CN112873839B - Tool setting device and method of multi-nozzle 3D printer based on visual sensing - Google Patents
Tool setting device and method of multi-nozzle 3D printer based on visual sensing Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/205—Means for applying layers
- B29C64/209—Heads; Nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/245—Platforms or substrates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention provides a tool setting device and a tool setting method of a multi-nozzle 3D printer based on visual sensing, wherein the device comprises a camera, and the camera is installed on 3D printing equipment; clamping the bracket; one end of the clamping bracket is fixed with the camera, and the other end of the clamping bracket is fixed with the printing equipment; the system comprises a tool setting platform system, a tool setting platform system and a control unit, wherein the tool setting platform system comprises a collecting unit, an input unit, a display unit and the control unit, the collecting unit is used for collecting pictures shot by a camera and displaying the pictures on a platform interface through the display unit, the input unit is used for inputting set parameter values, the control unit is used for acquiring related values in the collecting unit, moving a spray head according to the parameter values of the input unit or the acquired related values in the collecting unit and completing corresponding pixel calibration and tool setting operation; the device provided by the invention has the advantages that the tool setting process is automated, simplified and accurate.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a multi-nozzle biological 3D printer tool setting device and method based on visual sensing.
Background
Additive Manufacturing (AM), also known as 3D printing, is a new material forming method that has emerged since the 80's of the 20 th century. The method is to split an object by using the idea of dimension reduction from a body to a surface and from the surface to a point, and then to form the object in a mode of accumulating layer by layer in reverse. With the development of Computer technology and modern control theory, the combination with Computer-aided design (CAD) technology enables 3D printing to produce finer, more complex, more personalized products. In recent years, this technique has been widely used in the field of biological tissue engineering to manufacture various irregularly customized tissue engineering scaffolds. The tissue engineering scaffold provides external environments for adhesion, proliferation and differentiation of defective tissue cells of a human body, and finally achieves the purpose of repairing damaged tissues.
At present, the tissue engineering scaffold develops towards a multi-component direction, which requires multi-nozzle biological 3D printing equipment, so that in recent years, multi-nozzle becomes a research hotspot of the biological 3D printing equipment. Different from a common 3D printing device, the multi-nozzle biological 3D printing device is suitable for a plurality of materials with greatly different physical properties, the existing multi-nozzle device usually follows the previous design scheme, a proper automatic system and a feedback system are lacked, and a plurality of problems can be exposed after another material with greatly different physical properties is replaced, such as: different biological materials have high requirements on the 3D printing process, and the exploration process is time-consuming and labor-consuming; some existing devices are complex to operate, cumbersome to print and prepare, and not suitable for use by non-professional researchers, and the like.
Different from single-nozzle 3D printing equipment, the multi-nozzle 3D printing equipment needs to perform tool setting on each nozzle before formal work, and the tool setting includes work of aligning the distance from the bottom end of each nozzle to the plane of a substrate, calculating the Y-direction offset distance of each nozzle and the like. At present, various 3D printing real-time monitoring methods are mostly applied to non-biological 3D printing single-nozzle equipment, the integral forming effect of a concerned workpiece is achieved, and automation of preparation processes such as multi-nozzle tool setting and the like is omitted. In practical application, these processes are often complicated, large errors are easily generated, and the final yield is greatly affected. Under the influence of the factors, the finished product is easy to have staggered layers and faults, and even the printing process cannot be finished.
Disclosure of Invention
The invention provides a multi-nozzle biological 3D printer tool setting device and method based on visual sensing, which are used for simply improving the conventional multi-nozzle biological 3D printing equipment and automating, simplifying and accurately setting a tool setting process.
