CN103341978A - Fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and control method thereof - Google Patents
Fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and control method thereof Download PDFInfo
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- CN103341978A CN103341978A CN 201310330304 CN201310330304A CN103341978A CN 103341978 A CN103341978 A CN 103341978A CN 201310330304 CN201310330304 CN 201310330304 CN 201310330304 A CN201310330304 A CN 201310330304A CN 103341978 A CN103341978 A CN 103341978A
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Abstract
The invention relates to a fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and a control method thereof and belongs to the technical field of 3D printing. The 3D printing machine is provided with a grating module, wherein the grating module is fixed on a machine frame; a grating reader can move along with an extrusion sprayer, so that precise mechanical displacement information of the extrusion sprayer can be obtained. In a crossed printing and traveling mechanisms, by the compensation of the closed loop control, the precision motion compensation for the traveling mechanism is realized, and the precision of a position of the extrusion sprayer is improved, so that the 3D printing precision is greatly improved, and the technical requirement on high-precision printing can be met; moreover, the fused deposition forming high-speed 3D printing machine adopting the closed loop control is relatively simple in structure and low in cost. The control method provided by the invention is simple in implementation mode and has an extremely wide application range.
Description
Technical field
The present invention relates to 3D printing technique field, particularly 3D printer arrangement and 3D print control program technical field specifically refer to a kind of fusion sediment moulding high speed 3D printer and control method that adopts closed-loop control.
Background technology
The fusion sediment method of forming (FDM, Fused Deposition Modeling) is that a kind of 3D prints technology commonly used.This method is the heating head by the control of XY walking mechanism, profile and filling track according to each preset thickness slicing layer data of three-dimensional part model, extrude the filamentary material of fusing, as the fuse of thermoplastic, wax or metal on substrate or the material that solidified, thereby the material deposition of fusing is solidified, so successively generate needed part.
The 3D printer of the existing employing fusion sediment method of forming, its shortcoming are, drive the motion of shower nozzle because relations such as structure or control can produce certain error, when the product that is applied to high-precision requirement is printed, just are difficult to satisfy relevant specification requirement.
The realization mechanism of the electronic fine-grained technology of grating comprises grating chi and grating reader, and its operation principle is based on physical Moire fringe principle, as shown in Figure 1.When the strain line on the grating reader when strain line on the grating chi becomes certain very little angle θ, the strain line on two gratings can cross one another.Under the irradiation of directional light, can see that the striped vertical, light and dark with the grating strain line is exactly Moire fringe.
Among Fig. 1, W is the width of Moire fringe, and d is the pitch of grating, and following geometrical relationship is then arranged:
When θ is very little, get sin θ ≈ θ, following formula can be similar to and be write as:
If get d=0.01mm, θ=0.01rad then can get W=1mm by following formula, as seen, utilizes the Moire fringe principle, can be tiny grating apart from the width that is converted into the Moire fringe that has amplified 100 times.
When two gratings recur when relatively moving, Moire fringe can move along the direction vertical with grating.The two gratings pitch d that relatively moves, Moire fringe is Moire fringe width W of corresponding movement just.When the direction that relatively moves when two grating chis changed, the direction that Moire fringe moves also changed thereupon.
According to the Moire fringe principle, when light source was directional light, the luminous intensity by Moire fringe was cosine function.If on the Moire fringe moving direction of grating reader, select two logical light window A and B, the cosine function that then can obtain two phase phasic differences, 90 degree as shown in Figure 2 changes waveform.
In the grating reader, adopt light-sensitive element that light intensity signal is converted into the signal of telecommunication, and cosine signal is converted to pulse signal, two groups of phase differences that then can obtain as shown in Figure 2 are the pulse signal of 90 degree.Kinetic control system can obtain true relative displacement and the direction of two gratings by detecting the pulse signal of A, B phase.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, a kind of grating technology that utilizes is provided, effective compensating motion motion of mechanism error, thereby significantly improve printing precision, can satisfy the specification requirement that high accuracy is printed, and structure is simple relatively, with low cost, implementation is simple, and range of application adopts fusion sediment moulding high speed 3D printer and the control method of closed-loop control quite widely.
