CN117162489B - 3D printing coordinate compensation method and device, storage medium and 3D printer - Google Patents
3D printing coordinate compensation method and device, storage medium and 3D printer Download PDFInfo
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Abstract
The application discloses a 3D printing coordinate compensation method, a device, a storage medium and a 3D printer, wherein the method comprises the following steps: uploading a preset polygon pattern to a 3D printer, printing out a reference pattern according to the preset polygon pattern by the printer, obtaining the vertex coordinates of the reference pattern, calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertexes of the reference pattern, and outputting real-time coordinates of a printing nozzle according to the compensation coefficient by the printer. According to the method, the compensation coefficient is dynamically selected according to the coordinates of the pattern to be printed through the algorithm, so that the printing precision of the 3D printing product is improved.
Description
Technical Field
The invention relates to the technical field of additive manufacturing, in particular to a 3D printing compensation method, a device, a storage medium and a 3D printer.
Background
3D printing (3 DP), a rapid prototyping technique, is a technique for manufacturing entities by adopting a material gradual accumulation method, also called additive manufacturing, and is a technique for constructing objects by adopting a powder metal or plastic and other bondable materials in a layer-by-layer printing mode based on a digital model file. 3D printing is typically implemented using a digital technology material printer. Often in the fields of mould manufacture, industrial design, etc., are used to manufacture models, and later gradually in the direct manufacture of some products, parts have been printed using this technique. The technology has application in jewelry, footwear, industrial design, construction, engineering and construction (AEC), automotive, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms, and other fields.
The 3D printer has a great advantage in printing speed, but has a high requirement on the assembly precision of the hardware device driving device, or errors are generated due to the fact that the sizes of parts are not required during assembly, or errors are generated due to the fact that the driving print head is displaced from a source program setting path during the traveling process, the traveling coordinates of the printing nozzle are affected, and therefore errors are generated between the printed actual pattern and the pattern set by the system. For example, with a parallel arm printer, because of the deviation of the column installation angle of the parallel arm printer, the system sets the printed preset polygon pattern as a rectangle, the four points at four corners of the printed actual pattern have different distance lengths, and the printed pattern is deviated from the original preset pattern.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention aims to provide a 3D printing coordinate compensation method, which compensates coordinate values of printing nozzles in real time when the coordinates of the printing nozzles output by a 3D printer control system deviate from set coordinates.
In order to achieve the above object, the present invention provides a 3D printing coordinate compensation method, comprising the steps of:
s1: uploading a preset polygon pattern to a 3D printer, and printing a reference pattern according to the preset polygon pattern by the printer;
S2: obtaining vertex coordinates of the reference pattern;
S3: calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertexes of the reference pattern;
S4: the printer outputs real-time coordinates of the printing nozzle according to the compensation coefficient.
Further, in the step S1, the preset polygon pattern is a preset rectangular pattern, and in the step S3, the specific method for determining the compensation coefficient based on the vertex coordinates of the preset pattern and the coordinates of the corresponding vertices of the reference pattern includes:
s31: calculating to obtain difference coefficients of each side length and the corresponding preset side length according to the coordinate values of each vertex of the reference pattern;
S32: and determining a compensation coefficient according to the position relation between the real-time coordinates of the position of the printing nozzle and the coordinates of each vertex of the preset pattern, which are output by the control system.
