinates of the first pair of position markers A are (x... a y a , z a The coordinates of the second pair of markers B are (x...). b y b , z b The coordinates of the third pair of markers C are (x... c y c , z c The coordinates of the fourth pair of position markers D are (x... d y d , z d Assume the coordinates of the first midpoint are (x... l y l , z l The x-coordinate of the first midpoint is the same as the x-coordinates of points A and C, i.e., x... l =x a =x c Then, calculate the ordinate based on the positional relationship between points A, C, and the first midpoint. vertical coordinate That is, the coordinates of the first midpoint are obtained as follows:

[0064] Assume the coordinates of the second midpoint are (x r y r , z r The x-coordinate of the second midpoint is the same as the x-coordinates of points B and D, i.e., x r =x b =x d 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 obtained.

[0065] After determining the coordinates of the first and second midpoints, the inclination angle θ of the first heated bed can be calculated. x-bed The value of .

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

[0067] The coordinates of the fourth midpoint are y p and the coordinates of the third midpoint y q The calculation method is the same as the aforementioned x l and x r The calculation method is similar, and will not be repeated here to avoid repetition.

[0068] Step 103: Obtain the maximum and minimum coordinate ranges 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] To facilitate understanding, the following will be combined with... Figure 4 The definitions of the maximum and minimum coordinate ranges in this embodiment are explained in detail below:

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

[0072] Step 104: Calculate the first maximum printing tilt angle of the model to be printed in the first direction and the second maximum printing tilt angle in the second direction based on the print coordinate range, minimum coordinate range and maximum coordinate range of the print head.

[0073] In some embodiments, the print head's printing coordinate range is the maximum range that the print head can move.

[0074] Please refer to Figure 5 This is a schematic diagram of the first, second, and third quadrilaterals provided in this application in a spatial rectangular coordinate system. Figure 5 As shown, the printed 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 the first quadrilateral Range noz The coordinates are (x noz-start y noz-start , z noz-start ,x noz-end y noz-end , z noz-end ); Range of the second quadrilateral mod-ip The coordinates are (x mod-up-start y mod-up-start , z mod-up-start ,x mod-up-end y mod-up-end , z mod-up-end ); Range (third quadrilateral) mod-down The coordinates are (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 on each side of the three quadrilaterals form a group, and each group forms four sets of data. Taking the bottom left vertex as an example, the maximum printing tilt angle on the x and y axes is calculated: extract the coordinates LD of the first left vertex of the bottom left vertex of the first quadrilateral from the printing coordinate range. noz =(x noz-start y noz-start , z noz-ld Extract the coordinates LD of the second left vertex of the lower left vertex of the second quadrilateral from the minimum coordinate range. mod-up =(x mod-up-start y mod-up-start , z mod-up Extract the coordinates LD of the third left vertex of the lower left vertex of the third quadrilateral within the maximum coordinate range. mod-down =(x mod-down-start y mod-down-start , z mod-down ).

[0077] Please refer to this as well. Figure 6 to Figure 7 To facilitate calculations and improve the computational efficiency of 3D printing equipment, the coordinates of the first, second, and third left vertices are processed into two dimensions, retaining the X and Z axis coordinates, resulting in: 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 The m = NORM(LD) shown mod-up ,LD mod-down ), n = NORM(LD) mod-down ,LD c ); where NORM is the modulo operation, which takes the length of the line between two points.

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

[0080] Therefore, the maximum leftward 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 this as well. Figure 8 to Figure 9Taking the bottom right vertex as an example, calculate the maximum printing tilt angle along the x and y axes: extract the coordinates RD of the bottom right vertex of the first quadrilateral within the printing coordinate range. noz =(x noz-end y noz-start , z noz-rd Extract the coordinates RD of the lower right vertex of the second quadrilateral from the minimum coordinate range. mod-up =(x mod-up-end y mod-up-start , z mod-up Extract the coordinates RD of the lower right vertex of the third quadrilateral within the maximum coordinate range. mod-down =(x mod-down-end y mod-down-start , z mod-down ).

