Spray head adjusting equipment and adjusting method

Abstract

The invention discloses spray head adjusting equipment and an adjusting method, and the spray head adjusting equipment comprises a mounting seat which is provided with a mounting space for mounting a spray head device; the visual device comprises a base, a display screen and a visual camera, the visual camera is located below the installation space, the shooting direction of the visual camera faces upwards, and the visual camera is electrically connected with the display screen; a first adjusting mechanism and a second adjusting mechanism are connected between the base and the visual camera, the first adjusting mechanism is used for adjusting the transverse position of the visual camera, and the second adjusting mechanism is used for adjusting the front-back position of the visual camera. According to the nozzle adjusting method, the nozzle device is adjusted by using the nozzle adjusting equipment. Deflection angles and positions of the nozzle units can be adjusted by observing the display screen, the nozzle device does not need to be controlled for multiple times to spray wax points / glue points, and printing materials are saved. Moreover, adjustment is carried out through the image presented in real time, operation is convenient, and the time needed by adjustment is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a nozzle adjustment device and an adjustment method. Background Art

[0002] In order to increase the printing width and thus the printing speed, the prior art proposes a 3D printing nozzle device having multiple nozzle units, such as a wax spray device for a wax-based 3D printer or a glue spray device for a sand-based 3D printer. To obtain higher printing accuracy, the nozzle holes of the multiple nozzle units must be uniformly and neatly arranged. The prior art 3D printing nozzle device is provided with a translation mechanism and a rotation mechanism for each nozzle unit. Each time a nozzle unit is disassembled for replacement or repair, the nozzle device needs to be readjusted.

[0003] The existing adjustment method involves controlling the nozzle unit to spray wax / glue dots and then observing whether the arrangement of the wax / glue dots is neat. If not, the nozzle unit is adjusted using a translational and rotational mechanism and the wax / glue dots are sprayed again. This process is repeated multiple times until the wax / glue dots are neatly arranged. However, this adjustment method not only wastes material but also takes a long time and is very inconvenient. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a nozzle adjustment device and an adjustment method.

[0005] The nozzle adjustment device according to the first embodiment of the present invention includes: A mounting base, provided with a mounting space for mounting a sprinkler device; A visual device includes a base, a display screen and a visual camera. The base and the mounting base are fixed relative to each other. The visual camera is located below the mounting space. The shooting direction of the visual camera is upward. The visual camera is electrically connected to the display screen. A first adjustment mechanism and a second adjustment mechanism are connected between the base and the visual camera. The first adjustment mechanism is used to adjust the lateral position of the visual camera, and the second adjustment mechanism is used to adjust the front and rear position of the visual camera.

[0006] The nozzle adjustment equipment according to the embodiment of the first aspect of the present invention has at least the following technical effects: when the nozzle device needs to be adjusted, the nozzle device can be installed on the mounting base so that the nozzle holes of the multiple nozzle units of the nozzle device are all facing downward, and then the visual camera is started. The visual camera obtains real-time images of the nozzle holes of the multiple nozzle units and presents them on the display screen; the staff can judge whether the nozzle holes are arranged neatly by observing the display screen, and then adjust the deflection angles and positions of the multiple nozzle units until the nozzle holes are arranged neatly; there is no need to control the nozzle device multiple times to spray wax dots / glue dots, which saves printing materials; and, adjustment through real-time presented images is easy to operate, which helps to reduce the time required for adjustment.

[0007] According to some embodiments of the present invention, the second adjustment mechanism includes a second slide, and the second slide is connected to the base in a forward and backward sliding manner.

[0008] According to some embodiments of the present invention, the first adjustment mechanism includes a first slide, the first slide is connected to the second slide in a left-right sliding manner, and the visual camera is arranged on the first slide.

[0009] According to a second embodiment of the present invention, a nozzle adjustment method is provided, wherein the nozzle adjustment device is used to adjust the nozzle device. The adjustment method comprises the following steps: Installing the nozzle device in the installation space; Starting the visual camera so that the display screen displays the bottom surface image of the nozzle device; The multiple nozzle units of the nozzle device are adjusted according to the bottom surface image, so that the multiple nozzle units are adjusted to preset positions.

