Scanning device and 3D printer

Abstract

The utility model proposes a scanning device and a 3D printer, and the scanning device comprises a transmitting end which comprises a light source transmitting module and an MEMS micro-vibrating mirror, the light source transmitting module is used for transmitting a light beam, and the MEMS micro-vibrating mirror is used for deflecting the light beam to form a light scanning view field so as to scan a measured object; the receiving end comprises an image sensor and is used for receiving the light beams reflected by the measured object to obtain scanning data of the measured object; the support is used for fixing the transmitting end and the receiving end so as to be assembled on the 3D printer. The light scanning field of view corresponding to the light beams deflected by the MEMS micro-galvanometer has a large scanning range, so that a measured object can be quickly scanned, and the scanning speed and precision in the use process of the 3D printer are effectively improved.

Description

Technical Field

[0001] The utility model belongs to the field of optical technology, and in particular relates to a scanning device and a 3D printer. Background Art

[0002] The 3D scanning modules currently used by printers mainly rely on line laser scanning, which needs to be coordinated with the XY axis movement of the machine to scan the features that need to be scanned. However, the existing 3D scanning modules only acquire single-line data at a time, so it takes a long time to acquire data for a surface. At the same time, due to different algorithm principles, the accuracy of single-line laser scanning is lower than that of algorithms that use phase shift and other grating arrays. Utility Model Content

[0003] The technical purpose of the utility model is to provide a scanning device and a 3D printer, aiming to solve the problem of low scanning efficiency and accuracy of the scanning device in the 3D printer.

[0004] In order to solve the above technical problems, in the first aspect of the utility model, a scanning device is proposed, which is assembled on a 3D printer, including a transmitting end, including a light source emitting module and a MEMS micro-vibration mirror, wherein the light source emitting module is used to emit a light beam; the MEMS micro-vibration mirror is arranged on the optical path of the light beam, and is used to deflect the light beam to form a light scanning field of view to scan the object to be measured; the receiving end includes an image sensor, which is used to receive the light beam reflected by the object to be measured to obtain the data of the object to be measured. A bracket is used to fix the transmitting end and the receiving end so as to be assembled on the 3D printer.

[0005] In a second aspect of the utility model, a 3D printer is proposed, comprising a print head, a main control chip, a printing platform and a scanning device as described above, wherein the print head is used to print a 3D model of a printing object on the printing platform; the printing platform is used to support the 3D model of the printing object during the printing process of the print head; the main control chip is used to control the movement of the print head on the printing platform to print the 3D model of the printing object and control the scanning device to scan the 3D model of the printing object to obtain scanning data of the printing object; and is also used to process the scanning data of the printing object to obtain two-dimensional information and / or three-dimensional information of the printing object, so as to detect the flatness of the printing platform or monitor the printing quality in real time based on the two-dimensional information or three-dimensional information.

[0006] Compared with the prior art, the beneficial effect of the utility model is that: the utility model proposes a scanning device, which is mounted on a 3D printer. The light beam emitted by the transmitting end of the scanning device is deflected by the MEMS micro-vibration mirror to form a light scanning field with a large scanning range, which can realize rapid scanning of the object to be measured, and effectively improve the scanning speed and accuracy during the use of the 3D printer. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a schematic diagram of the structure of a transmitting end including a structured light transmitting module in one embodiment of the utility model;

[0008] Figure 2 It is a schematic diagram of the planar structure of a MEMS micro-vibration mirror in another embodiment of the utility model;

[0009] Figure 3 It is a structural schematic diagram of another embodiment of the utility model in which the transmitting end includes a floodlight transmitting module;

[0010] Figure 4 It is a structural schematic diagram of another embodiment of the utility model in which the light source at the transmitting end is a point light source;

[0011] In the accompanying drawings, each reference numeral represents:

[0012] 1000, scanning device; 100, transmitting end; 10, MEMS micro-vibration mirror; 101, first supporting element; 102, second supporting element; 103, first torsion arm; 104, second torsion arm; 105, third torsion arm; 106, fourth torsion arm; 107, fifth torsion arm; 108, sixth torsion arm; 11, outer frame; 12, inner frame; 13, scanning mirror; 14, structured light scanning field of view; 15, flood light scanning field of view; 16, point light source; 200, bracket; 300, receiving end. DETAILED DESCRIPTION

[0013] The embodiments of the utility model are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the utility model, and cannot be understood as limiting the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the utility model.

