CN106393676A - Portable 3D printer - Google Patents
Portable 3D printer Download PDFInfo
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- CN106393676A CN106393676A CN201610902260.7A CN201610902260A CN106393676A CN 106393676 A CN106393676 A CN 106393676A CN 201610902260 A CN201610902260 A CN 201610902260A CN 106393676 A CN106393676 A CN 106393676A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
Abstract
The invention relates to a portable 3D printer, and aims to design the portable 3D printer which is small in size and can be carried about. An angle psi control arm of the portable 3D printer consists of two pieces, wherein an angle theta control arm is mounted between the two pieces of the angle psi control arm through an angle theta degree control shaft; an angle psi control arm fixing rotary table is fixedly mounted at the bottom end of the angle psi control arm; the angle psi control arm fixing rotary table is fixed on a motor shaft of an angle psi transmission motor; a print head transmission polished rod is fixed on a polished rod frame in the angle theta control arm; a print head transmission screw rod is connected with an r shaft transmission motor through a coupling; a print head fixing sliding block is meshed with the print head transmission screw rod, and sleeves the print head transmission polished rod at the same time; a print head rotating platform is mounted on the print head fixing sliding block through a shaft; a grove is formed in the print head rotating platform, a swinging strip is in shafting connection the groove; and a print head fixing frame is mounted at the lower end of the swinging strip, and a print head is mounted in the print head fixing frame. The portable 3D printer disclosed by the invention is a pocket type 3D printer which is based on a spherical surface coordinate system, small-scaled and portable, and the effective printing volume is not damaged.
Description
Technical field：
The invention belongs to printing technique field, the small portable 3D more particularly to being designed based on spherical coordinate system principle
Printer.
Background technology
3D printing technique, is to be designed as source with electronic 3-D model, is molded system by software hierarchy is discrete with numerical control
System, using laser beam, hot melt nozzle lamp mode by the special materials such as metal dust, ceramic powders, plastics, cell tissue carry out by
Layer piles up bonding, final superposition shaping, produces entity products.In medical industry, mold manufacturing industry, building industry, film and tv industry, religion
Educate fast-developing in the industries such as industry.But the many modeling techniques based on rectangular coordinate system of 3D printer on the market at present, this is just
The volume that result in the printer on market all compares huge it is impossible to accomplish that user easily carries, and therefore can not accomplish scene
The ability of office.
Content of the invention
The purpose of the present invention is to design a kind of small volume, the portable 3D printer that can carry with.
The present invention'sAngle control arm is to be made up of two panels, in two panelsPass through θ angle Angle ambiguity axle peace between the control arm of angle
Equipped with θ angle control arm, θ angle Angle ambiguity encoder is provided with the Angle ambiguity axle of θ angle, in θ angle Angle ambiguity axle one end peace
Equipped with θ angle driving motor；?Angle control arm bottom is installed withAngle control arm fixes rotating disk,Angle Angle ambiguity encoder
By gear withControl arm fixing rotating disk in angle connects,Control arm fixing rotating disk in angle is fixed onThe motor shaft of angle driving motor
On；Printhead transmission polished rod is fixed on the light bridge within the control arm of θ angle, and printhead drive lead screw passes through shaft coupling and r axle
Driving motor connects, and r axle controls encoder to be connected to the other end of printhead drive lead screw, and the fixing slide block of printhead is engaged on
On printhead drive lead screw, and it is enclosed within printhead transmission polished rod simultaneously；The fixing slide block of printhead is provided with by axle and beats
Print head turntable, has groove on printhead turntable, is connected with swing bar in groove inner shaft, swings bar lower end and is provided with printing
Head fixed frame, acceleration transducer is arranged on plane on printhead fixed frame, and printhead vertical angle adjustment motor is arranged on to be beaten
Print head turntable, printhead is arranged on printhead and fixes inframe.
