CN114536753B - 3D printer with square calibration target and method for calibrating 3D printer - Google Patents

3D printer with square calibration target and method for calibrating 3D printer Download PDF

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Publication number
CN114536753B
CN114536753B CN202210234158.XA CN202210234158A CN114536753B CN 114536753 B CN114536753 B CN 114536753B CN 202210234158 A CN202210234158 A CN 202210234158A CN 114536753 B CN114536753 B CN 114536753B
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contact
printing
calibration target
nozzle
printer
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CN114536753A (en
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陈学栋
吴桐
谭冰峰
谢洪言
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Shenzhen Snapmaker Technologies Co ltd
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Shenzhen Snapmaker Technologies Co ltd
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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
    • 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
    • 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
    • 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
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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
    • 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
    • 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
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)

Abstract

The invention discloses a 3D printer with square calibration targets and a method for calibrating the 3D printer, wherein the method comprises the following steps: by contacting the first print head with at least three point contact locations on the square conductive edge of the calibration target, a first center coordinate (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the By contacting the second print head with at least three point contact locations on the square conductive edge of the calibration target, a second center coordinate (X 2 ,Y 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a coordinate deviation (DeltaX, deltaY) of the second printing nozzle relative to the first printing nozzle based on the difference value of the first center coordinate and the second center coordinate; and compensating the X and Y coordinate values of the second printing head according to the coordinate deviation (Δx, Δy).

Description

3D printer with square calibration target and method for calibrating 3D printer
Technical Field
The invention relates to the field of 3D printing, in particular to a 3D printer and a method for calibrating the 3D printer.
Background
In a 3D printer, whether a printing platform can provide an approximately horizontal x-y plane has great influence on printing precision; users have a strong demand for efficient printing, intelligent ease of use. The existing 3D printer mostly adopts manual adjustment print platform's plane, wastes time and energy, and manual calibration is because unavoidable human error, and the precision is lower moreover.
The mainstream FDM type in the current market is mainly a single-head 3D printer, can only print one material at a time, can not carry out material combination collocation and use, is limited by printing speed simultaneously, and the forming efficiency is also not high. Users have strong demands for printing with high efficiency, high quality, compatibility of multiple materials, mixed-match usability, intelligent usability and moderate price.
However, the existing dual-nozzle 3D printer mostly adopts manual calibration, and due to unavoidable human errors, after calibration, two nozzles often have larger errors, and the calibration accuracy is lower, so that printing failure is caused. Moreover, during calibration, the detection is performed by means of other calibration devices, resulting in a machine structure that is too complex.
There is a need in the art to develop an improved, faster, more accurate, more reliable printing platform leveling and calibration technique, particularly a dual jet calibration technique, that alleviates or overcomes the above-identified technical shortcomings, as well as to achieve other beneficial technical results.
The information included in this background section of the specification of the present invention, including any references cited herein and any descriptions or discussions thereof, is included solely for the purpose of technical reference and is not to be construed as a subject matter that would limit the scope of the present invention.
Disclosure of Invention
The present invention has been made in view of the above and other further ideas.
According to the basic conception of one aspect of the invention, the spray head tip is directly adopted to participate in calibration, and no additional calibration equipment is needed, so that the improved, faster, more accurate and more reliable printing platform leveling technology and the dual spray head calibration method can be provided.
According to one of the concepts of the present invention, a dual spray calibration method for a 3D printer is provided. The standard method of the invention has the advantages of rapidness, automation, intellectualization, high precision and the like because the algorithm and the steps adopted by the standard method are more simplified. For the 3D printer with double spray heads, the intelligent calibration accuracy can be within 0.01mm, manual intervention is not needed, the whole calibration process is completely carried out by a machine, and the calibration speed is high, for example, the calibration can be completed within 2-3 s.
According to an aspect of the present invention, there is provided a method for calibrating a dual-jet 3D printer, the 3D printer comprising first and second print jets; a print platform having a calibration target with a conductive edge thereon, the calibration target configured to form an electrical conduction signal when the print head is in contact with the conductive edge of the calibration target; and a controller configured to obtain the on signal and thereby obtain a coordinate parameter of a contact position of the print head with a conductive edge of the calibration target, wherein the conductive edge of the calibration target constitutes a square; the method comprises the following steps: by contacting the first print head with at least three point contact locations on the square conductive edge of the calibration target, a first center coordinate (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the By contacting the second print head with at least three point contact locations on the square conductive edge of the calibration target, a second center coordinate (X 2 ,Y 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a coordinate deviation (Δx, Δy) of the second print head relative to the first print head based on a difference between the first center coordinate and the second center coordinate; -compensating the X and Y coordinate values of the second print head according to the coordinate deviation (Δx, Δy).
Another aspect of the present invention also provides an auto-calibratable dual spray 3D printer, the dual spray 3D printer comprising: first and second print heads; a print platform disposed below the first and second print heads, having a calibration target with a conductive edge thereon, the calibration target configured to form an electrical conduction signal when the print heads are in contact with the conductive edge of the calibration target; a controller configured to obtain the on signal and thereby obtain a coordinate parameter of a contact position of the print head with a conductive edge of the calibration target; a linear module configured to linearly move the print head and the print platform relative to each other in three directions of x, y, and z axes, wherein the conductive edges of the calibration target form a square; the dual-nozzle 3D printer is configured to automatically perform the steps of: through the first printing nozzle and the printer At least three point contact locations on the square conductive edge of the calibration target are contacted to obtain a first center coordinate (X 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the By contacting the second print head with at least three point contact locations on the square conductive edge of the calibration target, a second center coordinate (X 2 ,Y 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a coordinate deviation (Δx, Δy) of the second print head relative to the first print head based on a difference between the first center coordinate and the second center coordinate; -compensating the X and Y coordinate values of the second print head according to the coordinate deviation (Δx, Δy).
According to an embodiment, a first center coordinate (X) of the calibration target is obtained by the first print head contacting four contact locations on four sides of the square conductive edge, respectively 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the By the contact of the second printing head with four contact locations on four sides of the square conductive edge, a second center coordinate (X) of the calibration target is obtained 2 ,Y 2 )。
According to one embodiment, two x coordinate values, x, are obtained by contact of the first and second print heads with the left and right sides of the square, respectively Left side And x Right side The method comprises the steps of carrying out a first treatment on the surface of the The first printing nozzle and the second printing nozzle are respectively contacted with the upper side and the lower side of the square to obtain two y coordinate values, y Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the The first and second central coordinate values (X, Y) of the calibration target are calculated by the following formulas, respectively: x= (X Left side +x Right side )/2，Y＝(y Upper part +y Lower part(s) )/2。
According to one embodiment, the first and second print heads are each in electrically conductive contact with the conductive edge of the calibration target via their respective head tips.
According to an embodiment, the calibration target is a hole or boss provided on the printing platform, wherein the edges of the hole or boss constitute square conductive edges.
According to an embodiment, the calibration target is a hole formed in the center of the printing platform, the hole being a through hole or a blind hole.
According to an embodiment, the calibration target is a boss fixed to the center of the printing platform or integrally formed at the center of the printing platform, the boss having its edges formed into square conductive edges by being made of metal or by applying a conductive coating.
According to an embodiment, the calibration target has an upper surface configured to form a conductive signal when a tip of the print head is in contact with the upper surface of the calibration target, the method further comprising the steps of: contacting the nozzle tip of the first print nozzle with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the first print nozzle 1 'A'; contacting the nozzle tip of the second printing nozzle with the upper surface of the calibration target contacted with the first printing nozzle to obtain a z coordinate value z corresponding to the second printing nozzle 2 ' thus, a height difference Δm=z of the first printing head with respect to the second printing head is obtained 1 ’-z 2 'A'; and adjusting the height of the second printing nozzle according to the delta m.