Further, in the step S31, according to the coordinate values of each vertex of the reference pattern, the specific method for calculating the difference coefficient of each side length with respect to the preset side length is as follows: setting length and width edge length values of a preset pattern as L, D, setting a left lower corner vertex of a reference pattern as A (X1, Y1), a right lower corner vertex as B (X2, Y2), a right upper corner vertex as C (X3, Y3), and a left upper corner vertex as D (X4, Y4), and calculating according to vertex coordinate values to obtain the lengths of each side of the reference pattern, namely the distance L1 of AB, the distance L2 of CD, the distance D1 of AD and the distance D2 of BC; calculating the difference value between the side length of the preset pattern and the corresponding side length of the reference pattern, and dividing the difference value by the corresponding side length of the reference pattern to obtain the difference coefficient of each side length, namely:
size_offset_L1＝(L-L1)÷L1
size_offset_L2＝(L-L2)÷L2
size_offset_D1＝(D-D1)÷D1
size_offset_D2＝(D-D2)÷D2。
further, in the step S32, the method for determining the compensation coefficient according to the positional relationship between the real-time coordinates of the position of the printing nozzle and the coordinates of each vertex of the reference pattern output by the control system specifically includes:
Setting a real-time coordinate point of a position of a printing nozzle as (X, Y), and when X < X1, setting a coordinate compensation coefficient in the Y direction as size_offset_Y=size_offset_D1;
When X > X2, the coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d2;
When X1< = X2, the coordinate compensation coefficient in the Y direction is size_offset_y= (size_offset_d1X (X2-X) +size_offset_d2X (X-X1)) ++x 2-X1;
when Y < Y1, the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l1;
when Y > Y2, the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l2;
when y1< =y < =y2, the coordinate compensation coefficient in the X direction is size_offset_x= (size_offset_l1X (Y2-Y) +size_offset_l2X (Y-Y1)/(Y2-Y1).
Further, in the step S4, the real-time coordinates of the position of the printing nozzle output by the printer according to the compensation coefficient are specifically:
s41: multiplying the real-time coordinate value of the position of the printing nozzle by the compensation coefficient corresponding to the coordinate point to obtain a coordinate offset, and adding the real-time coordinate value and the coordinate offset to obtain a corrected coordinate;
S42: and controlling the displacement of the printing nozzle, and correcting the real-time coordinates of the printing nozzle.
According to the invention, a reference pattern is printed according to a preset pattern, coordinate values of the reference pattern are obtained, difference coefficients of the side lengths of the reference pattern and the side lengths of the preset pattern are calculated, corresponding compensation coefficients are selected according to the position relation between the position of the nozzle to be printed and the coordinates of the reference pattern, the coordinate offset of the printing nozzle is obtained according to the compensation coefficients, and the automatic calibration module controls the printing nozzle to move to the calibrated coordinate point after obtaining data. The method improves the 3D printing precision, has strong applicability in the 3D printing field, has good portability and is convenient for popularization and application.
The invention also aims to provide a 3D printing coordinate compensation method, which is used for compensating coordinate values of printing nozzles in real time by considering printing deformation caused by angle deviation of upright posts for a parallel arm type 3D printer, and comprises the following steps:
S1': uploading a preset polygon pattern to a 3D printer, and printing a reference pattern according to the preset polygon pattern by the printer;
S2': obtaining vertex coordinates of the reference pattern;
s3': calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern, the coordinates of the corresponding vertexes of the reference pattern and the angle deviation of the stand column;
s4': the printer outputs real-time coordinates of the printing nozzle according to the compensation coefficient.
Further, in step S1', the preset polygon pattern is a preset rectangular pattern, and in step S3', based on the coordinates of the vertices of the preset pattern and the coordinates of the corresponding vertices of the reference pattern and the angular deviation of the upright post, the specific method for determining the compensation coefficient is calculated as follows:
S31': calculating to obtain a difference coefficient in the length and width directions according to the coordinate values of each vertex of the reference pattern;
S32': acquiring all parameter data of the upright post to obtain upright post coordinates, and further obtaining an upright post difference coefficient according to the upright post coordinates;
s33': and determining a compensation coefficient according to the position relation between the real-time coordinates of the position of the printing nozzle and the coordinates of the upright post, which are output by the control system.