The circuit connecting section of the present invention is divided including main control chip, power protecting circuit, power indicating circuit, 5V voltage stabilizing electricity
Road, 3.3V mu balanced circuit, electric source filter circuit, MCU filter circuit, AD reference circuit, MCU reset circuit, Boot selection circuit,
MCU download circuit, MCU crystal oscillating circuit, SPI FLASH circuit, stepper motor driving circuit, WIFI circuit, printhead temperature are adopted
Collector, encoder interface circuit, motor drive direction measuring circuit, SD card circuit, printhead temperature control circuit, USB circuit, shape
State indicating circuit；
Main control chip：Using STM32F103VET6,11,28,50,75,100 pin of main control chip U6 and 3.3V mu balanced circuit
VCC3.3 connects, and the GND of 10,27,49,74,99 power supplys of U6 connects；
Power protecting circuit：2 pin of power input interface P1 are connected with the left side pin of resettable fuse F1, and the right side of F1 is drawn
Pin is connected with the left side pin of the D1 of Schottky diode, and the right side pin of D1 and the left side pin of TVS D2 are connected as power supply
VCC-24V output end, the right side pin of TVS is connected with GND；
Power indicating circuit：The VCC-24 power output end of power protecting circuit is connected with the left side pin of resistance R1, the right side of R1
Side pin is connected with the left side pin of light emitting diode D3, and the right side pin of D3 is connected with GND；
5V mu balanced circuit：The VCC-24 power output end of power protecting circuit is connected with 1 pin of W1 voltage stabilizing chip LM2576-5V,
VCC-24 power output end is connected with the upside pin of electrochemical capacitor C6, and 3,5 pin of the downside pin connection W1 of C6 are connected to electricity
On the GND in source, the left side pin of inductance L1 accesses on 2 pin of W1 after being connected with the upside pin of D4, the right side pin of L1 and electricity
It is VCC-5V output end that the upside pin of solution electric capacity C7 connects on 4 pin being followed by W1, and the downside pin of D4 and the downside of C7 are drawn
Pin connection is followed by GND；
3.3V mu balanced circuit：The VCC-5V voltage output end of 5V mu balanced circuit is connected access with the upside pin of electric capacity C10, C11
To 3 pin of U7, the downside pin of C10, C11, C13, C12 accesses GND with 1 pin of U7 after being connected, the upside pin of C13, C12 is even
It is VCC3.3 output end after connecing；
Electric source filter circuit：The VCC-24 power output end of power protecting circuit is connected with the left side pin of C2, C4, C2, C4's
Right side pin is connected with GND；
MCU filter circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the upside pin of C20, C21, C22, C23, C24
Connect, the downside pin of C20, C21, C22, C23, C24 is connected with GND；3.3V mu balanced circuit VCC3.3 output end is with inductance L2's
Left side pin connects, and after the right side pin of L2 is connected with the upside pin of C25, C26, C27, is linked into 22 in main control chip
Pin, the left side pin of inductance L3 connects GND, and the right side pin of L3 connects the downside pin of C25, C26, C27, is linked into master control core
19 pin in piece；
AD reference circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the left side pin of inductance L4, the right side pin of L4
After being connected with the upside pin of C28, C29, C30, it is linked into 21 pin in main control chip, the left side pin of inductance L5 connects GND,
After the right side pin of L5 connects the downside pin of C28, C29, C30, it is linked into 20 pin in main control chip；
MCU reset circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the upside pin of R5, and the right side of button K1 is drawn
Pin, the downside pin of R5, the right side pin of C19 are connected with 14 pin of main control chip；The left side pin of C19, K1 accesses power supply
GND；
Boot selection circuit：The 1 of connector P8,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 3 pin of P8 connect