[0010] The nozzle adjustment method according to the second aspect of the embodiment of the present invention has at least the following technical effects: by using the above-mentioned nozzle adjustment device, the deflection angle and position of multiple nozzle units can be adjusted by observing the display screen, without the need to control the nozzle device to spray wax dots / glue dots multiple times, thus saving printing materials; moreover, adjustment is performed through real-time presentation of images, which is easy to operate and helps to reduce the time required for adjustment.

[0011] According to some embodiments of the present invention, the step of adjusting the plurality of nozzle units of the nozzle device according to the bottom surface image includes: Performing deflection position adjustment on each nozzle unit until the nozzle rows of all nozzle units are parallel; One of the nozzle units is selected as a reference unit, and lateral position adjustment is performed on all nozzle units other than the reference unit until at least one nozzle hole column of two adjacent nozzle units is collinear.

[0012] When the nozzle rows of all the nozzle units are parallel and at least one nozzle row of two adjacent nozzle units is collinear, it is determined that the plurality of nozzle units are adjusted to the preset positions.

[0013] According to some embodiments of the present invention, the step of adjusting the deflection position of each nozzle unit includes: Adjust the rotating mechanism of the nozzle unit so that one of the nozzle hole rows is arranged in the horizontal direction.

[0014] According to some embodiments of the present invention, the step of adjusting the rotation mechanism of the spray head unit includes: Adjusting the first adjustment mechanism and the second adjustment mechanism to move the center point of the bottom surface image to the first end nozzle of the first nozzle row; Adjusting the first adjustment mechanism until the end nozzle of the first nozzle row appears in the bottom image; The first adjusting mechanism and the rotating mechanism are adjusted until the center point of the bottom surface image moves to the terminal nozzle.

[0015] According to some embodiments of the present invention, the step of adjusting the first adjustment mechanism until the end nozzle of the first nozzle row appears in the bottom image includes: Adjust the focal length of the visual camera so that the first row of nozzles appears completely in the bottom image; The first adjustment mechanism and the focal length of the visual camera are adjusted so that the end nozzle of the first nozzle row appears in the bottom surface image.

[0016] According to some embodiments of the present invention, the step of performing lateral position adjustment on all nozzle units except the reference unit includes: Performing lateral position adjustment on the adjacent nozzle units with the reference unit as a reference until the lateral position adjustment of the nozzle unit is completed; The lateral position adjustment is performed on the adjacent nozzle units that have not completed the lateral position adjustment based on the nozzle unit that has completed the lateral position adjustment, until all the nozzle units have completed the lateral position adjustment.

[0017] According to some embodiments of the present invention, the step of performing lateral position adjustment includes: Adjusting the first adjustment mechanism and the second adjustment mechanism so that the center point of the bottom surface image moves to one of the nozzle holes of the nozzle unit that completes the lateral position adjustment; The second adjustment mechanism and the translation mechanism of the nozzle unit that has not completed lateral position adjustment are adjusted until the center point of the bottom surface image moves to one of the nozzle holes of the nozzle unit that has not completed lateral position adjustment.

[0018] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 2. It is a schematic diagram of the three-dimensional structure of the nozzle adjustment device according to an embodiment of the present invention; Figure 2 is a flow chart of a nozzle adjustment method according to an embodiment of the present invention; Figure 3 is a flow chart of steps for adjusting multiple nozzle units of a nozzle device according to a bottom surface image in one embodiment of the present invention; Figure 4 is a flow chart of steps for adjusting the rotation mechanism of the spray head unit in one embodiment of the present invention; Figure 5 is a flow chart of steps for performing lateral position adjustment in one embodiment of the present invention; In the attached figure: 010-nozzle device; 020-nozzle unit; 110-mounting seat; 120-base; 121-first slide; 122-second slide; 130-visual camera. DETAILED DESCRIPTION

[0020] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0021] In the description of the present invention, it should be understood that the directions or positional relationships indicated, such as up, down, front, back, left, and right, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the meaning of "several" is one or more, the meaning of "more" is more than two, and the meanings of "greater than", "less than", and "exceed" are not inclusive of the number itself, while the meanings of "above", "below", and "within" are inclusive of the number itself. If there is a description of first or second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0022] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0023] Reference below Figures 1 to 5A nozzle adjustment device and an adjustment method according to an embodiment of the present invention are described.

[0024] The nozzle adjustment device of the first embodiment of the present invention, referring to Figure 1 , including a base, a mounting seat 110 and a visual device.