Further, in the step S31', the specific method for calculating the difference coefficient between the length direction and the width direction according to the coordinate values of each vertex of the reference pattern is as follows: setting the length and the width of a preset pattern as L, D respectively, setting the left lower corner vertex of a reference pattern as A (X1, Y1), the right lower corner vertex as B (X2, Y1), the right upper corner vertex as C (X2, Y2), the left upper corner vertex as D (X1, Y2), and calculating according to the vertex coordinate values to obtain the lengths of each side of the reference pattern, namely the distance L1 of AB, the distance L2 of CD, the distance D1 of AD and the distance D2 of BC; calculating the difference value between the side length of the preset pattern and the corresponding side length of the reference pattern, dividing the difference value by the corresponding side length of the reference pattern to obtain the difference coefficient of each side length,
size_offset_L1＝(L-L1)÷L1
size_offset_L2＝(L-L2)÷L2
size_offset_D1＝(D-D1)÷D1
size_offset_D2＝(D-D2)÷D2，
The average value of the difference coefficients of the two pairs of edges of the reference pattern is selected as the difference coefficient of the length of the edge in the length and width directions, namely:
Size_offset_L’＝(size_offset_L1+size_offset_L2)/2
Size_offset_D’＝(size_offset_D1+size_offset_D2)/2。
Further, in the step S32', the specific method for obtaining the column coordinate and further obtaining the column difference coefficient according to the column coordinate is as follows: obtaining angle difference values of the first upright post, the second upright post and the third upright post respectively to be da, db and dc, wherein the curvature of the printer is r, the coordinate value of the first upright post is (Xa, ya), the coordinate value of the second upright post is (Xb, yb), and the coordinate value of the third upright post is (Xc, yc), namely:
(Xa，Ya)＝(cos(210+da)*r，sin(210+da)*r)
(Xb，Yb)＝(cos(330+db)*r，sin(330+db)*r)
(Xc，Yc)＝(cos(90+dc)*r，sin(90+dc)*r)
and (3) setting real-time coordinate points of the positions of the printing nozzles as (X, Y), and calculating the ratio of the distances from the real-time positions of the printing nozzles to the stand columns to the distances from the origin to the stand columns to obtain difference coefficients of the three stand columns respectively, namely:
Further, in the step S33', a compensation coefficient is determined according to a positional relationship between a real-time coordinate of a position of the printing nozzle and a column coordinate outputted by the control system, and the specific method is as follows:
the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l' ×size_offset_a×size_offset_b
The coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d' ×size_offset_c.
Further, in the step S4', the real-time coordinates of the position of the printing nozzle output by the printer according to the compensation coefficient are specifically:
S41': multiplying the real-time coordinate value of the position of the printing nozzle with the compensation coefficient corresponding to the coordinate point to obtain
Adding the real-time coordinate value and the coordinate offset to obtain corrected coordinates;
S42': and controlling the displacement of the printing nozzle, and correcting the real-time coordinates of the printing nozzle.
According to the invention, coordinates of the stand column can be obtained according to the stand column angle deviation of the parallel arm type 3D printer, the difference coefficient of the stand column is calculated, the side length difference coefficient of the printing reference pattern is combined to calculate to obtain the compensation coefficient, the coordinate offset of the printing nozzle is obtained through the compensation coefficient, and the automatic calibration module controls the printing nozzle to move to the calibrated coordinate point after obtaining data. The method is particularly used for compensating the angle deviation of the stand column of the parallel arm type 3D printer, and printing precision and quality are further improved.
The present invention also provides a 3D printing coordinate compensation device, comprising:
the printing control module is used for controlling the printing nozzles to print the set patterns;
The acquisition module is used for acquiring vertex coordinates of the reference pattern;
the compensation coefficient calculation module is used for calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertexes of the reference pattern;
The automatic calibration module is used for outputting real-time coordinates of the printing nozzle according to the compensation coefficient and controlling the printing nozzle to move to a calibrated coordinate point;
and the storage module is used for storing the printer parameters, the acquired coordinate values of the printing pattern and the calculated compensation coefficient.
It is also an object of the present invention to provide a computer readable storage medium comprising a stored computer program which, when run, controls a device in which the computer readable storage medium is located to perform the 3D printing coordinate compensation method as claimed in any one of claims 1-10.
The invention also aims to provide a 3D printer, which comprises a 3D printing coordinate compensation device, wherein the 3D printing coordinate compensation device comprises:
the printing control module is used for controlling the printing nozzles to print the set patterns;
The acquisition module is used for acquiring vertex coordinates of the reference pattern;
the compensation coefficient calculation module is used for calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertexes of the reference pattern;
The automatic calibration module is used for outputting real-time coordinates of the printing nozzle according to the compensation coefficient and controlling the printing nozzle to move to a calibrated coordinate point;
and the storage module is used for storing the printer parameters, the acquired coordinate values of the printing pattern and the calculated compensation coefficient.