According to an embodiment, the printing platform is arranged with n electrically conductive contact points, where n is an integer > 3, the n contact points being spaced apart from each other and not on the same straight line; wherein the method further comprises the step of leveling the printing platform:
s1: contacting a nozzle tip of at least one of the printing nozzles with the first contact point to obtain a first z-coordinate value z 1 The first contact point is used as a reference point;
s2: the nozzle tip of the printing nozzle is contacted with the second contact point to obtain a second z coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 ＝z 2 -z 1 ；
S3: the nozzle tip of the printing nozzle is contacted with the third contact point to obtain a third z coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 ＝z 3 -z 1 ；
S4: and so on, enabling the nozzle tip of the printing nozzle to be in contact with the nth contact point to obtain the nth z coordinate value z n Thereby obtaining a height difference deltah of the nth contact point relative to the first contact point n ＝z n -z 1 The method comprises the steps of carrying out a first treatment on the surface of the And
according to Deltah 1 、Δh 2 …Δh n And adjusting the height of the printing platform.
According to an embodiment, the step S1 includes: providing first, second and third contact points on the printing platform, wherein the first contact point is used as a reference point, and the three contact points are set as one of the following:
the first, second and third contact points are three apexes of an isosceles triangle or equilateral triangle;
the first, second and third contact points are located on the circumference of a circle and trisect the circumference; and
the first contact point is located at the center of a circle, and the second and third contact points are located on the circumference of the circle and are arranged in mirror symmetry with respect to the diameter of the circle.
According to an embodiment, the second and third contact points are located at two vertices of the base of the isosceles triangle, respectively, and the first contact point is located at the other vertex of the isosceles triangle.
According to an embodiment, the dual-jet 3D printer is configured to: by contacting the first print head with four contact locations on four sides of the square conductive edge, a first center coordinate (X) of the calibration target is obtained 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the By the contact of the second printing head with four contact locations on four sides of the square conductive edge, a second center coordinate (X) of the calibration target is obtained 2 ,Y 2 )。
According to an embodiment, the dual-jet 3D printer is configured to: the first printing nozzle and the second printing nozzle are respectively contacted with the left side and the right side of the square to obtain two x coordinate values, x Left side And x Right side The method comprises the steps of carrying out a first treatment on the surface of the The first printing nozzle and the second printing nozzle are respectively contacted with the upper side and the lower side of the square to obtain two y coordinate values, y Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the And calculating first and second center coordinate values (X, Y) of the calibration target by the following formulas, respectively: x= (X Left side +x Right side )/2，Y＝(y Upper part +y Lower part(s) )/2。
According to an embodiment, the calibration target has an upper surface configured to form a conductive signal when a tip of the print head is in contact with the upper surface of the calibration target, the dual-head 3D printer being configured to: contacting the nozzle tip of the first print nozzle with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the first print nozzle 1 'A'; contacting the nozzle tip of the second printing nozzle with the upper surface of the calibration target contacted with the first printing nozzle to obtain a z coordinate value z corresponding to the second printing nozzle 2 ' thus, a height difference Δm=z of the first printing head with respect to the second printing head is obtained 1 ’-z 2 'A'; and adjusting the height of the second printing nozzle according to the delta m.
According to an embodiment, the printing platform is arranged with n electrically conductive contact points, where n is an integer > 3, the n contact points being spaced apart from each other and not on the same straight line; wherein the dual-jet 3D printer is configured to further perform the step of leveling the print platform: s1: contacting a nozzle tip of at least one of the printing nozzles with the first contact point to obtain a first z-coordinate value z 1 The first contact point is used as a reference point; s2: the nozzle tip of the printing nozzle is contacted with the second contact point to obtain a second z coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 ＝z 2 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S3: the nozzle tip of the printing nozzle is contacted with the third contact point to obtain a third z coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 ＝z 3 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S4: thereby (e) providingBy analogy, the nozzle tip of the printing nozzle is contacted with the nth contact point to obtain the nth z coordinate value z n Thereby obtaining a height difference deltah of the nth contact point relative to the first contact point n ＝z n -z 1 The method comprises the steps of carrying out a first treatment on the surface of the And according to Deltah 1 、Δh 2 …Δh n And adjusting the height of the printing platform.
According to another aspect of the present invention, there is also provided a printing platform for a 3D printer, the printing platform being provided with n electrically conductive contact points spaced apart from each other and not on the same line, wherein n is an integer not less than 3, the contact points being used for leveling of the printing platform; and the 3D printer is configured to output a conduction signal when the printing nozzle of the 3D printer contacts with the contact point and forms a conduction circuit.
According to one embodiment, the printing platform is provided with a plurality of adjustment feet.
According to an embodiment, the adjusting support leg is provided with an adjusting scale.
According to an embodiment, a calibration target is also provided on the printing platform.
According to an embodiment, the calibration target is a through hole or a blind hole formed on the printing platform, or a boss provided on the printing platform.
According to another aspect of the invention, a 3D printer is also provided, which is provided with the printing platform.
According to an embodiment, the 3D printer is a dual-head 3D printer having two print heads.
According to an embodiment, the printing platform is arranged with n electrically conductive contact points, where n is an integer > 3, the n contact points being spaced apart from each other and not on the same straight line, the contact points being used for leveling of the printing platform; wherein the method further comprises the step of leveling the printing platform: s1: contacting a nozzle tip of at least one of the printing nozzles with the first contact point to obtain a first z-coordinate value z 1 The first contact point is used as a reference point; s2: bringing the nozzle tip of the printing nozzle into contact with the second contact pointObtaining a second z-coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 ＝z 2 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S3: the nozzle tip of the printing nozzle is contacted with the third contact point to obtain a third z coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 ＝z 3 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S4: and so on, enabling the nozzle tip of the printing nozzle to be in contact with the nth contact point to obtain the nth z coordinate value z n Thereby obtaining a height difference deltah of the nth contact point relative to the first contact point n ＝z n -z 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein, according to Δh 1 、Δh 2 …Δh n And adjusting the height of the printing platform.
According to an embodiment, the step S1 includes: providing first, second and third contact points on the printing platform, wherein the first contact point is used as a reference point, and the three contact points are set as one of the following: the first, second and third contact points are three apexes of an isosceles triangle or equilateral triangle; the first, second and third contact points are located on the circumference of a circle and trisect the circumference; and said first contact point is located at the centre of a circle, and said second and third contact points are located on the circumference of the circle and are arranged mirror symmetrically with respect to the diameter of the circle.
According to an embodiment, the second and third contact points are located at two vertices of the base of the isosceles triangle, respectively, and the first contact point is located at the other vertex of the isosceles triangle.
According to an embodiment, the step S1 includes: providing four contact points on the print platform spaced apart from each other, the four contact points being set to one of: the four contact points are four vertexes of a square; the four contact points belong to four vertexes of a polygon; one contact point of the four contact points is positioned at the center of a circle, and the other three contact points are positioned on the circumference of the circle and trisect the circumference; and the four contact points are located on the circumference of a circle and divide the circumference into four equal parts.
According to an embodiment, the calibration method enables intelligent calibration accuracy of the x-y plane of the 3D printer to be within 0.01 mm.
According to one embodiment, the above calibration method allows calibration to be completed within 2-3 s.
According to an aspect of the present invention, there is provided a method for leveling a printing platform of a 3D printer, the 3D printer comprising: at least one print head; a printing platform, wherein n conductive contact points are arranged, n is an integer greater than or equal to 3, the n contact points are spaced apart from each other and are not on the same straight line, and are configured to form a conduction signal when the tip of the printing nozzle is contacted with the contact points; the controller is used for acquiring the conduction signal and the z-axis height of the printing nozzle when the printing nozzle is contacted with the printing platform, wherein the method comprises the following steps: s1: the nozzle tip of the printing nozzle is contacted with the first contact point to obtain a first z coordinate value z 1 The first contact point is used as a reference point; s2: the nozzle tip of the printing nozzle is contacted with the second contact point to obtain a second z coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 ＝z 2 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S3: the nozzle tip of the printing nozzle is contacted with the third contact point to obtain a third z coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 ＝z 3 -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S4: and so on, enabling the nozzle tip of the printing nozzle to be in contact with the nth contact point to obtain the nth z coordinate value z n Thereby obtaining a height difference deltah of the nth contact point relative to the first contact point n ＝z n -z 1 The method comprises the steps of carrying out a first treatment on the surface of the S5: according to Deltah 1 、Δh 2 …Δh n And adjusting the height of the printing platform.
