A multi-nozzle calibration method, a calibration trigger module and a 3D printing device

Abstract

The present application relates to the technical field of 3D printing, and particularly relates to a multi-nozzle calibration method, a calibration trigger module and a 3D printing device. The multi-printing head calibration method provided by the present application comprises the following steps: determining target position information of a nozzle according to contact information between the nozzle and a spherical cap, so as to obtain first target position information of a first nozzle and second target position information of a second nozzle; determining deviation compensation information of the second nozzle according to the first target position information and the second target position information, so as to compensate the second nozzle according to the deviation compensation information. The spherical cap has geometric symmetry, which eliminates external deviation errors and ensures that the nozzle calibration accuracy is not disturbed. According to the first target position information and the second target position information, the deviation compensation information of the second nozzle is determined, so that the position deviation of the multiple nozzles in the links of processing and manufacturing, assembly and later use can be eliminated, and the printing accuracy and quality are improved.

Description

[Technical Field]

[0001] This invention relates to the field of 3D printing technology, and particularly to a multi-nozzle calibration method, a calibration trigger module, and a 3D printing device. [Background Technology]

[0002] For multi-head 3D printing equipment, the multiple nozzles will have positional deviations during processing, assembly, and subsequent use. At this time, the actual relative position between the print heads will have different degrees of error from the theoretical position designed, which will affect the printing accuracy and reduce the printing quality due to multiple nozzles. [Summary of the Invention]

[0003] To address the aforementioned problems, this invention provides a multi-nozzle calibration method, a calibration trigger module, and a 3D printing device.

[0004] To solve the aforementioned technical problems, the present invention provides the following technical solution in a first aspect: a multi-nozzle calibration method applied to a 3D printing device, the 3D printing device including multiple nozzles and a calibration trigger module, the multiple nozzles including a first nozzle and a second nozzle, the calibration trigger module including a spherical cap facing one side of the nozzle, the multi-nozzle calibration method including: determining target position information of the nozzle based on contact information between the nozzle and the spherical cap, to obtain first target position information of the first nozzle and second target position information of the second nozzle; determining deviation compensation information of the second nozzle based on the first target position information and the second target position information, to compensate the second nozzle based on the deviation compensation information.

[0005] In one feasible implementation, determining the target position information of the nozzle based on the contact information between the nozzle and the spherical crown includes: acquiring the position information of a first contact point when the nozzle contacts the spherical crown, wherein the first contact point includes at least three points and the first contact points are located on the same plane; determining the first center position of the sphere corresponding to the spherical crown based on the position information of the first contact point, wherein the first center position represents the position of the central axis of the sphere perpendicular to the plane; and determining the target position information of the nozzle based on the first center position.

[0006] In one feasible implementation, determining the target position information of the nozzle based on the first center position includes: controlling the nozzle to move along the central axis based on the first center position, and obtaining the position information of the second contact point where the nozzle contacts the spherical cap; and determining the target position information of the nozzle based on the position information of the second contact point and the first center position.

[0007] In one feasible implementation, obtaining the position information of the first contact point when the nozzle contacts the spherical crown includes: controlling the nozzle to contact the spherical crown based on the first current position information of the nozzle and the second current position information of the spherical crown; when the contact between the nozzle and the spherical crown is detected, obtaining the position information of the first contact point corresponding to the contact; the first contact point includes controlling the nozzle to contact two different first contact points on both sides of the spherical crown along the same X-axis, and controlling the nozzle to contact two different first contact points on both sides of the spherical crown along the same Y-axis, or the first contact point includes at least three different first contact points where the nozzle contacts the spherical crown on the same plane, wherein the Z coordinates of the X-axis and the Y-axis are consistent.

[0008] In one feasible implementation, the step of controlling the nozzle to contact the spherical crown based on the first current position information of the nozzle and the second current position information of the spherical crown, and obtaining the position information of the first contact point corresponding to the contact when the contact between the nozzle and the spherical crown is detected, includes: controlling the nozzle to move to the position range corresponding to the projection of the spherical crown along the X-axis direction based on the first current position information of the nozzle and the second current position information of the spherical crown; controlling the nozzle to move towards the spherical crown along the X-axis direction, and determining the position information of the first contact point in the positive X-axis direction when the contact between the nozzle and the spherical crown is detected; controlling the nozzle to rise a preset second distance along the Z-axis direction, then move a preset third distance along the X-axis direction, and then fall a preset second distance along the Z-axis direction; controlling the nozzle to move towards the spherical crown in the opposite X-axis direction, and determining the position information of the first contact point in the opposite X-axis direction when the contact between the nozzle and the spherical crown is detected; and controlling the nozzle to move to the position range corresponding to the projection of the spherical crown along the Y-axis direction based on the first current position information of the nozzle and the second current position information of the spherical crown. Within the specified position range; control the nozzle to move towards the spherical crown along the Y-axis direction, and when the nozzle is detected to be in contact with the spherical crown, determine the position information of the first contact point on the positive Y-axis; control the nozzle to rise a preset second distance along the Z-axis direction, then move a preset third distance along the Y-axis direction, and then fall a preset second distance along the Z-axis direction; control the nozzle to move towards the spherical crown in the opposite Y-axis direction, and when the nozzle is detected to be in contact with the spherical crown, determine the position information of the first contact point on the reverse Y-axis; or, based on the position information of the first contact point... Determining the first center position of the sphere corresponding to the spherical crown includes: determining the midpoint X value between the first contact point in the positive X-axis direction and the first contact point in the negative X-axis direction based on the position information of the first contact point in the positive Y-axis direction and the first contact point in the negative Y-axis direction; determining the midpoint Y value between the first contact point in the positive Y-axis direction and the first contact point in the negative Y-axis direction based on the position information of the first contact point in the positive Y-axis direction and the first contact point in the negative Y-axis direction; and determining the first center position of the sphere corresponding to the spherical crown based on the midpoint X value and the midpoint Y value.

[0009] In one feasible implementation, determining the deviation compensation information of the second nozzle based on the first target position information and the second target position information includes: determining the deviation compensation information of the second nozzle based on the position difference between the first target position and the second target position; or; compensating the second nozzle based on the deviation compensation information includes: responding to a switching command to switch the first nozzle to the second nozzle, obtaining the current operating position corresponding to the first nozzle and the deviation compensation information of the second nozzle; performing displacement compensation on the current operating position based on the deviation compensation information, and controlling the second nozzle to move based on the compensated current operating position; or; compensating the second nozzle based on the deviation compensation information includes: obtaining the target position of the second nozzle, and controlling the second nozzle to move based on the deviation compensation information of the second nozzle, so that the coordinates of the movement of the second nozzle, after being compensated by the deviation compensation information of the second nozzle, are the coordinates of the target position.