Drawings
Fig. 1 is a schematic diagram of a print reference pattern coordinate of a 3D print coordinate compensation method according to embodiment 1 of the present invention;
fig. 2 is a flowchart of a 3D print coordinate compensation method according to embodiment 1 of the present invention;
Fig. 3 is a specific flowchart of step S3 of a 3D print coordinate compensation method according to embodiment 1 of the present invention;
Fig. 4 is a specific flowchart of step S4 of a 3D print coordinate compensation method according to embodiment 1 of the present invention;
fig. 5 is a structural diagram of a 3D printer according to embodiment 2 of the present invention;
Fig. 6 is a schematic diagram of column coordinates of a 3D print coordinate compensation method according to embodiment 2 of the present invention;
fig. 7 is a flowchart of a 3D print coordinate compensation method according to embodiment 2 of the present invention;
fig. 8 is a specific flowchart of step S3' of a 3D print coordinate compensation method according to embodiment 2 of the present invention;
fig. 9 is a specific flowchart of step S4' of a 3D printing coordinate compensation method according to embodiment 2 of the present invention;
Fig. 10 is a schematic structural diagram of a 3D printing coordinate compensation device according to embodiment 4 of the present invention.
Detailed Description
Example 1:
And acquiring geometric information of the 3D printer, and establishing a coordinate system by taking the center of the printing area as an origin and taking central axes of two mutually perpendicular printing areas as X, Y axes.
Uploading a polygon pattern preset as a rectangle to a 3D printer, enabling the printer to print the polygon pattern in a printing area, starting the 3D printer, enabling the printer to print the preset pattern, detecting and scanning by a laser camera through a detection module, acquiring actual coordinate data of the printed preset pattern, acquiring side length data at least comprising two pieces of data along the X-axis direction to obtain two pieces of length data L1 and L2 and two pieces of width data D1 and D2 along the Y-axis direction as shown in FIG. 1, uploading side length data of a reference pattern to a calculation module, calculating difference values of side lengths of the preset pattern and corresponding side lengths of the reference pattern, dividing the difference values by the corresponding side lengths of the reference pattern, and obtaining side length difference coefficients.
After the coordinate system is established, as shown in the flow of fig. 3, coordinates of each vertex of the reference pattern are obtained by detecting, and a difference coefficient of each side length is obtained by setting a point of the lower left corner of the reference pattern to be a (X1, Y1), a point of the lower right corner B (X2, Y2), a point of the upper right corner C (X3, Y3), a point of the upper left corner D (X4, Y4), and a distance L1 of AB, a distance L2 of CD, a distance D1 of AD, and a distance D2 of BC:
size_offset_L1＝(L-L1)÷L1，
size_offset_L2＝(L-L2)÷L2，
size_offset_D1＝(D-D1)÷D1，
size_offset_D2＝(D-D2)÷D2。
during compensation, the coordinate values on the X, Y axes are compared with the theoretical coordinate values of the preset patterns, different compensation coefficients are selected according to the comparison result, and data compensation is carried out on the motion coordinates through automatic calibration.
During printing, different compensation coefficients are selected according to real-time coordinate points (X, Y) of a printing nozzle, and the compensation coefficients at different positions are as follows:
when Y < Y1, the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l1;
when Y > Y2, the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l2;
when y1< =y < =y2, the coordinate compensation coefficient in the X direction is size_offset_x= (size_offset_l1X (Y2-Y) +size_offset_l2X (Y-Y1)/(Y2-Y1).
When X < X1, the coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d1;
When X > X2, the coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d2;
When X1< =x < =x2, the coordinate compensation coefficient in the Y direction is size_offset_y= (size_offset_d1X (X2-X) +size_offset_d2X (X-X1)/(X2-X1).
Outputting X, Y compensating coefficients in the direction to a 3D printer compensating coefficient calculating module, and multiplying real-time coordinate points of the nozzles by X, Y compensating coefficients respectively to obtain coordinate offset, namely:
The offset in the X direction is: displacement x=size_offset X,
The offset in the Y direction is: displacement_y=size_offset_y.
