CN104698981B - Quick-forming powdering powder amount automatically adjusts closed loop control method - Google Patents
Quick-forming powdering powder amount automatically adjusts closed loop control method Download PDFInfo
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- CN104698981B CN104698981B CN201510141947.9A CN201510141947A CN104698981B CN 104698981 B CN104698981 B CN 104698981B CN 201510141947 A CN201510141947 A CN 201510141947A CN 104698981 B CN104698981 B CN 104698981B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
- G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33001—Director is the nc controller, computer
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33102—Dnc and cnc combined
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37283—Photoelectric sensor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
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Abstract
Closed-loop control system is automatically adjusted the invention discloses a kind of Quick-forming powdering powder amount, including powdering time detecting mechanism, powdering controller and computer, servomotor, servo-driver and zero point travel switch, servo-driver connects with the output end of powdering controller, servomotor connects with servo-driver, and zero point travel switch is arranged on powdering platform and connects with the input of powdering controller；Powdering time detecting mechanism includes fixed support and upper powder sinking tube, lower powder sinking tube and photoelectric sensor, light-permeable pipe is connected between upper powder sinking tube and lower powder sinking tube, the transmitting terminal and receiving terminal of photoelectric sensor are respectively positioned at the both sides of light-permeable pipe, the input of powdering controller is terminated with timer, and the signal output part of photoelectric sensor connects with the signal input part of timer；Closed loop control method is automatically adjusted the invention also discloses a kind of Quick-forming powdering powder amount.The present invention can realize the high-precision control of powdering powder amount, it is possible to increase part forming precision and quality.
Description
Technical field
The invention belongs to RP technique field, and in particular to a kind of Quick-forming powdering powder amount automatically adjusts closed loop control
Method processed.
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, and it is former
Reason is three-dimensional CAD model to be layered using computer and carries out cross section information treatment, and cross-section data then is input into 3D printer
Interior, 3D printer is successively spread according to cross-section data and send metal dust and powder bed selection area is melted using high energy beam,
Successively melt the Three-dimensional Entity Components of acquisition design structure shape after superposition forming in all sections.Powdering process is automatic power spreading high
Critical process in beam selective melting technology, the shaping effect of the thickness and uniformity of powder bed to forming technology and whole part
Fruit has significant impact.In forming process, the bisque layer that actual powdering thickness must be obtained with part model computer subdivision
Thick consistent, powdering powder amount has decisive influence to bisque thickness.But because powdering powder amount is difficult to carry out direct accurate detection, mesh
In preceding conventional scraper plate/chip powdering method, using powdering mechanism on powdering platform powdering, powdering is installed in powdering mechanism
Scraping blade, powdering thickness is controlled by controlling forming platform to land, and does not have Quick-forming powdering powder amount detecting device, it is impossible in real time
Accurate detection powdering powder amount, cannot more melt according to actually needing powder amount to compensate adjustment in real time so as to have impact on high energy beam constituency
Chemical industry skill is optimized and revised.If powdering powder amount is too small, powdering region powdering occur incomplete, can cause the mistake of part forming size
Difference, can cause part forming to fail when serious, and powdering powder amount is excessive causes powder to waste, can be caused when serious part forming because
Lack powder and shape terminations, had a strong impact on the stability of high energy beam selective melting technique, formation of parts is usually therefore existing defects
Or scrap.At present, generally using quantitative powder feeding by the way of be an open-loop control system, it is difficult to according to actual conditions to powder amount
Compensate adjustment in real time, it is impossible to ensure that actual single berth bisque is thick, and the mistake powder amount method for actually needing powder amount using 2~4 times, powder
End wastes serious, still uncontrollable to true bisque powder amount.
The content of the invention
The technical problems to be solved by the invention are for above-mentioned deficiency of the prior art, there is provided a kind of structure letter
Single, modern design is reasonable, realize convenient and low cost, the Quick-forming powdering powder that powdering powder amount control accuracy is high, reliability is high
Amount automatically adjusts closed-loop control system.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of Quick-forming powdering powder amount is adjusted automatically
Section closed-loop control system, it is characterised in that：Connect including powdering time detecting mechanism, powdering controller and with powdering controller
Computer, and for driving the servomotor of powdering mechanism kinematic, the servo-driver for driving servomotor and being used for
Mark the zero point travel switch of the zero position of powdering mechanism kinematic, the output end phase of the servo-driver and powdering controller
Connect, the servomotor connects with servo-driver, the zero point travel switch be arranged on powdering platform on and with powdering control
The input of device connects；The powdering time detecting mechanism include fixed support and be fixedly connected on fixed support on fall
Tube cell, lower powder sinking tube and photoelectric sensor, are connected with light-permeable pipe, the photoelectric transfer between the upper powder sinking tube and lower powder sinking tube
Respectively positioned at the both sides of light-permeable pipe, the input of the powdering controller is terminated with timer to the transmitting terminal and receiving terminal of sensor,
The signal output part of the photoelectric sensor connects with the signal input part of timer.
Above-mentioned Quick-forming powdering powder amount automatically adjusts closed-loop control system, it is characterised in that：The upper powder sinking tube and
Lower powder sinking tube is fixedly connected on fixed support by nut vertical, and the photoelectric sensor level is fixedly connected on fixed branch
On frame.