[0082] The first angle to be compared, α, is calculated in the same way as above. x-ld The maximum rightward tilt angle of the model to be printed can be calculated using this method: the second printing angle α. x-rd =sin -1 L1 / 2M1, where L1 / 2M1∈[-l,+l].

[0083] Please refer to this as well. Figure 10 to Figure 11 , Figure 10 A simplified diagram of the printable model and the heated bed for calculating the third comparison angle provided in this embodiment of the application. Figure 11 A simplified diagram of the printable model and the heated bed for calculating the fourth comparison angle provided in this application embodiment.

[0084] Understandable, Figure 10 The third angle to be compared, α, is shown. x-lu and Figure 11 The fourth angle to be compared, α, is shown. x-ru Compared with the aforementioned first angle to be compared α x-ld The second angle to be compared, α x-rd The calculation method is similar, and will not be repeated here to avoid repetition.

[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, the first maximum printing tilt angle is determined from these four angles.

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

[0087] Wherein, the θ x-mod For the first maximum printing tilt angle, α x-ld Let α be the first angle to be compared. x-rd Let α be the second angle to be compared. x-luLet α be the third angle to be compared. x-ru Let θ be the fourth angle to be compared. x-bed The inclination angle of the first heated bed.

[0088] The method for calculating the second maximum print tilt angle is similar to that for the first maximum print tilt angle:

[0089] Please refer to this as well. Figure 12 to Figure 15 The coordinates of the first, second, and third left vertices are then processed into two dimensions, retaining the Y-axis and Z-axis coordinates. The maximum left tilt angle of the model to be printed on the YZ plane is calculated: the fifth comparison angle α. y-ld Similarly, calculate the sixth angle α to be compared. 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 tilt angle according to the following formula:

[0091] Wherein, the θ y-mod α is the second maximum printing tilt angle. y-ld Let α be the fifth angle to be compared. y-rd Let α be the sixth angle to be compared. y-lu Let α be the seventh angle to be compared. y-ru Let θ be the eighth angle to be compared. y-bed The inclination angle of the second heated bed.

[0092] Step 105: Calculate the first offset in the first direction based on the first heated bed tilt angle and the first maximum printing tilt angle, and calculate the second offset in the second direction based on the second heated bed tilt angle and the second maximum printing tilt angle.

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

[0094] It is worth mentioning that when the heated bed tilt angle is too large, it will cause the part of the model to be printed to exceed the maximum printable range of the nozzle, resulting in poor printing effect of the 3D printing equipment. By selecting the minimum value of the first heated bed tilt angle and the first maximum printing tilt angle as the third final tilt angle of the nozzle to be compensated on the X-axis, and selecting the minimum value of the second heated bed tilt angle and the second maximum printing tilt angle as the fourth final tilt angle of the nozzle to be compensated on the Y-axis, the nozzle position can be effectively corrected when the tilt of the heated bed causes the model to be printed to tilt, thus requiring nozzle offset compensation. On the other hand, it can ensure the integrity of the printed model and ensure the printing effect of the 3D printing equipment.

[0095] Please refer to this as well. Figure 16 to Figure 17 , Figure 16 This is a simplified structural diagram of the model to be printed and the heated bed provided in an embodiment of this application. Figure 17 This is a schematic diagram illustrating the calculation of the first offset and the second offset, provided for an embodiment of this application.

[0096] like Figure 17 As shown, assuming 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. That is, the coordinates of point B are 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 and fourth final tilt angles are constants, when the height L of the layer where the nozzle is located is constant, the first and second offsets are also constants.

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

[0098] Offset x =L×sinθ x ; where Offset x Let θ be the first offset, L be the distance between the nozzle and the heated bed, and θ be the distance between the nozzle and the heated bed. x This refers to the third final tilt angle;

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

[0100] Offset y =L×sinθ y ; where Offset y The second offset is θ, where L is the distance between the nozzle and the heated bed. y This refers to the fourth final tilt angle.