According to an embodiment, the printing platform is provided with n adjustment feet corresponding to the first, second, third and n-th contact points, the height of the printing platform being adjusted by adjusting at least one of the adjustment feet of the printing platform.
According to an embodiment, the contact point is embedded on the printing platform and the surface is on the same side as the printing platform.
According to an embodiment, the adjusting support leg is provided with an adjusting scale.
According to an embodiment, the 3D printer is a dual jet printer having two print jets.
According to an embodiment, the step S1 includes: providing first, second and third contact points on the printing platform, wherein the first contact point is used as a reference point, and the three contact points are set as one of the following: the first, second and third contact points are three apexes of an isosceles triangle or equilateral triangle; the first, second and third contact points are located on the circumference of a circle and trisect the circumference; and said first contact point is located at the centre of a circle, and said second and third contact points are located on the circumference of the circle and are arranged mirror symmetrically with respect to the diameter of the circle.
According to an embodiment, the second and third contact points are located at two vertices of the base of the isosceles triangle, respectively, and the first contact point is located at the other vertex of the isosceles triangle.
According to an embodiment, the step S1 includes: providing four contact points on the print platform spaced apart from each other, the four contact points being set to one of: the four contact points are four vertexes of a square; the four contact points belong to four vertexes of a polygon; one contact point of the four contact points is positioned at the center of a circle, and the other three contact points are positioned on the circumference of the circle and trisect the circumference; and the four contact points are located on the circumference of a circle and divide the circumference into four equal parts.
According to an embodiment, wherein the method is performed automatically by the 3D printer.
According to an embodiment, the steps S2-S5 are performed by one print head in the dual-head printer; alternatively, steps S2-S5 are performed by each print head in the dual-head printer, respectively.
According to an embodiment, the 3D printer comprises a sensor, and the 3D printer is configured to form a conducting circuit to send a conducting signal when the printing head and the contact point, the sensor detecting the conducting signal, wherein the first z-coordinate value z is obtained by acquiring a z-coordinate value of a conducting position indicated by the conducting signal 1 Second z coordinate value z 2 And a third z-coordinate value z 3 。
According to an embodiment, the 3D printer is provided with an x-axis linear module, a y-axis linear module and a z-axis linear module which drive the printing head to move linearly in the x-axis, y-axis and z-axis directions, respectively.
According to another aspect of the present invention, there is also provided a printing platform for a 3D printer, the printing platform being provided with n electrically conductive contact points spaced apart from each other and not on the same line, wherein n is an integer not less than 3, the contact points being used for leveling of the printing platform; and, the 3D printer is configured to output a turn-on signal when its printing head contacts the contact point and forms a turn-on circuit.
According to one embodiment, the printing platform has a printing base plate and a printing top plate, wherein the printing top plate is detachably fixed on the printing base plate.
According to an embodiment, the printing platform is provided with n adjustment feet corresponding to the n contact points, the height of the printing platform being adjusted by adjusting at least one of the adjustment feet of the printing platform.
According to one embodiment, the printing platform is provided with a plurality of adjustment feet.
According to an embodiment, the adjusting support leg is provided with an adjusting scale.
According to an embodiment, a calibration target is also provided on the printing platform.
According to an embodiment, the calibration target is a through hole or a blind hole formed on the printing platform, or a boss provided on the printing platform.
According to another aspect of the invention, a 3D printer is also provided, which is provided with the printing platform.
According to an embodiment, the 3D printer is a dual-head 3D printer having two print heads.
According to another aspect of the present invention, there is also provided a printing platform for a 3D printer, the printing platform comprising: printing a bottom plate; and a printing top plate superposed on the printing bottom plate; wherein at least three electrically conductive contact points spaced apart from each other and not in a straight line are provided on the print head plate; and wherein a calibration target is provided on the print head plate.
According to one embodiment, the print head plate is removably mounted above the print base plate.
According to one embodiment, the printing top plate is fixed to the printing bottom plate by magnetic attraction, vacuum attraction or mechanical fasteners.
According to an embodiment, the printing platform is provided with at least one adjustment foot.
According to an embodiment, the calibration target is a through hole or a blind hole with a conductive rim formed on the printing top plate or a boss with a conductive rim provided on the printing top plate.
According to one embodiment, the printing top plate is provided with a heating mechanism.
According to an embodiment, the heating mechanism is a resistive wire or an electrically heatable PCB board.
According to an embodiment, the contact points are formed by metal bodies embedded in the print head board or metal plating or conductive coating coated on the print head board.
According to one embodiment, a non-conductive film, coating or adhesive layer is provided on the print head plate around the contact point.
According to another aspect of the invention, a 3D printer is also provided, which is provided with the printing platform.
According to an embodiment, the 3D printer is a dual-head 3D printer having two printing heads.
The invention can directly adopt the nozzle tip to participate in calibration without additional calibration equipment, and can provide an improved, faster, more accurate and more reliable printing platform leveling technology and a dual-nozzle calibration method without adding additional expensive accessories or equipment, thereby improving the efficiency, reducing the hardware cost and reducing the complexity of operation and equipment.
Further embodiments of the invention also enable other advantageous technical effects not listed one after another, which may be partly described below and which are anticipated and understood by a person skilled in the art after reading the present invention.
Drawings
The above-mentioned and other features and advantages of these embodiments, and the manner of attaining them, will become more apparent and the embodiments of the invention will be better understood by reference to the following description taken in conjunction with the accompanying drawings.
Fig. 1 schematically shows a perspective view of a 3D printer with dual spray according to an embodiment of the invention.
Fig. 2 schematically shows a front view of the 3D printer shown in fig. 1.
Fig. 3 shows a perspective view of a 3D printer platform of the dual-jet 3D printer of fig. 1 with contact points and calibration targets.
Fig. 4 is a top view schematically showing the printing platform shown in fig. 3.
Fig. 5 is an enlarged view schematically showing a calibration target of the printing platform shown in fig. 3.
Detailed Description
The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will be apparent from the description and drawings, and from the claims.
It is to be understood that the illustrated and described embodiments are not limited in application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The illustrated embodiments may be other embodiments and can be implemented or performed in various ways. Examples are provided by way of explanation, not limitation, of the disclosed embodiments. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to the various embodiments of the invention without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield still a further embodiment. Accordingly, the present disclosure is intended to cover such modifications and variations as fall within the scope of the appended claims and their equivalents.
Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items.
The term "3D printer" encompasses not only three-dimensional printing devices in the general sense of the art, such as industrial grade 3D printers, consumer grade 3D printers, but also laser machining devices with 3D printing functions, and 3D printing devices with laser machining functions, are within the scope of the "3D printer" of the present application.
In the present application, the "3D printer" may include not only a function of constructing an object by applying a bondable material such as a powdered metal or plastic, stacking and stacking three-dimensional objects layer by spraying a binder or extruding, but also a laser processing function selectively according to application. For example, laser machining may include laser cutting through (laser cutting), engraving, burning, ablating (laser ablation), and the like. The term "engraving" as described above refers to the process by which a 3D printer changes the appearance of a material but does not cut through it. For example, for a laser cutting machine, it may mean that some material is removed from the surface, or that the material is discolored by the application of electromagnetic radiation, etc.
As used herein, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.
The present invention will be described in more detail below with reference to specific embodiments thereof.
According to one of the basic solution concepts of the present invention, the geometric center point coordinates of the calibration target can be obtained by bringing the two heads of the dual-head 3D printer into contact with the edges of the calibration target, respectively. Therefore, any shape of calibration target whose geometric center coordinates can be found by a plurality of coordinate points on its edge can be applied to the present invention.
For example, as shown in fig. 1 and 2, the 3D printer has a printing platform 10. The printing platform 10 theoretically defines an x-y plane defined by an x-axis and a y-axis. Wherein the x-axis, y-axis and z-axis are perpendicular to each other. The term "motion along an axis" such as along an x-axis, y-axis, or z-axis, means motion parallel to or collinear with the axis. The x-axis, y-axis, or z-axis designations herein are merely for ease of discussion and do not constitute any limitation on the orientation. Of course, those skilled in the art will recognize that the printing platform may be connected to an x-axis or y-axis linear module, which is not limited herein. In addition, the printing platform has a heating function, can be an integral plate, and can also be formed by detachably connecting or non-detachably connecting a plurality of layers of plates.