In order to realize above-mentioned purpose, the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention has following formation:
Machine frame;
Print platform is connected in described machine frame;
Print walking mechanism, be connected in described machine frame;
Extrude shower nozzle, be connected in described printing walking mechanism;
Driver module connects and drives described printing walking mechanism;
Grating module is fixed in described machine frame and extrudes shower nozzle, for detection of the actual displacement of extruding shower nozzle; And
Control module is used for controlling described driver module according to the print data of setting, and extrudes the actual displacement of shower nozzle and the error between the described print data compensates control according to described.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis is printed walking mechanism, and the described shower nozzle of extruding is fixed in the position that described X-axis and Y-axis intersect and can moves in the described X-axis in the control lower edge of described driver module and y-axis shift.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, and described grating module comprises:
X-axis grating chi is fixed in described machine frame, and is parallel to described X-axis;
Y-axis grating chi is fixed in described machine frame, and is parallel to described Y-axis;
X-axis grating reader is fixed in and describedly extrudes shower nozzle and connect described control module, extrudes shower nozzle along the displacement data of X-axis in order to cooperate described X-axis grating chi to read;
Y-axis grating reader is fixed in and describedly extrudes shower nozzle and connect described control module, extrudes shower nozzle along the displacement data of Y-axis in order to cooperate described Y-axis grating chi to read.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, and described driver module comprises:
The X-axis motor connects described control module, and the described shower nozzle of extruding of driving moves along described X-axis under the control of control module;
Y-axis motor connects described control module, and the described shower nozzle of extruding of driving moves along described Y-axis under the control of control module.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, described control module comprises the compensation control module, described X-axis motor and y-axis motor are stepper motor, and described compensation control module is determined step number N' after the compensation of described X-axis stepper motor and y-axis stepper motor according to following formula:
Wherein, S extrudes the distance that shower nozzle need move, and p drives to extrude the distance that shower nozzle moves in each step of stepper motor; D is the pitch of described grating module; M is for to extrude the required grid number of passing by of shower nozzle displacement S according to print data, and m is the grid number of extruding the actual required movement of shower nozzle.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, described printing walking mechanism is printed walking mechanism for diesis shape, this diesis shape is printed walking mechanism and is comprised two parallel X-axis and two parallel Y-axis, described X-axis is vertical with Y-axis, and the described shower nozzle of extruding is fixed in described two X-axis and two positions that Y-axis intersects.
This adopts in the fusion sediment moulding high speed 3D printer of closed-loop control, and described printing walking mechanism also comprises the Z axle, and described Z axle is fixed in described machine frame and perpendicular to described X-axis and Y-axis, described print platform can move both vertically along described Z axle.
The present invention also provides a kind of and utilizes described fusion sediment moulding high speed 3D printer to realize that this method may further comprise the steps for the closed loop control method of printing walking mechanism:
(1) described driver module is controlled described printing walking mechanism according to print data and is moved;
(2) described grating module detects the actual displacement of extruding shower nozzle of being fixed in described printing walking mechanism;
(3) described control module is determined error according to described actual displacement and print data comparative result;
(4) described control module is controlled described driver module according to described error and is compensated.
This utilizes fusion sediment moulding high speed 3D printer to realize in the closed loop control method of printing walking mechanism, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis is printed walking mechanism, described driver module comprises X-axis stepper motor and y-axis stepper motor, described control module comprises the compensation control module, and described step (4) specifically may further comprise the steps:
(41) described compensation control module is determined step number N' after the compensation of described X-axis stepper motor or y-axis stepper motor according to following formula:
Wherein, S extrudes the distance that shower nozzle need move, and p drives to extrude the distance that shower nozzle moves in each step of stepper motor; D is the pitch of described grating module; M is for to extrude the required grid number of passing by of shower nozzle displacement S according to print data, and m is the grid number of extruding the actual required movement of shower nozzle;
(42) described compensation control module is determined X-axis stepper motor or y-axis stepper motor compensation step number Δ N according to following formula:
ΔN=N'-N，
Wherein, N is when extruding shower nozzle displacement S according to print data, the step number that X-axis stepper motor or y-axis stepper motor are required.
