Nozzle calibration system and nozzle calibration method

Abstract

The present invention relates to a nozzle calibration system for measuring the position of a lower end of a needle member used in a 3D printer and setting the position as a reference point, the nozzle calibration system comprising: a nozzle unit having a needle member protruding downward; a coupling unit coupled with the nozzle unit and provided to move the nozzle unit up and down; a moving unit coupled with the coupling unit and provided to move the coupling unit; a detection unit provided to detect information on whether the needle member is positioned in a predetermined detection area located inside; a control unit electrically connected to the coupling unit and the moving unit and provided to control operations of the coupling unit and the moving unit, and electrically connected to the detection unit and provided to acquire information acquired by the detection unit, wherein the control unit may perform a first movement for moving the moving unit such that the needle member is positioned in the detection area of the detection unit, and a second movement for moving the moving unit in a direction transverse to the movement direction of the first movement such that a part of the needle member is not positioned in the detection area to correct an error caused by bending of the needle member, and then returning the moving unit.

Description

Nozzle calibration system and nozzle calibration method

[0001] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0148678, filed November 1, 2023, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to a nozzle calibration system and a nozzle calibration method.

[0003] The technology of creating three-dimensional, physical objects using a 3D printer is called "3D printing." 3D printers can create three-dimensional objects using a variety of materials, including metal, plastic, and nylon, not just ink. Consequently, 3D printing technology is being developed across various fields.

[0004] Among these, the development of bio-3D printing technology, which uses biomaterials including cells to create human tissues, bones, and organs through 3D printing, is also actively underway. By utilizing this bio-3D printing technology, various applications are possible, such as 3D printing muscles, teeth, tissues, and organs and transplanting them into humans to replace damaged muscles, teeth, tissues, and organs, or applying 3D printing technology and stem cell regenerative therapy using bioink containing cells and cell growth factors to treat human organs that have lost function due to aging, aging skin, and hair loss.

[0005] Meanwhile, bio-3D printing technology primarily uses disposable needles for printing due to contamination issues. This requires replacing the disposable needles each time the printing material is replaced, which can lead to errors depending on the degree of bending at the bottom of the needle.

[0006] Because bio-3D printing technology involves creating living tissue, it requires a higher level of precision than other technologies. Therefore, to develop a bio-3D printer with even greater precision, a calibration technology capable of compensating for errors between needles is essential.

[0007] The object of the present invention is to provide a nozzle calibration system and nozzle calibration method with improved precision by correcting errors according to the degree of bending of a needle.

[0008] In one example, a nozzle calibration system includes a nozzle unit having a needle member protruding downward, a coupling unit coupled to the nozzle unit and configured to move the nozzle unit up and down, a moving unit coupled to the coupling unit and configured to move the coupling unit, a detection unit configured to detect information on whether the needle member is positioned in a predetermined detection area located therein, and the coupling unit; a control unit electrically connected to the moving unit and configured to control operations of the coupling unit and the moving unit, and electrically connected to the detection unit and configured to acquire information acquired by the detection unit; wherein the control unit can perform a first movement of moving the moving unit so that the needle member is positioned in the detection area of ​​the detection unit, and a second movement of moving the moving unit in a direction transverse to a movement direction of the first movement so that a part of the needle member is not positioned in the detection area in order to correct an error caused by bending of the needle member, and then returning the moving unit.

[0009] In another example, the control unit may set the position of the needle member based on the movement direction of the first movement detected by the first movement as the first reference position, reflect the value of the error obtained by the second movement to the first reference position and set the corresponding position as the second reference position, and set the second reference position as the reference point of the needle member based on the movement direction of the first movement.

[0010] In another example, the detection unit may include a first detection unit including a first opening that is open forward and backward, and a first sensor that detects the needle member when the needle member passes through the first opening in the forward and backward direction, and a second detection unit including a second opening that is open left and right, and a second sensor that detects the needle member when the needle member passes through the second opening in the left and right direction.