The dual head 3D printer may be provided with x-, y-, and z-axis line modules 30, a printing platform 10, two heads 20, and driving motors (not shown) corresponding to the x-, y-, and z-axis line modules. Wherein, for example, an x-axis, y-axis linear module 30 (typically with or including a drive motor or actuator) may be operatively connected to each of the two heads 20 to control independent movement of the two heads 20 along the x-axis, y-axis. A z-axis linear module 30 (typically with or including a drive motor or actuator) is coupled to the printing platform 10 to control movement of the printing platform 10 in the z-axis direction.
The printing platform 10 of the dual-jet 3D printer may be used to place materials to be printed, substrates, and the like. The printing platform 10 provides a work plane that is as flat as possible. The print platform 10 defines the range of motion of the print head. The printing platform 10 may be generally square, rectangular, etc. in regular shape.
As shown in fig. 3 and 4, a calibration target 13 for calibrating the two heads 20 may be provided on the printing platform 10, and one preferable example of the calibration target 13 is a square. The position of the calibration target 13 is preferably set in the center of the printing platform 10. But alternatively the position of the calibration target 13 may be elsewhere on the printing platform 10. Alternatively, the calibration target 13 may be any calibration target shape such as a rectangle or a circle whose geometric center point coordinates can be obtained from a plurality of coordinate points on its side. The calibration target 13 may also be provided with an electrically conductive upper surface 17.
As shown in fig. 3, 4 and 5, when the calibration target 13 is square or rectangular, the calibration target 13 has a first edge 16, a second edge 16, a third edge 16 and a fourth edge 16. The alignment target 13 is a through hole in the plane of the print platform 10, but alternatively the alignment target 13 may be a boss or bump protruding above the surface of the print platform 10 instead of a through hole. Preferably, the alignment target 13 is a through hole in the plane of the printing platform 10, the edge (edge or rim) of which is substantially flush with the surface of the printing platform, which is designed primarily to maintain the consistency of the height of the plane of the printing platform, facilitating processing, handling and maintenance. In addition, the calibration target 13 is preferably highly electrically conductive, which may be made entirely of an electrically conductive material or only its surface is coated with an electrically conductive coating. During calibration, when the showerhead 20 contacts the edge (rim) 16 of the calibration target 13, a conductive path is formed, and the controller acquires the conductive (electrical) signal and reads the coordinate point of the conductive position.
According to one example, the printing platform 10 has n electrically conductive contacts 12 on its surface, which when the printing head is in contact with the contacts 12 and forms a conductive circuit, will send a conductive signal to, for example, a control system or controller. In this example, the contact pads 12 are embedded on the printing platform 10 and have a surface that is substantially planar with the printing platform 10, such that the conductive contact pads are arranged to prevent the printing platform surface from being rugged. Of course, those of ordinary skill in the art will appreciate that the surface of the contact point 12 may also be non-flush with the surface of the printing platform 10. In addition, according to one example, the surface of the printing platform 10, except for the contact points 12, is covered by a non-conductive film material, such as a polymer film, e.g. PET, PC, PVC, PEI, etc., which is intended to protect the printing platform 10.
According to one example, the printing platform 10 may be provided with n adjustment feet 11 corresponding to n contact points 12, the height of the printing platform 10 being adjusted by adjusting at least one of the adjustment feet 11 of the printing platform 10. The adjustment foot 11 can control the elevation of the platform at the foot to be raised and lowered by being rotated. The smallest graduation on the foot can be set to 0.1mm, 0.01mm, etc. For example, if the system obtains a z-axis height difference of +0.1mm for the second contact point relative to the first contact point, and the minimum scale on the foot is set to 0.1mm at the factory, the user may rotate the knob counter-clockwise by one; if the system obtains that the z-axis height difference of the second contact point is-0.1 mm, corresponding to the first contact point, and the minimum scale on the stand bar is set to 0.1mm at the time of delivery, the user can rotate the knob clockwise by one grid.
Further, the 3D printer may be configured with a display screen, the system displaying the leveling data on the screen after it has acquired the data and directing the user to adjust several grids clockwise or counter-clockwise for each adjustment foot. After the system obtains leveling data of each contact point, the user can uniformly adjust each adjusting support leg.
Alternatively, the 3D printer may be configured to, after acquiring leveling data for a single adjustment foot, keep the printing platform away from the spray head a distance and stationary, then the user adjusts the adjustment foot according to the leveling data, then the printing platform approaches the spray head again until it is in contact with the spray head, and the system acquires leveling data for the single adjustment foot again until the difference in height of the contact point with respect to the first contact point is zero.
The controller of the 3D printer can be a main control chip or other units with control functions. In this embodiment, the shower nozzle, the contact point and the calibration target are made of metal materials, are conductive, and generate a conducting signal by making contact with the shower nozzle, the contact point and the calibration target, such as a high level when the shower nozzle is in contact with the contact point and a low level when the shower nozzle is disconnected from the contact point and the calibration target, and can perform platform leveling without an additional sensor. For example, some auto-leveling schemes require the use of electrical sensors, micro-switches, distance sensors, or the like, which in contrast to adding accessories increases not only cost, but also complexity of the machine structure, reducing its robustness and reliability.
Leveling of printing platform
According to one embodiment of the present invention, the z-axis coordinates of the contact are obtained by bringing one print head into contact with three contact points (one of which may be a reference point) on the print platform.
As shown in fig. 1-4, the 3D printer has an x-axis, y-axis, and z-axis linear module 30, a printing platform 10, two printing heads 20, and driving motors (not shown) corresponding to the x-axis, y-axis, and z-axis. The motors of the x axis and the y axis are respectively connected with the two printing nozzles 20 of the double-nozzle printer, and can control the two printing nozzles 20 to independently move along the x axis and the y axis; the driving motor of the z axis is connected with the printing platform 10 to control the printing platform 10 to move along the z axis direction.
According to one aspect of the present invention, there is provided a method for leveling a printing platform of a 3D printer, the 3D printer comprising: at least one print head 20; the printing platform 10 is arranged with at least 3, e.g. 3-6, electrically conductive contact points 12, which contact points 12 are spaced apart from each other and are not collinear and are configured to form a conducting signal when the tip of the printing head is in contact with the contact points, and a controller or control module is operable to obtain the z-axis height of the printing head when the printing head is in contact with the printing platform. The leveling method comprises the following steps:
S1: bringing the nozzle tip of the print nozzle 20 into contact with the first contact point 12 to obtain a first z-coordinate value z 1 The first contact point 12 serves as a reference point;
s2: bringing the nozzle tip of the print nozzle 20 into contact with the second contact point 12 to obtain a second z-coordinate value z 2 Thereby obtaining the height difference deltah of the second contact point 12 relative to the first contact point 12 1 ＝z 2 -z 1 ；
S3: bringing the nozzle tip of the print nozzle 20 into contact with the third contact point 12 to obtain a third z-coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point 12 with respect to the first contact point 12 2 ＝z 3 -z 1 ；
S4: by analogy, the nozzle tip of the print nozzle 20 is brought into contact with the nth contact point 12 to obtain the nth z-coordinate z n Thereby obtaining the height difference deltah of the nth contact point relative to the first contact point 12 n ＝z n -z 1 The method comprises the steps of carrying out a first treatment on the surface of the And
s5: according to Deltah 1 、Δh 2 …Δh n The height of the printing platform 10 is adjusted.
The printing platform 10 defines an x-y plane defined by mutually perpendicular x-and y-axes, and the print head 20 is positioned above the printing platform 10 in a z-axis direction perpendicular to the x-y plane and is configured to be movable in the x-axis, y-axis, and z-axis directions, which form a rectangular coordinate system, as can be readily appreciated, for example, with reference to fig. 1-4.
As shown in fig. 3 and 4, the printing platform 10 has a plurality of contact points 12, and the contact points 12 are not limited to the layout in fig. 3 to 4. When leveling, the printing nozzle 20 will form a conducting passage when contacting the contact point 12, the sensor will detect the conducting signal, and the system of the printer can read and record the z coordinate point of the conducting position.