[0010] To solve the above-mentioned technical problems, the present invention provides a second technical solution as follows: a calibration trigger module applied to a 3D printing device, the calibration trigger module comprising: a contact element and a displacement sensor, wherein the side of the contact element facing the nozzle of the 3D printing device is a spherical cap, the contact element is coupled to the displacement sensor, and when the nozzle contacts the spherical cap, the contact element is triggered to acquire position information corresponding to the contact point.

[0011] In one feasible implementation, the contact element is a sphere or a partial sphere. The calibration trigger module further includes a housing and a circuit processing unit. The housing has a receiving cavity communicating with the outside. The sphere is disposed in the receiving cavity, and at least partially disposed on the outside of the housing. The detection end of the displacement sensor is disposed on the side of the sphere away from the nozzle. The displacement sensor is electrically connected to the circuit processing unit. When the nozzle contacts the sphere, the displacement sensor generates a trigger signal. The circuit processing unit processes the trigger signal to obtain the position information of the contact point.

[0012] To solve the above-mentioned technical problems, the present invention provides another technical solution in a third aspect as follows: a 3D printing device, the 3D printing device including a printing platform, multiple nozzles and the above-mentioned calibration trigger module, the calibration trigger module being connected to the printing platform.

[0013] To solve the above-mentioned technical problems, the present invention provides another technical solution in a fourth aspect as follows: a 3D printing device, the 3D printing device including a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions being executed by the processor to implement the multi-nozzle calibration method described above.

[0014] Compared with the prior art, the multi-nozzle calibration method, calibration trigger module, and 3D printing equipment provided by the present invention have the following beneficial effects:

[0015] This invention provides a multi-nozzle calibration method. Because the spherical cap used for calibration has geometric symmetry, when a nozzle contacts the cap, the position of the contact point in the spherical coordinate system is determined only by the relative motion direction between the nozzle and the cap. Compared to errors that may be caused by the tilt of a planar or point-type calibration module, the target position information obtained through this characteristic of the spherical cap is the actual distance from the nozzle to a preset contact point (e.g., a pole) on the cap, rather than relying on the local coordinate system of the printing platform. This isolates offset errors caused by the tilt of a planar or point-type calibration module from the nozzle calibration process, ensuring that the nozzle calibration accuracy is not disturbed. Based on the first and second target position information, deviation compensation information for the second nozzle is determined. Compensating the second nozzle according to this deviation compensation information eliminates positional deviations generated by multiple nozzles during manufacturing, assembly, and subsequent use, improving printing accuracy and quality. Furthermore, this multi-nozzle calibration method does not require complex optical equipment, relying only on mechanical contact and basic sensors, which significantly reduces hardware costs, reduces operational complexity, increases calibration speed, and has a simple and reliable structure. At the same time, it reduces the precision requirements for component processing and assembly. Even if there are deviations in component processing and assembly, subsequent calibration can be performed using the multi-nozzle calibration method, thus reducing costs. [Attached Image Description]

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a partial 3D structural diagram of the calibration trigger module and the 3D printing equipment.

[0018] Figure 2 This is a flowchart illustrating the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0019] Figure 3 This is a flowchart illustrating step S1 of the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0020] Figure 4 This is a flowchart illustrating step S13 of the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0021] Figure 5 This is a flowchart illustrating step S11 of the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0022] Figure 6 This is a flowchart illustrating step S111 of the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0023] Figure 7 This is a flowchart illustrating step S12 of the multi-nozzle calibration method provided in the first embodiment of the present invention.

[0024] Figure 8 This is a three-dimensional structural diagram of the calibration trigger module provided in the second embodiment of the present invention.

[0025] Figure 9 This is a cross-sectional structural diagram of the calibration trigger module and part of the 3D printing equipment provided in the second embodiment of the present invention.

[0026] Figure 10 This is an exploded structural diagram of the calibration trigger module provided in the second embodiment of the present invention.

[0027] Figure 11 This is a three-dimensional structural diagram of the 3D printing equipment provided in the third embodiment of the present invention.

[0028] Figure 12 This is a structural block diagram of the 3D printing device provided in the fourth embodiment of the present invention.

[0029] Explanation of reference numerals in the attached diagram:

[0030] 1. Calibration trigger module; 10. Contact element; 11. Spherical cap; 20. Housing; 21. Receiving cavity; 22. Limiting part; 30. Displacement sensor; 40. Circuit processing unit; 221. Through hole;

[0031] 100, 3D printing equipment; 200, 3D printing equipment; 201, processor; 202, memory; 110, printing platform; 121, nozzle; 1211, first nozzle; 1212, second nozzle.

Detailed Implementation Methods

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] Please combine Figure 1 and Figure 2The first embodiment of the present invention provides a multi-nozzle calibration method. The 3D printing device 100 includes a plurality of nozzles 121 and a calibration trigger module 1. The plurality of nozzles 121 includes a first nozzle 1211 and a second nozzle 1212. The calibration trigger module 1 includes a spherical cap 11 facing one side of the nozzles 121. The multi-nozzle calibration method includes:

[0034] Step S1: Determine the target position information of nozzle 121 based on the contact information between nozzle 121 and spherical cap 11, so as to obtain the first target position information of the first nozzle 1211 and the second target position information of the second nozzle 1212.

[0035] Step S2: Determine the deviation compensation information of the second nozzle 1212 based on the first target position information and the second target position information, so as to compensate the second nozzle 1212 according to the deviation compensation information.

[0036] Understandably, due to the geometric symmetry of the spherical cap 11 used for calibration, when the nozzle 121 contacts the spherical cap 11, the position of the contact point in the spherical coordinate system is determined only by the relative motion direction between the nozzle 121 and the spherical cap 11. Compared to the errors that may be caused by the tilt of the planar or point-type calibration module itself, the target position information obtained through this characteristic of the spherical cap 11 is the actual distance from the nozzle 121 to the preset contact point, such as the pole, of the spherical cap 11, rather than relying on the local coordinate system of the printing platform 110. This isolates the offset error caused by the tilt of the planar or point-type calibration module itself from the calibration process of the nozzle 121, ensuring that the calibration accuracy of the nozzle 121 is not disturbed. Based on the first target position information and the second target position information, the deviation compensation information of the second nozzle 1212 is determined. By compensating the second nozzle 1212 according to the deviation compensation information, the positional deviations of multiple nozzles 121 generated in the manufacturing, assembly, and subsequent use stages can be eliminated, improving printing accuracy and quality. Furthermore, this multi-nozzle calibration method does not require complex optical equipment, relying only on mechanical contact and basic sensors, which significantly reduces hardware costs, reduces operational complexity, increases calibration speed, and has a simple and reliable structure. At the same time, it reduces the precision requirements for component processing and assembly. Even if there are deviations in component processing and assembly, subsequent calibration can be performed using the multi-nozzle calibration method, thus reducing costs.