[0014] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0015] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0016] Please refer to Figure 1 and Figure 2 The utility model proposes a scanning device 1000, which is assembled on a 3D printer. Specifically, the scanning device 1000 includes a transmitting end 100, a bracket 200 and a receiving end 300; wherein the transmitting end 100 includes a light source transmitting module and a MEMS micro-vibration mirror 10, the light source transmitting module is used to transmit a light beam, the MEMS micro-vibration mirror 10 is arranged on the optical path of the light beam and receives the light beam, and the MEMS micro-vibration mirror 10 is used to deflect the light beam to form a light scanning field of view to scan the object to be measured; the bracket 200 is used to fix the transmitting end 100 and the receiving end 300, so that the transmitting end 100 and the receiving end 300 are assembled on the 3D printer; the receiving end 300 includes an image sensor, and the image sensor is used to receive the light beam reflected by the object to be measured to obtain the scanning data of the object to be measured.

[0017] In one implementation, the MEMS micro-vibration mirror 10 is arranged on the optical path of the light beam emitted by the light source emission module. The MEMS micro-vibration mirror 10 is used to deflect the light beam emitted by the light source emission module, and project the light beam quickly and evenly into the space where the object to be measured is located. The scanning range of the light beam after deflection is the light scanning field of view. The light scanning field of view should be larger than the placement area of ​​the object to be measured, which can better achieve full coverage of the light signal on the surface of the object to be measured. In addition, in the present application, the light source emission module and the MEMS micro-vibration mirror 10 are integrated through a lens barrel (not shown) to form a transmitting end 100. The lens barrel is made of a light-shielding material. By setting an optical path inside the lens barrel to realize light propagation, light leakage can be effectively prevented.

[0018] In one embodiment, at least two supporting components are extended around the MEMS micro-vibration mirror 10, and each of the two supporting components is arranged at two opposite ends of the MEMS micro-vibration mirror 10. Each supporting component includes a torsion arm and a supporting element connected to each other. The two ends of each torsion arm are respectively connected to the scanning mirror 13 and a supporting element, and each supporting element is installed on the lens barrel. Each supporting element is used to support the entire MEMS micro-vibration mirror 10. The two supporting elements arranged at two opposite ends of the MEMS micro-vibration mirror 10 enhance the stability of the MEMS micro-vibration mirror 10. Multiple supporting elements can be formed by a semiconductor substrate, and the MEMS micro-vibration mirror 10 is suspended. Multiple torsion arms connected to the supporting elements are mechanically coupled to the MEMS micro-vibration mirror 10, so that the MEMS micro-vibration mirror 10 can perform high-speed deflection oscillation, thereby realizing that the MEMS micro-vibration mirror 10 deflects the light beam emitted by the light source emission module, and the light signal can be projected to any position in space.

[0019] Please refer to Figure 2 In this embodiment, two opposing support components are provided on the circumference of the MEMS micro-vibration mirror 10, namely, a first support element 101, a second support element 102, a first torsion arm 103, and a second torsion arm 104, wherein the first support element 101 is connected to the first torsion arm 103, the second support element 102 is connected to the second torsion arm 104, and the first torsion arm 103 and the second torsion arm 104 are arranged opposite to each other. In other embodiments, a plurality of supporting components corresponding to each other may be provided according to the shape of the MEMS micro-vibration mirror 10, and the number of supporting components may be two, four, six, etc., and the directions of the connection lines of the two opposing supporting components may be different, so that the MEMS micro-vibration mirror 10 may be vibrated in different directions.