The steps of the leveling method according to one example are described further below.
Positioning the print head 20 above the print platform 10 with the contact points 12;
the head tip of the printing head 20 is brought into contact with the first contact point 12 (asReference point) to obtain a first z-coordinate value z 1 ；
Bringing the nozzle tip of the print nozzle 20 into contact with the second contact point 12 to obtain a second z-coordinate value z 2 A height difference deltaz of the second contact point 12 relative to the first contact point 12 is obtained 1 ＝z 2 -z 1 ；
Bringing the nozzle tip of the print nozzle 20 into contact with the third contact point 12 to obtain a third z-coordinate value z 3 A height difference deltaz of the third contact point 12 relative to the first contact point 12 is obtained 2 ＝z 3 -z 1 ；
According to Deltaz 1 And Δz 2 Adjusting the height of the printing platform 10;
wherein the first contact point 12, the second contact point 12 and the third contact point 12 are configured as three vertices of a triangle.
According to one example, the printing platform 10 may be provided with n adjustment feet 11 corresponding to the first, second and n-th contact points 12, as shown in fig. 1-4, the height of the printing platform 10 being adjusted by adjusting at least one of the adjustment feet 11 of the printing platform 10, where n is an integer greater than or equal to 3. The adjustment foot 11 may have an adjustment scale thereon.
According to one example, the contact points 12 are embedded on the printing platform and the surface is on the same side as the printing platform.
According to one example, the 3D printer may be a dual jet printer having two print jets.
According to one example, the step S1 may include: first, second, and third contact points 12 are provided on the printing platform 10, wherein the first contact point 12 is used as a reference point, and the three contact points 12 are set to one of the following: the first, second and third contact points 12 are three apexes of an isosceles triangle or equilateral triangle; the first, second and third contact points 12 are located on the circumference of a circle and trisect the circumference; and, the first contact point 12 is located at the center of a circle, and the second and third contact points 12 are located on the circumference of the circle and are arranged in mirror symmetry with respect to the diameter of the circle.
According to one example, the second and third contact points 12 may be located at two vertices of the base of an isosceles triangle, respectively, the first contact point 12 being located at the other vertex of the isosceles triangle.
According to one example, step S1 may include: four contact points 12 spaced apart from each other are provided on the printing platform 10, the four contact points 12 being set to one of:
according to one example, the four contact points 12 may be the four vertices of a square;
according to one example, four contact points 12 may belong to four of the vertices of a polygon;
according to one example, one of the four contact points 12 may be located at the center of a circle, the remaining three contact points being located on the circumference of the circle and trisecting the circumference; and
according to one example, four contact points 12 may be located on the circumference of a circle and bisect the circumference.
The leveling method described above may be automatically performed by a 3D printer.
According to one example, steps S2-S5 may be performed by one print head 20 in a dual-head printer; alternatively, steps S2-S5 are performed by each print head 20 in the dual-head printer, respectively.
According to one example, the 3D printer may include a sensor (not shown), and the 3D printer is configured to form a conductive circuit to emit a conductive signal when the print head and the contact point, the sensor detecting the conductive signal, wherein the first z-coordinate value z is obtained by acquiring a z-coordinate value of a conductive position indicated by the conductive signal 1 Second z coordinate value z 2 And a third z-coordinate value z 3 And so on.
According to one example, the 3D printer may be provided with an x-axis linear die set, a y-axis linear die set, and a z-axis linear die set 30 that drive the printing head in the x-axis, y-axis, and z-axis directions, respectively.
As shown in fig. 1-4, an aspect of the present invention also discloses a printing platform 10 for a 3D printer, the printing platform 10 having a printing floor 14; a printing top plate 15, wherein the printing top plate 15 is detachably fixed on the printing bottom plate 14, for example by magnetic adsorption, vacuum adsorption or mechanical mode, and n conductive contact points 12 which are spaced apart from each other and are not on the same straight line are arranged on the printing top plate 15, wherein n is an integer which is more than or equal to 3; the main body of the print head plate 15 is a heating layer, which may be a layer PCB (Printed circuit board) of sheet. In the on state, a heating mechanism or a heating module, such as a heating wire (resistance wire) or the like, may be provided in the print head board 15, and the print head board 15 may be heated to a certain temperature. The contact points 12 are distributed over a plurality of places on the surface of the heating layer, and other parts of the surface of the heating layer, i.e. other parts than the contact points 12, are made of a non-conductive film material, such as a polymer film, e.g. PET, PC, PVC, PEI, etc., which can be sprayed onto the surface of the heating layer or can be an adhesive layer adhered to the surface of the heating layer. Wherein the 3D printer is configured to output a turn-on signal when its print head 20 contacts the contact point 12 and forms a turn-on circuit. Other plies may be secured to the print head plate 15 during printing as long as they provide better planarity. Of course, the print head board 15 may also be configured such that the printer ejects the printing material directly thereon.
According to one example, the printing platform 10 may be provided with a plurality of adjustment feet 11 corresponding to a plurality of contact points, the height of the printing platform being adjusted by adjusting at least one of the adjustment feet 11 of the printing platform.
According to one example, a calibration target 13 may be provided on the printing platform 10.
According to one example, the calibration target 13 may be a through hole or a blind hole formed on the printing platform 10, or a boss provided on the printing platform 10.
Another aspect of the invention also discloses a 3D printer, such as a dual jet 3D printer having two print jets, having the printing platform 10 described above.
Dual-jet calibration for 3D printers
a. Xy-direction calibration of dual spray
Another aspect of the invention discloses a method for calibrating a dual-jet 3D printer, the 3D printer comprising first and second print jets 20; a print platform 10 on which a calibration target 13 with a conductive edge may be provided, the calibration target 13 being configured to form an electrical conduction signal when the print head 20 is in contact with the conductive edge 16 of the calibration target 13; and a controller configured to obtain the on signal and thereby obtain a coordinate parameter of the contact position of the print head 20 with the conductive edge 16 of the calibration target 13, the method comprising the steps of: contacting the first print head 20 with the conductive edge 16 of the calibration target 13 to obtain a first center coordinate of the calibration target 13 based on the first print head 20; contacting the second print head 20 with the conductive edge 16 of the calibration target 13 to obtain a second center coordinate of the calibration target 13 based on the second print head 20; calculating a coordinate deviation (Δx, Δy) of the second printing head 20 with respect to the first printing head 20 based on a difference between the first center coordinates and the second center coordinates; the X and Y coordinate values of the second print head are compensated according to the coordinate deviations (Δx, Δy).
According to one example, the first and second print heads 20 may each be in electrically conductive contact with the conductive edge 16 of the calibration target 13 via their respective head tips.
According to one example, the conductive edge 16 of the calibration target 13 may form a circle, the center of the calibration target 13 being the center of the circle; wherein the first center coordinates (X) of the calibration target 13 are obtained by the first print head 20 being in contact with at least three point contact locations on the circumference of a circle 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the And, by the contact of the second printing head with at least three point contact positions on the circumference of the circle, a second center coordinate (X 2 ,Y 2 )。
According to one example, the coordinate values (x) of the three-point contact positions can be obtained by the first and second printing heads 20 contacting the three-point contact positions on the circumference of the circle, respectively 1 ,y 1 )、(x 2 ,y 2 ) And (x) 3 ,y 3 ) The first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following expressions, respectively: x= (gb-cf)/(eb-af), y= (ag-ce)/(af-be), wherein,
a＝2x 3 -2x 2 ；b＝2y 3 -2y 2 ；c＝x 3 2 -x 2 2 +y 3 2 -y 2 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2 。
according to one example, the three point contact locations may trisect the circumference of a circle.
According to one example, the coordinate value (x) of the four-point contact position can be obtained by the contact of the first and second printing heads with the four-point contact position on the circumference of the circle, respectively 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) And (x) 4 ,y 4 ) The first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following expressions, respectively: x= (gb-cf)/(eb-af), y= (ag-ce)/(af-be), wherein,
a＝2x 4 -2x 3 ；b＝2y 4 -2y 3 ；c＝x 4 2 -x 3 2 +y 4 2 -y 3 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2 。
according to one example, the four-point contact location may quarter the circumference of a circle.