The first aspect of the embodiment of the invention provides a tool setting device of a multi-nozzle 3D printer based on visual sensing, which comprises:
a camera head, a camera,
the camera is installed on the 3D printing equipment;
clamping the bracket;
one end of the clamping bracket is fixed with the camera, and the other end of the clamping bracket is fixed with the printing equipment;
the tool setting platform system comprises a collecting unit, an input unit, a display unit and a control unit, wherein the collecting unit is used for collecting pictures shot by a camera and displaying the pictures on a platform interface through the display unit, the input unit is used for inputting set parameter values, the control unit is used for acquiring related values in the collecting unit, moving a spray head according to the parameter values of the input unit or the acquired related values in the collecting unit, and completing corresponding pixel calibration and tool setting operation.
Specifically, the camera is an 800 ten thousand pixel high definition USB camera and a 5-50mm focusing lens.
Specifically, the control unit obtains a relevant value in the acquisition unit, moves the nozzle according to the parameter value of the input unit or the obtained relevant value in the acquisition unit, and completes corresponding pixel calibration and tool setting operations, and specifically includes:
pixel calibration: the method comprises the steps of descending a sprayer to a position set by a base plate, drawing a line segment at the bottom of the sprayer in an image, obtaining the line number of the current line segment (taking the average value of the line numbers of all pixels of the line segment), measuring the line number difference between the line number of the pixel of the short line and the line number of the pixel of the base plate plane, namely the longitudinal pixel number difference, and measuring the physical distance between the bottom end of the sprayer and the base plate to obtain the actual physical size represented by a single pixel on the image. It should be noted that, in the practical experiment process, the longitudinal tool setting distance is very small (basically not exceeding 1 mm), so that the pixel size variation error in the Z direction is considered to be negligible.
Specifically, the control unit obtains the relevant value in the acquisition unit, moves the nozzle according to the parameter value of the input unit or the obtained relevant value in the acquisition unit, and completes the corresponding pixel calibration and tool setting operations, and further includes:
and according to the expected distance between the bottom end of the current sprayer and the substrate set by the input unit, comparing the obtained real-time distance data between the bottom end of the current sprayer and the substrate with the expected data, moving the sprayer in the Z-axis direction until the difference value between the bottom end of the current sprayer and the substrate is smaller than a set threshold value, stopping moving the sprayer, and sending a signal to indicate that the Z-direction tool setting of the current sprayer is finished.
Specifically, the control unit obtains the relevant value in the acquisition unit, moves the nozzle according to the parameter value of the input unit or the obtained relevant value in the acquisition unit, and completes the corresponding pixel calibration and tool setting operations, and further includes:
drawing a vertical line at the center line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting; enabling all the nozzles to move in the Y direction at the same time, stopping the nozzles when a Y-direction position judgment mark line of a second nozzle is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current nozzle; repeating the above processes until all the nozzles are calibrated, and then sending out a signal: and Y-direction tool setting of all spray heads is finished.
The second aspect of the embodiment of the invention provides a tool setting method for a multi-nozzle 3D printer based on visual sensing, which comprises the following steps:
a camera shoots a picture;
a collecting unit in the tool setting platform system obtains a picture shot by a camera and displays the picture on a platform interface through a display unit;
a user inputs set parameter values from an input unit in a tool setting platform system;
the control unit acquires the relevant numerical values in the acquisition unit, moves the spray head according to the parameter numerical values of the input unit or the acquired relevant numerical values in the acquisition unit, and completes corresponding pixel calibration and tool setting operations.
Specifically, the pixel calibration includes:
lowering the nozzle to a position set from the substrate, drawing a line segment at the bottom of the nozzle in the image,
the line number difference between the pixel line number of the short line and the pixel line number of the substrate plane is measured, namely the longitudinal pixel number difference, and the physical distance between the bottom end of the spray head and the substrate is measured, wherein in the practical experiment process, the longitudinal tool setting distance is very small (basically not more than 1 mm), so that the pixel size variation error in the Z direction can be ignored.
The actual physical size represented by a single pixel on the image is derived.
In particular, after the pixel calibration is completed, the camera must be kept relatively still in the z-direction and the x-direction. Otherwise, the pixel calibration needs to be performed again.
