CN104503491B - Method for controlling material increase manufacturing flow precision through predicting scanning speed - Google Patents
Method for controlling material increase manufacturing flow precision through predicting scanning speed Download PDFInfo
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- CN104503491B CN104503491B CN201410667170.5A CN201410667170A CN104503491B CN 104503491 B CN104503491 B CN 104503491B CN 201410667170 A CN201410667170 A CN 201410667170A CN 104503491 B CN104503491 B CN 104503491B
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Abstract
The invention relates to a method for controlling material increase manufacturing flow precision through predicting a scanning speed. According to the method, shaft servo motors are detected, change of an extrusion motor is controlled, a relation between the scanning speed and a discharging speed is established, and unnecessary errors caused by mechanical structures are reduced. Various shaft motors controlling motions of nozzles are equipped with encoders for detecting the motor speed in real time, and whether the speed of the extrusion motor is changed is determined by signals fed back through the encoders to a single-chip microcomputer, so the scanning speed and the discharging speed are guaranteed to be matched constantly, stability of extrusion wire width is guaranteed, and the method improves wire width precision.
Description
Technical field
The invention belongs to Automated condtrol, detection technique and quickly shaping device field are and in particular to by one kind and detect
The related closed loop control of technology is added in existing quickly shaping device, improves the wide precision of shaping silk, and and then improves into
The precision of type part.
Background technology
As the Typical Representative of increasing material manufacturing (am), fused glass pellet technology (abbreviation fdm) is current development prospect ratio
Broader Rapid Prototyping technique, has concise in technology, manufacturing speed is fast and raw material obtains the advantages of facilitate.But precision is not
The high main cause being denounced being always fdm, hinders application in terms of high-precision model for the fdm and further general
And.Typically there is at present following several direction to the accuracy improvements of fdm:
1. pair model layers become more meticulous.After threedimensional model is layered by computer software, each layer data is sent into forming machine and enters
Row successively prints.Each tomographic image is more accurate, then analyze the data drawing in more detail, the precision printing is more preferable.But this needs
Want the Digital Image Processing process of large amount of complex, improve software requirement, lead to cost uprises so that relatively inexpensive excellent of fdm
Gesture is no longer so obvious.
2. pair forming machine shower nozzle process modification.Mainly research material is entering shower nozzle and this mistake with thread ejection
Journey, be related to flowing stress of shower nozzle internal temperature, mechanical realization and material etc. it is ensured that discharging stable and smooth.Due to shower nozzle knot
Structure is complicated, connects each other between Multiple factors, often changes one, can bring the change of other factors, is relatively difficult to realize.
Content of the invention
The deficiencies in the prior art of the present invention, provide a kind of prediction scanning speed that passes through to control increasing material manufacturing flow accuracy side
Method.
The technical scheme that present invention solution technical problem is taken is:
One kind controls increasing material manufacturing flow accuracy method to comprise the following steps by predicting scanning speed:
1) go to detect x, y-axis servomotor speed with encoder.
2) signal that encoder measures is fed back to external microcontroller, a+, a-, b+, b-, 5v and sg of encoder are respectively
It is connected with the i/o mouth on single-chip microcomputer, setting i/o function is count mode, be easy to single-chip microcomputer and read.
3) inside single-chip microcomputer, signal is processed, and choose whether to send a signal to extruder motor driver, specifically
It is: single-chip microcomputer i/o accepts pulse signal and compares, when within the unit interval, the umber of pulse of statistics is different from setting value, to show
Current servomotor speed has occurred and that change, and shower nozzle is doing other path fashion.Differentiated and selected different path institutes
Corresponding rate-adaptive pacemaker is to extruder motor driver, thus changing discharging speed so that the live width in other path is close to main path
Live width.
4) driver connects single-chip microcomputer and sends signal and send gear-shift command to extruder motor, and driver is connected with single-chip microcomputer
Connect, the driver connected public oedoeagus of single-chip microcomputer 5v pin, the driver connected pulse signal end of pulse output pin, direction pin connects
The direction signal end of driver, optionally on pulse pin and direction pin, concatenation small resistor shields.
5) extruder motor receives the variable rate signal change speed that driver sends, and finally changes discharging speed, in driver
A+, a-, b+ and b- be connected to corresponding port on extruder motor.
The present invention passes through to detect axle servomotor, thus control break extruder motor, sets up a kind of scanning speed and discharging
The relation of speed, reduces the unnecessary error brought by frame for movement.Compile controlling to spray to install on cephalomotor each spindle motor
Code device real-time detection motor speed, by the speed of the signal deciding extruder motor whether to be changed to single-chip microcomputer for the encoder feedback
Degree, so that scanning speed is mated with the discharging speed moment it is ensured that extruding the wide stability of silk, provides one for improving the wide precision of silk
Plant new method.