[0101] Step 106: Calibrate the nozzle based on the first offset and the second offset.

[0102] In some embodiments, updating the offset to the system controlling the 3D printing equipment can calibrate the nozzle offset in the horizontal direction.

[0103] Compared with related technologies, the embodiments of this application have at least the following advantages: By setting alignment marks on the heated bed, the first heated bed tilt angle in the first direction and the second heated bed tilt angle in the second direction can be calculated based on the first coordinates of the alignment marks; since the calculation of the offset to be compensated by the nozzle is also limited by the maximum tilt angle of the model to be printed in the printing area, the first maximum printing tilt angle and the second maximum printing tilt angle of the model to be printed in the first direction are calculated based on the printing coordinate range of the nozzle and the maximum and minimum coordinate ranges of the model to be printed in the vertical direction. Finally, the first offset to be compensated by the nozzle in the first direction is calculated based on the first heated bed tilt angle and the first maximum printing tilt angle, and the second offset to be compensated by the nozzle in the second direction is calculated based on the second heated bed tilt angle and the second maximum printing tilt angle. This makes the calculation of the first offset and the second offset highly accurate. The nozzle is calibrated based on the first offset and the second offset, realizing automatic calibration of the nozzle with high calibration accuracy and saving labor costs.

[0104] Please refer to Figure 18 This is a flowchart of an automatic calibration method for a 3D printing device provided in this application embodiment. 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] Perform steps 101 to 106 in the foregoing embodiments.

[0106] Step 201: Calculate the third offset in the vertical direction based on the heated bed tilt angle, the first maximum printing tilt angle, the second heated bed tilt angle, and the second maximum printing tilt angle.

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

[0108] Please refer to this again. Figure 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 The third offset is L, where L is the distance between the nozzle and the heated bed, and θ is the distance between the nozzle and the heated bed. x Let θ be the first final tilt angle.y This is the second final tilt 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 equipment calculates and updates the third offset and feeds it 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 and further improving the printing effect of the 3D printing equipment.

[0112] To facilitate understanding, the following will be combined with... Figure 19 The automatic calibration principle of this embodiment will be explained in detail:

[0113] like Figure 19 The diagram shown is a flowchart of the operation of the 3D printing equipment provided in the embodiments of this application.

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

[0115] 2. Based on the printing parameters in the gcode file, obtain the coordinates of the lowest and highest regions of the model to be printed on the Z-axis.

[0116] 3. Obtain the tilt angle of the heated bed in the X and Y axis directions.

[0117] 4. Based on the coordinates of the maximum area that the nozzle is allowed to move in the control system of the 3D printing equipment, calculate the correction angle of the nozzle on the X and Y axes.

[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 so, 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 so, update the first offset and the second offset.

[0121] 8. If the X-axis and Y-axis coordinates do not need to be updated, the process ends 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 related technologies, the embodiments of this application have at least the following advantages: By setting alignment marks on the heated bed, the first heated bed tilt angle in the first direction and the second heated bed tilt angle in the second direction can be calculated based on the first coordinates of the alignment marks; since the calculation of the offset to be compensated by the nozzle is also limited by the maximum tilt angle of the model to be printed in the printing area, the first maximum printing tilt angle and the second maximum printing tilt angle of the model to be printed in the first direction are calculated based on the printing coordinate range of the nozzle and the maximum and minimum coordinate ranges of the model to be printed in the vertical direction. Finally, the first offset to be compensated by the nozzle in the first direction is calculated based on the first heated bed tilt angle and the first maximum printing tilt angle, and the second offset to be compensated by the nozzle in the second direction is calculated based on the second heated bed tilt angle and the second maximum printing tilt angle. This makes the calculation of the first offset and the second offset highly accurate. The nozzle is calibrated based on the first offset and the second offset, realizing automatic calibration of the nozzle with high calibration accuracy and saving labor costs.