Fusion sediment moulding high speed 3D printer and the control method of the employing closed-loop control of this invention have been utilized, because this 3D printer has grating module, grating chi wherein is fixed on the machine frame, and the grating reader then can obtain extruding the accurate mechanical displacement information of shower nozzle along with extruding the shower nozzle motion.Print in the walking mechanism at the XY axle, by the compensation of closed-loop control, realize the accurate motion compensation for walking mechanism, improve the accuracy of extruding nozzle position, thereby significantly improve the 3D printing precision, can satisfy the specification requirement that high accuracy is printed, and the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention, its structure is simple relatively, with low cost, control method of the present invention, implementation is simple, and range of application is also quite extensive.
Description of drawings
The Moire fringe principle schematic that Fig. 1 utilizes for grating module.
Fig. 2 is AB phase pulse signal schematic diagram.
Fig. 3 is the structural representation of main apparent direction of the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention.
Fig. 4 is the structural representation of side-looking direction of the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention.
Fig. 5 is the structural representation that the cross of the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention is printed walking mechanism.
Fig. 6 is the structural representation of the Z axle assembly (comprising print platform) of the printing walking mechanism of the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention.
Fig. 7 be in the printing walking mechanism of fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention each by copper sheathing junction structural representation.
Fig. 8 is that the diesis shape of employing of the present invention is printed walking mechanism closed loop compensation control schematic diagram.
Fig. 9 is the control system block diagram of 3D printer of the present invention.
The diesis shape that Figure 10 adopts for the present invention is printed the structural representation of walking mechanism.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.
See also Fig. 3 and shown in Figure 4, be the structural representation of the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention.
In one embodiment, the fusion sediment moulding high speed 3D printer of this employing closed-loop control comprises machine frame 1; Be connected in the print platform 2 of described machine frame 1; Be connected in the printing walking mechanism 3 of described machine frame 1; What be connected in described printing walking mechanism 3 extrudes shower nozzle 4; Connect and drive the driver module (not shown) of described printing walking mechanism 3; Be fixed in described machine frame 1 and extrude shower nozzle 4, and for detection of the grating module 5 of the actual displacement of extruding shower nozzle 4; And be used for controlling described driver module according to the print data of setting, and according to the described actual displacement of shower nozzle 4 and the control module (not shown) that the error between the described print data compensates control extruded.
Utilize the described fusion sediment moulding of this embodiment high speed 3D printer to realize may further comprise the steps for the closed loop control method of printing walking mechanism:
(1) described driver module is controlled described printing walking mechanism according to print data and is moved;
(2) described grating module detects the actual displacement of extruding shower nozzle of being fixed in described printing walking mechanism;
(3) described control module is determined error according to described actual displacement and print data comparative result;
(4) described control module is controlled described driver module according to described error and is compensated.