The computer automatic calibration module acquires and identifies the real-time coordinate offset displacement_ X, displacement _Y, in the printing area coordinate system, judges that the displacement_ X, displacement _Y is a positive value, and controls the printing nozzle to displace in X, Y positive direction, otherwise, judges that the displacement_ X, displacement _Y is a negative value, and controls the printing nozzle to displace in X, Y negative direction, so that the coordinate compensation of the real-time coordinate point is completed.
Example 2:
the embodiment is mainly directed to a parallel arm type 3D printer, for example, a parallel arm type 3D printer and a control system disclosed in the grant publication CN106493953B, as shown in fig. 5. Firstly, acquiring geometric information of a 3D printer, wherein the 3D printing device comprises: the three-dimensional printing device comprises a base, three stand columns, three parallel arms, a material cover, printing materials, an extruder, three guide rail slide block assemblies and printing nozzles, wherein the center of the printing base is taken as an origin according to geometric information of the 3D printing device, the central axis of the printing base penetrating through the third stand column is taken as a Y axis, and the central axis of the printing base perpendicular to the Y axis is taken as an X axis, so that a coordinate system is established;
considering that when assembling or errors are generated due to the sizes of parts, the upper bottom shell and the lower bottom shell of the parallel arm type 3D printer have angle deviation, so that the angle deviation is generated in the assembling stand columns, and the motion coordinates of the printing nozzles are greatly influenced by the included angles among the three stand columns, in order to further accurately correct the printing coordinates, the angle deviation calculation of the stand columns is required to be added for the parallel arm type 3D printer, and the coordinate compensation method flow is shown in fig. 7.
As shown in fig. 6, the coordinates of the vertical columns of the 3D printer are named as a first vertical column a, a second vertical column B and a third vertical column C, the curvature of the 3D printer is known to be r, the included angle between every two of the three vertical columns is 120 degrees under normal conditions, the angles of the first vertical column a, the second vertical column B and the third vertical column C are obtained along the positive anticlockwise direction of the X axis of the coordinate system, and are 210 degrees, 330 degrees and 90 degrees, the angles of the three vertical columns are obtained by measuring the angles of the upper bottom shell and the lower bottom shell of the printer, and then the angles of the three vertical columns are respectively set as da, db and dc, and then the coordinates of the three vertical columns are obtained as (cos (210+da), sin (210+da) r), (cos (330+db) r), (cos (90+dc) r) sin (90+dc) r), and the coordinates of the three vertical columns are obtained as (Xa, ya), (Xb, yb), (Xc, yc.
The deviation value coefficient of the three stand columns is the distance from the coordinate point to be printed to the stand column coordinate point, and the distance from the origin to the stand column coordinate point is compared.
Namely:
Difference coefficient of first upright post
Difference coefficient of the second upright post
Difference coefficient of third column
L1, L2, D1, D2 are the side lengths of the reference pattern, respectively, and the difference coefficients size_offset_l1, size_offset_l2, size_offset_d1, size_offset_d2 of the respective side lengths are described in the above-mentioned content of embodiment 1, and are not further developed here. In this embodiment L, D the direction difference coefficient is chosen as the average of the two pairs of edge difference coefficients of the reference pattern, namely:
Size_offset_L＝(size_offset_L1+size_offset_L2)/2，
Size_offset_D＝(size_offset_D1+size_offset_D2)/2。
Because the printing nozzle moves along the X direction, the first upright post and the second upright post both participate in the movement, and only the third upright post only participates in the movement when the printing nozzle moves along the Y direction, the compensation coefficient of the X axis of the coordinate point to be printed is equal to the product of the side length difference coefficient of the coordinate point to be printed and the upright post difference coefficients of the first upright post and the second upright post; the compensation coefficient of the Y-axis of the coordinate to be printed is equal to the product of the side length difference coefficient of the coordinate point to be printed and the column difference coefficient of the third column. The compensation coefficient for the coordinate point (X, Y) of the position of the nozzle to be printed is:
size_offset_X＝Size_offset_L*Size_offset_A*Size_offset_B，
size_offset_Y＝Size_offset_D*Size_offset_C。
outputting X, Y compensating coefficients in the direction to a 3D printer compensating coefficient calculating module, and multiplying real-time coordinate points of the nozzles by X, Y compensating coefficients respectively to obtain coordinate offset, namely:
The offset in the X direction is: displacement x=size_offset X,
The offset in the Y direction is: displacement_y=size_offset_y.
