CN104698981A - Rapid-forming automatic powder spreading quantity adjusting closed-loop control system and method - Google Patents

Abstract

The invention discloses a rapid-forming automatic powder spreading quantity adjusting closed-loop control system. The system comprises a powder spreading time detection mechanism, a powder spreading controller, a computer, a servo motor, a servo driver and a zero-point travel switch; the servo driver is connected with the output end of the powder spreading controller; the servo motor is connected with the servo driver; the zero-point travel switch is mounted on a powder spreading platform and connected with the input end of the powder spreading controller; the powder spreading time detection mechanism comprises a fixed support, an upper powder falling pipe, a lower powder falling pipe and a photoelectric sensor; a transparent pipe is connected between the upper powder falling pipe and the lower powder falling pipe; the emission end and the receiving end of the photoelectric sensor are located on the two sides of the transparent pipe, respectively; the input end of the powder spreading controller is connected with a timer; the signal output end of the photoelectric sensor is connected with the signal input end of the timer. The invention also discloses a rapid-forming automatic powder spreading quantity adjusting closed-loop control method. The rapid-forming automatic powder spreading quantity adjusting closed-loop control system is capable of realizing high-precision control of the powder spreading quantity and improving the forming precision and quality of parts.

Description

The Quick-forming paving powder automatic regulation closed-loop control system of powder amount and method

Technical field

The invention belongs to Rapid Prototyping technique field, be specifically related to a kind of Quick-forming paving powder automatic regulation closed-loop control system of powder amount and method.

Background technology

Automatic power spreading high energy beam selective melting technology is the direct 3D printing technique of metal parts that newly-developed gets up, its principle utilizes computing machine to three-dimensional CAD model layering and carries out cross section information process, then cross-section data is inputted in 3D printer, 3D printer successively spreads according to cross-section data and send metal powder and utilize high energy beam to melt powder bed selection area, and all cross sections obtain the Three-dimensional Entity Components of project organization shape after successively melting superposition forming.Paving powder process is the critical process in automatic power spreading high energy beam selective melting technology, and the thickness of powder bed and the forming effect of homogeneity to forming technology and whole part have significant impact.In forming process, the thick bisque thickness that must obtain with part model computing machine subdivision of actual paving bisque is consistent, and paving powder powder amount has decisive influence to bisque thickness.But because paving powder powder amount is difficult to carry out directly accurately detecting, in scraper plate conventional at present/chip paving powder method, adopt Pu Fen mechanism at paving powder platform upper berth powder, paving powder scraping blade is installed in Pu Fen mechanism, control paving bisque by the landing of control forming platform thick, do not have Quick-forming to spread powder powder amount detecting device, accurately cannot detect paving powder powder amount in real time, more cannot compensate adjustment in real time according to the actual powder amount that needs, thus have impact on optimizing and revising of high energy beam selective melting technique.If paving powder powder amount too small appearance paving powder region paving powder is incomplete, the error of part forming size can be caused, part forming failure can be caused time serious, and spread the excessive powder that causes of powder powder amount and waste, part forming termination that is shaped because of scarce powder can be caused time serious, have a strong impact on the stability of high energy beam selective melting technique, formation of parts usually therefore existing defects or scrap.At present, the mode of the quantitative powder feeding generally adopted is an open-loop control system, be difficult to compensate adjustment according to actual conditions in real time to powder amount, cannot ensure that actual single berth bisque is thick, and adopt 2 ~ 4 times of actual powder amount of crossing methods needing powder amount, powder waste is serious, still uncontrollable to true bisque powder amount.

Summary of the invention

Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, provides the automatic regulation closed-loop control system of Quick-forming paving powder powder amount that a kind of structure is simple, novel in design rationally, realization is convenient and cost is low, paving powder powder amount control accuracy is high, reliability is high.

For solving the problems of the technologies described above, the technical solution used in the present invention is: the automatic regulation closed-loop control system of a kind of Quick-forming paving powder powder amount, it is characterized in that: comprise Pu Fen time detecting mechanism, paving powder controller and the computing machine connected with paving powder controller, and for driving the servomotor of paving powder mechanism kinematic, for driving the servo-driver of servomotor and the travel switch at zero point for marking the zero position spreading powder mechanism kinematic, described servo-driver connects with the output terminal of paving powder controller, described servomotor connects with servo-driver, travel switch to be arranged on paving powder platform and to connect with the input end of paving powder controller described zero point, described Pu Fen time detecting mechanism comprises fixed support and is fixedly connected on the upper powder sinking tube on fixed support, lower powder sinking tube and photoelectric sensor, light-permeable pipe is connected with between described upper powder sinking tube and lower powder sinking tube, the transmitting terminal of described photoelectric sensor and receiving end lay respectively at the both sides of light-permeable pipe, the input end of described paving powder controller is connected to timer, and the signal output part of described photoelectric sensor connects with the signal input part of timer.

The above-mentioned automatic regulation closed-loop control system of Quick-forming paving powder powder amount, is characterized in that: described upper powder sinking tube and lower powder sinking tube are all fixedly connected on fixed support by nut vertical, and described photoelectric sensor level is fixedly connected on fixed support.

The above-mentioned automatic regulation closed-loop control system of Quick-forming paving powder powder amount, it is characterized in that: described support bracket fastened top is provided with the upper fixed orifice kept supplying powder sinking tube and pass, described upper powder sinking tube passes upper fixed orifice and is fixedly connected on fixed support by two nut vertical laid respectively at bottom upper fixed orifice top and upper fixed orifice; Described support bracket fastened bottom is provided with the lower fixed hole passed for lower powder sinking tube, and described lower powder sinking tube is passed lower fixed hole and is fixedly connected on fixed support by two nut vertical laid respectively at bottom lower fixed hole top and lower fixed hole.

