Multi-optical machine splicing adjustment methods, systems and printing equipment

Abstract

This application provides a multi-optical-engine splicing adjustment method, system, and printing equipment, relating to the field of printing equipment technology. The method includes: controlling a first optical engine to project a first projected image onto the focal plane of a 3D printing equipment, and controlling a second optical engine to project a second projected image onto the focal plane; acquiring local images of the first and second projected images at the boundary of the splicing area, acquired by multiple image acquisition units positioned above the focal plane; determining the relative position error of the second projected image relative to the first projected image based on the local images; generating adjustment commands for an adjustment mechanism based on the relative position error, and driving the adjustment mechanism to perform multiple iterative compensation adjustments of the second optical engine according to the adjustment commands, thereby reducing the relative position error and enabling automatic splicing of the first and second projected images, solving the problems of low accuracy and poor efficiency in the manual adjustment method of the prior art.

Description

Technical Field

[0001] This application relates to the field of printing equipment technology, and more specifically, to a multi-optical machine splicing adjustment method, system, and printing equipment. Background Technology

[0002] Photopolymer 3D printing technology, especially 3D printers based on Digital Light Processing (DLP), has been widely used in dental restoration, medical modeling, jewelry design, and precision manufacturing due to its advantages such as high forming accuracy, good surface quality, and fast printing speed. With the increasing demand for large, integrated parts in industrial applications, traditional single-engine DLP printers, limited by their inherent imaging area, can no longer meet market demands. Therefore, the technical approach of spatially splicing multiple DLP optical engines to expand the overall printing area has become a current research hotspot.

[0003] Currently, achieving multi-optical-mechanical splicing mainly relies on manual adjustment of mechanical structures. For example, existing technology discloses a DLP optical-mechanical splicing device that allows users to manually adjust the position of the DLP optical engine in the horizontal and vertical directions by setting mechanical components such as rotating blocks, handwheels, and sliders.

[0004] However, although such solutions are relatively simple in structure, their splicing accuracy depends entirely on the experience and skills of the operators. The adjustment process is cumbersome and time-consuming, making it difficult to guarantee micron-level alignment accuracy. Furthermore, they cannot be automated, which severely restricts production efficiency and product quality consistency. Summary of the Invention

[0005] The purpose of this application is to provide a multi-optical-mechanical splicing adjustment method, system, and printing equipment to address the shortcomings of the prior art and solve the technical problems existing in the prior art.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a multi-optical-engine splicing and adjustment method, applied to a 3D printing device comprising multiple optical engines, wherein the multiple optical engines include at least: a first optical engine and a second optical engine, the first optical engine being fixedly mounted on the 3D printing device, and the second optical engine being movably mounted on the 3D printing device via an adjustment mechanism, the method comprising: The first optical engine is controlled to project a first projected image onto the focal plane of the 3D printing equipment, and the second optical engine is controlled to project a second projected image onto the focal plane. A local image at the boundary of the stitching area is acquired by multiple image acquisition units positioned above the focal plane, which capture the first projected image and the second projected image. Based on the local image, the relative position error of the second projected image relative to the first projected image is determined, and the relative position error includes at least: angular deviation; Based on the relative position error, an adjustment command is generated for the adjustment mechanism, and according to the adjustment command, the adjustment mechanism is driven to drive the second optical engine to perform multiple iterative compensation adjustments to reduce the relative position error and enable the first projected image and the second projected image to be automatically stitched together.

[0007] Optionally, the number of the plurality of image acquisition units is at least three, and they are respectively disposed at the top, middle and bottom of the boundary of the stitching area.

[0008] Optionally, determining the relative position error of the second projected image relative to the first projected image based on the local image includes: Based on the local image, identify the first boundary line corresponding to the first projected image and the second boundary line corresponding to the second projected image; The relative position error of the second projected image relative to the first projected image is determined based on the first boundary line and the second boundary line.

[0009] Optionally, determining the relative position error of the second projected image relative to the first projected image based on the first boundary line and the second boundary line includes: Based on the first boundary line, construct the first boundary equation corresponding to the first boundary line, and based on the second boundary line, construct the second boundary equation corresponding to the second boundary line. Calculate the first slope corresponding to the first boundary line based on the first boundary equation; and calculate the second slope corresponding to the second boundary line based on the second boundary equation. The angular deviation of the second projected image relative to the first projected image is determined based on the first slope and the second slope.

[0010] Optionally, generating adjustment commands for the adjustment mechanism based on the position error includes: Based on the angle deviation, the displacement adjustment amount of the adjustment mechanism in different directions is determined; Based on the displacement adjustment amount of the adjustment mechanism in different directions, adjustment commands are generated for the adjustment mechanism.

[0011] Optionally, determining the displacement adjustment amount of the adjusting mechanism in different directions based on the angular deviation includes: Based on the angle deviation, the required adjustment angle of the Z-axis rotary motor in the adjustment mechanism is calculated. According to the required adjustment angle of the Z-axis rotary motor, the Z-axis rotary motor is driven to rotate to drive the second optical engine to rotate, so that the third projection image projected by the second optical engine after rotation is parallel to the first projection image; Based on the second boundary line and the third projected image, the displacement adjustment amount of the adjustment mechanism in the X direction and the displacement adjustment amount in the Y direction are determined.

[0012] Optionally, determining the displacement adjustment amount of the adjustment mechanism in different directions based on the second boundary line and the third projected image includes: Based on the coordinates of the first and last pixels in the second boundary line and the rotation radius of the second optical engine, determine the equation of the circular arc formed by the second optical engine under rotational motion; Based on the arc equation, the coordinates of the first and last pixels of the third projected image are determined, and based on the coordinates of the first and last pixels of the third projected image and the coordinates of the first and last pixels in the second boundary line, the displacement adjustment amount of the second optical engine in the X direction and the displacement adjustment amount in the Y direction are determined.