Specifically, the tool setting operation includes:
setting an expected distance between the bottom end of the current spray head and the substrate according to the input unit;
comparing the obtained real-time distance data between the bottom end of the current spray head and the substrate with expected data, and moving the spray head in the Z-axis direction until the difference value between the two is smaller than a set threshold value;
and sending a signal to indicate that the current Z-direction tool setting of the spray head is finished.
Specifically, the tool setting operation further comprises:
drawing a vertical line at the central line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting;
enabling all the nozzles to move in the Y direction at the same time, stopping the nozzles when a Y-direction position judgment mark line of a second nozzle is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current nozzle;
repeating the above processes until all the nozzles are calibrated, and then sending out a signal: and Y-direction tool setting of all spray heads is finished.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
(1) The invention utilizes the machine vision technology, obtains the distance between all the spray heads and the distance between the bottom of each spray head and the substrate platform through the USB camera, displays the distances on the display, and has a data input function, so that a user can input the required tool setting distance according to the requirement to complete the automatic tool setting work. Therefore, the automation, visualization, simplification and accuracy of the tool setting process are realized, the working efficiency of the printer is improved, the applicability of the biological 3D printer is improved, and the possibility of generating problem workpieces by the printer is reduced.
(2) The device provided by the invention has the advantages of simple structure, low cost, convenience in use and wide application platform, and is suitable for multi-nozzle FDM type 3D printing equipment with various models.
Drawings
FIG. 1 is a structural diagram of a multi-nozzle biological 3D printer tool setting device based on visual sensing provided by the invention;
FIG. 2 is a result of image processing in a tool setting platform system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a tool setting platform system interface in a tool setting device of a multi-nozzle biological 3D printer based on visual sensing provided by the invention;
FIG. 4 is a side view of a biomaterial scaffold produced using a multi-jet biological 3D printer using the methods provided herein;
FIG. 5 is a side view of a biomaterial scaffold fabricated using a multi-jet biological 3D printer using the method provided by the present invention.
Detailed Description
The embodiment of the invention provides a multi-nozzle biological 3D printer tool setting device and method based on visual sensing, which are used for simply improving the existing multi-nozzle biological 3D printing equipment and automating, simplifying and accurately setting a tool setting process.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Fig. 1 is a first aspect of an embodiment of the present invention, which provides a tool setting device structure diagram of a multi-nozzle 3D printer based on visual sensing, including:
the number of the cameras 101 is such that,
the camera is installed on the 3D printing equipment;
a clamp bracket 102;
one end of the clamping bracket is fixed with the camera, and the other end of the clamping bracket is fixed with the printing equipment;
the tool setting platform system 103 comprises an acquisition unit 1031, an input unit 1032, a display unit 1033 and a control unit 1034, wherein the acquisition unit 1031 is used for acquiring pictures shot by the camera 101 and displaying the pictures on a platform interface through the display unit 1033, and the acquisition unit 1031 is also used for processing the pictures shot by the camera; the input unit 1032 is configured to input the set parameter value, and the control unit 1034 acquires the related value in the acquisition unit 1031, moves the nozzle according to the parameter value of the input unit 1032 or the acquired related value in the acquisition unit, and completes the corresponding pixel calibration and tool setting operation.
The multi-nozzle biological 3D printing device used in this example is characterized in that: the shower nozzle platform has four shower nozzles that can be dismantled and changed, installs on the shower nozzle platform jointly, has the slide rail on the shower nozzle platform, provides the degree of freedom of movement of shower nozzle Z direction. The nozzle platform is fixed relative to the support of the integrated 3D printing device. The horizontal plane has two axles, drives two platforms respectively, and two platforms are in the same place, and the base plate platform is located this assembly. The substrate can be moved in two degrees of freedom in the horizontal plane by these two axes. Therefore, in this embodiment, one end of the clampable support is connected with the Y-axis motion platform for 3D printing, so that the camera has the freedom of motion in the Y-axis but is separated from the X-axis and does not have the freedom in the X-axis. The requirements are met: the camera can only move relative to each spray head in Y-direction freedom degree.