The computer automatic calibration module acquires and identifies the real-time coordinate offset displacement_ X, displacement _Y, in the printing area coordinate system, judges that the displacement_ X, displacement _Y is a positive value, and controls the printing nozzle to displace in X, Y positive direction, otherwise, judges that the displacement_ X, displacement _Y is a negative value, and controls the printing nozzle to displace in X, Y negative direction, so that the coordinate compensation of the real-time coordinate point is completed.
Example 3:
The preset pattern of the application can also be regular polygon with other edges being even. Uploading a regular polygon pattern with even preset edge numbers to a 3D printer, printing out a reference pattern by the printer according to the preset pattern, obtaining each vertex coordinate value of the reference pattern, selecting four vertex coordinates of the preset pattern which can form an inscribed rectangle, selecting the vertex coordinate value corresponding to the reference pattern according to the vertex coordinate value selected by the preset pattern, calculating to obtain the difference coefficient of the edge length of the inscribed rectangle of the preset pattern and each edge length of the inscribed quadrilateral of the coordinate corresponding to the reference pattern, and obtaining the coordinate compensation coefficient and the compensation method according to the difference coefficient. The difference coefficient, the compensation coefficient and the compensation method are already described in the above embodiment 1 and embodiment 2, and will not be further developed here. The method provided by the embodiment can be applied to two situations of considering the upright errors and not considering the upright errors.
Example 4:
As shown in fig. 10, an embodiment of the present application further provides a 3D printing coordinate compensation device 1000, including: a print control module 1001 for controlling the print nozzles to print a set pattern; an obtaining module 1002, configured to obtain vertex coordinates of a reference pattern by laser detection; a compensation coefficient calculation module 1003, configured to calculate and determine a compensation coefficient 1004 based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertices of the reference pattern; the automatic calibration module is used for outputting real-time coordinates of the printing nozzle according to the compensation coefficient and controlling the printing nozzle to move to a calibrated coordinate point; the storage module 1005 is used for storing the printer parameters, the acquired coordinate values of the printing pattern and the calculated compensation coefficients.
Example 5:
The application also discloses a computer readable storage medium, which comprises a stored computer program, and the computer readable storage medium is controlled to execute the 3D printing coordinate compensation method of the embodiment when the computer program runs. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a ROM, an erasable programmable read-only memory, a hard disk, a CD-ROM, a magnetic storage device, or any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art.
Example 6:
The application also discloses a 3D printer, which comprises a 3D printing coordinate compensation device, wherein the 3D printing coordinate compensation device comprises: the printing control module is used for controlling the printing nozzles to print the set patterns; the acquisition module is used for acquiring vertex coordinates of the reference pattern; the compensation coefficient calculation module is used for calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern and the coordinates of the corresponding vertexes of the reference pattern; the automatic calibration module is used for outputting real-time coordinates of the printing nozzle according to the compensation coefficient and controlling the printing nozzle to move to a calibrated coordinate point; and the storage module is used for storing the printer parameters, the acquired coordinate values of the printing pattern and the calculated compensation coefficient. The 3D printer may be a plurality of types of devices such as LOM, SLA, SLS, FDM, 3DP, etc., and those skilled in the art will appreciate that the schematic is merely an example of a 3D printer and is not limiting of a 3D printer, and may include more or fewer components than the example, or may combine some components, or different components, e.g., a 3D printer may also include an input-output device, a network access device, a bus, etc.