According to one example, the conductive edges of the calibration target 13 may constitute a rectangle;
wherein the first central coordinate (X) of the calibration target 13 can be obtained by the first print head being in contact with four contact locations located on four sides of the rectangle, respectively 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the And, by the contact of the second printing head with four contact positions respectively located on four sides of the rectangle, a second center coordinate (X 2 ,Y 2 )。
According to one example, two x coordinate values, x, may be obtained by contact of the first and second print heads with the left and right sides of the rectangle, respectively Left side And x Right side The method comprises the steps of carrying out a first treatment on the surface of the The first printing nozzle and the second printing nozzle are respectively contacted with the upper side and the lower side of the rectangle to obtain two y coordinate values, y Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the The first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following expressions, respectively: x= (X Left side +x Right side )/2，Y＝(y Upper part +y Lower part(s) )/2。
According to one example, the calibration target 13 may be a hole or boss provided on the printing platform, wherein the edges of the hole or boss constitute the conductive edge; alternatively, the alignment target 13 may be a hole formed in the center of the printing platform, which may be a through hole or a blind hole.
According to one example, the calibration target 13 may be a boss fixed to or integrally formed in the center of the printing platform, the boss being made of metal or having its edges constituting conductive edges by applying a conductive coating.
Another aspect of the invention discloses an automatically calibrated dual-jet 3D printer, the dual-jet 3D printer comprising: first and second print heads; a print platform disposed below the first and second print heads, on which a calibration target 13 with a conductive edge may be disposed, the calibration target 13 being configured to form an electrically conductive signal when the print heads are in contact with the conductive edge of the calibration target 13; a controller configured to obtain the on signal and thereby obtain a coordinate parameter of the contact position of the print head with the conductive edge of the calibration target 13; and a linear module configured to linearly move the print head and the print platform relative to each other in three directions of x, y, and z axes, wherein the dual-head 3D printer is configured to automatically perform the steps of: driving the first printing nozzle to contact with the conductive edge of the calibration target 13 to obtain a first center coordinate of the calibration target 13 based on the first printing nozzle; driving the second printing nozzle to contact with the conductive edge of the calibration target 13 to obtain a second center coordinate of the calibration target 13 based on the second printing nozzle; calculating a coordinate deviation (DeltaX, deltaY) of the second printing nozzle relative to the first printing nozzle based on the difference value of the first center coordinate and the second center coordinate; the X and Y coordinate values of the second print head are compensated according to the coordinate deviations (Δx, Δy).
According to one example, the first and second print heads may be configured to make electrical conductive contact with the conductive edge of the calibration target 13 through their respective head tips, respectively.
According to one example, the conductive edges of the calibration target 13 form a circle, the center of the calibration target 13 being the center of the circle; wherein a first center coordinate (X) of the calibration target 13 is obtained by contacting the first print head with at least three point contact locations on the circumference of a circle 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the And, by the contact of the second printing head with at least three point contact positions on the circumference of the circle, a second center coordinate (X 2 ,Y 2 )。
According to one example, the dual head 3D printer may be configured to obtain coordinate values (x) of the three-point contact positions by contacting the first and second printing heads with the three-point contact positions on the circumference of the circle, respectively 1 ,y 1 )、(x 2 ,y 2 ) And (x) 3 ,y 3 ) The first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following expressions, respectively: x= (gb-cf)/(eb-af), y= (ag-ce)/(af-be), where a=2x 3 -2x 2 ；b＝2y 3 -2y 2 ；c＝x 3 2 -x 2 2 +y 3 2 -y 2 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2 。
According to one example, the three-point contact location may trisect the circumference of a circle.
According to one example, the dual head 3D printer may be configured to obtain coordinate values (x) of four-point contact positions by contacting the first and second printing heads with the four-point contact positions on the circumference of the circle, respectively 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) And (x) 4 ,y 4 ) The first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following expressions, respectively: x= (gb-cf)/(eb-af), y= (ag-ce)/(af-be), where a＝2x 4 -2x 3 ；b＝2y 4 -2y 3 ；c＝x 4 2 -x 3 2 +y 4 2 -y 3 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2 。
According to one example, the four-point contact location may quarter the circumference of a circle.
According to one example, the conductive edges of the calibration target 13 may constitute a rectangle; wherein the dual-jet 3D printer is configured to obtain a first center coordinate (X) of the calibration target 13 by the first print jet contacting four contact locations located on four sides of the rectangle, respectively 1 ,Y 1 ) The method comprises the steps of carrying out a first treatment on the surface of the And, the dual head 3D printer is configured to obtain a second center coordinate (X) of the calibration target 13 by the second printing head coming into contact with four contact positions located on four sides of the rectangle, respectively 2 ,Y 2 )。
According to one example, a dual-jet 3D printer may be configured to: the first printing nozzle and the second printing nozzle are respectively contacted with the left side and the right side of the rectangle to obtain two x coordinate values, x Left side And x Right side The method comprises the steps of carrying out a first treatment on the surface of the The first printing nozzle and the second printing nozzle are respectively contacted with the upper side and the lower side of the rectangle to obtain two y coordinate values, y Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the And first and second center coordinate values (X, Y) of the calibration target 13 are calculated by the following formulas, respectively: x= (X Left side +x Right side )/2，Y＝(y Upper part +y Lower part(s) )/2。
The steps of a calibration method according to an embodiment of the invention are further described below with reference to the accompanying drawings.
For example, as shown in fig. 1-4, the dual head 20 of the dual head 3D printer is positioned over the calibration target 13, the calibration target 13 has an edge, and the head tip of the first head is brought into contact with the edge of the calibration target 13 to obtain the center coordinates (x 1 ,y 1 ) Bringing the tip of the second shower head into contact with the edge of the calibration target 13 to obtain the center coordinates (x 2 ,y 2 ) Obtaining the position deviation (deltax, deltay) = (x) of the second nozzle relative to the first nozzle 1 -x 2 ,y 1 -y 2) The coordinates of the second head are compensated according to (deltax, deltay).
The calibration target 13 may be a hole or boss provided on the printing platform 10, the edge of which constitutes a conductive edge. For example, the boss-like calibration target 13 provided on the print platform 10 may be made of conductive metal or coated with a conductive coating so that its edge is conductive. For example, the calibration target 13 may be a hole formed in the center of the printing platform 10, the hole being a through hole or a blind hole, as shown in fig. 3-4.
Alternative embodiments of the calibration step are described below.