The above-mentioned automatic regulation closed-loop control system of Quick-forming paving powder powder amount, it is characterized in that: described support bracket fastened side is provided with the side fixed orifice supplying the signal output part of photoelectric sensor to pass, the bottom that described support bracket fastened side is positioned at side fixed orifice is provided with the horizontal ledge protruded to lateral inner, and the signal output part of described photoelectric sensor is passed side fixed orifice and is fixedly connected on fixed support by the mode level be fixedly connected with horizontal ledge.

The above-mentioned automatic regulation closed-loop control system of Quick-forming paving powder powder amount, is characterized in that: described light-permeable pipe clamp is connected between powder sinking tube and lower powder sinking tube, and described light-permeable pipe is transparent glass tube.

The above-mentioned automatic regulation closed-loop control system of Quick-forming paving powder powder amount, it is characterized in that: described paving powder platform is provided with for carrying out spacing left limit switch to paving powder mechanism kinematic to the left margin position of paving powder platform and for carrying out spacing right limit switch to paving powder mechanism kinematic to the right edge placement spreading powder platform, described left limit switch and right limit switch all connect with the input end spreading powder controller.

Present invention also offers a kind of method step simple, powder powder amount can be spread by Real_time quantitative detection, and real-Time Compensation is made to paving powder powder amount error, powder position is got in real-time adjustment, change and get powder amount, the high precision realizing paving powder powder amount controls, and the Quick-forming paving powder powder amount that can improve part forming precision and quality regulates closed loop control method automatically, it is characterized in that the method comprises the following steps:

Step one, on paving powder platform, open the pore that a diameter matches with the caliber of upper powder sinking tube, upper powder sinking tube is fixed on pore place, and makes the upper orifice of powder sinking tube exceed the upper surface 0mm ~ 2mm spreading powder platform;

Step 2, power on after, paving powder controller is rotated by servo driver drives servomotor, servomotor drives paving powder mechanism kinematic, find travel switch at zero point, when zero point travel switch detect paving powder mechanism kinematic to zero point travel switch position time, output detections signal gives paving powder controller, paving powder controller by zero point travel switch location transmission to computing machine, the position of computing machine to travel switch at zero point marks and this position data is designated as zero position;

Step 3, when paving powder will be carried out, input on computers and initially get powder position d _just, computing machine will initially get powder position d _justbe transferred to paving powder controller, first, paving powder controller drives paving powder mechanism kinematic to initially getting powder position d by servo driver drives servomotor _justpowder is got at place, then, paving powder controller drives Pu Fen mechanism paving powder by servo driver drives servomotor, when being arranged on the upper orifice of the paving powder scraping blade in Pu Fen mechanism through upper powder sinking tube, exceed the powder of the upper orifice of upper powder sinking tube successively through upper powder sinking tube, light-permeable pipe and lower powder sinking tube flow out, photoelectric sensor detects in real time the signal that powder flows through light-permeable pipe and the signal detected is exported to timer in real time, timer starts timing when photoelectric sensor starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor disappears, thus timing obtains the time t that powder flows through light-permeable pipe, and the time t powder that its timing obtains being flow through light-permeable pipe is transferred to paving powder controller, wherein, d _justunit be mm,

The time t that the powder that step 4, paving powder controller are received flows through light-permeable pipe substitutes into and to build in advance and paving powder powder amount y stored therein and powder flow through the relational expression model y=a of the time t of light-permeable pipe ₀+ a ₁e ^-t+ a ₂te ^-tin, calculate paving powder powder amount y;

Wherein, structure paving powder powder amount y and powder flow through the relational expression model y=a of the time t of light-permeable pipe in advance ₀+ a ₁e ^-t+ a ₂te ^-tdetailed process be:

Step 401, on paving powder platform, open the pore that a diameter matches with the caliber of upper powder sinking tube, upper powder sinking tube is fixed on pore place, and makes the upper orifice of powder sinking tube exceed the upper surface 0mm ~ 2mm spreading powder platform;

Step 402, spread n powder, during paving i-th powder, pawnshop powder scraping blade is through the upper orifice of upper powder sinking tube, exceed the powder of the upper orifice of upper powder sinking tube successively through upper powder sinking tube, light-permeable pipe and lower powder sinking tube flow out, photoelectric sensor detects in real time the signal that powder flows through light-permeable pipe and the signal detected is exported to timer in real time, timer starts timing when photoelectric sensor starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor disappears, thus timing when obtaining paving i-th powder powder flow through the time T of light-permeable pipe _i, and the powder that its timing obtains is flow through the time T of light-permeable pipe _ibe transferred to paving powder controller, the powder that paving powder controller is received again flows through the time T of light-permeable pipe _ibe transferred to computing machine, computer recording paving n its powder received of powder flows through the time T of light-permeable pipe ₁, T ₂..., T _n, and after having spread i-th powder, weigh the powder weight value W of i-th paving powder _iand record, by n powder weight value W of paving n the powder of record ₁, W ₂..., W _ninput computing machine, n powder weight value W of computer recording paving n powder ₁, W ₂..., W _n, wherein, the value of n be not less than 3 natural number, the value of i is the natural number of 1 ~ n,