The right side pin of R6, the left side pin of R6 connects 94 pin of MCU in main control chip, and 4 pin of P8 connect the left side pin of R7, R7's
Right side pin is connected to 37 pin of MCU in main control chip；The 5 of P8,6 pin are connected with GND；
MCU download circuit：1 pin of plug-in unit P4 is connected with 72 pin of main control chip, and 2 pin of P4 are connected with GND, 3 pin of P4 and master
76 pin of control chip connect；
MCU crystal oscillating circuit：1 pin of crystal oscillator Y1, the right side pin of C3 are connected with 9 pin of main control chip, crystal oscillator
2 pin of Y1, the right side pin of C1 are connected with 8 pin of main control chip, and the left side of C1, C3 is connected with GND；The 1 of crystal oscillator Y2
Pin, the downside pin of R2, the right side pin of C8 are connected with 12 pin of main control chip, and 2 pin of crystal oscillator Y2, the upside of R2 are drawn
Pin is connected with 13 pin of main control chip with the right side pin of C5, and the left side pin of C5, C8 is connected with GND；
SPI FLASH circuit：The 1 of chip P7,2,5,6 pin be connected with 29,31,32,30 pin of main control chip respectively, P7 3,7,
8 pin are connected with the VCC3.3 of 3.3V mu balanced circuit, and 4 pin of P7 are connected with GND；
Stepper motor driving circuit：IncludingAngle geared stepper motor drive circuit, θ angle geared stepper motor drive circuit, r axle
Geared stepper motor drive circuit, printhead control stepper motor driving circuit；
Angle geared stepper motor drive circuit：U2 is motor drive ic DRV8825, and 1,7,8 pin of U2 are respectively connected to master control
In chip 97,59,15 pin are connected, and 11,12,13, the 14 of U2 is connected with 1,2,3,4 pin of stepper motor interface M3 respectively, U2
2-6 pin be connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U2 and power protecting circuit are even
Connect, 15,9 pin of U2 are connected with GND；
θ angle geared stepper motor drive circuit：U3 is motor drive ic DRV8825, and 1,7,8 pin of U3 are respectively connected to master control core
In piece 98,60,16 pin are connected, and 11,12,13, the 14 of U3 is connected with 1,2,3,4 pin of stepper motor interface M4 respectively, U3's
2-6 pin is connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U3 and power protecting circuit are even
Connect, 15,9 pin of U3 are connected with GND；
R through-drive stepper motor driving circuit：U4 is motor drive ic DRV8825, and 1,7,8 pin of U4 are respectively connected in master control
1,61,17 pin be connected, 11,12,13, the 14 of U4 is connected with 1,2,3,4 pin of stepper motor interface M1 respectively, the 2-6 pin of U4
It is connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U4 are connected with 2 pin of the P2 in power protecting circuit, U4's
15th, 9 pin are connected with GND；
Printhead controls stepper motor driving circuit：U1 is motor drive ic DRV8825, and 1,7,8 pin of U1 are respectively connected to lead
In control 2,62,18 pin are connected, and 11,12,13, the 14 of U1 is connected with 1,2,3,4 pin of stepper motor interface M2 respectively, the 2- of U1
6 pin are connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U1 are connected with 2 pin of the P2 in power protecting circuit,
The 15 of U1,9 pin are connected with GND；
WIFI circuit：The 1 of plug-in unit P10,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, 3,4 pin of P10 and master control
In chip 69,68 connections, 5,6 pin of P10 are connected with GND；
Printhead temperature Acquisition Circuit：2 pin of connector P11, the downside pin of R19 are connected with 34 pin of U6 in main control chip,
The upside pin of R19 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 1 pin of P11 is connected with GND；
Encoder interface circuit：IncludingAngular encoder interface circuit, θ angular encoder interface circuit, r shaft encoder interface electricity
Road, encoder spare interface circuit；
Angular encoder interface circuit：1 pin of P3 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P3 are respectively
It is connected with 3,5 pin of U5 in motor drive direction measuring circuit, 4 pin of P3 are connected with GND；