Above-mentioned Quick-forming powdering powder amount automatically adjusts closed-loop control system, it is characterised in that：It is described support bracket fastened
Top is provided with the upper fixing hole passed through for upper powder sinking tube, and the upper powder sinking tube is through upper fixing hole and upper solid by being located at respectively
Two nut verticals for determining hole top and upper fixing hole bottom are fixedly connected on fixed support；The support bracket fastened bottom sets
The lower fixed hole passed through for lower powder sinking tube is equipped with, the lower powder sinking tube is through lower fixed hole and by being located at lower fixed hole top respectively
Two nut verticals of portion and lower fixed hole bottom are fixedly connected on fixed support.
Above-mentioned Quick-forming powdering powder amount automatically adjusts closed-loop control system, it is characterised in that：It is described support bracket fastened
Side is provided with the side fixing hole passed for the signal output part of photoelectric sensor, and the support bracket fastened side is located at side
The bottom of fixing hole sets the horizontal ledge of oriented lateral inner protrusion, and the signal output part of the photoelectric sensor passes side
Fixing hole and level is fixedly connected on fixed support by way of being fixedly connected with horizontal ledge.
Above-mentioned Quick-forming powdering powder amount automatically adjusts closed-loop control system, it is characterised in that：The light-permeable pipe clamp
It is connected between powder sinking tube and lower powder sinking tube, the light-permeable pipe is transparent glass tube.
Above-mentioned Quick-forming powdering powder amount automatically adjusts closed-loop control system, it is characterised in that：On the powdering platform
Be provided with carries out spacing left limit switch and for paving for the left margin position to powdering mechanism kinematic to powdering platform
Powder mechanism kinematic carries out spacing right limit switch to the right edge placement of powdering platform, and the left limit switch and right limit are opened
Guan Jun connects with the input of powdering controller.
It is simple present invention also offers a kind of method and step, can Real_time quantitative detection powdering powder amount, and to powdering powder amount
Error makes real-Time Compensation, and real-time adjustment takes powder position, and change takes powder amount, realizes the high-precision control of powdering powder amount, Neng Gouti
The Quick-forming powdering powder amount of part forming precision high and quality automatically adjusts closed loop control method, it is characterised in that the method bag
Include following steps：
Step one, the pore that a diameter is engaged with the caliber of upper powder sinking tube is opened on powdering platform, by upper powder sinking tube
It is fixed at pore, and the upper orifice of powder sinking tube is higher by the upper surface 0mm~2mm of powdering platform；
After step 2, upper electricity, powdering controller is rotated by servo driver drives servomotor, and servomotor drives paving
Powder mechanism kinematic, finds zero point travel switch, when zero point travel switch detects powdering mechanism kinematic to zero point travel switch
When at position, export detection signal and give powdering controller, powdering controller by the location transmission of zero point travel switch to computer,
Computer is marked to the position of zero point travel switch and the position data is designated as into zero position；
Step 3, when powdering to be carried out, on computers input initially take powder position dJust, computer initial will take powder position
Put dJustPowdering controller is transferred to, first, powdering controller drives powdering mechanism to transport by servo driver drives servomotor
Move and initially take powder position dJustPlace takes powder, and then, powdering controller drives powdering machine by servo driver drives servomotor
Structure powdering, when upper orifice of the powdering scraping blade in powdering mechanism by upper powder sinking tube, is higher by the upper pipe of powder sinking tube
The powder of mouth sequentially passes through the outflow of powder sinking tube, light-permeable pipe and lower powder sinking tube, and photoelectric sensor flows through light-permeable pipe to powder
Signal carry out real-time detection and the signal that will detect is exported to timer in real time, timer starts output in photoelectric sensor
Start timing during detection signal, and stop timing when photoelectric sensor is exported and disappeared to its detection signal, so that timing is obtained
The time t of light-permeable pipe is flowed through to powder, and the time t that the powder that its timing is obtained flows through light-permeable pipe is transferred to powdering control
Device processed；Wherein, dJustUnit be mm；
The time t substitutions that the powder that step 4, powdering controller are received flows through light-permeable pipe build and deposit in advance
Storage powdering powder amount y wherein flows through the relational expression model y=a of the time t of light-permeable pipe with powder0+a1e-t+a2te-tIn, meter
Calculation obtains powdering powder amount y；
Wherein, the relational expression model y=a that powdering powder amount y flows through the time t of light-permeable pipe with powder is built in advance0+a1e-t
+a2te-tDetailed process be：
Step 401, the pore that a diameter is engaged with the caliber of upper powder sinking tube is opened on powdering platform, by upper powder sinking tube
It is fixed at pore, and the upper orifice of powder sinking tube is higher by the upper surface 0mm~2mm of powdering platform；
Step 402, paving n wheat-middlings, during paving i ＆ lt powder, when upper orifice of the powdering scraping blade by upper powder sinking tube, are higher by
The powder of the upper orifice of tube cell sequentially passes through the outflow of powder sinking tube, light-permeable pipe and lower powder sinking tube, and photoelectric sensor is to powder stream
The signal that crossing the signal of light-permeable pipe carries out real-time detection and will detect is exported to timer in real time, and timer is in photoelectric sensing
Device starts to start timing during output detection signal, and stops timing when photoelectric sensor is exported and disappeared to its detection signal,