Paving n powder powder is flow through the time T of light-permeable pipe by step 403, computing machine ₁, T ₂..., T _nbe configured to the data set t=[T that powder flows through the time t of light-permeable pipe ₁, T ₂..., T _n] and store, and by n powder weight value W of paving n powder ₁, W ₂..., W _nbe configured to the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] and store;

Step 404, computing machine structure paving powder powder amount y and powder flow through the relational expression model y=a of the time t of light-permeable pipe ₀+ a ₁e ^-t+ a ₂te ^-t, and powder is flow through the data set t=[T of the time t of light-permeable pipe ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] substitute into paving powder powder amount y and powder flows through the relational expression model y=a of the time t of light-permeable pipe ₀+ a ₁e ^-t+ a ₂te ^-tin, obtain matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right];$

The method that step 405, computing machine adopt linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, just obtain coefficient a ₀, a ₁and a ₂known paving powder powder amount y and powder flow through the relational expression model y=a of the time t of light-permeable pipe ₀+ a ₁e ^-t+ a ₂te ^-t; Wherein, e is natural constant;

Paving powder powder amount y substitutes into and builds in advance and paving powder amount y stored therein and the relational expression model getting powder position d by step 5, paving powder controller in, calculate and get powder position d; Wherein, the unit of d is mm;

Wherein, paving powder amount y and the relational expression model getting powder position d is built in advance detailed process be: repeat step one to step 4 spread twice powder, record paving first time powder time step 3 in input on computers initially get powder position d _{first 1}with the paving powder powder amount y calculated in step 4 ₁; And record paving second time powder time step 3 in input on computers initially get powder position d _{first 2}with the paving powder powder amount y calculated in step 4 ₂; Then system of equations is built and solve and obtain coefficient k ₀and k ₁; Finally build coefficient k ₀and k ₁known paving powder amount y and the relational expression model getting powder position d

Step 6, paving powder controller are according to formula Δ d=d _just-d calculate need adjustment get powder position Δ d, and according to formula d _{next time}the next time that=d+ Δ d calculates after adjustment gets powder position d _{next time}, when next time gets powder, paving powder controller drives paving powder mechanism kinematic to get powder position d to next time by servo driver drives servomotor _{next time}powder is got at place; Wherein, Δ d and d _{next time}unit be mm.

Above-mentioned method, is characterized in that: the powder weight value W adopting electronic scale weighing i-th paving powder in step 402 _i.

Above-mentioned method, is characterized in that: described in step 403, computing machine is by powder) flow through the data set t=[T of the time t of light-permeable pipe ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] be stored in EXCEL file with the form of two column datas.

Above-mentioned method, is characterized in that: step 404 and step 405 computing machine all complete in MATLAB software, and the method that computing machine described in step 405 adopts linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, the backslash operational character that specifically have employed in MATLAB solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂.

The present invention compared with prior art has the following advantages:

1, the structure of the automatic regulation closed-loop control system of Quick-forming paving powder powder amount of the present invention is simple, rationally novel in design, and realization is convenient and cost is low.

2, the time that powder flows through light-permeable pipe is detected by photoelectric sensor by Pu Fen time detecting mechanism of the present invention, and calculate paving powder powder amount accordingly, can Real_time quantitative detection paving powder powder amount, have that detection sensitivity is high, accuracy of detection is high, fast response time, an advantage such as, the impact that be not subject to extraneous other light sources high without hysteresis phenomenon, reliability.

3, the present invention's fast Quick-forming paving powder powder amount regulates the method step of closed loop control method simple automatically, paving powder powder amount can be obtained in real time according to paving powder Time Calculation, again the difference of current paving powder powder amount and initial powder amount is fed back in closed loop control method, real-Time Compensation can be made to paving powder powder amount error, powder position is got in real-time adjustment, change and get powder amount, the high precision realizing paving powder powder amount controls.

4, present invention achieves actual paving powder powder amount to control with the theoretical consistance spreading powder powder amount, can be used in the high energy beam selective melting technology of Quick-forming, solve existing paving powder system paving powder thickness undesirable, cause the problems such as the complete and powder waste of paving powder region paving powder, part forming precision and quality can be improved, practical, result of use is good, is convenient to promote the use of.

In sum, realization of the present invention is convenient and cost is low, powder powder amount can be spread by Real_time quantitative detection, and real-Time Compensation is made to paving powder powder amount error, powder position is got in adjustment in real time, changes and gets powder amount, the high precision realizing paving powder powder amount controls, part forming precision and quality can be improved, practical, be convenient to promote the use of.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Accompanying drawing explanation

Fig. 1 is the structural representation of the automatic regulation closed-loop control system of Quick-forming of the present invention paving powder powder amount.

Fig. 2 is the using state schematic diagram of the automatic regulation closed-loop control system of Quick-forming of the present invention paving powder powder amount.

Description of reference numerals:

1-fixed support; 2-upper powder sinking tube; 3-lower powder sinking tube;

4-photoelectric sensor; 5-light-permeable pipe; 6-paving powder controller;

7-timer; 8-computing machine; 9-nut;

10-upper fixed orifice; 11-lower fixed hole; 12-side fixed orifice;

13-horizontal ledge; 14-paving powder platform; 15-powder;

16-servomotor; 17-servo-driver; 18-zero point travel switch;

19-left limit switch; 20-right limit switch; 21-Pu Fen mechanism.