[0011] In another example, the first movement may include a 1-1 movement that moves the moving part forward or backward so as to pass through a first detection area where the first sensor detects an object, and a 1-2 movement that moves the moving part leftward or rightward so as to pass through a second detection area where the second sensor detects an object, and the second movement may include a 2-1 movement that is performed after the 1-1 movement to correct a first error caused by the needle member bending forward or backward with respect to the vertical direction, and a 2-2 movement that is performed after the 1-2 movement to correct a second error caused by the needle member bending leftward or right with respect to the vertical direction.

[0012] In another example, the control unit may set the position of the needle member based on the forward / backward direction detected by the 1-1 movement as the 1-1 reference position, reflect the value of the error obtained by the 2-1 movement into the 1-1 reference position to set the corresponding position as the forward / backward direction reference point, and set the position of the needle member based on the left / right direction detected by the 1-2 movement into the 1-2 reference position, and reflect the value of the error obtained by the 2-2 movement into the 1-2 reference position to set the corresponding position as the left / right direction reference point.

[0013] In another example, the control unit controls the moving unit to perform a third movement to move the nozzle unit downward after the second movement is completed, and the control unit can set a position based on the up-down direction of the needle member when the lower end of the needle member is located in the detection area as an up-down reference point.

[0014] In another example, the control unit may perform the third movement after the 2-1 movement or the 2-2 movement is completed, and when the third movement is performed after the 2-1 movement is completed, a position based on the up-and-down direction of the needle member when the lower end of the needle member is located in the first detection area may be set as the up-and-down reference point, and when the third movement is performed after the 2-2 movement is completed, a position based on the up-and-down direction of the needle member when the lower end of the needle member is located in the second detection area may be set as the up-and-down reference point.

[0015] In another example, the second movement may include a first departure movement that moves the moving part in a direction transversely upward at 45 degrees from the first reference position to the direction of movement of the first movement until the needle member is no longer positioned in the detection area, a first return movement that returns the moving part to the first reference position after the first departure movement so that the needle member is positioned, a second departure movement that moves the moving part in a direction transversely upward at 45 degrees from the first reference position to the direction opposite to the direction of movement of the first movement until the needle member is no longer positioned in the detection area, and a second return movement that returns the needle member to the first reference position after the second departure movement so that the needle member is positioned.

[0016] In another example, the control unit may obtain the displacement of the needle member of the moving unit during the first departure movement and the second departure movement, and the error may be determined based on the displacement of the first departure movement and the displacement of the second departure movement.

[0017] In another example, the control unit may compare the displacement of the first departure movement and the displacement of the second departure movement to determine the movement direction value of the first movement having a larger value as an error, and when the displacement of the first departure movement is large, the error may be added to the first reference position, and when the displacement of the second departure movement is large, the error may be subtracted from the second reference position.

[0018] In another example, the nozzle part includes a first nozzle part having a first needle member and a second nozzle part having a second needle member, and the coupling part can change the vertical positions of the first nozzle part and the second nozzle part.

[0019] In another example, the control unit may control the coupling unit to move the first nozzle unit downward and the second nozzle unit upward when determining the reference point of the first needle member, and may control the coupling unit to move the second nozzle unit downward and the first nozzle unit upward when determining the reference point of the second needle member.

[0020] In another example, when determining the reference point of the first needle member, the control unit may first perform one of the first-1 movement and the first-2 movement, and when determining the reference point of the second needle member, the control unit may first perform the other of the first-1 movement and the first-2 movement.

[0021] In another example, the first sensor may include a first light-emitting portion that is positioned either to the left or right of the first light-receiving portion and emits light toward the first light-receiving portion, and the second sensor may include a second light-receiving portion that is positioned either to the front or the rear of the second light-receiving portion and emits light toward the second light-receiving portion.

[0022] For example, a nozzle calibration method may include a first movement step of moving a nozzle member so that a needle member is positioned in a detection area of ​​a detection unit, and a second movement step including a process of moving the needle member in a direction transverse to the movement direction of the first movement step so that a part of the needle member is not positioned in the detection area to correct an error caused by bending of the needle member, and the detection unit may be arranged to detect information on whether the needle member is positioned in the detection area located inside.