Powder flows through the time T of light-permeable pipe when obtaining spreading i ＆ lt powder so as to timingi, and the powder that its timing is obtained is flowed through can be saturating
The time T of light pipeiPowdering controller is transferred to, the powder that powdering controller is received again flows through the time T of light-permeable pipei
It is transferred to computer, computer recording paving n wheat-middlings its powder for receiving flows through the time T of light-permeable pipe1、T2、…、Tn；And
After having spread i ＆ lt powder, the powder weight value W of i ＆ lt powdering is weighediAnd record, n powder weight of the paving n wheat-middlings that will be recorded
Value W1、W2、…、WnInput computer, computer recording spreads n powder weight value W of n wheat-middlings1、W2、…、Wn；Wherein, n takes
Value is the natural number not less than 3, and the value of i is the natural number of 1~n；
Step 403, computer flow through the time T of light-permeable pipe by n wheat-middlings powder is spread1、T2、…、TnPowder is configured to flow through
Data set t=[the T of the time t of light-permeable pipe1、T2、…、Tn] and store, and n powder weight value W of n wheat-middlings will be spread1、
W2、…、WnIt is configured to the data set y=[W of powdering powder amount y1、W2…、Wn] and store；
Step 404, computer structure powdering powder amount y and powder flow through the relational expression model y=a of the time t of light-permeable pipe0
+a1e-t+a2te-t, and powder is flowed through the data set t=[T of the time t of light-permeable pipe1、T2、…、Tn] and powdering powder amount y number
According to collection y=[W1、W2…、Wn] substitute into the relational expression model y=a that powdering powder amount y flows through the time t of light-permeable pipe with powder0+a1e-t+a2te-tIn, obtain matrix equation
Step 405, computer are solved using the method that linear dimensions is returned and obtain matrix equationCoefficient a0、a1And a2, just obtained coefficient a0、a1And a2Known powdering powder amount y and powder
The later and decadent stage of a school of thought crosses the relational expression model y=a of the time t of light-permeable pipe0+a1e-t+a2te-t；Wherein, e is natural constant；
Powdering powder amount y is substituted into the advance powdering amount y for building and being stored therein and takes powder position by step 5, powdering controller
Put the relational expression model of dIn, it is calculated and takes powder position d；Wherein, the unit of d is mm；
Wherein, powdering amount y and the relational expression model for taking powder position d are built in advanceDetailed process be：Repeat
Step one to step 4 spreads two wheat-middlings, and what is be input on computers in record the first wheat-middlings time step rapid three of paving initially takes powder position
dFirst 1With the powdering powder amount y being calculated in step 41；And record paving the second wheat-middlings time step rapid three in be input on computers just
Beginning takes powder position dFirst 2With the powdering powder amount y being calculated in step 42；Then equation group is builtAnd solve
Obtain coefficient k0And k1,；Finally build coefficient k0And k1Known powdering amount y and the relational expression model for taking powder position d
Step 6, powdering controller are according to formula Δ d=dJust- d is calculated needs what is adjusted to take powder position Δ d, and root
According to formula dNext time=d+ Δs d is calculated and takes powder position d the next times after being adjustedNext time, when next time takes powder, powdering controller passes through
Servo driver drives servomotor drives powdering mechanism kinematic to take powder position d to next timeNext timePlace takes powder；Wherein, Δ d and dNext time's
Unit is mm.
Above-mentioned method, it is characterised in that：Using the powder weight value W of electronic scale weighing i ＆ lt powdering in step 402i。
Above-mentioned method, it is characterised in that：Computer described in step 403 is by powder) flow through the time t of light-permeable pipe
Data set t=[T1、T2、…、Tn] and powdering powder amount y data set y=[W1、W2…、Wn] existed with the form storage of two column datas
In EXCEL file.
Above-mentioned method, it is characterised in that：Step 404 and step 405 computer are completed in MATLAB softwares, step
Computer described in 405 is solved using the method that linear dimensions is returned and obtains matrix equation's
Coefficient a0、a1And a2, specifically employ the solution of the backslash operator in MATLAB and obtain matrix equationCoefficient a0、a1And a2。
The present invention has advantages below compared with prior art：
1st, Quick-forming powdering powder amount of the present invention automatically adjusts the simple structure of closed-loop control system, novel in design reasonable,
Realize convenient and low cost.
2nd, powdering time detecting mechanism of the invention detects that powder flows through the time of light-permeable pipe by photoelectric sensor,
And calculate powdering powder amount accordingly, can Real_time quantitative detection powdering powder amount, with detection sensitivity it is high, accuracy of detection is high, ring
Answer speed it is fast, without hysteresis, reliability is high, do not influenceed by the external world's other light sources the advantages of.
3rd, the method and step that fast Quick-forming powdering powder amount of the invention automatically adjusts closed loop control method is simple, can be real-time
Ground obtains powdering powder amount according to powdering Time Calculation, then current powdering powder amount is fed back into closed-loop control with the difference of initial powder amount
In method, real-Time Compensation can be made to powdering powder amount error, real-time adjustment takes powder position, and change takes powder amount, realizes powdering powder
The high-precision control of amount.
4th, the present invention realizes the uniformity control of actual powdering powder amount and theoretical powdering powder amount, can be used in Quick-forming
High energy beam selective melting technology in, it is undesirable to solve existing powdering system powdering thickness, cause powdering region powdering incomplete and
The problems such as powder is wasted, it is possible to increase part forming precision and quality, practical, using effect is good, is easy to promote the use of.