[0020] Furthermore, the MEMS micro-vibration mirror 10 includes a frame and a scanning mirror 13, the frame encloses a placement space, the scanning mirror 13 is arranged in the placement space, and a third torsion arm 105 and a fourth torsion arm 106 are extended from opposite ends of the scanning mirror 13, and the third torsion arm 105 and the fourth torsion arm 106 are connected to the inner wall of the frame. In this way, the scanning mirror 13 can be deflected and oscillated at a high speed along the direction of the connection between the third torsion arm 105 and the fourth torsion arm 106, so that the scanning mirror 13 can project the light beam received by the light source emission module to any position in the light scanning field of view.

[0021] In this embodiment, the frame for connecting and fixing the scanning mirror 13 may include an outer frame 11 and an inner frame 12, the inner frame 12 encloses a placement space, the outer frame 11 encloses an installation space, the inner frame 12 and the scanning mirror 13 are arranged in the installation space, the third torsion arm 105 and the fourth torsion arm 106 are respectively connected to the scanning mirror 13 and the inner wall of the inner frame 12, the outer wall of the inner frame 12 is extended with a fifth torsion arm 107 and a sixth torsion arm 108 located at opposite ends, and the fifth torsion arm 107 and the sixth torsion arm 108 are both connected to the inner wall of the outer frame 11. The provision of the inner and outer frames 11 can effectively increase the range of motion of the scanning mirror 13 and further expand the range of the optical scanning field of view.

[0022] In order to achieve the regulation of the deflection oscillation of the scanning mirror 13, the extension direction of the third torsion arm 105 and the third torsion arm 106 is located on the first central axis, the extension direction of the fifth torsion arm 107 and the sixth torsion arm 108 is located on the second central axis, and the first central axis is not parallel to the second central axis. Preferably, the first central axis and the second central axis are vertically arranged. The non-parallelism of the first central axis and the second central axis makes the adjustable range of the deflection oscillation direction of the scanning mirror 13 larger, improves the adjustment accuracy of the light beam deflected by the scanning mirror 13 within the light scanning field of view, and accurately scans every part of the object to be measured. The MEMS micro-vibration mirror 10 is deflected and oscillated at high speed by multiple torsion arms, so that the scanning device 1000 can form a surface scanning field of view at any position in the space without moving, and obtain more information about the object to be measured.

[0023] In this embodiment, the light source emission module includes at least a structured light emission module and a floodlight emission module, the structured light emission module and the floodlight emission module are respectively used to project the structured light beam and the floodlight beam to the MEMS micro-vibration mirror 10, the MEMS micro-vibration mirror 10 is respectively used to deflect the structured light beam and the floodlight beam, the scanning range of the structured light beam is the structured light scanning field of view 14, the scanning range of the floodlight beam is the floodlight scanning field of view 15, and the object to be measured is located in the overlapping area of ​​the structured light scanning field of view 14 and the floodlight scanning field of view 15.

[0024] In order to realize the conversion of the light beam emitted by the light source into a structured light beam and a floodlight beam, the structured light emission module includes a structured light source and a structured light field modulation device, the structured light field modulation device is arranged on the light exit side of the structured light source, and the structured light field modulation device is used to receive the light beam emitted by the structured light source and modulate it into a structured light beam. The floodlight emission module includes a floodlight light source and a floodlight field modulation device, the floodlight field modulation device is arranged on the light exit side of the light source, and the floodlight field modulation device is used to receive the light beam emitted by the floodlight light source and modulate it into a floodlight beam. Among them, the structured light source or the floodlight light source is composed of one or more of a point light source 16 and a laser light source, for example, it can be a light emitting diode (LED), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), a blue light laser light source, etc., and the light emitted can be any one or more combinations of visible light, infrared light, blue light, green light or ultraviolet light.