θ angular encoder interface circuit：1 pin of P2 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P2 are respectively
It is connected with 11,9 pin of U5 in motor drive direction measuring circuit, 4 pin of P2 are connected with GND；
R shaft encoder interface circuit：1 pin of P5 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P5 are respectively
It is connected with 3,5 pin of U8 in motor drive direction measuring circuit, 4 pin of P5 are connected with GND；
Encoder spare interface circuit：1 pin of P6 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P6 divide
It is not connected with 11,9 pin of U8 in motor drive direction measuring circuit, 4 pin of P6 are connected with GND；
Motor drive direction measuring circuit：IncludingAngle and θ angle control arm motor drive direction measuring circuit, r axle control arm and standby motor
Orientation measurement circuit；
Angle and θ angle control arm motor drive direction measuring circuit：The 1 of U5,13 pin are connected with 83,84 pin of U6 in main control chip, U5's
3rd, 5 pin withIn angular encoder interface circuit P3 2,3 pin connect, in 11,9 pin of U5 and θ angular encoder interface circuit P2 2,
3 pin connect, U5 4,6,7,8,10, the downside pin of C9 be connected with GND, 14 pin of U5, the upside pin of C9 and 3.3V voltage stabilizing
VCC3.3 output end in circuit connects；
R axle control arm and standby motor orientation measurement circuit：The 1 of U8,13 pin are connected with 85,86 pin of U6 in main control chip, U8
3,5 pin be connected with 2,3 pin of P5 in r shaft encoder interface circuit, P6 in 11,9 pin of U8 and encoder spare interface circuit
2,3 pin connect, U8 4,6,7,8,10, the downside pin of C15 be connected with GND, 14 pin of U8, the upside pin of C15 and
VCC3.3 output end in 3.3V mu balanced circuit connects；
SD card circuit：7 pin of U10, the downside pin of R14 are connected with 65 pin of the U6 of main control chip, under 8 pin of U10, R15
Side pin is connected with 66 pin of the U6 of main control chip, and in 1 pin of U10, the downside pin of R16 and main control chip, 78 pin of U6 connect
Connect, 2 pin of U10, the downside pin of R17 are connected with 79 pin of U6 in main control chip, 5 pin of U10 and 80 of U6 in main control chip
Pin connects, and 3 pin of U10, the downside pin of R18 are connected with 83 pin of U6 in main control chip, and R14, R15, R16, R17, R18's is upper
Side pin, 4 pin of U10, the right side pin of C31 are connected with the VCC3.3 output end in 3.3V mu balanced circuit；The left side of C31 is drawn
Pin, the 6 of U10,9,10,11,12,13 pin are connected with GND；
Printhead temperature control circuit：The right side pin of R13 is connected with 2 pin of Q2, U6 in the left side pin of R13 and main control chip
33 pin connect, 3 pin of Q2, the downside pin of R10, R11 left side pin be connected, the upside pin of R10 and the right side of R8 are drawn
Pin, the left side pin of R9 are connected, and the left side pin of R8 and 1 pin of P9 are connected with the VCC-24 power output end of power protecting circuit
Connect, the right side pin of R9,1 pin of Q2, the downside pin of R12,3 pin of Q1 are connected with GND, the right side pin of R11, R12 upper
Side pin is connected with 1 pin of Q1, and 2 pin of Q1 are connected with 2 pin of P9；
USB circuit：1 pin of USB1 is hanging, does not power, 2 pin of USB1,6 pin of U9, the upside pin of C16, the left side pin of R3
Connect, 3 pin of USB1,4 pin of U9, the downside pin of C16, the left side pin of R4 are connected, and 4,5 pin of USB1, the upside of C17 are drawn
Pin connects, the right side pin of R3, the downside pin of C14 be connected with 70 pin of U6 in main control chip, the right side pin of R4, C18
Upside pin be connected with 71 pin of U6 in main control chip, the downside pin of C17, the 1 of U9,2,3,5, the upside pin of C14, C18
Downside pin be connected with GND；
Condition indication circuit：The left side pin of resistance R20, R21, R22 is connected with the VCC3.3 output end in power protecting circuit,
Right side pin is connected with the left side pin of D5, D6, D7 respectively, 3,4, the 5 of U1 in the right side pin of D5, D6, D7 and main control chip
Pin connects.