[0025] The mounting base 110 is fixedly mounted on the top rear side of the base frame. The front side of the mounting base 110 is provided with an installation space for mounting the nozzle device 010. The front side of the mounting base 110 is provided with a mounting structure, which can be a threaded hole. When in use, the nozzle device 010 is connected to the mounting structure, that is, the nozzle device 010 is mounted in the threaded hole with a bolt so that the nozzle device 010 is located in the installation space. The visual device includes a base 120, a display screen and a visual camera 130. The base 120 is fixedly arranged on the base frame so that the base 120 and the mounting base 110 are fixedly arranged relative to each other. The base 120 is arranged below the mounting base 110, and the visual camera 130 is located below the installation space. The shooting direction of the visual camera 130 is facing upward. The visual camera 130 is electrically connected to the display screen. The visual camera 130 uses a high-resolution camera with micron-level accuracy to clearly observe the position of the nozzle; a first adjustment mechanism and a second adjustment mechanism are connected between the base 120 and the visual camera 130. The first adjustment mechanism is used to adjust the lateral position of the visual camera 130, and the second adjustment mechanism is used to adjust the front and rear position of the visual camera 130.

[0026] When the nozzle device 010 needs to be adjusted, the nozzle device 010 can be installed on the mounting base 110 so that the nozzles of the multiple nozzle units 020 of the nozzle device 010 are all facing downward, and then the visual camera 130 is started. The visual camera 130 obtains real-time images of the nozzles of the multiple nozzle units 020 and presents them on the display screen; the staff can observe the display screen to determine whether the nozzles are arranged neatly, and then adjust the deflection angles and positions of the multiple nozzle units 020 until the nozzles are arranged neatly; there is no need to control the nozzle device 010 multiple times to spray wax dots / glue dots, which saves printing materials; moreover, adjustment through real-time presented images is easy to operate and helps to reduce the time required for adjustment; the setting of the first adjustment mechanism and the second adjustment mechanism facilitates the visual camera 130 to obtain clear and complete images.

[0027] In some embodiments of the present invention, the second adjustment mechanism includes a second slide 122, which is connected to the base 120 for forward and backward sliding. The base 120 can be a marble material component, and the second slide 122 and the base 120 are connected to each other for forward and backward sliding via a second sliding mechanism. The second sliding mechanism includes a second guide rail and a second slider, the second guide rail extending forward and backward, the second guide rail being provided on the base 120, and the second slider slidingly provided on the second guide rail and connected to the second slide 122. In order to make the relative sliding between the second slide 122 and the base 120 more stable, the number of second guide rails can be two, the two second guide rails being spaced apart from each other on the left and right, and the number of second sliders can be four, each second guide rail being provided with two second sliders, and the two second sliders provided on the same second guide rail being spaced apart from each other on the left and right.

[0028] The base is made of marble 120, which has a very low thermal expansion coefficient (about 6×10 −6 / °C, only 1 / 3 that of steel. Temperature changes have minimal impact on dimensions. In environments with large temperature differences (e.g., ±5°C), positioning accuracy can be maintained within ±1μm / m, preventing "zero drift" caused by thermal expansion and contraction of the metal base 120. The microscopic pore structure within marble quickly absorbs high-frequency vibrations, attenuating vibrations 3-5 times faster than a steel base 120, making it suitable for optical inspection applications sensitive to micro-vibrations. Marble exhibits no metal fatigue and possesses high hardness (Mohs hardness 6-7), far exceeding the deformation resistance of aluminum alloys and cast iron. Its flatness variation is less than 5μm over a 10-year period, making it suitable for measuring and debugging equipment. Marble does not interfere with magnetic fields, making it suitable for electronic imaging equipment such as vision cameras 130 and electron microscopes. Marble is acid and alkali resistant and can withstand direct exposure to humidity levels exceeding 80% or mildly corrosive environments. The provision of a second slide 122 ensures high precision in the forward and backward position adjustment of the vision camera 130.

[0029] In addition to the second sliding mechanism, the second adjustment mechanism may also include a second adjusting screw and a second adjusting nut. The second adjusting screw is extended forward and backward, and the second adjusting screw is rotatably set on the base 120. The second adjusting nut is set on the second slide 122. The second adjusting screw is threadedly connected to the second adjusting nut. By rotating the second adjusting screw, the front and rear position of the second slide 122 can be accurately adjusted.