Embodiment

As shown in Figure 1, the computing machine 8 that the present invention includes Pu Fen time detecting mechanism, paving powder controller 6 and connect with paving powder controller 6, and for drive Pu Fen mechanism 21 to move servomotor 16, for driving the servo-driver 17 of servomotor 16 and the travel switch 18 at zero point for marking the zero position that Pu Fen mechanism 21 moves, described servo-driver 17 connects with the output terminal of paving powder controller 6, described servomotor 16 connects with servo-driver 17, and travel switch 18 to be arranged on paving powder platform 14 and to connect with the input end of paving powder controller 6 described zero point; Described Pu Fen time detecting mechanism comprises fixed support 1 and is fixedly connected on upper powder sinking tube 2, lower powder sinking tube 3 and the photoelectric sensor 4 on fixed support 1, light-permeable pipe 5 is connected with between described upper powder sinking tube 2 and lower powder sinking tube 3, the transmitting terminal of described photoelectric sensor 4 and receiving end lay respectively at the both sides of light-permeable pipe 5, the input end of described paving powder controller 6 is connected to timer 7, and the signal output part of described photoelectric sensor 4 connects with the signal input part of timer 7.

As shown in Figure 1, in the present embodiment, described upper powder sinking tube 2 and lower powder sinking tube 3 are all vertically fixedly connected on fixed support 1 by nut 9, and described photoelectric sensor 4 level is fixedly connected on fixed support 1.

As shown in Figure 1, in the present embodiment, the top of described fixed support 1 is provided with the upper fixed orifice 10 kept supplying powder sinking tube 2 and pass, and described upper powder sinking tube 2 passes upper fixed orifice 10 and is vertically fixedly connected on fixed support 1 by two nuts 9 laid respectively at bottom upper fixed orifice 10 top and upper fixed orifice 10; The bottom of described fixed support 1 is provided with the lower fixed hole 11 passed for lower powder sinking tube 3, and described lower powder sinking tube 3 is passed lower fixed hole 11 and is vertically fixedly connected on fixed support 1 by two nuts 9 laid respectively at bottom lower fixed hole 11 top and lower fixed hole 11.

As shown in Figure 1, in the present embodiment, the side of described fixed support 1 is provided with the side fixed orifice 12 supplying the signal output part of photoelectric sensor 4 to pass, the bottom that the side of described fixed support 1 is positioned at side fixed orifice 12 is provided with the horizontal ledge 13 protruded to lateral inner, and the signal output part of described photoelectric sensor 4 is passed side fixed orifice 12 and is fixedly connected on fixed support 1 by the mode level be fixedly connected with horizontal ledge 13.

As shown in Figure 1, in the present embodiment, described light-permeable pipe 5 is connected between powder sinking tube 2 and lower powder sinking tube 3, and described light-permeable pipe 5 is transparent glass tube.

As depicted in figs. 1 and 2, in the present embodiment, the left margin position described paving powder platform 14 is provided with for moving to paving powder platform 14 to Pu Fen mechanism 21 carries out spacing left limit switch 19 and the right edge placement for moving to paving powder platform 14 to Pu Fen mechanism 21 carries out spacing right limit switch 20, and described left limit switch 19 and right limit switch 20 all connect with the input end of paving powder controller 6.

During concrete enforcement, paving powder controller 6 is PLC module or single-chip microcomputer.

Quick-forming paving powder powder amount of the present invention regulates closed loop control method automatically, comprises the following steps:

Step one, as shown in Figure 2, paving powder platform 14 is opened the pore that a diameter matches with the caliber of upper powder sinking tube 2, upper powder sinking tube 2 is fixed on pore place, and make the upper orifice of powder sinking tube 2 exceed the upper surface 0mm ~ 2mm spreading powder platform 14;

Step 2, power on after, paving powder controller 6 drives servomotor 16 to rotate by servo-driver 17, servomotor 16 drives Pu Fen mechanism 21 to move, searching travel switch at zero point 18, when zero point, travel switch 18 detected that Pu Fen mechanism 21 moves to the position of travel switch 18 at zero point, output detections signal gives paving powder controller 6, paving powder controller 6 by zero point travel switch 18 location transmission to computing machine 8, the position of 8 pairs, computing machine travel switch at zero point 18 marks and this position data is designated as zero position;

Step 3, when paving powder will be carried out, computing machine 8 inputs and initially gets powder position d _just, computing machine 8 will initially get powder position d _justbe transferred to paving powder controller 6, first, paving powder controller 6 drives servomotor 16 to drive Pu Fen mechanism 21 to move to by servo-driver 17 and initially gets powder position d _justpowder is got at place, then, paving powder controller 6 drives servomotor 16 to drive Pu Fen mechanism 21 to spread powder by servo-driver 17, when being arranged on the upper orifice of the paving powder scraping blade in Pu Fen mechanism 21 through upper powder sinking tube 2, exceed the powder 15 of the upper orifice of upper powder sinking tube 2 successively through upper powder sinking tube 2, light-permeable pipe 5 and lower powder sinking tube 3 flow out, the signal that photoelectric sensor 4 pairs of powder 15 flow through light-permeable pipe 5 detects in real time and the signal detected is exported to timer 7 in real time, timer 7 starts timing when photoelectric sensor 4 starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor 4 disappears, thus timing obtains the time t that powder 15 flows through light-permeable pipe 5, and the time t that the powder 15 its timing obtained flows through light-permeable pipe 5 is transferred to paving powder controller 6, wherein, d _justunit be mm, owing to being blinded by the propagation path of light of light-permeable pipe 5 when powder 15 flows through light-permeable pipe 5, therefore photoelectric sensor 4 has a detection signal, and when powder 15 has flowed, the detection signal of photoelectric sensor 4 will disappear, during concrete enforcement, paving powder controller 6 drives servomotor 16 to drive Pu Fen mechanism 21 with the paving powder speed of 100mm/s ~ 400mm/s paving powder by servo-driver 17.