The present invention is the both miniature portables based on spheric coordinate system, and does not lose the pocket-type 3D printing of effective print volume
Machine.Advantage is：
1st, compared to the 3D printer based on rectangular coordinate system on the market, the volume of the present invention is less, and structure is simpler, peace
Dress is more convenient.
2nd, the present invention, while reducing volume mechanical volume, does not lose the effective volume of printing although the body of printer
Long-pending very little, but print 3D model volume can accomplish very big.
3rd, real accomplish portable, can carry with, enable rapid shaping, work out of doors and lack part, permissible
Directly it is integrally formed, time-consuming, in hgher efficiency.
4th, the speed that the 3D printer based on spherical coordinate system prints can faster, and precision is higher.
Brief description
Fig. 1 is present configuration schematic diagram；
Fig. 2 is the left view of Fig. 1 of the present invention, and θ angle control arm incomeAngle control arm schematic diagram；
Fig. 3 is main control chip circuit diagram of the present invention；
Fig. 4 is power protecting circuit figure of the present invention；
Fig. 5 is power indicating circuit figure of the present invention；
Fig. 6 is 5V mu balanced circuit figure of the present invention；
Fig. 7 is 3.3V mu balanced circuit figure of the present invention；
Fig. 8 is electric source filter circuit figure of the present invention；
Fig. 9 is MCU filter circuit Part I figure of the present invention；
Figure 10 is MCU filter circuit Part II figure of the present invention；
Figure 11 is AD reference circuit figure of the present invention；
Figure 12 is MCU reset circuit figure of the present invention；
Figure 13 is Boot selection circuit figure of the present invention；
Figure 14 is MCU download circuit figure of the present invention；
Figure 15 is MCU crystal oscillating circuit Part I figure of the present invention；
Figure 16 is MCU crystal oscillating circuit Part II figure of the present invention；
Figure 17 is SPI FLASH circuit diagram of the present invention；
Figure 18 a is the present inventionAngle geared stepper motor drive circuit figure；
Figure 18 b is θ angle of the present invention geared stepper motor drive circuit figure；
Figure 18 c is r through-drive stepper motor driving circuit figure of the present invention；
Figure 18 d is that printhead of the present invention controls stepper motor driving circuit；
Figure 19 is WIFI circuit diagram of the present invention；
Figure 20 is printhead temperature Acquisition Circuit figure of the present invention；
Figure 21 a is the present inventionAngular encoder interface circuit figure；
Figure 21 b is θ angular encoder interface circuit figure of the present invention；
Figure 21 c is r shaft encoder interface circuit figure of the present invention；
Figure 21 d is inventive encoder spare interface circuit diagram；
Figure 22 a is the present inventionAngle and θ angle control arm motor drive direction measuring circuit figure；
Figure 22 b is r axle control arm of the present invention and standby motor orientation measurement circuit diagram；
Figure 23 is SD card circuit diagram of the present invention；
Figure 24 is printhead temperature electric operation control circuit figure of the present invention；
Figure 25 is USB circuit figure of the present invention；
Figure 26 is condition indication circuit figure of the present invention；
Figure 27 is present system entire block diagram；
Figure 28 is the overall flow figure of present system work；
Figure 29 is print procedure flow chart of the present invention；
Figure 30 is printhead thermostatic control flow chart of the present invention；
Figure 31 is file reception flow chart of the present invention；
Figure 32 is parameter setting flow chart of the present invention；
Figure 33 is 3D printer coordinate system figure of the present invention.