[0037] It should be noted that the 3D printing equipment includes multiple nozzles 121. It can be a single print head with multiple nozzles 121, or multiple print heads, each with its own nozzle 121.

[0038] In one embodiment, any one of the plurality of nozzles 121 can be used as a first nozzle 1211, and any other one can be used as a second nozzle 1212, without limitation. When nozzle 121 is the first nozzle 1211, the target position information of nozzle 121 is the first target position information, and when nozzle 121 is the second nozzle 1212, the target position information of nozzle 121 is the second target position information.

[0039] In another embodiment, the first nozzle 1211 can be a fixed nozzle among a plurality of nozzles 121. For example, one of the nozzles 121 can be set as the reference nozzle 121, that is, the calibration process is performed with the first nozzle 1211 as the reference.

[0040] In one embodiment, after selecting any nozzle 121 as the first nozzle 1211, the first nozzle 1211 can be used as the reference nozzle in the current nozzle 121 calibration process. That is, other nozzles 121 are respectively used as the second nozzles 1212 and are calibrated with the first nozzle 1211 in sequence to compensate the second nozzles 1212.

[0041] Please combine Figure 1 and Figure 3 Furthermore, the target position information of the nozzle 121 is determined based on the contact information between the nozzle 121 and the spherical cap 11, including:

[0042] Step S11: Obtain the position information of the first contact point when the nozzle 121 contacts the spherical cap 11, wherein the first contact point includes at least three points and the first contact points are located on the same plane;

[0043] Step S12: Based on the position information of the first contact point, determine the first center position of the sphere corresponding to the spherical cap 11. The first center position represents the position of the central axis of the sphere perpendicular to the plane.

[0044] Step S13: Determine the target position information of nozzle 121 based on the position of the first center.

[0045] Understandably, by acquiring the position information of the first contact point when the nozzle 121 contacts the spherical crown 11, where the first contact point includes at least three points located on the same plane, the position of the first center of the plane can be obtained from at least any three first contact points. Since the first contact point only needs to be at least three points on the same plane, there are no special restrictions on the contact position, and the contact point position is not specifically set. Therefore, the accuracy requirement for the contact position is not high. Thus, based on the first contact point with low accuracy requirements, the first center position of the sphere corresponding to the spherical crown 11 can be accurately obtained, and the target position information can be determined based on the first center position, thereby reducing the position accuracy requirement for the contact point.

[0046] Please combine Figure 1 and Figure 4 Furthermore, the target position information of nozzle 121 is determined based on the position of the first center, including:

[0047] Step S131: Based on the position of the first center, control the nozzle 121 to move along the central axis and obtain the position information of the second contact point where the nozzle 121 contacts the spherical cap 11;

[0048] Step S132: Determine the target position information of nozzle 121 based on the position information of the second contact point and the position of the first center.

[0049] Understandably, based on the position of the first center, the nozzle 121 is controlled to move along the central axis to obtain the position information of the second contact point where the nozzle 121 contacts the spherical cap 11. The second contact point is the highest pole of the spherical cap 11 and is unique. Thus, by using the position information of the first and second contact points, which do not have high requirements for contact position accuracy, the distance from which the nozzle 121 moves to contact the highest pole of the spherical cap 11 can be accurately obtained and used as the target position information. This reduces the requirements for the contact position setting and accuracy of the contact point and improves the calibration speed.

[0050] Please combine Figure 1 and Figure 5 Furthermore, the position information of the first contact point when the nozzle 121 contacts the spherical cap 11 is obtained, including:

[0051] Step S111: Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, control nozzle 121 to contact spherical crown 11; when contact between nozzle 121 and spherical crown 11 is detected, obtain the position information of the first contact point corresponding to the contact.

[0052] Step S112, the first contact point includes two different first contact points where the nozzle 121 contacts the two sides of the spherical crown 11 along the same X-axis, and two different first contact points where the nozzle 121 contacts the two sides of the spherical crown 11 along the same Y-axis, or the first contact point includes at least three different first contact points where the nozzle 121 contacts the spherical crown 11 in the same plane, wherein the Z coordinates of the X-axis and the Y-axis are consistent.

[0053] Understandably, the first current position information refers to any position of the nozzle 121. The second current position information refers to any position of the spherical cap 11, meaning that the second current position information can be a range of positions, such as the installation area of ​​the spherical cap 11, rather than a very precise point. Since the horizontal coordinates (X1, Y1) of the center of the sphere corresponding to the spherical cap 11 are equivalent to the coordinates of the center of a plane circle, and the standard equation of the circle is (xa)... 2 +(yb)2 =r 2 Where (a, b) are the coordinates of the center of the circle, and r is the radius. To solve for the coordinates of the center of the circle, at least three independent equations can be established at least three different contact points on the same plane to solve for the values ​​of a, b, and r. In addition, the nozzle 121 can also contact the spherical cap 11 from both sides along the same X-axis and the same Y-axis respectively. By contacting the spherical cap 11 in the positive and negative directions along the X-axis and Y-axis, four different contact points can be obtained. After recording the coordinates of the two contact points, the midpoint can be taken to offset the unidirectional error caused by the motion system such as the guide rail gap, making the calibration results more accurate.

[0054] Optionally, controlling the contact between the nozzle 121 and the spherical cap 11 can be achieved through a dual-reset collaborative calibration, involving both nozzle 121 reset and spherical cap 11 reset. This involves moving the nozzle 121 to the mechanical zero point (e.g., the far left of the gantry, with the gantry retracting to the zero point position), which is the preset initial calibration position for the nozzle 121. Simultaneously, the printing platform 110 with the spherical cap 11 is reset to the preset zero point (e.g., the upper left corner of the printing platform 110 aligns with the mechanical zero point). The calibration program is then started synchronously from both preset positions to initiate contact. Alternatively, a single dynamic calibration can be used, keeping the spherical cap 11 and its printing platform 110 in their current actual positions without requiring reset. The nozzle 121 is directly controlled to contact the spherical cap 11 from its current actual position.

[0055] Please combine Figure 1 , Figure 6 and Figure 7 Furthermore, based on the first current position information of the nozzle 121 and the second current position information of the spherical crown 11, the nozzle 121 is controlled to contact the spherical crown 11; when contact between the nozzle 121 and the spherical crown 11 is detected, the position information of the first contact point corresponding to the contact is obtained, including:

[0056] Step S1111: Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, control nozzle 121 to move to the position range corresponding to the projection of spherical crown 11 along the X-axis direction; control nozzle 121 to move towards spherical crown 11 along the X-axis direction; when nozzle 121 is detected to be in contact with spherical crown 11, determine the position information of the first contact point in the positive X-axis direction; control nozzle 121 to rise a preset second distance along the Z-axis direction, then move a preset third distance along the X-axis direction, then fall a preset second distance along the Z-axis direction; control nozzle 121 to move towards spherical crown 11 in the opposite X-axis direction; when nozzle 121 is detected to be in contact with spherical crown 11, determine the position information of the first contact point in the opposite X-axis direction.