[0025] Please refer to Figure 1 and Figure 3 In one embodiment, the structured light emission module includes a laser light source and a light field modulation device. The light field modulation device is arranged on the light emitting side of the laser light source, and is used to receive the light beam emitted by the laser light source and modulate it into a structured light beam, so as to form a planar array structured light scanning field of view 14 in the area where the object to be measured is located through the two-dimensional deflection of the MEMS micro-vibration mirror 10; the flood light emission module includes a planar array light source (such as an LED, a VCSEL array), which is used to emit a flood light beam to the MEMS micro-vibration mirror 10, so as to form a planar array flood light scanning field of view 15 in the area where the object to be measured is located through the two-dimensional deflection of the MEMS micro-vibration mirror 10.

[0026] The light field modulator can be designed accordingly according to the target scanning field of view to be formed. Specifically, a pattern that meets the preset requirements is designed according to the preset input light beam and the preset output light beam, and the pattern is made on a mask by photolithography technology to form the light field modulator required by this embodiment, so that the light beam emitted by the light source can form a structured light scanning field of view 14 or a flood light scanning field of view 15 after passing through the light field modulator. The structured light field modulator and the flood light field modulator may include one or more of a mask, a DOE or a DLP.

[0027] Please refer to Figure 4 In one embodiment, the light source in the structured light emission module and the floodlight emission module can be a point light source 16. The light beam emitted by the point light source 16 can form a line light beam after one-dimensional deflection by the MEMS micro-vibration mirror 10. The line light beam can form a structured light scanning field of view 14 or a floodlight scanning field of view 15 in the area where the object to be measured is located after two-dimensional deflection by the MEMS micro-vibration mirror 10. In addition, since the formation of the line light beam needs to converge and form a certain angle with the central axis of the receiving end 300, the MEMS micro-vibration mirror 10 is controlled to change the reflection angle according to the demand to achieve an equivalent angle, so as to form a structured light scanning field of view 14 or a floodlight scanning field of view 15 in the area where the object to be measured is located.

[0028] It should be noted that the wavelength of the light beam emitted by the structured light source is the same as or different from the wavelength of the light beam emitted by the floodlight source. When the wavelength of the light beam emitted by the light source in the structured light emission module is the same as that in the floodlight emission module, the floodlight emission module can not only provide a fill light function for the receiving end 300 so that the receiving end 300 forms a clear image, but also form a floodlight image alone; when the wavelength of the light beam emitted by the light source in the structured light emission module is different from that in the floodlight emission module, the floodlight emission module does not have a fill light function and is only used for the receiving end 300 to generate a floodlight image, and this application does not impose any restrictions on this.

[0029] In this embodiment, the receiving end 300 includes an image sensor and a filter. The filter is arranged on the light incident side of the image sensor. The light beam reflected by the measured object enters the image sensor through the filter to generate a corresponding image. The image sensor is composed of any one or more of a charge coupled device, a complementary metal oxide semiconductor, an avalanche diode and a single photon avalanche diode; the bandwidth of the filter matches the wavelength of the light beam emitted by the light source emission module, suppresses the background light noise of the remaining bands, so that only the light beam emitted by the transmitting end 100 and reflected back by the measured object passes through the filter and is collected by the image sensor. In addition, in the present application, the image sensor and the filter are integrated through a lens barrel (not shown) to form the receiving end 300. The lens barrel is made of a light-shielding material. By setting an optical path inside the lens barrel to realize light reception, stray light interference can be effectively prevented.

[0030] Furthermore, the receiving end 300 also includes an imaging lens, which is arranged on the light incident side of the image sensor and on the side of the filter away from the image sensor, and the imaging lens includes at least one lens. The imaging lens allows the light beam reflected by the object to be measured to pass through the filter and be imaged on the corresponding pixel of the image sensor. In addition, when the receiving end 300 is working, since the amount of light entering the imaging lens is limited, fill light is required. At this time, the floodlight emission module is controlled to project the light beam and deflect it through the MEMS micro-vibration mirror to form a floodlight beam, so as to perform fill light to make the image sensor image clearer.