[0030] In some embodiments of the present invention, the first adjustment mechanism includes a first slide 121, which is slidably connected to a second slide 122, and the visual camera 130 is disposed on the first slide 121. The first slide 121 and the second slide 122 can both be made of marble. The first slide 121 and the second slide 122 are slidably connected to each other via a first sliding mechanism. The first sliding mechanism includes a first guide rail and a first slider. The first guide rail extends left and right, is disposed on the second slide 122, and the first slider is slidably disposed on the first guide rail and connected to the first slide 121. To ensure more stable relative sliding between the first slide 121 and the second slide 122, the number of first guide rails can be two, with the two first guide rails spaced apart from each other. The number of first sliders can be four, with each first guide rail being provided with two first sliders, and the two first sliders disposed on the same first guide rail being spaced apart from each other. By providing the first slide 121, the visual camera 130 can be adjusted laterally with greater accuracy.

[0031] In addition to the first sliding mechanism, the first adjustment mechanism may also include a first adjusting screw and a first adjusting nut. The first adjusting screw is extended left and right, and the first adjusting screw is rotatably set on the second slide 122. The first adjusting nut is set on the first slide 121. The first adjusting screw is threadedly connected to the first adjusting nut. By rotating the first adjusting screw, the lateral position of the first slide 121 can be accurately adjusted.

[0032] The nozzle adjustment method of the second embodiment of the present invention uses the above-mentioned nozzle adjustment device to adjust the nozzle device, referring to Figure 2 , the adjustment method includes the following steps: Step S100, installing the nozzle device in the installation space; Step S200, starting the visual camera to display the bottom image of the nozzle device on the display screen; Step S300 , adjusting the plurality of nozzle units of the nozzle device according to the bottom surface image, so that the plurality of nozzle units are adjusted to a preset position.

[0033] By using the above-mentioned nozzle adjustment device, the deflection angle and position of multiple nozzle units can be adjusted by observing the display screen, without having to control the nozzle device to spray wax dots / glue dots multiple times, thus saving printing materials; moreover, adjustment is performed through real-time image presentation, which is easy to operate and helps to reduce the time required for adjustment.

[0034] The nozzle device of this embodiment is provided with three nozzle units, which are arranged in a "pin" shape. The three nozzle units are respectively called the first nozzle, the second nozzle, and the third nozzle. The second nozzle is arranged in front of the first nozzle and the third nozzle; each nozzle unit is provided with a nozzle group having a plurality of nozzle holes, and the plurality of nozzle holes are arranged in a rectangular array. Each nozzle group can be divided into four nozzle rows, and each nozzle row is provided with 500 nozzle holes at intervals in the horizontal direction. The four nozzle rows are arranged at intervals from front to back. Then, the nozzle group can also be divided into 500 nozzle columns, and each nozzle column is provided with 4 nozzle holes at intervals in the front-back direction. The 500 nozzle columns are arranged at intervals from left to right. The nozzle device is provided with a translation mechanism and a rotation mechanism corresponding to each nozzle unit. The translation mechanism can be used to adjust the horizontal position of the nozzle unit, and the rotation mechanism can adjust the rotation angle of the nozzle unit with a vertically arranged rotating shaft as the axis. The translation mechanism and the rotation mechanism are both conventional technical means in the art, and their specific structures will not be elaborated here.

[0035] Of course, in some other embodiments of the present invention, the nozzle device may also be provided with two, four, five or more nozzle units, and all the nozzle units are arranged in sequence in the horizontal direction, and any two adjacent nozzle units are arranged with a front-back offset.

[0036] In some embodiments of the present invention, referring to Figure 3 , in step S300, the steps of adjusting the plurality of nozzle units of the nozzle device according to the bottom surface image include: Step S310, perform deflection position adjustment on each nozzle unit until the nozzle rows of all nozzle units are parallel; Step S320, select one of the nozzle units as the reference unit, and perform horizontal position adjustment on all nozzle units other than the reference unit until at least one nozzle column of two adjacent nozzle units is collinear.

[0037] When the nozzle rows of all nozzle units are parallel and at least one nozzle column of two adjacent nozzle units is collinear, it is determined that the plurality of nozzle units are adjusted to the preset position.

[0038] After completing steps S310 and S320, all nozzle units are spliced in sequence in the horizontal direction, and all nozzle holes are arranged in a rectangular array, that is, all nozzle rows are parallel to each other, all nozzle columns are parallel to each other, and all nozzle columns have no offset situation, meeting the printing requirements.