[0057] Step S1112: Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, control nozzle 121 to move to the position range corresponding to the projection of spherical crown 11 along the Y-axis direction; control nozzle 121 to move towards spherical crown 11 along the Y-axis direction; when nozzle 121 is detected to be in contact with spherical crown 11, determine the position information of the first contact point in the positive Y-axis direction; control nozzle 121 to rise a preset second distance along the Z-axis direction, then move a preset third distance along the Y-axis direction, then fall a preset second distance along the Z-axis direction; control nozzle 121 to move towards spherical crown 11 in the opposite Y-axis direction; when nozzle 121 is detected to be in contact with spherical crown 11, determine the position information of the first contact point in the opposite Y-axis direction.

[0058] Alternatively, based on the position information of the first contact point, determine the position of the first center of the sphere corresponding to the spherical cap 11, including:

[0059] Step S121: Determine the value of the midpoint X between the positive X-axis first contact point and the negative X-axis first contact point based on the position information of the positive X-axis first contact point and the negative X-axis first contact point.

[0060] Step S122: Determine the midpoint Y value between the positive Y-axis first contact point and the negative Y-axis first contact point based on the position information of the positive Y-axis first contact point and the negative Y-axis first contact point.

[0061] Step S123: Determine the position of the first center of the sphere corresponding to the spherical cap 11 based on the midpoint X value and the midpoint Y value.

[0062] Understandably, by controlling the nozzle 121 to move to the position range corresponding to the projection of the spherical cap 11 along the X-axis, a gap exists between the nozzle 121 and the spherical cap 11 in the X-axis direction. Optionally, this gap is a preset first distance, serving as a safety distance. By following the path of the nozzle 121 after reaching the first contact point in the positive X-axis direction, it rises along the Z-axis, translates along the X-axis, and then descends along the Z-axis, preventing the nozzle 121 from colliding with the spherical cap 11 before reaching the first contact point in the reverse X-axis direction. The same effect can be achieved for the Y-axis. Furthermore, the conditions for contact between the nozzle 121 and the spherical cap 11 are reduced; it is not strictly required that the distance between the first contact point in the positive X-axis direction and the first contact point in the reverse X-axis direction must be the diameter of the sphere, i.e., it is not strictly required that the line connecting the first contact point in the positive X-axis direction and the first contact point in the reverse X-axis direction passes through the center of the circle. By simply contacting the spherical cap 11 from both sides along the X-axis to obtain the midpoint of the center's X-axis coordinates, and from both sides along the Y-axis to obtain the center's Y-axis coordinates, the horizontal coordinates (X1, Y1) of the first center position of the sphere corresponding to the cap 11 can be obtained. This improves the flexibility of contact point selection. The X-axis and Y-axis are calculated using the midpoint of the bidirectional symmetrical contact points, effectively eliminating unilateral measurement errors. Furthermore, the complex problem of calculating the first center position is transformed into a calculation using the midpoint of two orthogonal directions (X-axis and Y-axis), reducing computational load and improving efficiency.

[0063] Further, based on the first target position information and the second target position information, the deviation compensation information of the second nozzle 1212 is determined, including: determining the deviation compensation information of the second nozzle 1212 based on the position difference between the first target position and the second target position.

[0064] It should be noted that since the first nozzle 1211 and the second nozzle 1212 both contact the same point with the spherical cap 11, the positional difference between the first target position and the second target position is the relative positional difference between the first nozzle 1211 and the second nozzle 1212. The sign of the positional difference is determined by the coordinates of the reference point corresponding to the first target position information and the second target position information.

[0065] Alternatively, compensation is performed on the second nozzle 1212 based on the deviation compensation information, including: responding to a switching command to switch the first nozzle 1211 to the second nozzle 1212, obtaining the current operating position corresponding to the first nozzle 1211 and the deviation compensation information of the second nozzle 1212; performing displacement compensation on the current operating position based on the deviation compensation information, and controlling the movement of the second nozzle 1212 based on the compensated current operating position.

[0066] It should be noted that this compensation method keeps the actual positions of the nozzles 121 unchanged, and only compensates for the movement position of the nozzles 121 in the control algorithm; the deviation compensation information refers to the deviation compensation information between two relative nozzles 121, and the calibration process is also to calibrate the nozzles 121 in pairs.

[0067] Alternatively, the second nozzle 1212 may be compensated based on the deviation compensation information, including: obtaining the target position of the second nozzle 1212, and controlling the second nozzle 1212 to move according to the deviation compensation information of the second nozzle 1212, so that the coordinates of the movement of the second nozzle 1212 are the coordinates of the target position after being compensated by the deviation compensation information of the second nozzle 1212.

[0068] It should be noted that in this implementation scheme, the first nozzle 1211 corresponds to the first target position as the reference coordinate, and its corresponding coordinate system is the spatial coordinate system corresponding to the printing control, that is, the coordinate system corresponding to the first target position information. The deviation compensation information of the second nozzle 1212 determined according to the first target position information and the second target position information is equivalent to the deviation between the second nozzle 1212 and the corresponding spatial coordinate system of the printing control.

[0069] Understandably, by determining the deviation compensation information of the second nozzle 1212 based on the position difference between the first target position information and the second target position information, and obtaining the current operating position corresponding to the first nozzle 1211, displacement compensation is performed on the current operating position corresponding to the first nozzle 1211 based on the deviation compensation information of the second nozzle 1212, and the second nozzle 1212 is moved based on the compensated current operating position, thereby eliminating the offset error between the first nozzle 1211 and the second nozzle 1212. Alternatively, by obtaining the target position of the second nozzle 1212, and controlling the second nozzle 1212 to move based on the deviation compensation information of the second nozzle 1212, the coordinates of the movement of the second nozzle 1212, after being compensated by the deviation compensation information of the second nozzle 1212, become the coordinates of the target position, which can also eliminate the offset error of the second nozzle 1212 and improve printing accuracy and quality.

[0070] Please see Figure 8 The second embodiment of the present invention provides a calibration trigger module 1, which is applied to a 3D printing device. The calibration trigger module 1 includes a contact 10 and a displacement sensor. The side of the contact 10 facing the nozzle 121 of the 3D printing device is a spherical cap 11. The contact 10 is coupled to the displacement sensor. When the nozzle 121 contacts the spherical cap 11, the contact 10 is triggered to obtain the position information corresponding to the contact point.