[0013] Optionally, driving the adjustment mechanism to perform multiple iterative compensation adjustments based on the adjustment command includes: The adjustment mechanism is compensated and adjusted according to the displacement adjustment amount in the X direction and the displacement adjustment amount in the Y direction; After completing one adjustment, it is determined whether the alignment error between the current projected image of the second optical engine and the image of the first optical engine is less than a preset threshold. If not, based on the coordinates of the first and last pixels in the current projected image, the displacement adjustment amount of the second optical engine in the X direction and the displacement adjustment amount in the Y direction are recalculated, and at least one compensation adjustment is performed until the alignment error meets the preset accuracy requirements.

[0014] Secondly, embodiments of this application provide a multi-optical-mechanical splicing adjustment system, which includes at least: a base frame, a printing mechanism, an industrial control computer, an optical-mechanical fixing mechanism, and an optical-mechanical splicing mechanism; the industrial control computer is communicatively connected to the printing mechanism and the optical-mechanical splicing mechanism respectively; The base frame is used to mount the printing mechanism, the industrial computer, the optomechanical fixing mechanism, and the optomechanical splicing mechanism; The printing mechanism is vertically mounted on the base frame, and multiple image acquisition units are provided on the lower end face of the printing mechanism for acquiring local images of the optomechanical splicing mechanism at the boundary of the splicing area. The optical engine fixing mechanism is located in the middle of the base frame and is used to fix the optical engine splicing mechanism. The optical-mechanical splicing mechanism includes at least: an optical-mechanical fixing plate, a first optical engine, a second optical engine, and an adjustment mechanism. The first optical engine is fixedly installed on the optical-mechanical fixing plate as a splicing reference. The second optical engine can be adjusted in multiple degrees of freedom through the adjustment mechanism to achieve optical splicing alignment with the first optical engine. The industrial control computer is fixed to the base frame and is used to execute the method described in any one of claims 1-8 to drive the adjustment mechanism to adjust and compensate the second optical engine so that the second optical engine and the first optical engine can be spliced ​​together for printing.

[0015] Thirdly, embodiments of this application provide a 3D printing device, including the multi-optical engine splicing and adjustment system described in the first aspect above.

[0016] The beneficial effects of this application are: This application provides a multi-optical-mechanism splicing adjustment method, system, and printing device. It acquires local images of the first and second projected images at the boundary of the splicing area, analyzes these local images to obtain the relative position error of the second projected image relative to the first projected image, and then adjusts the second optical mechanism (which is adjustable) based on this relative position error to eliminate installation errors between the two optical mechanisms, thereby achieving automatic splicing. This solves the problems of low accuracy and poor efficiency in the manual adjustment method of the prior art. Furthermore, this application only requires three image acquisition units to acquire image information from two corners and one center, greatly reducing the image acquisition area and significantly lowering the computational load for image recognition, achieving fast and high-precision automatic alignment. This solves the problems of high computational load and slow convergence speed in the software algorithm optimization of the prior art.

[0017] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced 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.

[0019] Figure 1 This is a schematic diagram of the structure of a multi-optical-mechanical splicing and adjustment system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a 3D printing device provided in an embodiment of this application; Figure 3The embodiment of this application provides three image acquisition units disposed on the lower end face of the printing mechanism; Figure 4 This is an isometric schematic diagram of the left side of a dual-optical-mechanical splicing mechanism provided in an embodiment of this application; Figure 5 An isometric schematic diagram of the right side of a dual-optical-mechanical splicing mechanism provided in an embodiment of this application; Figure 6 A schematic flowchart illustrating the adjustment process of a multi-optical-mechanical splicing adjustment method provided in this application embodiment; Figure 7 A flowchart illustrating a multi-optical-mechanical splicing adjustment method provided in an embodiment of this application; Figure 8 A flowchart illustrating another multi-optical-mechanical splicing adjustment method provided in an embodiment of this application; Figure 9 A schematic diagram of a set of local images acquired by multiple image acquisition units provided in the embodiments of this application; Figure 10 A flowchart illustrating a multi-optical-mechanical splicing adjustment method provided in an embodiment of this application; Figure 11 A flowchart illustrating another multi-optical-mechanical splicing adjustment method provided in an embodiment of this application; Figure 12 A flowchart illustrating another multi-optical-mechanical splicing adjustment method provided in this application embodiment; Figure 13 A flowchart illustrating another multi-optical-mechanical splicing adjustment method provided in an embodiment of this application; Figure 14 This is a schematic diagram illustrating the transformation of the second boundary line provided in an embodiment of this application; Figure 15 This is an overall flowchart of an optomechanical splicing adjustment method provided in an embodiment of this application; Figure 16 This is a schematic diagram of the automatic Z-axis height adjustment mechanism provided in the embodiments of this application; Figure 17 This is a schematic diagram of the adjustment mechanism provided in an embodiment of this application.

[0020] Icons: 100-Multi-optical engine splicing and adjustment system; 1-Base frame; 2-Printing mechanism; 3-Industrial computer; 4-Optical engine fixing mechanism; 5-Optical engine splicing mechanism; 22-Image acquisition unit; 51-Optical engine fixing plate; 52-Fixing left and right side shims for the optical engine; 53-Fixing rear side shim for the optical engine; 54-First optical engine; 55-Second optical engine; 56-Adjusting rear side shim for the optical engine; 57-Z-axis rotation adjustment motor; 58-Z-axis pitch angle adjustment screw; 59-X-axis adjustment motor mounting bracket; 510-X-axis flat... 511-X-axis translation preload mounting base; 512-Y-axis translation tension mounting base; 513-Z-axis height adjustment screw; 514-Adjusting the left and right side shims of the optical machine; 515-X-axis translation tension mounting base; 516-Y-axis translation adjustment motor; 517-Z-axis rotation adjustment plate; 518-Y-axis translation adjustment plate; 519-X-axis translation adjustment plate; 520-Y-axis translation adjustment motor mounting bracket; 5211-Adjusting motor; 5212-Coupling; 5213-Lead screw; 5214-Lead screw nut. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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 said element.