[0023] In another example, when the needle member is positioned in the detection area and the position of the needle member is referred to as a first reference position, the second movement step may include a first departure movement for moving the needle member in a direction 45 degrees upwardly transverse to the direction in which the needle member moves in the first movement step from the first reference position until the needle member is no longer positioned in the detection area, a first return movement for returning the needle member to the first reference position after the first departure movement, a second departure movement for moving the needle member in a direction 45 degrees upwardly transverse to the direction opposite to the direction in which the needle member moves in the first movement step from the first reference position until the needle member is no longer positioned in the detection area, and a second return movement for returning the needle member to the first reference position after the second departure movement so that the needle member is positioned.

[0024] According to the present invention, the lower end position of the needle is calibrated by reflecting the error value that occurs depending on the degree of bending of the needle, so that precision is further improved and it is possible to 3D print a sophisticated object.

[0025] FIG. 1 is a drawing illustrating a nozzle calibration system according to one embodiment of the present invention.

[0026] FIG. 2 is a drawing illustrating a joint of a nozzle calibration system according to one embodiment of the present invention.

[0027] Figure 3 is a drawing that omits some of the components of the joint to illustrate the operating principles of the first joint portion and the second joint portion of the joint portion.

[0028] FIG. 4 is a drawing illustrating a detection unit of a nozzle calibration system according to one embodiment of the present invention.

[0029] Figure 5 is a conceptual drawing illustrating the first detection member.

[0030] Figure 6 is a conceptual drawing illustrating the first movement of the needle member.

[0031] Figure 7 is a conceptual drawing illustrating the first detachment movement of the needle member.

[0032] Figure 8 is a conceptual drawing illustrating the needle member performing the first return movement.

[0033] Figure 9 is a conceptual drawing illustrating the second detachment movement of the needle member.

[0034] Figure 10 is a conceptual drawing illustrating the needle member performing a second return movement.

[0035] Figure 11 is a drawing showing the first needle member performing the first-first movement.

[0036] Figure 12 is a drawing showing the first needle member performing the first-second movement.

[0037] Figure 13 is a drawing showing the first needle member performing the third movement.

[0038] Figure 14 is a drawing showing the second needle member performing the first-second movement.

[0039] Figure 15 is a drawing showing the second needle member performing the first-first movement.

[0040] Figure 16 is a drawing showing the second needle member performing the third movement.

[0041] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. When designating components in each drawing, identical components are given the same reference numerals, wherever possible, even if they appear in different drawings. Furthermore, when describing embodiments of the present invention, detailed descriptions of known components or functions will be omitted if they are deemed to hinder understanding of the embodiments of the present invention.

[0042] In this specification, the forward / backward, left / right, up / down, and vertical directions are referred to for convenience of explanation and may be directions orthogonal to each other. However, these directions are determined relative to the direction in which the nozzles are arranged, and the up / down direction does not necessarily mean the vertical direction.

[0043] FIG. 1 is a drawing illustrating a nozzle calibration system according to one embodiment of the present invention. FIG. 2 is a drawing illustrating a coupling part of a nozzle calibration system according to one embodiment of the present invention. FIG. 3 is a drawing illustrating a part of a coupling part with some of the components omitted in order to illustrate the operating principles of a first coupling part and a second coupling part of the coupling part. FIG. 4 is a drawing illustrating a detection part of a nozzle calibration system according to one embodiment of the present invention. FIG. 5 is a drawing conceptually illustrating a first detection member.

[0044] A nozzle calibration system according to one embodiment of the present invention can be used in a 3D printer. The nozzle calibration system may be a system for measuring the position of the lower end of a needle member and setting that position as a reference point. However, the invention is not limited to this technology and can be widely applied to the field of setting the zero point of the lower end of needle-shaped objects.

[0045] Nozzle Calibration System

[0046] A nozzle calibration system according to one embodiment of the present invention may include a nozzle unit (100), a coupling unit (200), a detection unit (400), and a control unit (500). The nozzle unit (100) may have a needle member (101) protruding downward. Bioink may be discharged through the needle member (101).

[0047] The nozzle unit (100) may be provided in one or more units. For example, the nozzle unit (100) may include a first nozzle unit (110) having a first needle member (111) and a second nozzle unit (120) having a second needle member (121). However, the number of nozzle units (100) is not limited to two, and more nozzle units (100) may be provided as needed.