In a kind of more preferably embodiment, described printing walking mechanism 3 as shown in Figure 5, print walking mechanism for having orthogonal X-axis 31 with the cross of Y-axis 32, the described shower nozzle 4 of extruding is fixed in described X-axis 31 and also can moves in the described X-axis 31 in the control lower edge of described driver module and Y-axis 32 32 positions of handing over mutually with Y.Described driver module comprises X-axis motor and y-axis motor, and X-axis motor and y-axis motor can adopt stepper motor, also can adopt DC servo motor or other motor that is suitable for.Wherein, the X-axis motor all is connected described control module with y-axis motor, the X-axis motor drives the described shower nozzle 4 of extruding and moves along described X-axis 31 under the control of control module, y-axis motor then drives the described shower nozzle 4 of extruding and moves along described Y-axis 32 under the control of control module.Described grating module 5 comprises X-axis grating chi 51, Y-axis grating chi 52, X-axis grating reader 53 and Y-axis grating reader 54.Wherein, X-axis grating chi 51 is fixed in described machine frame 1, and is parallel to described X-axis 31; Y-axis grating chi 52 is fixed in described machine frame 1, and is parallel to described Y-axis 32; X-axis grating reader 53 is fixed in describedly to be extruded shower nozzle 4 and connects described control module, extrudes shower nozzle 4 along the displacement data of X-axis 31 in order to cooperate described X-axis grating chi 51 to read; Y-axis grating reader 54 also is fixed in describedly to be extruded shower nozzle 4 and connects described control module, extrudes shower nozzle 4 along the displacement data of Y-axis 32 in order to cooperate described Y-axis grating chi 52 to read.Simultaneously, described control module comprises the compensation control module, and described X-axis motor and y-axis motor are under the situation that all adopts stepper motor, and described compensation control module is determined step number N' after the compensation of described X-axis stepper motor and y-axis stepper motor according to following formula:
Wherein, S extrudes shower nozzle 4 to need mobile distance, and p drives to extrude the distance that shower nozzle 4 moves in each step of stepper motor; D is the pitch of described grating module 5; M is for to extrude the required grid number of passing by of shower nozzle 4 displacement S according to print data, and m is the grid number of extruding shower nozzle 4 actual required movements.
More preferably the realization of the described fusion sediment moulding of embodiment high speed 3D printer is in the closed loop control method of printing walking mechanism to utilize this, and described step (4) specifically may further comprise the steps:
(41) described compensation control module is determined step number N' after the compensation of described X-axis stepper motor or y-axis stepper motor according to following formula:
Wherein, S extrudes shower nozzle 4 to need mobile distance, and p drives to extrude the distance that shower nozzle moves in each step of stepper motor; D is the pitch of described grating module 5; M is for to extrude the required grid number of passing by of shower nozzle displacement S according to print data, and m is the grid number of extruding the actual required movement of shower nozzle;
(42) described compensation control module is determined X-axis stepper motor or y-axis stepper motor compensation step number Δ N according to following formula:
ΔN=N'-N，
Wherein, N is when extruding shower nozzle 4 displacement S according to print data, the step number that X-axis stepper motor or y-axis stepper motor are required.
In a kind of further preferred embodiment, described printing walking mechanism 3 is diesis shape printing walking mechanism as shown in figure 10, this diesis shape is printed walking mechanism 3 and is comprised two parallel X-axis 31 and two parallel Y-axis 32, described X-axis 31 is vertical with Y-axis 32, and the described shower nozzle 4 of extruding is fixed in described two X-axis 31 and two positions that Y-axis 32 intersects.
In a kind of preferred embodiment, as shown in Figure 6, described printing walking mechanism also comprises Z axle 33, and described Z axle 33 is fixed in described machine frame 1 and perpendicular to described X-axis 31 and Y-axis 32, described print platform 2 can move both vertically along described Z axle 33.
In an application of the invention, the high-speed molten deposition modeling 3D printer that the present invention relates to comprises the printer forming room main body of being made up of the whole steel-frame structure of a streamlined gap frame, backboard, front panel welding fabrication, two " ten " words of X, Y is installed on the frame structure is printed walking mechanism and Z axle assembly.Be installed with the LCD LCD screen on the printer panel, rotary coding switch, SD card reader etc.The forming room bottom is the integral solder electric appliance box, combines closely with the working chamber, is fixed into as a whole rigid frame structure by countersunk head screw.Extrude shower nozzle and be installed on two " ten " word axle central slider, straight-line ball bearing or lining are installed on the slide block are combined with sliding axle as sliding bearing, reduced fit clearance effectively." ten " word axle central slider bottom is equipped with compositions such as thermal resistance cover, annular heat insulation, heated nozzle and extrudes shower nozzle.