[0025] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0026] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] First, let me introduce the technical terms used in this application.

[0028] 1. Printing area: This refers to the spatial range that a 3D printing device can print in a single operation, that is, the maximum length × width × height dimensions that can be covered by the optical engine projection on the worktable. For example, "printing area is 2 meters × 1 meter × 0.5 meters" means that the printing device can print a 3D object with a maximum size of 2 meters × 1 meter × 0.5 meters.

[0029] 2. Multi-optical-engine splicing printing: This refers to the process where, when an object to be printed exceeds the printing area of ​​a single 3D printer, two or more optical engines work simultaneously or collaboratively, projecting different areas and ultimately combining them to form a complete printing area. Therefore, multi-optical-engine collaboration is generally used to complete ultra-large format printing, solving the problem of limited printing area.

[0030] 3. Attachment marks: These are visible or invisible interface defects or discontinuities that appear on the surface or inside of an object manufactured by methods such as "multi-machine splicing" or "segmented printing followed by assembly".

[0031] Secondly, the background technology involved in this application will be introduced.

[0032] Currently, there are two main ways to achieve multi-optical-mechanical splicing: one is to rely on manual adjustment of mechanical structures, and the other is to use software algorithms for image correction.

[0033] The first approach focuses on mechanical adjustment. For example, existing technology discloses a DLP optical engine splicing device that allows users to manually adjust the horizontal and vertical position of the DLP optical engine by using mechanical components such as rotating blocks, handwheels, and sliders. However, while this type of mechanically adjustable solution has a relatively simple structure, its splicing accuracy depends entirely on the operator's experience and skills. The adjustment process is cumbersome and time-consuming, making it difficult to guarantee micron-level alignment accuracy. Furthermore, it cannot be automated, severely restricting production efficiency and product quality consistency.

[0034] The second approach focuses on software algorithm optimization. For example, existing technology discloses a projection stitching method for DLP optical engines. This method corrects overlapping and misalignment caused by optical distortion and assembly deviations by performing geometric correction and magnification compensation on the projection area and using image processing algorithms. However, while this type of software algorithm optimization can effectively improve the visual effect of image stitching, it also has significant drawbacks in practical applications. For instance, to accurately calculate correction parameters, it is usually necessary to acquire and process a complete image of the entire projection area, which generates a huge amount of data and extremely high computational load, resulting in system response delays and poor real-time performance. Furthermore, this purely software-based compensation method often only allows for fine-tuning at the pixel level, and its ability to compensate for large initial physical misalignments (such as angular deviations) between optical engines is limited.

[0035] To address the aforementioned issues, this application proposes a multi-optical-mechanism stitching adjustment method. This method involves acquiring local images of the first and second projected images at the boundary of the stitching area, analyzing these local images to obtain the relative position error of the second projected image relative to the first projected image, and then adjusting the second optical-mechanism 55 (the adjustable object) based on this relative position error. This eliminates installation errors between the two optical-mechanisms, achieving automatic stitching and solving the problems of low accuracy and poor efficiency associated with manual adjustment methods in existing technologies. Furthermore, this application only requires three image acquisition units to acquire image information from two corners and one center, significantly reducing the image acquisition area and image recognition computation, achieving fast and high-precision automatic alignment. This solves the problems of high computational load and slow convergence speed in existing software algorithm optimization methods.

[0036] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] Please see Figure 1 This is a structural schematic diagram of a multi-optical-mechanical splicing and adjustment system 100 provided in an embodiment of this application, as shown below. Figure 1 As shown, the multi-optical-mechanical splicing and adjustment system 100 includes: a printing mechanism, an industrial control computer 3, and an optical-mechanical splicing mechanism 5; The optomechanical splicing mechanism 5 includes at least: a first optomechanical system 54 as a reference, a second optomechanical system 55 as an adjustable object, and an adjustment mechanism.

[0038] The industrial control computer 3 is communicatively connected to the printing mechanism and the optomechanical splicing mechanism 5, respectively. It is used to generate printing instructions and send the printing instructions to the printing mechanism to control the printing mechanism to perform printing operations. It is also used to generate adjustment instructions based on the local image at the boundary of the splicing area acquired by the image acquisition unit, and send the adjustment instructions to the optomechanical splicing mechanism 5 to drive the adjustment mechanism to move in multiple degrees of freedom, thereby driving the second optomechanical 55 to perform compensation adjustment, so that the second optomechanical 55 can achieve optical splicing alignment with the first optomechanical 54, thereby realizing splicing printing.

[0039] Optionally, such as Figure 2 The diagram shown is a structural schematic of a 3D printing device provided in an embodiment of this application; as shown... Figure 2 As shown, the 3D printing equipment includes: a base frame 1, and the aforementioned... Figure 1 The multi-optical-mechanical splicing and adjustment system 100 shown includes the printing mechanism 2, the industrial computer 3, and the optical-mechanical splicing mechanism 5, the optical-mechanical fixing mechanism 4, and other electrical equipment. The other electrical equipment may include power supplies, cooling equipment, etc., for auxiliary functions.

[0040] Among them, the base frame 1 is a sheet metal frame with feet and casters installed at the bottom, mainly used to fix other components; The printing mechanism 2 is mounted on the base frame 1 and is driven by a lifting motor to move a ball screw, allowing it to move up and down along the guide pair formed by the optical axis and the linear bearing. Figure 3 As shown, three image acquisition units 22 are also provided on the lower end face of the printing mechanism 2 for acquiring image information of the imaging area; The industrial computer 3 is located on the side of the base frame 1 and is used to process image data and issue adjustment and / or control commands. The optical engine fixing mechanism 4 is installed in the middle of the base frame 1 and is used to fix the optical engine splicing mechanism 5. The optomechanical splicing mechanism 5 is installed below the optomechanical fixing mechanism 4 to realize the dual optomechanical splicing function; refer to Figure 4 As shown, the optical-mechanical splicing mechanism 5 includes: an optical-mechanical fixing plate 51, a first optical-mechanical unit 54, a second optical-mechanical unit 55, and an adjustment mechanism; wherein, the first optical-mechanical unit 54 is fixedly installed on the optical-mechanical fixing plate 51 as a splicing reference, and the second optical-mechanical unit 55 can be adjusted in multiple degrees of freedom through the adjustment mechanism to achieve high-precision optical splicing alignment with the first optical-mechanical unit 54 (54).