[0048] The coupling part (200) may be coupled with the nozzle part (100) and may be configured to move the nozzle part (100) up and down. The coupling part (200) may refer to an object on which the nozzle part (100) is mounted. One or more nozzle parts (100) may be mounted on the coupling part (200).

[0049] The coupling part (200) can change the vertical positions of the first nozzle part (110) and the second nozzle part (120). For example, the coupling part (200) can include a first coupling part (201) and a second coupling part (202). The first coupling part (201) and the second coupling part (202) can move up and down independently of each other. The first nozzle part (110) is coupled to the first coupling part (201) and can move up and down. The second nozzle part (120) is coupled to the second coupling part (202) and can move up and down.

[0050] The moving part (300) may be coupled with the coupling part (200) to move the coupling part (200). As the moving part (300) moves the coupling part (200), the nozzle part (100) moves and the position of the needle member (101) changes, so that bio 3D printing having a predetermined shape may be possible. The moving part (300) may move the coupling part (200) in all of the up and down, left and right, and front and back directions. To this end, the moving part (300) may include six moving members (301) directly connected to the coupling part (200). One end of the moving member (301) may be rotatably connected to the coupling part (200), and the other end may be movably connected to the body (10) of the 3D printer.

[0051] When the control unit (500) receives an input to move the needle member (101) to a predetermined position, the control unit (500) can move the moving members (301) correspondingly to move the coupling member (200) to a position where the needle member (101) can be placed at the predetermined position.

[0052] The detection unit (400) may be placed in an area located on the lower side of the joining unit (200) among the body (10) of the 3D printer. The detection unit (400) may be provided to detect information regarding whether the needle member (101) is located in a predetermined detection area (A1) located inside. The control unit (500) may determine that the time when the needle member (101) is located in the detection area (A1) is a zero point. Thereafter, the position of the needle member (101) may be accurately adjusted based on the distance relationship between the output area (A2) for outputting the result and the corresponding detection area (A1).

[0053] The detection unit (400) may include a first detection member (410) and a second detection member (420). The first detection member (410) may include a first opening (411) and a first sensor (412). The first opening (411) may be opened forward and backward. This may mean that the overall shape of the first detection member (410) resembles a 'U'.

[0054] The first sensor (412) can detect the needle member (101) when the needle member (101) passes through the first opening (411) in the front-back direction. The first sensor (412) can include a first light-receiving portion (412a) and a first light-emitting portion (412b). The first light-emitting portion (412b) can be positioned on either the left or right side of the first light-receiving portion (412a) and emit light toward the first light-receiving portion (412a). The first light-receiving portion (412a) can receive light emitted by the first light-emitting portion (412b).

[0055] Let the area where the first sensor (412) detects the object be the first detection area. At this time, if light is not received by the first light-receiving portion (412a), it may be because the needle member (101) is positioned in the first detection area and blocks the light. Accordingly, the control unit (500) can determine that the needle member (101) is positioned in the first detection area if light is not received by the first light-receiving portion (412a). Accordingly, the control unit (500) can record the position of the needle member (101) at this time and use it as a reference point for forward and backward movement.

[0056] The second detection member (420) may include a second opening (421) and a second sensor (422). The second opening (421) may be opened left and right. The second detection member (420) may have an overall shape similar to the letter 'U', but may be arranged orthogonally to the first detection member (410).

[0057] The second sensor (422) can detect the needle member (101) when the needle member (101) passes through the second opening (421) in the left-right direction. The second sensor (422) can include a second light-receiving portion (422a) and a second light-emitting portion (422b). The second light-emitting portion (422b) is located either in front or behind the second light-receiving portion (422a) and can emit light toward the second light-receiving portion (422a). The second light-receiving portion (422a) can receive the light emitted by the second light-emitting portion (422b).

[0058] Let's say the area where the second sensor (422) detects the object is referred to as the second detection area. At this time, if light is not received by the second light-receiving portion (422a), it may be because the needle member (101) is positioned in the second detection area and blocks the light. Accordingly, the control unit (500) can determine that the needle member (101) is positioned in the second detection area if light is not received by the second light-receiving portion (422a). Accordingly, the control unit (500) can record the position of the needle member (101) at this time and use it as a reference point for left-right movement.