Specific embodiment
The present invention'sAngle control arm 4 is to be made up of two panels, in two panelsPass through θ angle Angle ambiguity axle 5 between angle control arm 4
θ angle control arm 6 is installed, θ angle Angle ambiguity encoder is provided with θ angle Angle ambiguity axle 5, in θ angle Angle ambiguity axle 5 one
End is provided with θ angle driving motor 15；?Angle control arm 4 bottom is installed withAngle control arm fixes rotating disk 2,Angle angle control
Encoder 3 processed pass through gear withControl arm fixing rotating disk 2 in angle connects,Control arm fixing rotating disk 2 in angle is fixed onAngle driving motor
On 1 motor shaft；Printhead transmission polished rod 12 is fixed on the light bridge within θ angle control arm 6, and printhead drive lead screw 17 leads to
Cross shaft coupling to be connected with r through-drive motor 16, r axle controls encoder 13 to be connected to the other end of printhead drive lead screw 17,
The fixing slide block 7 of printhead is engaged on printhead drive lead screw 17, and is enclosed within printhead transmission polished rod 12 simultaneously；In printhead
On fixing slide block 7, printhead turntable 8 is provided with by axle, groove 20 is had on printhead turntable 8, in groove 20 inner shaft even
It is connected to swing bar 19, swing bar 19 lower end and printhead fixed frame 9 is installed, acceleration transducer 10 is arranged on printhead fixed frame
Plane on 9, printhead vertical angle adjustment motor 18 is arranged on printhead turntable 8, and printhead 11 is arranged on printhead and fixes
In frame 9.
Mechanical mechanism part of the present invention includes frame, stamp pad, printhead, transmission mechanism composition.Angle control arm 4 passes throughThe fixing rotating disk 2 of angle control arm withAngle driving motor 1 connects, and constitutesAngle transmission mechanism,Angle Angle ambiguity encoder 3 passes through
Gear withControl arm fixing rotating disk 4 in angle connects, and passes throughThe rotation of angle driving motor 1 drivesAngle control arm 4 rotates,Angle angle
Degree controls encoder 3 to feed back the angle rotating to realizeBeing precisely controlled of angle angle.It is solid that θ angle control arm 6 passes through θ angle control arm
Determine rotating disk to be connected with θ angle driving motor 15, constitute θ angle transmission mechanism, θ angle Angle ambiguity encoder 5 is linked together with rotating shaft,
θ angle control arm is driven to rotate with θ angle Angle ambiguity encoder 5 by the rotation of θ angle driving motor 15, θ angle Angle ambiguity encodes
Device 5 feeds back the angle rotating to realize being precisely controlled of θ angle angle.Printhead transmission polished rod 12 is fixed on light bridge, prints
Head drive lead screw 17 is connected with r through-drive motor 16 by shaft coupling, and r axle controls encoder 13 to be connected to printhead drive lead screw
Other one of 17, controls encoder by the movement that the rotation of r through-drive motor 16 drives the fixing slide block 7 of printhead with r axle
13 movement, thus drive the movement of printhead.R axle control encoder 13 feed back r through-drive motor 16 rotate distance, come
Realize the precise control of r axle displacement.Acceleration transducer 10 is fixed on plane on printhead fixed frame 9, beats in order to return
The angle of print head, printhead vertical angle adjustment motor 18 is fixed on printhead turntable 8, is adjusted by printhead vertical angle
Motor 18 adjusts the orientation of printhead, no matter θ angle control arm withHow angle control arm rotates, and it is all the time perpendicular to stamp pad 14.
Printhead 11 is fixed in printhead fixed frame 9, for discharging.
The course of work of machinery：The rotation of angle driving motor 1 controls level angleThe size at angle,The control range at angle
For (0, π),Angle Angle ambiguity encoder 3 feeds backThe rotational angle at angle, carry out spacing and precise control it is ensured that print
Precision.The rotation of θ angle driving motor 1, drives θ angle control arm 6 to rotate between vertical direction is with (0, pi/2), thus realizing θ angle
Control, θ angle Angle ambiguity encoder 5 feed back θ angle rotational angle, carry out spacing and precise control it is ensured that θ axle print essence
Degree.R through-drive motor 16 drives the fixing slide block 7 of printhead to slidably reciprocate on screw mandrel, realizes the variation of r axle, such space is appointed
Anticipate any rectangular coordinate system can change into (r, θ,), printhead just can be realized by the movement of motor and reach space
In any point.