[0041] Optionally, continue to refer to Figures 4-5 As shown, the adjustment mechanism includes: a rear elevation block 56 for adjusting the optical engine, a Z-axis rotation adjustment motor 57, a Z-axis pitch angle adjustment screw 58, an X-axis adjustment motor mounting bracket 59, an X-axis translation motor 510, an X-axis translation preload mounting seat 511, a Y-axis translation tension mounting seat 512, a Z-axis height adjustment screw 513, left and right side elevation blocks for adjusting the optical engine 514, an X-axis translation tension mounting seat 515, a Y-axis translation adjustment motor 516, a Z-axis rotation adjustment plate 517, a Y-axis translation adjustment plate 518, an X-axis translation adjustment plate 519, and a Y-axis translation adjustment motor mounting bracket 520. Optionally, continue to refer to Figure 4 As shown, the optical engine splicing mechanism 5 also includes: fixed left and right side shims 52 and fixed rear side shims 53 of the optical engine; Continue to refer to Figures 4-5 As shown, the connection relationship of each component in the optomechanical splicing mechanism 5 is described in detail.

[0042] The optical engine fixing plate 51 is suspended below the optical engine fixing mechanism 4 by a connecting plate and 6 screws, and is used to install other parts; The left and right side shims 52 of the fixed optical engine are installed on the optical engine fixing plate 51. There are two in total, left and right, which are used to fix the first optical engine 54 and make the first optical engine 54 and the second optical engine 55 at the same initial height. The rear support block 53 of the fixed optical engine is installed on the optical engine fixing plate 51 to fix the rear side of the first optical engine 54; The first optical engine 54 is mounted on the optical engine fixing plate 51 by fixing the left and right side shims 52 and fixing the rear side shims 53 of the optical engine, serving as the adjustment reference in the optical engine splicing mechanism 5; The second optical engine 55 is mounted on the adjustment mechanism via the rear elevation block 56 and the left and right elevation blocks 514, and can be adjusted in 6 degrees of freedom as the adjustment mechanism moves; wherein, the rear elevation block 56 is mounted on the Z-axis pitch angle adjustment screw 58 and is used to fix the second optical engine 55. The Z-axis rotary adjustment motor 57 is fixed on the Y-axis translation adjustment plate 518 and is connected to the Z-axis rotary adjustment plate 517 through a slot, and is used to drive the Z-axis rotary adjustment plate 517 to rotate. Z-axis pitch angle adjustment screw 58 is mounted on Z-axis rotation adjustment plate 517 and can be adjusted in height to adjust the pitch angle and height of the second optical engine 55; The X-axis adjustment motor mounting bracket 59 is fixed to the tail of the optical engine fixing plate 51 and is used to fix the X-axis translation motor 510 and the spring pin. The X-axis translation motor 510 is installed in the middle of the X-axis adjustment motor mounting bracket 59 and is connected to the X-axis translation adjustment plate 519 by threads, driving the X-axis translation adjustment plate 519 to move back and forth. Two X-axis translation preload mounting seats 511 are installed on the optical engine fixing plate 51, used to fix the preload spring pins in the X-axis direction to eliminate the gap between the X-axis translation adjustment plate 519 and the guide rail. There are two Y-axis translation tensioning mounting seats 512, which are installed on the X-axis translation preload mounting seats 511 and are used to fix the preload spring pin in the Y-axis direction to eliminate the return error during Y-axis translation. There are two Z-axis height adjustment screws 513, one on the left and one on the right. They are installed on the Z-axis rotation adjustment plate 517 and can be used to adjust the height and left and right horizontal angles of the second optical engine 55. There are two adjustable shims 514 on the left and right sides of the optical engine, which are installed on the two Z-axis height adjusting screws 513 respectively, and are used to fix the second optical engine 55. There are two X-axis translation tension mounting bases 515, which are fixed on the optical engine fixing plate 51 and located at the head of the X-axis translation adjustment plate 519. They are used to fix the preload spring pin in the X-axis direction to eliminate the return error during X-axis translation. The Y-axis translation adjustment motor 516 is fixed on the Y-axis translation adjustment motor mounting bracket 520 and is connected to the Y-axis translation adjustment plate 518 by a thread, and is used to drive the Y-axis translation adjustment plate 518 to move back and forth. Z-axis rotation adjustment plate 517 is mounted on Y-axis translation adjustment plate 518 and can be driven by Z-axis rotation adjustment motor 57 to generate relative rotational motion with Y-axis translation adjustment plate 518. The Y-axis translation adjustment plate 518 is mounted on the X-axis translation adjustment plate 519 and can be driven by the Y-axis translation adjustment motor 516 to generate translational relative motion with the X-axis translation adjustment plate 519. X-axis translation adjustment plate 519 is mounted on optical engine fixed plate 51 and can be driven by X-axis translation motor 510 to generate translational relative motion with optical engine fixed plate 51; The Y-axis translation adjustment motor mounting bracket 520 is mounted on the optical engine fixing plate 51 and is used to fix the Y-axis translation adjustment motor 516.

[0043] Alternatively, as referenced Figure 6 The diagram shown illustrates the workflow of the multi-optical-mechanical splicing and adjustment system 100; as shown... Figure 6 As shown, the specific control process includes: the industrial computer 3 sends control commands to the lifting motors in the printing mechanism, which drive the lifting mechanism to perform lifting movements to prepare for the printing operation; at the same time, based on the local images captured by multiple photosensitive cameras, the industrial computer 3 sends adjustment commands to the motors of each degree of freedom in the adjustment mechanism (i.e., the Z-axis rotary motor, the X-axis translation motor, and the Y-axis translation motor), and feeds back the image stitching effect captured by multiple photosensitive cameras to the industrial computer 3 for multiple correction processes, so that the second optical engine 55 and the first optical engine 54 can achieve stitched printing.