[0059] The control unit (500) may be electrically connected to the coupling unit (200) and the moving unit (300) to control the operation of the coupling unit (200) and the moving unit (300). In addition, the control unit (500) may be electrically connected to the detection unit (400) to obtain information obtained by the detection unit (400).

[0060] The control unit (500) may include a processor and memory. The processor may include a microprocessor such as a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), or a Central Processing Unit (CPU). The memory may store control commands (instructions) that serve as the basis for processing commands for moving the moving unit (300) in the processor. The memory may be a data store such as a Hard Disk Drive (HDD), a Secure Digital (SD), a Solid State Drive (SSD), a Universal Serial Bus (USB), a volatile medium, or a non-volatile medium.

[0061] The control unit (500) can perform a first movement and a second movement. The first movement may be a movement that moves the moving unit (300) so that the needle member (101) is positioned in the detection area (A1) of the detection unit (400). Through the first movement, a first reference position, which will be described later, can be determined.

[0062] The second movement may be a movement to correct an error caused by the bending of the needle member (101). The second movement may be a movement in which the moving part (300) is moved in a direction transverse to the movement direction of the first movement so that a part of the needle member (101) is not located in the detection area (A1), and then returned.

[0063] The control unit (500) can set the position of the needle member (101) based on the movement direction of the first movement detected by the first movement as the first reference position. For example, if the first movement is forward, the control unit (500) can set the position of the needle member (101) detected by the first movement as the first reference position based on the forward direction. This can be understood as primarily setting the reference point in the y-axis direction.

[0064] The control unit (500) can reflect the error value obtained through the second movement to the first reference position and set the corresponding position as the second reference position. Here, reflecting the error value may mean adding or subtracting the value as needed.

[0065] The control unit (500) can set the second reference position as the reference point of the needle member (101) based on the movement direction of the first movement.

[0066] Below, a method for detecting errors is described in detail. The method for detecting errors may involve performing a second movement and deriving an error based on the result.

[0067] Fig. 6 is a conceptual drawing illustrating a first movement of a needle member. Fig. 7 is a conceptual drawing illustrating a first departure movement of a needle member. Fig. 8 is a conceptual drawing illustrating a first return movement of a needle member. Fig. 9 is a conceptual drawing illustrating a second departure movement of a needle member. Fig. 10 is a conceptual drawing illustrating a second return movement of a needle member.

[0068] The second movement may include a first departure movement, a first return movement, a second departure movement, and a second return movement. The first departure movement may be a movement that moves the moving part (300) in a direction 45 degrees upwardly across the movement direction of the first movement from the first reference position until the needle member (101) is not positioned in the detection area (A1). In this case, the movement direction of the first movement may be an open direction of the opening through which the needle member (101) passes among the first opening (411) or the second opening (421).

[0069] The first return movement may be a movement that returns the moving part (300) so that the needle member (101) is positioned at the first reference position after the first departure movement.

[0070] The second departure movement may be a movement in which the moving part (300) is moved in a direction 45 degrees upwardly opposite to the movement direction of the first movement from the first reference position, until the needle member (101) is not positioned in the detection area (A1).

[0071] The second return movement may be a movement that returns the needle member (101) to the first reference position after the second departure movement.

[0072] The control unit (500) can obtain the displacement of the needle member (101) of the moving unit (300) during the first departure movement and the second departure movement. At this time, the error can be determined based on the displacement of the first departure movement and the displacement of the second departure movement.

[0073] Specifically, the control unit (500) can compare the displacement of the first departure movement and the displacement of the second departure movement and determine the movement direction value of the first movement with a larger value as an error. For example, when comparing FIG. 7 and FIG. 9, the control unit (500) can determine the left-right component of the displacement of FIG. 9 as an error based on FIG. 9. This is because the displacement It may be equal to the value divided by .

[0074] The control unit (500) may add an error to the first reference position when the displacement of the first departure movement is large, and may subtract an error from the second reference position when the displacement of the second departure movement is large. As illustrated in FIG. 9, if the displacement of the second departure movement is larger, this may mean that the needle member (101) is bent in the movement direction of the first movement. Accordingly, the end of the needle member (101) is located on the side of the movement direction of the first movement, and the position of the end becomes a positive value based on the current zero position. Therefore, in order to align the position of the end having a positive value to the zero point, the error must be subtracted.