Small portable 3D printer establishment of coordinate system based on spherical coordinate system principle is as shown in figure 33.Initial point 0 isAngle is controlled
Arm 4 center line processed and the intersection point of θ angle control arm center line,Angle projects to for θ angle control arm center lineOn angle driving motor 1
Surface and the angle of its center line, θ angle isAngle control arm 4 center line and the angle of θ angle control arm center line.
Circuit connecting section of the present invention divide including main control chip, power protecting circuit, power indicating circuit, 5V mu balanced circuit,
3.3V mu balanced circuit, electric source filter circuit, MCU filter circuit, AD reference circuit, MCU reset circuit, Boot selection circuit, MCU
Download circuit, MCU crystal oscillating circuit, SPI FLASH circuit, stepper motor driving circuit, WIFI circuit, printhead temperature collection electricity
Road, encoder interface circuit, motor drive direction measuring circuit, SD card circuit, printhead temperature control circuit, USB circuit, state refer to
Show circuit；
Main control chip：All controls are completed (Fig. 3) by the STM32F103VET6 that STMicw Electronics produces, main control chip U6
11,28,50,75,100 pin be connected with the VCC3.3 of 3.3V mu balanced circuit (Fig. 7), 10,27,49,74,99 power supplys of U6
GND connects.
Power protecting circuit (Fig. 4)：2 pin of power input interface P1 are connected with the left side pin of resettable fuse F1,
The right side pin of F1 is connected with the left side pin of the D1 of Schottky diode, and the right side pin of D1 is connected with the left side pin of TVS D2
It is connected in power supply VCC-24V output end, the right side pin of TVS is connected with GND；Achieve short-circuit protection, power supply is taken precautions against and connect, and suppression
The function of moment surge processed.
Power indicating circuit (Fig. 5)：The VCC-24 power output end of power protecting circuit is connected with the left side pin of resistance R1
Connect, the right side pin of R1 is connected with the left side pin of light emitting diode D3, the right side pin of D3 is connected with GND；Achieve system
Just have light prompt once insertion power supply.
5V mu balanced circuit (Fig. 6)：The VCC-24 power output end of power protecting circuit and W1 voltage stabilizing chip LM2576-5V
1 pin connects, and VCC-24 power output end is connected with the upside pin of electrochemical capacitor C6, and the downside pin of C6 connects 3,5 pin of W1
It is connected on the GND of power supply, the left side pin of inductance L1 accesses on 2 pin of W1 after being connected with the upside pin of D4, the right side of L1
It is VCC-5V output end, the downside pin of D4 and C7 that the upside pin of pin and electrochemical capacitor C7 connects on 4 pin being followed by W1
Downside pin connect and be followed by GND；Achieve and provide stable 5V voltage for system.
3.3V mu balanced circuit (Fig. 7)：The VCC-5V voltage output end of 5V mu balanced circuit and the upside pin of electric capacity C10, C11
It is linked into 3 pin of U7, the downside pin of C10, C11, C13, C12 accesses GND after being connected with 1 pin of U7, and C13, C12's is upper
Side pin is VCC3.3 output end after connecting；Achieve and provide stable 3.3V voltage for system.
Electric source filter circuit (Fig. 8)：The VCC-24 power output end of power protecting circuit is connected with the left side pin of C2, C4
Connect, the right side pin of C2, C4 is connected with GND；Achieve the filter function of whole circuit power.
MCU filter circuit (Fig. 9 and Figure 10)：The VCC3.3 output end of 3.3V mu balanced circuit and C20, C21, C22, C23,
The upside pin of C24 connects, and the downside pin of C20, C21, C22, C23, C24 is connected with GND；3.3V mu balanced circuit VCC3.3 is defeated
Go out end to be connected with the left side pin of inductance L2, after the right side pin of L2 is connected with the upside pin of C25, C26, C27, be linked into master
22 pin in control chip, the left side pin of inductance L3 connects GND, and the right side pin of L3 connects the downside pin of C25, C26, C27,
It is linked into 19 pin in main control chip；Fig. 9 and Figure 10 together form the filter circuit of MCU.