[0044] The specific implementation steps of the multi-optical-mechanical splicing and adjustment method provided in this application will be introduced through the following embodiments.

[0045] Optionally, refer to Figure 7 The diagram shown is a flowchart of the multi-optical-mechanical splicing adjustment method provided in this application. The main body executing this method is... Figure 1 The industrial control computer in the multi-optical splicing and adjustment system shown in the figure, such as Figure 7 As shown, the method includes: S101. Control the first optical engine to project a first projected image onto the focal plane of the 3D printing equipment, and control the second optical engine to project a second projected image onto the focal plane.

[0046] The "focal plane" refers to the working plane where the resin is cured in a 3D printing device.

[0047] In this embodiment, in order to realize the multi-optical engine splicing printing function, the industrial control computer can control two optical engines to control synchronous projection. Specifically, the industrial control computer controls two optical engines simultaneously and sends projection commands to the first optical engine and the second optical engine respectively, controlling the first optical engine to project a first projected image on the focal plane and the second optical engine to project a second projected image on the focal plane.

[0048] For example, the first optical engine covers area A, meaning the first optical engine projects a first projected image onto area A; the second optical engine covers area B, meaning the second optical engine projects a second projected image onto area B; simultaneously, the first and second optical engines are configured to have a 5%~10% overlap area C, meaning the overlap area between the first and second projected images is called the stitching area. Therefore, two partially overlapping projected images are presented on the focal plane, with clearly distinguishable boundaries.

[0049] S102. Acquire a local image at the boundary of the stitching area of ​​the first projection image and the second projection image, which is acquired by multiple image acquisition units set above the focal plane.

[0050] For example, the image acquisition unit may be a miniature CMOS camera, and multiple miniature CMOS cameras are evenly distributed above the focal plane (e.g., arranged along X), that is, the field of view of the camera covers a local stitching boundary segment.

[0051] Optionally, after the two optical engines have stabilized their projection, the industrial control computer sends a trigger signal to control all image acquisition units to capture images synchronously, resulting in a set of "partial images". Each image corresponds to visual information of a segment of the splicing boundary. The "partial image" records the relative layout of the two projected images at the splicing boundary under the actual projection state.

[0052] S103. Based on the local image, determine the relative position error of the second projected image relative to the first projected image.

[0053] The relative position error includes at least one aspect: angular deviation. For example, if the angular deviation of the second projected image relative to the first projected image is less than a preset angular threshold, then the second projected image is determined to be parallel to the first projected image.

[0054] In one feasible approach, image processing can be performed on the local images, such as mapping the local images acquired by each image acquisition unit to the same world coordinate system, establishing a correspondence using a feature point matching algorithm, calculating the relative positional relationship between two boundary lines in the local image, and calculating the relative positional error of the second projected image relative to the first projected image based on the relative positional relationship between the two boundary lines.

[0055] S104. Based on the relative position error, generate adjustment instructions for the adjustment mechanism, and drive the adjustment mechanism to perform multiple iterative compensation adjustments to reduce the relative position error and enable the first projection image and the second projection image to be automatically stitched together.

[0056] In this embodiment, the relative position error can be decomposed to obtain the offset of the second optical engine relative to the first optical engine in different directions. Based on the offset in different directions, such as the displacement adjustment amount ΔX in the X direction, the displacement adjustment amount ΔY in the Y direction, and the angle adjustment amount ΔZ in the Z direction, adjustment commands are generated for the adjustment mechanism. According to the adjustment commands, the adjustment mechanism is driven to move in different directions to drive the second optical engine to perform multiple iterative compensation adjustments to reduce the relative position error of the second optical engine relative to the first optical engine. This enables the first projection image and the second projection image to be automatically stitched together, that is, the two projection images are seamlessly connected at the stitching boundary.

[0057] In summary, this application provides a multi-optical-mechanism stitching adjustment method. In this application, local images of the first and second projected images at the boundary of the stitching area are acquired and analyzed to obtain the relative position error of the second projected image relative to the first projected image. Based on this relative position error, the second optical mechanism, which is adjustable, is then adjusted to eliminate installation errors between the two optical mechanisms, thereby achieving automatic stitching. This solves the problems of low accuracy and poor efficiency in the manual adjustment method of the prior art. Furthermore, this application only requires three image acquisition units to acquire image information from two corners and one center, greatly reducing the image acquisition area and significantly lowering the computational load for image recognition, achieving fast and high-precision automatic alignment. This solves the problems of high computational load and slow convergence speed in the software algorithm optimization of the prior art.

[0058] Optionally, the number of the plurality of image acquisition units is at least three, and they are respectively disposed at the top, middle and bottom of the boundary of the stitching area.

[0059] For example, the image acquisition unit can be a photosensitive camera.

[0060] Continue to refer to Figure 3 The diagram shows the layout of each image acquisition unit. It can be seen that an image acquisition unit is set at the top, middle and bottom of the vertical direction of the splicing area boundary. This means that each image acquisition unit can acquire local images within its own field of view to ensure the accuracy and reliability of subsequent angle deviation detection.

[0061] It is understood that this application proposes to set an image acquisition unit in the middle of the boundary of the stitching area so as to form a "three-point line" spatial sampling structure with the top and middle, which can significantly improve the accuracy and reliability of angle calculation.

[0062] Optionally, refer to Figure 8 As shown, step S103 above includes: S201. Based on the local image, identify the first boundary line corresponding to the first projected image and the second boundary line corresponding to the second projected image.

[0063] Among them, the boundary line refers to the light-dark boundary line or feature transition line formed at the edge of the overlapping area when two projected images are spatially adjacent.

[0064] For example, the first optical engine is mounted on the left side, and the second optical engine is mounted on the right side. Therefore, the right edge of the first projected image is the first boundary line, and the left edge of the second projected image is the second boundary line.