The camera is an 800-ten-thousand-pixel high-definition USB camera and a focusing lens of 5-50 mm.
Specifically, the controlling unit 1034 acquires the relevant values in the collecting unit 1031, moves the spray head according to the parameter values of the input unit 1032 or the acquired relevant values in the collecting unit 1031, and completes the corresponding pixel calibration and tool setting operations, which specifically includes:
pixel calibration: the method comprises the steps of descending a sprayer to a position set by a base plate, drawing a line segment at the bottom of the sprayer in an image, measuring a line number difference between a pixel line number where a short line is located and a pixel line number where a base plate plane is located, namely a longitudinal pixel number difference value, measuring a physical distance between the bottom end of the sprayer and the base plate, and obtaining an actual physical size represented by a single pixel on the image, wherein in the actual experiment process, the longitudinal tool setting distance is very small (basically not more than 1 mm), so that the pixel size change error in the Z direction can be ignored.
After the pixel calibration is completed, the camera must be kept stationary relative to the horizontal position and the front-to-back position. Otherwise, the position of the camera is changed once (except for the movement of the degree of freedom consistent with the spray head in the horizontal plane), and the pixel calibration is carried out again.
Specifically, the controlling unit 1034 obtains the relevant values in the collecting unit 1031, moves the nozzle according to the parameter values of the input unit 1032 or the obtained relevant values in the collecting unit 1031, and completes the corresponding pixel calibration and tool setting operations, further including:
and according to the expected distance between the bottom end of the current sprayer and the substrate set by the input unit, comparing the obtained real-time distance data between the bottom end of the current sprayer and the substrate with the expected data, moving the sprayer in the Z-axis direction until the difference value between the two is smaller than a set threshold value, stopping moving the sprayer, and sending a signal to indicate that the Z-direction tool setting of the current sprayer is finished.
For multiple spray heads, Z-direction tool setting of each spray head is the method.
Specifically, the controlling unit 1034 obtains the relevant values in the collecting unit 1031, moves the nozzle according to the parameter values of the input unit 1032 or the obtained relevant values in the collecting unit 1031, and completes the corresponding pixel calibration and tool setting operations, further including:
drawing a vertical line at the center line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting; enabling all the spray heads to simultaneously move in the Y direction, stopping the spray heads when a Y-direction position determination marking line of a second spray head is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current spray head; repeating the above processes until all the nozzles are calibrated, and then sending out a signal: and Y-direction tool setting of all spray heads is finished.
Specifically, the Y-direction offset distance of each nozzle of the multi-nozzle biological 3D printing device is calculated as follows: first, a reference position determination line is calibrated: and moving the first sprayer to a proper position in the image, after the image is obtained, carrying out contour extraction operation, drawing a vertical line at the center line position of the sprayer, and marking the current Y-direction position of the sprayer. Extracting the pixel column number of the Y-direction position line of the first spray head, drawing a vertical line as a reference position judgment mark (reference line) of the whole tool setting process, and thus knowing that the Y-direction offset of the first spray head is 0; the Y-direction offset line of the first spray head is the reference line of the whole tool setting process.
The nozzles of some models of biological 3D printing equipment can be replaced, and the Y-direction offset distance of each nozzle needs to be calibrated again after each nozzle is replaced.
Further, the spray head platform is moved in the Y direction, and the next spray head is enabled to appear in the visual field of the camera. And continuing moving, stopping the spray head when the Y-direction position judgment mark line of the next spray head is overlapped with the determined reference line, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current spray head. Repeating the above processes until all the nozzles are calibrated, and then sending out a signal: the Y-offset calibration for all the jets is completed.
After calibration, the image of the current nozzle is extracted and the contour recognition is performed, and the result of the contour recognition is shown in fig. 2, and it can be seen from the figure that the nozzle low end marking line, the nozzle Y-direction position marking line and the nozzle Y-axis reference line (the line of the first nozzle is overlapped with the Y-direction position marking line) are marked.