Brief description
Fig. 1 is the performance chart of servomotor.
Fig. 2 is shower nozzle scanning pattern figure.
Fig. 3 is the wide enlarged drawing of silk.
Fig. 4 is the flow chart of the present invention.
Specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
It is an object of the invention to avoid the impact to the wide precision of silk for the shower nozzle actual motion track as far as possible, its technical basis is
The mechanical realization of work platformses working method.The root of shower nozzle movement velocity is the velocity composite of 2 servomotors of x, y-axis,
The motion of therefore shower nozzle is affected by servomotor operating characteristic.
As shown in figure 1, motor speed needs an acceleration time when initial velocity reaches setting n.Motor moving axis are held
Rotation makes shower nozzle in x(y) advance on direction of principal axis.According to the relation of machine driving spiral and helical pitch, following relation can be obtained
Formula:
Wherein v is axial velocity, and n is motor speed, phFor helical pitch.It can be seen that, axial velocity is linear with motor speed
Relation.When shower nozzle is in scanning curve or right-angle path, need to change to complete break-in by the instantaneous velocity of two motors,
And this is instantaneously the above-mentioned acceleration time.When can not be ignored for this acceleration time is compared to whole process, just
Can during this period of time occur that scanning speed is variable quantity and discharging speed keeps constant situation, cause scanning in this period
Speed is mismatched with discharging speed.But stable silk is wide to be that the scanning speed setting with fixing discharging speed obtains.
So, the mismatch of both speed eventually results in the change of live width.Above-mentioned situation is prevalent in right-angle path and curve road
Footpath.Right-angle path needs more acceleration time, because its velocity variable is than larger.Comparatively speaking, curved path then becomes
Change more slow, the linewidth error bringing is smaller with respect to right-angle path.
Referring to Fig. 4, the concrete grammar of the present invention is:
1) go to detect x, y-axis servomotor speed with encoder, method is the axle of encoder and motor using shaft coupling
Axle connects, and detects motor present speed.
2) signal that encoder measures is fed back to external microcontroller, a+, a-, b+, b-, 5v and sg of encoder are respectively
It is connected with the i/o mouth on single-chip microcomputer, setting i/o function is count mode, be easy to single-chip microcomputer and read.
3) inside single-chip microcomputer, signal is processed, and choose whether to send a signal to extruder motor driver.When watching
When taking motor speed change, the signal frequency of encoder feedback will occur accordingly to change, and is mainly reflected in changing in umber of pulse
Become.Single-chip microcomputer i/o accepts pulse signal and compares, and when within the unit interval, the umber of pulse of statistics is different from setting value, shows
Current servomotor speed has occurred and that change, shower nozzle do other path fashion (not in the path fashion of main path, if
Main path is straight line path, then curved path and right-angle path is then other paths).Program is differentiated and is selected different paths
Corresponding rate-adaptive pacemaker is to extruder motor driver, thus changing discharging speed so that the live width in other paths is close to straight line
The live width in path.This corresponding frequency can be obtained by the experiment of extruder motor speed and path live width.
4) driver connects single-chip microcomputer and sends signal and send gear-shift command to extruder motor, and driver is connected with single-chip microcomputer
Connect, the driver connected public oedoeagus of single-chip microcomputer 5v pin, the driver connected pulse signal end of pulse output pin, direction pin connects
The direction signal end of driver, optionally on pulse pin and direction pin, concatenation small resistor shields.
5) extruder motor receives the variable rate signal change speed that driver sends, and finally changes discharging speed, in driver
A+, a-, b+ and b- be connected to corresponding port on extruder motor.
Extruder motor speed and the experiment of path live width: fill as an example with orthoscopic, main path is straight line path, secondary road
Footpath is right-angle path, needs to consider the model then curved path to be added of profile.Measure first under extruder motor fixing speed
Straight line path live width.Detect the current pulse frequency controlling extruder motor fixing speed with oscillograph again, in units of 100hz
It is defeated that (can find that in experimentation the change of live width is less obvious when changing frequency less than 100hz) reduces driver successively
The frequency going out, measures right-angle path and the curved path line under each frequency with the mode of electronic vernier caliper or more preparation
Wide.So we have just obtained different frequency and the live width data under different path relations, just can be designed single according to this data
Piece machine program, so that passing through the output frequency of single-chip microcomputer adjust drivers under different paths, changes motor speed so that extruding
Live width identical it is ensured that the stability of precision.
Further illustrate part in conjunction with figure:
Physical model is set up to shower nozzle right angle motion path and is analyzed (Fig. 2).The scanning motion direction of shower nozzle is flat
Row is in x-axis and y-axis (it is assumed herein that analyze for convenience, under other angles scanning motion situation in the same manner).Because shower nozzle scanning speed
Degree is that the scanning speed in ao path is exactly the speed of x-axis motor by x-axis, the synthesis of y-axis motor speed, the scanning speed in the path of ob
Degree is exactly the speed of y-axis motor.Shower nozzle is slowed down in ao path, is accelerated motion in ob path.The scanning speed of shower nozzle
For v1, extruded velocity is v2, deceleration distance is all s equal to acceleration distance, and scanning speed is in time t used by deceleration distance1.