[0039] In some embodiments of the present invention, in step S310, the steps of performing deflection position adjustment on each nozzle unit include: Step S311, adjust the rotation mechanism of the nozzle unit to make one of the nozzle rows arranged in the horizontal direction.

[0040] In this way, each nozzle unit is adjusted so that its rows of nozzle holes are arranged in the transverse direction, that is, all the rows of nozzle holes are parallel to each other.

[0041] In some embodiments of the present invention, reference Figure 4 In step S311, the step of adjusting the rotation mechanism of the nozzle unit includes: Step S312, adjusting the first adjustment mechanism and the second adjustment mechanism to move the center point of the bottom surface image to the first nozzle of the first nozzle row; Step S313, adjusting the first adjustment mechanism until the end nozzle of the first nozzle row appears in the bottom image; Step S314: Adjust the first adjustment mechanism and the rotation mechanism until the center point of the bottom surface image moves to the end nozzle.

[0042] In step S312 and step S314, it can be understood that a cross cursor can be set on the imaging of the visual camera on the display screen, and the intersection of the cross cursor can be considered as the center point of the bottom surface image; even if the cross cursor cannot be set, a "cross" mark can be directly drawn on the display screen with a pen.

[0043] Because the visual camera position is adjusted only by adjusting the first adjustment mechanism in step S313, the first adjustment mechanism's lateral movement accuracy can be utilized to adjust the first nozzle row parallel to the first adjustment mechanism's translational direction, effectively aligning the nozzle row horizontally. Selecting the leading and trailing nozzles of the first nozzle row allows for a greater distance of movement during visual camera adjustment, improving accuracy.

[0044] In some embodiments of the present invention, step S313 includes: Step S3131, adjusting the focal length of the visual camera so that the first nozzle row appears completely in the bottom surface image; Step S3132: Adjust the focal length of the first adjustment mechanism and the visual camera so that the end nozzle of the first nozzle row appears in the bottom surface image.

[0045] It is understandable that the size of the nozzle is very small, and the focal length of the visual camera needs to be adjusted to make the field of view very small in order to move the center point of the bottom surface image to the nozzle. At the same time, it will also cause the display screen to be unable to display all the nozzles of the first nozzle row, and thus it is difficult to move the center point of the bottom surface image from the first nozzle to the last nozzle. In this embodiment, by executing steps S3131 and S3132, the field of view is first expanded, then moved, and then the field of view is narrowed, which facilitates the adjustment of the position of the visual camera.

[0046] In some embodiments of the present invention, in step S320, the step of performing lateral position adjustment on all nozzle units except the reference unit includes: Step S321 , performing lateral position adjustment on the adjacent nozzle units with reference unit as a reference, until the lateral position adjustment of the nozzle unit is completed; In step S322 , the lateral position adjustment is performed on the adjacent nozzle units that have not completed the lateral position adjustment, with the nozzle unit that has completed the lateral position adjustment as a reference, until all the nozzle units have completed the lateral position adjustment.

[0047] In this way, the position adjustment of each nozzle unit only needs to be performed once, and the operation is relatively simple.

[0048] In some embodiments of the present invention, reference Figure 5 In step S322, the step of performing lateral position adjustment includes: Step S323, adjusting the first adjustment mechanism and the second adjustment mechanism to move the center point of the bottom surface image to one of the nozzle holes of the nozzle unit that has completed the lateral position adjustment; Step S324 , adjusting the second adjustment mechanism and the translation mechanism of the nozzle unit that has not completed lateral position adjustment until the center point of the bottom surface image moves to one of the nozzle holes of the nozzle unit that has not completed lateral position adjustment.

[0049] For example, if there are three nozzle units, in step S323, the center point of the bottom image is moved to the front nozzle of the leftmost nozzle row of nozzle head 2 (or any nozzle row near the leftmost end, as long as it does not exceed the adjustment range of nozzle head 1). In step S324, the center point of the bottom image is moved until it reaches the rear nozzle of the rightmost nozzle row of nozzle head 1 (or any nozzle row near the rightmost end, as long as the nozzles align with the center point of the bottom image). The horizontal position of nozzle head 3 is adjusted in the same manner.