In sum, it is of the invention to realize convenient and low cost, can Real_time quantitative detection powdering powder amount, and to powdering powder
Amount error makes real-Time Compensation, and real-time adjustment takes powder position, and change takes powder amount, realizes the high-precision control of powdering powder amount, can
Part forming precision and quality are improved, it is practical, it is easy to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the structural representation that Quick-forming powdering powder amount of the present invention automatically adjusts closed-loop control system.
Fig. 2 is the use state schematic diagram that Quick-forming powdering powder amount of the present invention automatically adjusts closed-loop control system.
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-powdering controller；
7-timer；8-computer；9-nut；
10-upper fixing hole；11-lower fixed hole；12-side fixing hole；
13-horizontal ledge；14-powdering platform；15-powder；
16-servomotor；17-servo-driver；18-zero point travel switch；
19-left limit is switched；20-right limit is switched；21-powdering mechanism.
Specific embodiment
As shown in figure 1, the present invention connects including powdering time detecting mechanism, powdering controller 6 and with powdering controller 6
Computer 8, and servomotor 16, the servo-driver for driving servomotor 16 for driving powdering mechanism 21 to move
17 and the zero point travel switch 18 of the zero position for marking powdering mechanism 21 to move, the servo-driver 17 and powdering are controlled
The output end of device 6 connects, and the servomotor 16 connects with servo-driver 17, and the zero point travel switch 18 is arranged on powdering
Connect on platform 14 and with the input of powdering controller 6；The powdering time detecting mechanism includes fixed support 1 and fixes
It is connected to upper powder sinking tube 2 on fixed support 1, lower powder sinking tube 3 and photoelectric sensor 4, the upper powder sinking tube 2 and lower powder sinking tube 3
Between be connected with light-permeable pipe 5, the transmitting terminal and receiving terminal of the photoelectric sensor 4 are respectively positioned at the both sides of light-permeable pipe 5, institute
The input for stating powdering controller 6 is terminated with timer 7, and the signal output part of the photoelectric sensor 4 is defeated with the signal of timer 7
Enter end to connect.
As shown in figure 1, in the present embodiment, the upper powder sinking tube 2 is fixedly connected vertically with lower powder sinking tube 3 by nut 9
On fixed support 1, the level of the photoelectric sensor 4 is fixedly connected on fixed support 1.
As shown in figure 1, in the present embodiment, the top of the fixed support 1 is provided with the upper fixation passed through for upper powder sinking tube 2
Hole 10, the upper powder sinking tube 2 is through upper fixing hole 10 and by being located at the top of upper fixing hole 10 and the bottom of upper fixing hole 10 respectively
Two nuts 9 be fixedly connected on fixed support 1 vertically；The bottom of the fixed support 1 is provided with and is passed through for lower powder sinking tube 3
Lower fixed hole 11, the lower powder sinking tube 3 is through lower fixed hole 11 and by being located at the top of lower fixed hole 11 and lower fixation respectively
Two nuts 9 of the bottom of hole 11 are fixedly connected on fixed support 1 vertically.
As shown in figure 1, in the present embodiment, the side of the fixed support 1 is provided with the signal output for photoelectric sensor 4
The side fixing hole 12 that end passes, the side of the fixed support 1 is located at the bottom of side fixing hole 12 and sets in oriented side
The horizontal ledge 13 of portion's protrusion, the signal output part of the photoelectric sensor 4 passes side fixing hole 12 and by convex with level
The mode level that platform 13 is fixedly connected is fixedly connected on fixed support 1.
As shown in figure 1, in the present embodiment, the 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.
As depicted in figs. 1 and 2, in the present embodiment, it is provided with the powdering platform 14 for being moved to powdering mechanism 21
Spacing left limit switch 19 is carried out to the left margin position of powdering platform 14 and put down for moving to powdering to powdering mechanism 21
The right edge placement of platform 14 carries out spacing right limit switch 20, and the left limit switch 19 and right limit switch 20 and powdering
The input of controller 6 connects.
During specific implementation, powdering controller 6 is PLC module or single-chip microcomputer.
Quick-forming powdering powder amount of the invention automatically adjusts closed loop control method, comprises the following steps：
Step one, as shown in Fig. 2 opening the pipe that a diameter is engaged with the caliber of upper powder sinking tube 2 on powdering platform 14
Hole, upper powder sinking tube 2 is fixed at pore, and make powder sinking tube 2 upper orifice be higher by the upper surface 0mm of powdering platform 14~
2mm；
After step 2, upper electricity, powdering controller 6 drives servomotor 16 to rotate by servo-driver 17, servomotor
16 drive powdering mechanisms 21 move, and find zero point travel switch 18, are moved when zero point travel switch 18 detects powdering mechanism 21
When to the position of zero point travel switch 18, detection signal is exported to powdering controller 6, powdering controller 6 opens zero point stroke
To computer 8, computer 8 is marked and remembers the position data location transmission of pass 18 to the position of zero point travel switch 18
It is zero position；
Step 3, when powdering to be carried out, on computer 8 input initially take powder position dJust, computer 8 will initially take powder
Position dJustPowdering controller 6 is transferred to, first, powdering controller 6 drives servomotor 16 to drive paving by servo-driver 17
Powder mechanism 21 moves to and initially takes powder position dJustPlace takes powder, and then, powdering controller 6 drives servo electricity by servo-driver 17
Machine 16 drives the powdering of powdering mechanism 21, when upper orifice of the powdering scraping blade in powdering mechanism 21 by upper powder sinking tube 2,
The powder 15 for being higher by the upper orifice of powder sinking tube 2 sequentially passes through powder sinking tube 2, light-permeable pipe 5 and lower powder sinking tube 3 and flows out, photoelectricity
The signal that the signal that sensor 4 flows through light-permeable pipe 5 to powder 15 carries out real-time detection and will detect is exported to timing in real time
Device 7, timer 7 starts timing when photoelectric sensor 4 starts output detection signal, and photoelectric sensor 4 export to its
Detection signal stops timing when disappearing, so that timing obtains powder 15 flows through the time t of light-permeable pipe 5, and its timing is obtained
Powder 15 flow through the time t of light-permeable pipe 5 and be transferred to powdering controller 6；Wherein, dJustUnit be mm；Because powder 15 flows
The propagation path of light of light-permeable pipe 5 is blinded by when crossing light-permeable pipe 5, therefore photoelectric sensor 4 has a detection signal, and work as
When powder 15 has flowed, the detection signal of photoelectric sensor 4 will disappear；During specific implementation, powdering controller 6 passes through servo-driver
17 drive servomotor 16 to drive powdering mechanism 21 with the powdering speed powdering of 100mm/s~400mm/s.