The actual deceleration motion lower time used by ao:
Time used by ao under acquiescence uniform motion:
?
Both time differences are:
On shower nozzle wire vent to this process and table top, the state of silk is analyzed, as shown in Figure 3 again.In normal not speed change
In the case of, the load in shower nozzle unit interval t is:
(1)
Shower nozzle be squeezed in quantity of material on work top (Density for material):
(2)
Because material is expressed into not running off table top or other loss in shower nozzle, so material is in this mistake
The quality of journey keeps constant before and after being, therefore can obtain with reference to (1) and (2):
(3)
From (3), as scanning speed v1During decline (less than pre-set velocity), if silk to be ensured wide 1 and Si Gao 2 are not
Become it is necessary to make v2With v1Reduction and reduce, and v in practical work process2It is always maintained at constant, cause shower nozzle to squeeze
Go out unnecessary material.The amount of this partly many clout be equivalent to extruder motor actual deceleration motion with used by acquiescence uniform motion
The amount of extrusion in time difference:
So, behind this 2 sections of paths of ao and ob, when through a right-angle path, extruded 2 times altogether more
Amount.
Claims (2)
1. one kind controls increasing material manufacturing flow accuracy method it is characterised in that the method includes following step by predicting scanning speed
Rapid:
1) go to detect x, y-axis servomotor speed with encoder；
2) signal that encoder measures is fed back to external microcontroller, a+, a-, b+, b-, 5v and sg of encoder respectively with list
I/o mouth on piece machine is connected, and setting i/o function is count mode, is easy to single-chip microcomputer and reads；Sg pin is the counting of encoder
Outfan；
3) inside single-chip microcomputer, signal is processed, and choose whether to send a signal to extruder motor driver, specifically: its
Its path is not in the path fashion of main path, if main path is straight line path, curved path and right-angle path are then it
Its path；Single-chip microcomputer i/o accepts pulse signal and compares, when within the unit interval, the umber of pulse of statistics is different from setting value,
Show that current servomotor speed has occurred and that change, shower nozzle is moving along other paths；Path is differentiated and is selected
Rate-adaptive pacemaker corresponding to different paths is to extruder motor driver, thus changing discharging speed so that the live width in other path
Live width close to main path；
4) driver connects single-chip microcomputer and sends signal and send gear-shift command to extruder motor, and driver is connected with single-chip microcomputer, single
The driver connected public oedoeagus of piece machine 5v pin, the driver connected pulse signal end of pulse output pin, direction pin connects driving
The direction signal end of device, on pulse output pin and direction pin, concatenation small resistor shields；
5) extruder motor receives the variable rate signal that sends of driver and changes speed, finally changes discharging speed, a+ in driver,
A-, b+ and b- are connected to corresponding port on extruder motor.
2. a kind of prediction scanning speed that passes through according to claim 1 controls increasing material manufacturing flow accuracy method, its feature
It is: the frequency determination mode corresponding to different paths is:
If main path is straight line path, other paths are right-angle path, need to consider the model then curved path to be added of profile；
Straight line path live width is measured first under extruder motor fixing speed；Detect current control extruder motor regulation with oscillograph again
The pulse frequency of speed, is reduced the frequency of driver output in units of 100hz successively, goes out each frequency with electronics vernier caliper measurement
Right-angle path under rate and curved path live width；Thus obtain different frequency and the live width data under different path relations,
Single Chip Microcomputer (SCM) program just can be designed according to this data so that passing through the output frequency of single-chip microcomputer adjust drivers under different paths
Rate, change motor speed so that the live width of extrusion identical it is ensured that the stability of precision.
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| CN105892283A (en) * | 2016-04-20 | 2016-08-24 | 杭州电子科技大学 | Method of improving width accuracy of melted extrusion manufactured wire through fuzzy control |
| CN110153643B (en) * | 2019-04-15 | 2020-05-12 | 浙江大学 | Method for eliminating accumulated errors in material increase and decrease manufacturing process |
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| JPH04173314A (en) * | 1990-11-07 | 1992-06-22 | Matsushita Electric Ind Co Ltd | Preplasticating type injection molding machine and its control method |
| CN201366765Y (en) * | 2009-04-08 | 2009-12-23 | 北京殷华激光快速成形与模具技术有限公司 | Prototyping system for material stacking and extrusion structure thereof |
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| JPH04173314A (en) * | 1990-11-07 | 1992-06-22 | Matsushita Electric Ind Co Ltd | Preplasticating type injection molding machine and its control method |
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