The time t that the powder 15 that step 4, paving powder controller 6 are received flows through light-permeable pipe 5 substitutes into and to build in advance and paving powder powder amount y stored therein and powder 15 flow through the relational expression model y=a of the time t of light-permeable pipe 5 ₀+ a ₁e ^-t+ a ₂te ^-tin, calculate paving powder powder amount y;

Wherein, structure paving powder powder amount y and powder 15 flow through the relational expression model y=a of the time t of light-permeable pipe 5 in advance ₀+ a ₁e ^-t+ a ₂te ^-tdetailed process be:

Step 401, on paving powder platform 14, open the pore that a diameter matches with the caliber of upper powder sinking tube 2, upper powder sinking tube 2 is fixed on pore place, and makes the upper orifice of powder sinking tube 2 exceed the upper surface 0mm ~ 2mm spreading powder platform 14;

Step 402, spread n powder, during paving i-th powder, pawnshop powder scraping blade is through the upper orifice of upper powder sinking tube 2, exceed the powder 15 of the upper orifice of upper powder sinking tube 2 successively through upper powder sinking tube 2, light-permeable pipe 5 and lower powder sinking tube 3 flow out, the signal that photoelectric sensor 4 pairs of powder 15 flow through light-permeable pipe 5 detects in real time and the signal detected is exported to timer 7 in real time, timer 7 starts timing when photoelectric sensor 4 starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor 4 disappears, thus timing when obtaining paving i-th powder powder 15 flow through the time T of light-permeable pipe 5 _i, and the powder 15 its timing obtained flows through the time T of light-permeable pipe 5 _ibe transferred to paving powder controller 6, the powder 15 that paving powder controller 6 is received again flows through the time T of light-permeable pipe 5 _ibe transferred to computing machine 8, computing machine 8 records the time T that paving n its powder 15 received of powder flows through light-permeable pipe 5 ₁, T ₂..., T _n, and after having spread i-th powder, weigh the powder weight value W of i-th paving powder _iand record, by n powder weight value W of paving n the powder of record ₁, W ₂..., W _ninput computing machine 8, computing machine 8 records n powder weight value W of paving n powder ₁, W ₂..., W _n, wherein, the value of n be not less than 3 natural number, the value of i is the natural number of 1 ~ n,

In the present embodiment, in step 402, adopt the powder weight value W of electronic scale weighing i-th paving powder _i.

Paving n powder powder 15 is flow through the time T of light-permeable pipe 5 by step 403, computing machine 8 ₁, T ₂..., T _nbe configured to the data set t=[T that powder 15 flows through the time t of light-permeable pipe 5 ₁, T ₂..., T _n] and store, and by n powder weight value W of paving n powder ₁, W ₂..., W _nbe configured to the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] and store;

In the present embodiment, powder 15 is flow through the data set t=[T of the time t of light-permeable pipe 5 by computing machine 8 described in step 403 ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] be stored in EXCEL file with the form of two column datas.The relational expression model y=a of the time t of light-permeable pipe 5 is flow through in order to obtain paving powder powder amount y and powder 15 accurately ₀+ a ₁e ^-t+ a ₂te ^-t, the value of n is the bigger the better in theory, and therefore powder 15 flows through the data set t=[T of the time t of light-permeable pipe 5 ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] data volume comparatively large, be stored in EXCEL file, be convenient to the management of data on the one hand, facilitate on the other hand in MATLAB software, to utilize the data of xlsread order easily in Read EXCEL Document.

Step 404, computing machine 8 structure paving powder powder amount y and powder 15 flow through the relational expression model y=a of the time t of light-permeable pipe 5 ₀+ a ₁e ^-t+ a ₂te ^-t, and powder 15 is flow through the data set t=[T of the time t of light-permeable pipe 5 ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] substitute into paving powder powder amount y and powder 15 flows through the relational expression model y=a of the time t of light-permeable pipe 5 ₀+ a ₁e ^-t+ a ₂te ^-tin, obtain matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right];$ Wherein, coefficient a ₀, a ₁and a ₂for unknowm coefficient to be determined, because paving powder scraping blade evenly lays powder 15 on whole paving powder platform 14, when pawnshop powder powder amount increases or reduces, powder 15 height near the upper orifice of upper powder sinking tube 2 will increase or reduce, the powder 15 flowing to the upper orifice of powder sinking tube 2 like this will increase or reduce, respective streams will increase or reduce through the powder 15 of light-permeable pipe 5, and upper powder sinking tube 2, the caliber of light-permeable pipe 5 and lower powder sinking tube 3 is constant, the mobility of powder 15 is constant, therefore the time t that powder 15 flows through light-permeable pipe 5 will increase or reduce, the powder powder amount y that the present invention builds based on this principle just and powder 15 flow through the relational expression model y=a of the time t of light-permeable pipe 5 ₀+ a ₁e ^-t+ a ₂te ^-tthe time t flowing through light-permeable pipe 5 by detecting powder 15 reflects paving powder powder amount, and detect by photoelectric sensor 4 the time t that powder 15 flows through light-permeable pipe 5, have that detection sensitivity is high, accuracy of detection is high, fast response time, high without hysteresis phenomenon, reliability, not by the advantage such as impact of extraneous other light sources.