[0050] Since in step S324, the position of the visual camera is adjusted only by adjusting the second adjustment mechanism, the precision of the front-back displacement of the second adjustment mechanism can be utilized to adjust one of the nozzle arrays of two adjacent nozzle units to be collinear.

[0051] The above specifically describes the preferred embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A nozzle adjustment device, characterized in that: include: A mounting base, provided with a mounting space for mounting a sprinkler device; A visual device, comprising a base, a display screen, and a visual camera, wherein the base and the mounting base are fixedly arranged relative to each other, the visual camera is located below the mounting space, the shooting direction of the visual camera is facing upward, and the visual camera is electrically connected to the display screen; A first adjustment mechanism and a second adjustment mechanism are connected between the base and the visual camera. The first adjustment mechanism is used to adjust the lateral position of the visual camera, and the second adjustment mechanism is used to adjust the front and rear position of the visual camera.

2. The nozzle adjustment device according to claim 1, characterized in that: The second adjustment mechanism includes a second slide, and the second slide is connected to the base in a forward and backward sliding manner.

3. The nozzle adjustment device according to claim 2, characterized in that: The first adjustment mechanism includes a first slide, the first slide is connected to the second slide in a left-right sliding manner, and the visual camera is arranged on the first slide.

4. A nozzle adjustment method, characterized in that: The nozzle device is adjusted using the nozzle adjustment device according to any one of claims 1 to 3, and the adjustment method comprises the following steps: Installing the nozzle device in the installation space; Starting the visual camera so that the display screen displays the bottom surface image of the nozzle device; The multiple nozzle units of the nozzle device are adjusted according to the bottom surface image, so that the multiple nozzle units are adjusted to preset positions.

5. The nozzle adjustment method according to claim 4, characterized in that: The step of adjusting the plurality of nozzle units of the nozzle device according to the bottom surface image comprises: Performing deflection position adjustment on each nozzle unit until the nozzle rows of all nozzle units are parallel; Select one of the nozzle units as a reference unit, and perform lateral position adjustment on all nozzle units other than the reference unit until at least one nozzle hole row of two adjacent nozzle units is collinear; When the nozzle rows of all the nozzle units are parallel and at least one nozzle row of two adjacent nozzle units is collinear, it is determined that the plurality of nozzle units are adjusted to the preset positions.

6. The nozzle adjustment method according to claim 5, characterized in that: The step of adjusting the deflection position of each nozzle unit includes: Adjust the rotating mechanism of the nozzle unit so that one of the nozzle hole rows is arranged in the horizontal direction.

7. The nozzle adjustment method according to claim 6, characterized in that: The step of adjusting the rotation mechanism of the spray head unit includes: Adjusting the first adjustment mechanism and the second adjustment mechanism to move the center point of the bottom surface image to the first end nozzle of the first nozzle row; Adjusting the first adjustment mechanism until the end nozzle of the first nozzle row appears in the bottom image; The first adjusting mechanism and the rotating mechanism are adjusted until the center point of the bottom surface image moves to the terminal nozzle.

8. The nozzle adjustment method according to claim 7, characterized in that: The step of adjusting the first adjustment mechanism until the end nozzle of the first nozzle row appears on the bottom surface image includes: Adjust the focal length of the visual camera so that the first row of nozzles appears completely in the bottom image; The first adjustment mechanism and the focal length of the visual camera are adjusted so that the end nozzle of the first nozzle row appears in the bottom surface image.

9. The nozzle adjustment method according to claim 5, characterized in that: The step of performing lateral position adjustment on all nozzle units except the reference unit comprises: Performing lateral position adjustment on the adjacent nozzle units with the reference unit as a reference until the lateral position adjustment of the nozzle unit is completed; The lateral position adjustment is performed on the adjacent nozzle units that have not completed the lateral position adjustment based on the nozzle unit that has completed the lateral position adjustment, until all the nozzle units have completed the lateral position adjustment.

10. The nozzle adjustment method according to claim 9, characterized in that: The step of performing lateral position adjustment comprises: Adjusting the first adjustment mechanism and the second adjustment mechanism so that the center point of the bottom surface image moves to one of the nozzle holes of the nozzle unit that completes the lateral position adjustment; The second adjustment mechanism and the translation mechanism of the nozzle unit that has not completed lateral position adjustment are adjusted until the center point of the bottom surface image moves to one of the nozzle holes of the nozzle unit that has not completed lateral position adjustment.

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