[0031] In one embodiment, the scanning device 1000 is a monocular module, that is, the receiving end 300 includes only a single image sensor, the structured light emission module projects coded structured light with certain coding rules, including but not limited to binary, sine, Gray code and other structured light, the structured light beam deflected by the MEMS micro-vibration mirror 10 is projected to the object to be measured, and the receiving end 300 receives the beam reflected by the object to be measured to generate scanning data to obtain three-dimensional information of the object to be measured, including depth, point cloud and height, etc.; the floodlight emission module projects a floodlight beam and the floodlight beam deflected by the MEMS micro-vibration mirror 10 is projected to the object to be measured, and the receiving end 300 receives the floodlight beam reflected by the object to be measured to generate scanning data to obtain two-dimensional information of the object to be measured, including texture, width, area, etc. of the object to be measured. It should be noted that the scanning device 1000 of the present application can also be a multi-eye module, and there are multiple image sensors at the receiving end 300, and different image sensors respectively receive the beams projected by the structured light emission module and the floodlight emission module to generate corresponding scanning data, and the present application does not limit this.

[0032] The scanning device 1000 also includes a processor, which is used to process the scan data of the object to be measured to obtain two-dimensional information and / or three-dimensional information of the object to be measured. Specifically, the processor can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc. composed of a CPU, a memory, a bus, etc. The processor can also be a general circuit. For example, when the scanning device 1000 is integrated into an intelligent terminal such as a mobile phone, a television, a computer, a 3D printer, etc., the processing circuit in the terminal can serve as at least a part of the processor.

[0033] The utility model also provides a 3D printer, which includes a print head, a main control chip, a printing platform and Figures 1 to 4 The scanning device 1000 shown in the figure; wherein, the print head is used to print the 3D model of the printing object on the printing platform; the printing platform is arranged below the print head, and is used to support the 3D model of the printing object during the printing process; the main control chip is electrically connected to the print head and the scanning device 1000 respectively, and the main control chip is used to control the movement of the print head on the printing platform and control the scanning device 1000 to scan the printing object on the printing platform to obtain the scanning data of the printing object; the main control chip is used to process the scanning data of the printing object to obtain the two-dimensional information and / or three-dimensional information of the printing object, so as to detect the flatness of the printing platform according to the two-dimensional information or the three-dimensional information or monitor the printing quality on the printing platform in real time.

[0034] In one embodiment, the print head is electrically connected to the main control chip, and is used to print layer by layer on the printing platform under the control of the main control chip to obtain a 3D model of the printing object; the printing platform and / or the print head can move along the X-axis, Y-axis and Z-axis, the X-axis and Y-axis are parallel to the plane of the printing platform, and the Z-axis is perpendicular to the plane of the printing platform; or, the printing platform can move along the Z-axis, and the print head can move along the X-axis and Y-axis. In other embodiments, the printing platform can be heated to increase the adhesion of the printing material, avoid the phenomenon of warping during the printing process, and improve the printing quality.

[0035] In some embodiments, the scanning device 1000 is fixed to the side of the print head, and the fixing method is not limited. For example, it can be installed by gluing or fastening with screws, so that after installation, the scanning device 1000 is relatively fixed to the print head. When the print head moves, the scanning device 1000 can follow the movement of the print head to scan the printing object and obtain complete data of the object being measured.