[0071] Understandably, designating the side of the contact element 10 facing the nozzle 121 as a spherical cap 11 means that the contact element 10 can be entirely spherical, or only a portion of its structure can be spherical. Regardless of the method used, the portion of the contact element 10 that contacts the nozzle 121 is the spherical cap 11. The geometric symmetry of the spherical cap 11 allows for precise determination of the target position information of the nozzle 121 relative to the preset contact point (e.g., the pole) of the spherical cap 11, rather than relying on the local coordinate system of the printing platform 110. This isolates offset errors caused by external printing platform tilt from the nozzle 121 calibration process, ensuring that the nozzle 121 calibration accuracy is not disturbed and improving printing accuracy and quality. The contact element 10 is coupled to a displacement sensor, ensuring that when the nozzle 121 contacts the spherical cap 11, the contact element 10 is precisely triggered to acquire the position information corresponding to the contact point.

[0072] Please combine Figure 1 , Figure 9 and Figure 10 Furthermore, the contact 10 is a sphere or a partial sphere. The calibration trigger module 1 also includes a housing 20 and a circuit processing unit 40. The housing 20 has a receiving cavity 21 that communicates with the outside. The sphere is disposed in the receiving cavity 21. The sphere is at least partially disposed on the outside of the housing 20. The detection end of the displacement sensor 30 is disposed on the side of the sphere away from the nozzle 121. The displacement sensor 30 is electrically connected to the circuit processing unit 40. When the nozzle 121 contacts the sphere, the displacement sensor 30 generates a trigger signal. The circuit processing unit 40 processes the trigger signal to obtain the position information of the contact point.

[0073] Understandably, the receiving cavity 21 is connected to the outside, and the sphere is at least partially disposed on the outside of the outer shell 20, allowing the nozzle 121 to press down on the part of the sphere exposed outside the outer shell 20. The receiving cavity 21 also provides space for the sphere to move away from the nozzle 121 after being pressed. When the nozzle 121 contacts the sphere, the sphere is compressed and undergoes a slight displacement, triggering the displacement sensor 30 to generate a signal. The circuit processing unit 40 obtains the position information of the contact point at this time, and automatically captures the contact action through the displacement sensor 30 and the circuit processing unit 40, avoiding human intervention errors and improving calibration consistency. It should be noted that the structure in which the sphere is at least partially disposed on the outside of the outer shell 20 corresponds to the spherical crown 11.

[0074] It should be noted that the fact that the contact 10 is a sphere or a partial sphere means that the shape of the contact 10 can be a sphere, a hemisphere, a multi-hemispherical or a few-hemispherical, as long as the side facing the nozzle 121 is a spherical crown 11. The circuit processing unit 40 does not necessarily have to be located on the housing 20.

[0075] Optionally, the circuit processing unit 40 can directly obtain position information based on the trigger signal; alternatively, it can send the trigger signal to the main circuit board of the 3D printing equipment 100 and process the trigger signal through the main circuit board of the 3D printing equipment 100, thereby indirectly obtaining position information. This is not limited here.

[0076] Optionally, the displacement sensor 30 includes at least one of a tactile switch, a piezoelectric switch, and a proximity switch. When the displacement sensor 30 uses a tactile switch or a piezoelectric switch, the tactile switch or piezoelectric switch generates a trigger signal when the ball contacts the tactile switch or piezoelectric switch. When the displacement sensor 30 uses a proximity switch, the proximity switch generates a trigger signal when the ball moves toward the proximity switch to a preset proximity distance.

[0077] Optionally, the housing 20 is provided with a limiting part 22 facing the nozzle 121. The limiting part 22 has a through hole 221, the diameter of which is smaller than the diameter of the ball at the end near the nozzle 121. When the nozzle 121 is not in contact with the ball, the ball abuts against the limiting part 22. Understandably, the limiting part 22 has a through hole 221, the diameter of which is smaller than the diameter of the ball at the end near the nozzle 121, and the through hole 221 limits the movement of the ball. When the nozzle 121 contacts the ball, the ball can only move downwards along the axis of the through hole 221, i.e., the Z-axis, triggering the displacement sensor 30, thus preventing lateral sliding of the ball from affecting triggering accuracy. When not in contact, the ball abuts against the limiting part 22, ensuring consistent initial position. The limiting part 22 constrains the position of the ball in the non-contact state, ensuring that the ball is in the same initial position before each calibration, avoiding random displacement due to gravity or vibration.

[0078] Please see Figure 11 The third embodiment of the present invention provides a 3D printing device 100, which includes a printing platform 110, a plurality of nozzles 121 and a calibration trigger module 1 of the second embodiment of the present invention, the calibration trigger module 1 being connected to the printing platform 110.

[0079] Understandably, the 3D printing equipment 100 has the same beneficial effects as the multi-nozzle calibration method of the first embodiment of the present invention, which will not be described in detail here.

[0080] Please see Figure 12 The fourth embodiment of the present invention provides a 3D printing device 200, which includes a processor 201 and a memory 202. The memory 202 stores a program or instruction that runs on the processor 201. When the program or instruction is executed by the processor 201, it implements the multi-nozzle calibration method of the first embodiment of the present invention.

[0081] Understandably, the 3D printing equipment 200 has the same beneficial effects as the multi-nozzle calibration method of the first embodiment of the present invention, and will not be described in detail here. The present invention also provides the following embodiments:

[0082] Reference numeral 1, a multi-nozzle calibration method, applied to a 3D printing device 100, the 3D printing device 100 including a plurality of nozzles 121 and a calibration trigger module 1, the plurality of nozzles 121 including a first nozzle 1211 and a second nozzle 1212, the calibration trigger module 1 including a spherical cap 11 facing one side of the nozzles 121, the multi-nozzle calibration method including:

[0083] The target position information of the nozzle 121 is determined based on the contact information between the nozzle 121 and the spherical cap 11, so as to obtain the first target position information of the first nozzle 1211 and the second target position information of the second nozzle 1212.

[0084] Based on the first target position information and the second target position information, the deviation compensation information of the second nozzle 1212 is determined, so as to compensate the second nozzle 1212 according to the deviation compensation information.

[0085] Reference numeral 2, based on reference numeral 1, determines the target position information of the nozzle according to the contact information between the nozzle 121 and the spherical cap 11, including:

[0086] The position information of the first contact point when the nozzle 121 contacts the spherical cap 11 is obtained, wherein the first contact point includes at least three points and the first contact points are located on the same plane;

[0087] Based on the position information of the first contact point, the first center position of the sphere corresponding to the spherical cap 11 is determined. The first center position represents the position of the central axis of the sphere perpendicular to the plane.

[0088] The target position information of nozzle 121 is determined based on the position of the first center.

[0089] Label 3, based on label 2, determines the target position information of nozzle 121 according to the position of the first center, including:

[0090] Based on the position of the first center, the nozzle 121 is controlled to move along the central axis, and the position information of the second contact point between the nozzle 121 and the spherical cap 11 is obtained;

[0091] The target position information of nozzle 121 is determined based on the position information of the second contact point and the position of the first center.