[0065] S202. Determine the relative position error of the second projected image relative to the first projected image based on the first boundary line and the second boundary line.

[0066] In one feasible approach, refer to Figure 9 The diagram shows a partial image captured by multiple image acquisition units. A Hough transform can be performed on the partial image to detect the first boundary line corresponding to the first projected image and the second boundary line corresponding to the second projected image. Then, a geometric comparison is performed on the first boundary line and the second boundary line to calculate the relative position error, such as the angle deviation Δθ.

[0067] For example, if the two boundary lines are parallel, the angle deviation Δθ = 0; if the two boundary lines are not parallel, there is a certain angle deviation, and it is necessary to adjust and compensate for the angle deviation of the second optical engine by driving the adjustment mechanism to move in different directions.

[0068] Optionally, refer to Figure 10 As shown, step S202 above includes: S301. Based on the first boundary line, construct the first boundary equation corresponding to the first boundary line, and based on the second boundary line, construct the second boundary equation corresponding to the second boundary line.

[0069] S302. Calculate the first slope corresponding to the first boundary line according to the first boundary equation; and calculate the second slope corresponding to the second boundary line according to the second boundary equation.

[0070] S303. Determine the angular deviation of the second projected image relative to the first projected image based on the first slope and the second slope.

[0071] In this embodiment, the second boundary line at multiple locations in the local image includes: point a ( x a , y a Point b x b , y b ), point d ( x d , y d e point ( x e , y e ); and, taking the first boundary line as an example, the first boundary line has multiple location points in the local image, including point h ( x h , y h ), j point ( x j ,y j ), l point ( x l , y l ), point m ( x m , y m ), and respectively represent the curve segments formed by multiple points on the above boundary lines as: f 11 (xy) , f 12 (xy) , f 13 (xy) , f 21 (xy) , f 22 (xy) , f 23 (xy) The details are as follows:

[0072] ; Based on the acquired local images, the boundary equations corresponding to each boundary line are constructed, as shown in the following formula (1): (1) in, Let be the first boundary equation corresponding to the first boundary line, where This is the second boundary equation corresponding to the second boundary line.

[0073] Based on the above curve equations, the curvature of the first boundary equation corresponding to the first boundary line can be calculated. k 1. Specifically, it can be expanded as follows: ; Similarly, the curvature of the second boundary equation corresponding to the second boundary line can be calculated. k 2. Specifically, it can be expanded as follows: .

[0074] Based on the relationship between the slope and angle of the curve, we can obtain: ; Among them, in the adjustment relationship of the splice seam of the dual-light machine, k 1 is a fixed slope. k2 represents the slope to be adjusted; therefore, the angular deviation of the second projected image relative to the first projected image can be calculated. .

[0075] Optionally, refer to Figure 11 As shown, step S104 above includes: S401. Based on the angle deviation, determine the displacement adjustment amount of the adjustment mechanism in different directions.

[0076] S402. Generate adjustment commands for the adjustment mechanism based on the displacement adjustment amount of the adjustment mechanism in different directions.

[0077] In one feasible approach, the angular deviation can be decomposed to obtain the displacement adjustment amount of the adjustment mechanism in different directions, such as the displacement adjustment amount ΔX in the X direction, the displacement adjustment amount ΔY in the Y direction, and the angular adjustment amount ΔZ in the Z direction. Based on the displacement adjustment amount of the adjustment mechanism in different directions, adjustment commands are generated for the adjustment mechanism to drive the adjustment mechanism to move in different directions, so that the second optomechanism can complete the attitude correction and eliminate the projection misalignment.

[0078] Optionally, refer to Figure 12 As shown, in step S401 above, an adjustment command for the adjustment mechanism is generated based on the relative position error, including: S501. Based on the angle deviation, calculate the required adjustment angle of the Z-axis rotary motor in the adjustment mechanism.

[0079] S502. Drive the Z-axis rotary motor to rotate according to the required adjustment angle of the Z-axis rotary motor, so that the second optical engine rotates and the third projected image projected by the second optical engine is parallel to the first projected image.

[0080] S503. Based on the second boundary line and the third projection image, determine the displacement adjustment amount of the adjustment mechanism in the X direction and the displacement adjustment amount in the Y direction.

[0081] In one feasible approach, it can be based on angular deviation. The required adjustment angle of the Z-axis rotary motor in the adjustment mechanism is calculated. ,Right now ; Then, according to the required adjustment angle of the Z-axis rotary motor, the Z-axis rotary motor is driven to rotate to drive the second optical engine to rotate, so that after the second optical engine is rotated and adjusted, the third projection image re-projected by the second optical engine is parallel to the first projection image. Therefore, the displacement adjustment amount of the adjustment mechanism in the X direction and the displacement adjustment amount in the Y direction can be determined based on the phase horizontal error between the second boundary line and the third projection image.

[0082] Optionally, refer to Figure 13 As shown, step S503 above includes: S601. Based on the coordinates of the first and last pixels in the second boundary line and the rotation radius of the second optical engine, determine the equation of the circular arc formed by the second optical engine under rotational motion.

[0083] S602. Based on the arc equation, determine the coordinates of the first and last pixels of the third projected image, and based on the coordinates of the first and last pixels of the third projected image and the coordinates of the first and last pixels in the second boundary line, determine the displacement adjustment amount of the second optical engine in the X direction and the displacement adjustment amount in the Y direction.

[0084] Optionally, the slope of the third boundary line corresponding to the third projected image and the first and last pixels change as follows: ; Therefore, using the coordinates of the first and last pixels corresponding to the second boundary line ( x a , y a )and( x g , y g Given the second optical engine's rotation radius R, find the coordinates of the first pixel of the third boundary line corresponding to the third projected image after the rotation transformation. Thus, the displacement adjustment amount in the X direction can be calculated. ΔX and displacement adjustment in the Y direction ΔY .