[0075] Meanwhile, since only one direction component can be determined when passing through one detection unit (400), movement through the first detection unit (410) and the second detection unit (420) is required to capture both the zero points of the x-axis and the y-axis. This will be described in detail below.

[0076] Fig. 11 is a drawing illustrating the first needle member performing the first-first movement. Fig. 12 is a drawing illustrating the first needle member performing the first-second movement. Fig. 13 is a drawing illustrating the first needle member performing the third movement.

[0077] The first movement may include a first-first movement and a first-second movement. The first-first movement may be a movement that moves the moving part (300) forward or backward so that the needle member (101) passes through the first detection area. The first detection area may be an area where the first sensor (412) detects an object.

[0078] The first and second movements may be movements that move the moving part (300) to the left or right so that the needle member (101) passes through the second detection area. The second detection area may be an area where the second sensor (422) detects an object.

[0079] However, the notations 1-1 and 1-2 here are for naming purposes only and do not limit the order. This will be discussed later.

[0080] The second movement may include the second-first movement and the second-second movement. The second-first movement may be performed after the first-first movement to correct the first error. The first error may be an error caused by the needle member (101) bending forward or backward in the vertical direction.

[0081] The second-second movement may be performed after the first-second movement to correct the second error. The second error may be an error caused by the needle member (101) being bent to the left or right with respect to the vertical direction.

[0082] The control unit (500) can set the position of the needle member (101) based on the forward / backward direction detected by the 1-1 movement as the 1-1 reference position, and reflect the value of the error obtained by the 2-1 movement to the 1-1 reference position to set the corresponding position as the forward / backward direction reference point.

[0083] In addition, the control unit (500) can set the position of the needle member (101) based on the left-right direction detected by the 1-2 movement as the 1-2 reference position, and reflect the value of the error obtained by the 2-2 movement to the 1-2 reference position to set the corresponding position as the left-right direction reference point.

[0084] Next, the third movement, which sets the reference point in the vertical direction, is described in detail.

[0085] The control unit (500) can perform a third movement. The third movement may be a movement that moves the nozzle unit (100) downward after the second movement is completed.

[0086] The control unit (500) can set the position based on the up-down direction of the needle member (101) as the up-down reference point when the lower end of the needle member (101) is located in the detection area (A1). Since the zero points of the x-axis and y-axis excluding the up-down direction are set through the second movement described above, when the zero point is moved up and down and located in the detection area (A1), it can be regarded as the zero point of the z-axis, i.e., the reference point in the up-down direction.

[0087] The third move may be performed after the completion of the second-first move or the second-second move. For example, the third move may be performed after the later move of the second-first move or the second-second move.

[0088] When the control unit (500) performs the third movement after the second-first movement is completed, the position based on the up-down direction of the needle member (101) when the lower end of the needle member (101) is located in the first detection area can be set as the up-down direction reference point.

[0089] When the control unit (500) performs the third movement after the second-second movement is completed, the position based on the up-down direction of the needle member (101) when the lower end of the needle member (101) is located in the second detection area can be set as the up-down direction reference point.

[0090] Meanwhile, as described above, when there are multiple nozzle units (100), the first to third movements described above can be performed for each nozzle unit (100). Hereinafter, a method for determining the reference point of each when the first nozzle unit (110) and the second nozzle unit (120) exist will be described in detail.

[0091] When determining the reference point of the first needle member (111), the control unit (500) can control the coupling unit (200) to move the first nozzle unit (110) downward and the second nozzle unit (120) upward. At this time, the first coupling portion (201) can be moved downward and the second coupling portion (202) can be moved upward.

[0092] In addition, when determining the reference point of the second needle member (121), the control unit (500) can control the coupling unit (200) to move the second nozzle unit (120) downward and the first nozzle unit (110) upward. At this time, the first coupling portion (201) can be moved upward and the second coupling portion (202) can be moved downward.

[0093] Fig. 14 is a drawing illustrating the second needle member performing the first-second movement. Fig. 15 is a drawing illustrating the second needle member performing the first-first movement. Fig. 16 is a drawing illustrating the second needle member performing the third movement.