[0092] Reference numeral 4, based on reference numeral 2, obtains the position information of the first contact point when the nozzle 121 contacts the spherical cap 11, including:

[0093] Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, the nozzle 121 is controlled to make contact with spherical crown 11; when the nozzle 121 is detected to be in contact with spherical crown 11, the position information of the first contact point corresponding to the contact is obtained;

[0094] The first contact point includes two different first contact points where the nozzle 121 contacts the two sides of the spherical crown 11 along the same X-axis, and two different first contact points where the nozzle 121 contacts the two sides of the spherical crown 11 along the same Y-axis, or the first contact point includes at least three different first contact points where the nozzle 121 contacts the spherical crown 11 in the same plane, wherein the Z coordinates of the X-axis and Y-axis are consistent.

[0095] Reference numeral 5, based on reference numeral 4, controls the nozzle 121 to contact the spherical crown 11 according to the first current position information of the nozzle 121 and the second current position information of the spherical crown 11; when contact between the nozzle 121 and the spherical crown 11 is detected, the position information of the first contact point corresponding to the contact is obtained, including:

[0096] Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, the nozzle 121 is controlled to move to the position range corresponding to the projection of spherical crown 11 along the X-axis direction; the nozzle 121 is controlled to move towards spherical crown 11 along the X-axis direction, and when the nozzle 121 is detected to be in contact with spherical crown 11, the position information of the first contact point in the positive X-axis direction is determined; the nozzle 121 is controlled to rise a preset second distance along the Z-axis direction, then move a preset third distance along the X-axis direction, and then fall a preset second distance along the Z-axis direction; the nozzle 121 is controlled to move towards spherical crown 11 in the opposite X-axis direction, and when the nozzle 121 is detected to be in contact with spherical crown 11, the position information of the first contact point in the opposite X-axis direction is determined. Based on the first current position information of nozzle 121 and the second current position information of spherical crown 11, the nozzle 121 is controlled to move to the position range corresponding to the projection of spherical crown 11 along the Y-axis direction; the nozzle 121 is controlled to move towards spherical crown 11 along the Y-axis direction, and when the nozzle 121 is detected to be in contact with spherical crown 11, the position information of the first contact point in the positive Y-axis direction is determined; the nozzle 121 is controlled to rise a preset second distance along the Z-axis direction, then move a preset third distance along the Y-axis direction, and then fall a preset second distance along the Z-axis direction; the nozzle 121 is controlled to move towards spherical crown 11 in the opposite Y-axis direction, and when the nozzle 121 is detected to be in contact with spherical crown 11, the position information of the first contact point in the opposite Y-axis direction is determined.

[0097] The present invention also provides the following embodiments, which differ from the embodiments described above in that:

[0098] Label 6, based on label 4, determines the position of the first center of the sphere corresponding to the spherical cap 11 according to the position information of the first contact point, including:

[0099] Based on the position information of the first contact point in the positive direction of the X-axis and the position information of the first contact point in the negative direction of the X-axis, determine the value of the midpoint X between the first contact point in the positive direction of the X-axis and the first contact point in the negative direction of the X-axis;

[0100] Based on the position information of the first contact point in the positive direction of the Y-axis and the position information of the first contact point in the negative direction of the Y-axis, determine the value of the midpoint Y between the first contact point in the positive direction of the Y-axis and the first contact point in the negative direction of the Y-axis;

[0101] Based on the midpoint X value and midpoint Y value, determine the position of the first center of the sphere corresponding to the spherical cap 11.

[0102] The present invention also provides the following embodiments:

[0103] Reference numeral 7, based on reference numeral 1, determines the deviation compensation information of the second nozzle 1212 according to the first target position information and the second target position information, including: determining the deviation compensation information of the second nozzle 1212 according to the position difference between the first target position and the second target position.

[0104] The present invention also provides the following embodiments:

[0105] Reference numeral 8, based on reference numeral 1, compensates the second nozzle 1212 according to the deviation compensation information, including: responding to the switching command to switch the first nozzle 1211 to the second nozzle 1212, obtaining the current operating position corresponding to the first nozzle 1211 and the deviation compensation information of the second nozzle 1212; performing displacement compensation on the current operating position according to the deviation compensation information, and controlling the movement of the second nozzle 1212 according to the compensated current operating position.

[0106] The present invention also provides the following embodiments:

[0107] Reference numeral 9, based on reference numeral 1, compensates the second nozzle 1212 according to the deviation compensation information, including: obtaining the target position of the second nozzle 1212, and controlling the second nozzle 1212 to move according to the deviation compensation information of the second nozzle 1212, so that the coordinates of the movement of the second nozzle 1212 are the coordinates of the target position after being compensated by the deviation compensation information of the second nozzle 1212.

[0108] The present invention also provides the following embodiments:

[0109] Reference numeral 10, a calibration trigger module 1, applied to a 3D printing device 100, the calibration trigger module 1 includes:

[0110] The contact 10 and the displacement sensor 30 are connected. The side of the contact 10 facing the nozzle 121 of the 3D printing equipment 100 is a spherical cap 11. The contact 10 is coupled to the displacement sensor 30. When the nozzle 121 contacts the spherical cap 11, the contact 10 is triggered to obtain the position information corresponding to the contact point.

[0111] Reference numeral 11, based on reference numeral 10, the contact 10 is a sphere or a partial sphere. The calibration trigger module 1 also includes a housing 20 and a circuit processing unit 40. The housing 20 has a receiving cavity 21 that communicates with the outside. The sphere is disposed in the receiving cavity 21. The sphere is at least partially disposed on the outside of the housing 20. The detection end of the displacement sensor 30 is disposed on the side of the sphere away from the nozzle 121. The displacement sensor 30 is electrically connected to the circuit processing unit 40. When the nozzle 121 contacts the sphere, the displacement sensor 30 generates a trigger signal. The circuit processing unit 40 processes the trigger signal to obtain the position information of the contact point.

[0112] In the embodiments provided by this invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0113] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also recognize that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily essential to the invention.

[0114] In various embodiments of the present invention, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0115] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It is particularly important to note that each block in a block diagram and / or flowchart, or a combination of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0116] Compared with the prior art, the multi-nozzle calibration method, calibration trigger module, and 3D printing equipment provided by the present invention have the following beneficial effects:

[0117] 1. This invention provides a multi-nozzle calibration method. Because the spherical cap used for calibration has geometric symmetry, when a nozzle contacts the cap, the position of the contact point in the spherical coordinate system is determined only by the relative motion direction between the nozzle and the cap. Compared to errors that may be caused by the tilt of a planar or point-type calibration module, the target position information obtained through this characteristic of the spherical cap is the actual distance from the nozzle to the preset contact point (e.g., the pole) of the cap, rather than relying on the local coordinate system of the printing platform. This isolates offset errors caused by the tilt of a planar or point-type calibration module from the nozzle calibration process, ensuring that the nozzle calibration accuracy is not disturbed. Based on the first and second target position information, deviation compensation information for the second nozzle is determined. Compensating the second nozzle according to this deviation compensation information eliminates positional deviations generated by multiple nozzles during manufacturing, assembly, and subsequent use, improving printing accuracy and quality. Furthermore, this multi-nozzle calibration method does not require complex optical equipment, relying only on mechanical contact and basic sensors, which significantly reduces hardware costs, reduces operational complexity, increases calibration speed, and has a simple and reliable structure. At the same time, it reduces the precision requirements for component processing and assembly. Even if there are deviations in component processing and assembly, subsequent calibration can be performed using the multi-nozzle calibration method, thus reducing costs.