[0085] Specifically, calculate the distance d between the two points, i.e. ; Calculate the coordinates of the center of the circle ,Right now ; Therefore, it can be based on the coordinates of the center of the circle. Given the rotation radius R of the second optical engine, the equation of the circular arc formed by the second optical engine under rotational motion is obtained as follows: ; refer to Figure 14 As shown, the coordinates of point a on the third boundary line corresponding to the third projected image can be calculated based on the circular arc equation. ,for ; Therefore, the displacement adjustment amount in the X direction is possible. ΔX and displacement adjustment in the Y direction ΔY ,Right now .

[0086] Optionally, in step S401 above, driving the adjustment mechanism to move the second optical engine according to the adjustment command includes: Based on the displacement adjustment amount in the X direction and the displacement adjustment amount in the Y direction, the adjustment mechanism is compensated and adjusted. After one adjustment is completed, it is determined whether the alignment error between the current projected image of the second optical engine and the image of the first optical engine is less than a preset threshold. If not, the displacement adjustment amount in the X direction and the displacement adjustment amount in the Y direction of the second optical engine are recalculated based on the coordinates of the first and last pixels in the current projected image, and at least one compensation adjustment is performed until the alignment error meets the preset accuracy requirements.

[0087] In this embodiment, the adjustment mechanism is initially compensated and adjusted based on the displacement adjustment amounts in the X and Y directions. After one adjustment, new local images are acquired by multiple image acquisition units. Based on these new local images, it is determined whether the alignment error (e.g., Δx < 5 μm, Δy < 3 μm) between the current projected image of the second optical engine and the image of the first optical engine is less than a preset threshold. If so, it is determined that the second optical engine has achieved optical splicing alignment with the first optical engine, achieving a "seamless splicing" printing effect. If not, the next round of compensation adjustment needs to be performed until the projected images projected by the two optical engines are successfully aligned.

[0088] Optionally, in this application, the coupling characteristics of the adjustment mechanism in multiple degrees of freedom are utilized, and the adjustment offset of the adjustment mechanism in three degrees of freedom is calculated based on the angle deviation, thereby accelerating the convergence speed of the relative position error and significantly improving the efficiency of splicing adjustment.

[0089] Optionally, refer to Figure 15 The diagram shown is an overall flowchart of a multi-optical-mechanical splicing adjustment method provided in this application. The method includes: Step 1: Adjust the horizontal angle between the imaging frame and the two optical engines: Measure the horizontal angle between the mounting planes of the two optical engines and the imaging frame using a level, and adjust the horizontal angle error in both directions to be less than 0.05° using the adjusting screws on the mounting planes. Step 2: Powering on the equipment: The industrial computer runs the control program; Step 3: Establish communication between the industrial computer and the two optical machines: Start the optical machine control program through an external host computer to establish communication between the host computer and the two optical machines; Step 4: Control the two optical engines to project the images: Send the two stitched images to the two optical engines respectively, and start the light source to begin projection; Step 5: Lowering the printing mechanism: Remove the material tray and control the printing mechanism to lower to the adjusted position via the industrial control computer; Step 6: Acquire local images: Three photosensitive cameras are installed at the bottom of the printing mechanism to acquire local images at the stitching points of the imaging panels; Step 7: Determine the size of the two projected images: First, determine whether the sizes of the two projected images are the same by checking the length of the local images; Step 8: Based on the local image, identify the first boundary line corresponding to the first projected image and the second boundary line corresponding to the second projected image, and determine whether the boundary length difference between the first boundary line and the second boundary line is less than the threshold. If so, perform automatic adjustment and proceed to Step 10; otherwise, perform manual adjustment and proceed to Step 9. Step 9: Determine whether the side length of the optical engine at the adjustment joint is greater than the side length of the optical engine at the fixed joint: If the side length of the optical engine at the adjustment joint is greater than the side length of the optical engine at the fixed joint, reduce the height of the adjustment screw and return to Step 7; otherwise, increase the height of the adjustment screw and return to Step 7. Among them, the fixed projection area refers to the fixed projection area of ​​the optical engine, i.e., the first optical engine, and the adjustable projection area refers to the projection area of ​​the optical engine whose image size and position can be adjusted, i.e., the second optical engine. The height adjustment screws include: one Z-axis pitch angle adjustment screw 58 and two Z-axis height adjustment screws 513.

[0090] Step 10: Determine whether the overlap between the boundaries of the two projected images is greater than the threshold. If yes, execute automatic adjustment and proceed to Step 11, that is, execute the multi-optical engine splicing adjustment method provided in the above embodiment; if no, proceed to Step 15. Among them, the boundary coincidence is also called alignment error.

[0091] Step 11: Decompose the adjustment vector: Based on the angular deviation between the two projected images, obtain the adjustment amount with three degrees of freedom; Step 12: Adjust the Z-axis rotation: Based on the adjustment algorithm, calculate the value, and the industrial control computer controls the Z-axis rotary motor to rotate the corresponding number of revolutions; Step 13: Adjust the X-axis translation amount: Based on the value calculated by the adjustment algorithm, the industrial control computer controls the X-axis translation motor to rotate the corresponding number of revolutions; Step Fourteen: Adjust the Y-axis translation amount: Based on the value calculated by the adjustment algorithm, the industrial control computer controls the Y-axis translation motor to rotate the corresponding number of revolutions; Step 15: Tighten the adjustment mechanism to complete the debugging.

[0092] Optionally, after one adjustment is completed, the error range is automatically checked. If it is less than the threshold, the automatic adjustment is completed; otherwise, the next round of compensation adjustment is performed until the alignment error meets the preset accuracy requirements.

[0093] Optionally, to further increase the adjustability and adaptability of the multi-optical engine splicing mechanism, this application provides another adjustment structure. On the basis of the original three-degree-of-freedom automatic adjustment, the adjustment screw between the Z-axis rotating mounting plate and the optical engine can also be designed as an automatic adjustment structure. Specifically, it can be a telescopic mechanism driven by a motor and a lead screw, or other controllable telescopic mechanisms. For example, the telescopic mechanism of the lead screw driven by the motor can be like... Figure 16 and Figure 17 As shown, the adjustment structure includes: an adjustment motor 5211, a coupling 5212, a lead screw 5213, a lead screw nut 5214, and adjustment blocks 514 on the left and right sides of the optical machine.