Fig. 3 is a schematic view of a tool setting platform system interface in a tool setting device of a multi-nozzle biological 3D printer based on visual sensing according to an embodiment of the present invention; the variables of the software platform system have two types of input and output, wherein the input represents an artificial setting value, and the output is a variable value result detected by the software. The pixel calibration value (input), the distance from the bottom end of the nozzle to the substrate (input), the offset distance of the nozzle 2 (output), the offset distance of the nozzle 3 (output), and the offset distance of the nozzle 4 (output) are sequentially performed. After the tool setting work is finished and the states of the nozzles are adjusted, the software system inputs the output variable data into a printing software part as preparation data of the printing work, and then the multi-nozzle 3D printing work of the model is normally carried out.
The input unit can also acquire corresponding data by acquiring the processed picture information and automatically fill the data into the input unit.
The second aspect of the embodiment of the invention provides a tool setting method for a multi-nozzle 3D printer based on visual sensing, which comprises the following steps:
a camera shoots pictures;
acquiring a picture shot by a camera by an acquisition unit in the tool setting platform system and displaying the picture on a platform interface through a display unit;
a user inputs set parameter values from an input unit in a tool setting platform system;
the control unit acquires the relevant numerical values in the acquisition unit, moves the spray head according to the parameter numerical values of the input unit or the acquired relevant numerical values in the acquisition unit, and completes corresponding pixel calibration and tool setting operations.
Specifically, the pixel calibration includes:
lowering the nozzle to a position set apart from the substrate, moving the nozzle and drawing a line at the bottom of the nozzle,
measuring the line number difference between the pixel line number of the short line and the pixel line number of the substrate plane, namely the longitudinal pixel number difference, and measuring the physical distance between the bottom end of the spray head and the substrate,
the actual physical size represented by a single pixel on the image is derived.
In particular, after the pixel calibration is completed, the camera must be kept relatively still in the z-direction and the x-direction. Otherwise, the pixel calibration needs to be performed again.
Specifically, the tool setting operation includes:
setting an expected distance between the bottom end of the current spray head and the substrate according to the input unit;
comparing the obtained real-time distance data between the bottom end of the current spray head and the substrate with expected data, and moving the spray head in the Z-axis direction until the difference value between the two is smaller than a set threshold value;
and sending a signal to indicate that the current Z-direction tool setting of the spray head is finished.
Specifically, the tool setting operation further comprises:
drawing a vertical line at the center line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting;
enabling all the nozzles to move in the Y direction at the same time, stopping the nozzles when a Y-direction position judgment mark line of a second nozzle is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current nozzle;
repeating the above processes until all the nozzles are calibrated, and then sending out a signal: y-direction tool setting of all spray heads is finished
Specifically, further, the Y-direction offset distance of each nozzle of the multi-nozzle biological 3D printing device is calculated: first, a reference position determination line is calibrated: and moving the first sprayer to a proper position in the image, after the image is obtained, carrying out contour extraction operation, drawing a vertical line at the center line position of the sprayer, and marking the current Y-direction position of the sprayer. Extracting the pixel column number of the Y-direction position line of the first spray head, drawing a vertical line as a reference position judgment mark (reference line) of the whole tool setting process, and thus knowing that the Y-direction offset of the first spray head is 0; the Y-direction offset line of the first spray head is the reference line of the whole tool setting process.
Some models of biological 3D printing equipment have replaceable nozzles, and the Y-direction offset distance of each nozzle needs to be calibrated again after each nozzle replacement.
Further, the spray head platform is moved in the Y direction, and the next spray head is enabled to appear in the visual field of the camera. And (4) continuing to move, stopping the spray head when the Y-direction position judgment mark line of the next (second) spray head is superposed with the determined reference line, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current spray head. Repeating the above processes until all the nozzles are calibrated, and then sending out a signal: the Y-offset calibration for all the jets is completed.