[0123] Please refer to Figure 20 This is a schematic diagram of the hardware structure of the electronic device 1000 provided in an embodiment of this application. Figure 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 that can be used to implement the methods described above in the electronic device 1000.

[0124] It is understood that the structure illustrated 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 illustrated, or combine some components, or split some components, or have different component arrangements.

[0125] Processor 1001 may include one or more processing units, such as application processors (APs), modems, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), baseband processors, and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0126] The processor 1001 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. This memory can store instructions or data that the processor 1001 has just used or that are used repeatedly. If the processor 1001 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, 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. Interfaces 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 hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0129] This embodiment also provides a storage medium storing computer instructions. When the instructions are executed on an electronic device, the electronic device performs the aforementioned method steps to implement the methods described in the above embodiments.

[0130] In this embodiment, the electronic device and computer storage medium are used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0131] In practical applications, the above functions can be assigned 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 the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are illustrative. For instance, the division of modules or units is a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

[0134] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0135] If the integrated unit is implemented as 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 solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0136] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. An automatic calibration method for a 3D printing device, characterized in that, The 3D printing equipment includes a heated bed and a nozzle. The heated bed is provided with N alignment marks, where N is an integer greater than 1. The method includes: Obtain the N first coordinates of the N alignment marks; The first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction are calculated based on N first coordinates, wherein the first direction is perpendicular to the second direction; Obtain the maximum and minimum coordinate ranges 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; The first maximum printing tilt angle of the model to be printed in the first direction and the second maximum printing tilt angle in the second direction are calculated based on the printing coordinate range of the nozzle, the minimum coordinate range, and the maximum coordinate range. A first offset in the first direction is calculated based on the first heated bed tilt angle and the first maximum printing tilt angle, and a second offset in the second direction is calculated based on the second heated bed tilt angle and the second maximum printing tilt angle; The nozzle is calibrated based on the first offset and the second offset.

2. The automatic calibration method for 3D printing equipment as described in 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 disposed at the four corners of the heated bed; wherein, the first alignment mark and the second alignment mark are disposed at the bottom edge of the heated bed, and the third alignment mark and the fourth alignment mark are disposed at the top edge of the heated bed opposite to the bottom edge; The step of calculating the first hot bed inclination angle in the first direction and the second hot bed inclination angle in the second direction based on N first coordinates includes: Calculate the coordinates of the first midpoint of the first alignment mark and the third alignment mark, and the coordinates of the second midpoint of the second alignment mark and the fourth alignment mark; Calculate the first heated bed tilt angle based on the coordinates of the first midpoint and the second midpoint; Calculate the coordinates of the third midpoint of the first alignment mark and the second alignment mark, and the coordinates of the fourth midpoint of the third alignment mark and the fourth alignment mark; The second heated bed inclination angle is calculated based on the coordinates of the third midpoint and the fourth midpoint.

3. The automatic calibration method for 3D printing equipment as described in claim 2, characterized in that, The calculation of the first heated bed inclination angle based on the first midpoint coordinates and the second midpoint coordinates includes: calculating according to the following formula: θ x-bed =sin -1 (z r -z l / x r -x l ); where θ x-bed Let z be the inclination angle of the first heated bed. r Let z be the vertical coordinate of the second midpoint. l Let x be the vertical coordinate of the first midpoint. r Let x be the x-coordinate of the second midpoint. l The x-coordinate of the first midpoint; The calculation of the second heated bed inclination angle based on the coordinates of the third midpoint and the fourth midpoint includes: calculating according to the following formula: θ y-bed =sin -1 (z q -z p / y p -y q ); where θ y-bed Let z be the inclination angle of the second heated bed. q Let z be the vertical coordinate of the fourth midpoint. p Let y be the vertical coordinate of the third midpoint. p Let y be the ordinate of the fourth midpoint. q The ordinate of the third midpoint is given.