Calibration using square or rectangular calibration targets
When the calibration target 13 has a square or rectangular shape, two sprayers are respectively contacted with four edges of the calibration target 13, and when the sprayers are contacted with the calibration target 13, the sprayers are conducted, and at the moment, the coordinates of the positions of the sprayers are recorded. Record x when in contact with left edge Left side The method comprises the steps of carrying out a first treatment on the surface of the Record x when in contact with the right edge Right side The method comprises the steps of carrying out a first treatment on the surface of the Record y when in contact with the upper edge Upper part The method comprises the steps of carrying out a first treatment on the surface of the Record y when in contact with the lower edge Lower part(s) . Wherein x is 1 Or x 2 ＝(x Left side +x Right side )/2；y 1 Or y 2 ＝(y Upper part +y Lower part(s) )/2。
Calibration using circular calibration targets
When the calibration target 13 is circular, the two heads are respectively in contact with the edges of the calibration target, so long as the center coordinates can be calculated. The two spray heads can be respectively contacted with the round edge for more than three times, and three points are taken. The calculation is as follows: the circle center is (X, Y), R is the radius of the circle, and the coordinates of three points on the circle are (X) 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )，
The formula is given by the circle:
(x 1 -X) 2 +(y 1 -Y) 2 ＝R 2 (1) And
(x 2 -X) 2 +(y 2 -Y) 2 ＝R 2 (2) And
(x 3 -X) 2 +(y 3 -Y) 2 ＝R 2 (3) And
(1) - (2), i.e. left side minus left side, right side minus right side, to obtain
x 1 2 -2Xx 1 +X 2 +(y 1 2 -2Yy 1 +Y 2 )-(x 2 2 -2Xx 2 +X 2 )-(y 2 2 -2Yy 2 +Y 2 )＝R 2 -R 2
And (3) finishing the materials to obtain:
x 1 2 -x 2 2 -2*x 1 *X+2*x 2 *X+y 1 2-y 2 2-2*y 1 *Y+2*y 2 *Y＝0
(2) - (3) finishing:
x 2 2 -x 3 2 -2*x 2 *X+2*x 3 *X+y 2 2-y 3 2-2*y 2 *Y+2y 3 *Y＝0
and then finishing the two formulas to obtain:
(2x 2 -2x 1 )X+(2y 2 -2y 1 )Y＝x 2 2 -x 1 2 +y 2 2 -y 1 2
(2x 3 -2x 2 )X+(2y 3 -2y 2 )Y＝x 3 2 -x 2 2 +y 3 2 -y 2 2
and (3) making:
a＝2x 3 -2x 2 ；b＝2y 3 -2y 2 ；c＝x 3 2 -x 2 2 +y 3 2 -y 2 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2
the following is obtained:
eX+fY＝g
aX+bY＝c
solving the above formula to obtain:
X＝(gb-cf)\(eb-af)
Y＝(ag-ce)\(af-be)。
the two spray heads can be respectively contacted with the round edge for more than three times, and four points are taken. The calculation is as follows: the circle center is (X, Y), R is the radius of the circle, and the coordinates of three points on the circle are (X) 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 )、(x 4 ,y 4 )，
The formula is given by the circle:
(x 1 -X) 2 +(y 1 -Y) 2 ＝R 2 (1) And
(x 2 -X) 2 +(y 2 -Y) 2 ＝R 2 (2) And
(x 3 -X) 2 +(y 3 -Y) 2 ＝R 2 (3) And
(x 4 -X) 2 +(y 4 -Y) 2 ＝R 2 (4) And
(1) - (2), i.e. left side minus left side, right side minus right side, can be obtained
x 1 2 -2Xx 1 +X 2 +(y 1 2 -2Yy 1 +Y 2 )-(x 2 2 -2Xx 2 +X 2 )-(y 2 2 -2Yy 2 +Y 2 )＝R 2 -R 2
Is arranged to obtain
x 1 2 -x 2 2 -2*x 1 *X+2*x 2 *X+y 1 2 -y 2 2 -2*y 1 *Y+2*y 2 *Y＝0
(3) - (4) finishing:
x 3 2 -x 4 2 -2*x 3 *X+2*x 4 *X+y 3 2 -y 4 2 -2*y 3 *Y+2y 4 *Y＝0
then the two materials are arranged to obtain
(2x 2 -2x 1 )X+(2y 2 -2y 1 )Y＝x 2 2 -x 1 2 +y 2 2 -y 1 2
(2x 4 -2x 3 )X+(2y 4 -2y 3 )Y＝x 4 2 -x 3 2 +y 4 2 -y 3 2
And (3) making:
a＝2x 4 -2x 3 ；b＝2y 4 -2y 3 ；c＝x 4 2 -x 3 2 +y 4 2 -y 3 2
e＝2x 2 -2x 1 ；f＝2y 2 -2y 1 ；g＝x 2 2 -x 1 2 +y 2 2 -y 1 2
thus there is
eX+fY＝g
aX+bY＝c
Solving to obtain
X＝(gb-cf)\(eb-af)
Y＝(ag-ce)\(af-be)。
b. Dual showerhead z-direction calibration
b1. Calibration target assisted dual showerhead z-direction calibration
The calibration target has an upper surface configured to form a conductive signal when the tip of the print head is in contact with the upper surface of the calibration target,
the method further comprises the steps of:
contacting the nozzle tip of the first print nozzle with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the first print nozzle 1 ’；
Contacting the tip of the second print head with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the second print head 2 ' thus, a height difference Δm=z of the first printing head with respect to the second printing head is obtained 1 ’-z 2 ’；
And adjusting the height of the second printing nozzle according to the delta m.
b2. Contact-assisted dual showerhead z-direction calibration
The printing platform is provided with n conductive contact points, n is an integer greater than or equal to 3, the n contact points are spaced apart from each other and are not on the same straight line, and are configured to form a conduction signal when the tip of the printing nozzle is contacted with the contact points, the controller obtains the conduction signal and the z-axis height of the printing nozzle when the printing nozzle is contacted with the contact points of the printing platform, and the method comprises the following steps:
contacting the nozzle tip of the first printing nozzle with one of the contact points to obtain a z-coordinate value z corresponding to the first printing nozzle 1 ’；
The nozzle tip of the second printing nozzle is contacted with the contact point contacted with the nozzle tip of the first printing nozzle, so as to obtain the z coordinate value z corresponding to the second printing nozzle 2 ' thus, a height difference Δm=z of the first printing head with respect to the second printing head is obtained 1 ’-z 2 ’；
And adjusting the height of the second printing nozzle according to the delta m.
Any one, more or all of the above steps may be performed by a control system of the 3D printer, such as an automated control system. These steps may be performed by programming the control system processor.
The invention can execute calibration and leveling in a simple, convenient and low-cost mode, so that the defects of manual calibration, labor and effort consumption, unavoidable human errors, larger errors of the calibrated spray head, lower calibration precision and the like of the existing 3D printer can be reduced or even eliminated.
The foregoing description of several embodiments of the invention has been presented for the purposes of illustration. The foregoing description is not intended to be exhaustive or to limit the invention to the precise steps and/or forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The scope of the invention and all equivalents are intended to be defined by the appended claims.

Claims (18)

1. A method for calibrating a dual-jet 3D printer, the 3D printer comprising first and second print jets; a print platform having a calibration target with a conductive edge thereon, the calibration target configured to form an electrical conduction signal when the print head is in contact with the conductive edge of the calibration target; and a controller configured to obtain the on signal and thereby obtain a coordinate parameter of a contact position of the print head with the conductive edge of the calibration target,
Wherein the conductive edges of the calibration target form a square;
the method comprises the following steps:
by contacting the first print head with at least three point contact locations on the square conductive edge of the calibration target, a first center coordinate (X 1 , Y 1 )；
By contacting the second print head with at least three point contact locations on the square conductive edge of the calibration target, a second center coordinate (X 2 , Y 2 )；
Calculating a coordinate deviation (Δx, Δy) of the second print head relative to the first print head based on a difference between the first center coordinate and the second center coordinate; and
compensating for X and Y coordinate values of the second print head according to the coordinate deviation (Δx, Δy);
wherein a first center coordinate (X) of the calibration target is obtained by the first print head contacting four contact locations on four sides of the square conductive edge 1 , Y 1 )；
Wherein a second center coordinate (X) of the calibration target is obtained by the contact of the second print head with four contact locations on four sides of the square conductive edge 2 , Y 2 )；
Wherein, two x coordinate values, x are obtained by the contact of the first printing nozzle and the second printing nozzle with the left and right sides of the square Left side And x Right side ；
Wherein, two y coordinate values, y are obtained by the contact of the first printing nozzle and the second printing nozzle with the upper side and the lower side of the square respectively Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the And
wherein the first and second center coordinate values (X, Y) of the calibration target are calculated by the following formulas, respectively:
X = (x left side + x Right side ) / 2，Y = (y Upper part + y Lower part(s) ) / 2。
2. The method of claim 1, wherein the first and second print heads are each in electrically conductive contact with the conductive edge of the calibration target through their respective head tips.
3. The method of claim 1, wherein the calibration target is a hole or boss provided on the print platform, wherein edges of the hole or boss constitute square conductive edges.
4. A method according to claim 3, wherein the calibration target is a hole formed in the centre of the printing platform, the hole being a through hole or a blind hole.
5. A method according to claim 3, wherein the calibration target is a boss fixed to or integrally formed with the centre of the printing platform, the boss being formed with its edges square by being made of metal or by applying a conductive coating.