The method that step 405, computing machine 8 adopt linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, just obtain coefficient a ₀, a ₁and a ₂known paving powder powder amount y and powder 15 flow through the relational expression model y=a of the time t of light-permeable pipe 5 ₀+ a ₁e ^-t+ a ₂te ^-t; Wherein, e is natural constant;

In the present embodiment, step 404 and step 405 computing machine 8 all complete in MATLAB software, and the method that computing machine 8 described in step 405 adopts linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, the backslash operational character that specifically have employed in MATLAB solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂.Concrete program code is X=[ones (size (t)) exp (-t) t.*exp (-t)]; A=X y; Wherein, the implication of program code X=[ones (size (t)) exp (-t) t.*exp (-t)] is by matrix $\left[\begin{array}{ccc}1& e^{-t_1}& t_1{e}^{-t_1}\\ 1& e^{-t_2}& t_2{e}^{-t_2}\\ ...& ...& ...\\ 1& e^{-t_n}& t_n{e}^{-t_n}\end{array}\right]$ Be expressed as X, program code a=X the implication of y be adopt the backslash operational character in MATLAB to solve coefficient a ₀, a ₁and a ₂;

Paving powder powder amount y substitutes into and builds in advance and paving powder amount y stored therein and the relational expression model getting powder position d by step 5, paving powder controller 6 in, calculate and get powder position d; Wherein, the unit of d is mm; Coefficient k ₀and k ₁for unknowm coefficient to be determined; How many powder amounts of getting due to Pu Fen mechanism 21 determines paving powder powder amount y, and when getting powder position d increase or reduce, get powder amount accordingly just increase or reduce, paving powder powder amount y also increases with getting powder amount or reduces, and to get powder position d with the relation of getting powder amount be also linear, the present invention is just based on this principle the paving powder powder amount y built and the relational expression model getting powder position d

Wherein, paving powder amount y and the relational expression model getting powder position d is built in advance detailed process be: repeat step one to step 4 and spread twice powder (namely adopting step one to spread twice powder to the method for step 4), during record paving first time powder in step 3 on computing machine 8 input initially get powder position d _{first 1}with the paving powder powder amount y calculated in step 4 ₁(when being about to spread first time powder, in step 3, the powder position of initially getting of input on computing machine 8 is designated as d _{first 1}and record, the paving powder powder amount calculated in step 4 during paving first time powder is designated as y ₁and record); And record paving second time powder time step 3 on computing machine 8 input initially get powder position d _{first 2}with the paving powder powder amount y calculated in step 4 ₂(when being about to spread second time powder, in step 3, the powder position of initially getting of input on computing machine 8 is designated as d _{first 2}and record, the paving powder powder amount calculated in step 4 during paving second time powder is designated as y ₂and record); Then system of equations is built and solve and obtain coefficient k ₀and k ₁; Finally build coefficient k ₀and k ₁known paving powder amount y and the relational expression model getting powder position d

Step 6, paving powder controller 6 are according to formula Δ d=d _just-d calculate need adjustment get powder position Δ d, and according to formula d _{next time}the next time that=d+ Δ d calculates after adjustment gets powder position d _{next time}, when next time gets powder, paving powder controller 6 drives servomotor 16 to drive Pu Fen mechanism 21 to move to by servo-driver 17 and gets powder position d next time _{next time}powder is got at place; Wherein, Δ d and d _{next time}unit be mm.Get powder position by adjustment like this, just complete the automatic adjustment closed-loop control to paving powder powder amount, thus achieve paving bisque evenly and ensure that the accuracy of paving powder powder amount, avoid the problems such as the complete and powder waste of paving powder region paving powder.

The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.

Claims (10)

1. the automatic regulation closed-loop control system of Quick-forming paving powder powder amount, it is characterized in that: comprise Pu Fen time detecting mechanism, paving powder controller (6) and the computing machine (8) connected with paving powder controller (6), and the servomotor (16) for driving Pu Fen mechanism (21) to move, for driving the servo-driver of servomotor (16) (17) and the travel switch at zero point (18) for marking the zero position that Pu Fen mechanism (21) moves, described servo-driver (17) connects with the output terminal of paving powder controller (6), described servomotor (16) connects with servo-driver (17), described travel switch at zero point (18) is arranged on and spreads on powder platform (14) and connect with the input end of paving powder controller (6), described Pu Fen time detecting mechanism comprises fixed support (1) and is fixedly connected on the upper powder sinking tube (2) on fixed support (1), lower powder sinking tube (3) and photoelectric sensor (4), light-permeable pipe (5) is connected with between described upper powder sinking tube (2) and lower powder sinking tube (3), the transmitting terminal of described photoelectric sensor (4) and receiving end lay respectively at the both sides of light-permeable pipe (5), the input end of described paving powder controller (6) is connected to timer (7), the signal output part of described photoelectric sensor (4) connects with the signal input part of timer (7).

2. according to the automatic regulation closed-loop control system of Quick-forming paving powder powder amount according to claim 1, it is characterized in that: described upper powder sinking tube (2) and lower powder sinking tube (3) are all vertically fixedly connected on fixed support (1) by nut (9), and described photoelectric sensor (4) level is fixedly connected on fixed support (1).