[0036] In another embodiment, since the scanning device 1000 of the present application includes a MEMS galvanometer, it can complete the surface scanning of the object to be measured without moving. Therefore, the scanning device can be fixedly installed on any part of the 3D printer body. It only needs to ensure that the printing platform is located within the scanning field of view of the scanning device 1000 so that the scanning device 1000 can scan the printing object printed by the print head on the printing platform. The present application does not impose any restrictions on this.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A scanning device, mounted on a 3D printer, It is characterized in that include: The transmitting end includes a light source transmitting module and a MEMS micro-vibration mirror, wherein the light source transmitting module is used to transmit a light beam; The MEMS micro-vibration mirror is arranged on the optical path of the light beam, and is used to deflect the light beam to form a light scanning field of view to scan the object to be measured; A receiving end, comprising an image sensor, configured to receive a light beam reflected by the object to be measured to obtain data of the object to be measured; A bracket is used to fix the transmitting end and the receiving end so as to be assembled on the 3D printer.

2. The scanning device according to claim 1, It is characterized in that At least two supporting components are extended on the circumference of the MEMS micro-vibration mirror, and each of the two supporting components is arranged at the opposite ends of the MEMS micro-vibration mirror. Each supporting component includes a connected torsion arm and a supporting element. The MEMS micro-vibration mirror includes a frame and a scanning mirror. The two ends of each torsion arm are respectively connected to the scanning mirror and a supporting element, and each supporting element is installed on the bracket.

3. The scanning device according to claim 2, It is characterized in that The frame encloses a placement space, the scanning mirror is arranged in the placement space, and a third torsion arm and a fourth torsion arm are extended from opposite ends of the scanning mirror to connect to the inner wall of the frame.

4. The scanning device according to claim 3, It is characterized in that The frame includes an outer frame and an inner frame, the inner frame encloses the placement space, the outer frame encloses the installation space, the inner frame and the scanning mirror are arranged in the installation space, the third torsion arm and the fourth torsion arm are respectively connected to the scanning mirror and the inner wall of the inner frame, and the outer wall of the inner frame is extended to be provided with a fifth torsion arm and a sixth torsion arm located at opposite ends to be connected to the inner wall of the outer frame.

5. The scanning device according to claim 4, It is characterized in that The connection direction of the third torsion arm and the fourth torsion arm is located on the first central axis, the connection direction of the fifth torsion arm and the sixth torsion arm is located on the second central axis, and the first central axis is not parallel to or perpendicular to the second central axis.

6. The scanning device according to any one of claims 1 to 5, It is characterized in that The light source emission module at least includes a structured light emission module and a floodlight emission module, the structured light emission module and the floodlight emission module are respectively used to project a structured light beam and a floodlight beam to the MEMS micro-vibration mirror, the MEMS micro-vibration mirror is respectively used to deflect the structured light beam and the floodlight beam, the scanning range of the structured light beam is the structured light scanning field of view, the scanning range of the floodlight beam is the floodlight scanning field of view, and the object to be measured is located in the overlapping area of ​​the structured light scanning field of view and the floodlight scanning field of view.

7. The scanning device according to claim 6, It is characterized in that The structured light emission module includes a structured light source and a structured light field modulation device. The structured light field modulation device is arranged on the light emitting side of the light source, and is used to receive the light beam emitted by the light source and modulate it into a structured light beam.

8. The scanning device according to claim 6, It is characterized in that The wavelength of the light beam emitted by the structured light emission module is the same as or different from the wavelength of the light beam emitted by the flood light emission module.

9. The scanning device according to claim 1, It is characterized in that The scanning device further includes a processor, and the processor is used to process the scanning data to obtain two-dimensional information and / or three-dimensional information of the object to be measured.

10. A 3D printer, It is characterized in that The invention comprises a print head, a main control chip, a printing platform and a scanning device as claimed in any one of claims 1 to 9, wherein: The print head is used to print a 3D model of the printing object on the printing platform; The printing platform is used to support the 3D model of the printing object during the printing process of the print head; The main control chip is used to control the print head to move on the printing platform to print the 3D model of the printing object and control the scanning device to scan the 3D model of the printing object to obtain scanning data of the printing object; it is also used to process the scanning data of the printing object to obtain two-dimensional information and / or three-dimensional information of the printing object, so as to detect the flatness of the printing platform or monitor the printing quality in real time according to the two-dimensional information or three-dimensional information.

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