Print walking mechanism and adopt unique XY axle double cruciform shaft design, also can be further form as shown in Figure 5 sphere of movements for the elephants shape framework by eight optical axises, printing nozzle is installed on the double cruciform shaft central slider, and load is evenly distributed on X and the Y-axis.Such design makes the drive motors load very light than balance and load, and print speed is promoted.Wherein four optical axises are formed peripheral " mouth " font structures, be respectively X power-Y sliding axis, X servo-actuated-Y sliding axis, Y power-X sliding axis, Y be servo-actuated-the X sliding axis.Other four optical axises are formed two " ten " font structures, are respectively X sliding axis and Y sliding axis.
The operation logic that XY prints walking mechanism is: the X-axis stepper motor drives " X power-Y sliding axis " by band synchronously and rotatablely moves, and " X power-Y sliding axis " drives " X servo-actuated-Y sliding axis " by band synchronously and rotatablely moves, and synchronous being with in slide block and both sides fixed.Like this, slide block just can be done rectilinear motion.The Y sliding axis is fixed by two side slides, is synchronized with the movement with slide block.The spider center slide block just can be done rectilinear motion along " X sliding axis " like this.The motion of formation directions X.
Same, y-axis stepper motor drives " Y power-X sliding axis " by band synchronously and rotatablely moves, and " Y power-X sliding axis " drives " Y servo-actuated-X sliding axis " by band synchronously and rotatablely moves, and synchronous being with in slide block and both sides fixed.Like this, slide block just can be done rectilinear motion.The X sliding axis is fixed by two side slides, is synchronized with the movement with slide block." X sliding axis " drives the spider center slide block and just can do rectilinear motion along " Y sliding axis " like this.The motion of formation Y-direction.
In order to have guaranteed the parallel of X-direction and Y-direction and vertically to have made the nozzle motion that is installed on the slide block of spider center along sliding, improve running precision, need to determine the relativeness between each power transmission shaft.
X-axis and Y-axis all adopt 42 stepper motors to drive, and synchronous pulley all is installed on motor shaft and the line shaft, and each synchronizing wheel gear ratio is 1:1, adopt S2M arc tooth to be with synchronously, and tooth pitch is 2mm.The synchronizing wheel number of teeth is .20.The step angle of stepper motor is 1.8 degree, adopts maximum 1/128 segmentation control circuit to drive.When being set to 1/32 segmentation, the minimum resolution that can calculate the motion of X-axis and Y-axis is:
(2×20)/(360/1.8×32)=0.00625mm
Namely 6.25 microns, this resolution ratio has satisfied the requirement of the XY motion being carried out accurate positioning control.
The present invention is simple and reliable for structure, has effectively guaranteed X power-Y sliding axis, and X is servo-actuated-the Y sliding axis, and Y power-X sliding axis and Y be servo-actuated-the depth of parallelism and perpendicularity between X sliding axis and X sliding axis and the Y sliding axis.
In order to achieve the above object, as shown in Figure 7, Y power-X sliding axis and Y servo-actuated-put a copper sheathing respectively on the X sliding axis, this copper sheathing and this axle are slidingly matched, the Y sliding axis is pressed on this two copper sheathing again, like this Y power-X sliding axis and Y servo-actuated-axis parallel degree between X sliding axis and the Y sliding axis is guaranteed, X power-Y sliding axis and the X of the other end be servo-actuated-Y-axis and X sliding axis also are installations like this.Two " ten " word axle adopts the tangent mode that contacts of optical axis with the connected mode of " mouth " word axle, can guarantee the uniformity of distance between axles like this, thereby make the flatness of XY axial cross walking mechanism be able to fine assurance.
The Z shaft portion of the walking mechanism of 3D printer of the present invention as shown in Figure 6, is formed mechanism assembly by two 12mm diameter optical axises, 12mm diameter 4mm pitch ball screw, supporting seat and a print platform.Two optical axises and screw mandrel are installed on the independent Z axle backboard by supporting seat, and the depth of parallelism problem of (two optical axis one rhizoid bars) has guaranteed Z axle kinematic accuracy when having solved three axles assemblings of Z axle so well.The Z axle assembly is by being bolted on the subrack backboard.