3. according to the automatic regulation closed-loop control system of Quick-forming paving powder powder amount according to claim 2, it is characterized in that: the top of described fixed support (1) is provided with the upper fixed orifice (10) kept supplying powder sinking tube (2) and pass, described upper powder sinking tube (2) through upper fixed orifice (10) and by lay respectively at upper fixed orifice (10) top and upper fixed orifice (10) bottom two nuts (9) be vertically fixedly connected on fixed support (1); The bottom of described fixed support (1) is provided with the lower fixed hole (11) passed for lower powder sinking tube (3), and described lower powder sinking tube (3) is through lower fixed hole (11) and be vertically fixedly connected on fixed support (1) by two nuts (9) laying respectively at lower fixed hole (11) top and lower fixed hole (11) bottom.

4. according to the automatic regulation closed-loop control system of Quick-forming paving powder powder amount according to claim 2, it is characterized in that: the side of described fixed support (1) is provided with the side fixed orifice (12) supplying the signal output part of photoelectric sensor (4) to pass, the bottom that the side of described fixed support (1) is positioned at side fixed orifice (12) is provided with the horizontal ledge (13) protruded to lateral inner, the signal output part of described photoelectric sensor (4) is passed side fixed orifice (12) and is fixedly connected on fixed support (1) by the mode level be fixedly connected with horizontal ledge (13).

5. according to the automatic regulation closed-loop control system of Quick-forming paving powder powder amount according to claim 1, it is characterized in that: described light-permeable pipe (5) is connected between powder sinking tube (2) and lower powder sinking tube (3), described light-permeable pipe (5) is transparent glass tube.

6. according to the automatic regulation closed-loop control system of Quick-forming paving powder powder amount according to claim 1, it is characterized in that: the left margin position described paving powder platform (14) is provided with for moving to paving powder platform (14) to Pu Fen mechanism (21) carries out spacing left limit switch (19) and the right edge placement for moving to paving powder platform (14) to Pu Fen mechanism (21) carries out spacing right limit switch (20), and described left limit switch (19) and right limit switch (20) all connect with the input end of paving powder controller (6).

7. utilize the system as claimed in claim 1 automatically to regulate a method of carrying out closed-loop control to Quick-forming paving powder powder amount, it is characterized in that the method comprises the following steps:

Step one, on paving powder platform (14), open the pore that a diameter matches with the caliber of upper powder sinking tube (2), upper powder sinking tube (2) is fixed on pore place, and makes the upper orifice of powder sinking tube (2) exceed the upper surface 0mm ~ 2mm of paving powder platform (14);

Step 2, after powering on, paving powder controller (6) drives servomotor (16) to rotate by servo-driver (17), servomotor (16) drives Pu Fen mechanism (21) motion, find travel switch at zero point (18), when detecting that Pu Fen mechanism (21) moves to the position of travel switch at zero point (18) travel switch at zero point (18), output detections signal gives paving powder controller (6), spread powder controller (6) by the location transmission at travel switch at zero point (18) to computing machine (8), the position of computing machine (8) to travel switch at zero point (18) marks and this position data is designated as zero position,

Step 3, when paving powder will be carried out, initially get powder position d in the upper input of computing machine (8) _just, computing machine (8) will initially get powder position d _justbe transferred to paving powder controller (6), first, paving powder controller (6) drives servomotor (16) to drive Pu Fen mechanism (21) to move to by servo-driver (17) and initially gets powder position d _justpowder is got at place, then, paving powder controller (6) drives servomotor (16) to drive Pu Fen mechanism (21) paving powder by servo-driver (17), when being arranged on the upper orifice of paving powder scraping blade through upper powder sinking tube (2) in Pu Fen mechanism (21), exceed the powder (15) of the upper orifice of upper powder sinking tube (2) successively through upper powder sinking tube (2), light-permeable pipe (5) and lower powder sinking tube (3) flow out, photoelectric sensor (4) detects in real time the signal that powder (15) flows through light-permeable pipe (5) and the signal detected is exported to timer (7) in real time, timer (7) starts timing when photoelectric sensor (4) starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor (4) disappears, thus timing obtains the time t that powder (15) flows through light-permeable pipe (5), and the time t that the powder (15) its timing obtained flows through light-permeable pipe (5) is transferred to paving powder controller (6), wherein, d _justunit be mm,

The time t that step 4, paving powder controller (6) powder (15) that received flow through light-permeable pipe (5) substitutes into and to build in advance and paving powder powder amount y stored therein and powder (15) flow through the relational expression model y of the time t of light-permeable pipe (5) ₌a ₀+ a ₁e ^-t+ a ₂te ^-tin, calculate paving powder powder amount y;

Wherein, structure paving powder powder amount y and powder (15) flow through the relational expression model y of the time t of light-permeable pipe (5) in advance ₌a ₀+ a ₁e ^-t+ a ₂te ^-tdetailed process be:

Step 401, on paving powder platform (14), open the pore that a diameter matches with the caliber of upper powder sinking tube (2), upper powder sinking tube (2) is fixed on pore place, and makes the upper orifice of powder sinking tube (2) exceed the upper surface 0mm ~ 2mm of paving powder platform (14);