The time t that the powder 15 that step 4, powdering controller 6 are received flows through light-permeable pipe 5 substitutes into structure in advance
And the powdering powder amount y being stored therein flows through the relational expression model y=a of the time t of light-permeable pipe 5 with powder 150+a1e-t+
a2te-tIn, it is calculated powdering powder amount y；
Wherein, the relational expression model y=a that powdering powder amount y flows through the time t of light-permeable pipe 5 with powder 15 is built in advance0+
a1e-t+a2te-tDetailed process be：
Step 401, on powdering platform 14 pore that a diameter is engaged with the caliber of upper powder sinking tube 2 is opened, fallen by
Tube cell 2 is fixed at pore, and the upper orifice of powder sinking tube 2 is higher by the upper surface 0mm~2mm of powdering platform 14；
Step 402, paving n wheat-middlings, during paving i ＆ lt powder, when upper orifice of the powdering scraping blade by upper powder sinking tube 2, are higher by
The powder 15 of the upper orifice of powder sinking tube 2 sequentially passes through powder sinking tube 2, light-permeable pipe 5 and lower powder sinking tube 3 and flows out, photoelectric sensor 4
The signal that the signal of light-permeable pipe 5 is flowed through to powder 15 to carry out real-time detection and will detect is exported to timer 7, timing in real time
Device 7 starts timing when photoelectric sensor 4 starts output detection signal, and is exported to its detection signal in photoelectric sensor 4
Stop timing during disappearance, so that powder 15 flows through the time T of light-permeable pipe 5 when timing obtains spreading i ＆ lt powderi, and by its timing
The powder 15 for obtaining flows through the time T of light-permeable pipe 5iPowdering controller 6 is transferred to, what powdering controller 6 was received again
Powder 15 flows through the time T of light-permeable pipe 5iIt is transferred to computer 8, the record paving n wheat-middlings of computer 8 its powder 15 for receiving flows
Cross the time T of light-permeable pipe 51、T2、…、Tn；And after i ＆ lt powder has been spread, weigh the powder weight value W of i ＆ lt powderingiAnd remember
Record, n powder weight value W of the paving n wheat-middlings that will be recorded1、W2、…、WnInput computer 8, the n of the record paving n wheat-middlings of computer 8
Individual powder weight value W1、W2、…、Wn；Wherein, the value of n is the natural number not less than 3, and the value of i is the natural number of 1~n；
In the present embodiment, using the powder weight value W of electronic scale weighing i ＆ lt powdering in step 402i。
Step 403, computer 8 flow through the time T of light-permeable pipe 5 by n wheat-middlings powder 15 is spread1、T2、…、TnIt is configured to powder
Data set t=[the T of the 15 time t for flowing through light-permeable pipe 51、T2、…、Tn] and store, and n powder weight of n wheat-middlings will be spread
Value W1、W2、…、WnIt is configured to the data set y=[W of powdering powder amount y1、W2…、Wn] and store；
In the present embodiment, powder 15 is flowed through computer 8 described in step 403 the data set t of the time t of light-permeable pipe 5
=[T1、T2、…、Tn] and powdering powder amount y data set y=[W1、W2…、Wn] stored in EXCEL with the form of two column datas
In file.In order to obtain the relational expression model y=a that accurate powdering powder amount y flows through the time t of light-permeable pipe 5 with powder 150+
a1e-t+a2te-t, the value of n is the bigger the better in theory, therefore powder 15 flows through the data set t=of the time t of light-permeable pipe 5
[T1、T2、…、Tn] and powdering powder amount y data set y=[W1、W2…、Wn] data volume it is larger, store it in EXCEL file
In, on the one hand it is easy to the management of data, on the other hand facilitate and easily read using xlsread orders in MATLAB softwares
Data in EXCEL file.