[0118] 2. In this embodiment of the invention, by acquiring the position information of the first contact point when the nozzle contacts the spherical crown, the first contact point includes at least three points located on the same plane. The position of the first center of the plane can be determined using at least any three first contact points. Since the first contact point only needs to be at least three points on the same plane, there are no special restrictions on the contact position. The contact point position is not specifically set, therefore the accuracy requirement for the contact position is not high. Thus, based on the first contact point with low accuracy requirements, the first center position of the sphere corresponding to the spherical crown can be accurately obtained, and the target position information can be determined based on the first center position, reducing the accuracy requirement for the contact point position.

[0119] 3. In this embodiment of the invention, the nozzle is controlled to move along the central axis according to the first center position to obtain the position information of the second contact point where the nozzle contacts the spherical crown. The second contact point is the highest pole of the spherical crown and is unique. Thus, by using the position information of the first and second contact points, which do not have high requirements for contact position accuracy, the distance at which the nozzle moves to contact the highest pole of the spherical crown can be accurately obtained and used as the target position information. This reduces the requirements for the contact position setting and accuracy of the contact point and improves the calibration speed.

[0120] 4. In this embodiment of the invention, the first current position information is any position of the nozzle currently in which it is located. The second current position information is any position of the spherical cap currently in which it is located. Since the horizontal coordinates (X1, Y1) of the center of the sphere corresponding to the spherical cap are equivalent to the coordinates of the center of a circle on a plane, the standard equation of the circle is (xa). 2 +(yb) 2 =r 2 Where (a, b) are the coordinates of the center of the circle, and r is the radius. To solve for the coordinates of the center, at least three independent equations can be established at least three different contact points on the same plane to solve for the values ​​of a, b, and r. Furthermore, the nozzle can also contact the spherical cap from both sides along the same X-axis and the same Y-axis, respectively. Contacting the spherical cap in opposite directions along the X-axis and Y-axis can obtain four different contact points. After recording the coordinates of the two contact points, the midpoint can be taken to offset the unidirectional error caused by the motion system, such as the gap in the guide rail, making the calibration results more accurate.

[0121] 5. In this embodiment of the invention, the nozzle is controlled to move to the position range corresponding to the projection of the spherical crown along the X-axis direction, so that there is a gap between the nozzle and the spherical crown in the X-axis direction. Optionally, this gap is a preset first distance, which serves as a safety distance. By using the path of the nozzle rising along the Z-axis, translating along the X-axis, and then descending along the Z-axis after reaching the first contact point in the positive X-axis direction, collisions between the nozzle and the spherical crown are avoided before reaching the first contact point in the negative X-axis direction. The same effect can be achieved for the Y-axis. Furthermore, the conditions for contact between the nozzle and the spherical crown are reduced. It is not necessary to strictly require that the distance between the first contact point in the positive X-axis direction and the first contact point in the negative X-axis direction must be the diameter of the sphere, that is, it is not necessary to strictly require that the line connecting the first contact point in the positive X-axis direction and the first contact point in the negative X-axis direction pass through the center of the circle. By simply contacting the sphere from both sides along the X-axis to obtain the midpoint of the contact point, and from both sides along the Y-axis to obtain the Y-axis coordinate of the center, the horizontal coordinates (X1, Y1) of the first center position of the sphere corresponding to the sphere can be obtained, thus improving the flexibility of contact point selection. The X-axis and Y-axis are calculated using the midpoint of the bidirectional symmetrical contact points, effectively eliminating unilateral measurement errors. Furthermore, the complex problem of calculating the first center position is transformed into calculating the midpoint of two orthogonal directions along the X and Y axes, reducing the computational load and improving computational efficiency.

[0122] 6. In this embodiment of the invention, the deviation compensation information of the second nozzle is determined based on the position difference between the first target position information and the second target position information. The current operating position corresponding to the first nozzle is obtained, and displacement compensation is performed on the current operating position corresponding to the first nozzle based on the deviation compensation information of the second nozzle. The second nozzle is then controlled to move based on the compensated current operating position, thereby eliminating the offset error between the first nozzle and the second nozzle. Alternatively, the target position of the second nozzle is obtained, and the second nozzle is controlled to move based on the deviation compensation information of the second nozzle, so that the coordinates of the second nozzle movement, after being compensated by the deviation compensation information of the second nozzle, become the coordinates of the target position. This also eliminates the offset error of the second nozzle and improves printing accuracy and quality.

[0123] 7. In this embodiment of the invention, the side of the contact member facing the nozzle is set as a spherical cap. This means that the contact member can be entirely spherical or only partially spherical. Regardless of the method used, the part of the contact member that contacts the nozzle is a spherical cap. The geometric symmetry of the spherical cap allows for precise determination of the target position information of the nozzle relative to the preset contact point (e.g., the pole) of the spherical cap, rather than relying on the local coordinate system of the printing platform. This isolates offset errors caused by external printing platform tilt from the nozzle calibration process, ensuring that the nozzle calibration accuracy is not disturbed and improving printing accuracy and quality. The contact member is coupled to a displacement sensor to ensure that when the nozzle contacts the spherical cap, the contact member is precisely triggered to acquire the position information corresponding to the contact point.

[0124] 8. In this embodiment of the invention, the contact element is a sphere or a portion of a sphere, which can form a spherical cap. The receiving cavity opened in the outer shell houses and protects the sphere and displacement sensor from environmental interference, ensuring long-term calibration accuracy. The receiving cavity is connected to the outside, and the sphere is at least partially disposed on the outside of the outer shell, allowing the nozzle to press down on the exposed part of the sphere. The receiving cavity also provides space for the sphere to move away from the nozzle after being pressed. When the nozzle contacts the sphere, the sphere is compressed and produces a small displacement, triggering the displacement sensor to generate a signal. The circuit processing unit obtains the position information of the contact point at this time, and automatically captures the contact action through the displacement sensor and the circuit processing unit, avoiding human intervention errors and improving calibration consistency.

[0125] 9. The present invention also provides a 3D printing device that has the same beneficial effects as the above-described multi-nozzle calibration method and / or calibration trigger module, which will not be described in detail here.