Claims (8)
1. A 3D printing coordinate compensation method, comprising the steps of:
s1: uploading a preset polygon pattern to a 3D printer, and printing a reference pattern according to the preset polygon pattern by the printer;
S2: obtaining vertex coordinates of the reference pattern;
S3: calculating and determining a compensation coefficient based on a plurality of vertex coordinates of a preset polygon pattern and coordinates of corresponding vertexes of a reference pattern;
s4: the printer outputs real-time coordinates of the printing nozzle according to the compensation coefficient;
In the step S1, the preset polygon pattern is a rectangular pattern, and in the step S3, the specific method for determining the compensation coefficient based on the coordinates of the plurality of vertices of the preset polygon pattern and the coordinates of the corresponding vertices of the reference pattern includes:
s31: calculating to obtain difference coefficients of each side length and the corresponding preset side length according to the coordinate values of each vertex of the reference pattern;
s32: determining a compensation coefficient according to the position relation between the real-time coordinates of the position of the printing nozzle output by the control system and the coordinates of each vertex of the preset polygon pattern;
In the step S31, according to the coordinate values of each vertex of the reference pattern, the specific method for calculating the difference coefficient between each side length and the corresponding preset side length is as follows: setting length and width edge length values of a preset polygon pattern as L, D, setting a left lower corner vertex of a reference pattern as A (X1, Y1), a right lower corner vertex as B (X2, Y2), a right upper corner vertex as C (X3, Y3), a left upper corner vertex as D (X4, Y4), and calculating according to vertex coordinate values to obtain the lengths of each side of the reference pattern, namely the distance L1 of AB, the distance L2 of CD and the distance D1 of AD and the distance D2 of BC; calculating the difference value between the side length of the preset polygon pattern and the corresponding side length of the reference pattern, and dividing the difference value by the corresponding side length of the reference pattern to obtain the difference coefficient of each side length, namely:
size_offset_L1 = (L-L1)÷L1
size_offset_L2 = (L-L2)÷L2
size_offset_D1 = (D-D1)÷D1
size_offset_D2 = (D-D2)÷D2；
In the step S32, the method for determining the compensation coefficient according to the positional relationship between the real-time coordinates of the position of the printing nozzle output by the control system and the coordinates of each vertex of the preset polygon pattern specifically includes:
Setting a real-time coordinate point of the position of the printing nozzle as (X, Y), and when X < X1', setting a coordinate compensation coefficient in the Y direction as size_offset_Y=size_offset_D1;
When X > X2', the coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d2;
When X1 '<=x < =x2', the coordinate compensation coefficient in the Y direction is (size_offset_d1X (X2 '-X) +size_offset_d2X (X-X1')) X (X2 '-X1');
when Y < Y1', the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l1;
When Y > Y2', the coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l2;
When Y1 '<=y < =y2', the coordinate compensation coefficient in the X direction is (size_offset_l1X (Y2 '-Y) +size_offset_l2X (Y-Y1'))/(Y2 '-Y1').
2. The 3D printing coordinate compensation method according to claim 1, wherein in the step S4, the printer outputs real-time coordinates of the printing nozzle according to the compensation coefficient specifically includes:
s41: multiplying the real-time coordinate value of the position of the printing nozzle by the compensation coefficient corresponding to the coordinate point to obtain a coordinate offset, and adding the real-time coordinate value and the coordinate offset to obtain a corrected coordinate;
S42: and controlling the displacement of the printing nozzle, and correcting the real-time coordinates of the printing nozzle.
3. A 3D printing coordinate compensation method, comprising the steps of:
S1': uploading a preset polygon pattern to a 3D printer, and printing a reference pattern according to the preset polygon pattern by the printer;
S2': obtaining vertex coordinates of the reference pattern;
s3': calculating and determining a compensation coefficient based on the vertex coordinates of the preset polygon pattern, the coordinates of the corresponding vertexes of the reference pattern and the angle deviation of the stand column;
s4': the printer outputs real-time coordinates of the printing nozzle according to the compensation coefficient;
In the step S1', the polygon pattern is a rectangular pattern, and in the step S3', based on the coordinates of the vertices of the preset polygon pattern and the coordinates of the corresponding vertices of the reference pattern and the angular deviation of the upright post, the specific method for determining the compensation coefficient is calculated as follows:
S31': calculating to obtain a difference coefficient in the length and width directions according to the coordinate values of each vertex of the reference pattern;
S32': acquiring all parameter data of the upright post to obtain upright post coordinates, and further obtaining an upright post difference coefficient according to the upright post coordinates;