To sum up, the automatic tool setting of each spray head needs to complete two tasks: 1. and the distance between the bottom end of the spray head and the plane of the reference platform is adjusted. 2. And measuring and recording the Y-direction offset distance of the spray head. The flow comprises the steps of 1 st step and 2 nd step, and then the next spray head is replaced to repeat the two steps until the automatic tool setting work of all spray heads of the multi-spray-head equipment is completed.
FIG. 4 is a side view of a biomaterial scaffold produced using a multi-jet biological 3D printer using the methods provided herein; it should be noted that from top to bottom, a total of 8 layers, four materials are used in sequence: 12wt% CMCS, 7wt% CMC-Na, 7wt% SA and 169wt% PEO. One for each two layers, namely, each two layers are printed by one spray head, and the next spray head is switched after the printing is finished. The printing effect is good, the problems of staggered layers, interlayer separation and the like are solved, and the offset of each spray head in the Y direction and the distance (Z direction, tool setting value) between each spray head and the bottom surface are well controlled, namely the method is effective;
FIG. 5 is a side view of a biomaterial scaffold fabricated using a multi-jet biological 3D printer using the method provided by the present invention. The pore diameter is uniform, the quality of the bracket is good, the problems of misalignment and the like are avoided, and the printing quality is good.
In summary, the invention utilizes the machine vision technology, obtains the distance between each spray head and the distance between the bottom of the spray head and the substrate platform through the USB camera, and displays the distances on the display, and meanwhile, the invention has the function of data input, so that a user can input the required tool setting distance according to the requirement to complete the automatic tool setting work. Therefore, the automation, visualization, simplification and accuracy of the tool setting process are realized, the working efficiency of the printer is improved, the applicability of the biological 3D printer is improved, and the possibility of generating problem workpieces by the printer is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A tool setting device of a multi-nozzle 3D printer based on visual sensing is characterized by comprising a camera,
the camera is installed on the 3D printing equipment;
clamping the bracket;
one end of the clamping bracket is fixed with the camera, and the other end of the clamping bracket is fixed with the printing equipment;
the system comprises a tool setting platform system, a tool setting platform system and a control unit, wherein the tool setting platform system comprises a collecting unit, an input unit, a display unit and the control unit, the collecting unit is used for collecting pictures shot by a camera and displaying the pictures on a platform interface through the display unit, the input unit is used for inputting set parameter values, the control unit is used for acquiring related values in the collecting unit, moving a spray head according to the parameter values of the input unit or the acquired related values in the collecting unit and completing corresponding pixel calibration and tool setting operation;
the control unit acquires the relevant numerical values in the acquisition unit, moves the spray head according to the parameter numerical values of the input unit or the acquired relevant numerical values in the acquisition unit, and completes corresponding pixel calibration and tool setting operations, and specifically comprises:
pixel calibration: lowering the sprayer to a position set by the base plate, drawing a line segment at the bottom of the sprayer in the image, obtaining the line number of the current line segment, measuring the line number difference between the line number of the pixel of the line segment and the line number of the pixel of the base plate plane, namely the longitudinal pixel number difference, and measuring the physical distance between the bottom end of the sprayer and the base plate to obtain the actual physical size represented by a single pixel in the image;
and according to the expected distance between the bottom end of the current sprayer and the substrate set by the input unit, comparing the obtained real-time distance data between the bottom end of the current sprayer and the substrate with the expected data, moving the sprayer in the Z-axis direction until the difference value between the bottom end of the current sprayer and the substrate is smaller than a set threshold value, stopping moving the sprayer, and sending a signal to indicate that the Z-direction tool setting of the current sprayer is finished.
2. The tool setting device of the multi-nozzle 3D printer based on the visual sensing is characterized in that the camera is an 800 ten thousand pixel high definition USB camera and a 5-50mm focusing lens.
3. The tool setting device of the multi-nozzle 3D printer based on the visual sensing of claim 1, wherein the control unit obtains the related values in the collection unit, moves the nozzles according to the parameter values of the input unit or the obtained related values in the collection unit, and completes the corresponding pixel calibration and tool setting operations, further comprising: drawing a vertical line at the center line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting; enabling all the spray heads to simultaneously move in the Y direction, stopping the spray heads when a Y-direction position determination marking line of a second spray head is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current spray head; repeating the above processes until all the nozzles are calibrated, and then sending out a signal: and Y-direction tool setting of all spray heads is finished.