[0126] The foregoing has provided a detailed description of a multi-nozzle calibration method, calibration trigger module, and 3D printing equipment disclosed in the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent substitutions, and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-nozzle calibration method, characterized in that: The method is applied to a 3D printing device, which includes multiple nozzles and a calibration trigger module. The multiple nozzles include a first nozzle and a second nozzle. The calibration trigger module includes a spherical cap facing one side of the nozzles. The multi-nozzle calibration method includes: The target position information of the nozzle is determined based on the contact information between the nozzle and the spherical cap, so as to obtain the first target position information of the first nozzle and the second target position information of the second nozzle; Based on the first target position information and the second target position information, the deviation compensation information of the second nozzle is determined, so as to compensate the second nozzle according to the deviation compensation information.

2. The multi-nozzle calibration method according to claim 1, characterized in that: Determining the target position information of the nozzle based on the contact information between the nozzle and the spherical cap includes: Obtain the position information of the first contact point when the nozzle contacts the spherical crown, wherein the first contact point includes at least three points and the first contact points are located on the same plane; Based on the position information of the first contact point, the first center position of the sphere corresponding to the spherical crown is determined, and the first center position represents the position of the central axis of the sphere perpendicular to the plane; The target position information of the nozzle is determined based on the position of the first center.

3. The multi-nozzle calibration method according to claim 2, characterized in that: Determining the target position information of the nozzle based on the first center position includes: Based on the first center position, the nozzle is controlled to move along the central axis, and the position information of the second contact point between the nozzle and the spherical crown is obtained; The target position information of the nozzle is determined based on the position information of the second contact point and the position of the first center.

4. The multi-nozzle calibration method according to claim 2, characterized in that: The step of obtaining the position information of the first contact point when the nozzle contacts the spherical cap includes: Based on the first current position information of the nozzle and the second current position information of the spherical crown, the nozzle is controlled to contact the spherical crown; when the contact between the nozzle and the spherical crown is detected, the position information of the first contact point corresponding to the contact is obtained; The first contact point includes two different first contact points controlling the nozzle to contact the two sides of the spherical crown along the same X-axis, and two different first contact points controlling the nozzle to contact the two sides of the spherical crown along the same Y-axis, or the first contact point includes at least three different first contact points where the nozzle contacts the spherical crown in the same plane, wherein the Z coordinates of the X-axis and the Y-axis are consistent.

5. The multi-nozzle calibration method according to claim 4, characterized in that: The nozzle is controlled to contact the spherical crown based on the first current position information of the nozzle and the second current position information of the spherical crown. When contact between the nozzle and the spherical crown is detected, the position information of the first contact point corresponding to the contact is obtained, including: according to the first current position information of the nozzle and the second current position information of the spherical crown, controlling the nozzle to move to the position range corresponding to the projection of the spherical crown along the X-axis direction; controlling the nozzle to move towards the spherical crown along the X-axis direction, and when contact between the nozzle and the spherical crown is detected, determining the position information of the first contact point in the positive X-axis direction; controlling the nozzle to rise a preset second distance along the Z-axis direction, then move a preset third distance along the X-axis direction, and then fall a preset second distance along the Z-axis direction; controlling the nozzle to move towards the spherical crown in the opposite X-axis direction, and when contact between the nozzle and the spherical crown is detected... The following steps are taken: First, determine the position information of the first contact point in the reverse direction of the X-axis; second, based on the first current position information of the nozzle and the second current position information of the spherical crown, control the nozzle to move to the position range corresponding to the projection of the spherical crown along the Y-axis direction; control the nozzle to move towards the spherical crown along the Y-axis direction, and when contact between the nozzle and the spherical crown is detected, determine the position information of the first contact point in the positive direction of the Y-axis; control the nozzle to rise a preset second distance along the Z-axis direction, then move a preset third distance along the Y-axis direction, and then descend a preset second distance along the Z-axis direction; third, control the nozzle to move towards the spherical crown in the opposite direction of the Y-axis, and when contact between the nozzle and the spherical crown is detected, determine the position information of the first contact point in the reverse direction of the Y-axis. Alternatively, determining the first center position of the sphere corresponding to the spherical crown based on the position information of the first contact point includes: determining the midpoint X value between the first contact point in the positive X-axis direction and the first contact point in the negative X-axis direction based on the position information of the first contact point in the positive Y-axis direction and the first contact point in the negative X-axis direction; determining the midpoint Y value between the first contact point in the positive Y-axis direction and the first contact point in the negative Y-axis direction based on the position information of the first contact point in the positive Y-axis direction and the first contact point in the negative Y-axis direction; and determining the first center position of the sphere corresponding to the spherical crown based on the midpoint X value and the midpoint Y value.

6. The multi-nozzle calibration method according to claim 1, characterized in that: The step of determining the deviation compensation information of the second nozzle based on the first target position information and the second target position information includes: determining the deviation compensation information of the second nozzle based on the position difference between the first target position and the second target position; Alternatively; the step of compensating the second nozzle according to the deviation compensation information includes: responding to a switching command to switch the first nozzle to the second nozzle, obtaining the current operating position corresponding to the first nozzle, and the deviation compensation information of the second nozzle; performing displacement compensation on the current operating position according to the deviation compensation information, and controlling the second nozzle to move according to the compensated current operating position; Alternatively; the step of compensating the second nozzle according to the deviation compensation information includes: obtaining the target position of the second nozzle, and controlling the second nozzle to move according to the deviation compensation information of the second nozzle, so that the coordinates of the movement of the second nozzle, after being compensated by the deviation compensation information of the second nozzle, are the coordinates of the target position.

7. A calibration trigger module, characterized in that: The calibration trigger module, used in 3D printing equipment, includes: The contact element and displacement sensor are provided. The side of the contact element facing the nozzle of the 3D printing device is a spherical cap. The contact element is coupled to the displacement sensor. When the nozzle contacts the spherical cap, the contact element is triggered to acquire the position information corresponding to the contact point.

8. The calibration trigger module according to claim 7, characterized in that, The contact element is a sphere or a partial sphere. The calibration trigger module also includes a housing and a circuit processing unit. The housing has a receiving cavity communicating with the outside. The sphere is disposed in the receiving cavity. The sphere is at least partially disposed on the outside of the housing. The detection end of the displacement sensor is disposed on the side of the sphere away from the nozzle. The displacement sensor is electrically connected to the circuit processing unit. When the nozzle contacts the sphere, the displacement sensor generates a trigger signal. The circuit processing unit processes the trigger signal to obtain the position information of the contact point.

9. A 3D printing device, characterized in that, The 3D printing equipment includes a printing platform, multiple nozzles, and a calibration trigger module as described in any one of claims 7 to 8, wherein the calibration trigger module is connected to the printing platform.

10. A 3D printing device, characterized in that, The 3D printing device includes a processor and a memory, the memory storing a program or instructions that run on the processor, the program or instructions which, when executed by the processor, implement the multi-nozzle calibration method as described in any one of claims 1 to 6.

Images