4. The automatic calibration method for 3D printing equipment as described in claim 1, characterized in that, The printed 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 step of calculating the first maximum printing tilt angle of the model to be printed in the first direction based on the printing coordinate range of the nozzle, the minimum coordinate range, and the maximum coordinate range includes: Extract the coordinates of the first left vertex of the lower left vertex of the first quadrilateral from the printed coordinate range, extract the coordinates of the second left vertex of the lower left vertex of the second quadrilateral from the minimum coordinate range, and extract the coordinates of the third left vertex of the lower left vertex of the third quadrilateral from the maximum coordinate range. Calculate the first angle to be compared based on the coordinates of the first left vertex, the coordinates of the second left vertex, and the coordinates of the third left vertex; The coordinates of the remaining three vertices of the first quadrilateral, the second quadrilateral, and the third quadrilateral are extracted sequentially, and the second, third, and fourth angles to be compared are calculated in the same way as the first angle to be compared. The first maximum printing tilt 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 for 3D printing equipment as described in claim 4, characterized in that, Determining the first maximum printing tilt 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: The first maximum printing tilt angle is determined according to the following formula: Wherein, the θ x-mod For the first maximum printing tilt angle, α x-ld Let α be the first angle to be compared. x-rd Let α be the second angle to be compared. x-lu Let α be the third angle to be compared. x-ru Let θ be the fourth angle to be compared. x-bed The inclination angle of the first heated bed.

6. The automatic calibration method for 3D printing equipment as described in claim 1, characterized in that, The method further includes: The third offset in the vertical direction is calculated based on the heated bed tilt angle, the first maximum printing tilt angle, the second heated bed tilt angle, and the second maximum printing tilt angle. The nozzle is calibrated according to the third offset.

7. The automatic calibration method for 3D printing equipment as described in claim 6, characterized in that, The calculation of the third offset in the vertical direction based on the heated bed tilt angle, the first maximum printing tilt angle, the second heated bed tilt angle, and the second maximum printing tilt angle includes: The smaller angle between the first heated bed tilt angle and the first maximum printing tilt angle is selected as the first final tilt angle, and the smaller angle between the second heated bed tilt angle and the second maximum printing tilt angle is selected as the second final tilt angle. The third offset is calculated according to the following formula: Offset z = (L×(1-cosθ) x )+L×(1-cosθ y )) / 2; where Offset z The third offset is L, where L is the distance between the nozzle and the heated bed, and θ is the distance between the nozzle and the heated bed. x Let θ be the first final tilt angle. y This is the second final tilt angle.

8. The automatic calibration method for a 3D printing device as described in any one of claims 1 to 7, characterized in that, The calculation of the first offset in the first direction based on the first heated bed tilt angle and the first maximum printing tilt angle includes: The smaller angle between the first heated bed tilt angle and the first maximum printing tilt angle is selected as the third final tilt angle, and the first offset is calculated according to the following formula: Offset x =L×sinθ x ; where Offset x Let θ be the first offset, L be the distance between the nozzle and the heated bed, and θ be the distance between the nozzle and the heated bed. x This refers to the third final tilt angle; The calculation of the second offset in the second direction based on the second heated bed tilt angle and the second maximum printing tilt angle includes: The smaller angle between the second heated bed tilt angle and the second maximum printing tilt angle is selected as the fourth final tilt angle, and the second offset is calculated according to the following formula: Offset y =L×sinθ y ; where Offset y The second offset is θ, where L is the distance between the nozzle and the heated bed. y This refers to the fourth final tilt angle.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store instructions, and the processor being used to invoke the instructions in the memory, causing the electronic device to execute the automatic calibration method of the 3D printing device according to any one of claims 1 to 8.

10. A storage medium, characterized in that, Includes computer instructions that, when executed on an electronic device, cause the electronic device to perform an automatic calibration method for a 3D printing device as claimed in any one of claims 1 to 8.

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