Step 404, the structure powdering powder amount y of computer 8 and powder 15 flow through the relational expression model y of the time t of light-permeable pipe 5
=a0+a1e-t+a2te-t, and powder 15 is flowed through the data set t=[T of the time t of light-permeable pipe 51、T2、…、Tn] and powdering powder
Measure the data set y=[W of y1、W2…、Wn] substitute into the relational expression mould that powdering powder amount y flows through the time t of light-permeable pipe 5 with powder 15
Type y=a0+a1e-t+a2te-tIn, obtain matrix equationWherein, coefficient a0、a1And a2To treat
The unknowm coefficient of determination；Because powdering scraping blade is the uniform laying powder 15 on whole powdering platform 14, when powdering powder amount increases
When adding deduct few, the height of powder 15 near the upper orifice of upper powder sinking tube 2 will be increased or decreased, and so flow into powder sinking tube 2
The powder 15 of upper orifice will increase or decrease, the powder 15 for accordingly flowing through light-permeable pipe 5 will be increased or decreased, and on fall
The caliber of tube cell 2, light-permeable pipe 5 and lower powder sinking tube 3 is constant, and the mobility of powder 15 is constant, therefore powder 15 flows
The time t for crossing light-permeable pipe 5 will be increased or decreased, and the present invention is based on the powder powder amount y and powder 15 of this principle structure
Flow through the relational expression model y=a of the time t of light-permeable pipe 50+a1e-t+a2te-t, by detecting that powder 15 flows through light-permeable pipe 5
Time t reflect powdering powder amount, and detect that powder 15 flows through the time t of light-permeable pipe 5 by photoelectric sensor 4, have
Have that detection sensitivity is high, accuracy of detection is high, fast response time, without hysteresis, reliability it is high, by the shadow of extraneous other light sources
The advantages of ringing.
Step 405, computer 8 are solved using the method that linear dimensions is returned and obtain matrix equationCoefficient a0、a1And a2, just obtained coefficient a0、a1And a2Known powdering powder amount y and powder
Flow through the relational expression model y=a of the time t of light-permeable pipe 5 in end 150+a1e-t+a2te-t；Wherein, e is natural constant；
In the present embodiment, step 404 and step 405 computer 8 are completed in MATLAB softwares, described in step 405
Computer 8 is solved using the method that linear dimensions is returned and obtains matrix equationCoefficient a0、a1
And a2, specifically employ the solution of the backslash operator in MATLAB and obtain matrix equation
Coefficient a0、a1And a2.Specific program code is X=[ones (size (t)) exp (- t) t.*exp (- t)]；A=X y；Its
In, the implication of program code X=[ones (size (t)) exp (- t) t.*exp (- t)] is by matrixRepresent
Be X, program code a=X the implication of y be that coefficient a is solved using the backslash operator in MATLAB0、a1And a2；
Powdering powder amount y is substituted into the advance powdering amount y for building and being stored therein and takes powder by step 5, powdering controller 6
The relational expression model of position dIn, it is calculated and takes powder position d；Wherein, the unit of d is mm；Coefficient k0And k1To treat
The unknowm coefficient of determination；Take how much powder amount determines powdering powder amount y due to powdering mechanism 21, and take powder position d increasings and add deduct
When few, powder amount being taken accordingly and just being increased or decreased, powdering powder amount y is also increased or decreased with taking powder amount, and is taken powder position d and taken powder
The relation of amount is also linear, and the present invention is based on the powdering powder amount y and the relational expression mould for taking powder position d of this principle structure
Type
Wherein, powdering amount y and the relational expression model for taking powder position d are built in advanceDetailed process be：Repeat
Step one to step 4 spreads two wheat-middlings (spreading two wheat-middlings using the method for step one to step 4), record the first wheat-middlings time step of paving
What is be input on computer 8 in rapid three initially takes powder position dFirst 1With the powdering powder amount y being calculated in step 41(will be spread
What is be input on computer 8 in one wheat-middlings time step rapid three initial take powder position and is designated as dFirst 1And record, the first wheat-middlings time step of paving is rapid
The powdering powder amount being calculated in four is designated as y1And record)；And record the input on computer 8 in the second wheat-middlings time step rapid three of paving
Initial take powder position dFirst 2With the powdering powder amount y being calculated in step 42(will spread in the second wheat-middlings time step rapid three and calculate
What is be input on machine 8 initial take powder position and is designated as dFirst 2And record, the powdering powder amount being calculated in the second wheat-middlings time step rapid four will be spread
It is designated as y2And record)；Then equation group is builtAnd solution obtains coefficient k0And k1,；Finally build coefficient k0
And k1Known powdering amount y and the relational expression model for taking powder position d
Step 6, powdering controller 6 are according to formula Δ d=dJust- d is calculated needs what is adjusted to take powder position Δ d, and root
According to formula dNext time=d+ Δs d is calculated and takes powder position d the next times after being adjustedNext time, when next time takes powder, powdering controller 6 leads to
Cross servo-driver 17 and drive servomotor 16 to drive powdering mechanism 21 to move to and take powder position d next timesNext timePlace takes powder；Wherein, Δ
D and dNext timeUnit be mm.Powder position is so taken by adjustment, is just completed and closed-loop control is automatically adjusted to powdering powder amount,
It is achieved thereby that the accuracy uniform and that ensure that powdering powder amount of powdering layer, it is to avoid powdering region powdering not complete and powder wave
The problems such as taking.