s33': determining a compensation coefficient according to the position relation between the real-time coordinates of the position of the printing nozzle and the coordinates of the upright post, which are output by the control system;
In the step S31', the specific method for calculating the difference coefficient between the length direction and the width direction according to the coordinate values of each vertex of the reference pattern is as follows: setting the length and the width of a preset polygon pattern as L, D respectively, setting the left lower corner vertex of the reference pattern as A (X1, Y1), the right lower corner vertex as B (X2, Y2), the right upper corner vertex as C (X3, Y3), the left upper corner vertex as D (X4, Y4), and calculating according to vertex coordinate values to obtain the lengths of each side of the reference pattern, namely the distance L1 of AB, the distance L2 of CD, and the distance D1 of AD and the distance D2 of BC; calculating the difference value between the side length of the preset polygon pattern and the corresponding side length of the reference pattern, and dividing the difference value by the corresponding side length of the reference pattern to obtain the difference coefficient of each side length, namely:
size_offset_L1 = (L-L1)÷L1
size_offset_L2 = (L-L2)÷L2
size_offset_D1 = (D-D1)÷D1
size_offset_D2 = (D-D2)÷D2，
The average value of the difference coefficients of the two pairs of edges of the reference pattern is selected as the difference coefficient of the length of the edge in the length and width directions, namely:
Size_offset_L’ = (size_offset_L1 + size_offset_L2)/2
Size_offset_D’= (size_offset_D1 + size_offset_D2)/2；
In the step S32', the specific method for obtaining the column difference coefficient according to the column coordinates by obtaining the column parameter data includes: obtaining angle difference values of the first upright A, the second upright B and the third upright C as da, db and dc respectively, wherein the curvature of the printer is r, and obtaining coordinate values of the first upright as (Xa, ya), the second upright as (Xb, yb) and the third upright as (Xc, yc), namely:
(Xa，Ya)=（cos(210+da）*r，sin(210+da)*r)
(Xb，Yb)=（cos(330+db）*r，sin(330+db)*r)
(Xc，Yc)=（cos(90+dc）*r，sin(90+dc)*r) ，
And (3) setting real-time coordinate points of the positions of the printing nozzles as (X, Y), and calculating the ratio of the distances from the real-time positions of the printing nozzles to the stand columns to the distances from the origin to the stand columns to obtain difference coefficients of the three stand columns respectively, namely:
Size_offset_A=
Size_offset_B=
Size_offset_C=。
4. A 3D printing coordinate compensation method according to claim 3, wherein in the step S33', the compensation coefficient is determined according to the positional relationship between the real-time coordinates of the position of the printing nozzle and the coordinates of the column, which are output by the control system, specifically comprising:
The coordinate compensation coefficient in the X direction is size_offset_x=size_offset_l' ×size_offset_a×size_offset_b
The coordinate compensation coefficient in the Y direction is size_offset_y=size_offset_d' ×size_offset_c.
5. A 3D printing coordinate compensation method according to claim 3, wherein in said step S4', said
The real-time coordinates of the printing nozzle output by the printer according to the compensation coefficient are specifically as follows:
s41': real-time coordinate value of the position of the printing nozzle is corresponding to the position the compensation coefficients of the coordinate points are multiplied to obtain the coordinate offset, real-time coordinate value and coordinate offset adding to obtain corrected coordinates;
S42': and controlling the displacement of the printing nozzle, and correcting the real-time coordinates of the printing nozzle.
6. A 3D print coordinate compensation device, wherein the 3D print coordinate compensation device is configured to implement the 3D print coordinate compensation method according to any one of claims 1to 5, and comprises:
the printing control module is used for controlling the printing nozzles to print the set patterns;
The acquisition module is used for acquiring vertex coordinates of the reference pattern;
The compensation coefficient calculation module is used for calculating and determining a compensation coefficient based on the coordinates of each vertex of the preset polygon pattern and the coordinates of the corresponding vertex of the reference pattern;
The automatic calibration module is used for outputting real-time coordinates of the printing nozzle according to the compensation coefficient and controlling the printing nozzle to move to a calibrated coordinate point;
and the storage module is used for storing the printer parameters, the acquired coordinate values of the printing pattern and the calculated compensation coefficient.
7. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program which, when run, controls a device in which the computer readable storage medium is located to perform the 3D printing coordinate compensation method according to any one of claims 1-5.
8. A 3D printer comprising a 3D printing coordinate compensation apparatus according to claim 6.
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