[0094] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0095] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for adjusting multi-optical machine splicing, characterized in that, A method applicable to a 3D printing device comprising multiple optical engines, wherein the multiple optical engines include at least a first optical engine and a second optical engine, the first optical engine being fixedly mounted on the 3D printing device, and the second optical engine being movably mounted on the 3D printing device via an adjustment mechanism, the method comprising: The first optical engine is controlled to project a first projected image onto the focal plane of the 3D printing equipment, and the second optical engine is controlled to project a second projected image onto the focal plane. A local image at the boundary of the stitching area is acquired by multiple image acquisition units positioned above the focal plane, which capture the first projected image and the second projected image. Based on the local image, the relative position error of the second projected image relative to the first projected image is determined, and the relative position error includes at least: angular deviation; Based on the relative position error, an adjustment command is generated for the adjustment mechanism, and according to the adjustment command, the adjustment mechanism is driven to drive the second optical engine to perform multiple iterative compensation adjustments to reduce the relative position error and enable the first projection image and the second projection image to be automatically stitched together. The number of the plurality of image acquisition units is at least three, and they are respectively located at the top, middle and bottom of the boundary of the stitching area; Determining the relative position error of the second projected image relative to the first projected image based on the local image includes: Based on the local image, identify the first boundary line corresponding to the first projected image and the second boundary line corresponding to the second projected image; Based on the first boundary line and the second boundary line, determine the relative position error of the second projected image relative to the first projected image; Determining the relative position error of the second projected image relative to the first projected image based on the first boundary line and the second boundary line includes: Based on the first boundary line, construct the first boundary equation corresponding to the first boundary line, and based on the second boundary line, construct the second boundary equation corresponding to the second boundary line. Calculate the first slope corresponding to the first boundary line based on the first boundary equation; and calculate the second slope corresponding to the second boundary line based on the second boundary equation. The angular deviation of the second projected image relative to the first projected image is determined based on the first slope and the second slope.

2. The method according to claim 1, characterized in that, The step of generating adjustment commands for the adjustment mechanism based on the relative position error includes: Based on the angle deviation, the displacement adjustment amount of the adjustment mechanism in different directions is determined; Based on the displacement adjustment amount of the adjustment mechanism in different directions, adjustment commands are generated for the adjustment mechanism.

3. The method according to claim 2, characterized in that, Determining the displacement adjustment amount of the adjustment mechanism in different directions based on the angular deviation includes: Based on the angle deviation, the required adjustment angle of the Z-axis rotary motor in the adjustment mechanism is calculated. According to the required adjustment angle of the Z-axis rotary motor, the Z-axis rotary motor is driven to rotate to drive the second optical engine to rotate, so that the third projection image projected by the second optical engine after rotation is parallel to the first projection image; Based on the second boundary line and the third projected image, the displacement adjustment amount of the adjustment mechanism in the X direction and the displacement adjustment amount in the Y direction are determined.

4. The method according to claim 3, characterized in that, Determining the displacement adjustment amount of the adjustment mechanism in different directions based on the second boundary line and the third projected image includes: Based on the coordinates of the first and last pixels in the second boundary line and the rotation radius of the second optical engine, determine the equation of the circular arc formed by the second optical engine under rotational motion; Based on the arc equation, the coordinates of the first and last pixels of the third projected image are determined, and based on the coordinates of the first and last pixels of the third projected image and the coordinates of the first and last pixels in the second boundary line, the displacement adjustment amount of the second optical engine in the X direction and the displacement adjustment amount in the Y direction are determined.

5. The method according to claim 4, characterized in that, The step of driving the adjustment mechanism to perform multiple iterative compensation adjustments based on the adjustment command includes: The adjustment mechanism is adjusted to compensate for the displacement in the X direction and the displacement in the Y direction. After completing one adjustment, it is determined whether the alignment error between the current projected image of the second optical engine and the image of the first optical engine is less than a preset threshold. If not, based on the coordinates of the first and last pixels in the current projected image, the displacement adjustment amount of the second optical engine in the X direction and the displacement adjustment amount in the Y direction are recalculated, and at least one compensation adjustment is performed until the alignment error meets the preset accuracy requirements.

6. A multi-optical-mechanical splicing and adjustment system, characterized in that, The multi-optical-mechanical splicing and adjustment system includes at least: a base frame, a printing mechanism, an industrial control computer, an optical-mechanical fixing mechanism, and an optical-mechanical splicing mechanism; the industrial control computer is communicatively connected to the printing mechanism and the optical-mechanical splicing mechanism respectively; The base frame is used to mount the printing mechanism, the industrial computer, the optomechanical fixing mechanism, and the optomechanical splicing mechanism; The printing mechanism is vertically mounted on the base frame, and multiple image acquisition units are provided on the lower end face of the printing mechanism for acquiring local images of the optomechanical splicing mechanism at the boundary of the splicing area. The optical engine fixing mechanism is located in the middle of the base frame and is used to fix the optical engine splicing mechanism. The optical-mechanical splicing mechanism includes at least: an optical-mechanical fixing plate, a first optical engine, a second optical engine, and an adjustment mechanism. The first optical engine is fixedly installed on the optical-mechanical fixing plate as a splicing reference. The second optical engine can be adjusted in multiple degrees of freedom through the adjustment mechanism to achieve optical splicing alignment with the first optical engine. The industrial control computer is fixed to the base frame and is used to execute the method described in any one of claims 1-5 to drive the adjustment mechanism to adjust and compensate the second optical engine so that the second optical engine and the first optical engine can be spliced ​​together for printing.

7. A 3D printing device, characterized in that, The system includes the multi-optical-mechanical splicing and adjustment system described in claim 6.

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