4. A tool setting method of a multi-nozzle 3D printer based on visual sensing is characterized by comprising the following steps: a camera shoots a picture;
a collecting unit in the tool setting platform system obtains a picture shot by a camera and displays the picture on a platform interface through a display unit;
a user inputs a set parameter value from an input unit in the tool setting platform system;
the control unit acquires the relevant numerical values in the acquisition unit, moves the spray head according to the parameter numerical values of the input unit or the acquired relevant numerical values in the acquisition unit, and completes corresponding pixel calibration and tool setting operation;
the control unit acquires the relevant values in the acquisition unit, moves the spray head according to the parameter values of the input unit or the acquired relevant values in the acquisition unit, and completes corresponding pixel calibration and tool setting operations, and specifically comprises:
pixel calibration: lowering the sprayer to a position set by the base plate, drawing a line segment at the bottom of the sprayer in the image, obtaining the line number of the current line segment, measuring the line number difference between the line number of the pixel of the line segment and the line number of the pixel of the base plate plane, namely the longitudinal pixel number difference, and measuring the physical distance between the bottom end of the sprayer and the base plate to obtain the actual physical size represented by a single pixel in the image;
and according to the expected distance between the bottom end of the current sprayer and the substrate set by the input unit, comparing the obtained real-time distance data between the bottom end of the current sprayer and the substrate with the expected data, moving the sprayer in the Z-axis direction until the difference value between the bottom end of the current sprayer and the substrate is smaller than a set threshold value, stopping moving the sprayer, and sending a signal to indicate that the Z-direction tool setting of the current sprayer is finished.
5. The tool setting method for the multi-nozzle 3D printer based on the visual sensing is characterized in that the pixel calibration comprises the following steps:
and (3) lowering the sprayer to a position set by the substrate, drawing a line segment at the bottom of the sprayer in the image, simultaneously obtaining the line number of the current line segment, measuring the line number difference between the line number of the pixel where the line segment is located and the line number of the pixel where the substrate plane is located, namely the longitudinal pixel number difference, and measuring the physical distance between the bottom end of the sprayer and the substrate to obtain the actual physical size represented by a single pixel on the image.
6. The tool setting method for the multi-nozzle 3D printer based on the visual sensing is characterized in that after the pixel calibration is completed, the camera must be kept still in the z direction and the x direction; otherwise, the pixel calibration needs to be performed again.
7. The tool setting method for the multi-nozzle 3D printer based on the vision sensing is characterized by comprising the following steps of:
setting an expected distance between the bottom end of the current spray head and the substrate according to the input unit;
comparing the obtained real-time distance data between the bottom end of the current spray head and the substrate with expected data, and moving the spray head in the Z-axis direction until the difference value between the two is smaller than a set threshold value;
and sending a signal to indicate that the current Z-direction tool setting of the spray head is finished.
8. The tool setting method for the multi-nozzle 3D printer based on the vision sensing is characterized by further comprising the following steps of:
drawing a vertical line at the center line position of the first spray head, marking the Y-direction position of the current spray head, and extracting the pixel column number of the Y-direction position of the first spray head to be used as the reference position of the Y-direction tool setting;
enabling all the nozzles to move in the Y direction at the same time, stopping the nozzles when a Y-direction position judgment mark line of a second nozzle is coincident with the reference position of the Y-direction tool setting, and recording the movement distance of the Y axis, namely the Y-direction offset distance of the current nozzle;
repeating the above processes until all the nozzles are calibrated, and then sending out a signal: and Y-direction tool setting of all spray heads is finished.
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| JP6527816B2 (en) * | 2015-12-11 | 2019-06-05 | 株式会社ミマキエンジニアリング | Method of manufacturing three-dimensional object and manufacturing apparatus of three-dimensional object |
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