Control system obtains true relative displacement and the direction of two gratings by detecting the pulse signal of grating module A, B phase.When the grating chi is fixed on the machine frame, grating head is moved along with displacer, then can obtain the accurate mechanical displacement information of slide block.In the XY motion, by the compensation of closed-loop control, can realize accurately being synchronized with the movement of slide block, fluidity of motion and accuracy are provided.
(1) detection of the direction of motion
The phase place of supposing A, the pulse of B phase is respectively
Be reference with the pulse of A phase, an orientation left side is positive direction, then
If
Then slide block is to left movement;
If
Then slide block moves right, and detects the direction of motion of slide block with this.
(2) correction of moving displacement
Be example with the X-axis motion, establishing X-axis motion minimum resolution is p mm, and namely stepper motor whenever makes a move, and slide block moves p mm.Suppose that certain motion control process need slide block displacement is S, then as if adopting open loop control, can directly calculating required stepper motor motion step number be:
If the pitch of grating chi is d, then the required grid number of passing by of slide block displacement S is:
After the control step motor is passed by step number N, can obtain the actual grid of passing by of slide block by pulse count and count m, the pitch of whenever passing by, umber of pulse adds 1.
Ideally, m=M, but because there is actual m ≠ M in the error of open loop control.
When m＜M, need to increase stepper motor motion step number, correction formula is:
When m＞M, need reduce stepper motor motion step number, correction formula is:
After the correction, can record the actual grid of passing by of slide block and count m '=M, thereby accurately control slide block displacement S.
(3) XY motion closed-loop control
As shown in Figure 8, in the XY motion of the present invention, " mouth " font structure that requires four optical axises to constitute is vertical mutually with two " ten " word center spindle structure, is desirable vertical relation with X, the Y-direction that guarantees kinematic system.But owing to the existence of factors such as machine error, motor desynchronizing, belt stretch, not exclusively vertical situation may appear in these two structures.
Suppose two " ten " word axles and ideal position difference angle δ, in certain motion, only control X-axis moving displacement S
x, as shown below.Because the existence of error angle δ, the single shaft motion of X-axis by the coupling of central slider, can cause Y-axis to produce corresponding side-play amount:
Δy=S
xgsinδ
When adopting open loop control mode, this side-play amount can't detect, and also can't eliminate.The introducing of closed-loop control makes this side-play amount to be detected by the grating of Y-axis, thereby revises in real time by closed loop control algorithm.When Y-axis is carried out single shaft motion and caused the X-axis skew, also can detect by the grating of X-axis and revise.
Like this, just can the displacement error that, electromechanics step pitch unequal reason flexible owing to belt cause be compensated, thereby realize the accurate control of XY motion, greatly improve fineness, uniformity and the reliability of printing.
The control system block diagram of 3D printer of the present invention as shown in Figure 9.The three-dimensional modeling data that need print is converted to G code by hierarchy slicing software, and the process print control program is transmitted by USB port or directly read by the SD card then.Master controller mainly carries out communications protocol processing, command interpretation, encoder decoding, motion control arithmetic realization, Electric Machine Control, temperature control and human-computer interactive control etc.The wherein motion of X, Y, Z Electric Machine Control three-dimensional mechanism, E1, E2 motor are controlled first and second wire feeders respectively.The actual position information of X, Y, Z reads by grating encoder, and feeds back to master controller, accurately locatees via the three-dimensional coordinate of motion control arithmetic and closed loop control algorithm realization full cut-off ring.
The temperature of nozzle is read by a K type thermocouple, is converted to the voltage signal that main controller reads through amplifier.The temperature control of nozzle is accurately controlled by the PID FUZZY ALGORITHMS FOR CONTROL of main controller inside.Print platform is heated by the heating plate that is installed in the platform below, to improve the adhesive force of model on print platform.The temperature of print platform reads master controller by temperature sensor equally, carries out temperature control by pid algorithm then.