The above, is only presently preferred embodiments of the present invention, and not the present invention is imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (9)
1. a kind of Quick-forming powdering powder amount automatically adjusts closed loop control method, and the system that the method is used is examined including the powdering time
Mechanism, powdering controller (6) and the computer (8) connected with powdering controller (6) are surveyed, and for driving powdering mechanism (21)
The servomotor (16) of motion, the servo-driver (17) for driving servomotor (16) and for marking powdering mechanism (21)
The zero point travel switch (18) of the zero position of motion, the servo-driver (17) connects with the output end of powdering controller (6),
The servomotor (16) connects with servo-driver (17), and the zero point travel switch (18) is on powdering platform (14)
And connect with the input of powdering controller (6)；The powdering time detecting mechanism includes fixed support (1) and is fixedly connected
Upper powder sinking tube (2), lower powder sinking tube (3) and photoelectric sensor (4) on fixed support (1), the upper powder sinking tube (2) and whereabouts
Light-permeable pipe (5) is connected between tube cell (3), the transmitting terminal and receiving terminal of the photoelectric sensor (4) are located at light-permeable respectively
The both sides of (5) are managed, the input of the powdering controller (6) is terminated with timer (7), and the signal of the photoelectric sensor (4) is defeated
Go out end to connect with the signal input part of timer (7), it is characterised in that the method is comprised the following steps：
Step one, the pore that a diameter is engaged with the caliber of upper powder sinking tube (2) is opened on powdering platform (14), by upper powder falling
Pipe (2) is fixed at pore, and the upper orifice of powder sinking tube (2) is higher by the upper surface 0mm~2mm of powdering platform (14)；
After step 2, upper electricity, powdering controller (6) drives servomotor (16) to rotate by servo-driver (17), servo electricity
Machine (16) drives powdering mechanism (21) motion, zero point travel switch (18) is found, when zero point travel switch (18) detects powdering
Mechanism (21) is moved to when at the position of zero point travel switch (18), is exported detection signal and is given powdering controller (6), powdering control
The location transmission of zero point travel switch (18) is given computer (8), position of the computer (8) to zero point travel switch (18) by device (6)
Put and be marked and the position data is designated as zero position；
Step 3, when powdering to be carried out, on computer (8) input initially take powder position dJust, computer (8) will initially take powder
Position dJustPowdering controller (6) is transferred to, first, powdering controller (6) drives servomotor by servo-driver (17)
(16) drive powdering mechanism (21) to move to and initially take powder position dJustPlace takes powder, and then, powdering controller (6) is by servo-drive
Device (17) drives servomotor (16) to drive powdering mechanism (21) powdering, when the powdering scraping blade in powdering mechanism (21)
By upper powder sinking tube (2) upper orifice when, the powder (15) for being higher by the upper orifice of powder sinking tube (2) sequentially passes through powder sinking tube
(2), light-permeable pipe (5) and lower powder sinking tube (3) flow out, and photoelectric sensor (4) flows through the signal of light-permeable pipe (5) to powder (15)
The signal that carry out real-time detection and will detect is exported in real time gives timer (7), and timer (7) starts in photoelectric sensor (4)
Start timing during output detection signal, and stop timing when photoelectric sensor (4) is exported and disappeared to its detection signal, so that
Timing obtains the time t that powder (15) flows through light-permeable pipe (5), and the powder (15) that its timing is obtained flows through light-permeable pipe
(5) time t is transferred to powdering controller (6)；Wherein, dJustUnit be mm；
The time t that the powder (15) that step 4, powdering controller (6) are received flows through light-permeable pipe (5) substitutes into advance structure
The powdering powder amount y for building and being stored therein flows through the relational expression model y=a of the time t of light-permeable pipe (5) with powder (15)0+
a1e-t+a2te-tIn, it is calculated powdering powder amount y；
Wherein, the relational expression model y=a that powdering powder amount y flows through the time t of light-permeable pipe (5) with powder (15) is built in advance0+
a1e-t+a2te-tDetailed process be：
Step 401, on powdering platform (14) pore that a diameter is engaged with the caliber of upper powder sinking tube (2) is opened, fallen by
Tube cell (2) is fixed at pore, and the upper orifice of powder sinking tube (2) is higher by the upper surface 0mm~2mm of powdering platform (14)；
Step 402, paving n wheat-middlings, during paving i ＆ lt powder, when upper orifice of the powdering scraping blade by upper powder sinking tube (2), are higher by
The powder (15) of the upper orifice of tube cell (2) sequentially passes through the outflow of powder sinking tube (2), light-permeable pipe (5) and lower powder sinking tube (3), light
Electric transducer (4) is defeated in real time to the signal that the signal that powder (15) flows through light-permeable pipe (5) carries out real-time detection and will detect
Go out to give timer (7), timer (7) to start timing when photoelectric sensor (4) starts output detection signal, and in photoelectric sensing
Device (4) to be exported and stop timing when being disappeared to its detection signal, so that timing obtains powder (15) during paving i ＆ lt powder, and flow through can be saturating
The time T of light pipe (5)i, and the powder (15) that its timing is obtained flows through the time T of light-permeable pipe (5)iIt is transferred to powdering control
Device (6), the powder (15) that powdering controller (6) is received again flows through the time T of light-permeable pipe (5)iIt is transferred to computer
(8), its powder (15) for receiving of computer (8) record paving n wheat-middlings flows through the time T of light-permeable pipe (5)1、T2、…、Tn；And
After i ＆ lt powder has been spread, the powder weight value W of i ＆ lt powdering is weighediAnd record, n powder weight of the paving n wheat-middlings that will be recorded
Value W1、W2、…、WnInput computer (8), n powder weight value W of computer (8) record paving n wheat-middlings1、W2、…、Wn；Its