[0094] The control unit (500) may perform one of the first-first movement and the first-second movement first when determining the reference point of the first needle member (111), and may perform the other of the first-first movement and the first-second movement first when determining the reference point of the second needle member (121). This may be for the efficiency of the movement line. For example, when determining the reference point of the first needle member (111), the first-first movement may be performed first. In this case, when determining the reference point of the second needle member (121), the first-second movement may be performed first.

[0095] The sequential viewing of FIGS. 11 to 16 can be understood as a process of determining a reference point of the first needle member (111) and a reference point of the second needle member (121). At this time, the 2-1 movement and the 2-2 movement are omitted, but can be performed after the 1-1 movement and the 1-2 movement, respectively.

[0096] How to calibrate the nozzle

[0097] Hereinafter, based on the aforementioned content, a nozzle calibration method for measuring the position of the lower part of the needle member (101) of the nozzle member (100) and setting the position as a reference point will be described in detail.

[0098] The nozzle calibration method may include a first movement step and a second movement step. The first movement step may be a step of moving the nozzle unit (100) so that the needle member (101) is positioned in the detection area (A1) of the detection unit (400). The second movement step may be a step for correcting an error caused by bending of the needle member (101). The second movement step may be a step including a process of moving the needle member (101) in a direction transverse to the movement direction of the first movement step so that a part of the needle member (101) is not positioned in the detection area (A1).

[0099] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate, rather than limit, the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. In a nozzle calibration system for measuring the lower position of a needle member used in a 3D printer and setting the position as a reference point, A nozzle portion having a needle member protruding downwards; A coupling part coupled to the nozzle part and configured to move the nozzle part up and down; A moving part coupled to the above-mentioned joint and configured to move the above-mentioned joint; A detection unit configured to detect information on whether the needle member is located in a predetermined detection area located inside; and A control unit is provided that is electrically connected to the above-mentioned coupling unit and the above-mentioned moving unit to control the operation of the above-mentioned coupling unit and the above-mentioned moving unit, and is electrically connected to the above-mentioned detection unit to obtain information obtained by the above-mentioned detection unit. The above control unit, A first movement for moving the moving part so that the needle member is positioned in the detection area of ​​the detection part; and A nozzle calibration system that performs a second movement in which the moving part is moved in a direction transverse to the first movement direction so that a part of the needle part is not located in the detection area, in order to correct an error caused by bending of the needle part.

2. In claim 1, The above control unit, The position of the needle member detected by the first movement is set as the first reference position based on the movement direction of the first movement, The value of the error obtained by the second movement is reflected in the first reference position and the corresponding position is set as the second reference position, A nozzle calibration system that sets the second reference position as a reference point of the needle member based on the movement direction of the first movement.

3. In claim 2, The above detection unit, A first detection member including a first opening that is open forward and backward, and a first sensor that detects the needle member when the needle member passes through the first opening in the forward and backward direction; and A nozzle calibration system comprising a second opening that is opened left and right, and a second detection member that includes a second sensor that detects the needle member when the needle member passes through the second opening in a left and right direction.

4. In claim 3, The above first movement is, A first-first movement that moves the moving part forward or backward so that it passes through a first detection area where the first sensor detects an object; and The second sensor includes a first-second movement that moves the moving part to the left or right so that it passes through a second detection area where the object is detected. The second movement above is, A 2-1 movement performed after the above 1-1 movement to correct the first error caused by the needle member bending forward or backward in the vertical direction; and A nozzle calibration system, comprising a second-second movement performed after the first-second movement to correct a second error caused by the needle member being bent to the left or right with respect to the vertical direction.

5. In claim 4, The above control unit, The position of the needle member based on the forward / backward direction detected by the above 1-1 movement is set as the 1-1 reference position, The value of the error obtained by the above 2-1 movement is reflected in the above 1-1 reference position and the corresponding position is set as the forward / backward reference point, The position of the needle member detected by the above 1-2 movement is set as the 1-2 reference position based on the left and right direction, A nozzle calibration system that reflects the error value obtained by the above-mentioned 2-2 movement to the above-mentioned 1-2 reference position and sets the corresponding position as a left-right direction reference point.