Refrigerating plant is by regulating to realize Strength Changes to the power supply of fan or air pump, and control signal adopts pulse width modulation (PWM) mode, produces control signal by master controller and is connected to drive circuit.Master controller temperature inside control algolithm is regulated the control signal of refrigerating plant equally by the feedback of reading temperature sensor, thereby realizes the complete closed-loop control of temperature.
Fusion sediment moulding high speed 3D printer and the control method of the employing closed-loop control of this invention have been utilized, because this 3D printer has grating module, grating chi wherein is fixed on the machine frame, and the grating reader then can obtain extruding the accurate mechanical displacement information of shower nozzle along with extruding the shower nozzle motion.Print in the walking mechanism at the XY axle, by the compensation of closed-loop control, realize the accurate motion compensation for walking mechanism, improve the accuracy of extruding nozzle position, thereby significantly improve the 3D printing precision, can satisfy the specification requirement that high accuracy is printed, and the fusion sediment moulding high speed 3D printer of employing closed-loop control of the present invention, its structure is simple relatively, with low cost, control method of the present invention, implementation is simple, and range of application is also quite extensive.
In this specification, the present invention is described with reference to its certain embodiments.But, still can make various modifications and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (9)
1. fusion sediment moulding high speed 3D printer that adopts closed-loop control, it comprises:
Machine frame;
Print platform is connected in described machine frame;
Print walking mechanism, be connected in described machine frame;
Extrude shower nozzle, be connected in described printing walking mechanism;
Driver module connects and drives described printing walking mechanism;
It is characterized in that, also comprise:
Grating module is fixed in described machine frame and extrudes shower nozzle, for detection of the actual displacement of extruding shower nozzle; And
Control module is used for controlling described driver module according to the print data of setting, and extrudes the actual displacement of shower nozzle and the error between the described print data compensates control according to described.
2. the fusion sediment moulding high speed 3D printer of employing closed-loop control according to claim 1, it is characterized in that, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis is printed walking mechanism, and the described shower nozzle of extruding is fixed in the position that described X-axis and Y-axis intersect and can moves in the described X-axis in the control lower edge of described driver module and y-axis shift.
3. the fusion sediment moulding high speed 3D printer of employing closed-loop control according to claim 2 is characterized in that described grating module comprises:
X-axis grating chi is fixed in described machine frame, and is parallel to described X-axis;
Y-axis grating chi is fixed in described machine frame, and is parallel to described Y-axis;
X-axis grating reader is fixed in and describedly extrudes shower nozzle and connect described control module, extrudes shower nozzle along the displacement data of X-axis in order to cooperate described X-axis grating chi to read;
Y-axis grating reader is fixed in and describedly extrudes shower nozzle and connect described control module, extrudes shower nozzle along the displacement data of Y-axis in order to cooperate described Y-axis grating chi to read.
4. the fusion sediment moulding high speed 3D printer of employing closed-loop control according to claim 3 is characterized in that described driver module comprises:
The X-axis motor connects described control module, and the described shower nozzle of extruding of driving moves along described X-axis under the control of control module;
Y-axis motor connects described control module, and the described shower nozzle of extruding of driving moves along described Y-axis under the control of control module.
5. the fusion sediment moulding high speed 3D printer of employing closed-loop control according to claim 4, it is characterized in that, described control module comprises the compensation control module, described X-axis motor and y-axis motor are stepper motor, and described compensation control module is determined step number N' after the compensation of described X-axis stepper motor and y-axis stepper motor according to following formula:
Wherein, S extrudes the distance that shower nozzle need move, and p drives to extrude the distance that shower nozzle moves in each step of stepper motor; D is the pitch of described grating module; M is for to extrude the required grid number of passing by of shower nozzle displacement S according to print data, and m is the grid number of extruding the actual required movement of shower nozzle.
6. the fusion sediment moulding high speed 3D printer of employing closed-loop control according to claim 2, it is characterized in that, described printing walking mechanism is printed walking mechanism for diesis shape, this diesis shape is printed walking mechanism and is comprised two parallel X-axis and two parallel Y-axis, described X-axis is vertical with Y-axis, and the described shower nozzle of extruding is fixed in described two X-axis and two positions that Y-axis intersects.