In, the value of n is the natural number not less than 3, and the value of i is the natural number of 1~n；
Step 403, computer (8) will spread the time T that n wheat-middlings powder (15) flow through light-permeable pipe (5)1、T2、…、TnIt is configured to powder
Last (15) flow through the data set t=[T of the time t of light-permeable pipe (5)1、T2、…、Tn] and store, and n powder of n wheat-middlings will be spread
Last gravimetric value W1、W2、…、WnIt is configured to the data set y=[W of powdering powder amount y1、W2…、Wn] and store；
Step 404, computer (8) structure powdering powder amount y and powder (15) flow through the relational expression mould of the time t of light-permeable pipe (5)
Type y=a0+a1e-t+a2te-t, and powder (15) is flowed through the data set t=[T of the time t of light-permeable pipe (5)1、T2、…、Tn]
With the data set y=[W of powdering powder amount y1、W2…、Wn] substitute into the time that powdering powder amount y flows through light-permeable pipe (5) with powder (15)
The relational expression model y=a of t0+a1e-t+a2te-tIn, obtain matrix equation
Step 405, computer (8) are solved using the method that linear dimensions is returned and obtain matrix equationCoefficient a0、a1And a2, just obtained coefficient a0、a1And a2Known powdering powder amount y and powder
Last (15) flow through the relational expression model y=a of the time t of light-permeable pipe (5)0+a1e-t+a2te-t；Wherein, e is natural constant；
Powdering powder amount y is substituted into the advance powdering amount y for building and being stored therein and takes powder position by step 5, powdering controller (6)
Put the relational expression model of dIn, it is calculated and takes powder position d；Wherein, the unit of d is mm；
Wherein, powdering amount y and the relational expression model for taking powder position d are built in advanceDetailed process be：Repeat step
One to step 4 spreads two wheat-middlings, and what is be input on computer (8) in record the first wheat-middlings time step rapid three of paving initially takes powder position
dFirst 1With the powdering powder amount y being calculated in step 41；And record the input on computer (8) in the second wheat-middlings time step rapid three of paving
Initial take powder position dFirst 2With the powdering powder amount y being calculated in step 42；Then equation group is builtAnd
Solution obtains coefficient k0And k1；Finally build coefficient k0And k1Known powdering amount y and the relational expression model for taking powder position d
Step 6, powdering controller (6) are according to formula Δ d=dJust- d be calculated need adjustment take powder position Δ d, and according to
Formula dNext time=d+ Δs d is calculated and takes powder position d the next times after being adjustedNext time, when next time takes powder, powdering controller (6) leads to
Crossing servo-driver (17) drives servomotor (16) to drive powdering mechanism (21) to move to and take powder position d next timesNext timePlace takes powder；
Wherein, Δ d and dNext timeUnit be mm.
2. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：It is described
Upper powder sinking tube (2) and lower powder sinking tube (3) are fixedly connected on fixed support (1) vertically by nut (9), the photoelectric sensing
Device (4) level is fixedly connected on fixed support (1).
3. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 2, it is characterised in that：It is described
It is provided with the top of fixed support (1) for upper powder sinking tube (2) the upper fixing hole (10) that passes through, the upper powder sinking tube (2) is through upper
Fixing hole (10) is simultaneously solid vertically by being located at two nuts (9) at upper fixing hole (10) top and upper fixing hole (10) bottom respectively
Surely it is connected on fixed support (1)；The bottom of the fixed support (1) is provided with the lower fixed hole passed through for lower powder sinking tube (3)
(11), the lower powder sinking tube (3) is through lower fixed hole (11) and by being located at lower fixed hole (11) top and lower fixed hole respectively
(11) two nuts (9) of bottom are fixedly connected on fixed support (1) vertically.
4. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 2, it is characterised in that：It is described
The side of fixed support (1) is provided with the side fixing hole (12) passed for the signal output part of photoelectric sensor (4), described solid
The bottom that the side of fixed rack (1) is located at side fixing hole (12) sets the horizontal ledge (13) that oriented lateral inner protrudes, institute
The signal output part for stating photoelectric sensor (4) passes side fixing hole (12) and the side by being fixedly connected with horizontal ledge (13)
Formula level is fixedly connected on fixed support (1).
5. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：It is described
Light-permeable pipe (5) is connected between powder sinking tube (2) and lower powder sinking tube (3), and the light-permeable pipe (5) is transparent glass tube.
6. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：It is described
Be provided with powdering platform (14) for powdering mechanism (21) is moved to the left margin position of powdering platform (14) carry out it is spacing
Left limit switch (19) and for powdering mechanism (21) is moved to the right edge placement of powdering platform (14) carry out it is spacing
Right limit switchs (20), left limit switch (19) and right limit switch (20) with the input phase of powdering controller (6)
Connect.
7. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：Step
Using the powder weight value W of electronic scale weighing i ＆ lt powdering in 402i。
8. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：Step
Powder (15) is flowed through computer described in 403 (8) the data set t=[T of the time t of light-permeable pipe (5)1、T2、…、Tn] and paving
Data set y=[the W of powder powder amount y1、W2…、Wn] stored in EXCEL file with the form of two column datas.
9. closed loop control method is automatically adjusted according to the Quick-forming powdering powder amount described in claim 1, it is characterised in that：Step
Rapid 404 and step 405 computer (8) completed in MATLAB softwares, computer described in step 405 (8) is using linear ginseng
The method that number is returned is solved and obtains matrix equationCoefficient a0、a1And a2, specifically use
Backslash operator in MATLAB is solved and obtains matrix equationCoefficient a0、a1And a2。
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