6. The method of any of claims 1-5, wherein the calibration target has an upper surface configured to form a conductive signal when a tip of the print head is in contact with the upper surface of the calibration target, the method further comprising the steps of:
contacting the nozzle tip of the first print nozzle with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the first print nozzle 1 ’ The method comprises the steps of carrying out a first treatment on the surface of the Contacting the nozzle tip of the second printing nozzle with the upper surface of the calibration target contacted with the first printing nozzle to obtain a z coordinate value z corresponding to the second printing nozzle 2 ’ Thereby obtaining a height difference Δm=z of the first printing head with respect to the second printing head 1 ’ - z 2 ’ ；
And adjusting the height of the second printing nozzle according to the delta m.
7. The method of claim 6, wherein the printing platform is arranged with n electrically conductive contact points, wherein n is an integer > 3, the n electrically conductive contact points being spaced apart from each other and not collinear;
wherein the method further comprises the step of leveling the printing platform:
s1: contacting a nozzle tip of at least one of the printing nozzles with a first contact point of the n conductive contact points to obtain a first z-coordinate value z 1 The first contact point is used as a reference point;
s2: the nozzle tip of the printing nozzle is contacted with a second contact point in the n conductive contact points to obtain a second z-coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 = z 2 - z 1 ；
S3: the nozzle tip of the printing nozzle is contacted with a third contact point in the n conductive contact points to obtain a third z-coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 = z 3 - z 1 ；
S4: and so on, enabling the nozzle tip of the printing nozzle to be in contact with the nth contact point in the n conductive contact points to obtain the nth z coordinate value z n Thereby obtainingA height difference Δh of the nth contact point relative to the first contact point n-1 = z n - z 1 The method comprises the steps of carrying out a first treatment on the surface of the And
according to Deltah 1 、Δh 2 … Δh n-1 And adjusting the height of the printing platform.
8. The method of claim 7, wherein the step S1 includes: three contact points, i.e., first, second, and third contact points, are provided on the print platform, wherein the first contact point serves as a reference point, and the three contact points are set to one of:
the first, second and third contact points are three apexes of an isosceles triangle or equilateral triangle;
The first, second and third contact points are located on the circumference of a circle and trisect the circumference; and
the first contact point is located at the center of a circle, and the second and third contact points are located on the circumference of the circle and are arranged in mirror symmetry with respect to the diameter of the circle.
9. The method of claim 8, wherein the second and third contact points are located at two vertices of the base of the isosceles triangle, respectively, and the first contact point is located at another vertex of the isosceles triangle.
10. An automatically calibrated dual-jet 3D printer, the dual-jet 3D printer comprising:
first and second print heads;
a print platform disposed below the first and second print heads, having a calibration target with a conductive edge thereon, the calibration target configured to form an electrical conduction signal when the print heads are in contact with the conductive edge of the calibration target;
a controller configured to obtain the on signal and thereby obtain a coordinate parameter of a contact position of the print head with a conductive edge of the calibration target; and
a linear module configured to linearly move the printing head and the printing platform relative to each other in three directions of x, y, and z axes,
Wherein the conductive edges of the calibration target form a square;
wherein, the dual-nozzle 3D printer is configured to automatically perform the steps of:
by contacting the first print head with at least three point contact locations on the square conductive edge of the calibration target, a first center coordinate (X 1 , Y 1 )；
By contacting the second print head with at least three point contact locations on the square conductive edge of the calibration target, a second center coordinate (X 2 , Y 2 )；
Calculating a coordinate deviation (Δx, Δy) of the second print head relative to the first print head based on a difference between the first center coordinate and the second center coordinate; and
compensating for X and Y coordinate values of the second print head according to the coordinate deviation (Δx, Δy);
wherein, the dual-jet 3D printer is configured to:
by contacting the first print head with four contact locations on four sides of the square conductive edge, a first center coordinate (X) of the calibration target is obtained 1 , Y 1 )；
By the contact of the second printing head with four contact locations on four sides of the square conductive edge, a second center coordinate (X) of the calibration target is obtained 2 , Y 2 )；
Wherein, two x coordinate values, x are obtained by the contact of the first printing nozzle and the second printing nozzle with the left and right sides of the square Left side And x Right side ；
Wherein, two y coordinate values, y are obtained by the contact of the first printing nozzle and the second printing nozzle with the upper side and the lower side of the square respectively Upper part And y Lower part(s) The method comprises the steps of carrying out a first treatment on the surface of the And is also provided with
Wherein the first and second center coordinate values (X, Y) of the calibration target are calculated by the following formulas, respectively:
X = (x left side + x Right side ) / 2，Y = (y Upper part + y Lower part(s) ) / 2。
11. The dual jet 3D printer of claim 10, wherein the first and second print jets are configured to make electrical conductive contact with the conductive edge of the calibration target through their respective jet tips, respectively.
12. The dual spray 3D printer of claim 10, wherein the calibration target is a hole or boss provided on the print platform, wherein edges of the hole or boss form square conductive edges.
13. The dual spray 3D printer of claim 12, wherein the calibration target is a hole formed in the center of the print platform, the hole being a through hole or a blind hole.
14. The dual spray 3D printer of claim 12, wherein the calibration target is a boss fixed to or integrally formed with the center of the printing platform, the boss having its edges formed into square conductive edges by being made of metal or by applying a conductive coating.
15. The dual jet 3D printer of any of claims 10-14, wherein the calibration target has an upper surface configured to form a turn-on signal when a tip of the print jet contacts the upper surface of the calibration target, the dual jet 3D printer configured to:
contacting the nozzle tip of the first print nozzle with the upper surface of the calibration target to obtain a z-coordinate value z corresponding to the first print nozzle 1 ’ ；
Spray head for enabling the second printing spray headThe tip contacts the upper surface of the calibration target contacted by the first printing nozzle to obtain a z coordinate value z corresponding to the second printing nozzle 2 ’ Thereby obtaining a height difference Δm=z of the first printing head with respect to the second printing head 1 ’ - z 2 ’ The method comprises the steps of carrying out a first treatment on the surface of the And
and adjusting the height of the second printing nozzle according to the delta m.
16. The dual spray 3D printer of claim 15, wherein the printing platform is arranged with n electrically conductive contact points, wherein n is an integer greater than or equal to 3, the n electrically conductive contact points being spaced apart from each other and not collinear;
wherein the dual-jet 3D printer is configured to further perform the step of leveling the print platform:
S1: contacting a nozzle tip of at least one of the printing nozzles with a first contact point of the n conductive contact points to obtain a first z-coordinate value z 1 The first contact point is used as a reference point;
s2: the nozzle tip of the printing nozzle is contacted with a second contact point in the n conductive contact points to obtain a second z-coordinate value z 2 Thereby obtaining a height difference deltah of the second contact point relative to the first contact point 1 = z 2 - z 1 ；
S3: the nozzle tip of the printing nozzle is contacted with a third contact point in the n conductive contact points to obtain a third z-coordinate value z 3 Thereby obtaining a height difference deltah of the third contact point relative to the first contact point 2 = z 3 - z 1 ；
S4: and so on, enabling the nozzle tip of the printing nozzle to be in contact with the nth contact point in the n conductive contact points to obtain the nth z coordinate value z n Thereby obtaining a height difference deltah of the nth contact point relative to the first contact point n-1 = z n - z 1 The method comprises the steps of carrying out a first treatment on the surface of the And
according to Deltah 1 、Δh 2 … Δh n-1 And adjusting the height of the printing platform.
17. The dual spray 3D printer of claim 16, wherein the step S1 comprises: three contact points, i.e., first, second, and third contact points, are provided on the print platform, wherein the first contact point serves as a reference point, and the three contact points are set to one of:
The first, second and third contact points are three apexes of an isosceles triangle or equilateral triangle;
the first, second and third contact points are located on the circumference of a circle and trisect the circumference; and
the first contact point is located at the center of a circle, and the second and third contact points are located on the circumference of the circle and are arranged in mirror symmetry with respect to the diameter of the circle.
18. The dual spray 3D printer of claim 17, wherein the second and third contact points are located at two vertices of the base of the isosceles triangle, respectively, and the first contact point is located at the other vertex of the isosceles triangle.
CN202210234158.XA 2022-03-10 2022-03-10 3D printer with square calibration target and method for calibrating 3D printer Active CN114536753B (en)

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