7. according to the fusion sediment moulding high speed 3D printer of each described employing closed-loop control in the claim 2 to 6, it is characterized in that, described printing walking mechanism also comprises the Z axle, described Z axle is fixed in described machine frame and perpendicular to described X-axis and Y-axis, described print platform can move both vertically along described Z axle.
8. one kind is utilized the described fusion sediment moulding of claim 1 high speed 3D printer to realize it is characterized in that for the closed loop control method of printing walking mechanism described method may further comprise the steps:
(1) described driver module is controlled described printing walking mechanism according to print data and is moved;
(2) described grating module detects the actual displacement of extruding shower nozzle of being fixed in described printing walking mechanism;
(3) described control module is determined error according to described actual displacement and print data comparative result;
(4) described control module is controlled described driver module according to described error and is compensated.
9. the fusion sediment moulding high speed 3D printer that utilizes according to claim 8 is realized for the closed loop control method of printing walking mechanism, it is characterized in that, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis is printed walking mechanism, described driver module comprises X-axis stepper motor and y-axis stepper motor, described control module comprises the compensation control module, and described step (4) specifically may further comprise the steps:
(41) described compensation control module is determined step number N' after the compensation of described X-axis stepper motor or y-axis stepper motor according to following formula:
Wherein, S extrudes the distance that shower nozzle need move, and p drives to extrude the distance that shower nozzle moves in each step of stepper motor; D is the pitch of described grating module; M is for to extrude the required grid number of passing by of shower nozzle displacement S according to print data, and m is the grid number of extruding the actual required movement of shower nozzle;
(42) described compensation control module is determined X-axis stepper motor or y-axis stepper motor compensation step number Δ N according to following formula:
ΔN=N'-N，
Wherein, N is when extruding shower nozzle displacement S according to print data, the step number that X-axis stepper motor or y-axis stepper motor are required.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310330304 CN103341978A (en) | 2013-07-31 | 2013-07-31 | Fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and control method thereof |
| CN201410122566.1A CN103878981B (en) | 2013-07-31 | 2014-03-28 | Closed-loop control fused glass pellet high speed 3D printer and closed loop control method |
| CN201420149051.6U CN204054666U (en) | 2013-07-31 | 2014-03-28 | Fused glass pellet high speed 3D printer |
| US14/908,662 US20160167309A1 (en) | 2013-07-31 | 2014-07-30 | Closed-loop control fused deposition modeling high-speed 3d printer and closed-loop control method |
| PCT/CN2014/083358 WO2015014290A1 (en) | 2013-07-31 | 2014-07-30 | Closed-loop control fused deposition modeling high-speed 3d printer and closed-loop control method |
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| CN 201310330304 CN103341978A (en) | 2013-07-31 | 2013-07-31 | Fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and control method thereof |
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| CN103341978A true CN103341978A (en) | 2013-10-09 |
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| CN 201310330304 Pending CN103341978A (en) | 2013-07-31 | 2013-07-31 | Fused deposition forming high-speed three-dimensional (3D) printing machine adopting closed loop control and control method thereof |
| CN201410122566.1A Expired - Fee Related CN103878981B (en) | 2013-07-31 | 2014-03-28 | Closed-loop control fused glass pellet high speed 3D printer and closed loop control method |
| CN201420149051.6U Expired - Fee Related CN204054666U (en) | 2013-07-31 | 2014-03-28 | Fused glass pellet high speed 3D printer |
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| CN201410122566.1A Expired - Fee Related CN103878981B (en) | 2013-07-31 | 2014-03-28 | Closed-loop control fused glass pellet high speed 3D printer and closed loop control method |
| CN201420149051.6U Expired - Fee Related CN204054666U (en) | 2013-07-31 | 2014-03-28 | Fused glass pellet high speed 3D printer |
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Also Published As
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|---|---|
| CN103878981B (en) | 2016-03-23 |
| CN103878981A (en) | 2014-06-25 |
| CN204054666U (en) | 2014-12-31 |
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