6. In claim 4, The above control unit, After the second movement is completed, the moving part is controlled to perform a third movement to move the nozzle part downward, The above control unit is a nozzle calibration system that sets a position based on the up-down direction of the needle member as an up-down direction reference point when the lower end of the needle member is located in the detection area.

7. In claim 6, The above control unit, After the above 2-1 movement or the above 2-2 movement is completed, the above 3rd movement is performed, When the third movement is performed after the above 2-1 movement is completed, when the lower part of the needle member is located in the first detection area, the position based on the up-down direction of the needle member is set as the up-down direction reference point, A nozzle calibration system that sets a position based on the up-down direction of the needle member as an up-down direction reference point when the lower end of the needle member is located in the second detection area when the third movement is performed after the second movement is completed.

8. In claim 2, The second movement above is, A first departure movement in which the moving part is moved in a direction 45 degrees upwardly across the movement direction of the first movement from the first reference position, until the needle member is not positioned in the detection area; After the first departure movement, a first return movement for returning the moving part so that the needle member is positioned at the first reference position; A second departure movement in which the moving part is moved in a direction opposite to the movement direction of the first movement at an angle of 45 degrees upward from the first reference position, until the needle member is not positioned in the detection area; and A nozzle calibration system comprising a second return movement for returning the needle member to the first reference position after the second departure movement.

9. In claim 8, The above control unit, Obtaining the displacement of the needle member of the moving part during the first departure movement and the second departure movement, The above error is, A nozzle calibration system, which is determined based on the displacement of the first departure movement and the displacement of the second departure movement.

10. In claim 9, The above control unit, By comparing the displacement of the first departure movement and the displacement of the second departure movement, the movement direction value of the first movement with a larger value is determined as an error, If the displacement of the first deviation movement is large, the error is added to the first reference position, A nozzle calibration system that subtracts the error from the second reference position when the displacement of the second departure movement is large.

11. In claim 4, The above nozzle part, a first nozzle portion having a first needle member; and A second nozzle part having a second needle member, A nozzle calibration system in which the above-mentioned coupling part can change the vertical positions of the first nozzle part and the second nozzle part.

12. In claim 11, The above control unit, When determining the reference point of the first needle member, the coupling part is controlled to move the first nozzle part downward and the second nozzle part upward, A nozzle calibration system that controls the coupling part to move the second nozzle part downward and the first nozzle part upward when determining the reference point of the second needle member.

13. In claim 12, The above control unit, When determining the reference point of the above first needle member, Either the above 1-1 movement or the above 1-2 movement is performed first, A nozzle calibration system, wherein when determining the reference point of the second needle member, the other one of the first-first movement and the first-second movement is performed first.

14. In claim 4, The above first sensor, first light-receiving portion; and A first light-emitting portion positioned on either the left or right side of the first light-receiving portion and emitting light toward the first light-receiving portion, The second sensor above, Second light-receiving portion; and A nozzle calibration system comprising a second light-emitting portion positioned either in front or behind the second light-receiving portion and emitting light toward the second light-receiving portion.

15. In a nozzle calibration method for measuring the position of the lower part of the needle member of the nozzle and setting the position as a reference point, A first moving step of moving the nozzle unit so that the needle member is positioned in the detection area of ​​the detection unit; and In order to correct an error caused by bending of the needle member, a second movement step is included, which includes a process of moving the needle member in a direction transverse to the movement direction of the first movement step so that a part of the needle member is not located in the detection area. A nozzle calibration method, wherein the detection unit is configured to detect information regarding whether the needle member is located in the detection area located inside.

16. In claim 15, When the needle member is located in the above detection area, the position of the needle member is referred to as the first reference position. The second movement step is, A first departure movement in which the needle member is moved in a direction 45 degrees upwardly transverse to the direction in which the needle member is moved in the first movement step from the first reference position, until the needle member is no longer located in the detection area; After the first departure movement, a first return movement for returning the needle member to the first reference position; A second departure movement in which the needle member is moved in a direction 45 degrees upwardly opposite to the direction in which the needle member moves in the first movement step from the first reference position, until the needle member is no longer located in the detection area; and A nozzle calibration method comprising a second return movement for returning the needle member to the first reference position after the second departure movement.

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