Step 402, spread n powder, during paving i-th powder, the upper orifice of pawnshop powder scraping blade through upper powder sinking tube (2), exceed the powder (15) of the upper orifice of upper powder sinking tube (2) successively through upper powder sinking tube (2), light-permeable pipe (5) and lower powder sinking tube (3) flow out, photoelectric sensor (4) detects in real time the signal that powder (15) flows through light-permeable pipe (5) and the signal detected is exported to timer (7) in real time, timer (7) starts timing when photoelectric sensor (4) starts output detections signal, and stop timing when the detection signal that it is exported to by photoelectric sensor (4) disappears, thus timing when obtaining paving i-th powder powder (15) flow through the time T of light-permeable pipe (5) _i, and the powder (15) its timing obtained flows through the time T of light-permeable pipe (5) _ibe transferred to paving powder controller (6), the powder (15) that paving powder controller (6) is received again flows through the time T of light-permeable pipe (5) _ibe transferred to computing machine (8), computing machine (8) record paving n its powder received (15) of powder flows through the time T of light-permeable pipe (5) ₁, T ₂..., T _n, and after having spread i-th powder, weigh the powder weight value W of i-th paving powder _iand record, by n powder weight value W of paving n the powder of record ₁, W ₂..., W _ninput computing machine (8), n powder weight value W of computing machine (8) record paving n powder ₁, W ₂..., W _n, wherein, the value of n be not less than 3 natural number, the value of i is the natural number of 1 ~ n,

Step 403, computing machine (8) will spread the time T that n powder powder (15) flows through light-permeable pipe (5) ₁, T ₂..., T _nbe configured to the data set t=[T that powder (15) flows through the time t of light-permeable pipe (5) ₁, T ₂..., T _n] and store, and by n powder weight value W of paving n powder ₁, W ₂..., W _nbe configured to the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] and store;

Step 404, computing machine (8) structure paving powder powder amount y and powder (15) flow through the relational expression model y of the time t of light-permeable pipe (5) ₌a ₀₊a ₁e ^-t+ a ₂te ^-t, and powder (15) is flow through the data set t=[T of the time t of light-permeable pipe (5) ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] substitute into paving powder powder amount y and powder (15) flows through the relational expression model y of the time t of light-permeable pipe (5) ₌a ₀+ a ₁e ^-t+ a ₂te ^-tin, obtain matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{{-t}_1}& t_1{e}^{{-t}_1}\\ 1& e^{{-t}_2}& t_2{e}^{{-t}_2}\\ ...& ...& ...\\ 1& e^{{-t}_n}& t_n{e}^{{-t}_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right];$

The method that step 405, computing machine (8) adopt linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{{-t}_1}& t_1{e}^{{-t}_1}\\ 1& e^{{-t}_2}& t_2{e}^{{-t}_2}\\ ...& ...& ...\\ 1& e^{{-t}_n}& t_n{e}^{{-t}_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, just obtain coefficient a ₀, a ₁and a ₂known paving powder powder amount y and powder (15) flow through the relational expression model y of the time t of light-permeable pipe (5) ₌a ₀+ a ₁e ^-t+ a ₂te ^-t; Wherein, e is natural constant;

Paving powder powder amount y substitutes into and builds in advance and paving powder amount y stored therein and the relational expression model getting powder position d by step 5, paving powder controller (6) in, calculate and get powder position d; Wherein, the unit of d is mm;

Wherein, paving powder amount y and the relational expression model getting powder position d is built in advance detailed process be: repeat step one to step 4 and spread twice powder, initially get powder position d in the upper input of computing machine (8) in step 3 during record paving first time powder _{first 1}with the paving powder powder amount y calculated in step 4 ₁; And initially get powder position d in the upper input of computing machine (8) in step 3 during record paving second time powder _{first 2}with the paving powder powder amount y calculated in step 4 ₂; Then system of equations is built and solve and obtain coefficient k ₀and k ₁; Finally build coefficient k ₀and k ₁known paving powder amount y and the relational expression model getting powder position d $d=\frac{y-k_1}{k_0};$

Step 6, paving powder controller (6) are according to formula Δ d=d _just-d calculate need adjustment get powder position Δ d, and according to formula d _{next time}the next time that=d+ Δ d calculates after adjustment gets powder position d _{next time}, when next time gets powder, paving powder controller (6) drives servomotor (16) to drive Pu Fen mechanism (21) to move to by servo-driver (17) and gets powder position d next time _{next time}powder is got at place; Wherein, Δ d and d _{next time}unit be mm.

8. in accordance with the method for claim 7, it is characterized in that: the powder weight value W adopting electronic scale weighing i-th paving powder in step 402 _i.

9. in accordance with the method for claim 7, it is characterized in that: powder (15) is flow through the data set t=[T of the time t of light-permeable pipe (5) by computing machine described in step 403 (8) ₁, T ₂..., T _n] and the data set y=[W of paving powder powder amount y ₁, W ₂, W _n] be stored in EXCEL file with the form of two column datas.

10. in accordance with the method for claim 7, it is characterized in that: step 404 and step 405 computing machine (8) all complete in MATLAB software, the method that computing machine described in step 405 (8) adopts linear dimensions to return solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{{-t}_1}& t_1{e}^{{-t}_1}\\ 1& e^{{-t}_2}& t_2{e}^{{-t}_2}\\ ...& ...& ...\\ 1& e^{{-t}_n}& t_n{e}^{{-t}_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂, the backslash operational character that specifically have employed in MATLAB solves and obtains matrix equation $\left[\begin{array}{c}{y}_1\\ y_2\\ ...\\ y_n\end{array}\right]=\left[\begin{array}{ccc}1& e^{{-t}_1}& t_1{e}^{{-t}_1}\\ 1& e^{{-t}_2}& t_2{e}^{{-t}_2}\\ ...& ...& ...\\ 1& e^{{-t}_n}& t_n{e}^{{-t}_n}\end{array}\right]\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\end{array}\right]$ Coefficient a ₀, a ₁and a ₂.