AD reference circuit (Figure 11)：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the left side pin of inductance L4, L4
Right side pin be connected with the upside pin of C28, C29, C30 after, be linked into 21 pin in main control chip, the left side of inductance L5 is drawn
Pin connects GND, after the right side pin of L5 connects the downside pin of C28, C29, C30, is linked into 20 pin in main control chip；Give
The inside AD of MCU provides voltage reference, for using.
MCU reset circuit (Figure 12)：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the upside pin of R5, button K1
Right side pin, the downside pin of R5, the right side pin of C19 be connected with 14 pin of main control chip；The left side pin of C19, K1 connects
Enter power supply GND；Realize the function that K1 presses MCU reset.
Boot selection circuit (Figure 13)：The 1 of connector P8,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, P8
3 pin connect the right side pin of R6, the left side pin of R6 connects 94 pin of MCU in main control chip, and 4 pin of P8 connect the left side of R7
Pin, the right side pin of R7 is connected to 37 pin of MCU in main control chip；The 5 of P8,6 pin are connected with GND；Realize the startup of system
Selection function.
MCU download circuit (Figure 14)：1 pin of plug-in unit P4 is connected with 72 pin of main control chip, and 2 pin of P4 are connected with GND, P4
3 pin be connected with 76 pin of main control chip；Realize the function that downloads of system.
MCU crystal oscillating circuit (Figure 15 and Figure 16)：9 pin of 1 pin of crystal oscillator Y1, the right side pin of C3 and main control chip
Connect, 2 pin of crystal oscillator Y1, the right side pin of C1 are connected with 8 pin of main control chip, and the left side of C1, C3 is connected with GND；
1 pin of crystal oscillator Y2, the downside pin of R2, the right side pin of C8 are connected with 12 pin of main control chip, crystal oscillator Y2
2 pin, the upside pin of R2 be connected with 13 pin of main control chip with the right side pin of C5, the left side pin of C5, C8 and GND are even
Connect；This circuit is the external clock input of whole MCU.
SPI FLASH circuit (Figure 17)：The 1 of chip P7,2,5,6 pin respectively with 29,31,32,30 pin of main control chip even
Connect, 3,7,8 pin of P7 are connected with the VCC3.3 of 3.3V mu balanced circuit, and 4 pin of P7 are connected with GND；Realize the work(of plug-in FLASH
Can, for storing mimeograph documents and journal file.
Stepper motor driving circuit：IncludingAngle geared stepper motor drive circuit (Figure 18 a), θ angle geared stepper motor drive
Dynamic circuit (Figure 18 b), r through-drive stepper motor driving circuit (Figure 18 c), printhead control stepper motor driving circuit (figure
18d)；Achieve the hardware driving of stepper motor.
Angle geared stepper motor drive circuit：U2 is motor drive ic DRV8825, and 1,7,8 pin of U2 are respectively connected to master control
In chip 97,59,15 pin are connected, and 11,12,13, the 14 of U2 is connected with 1,2,3,4 pin of stepper motor interface M3 respectively, U2
2-6 pin be connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U2 and power protecting circuit are even
Connect, 15,9 pin of U2 are connected with GND；
θ angle geared stepper motor drive circuit：U3 is motor drive ic DRV8825, and 1,7,8 pin of U3 are respectively connected to master control core
In piece 98,60,16 pin are connected, and 11,12,13, the 14 of U3 is connected with 1,2,3,4 pin of stepper motor interface M4 respectively, U3's
2-6 pin is connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U3 and power protecting circuit are even
Connect, 15,9 pin of U3 are connected with GND；
R through-drive stepper motor driving circuit：U4 is motor drive ic DRV8825, and 1,7,8 pin of U4 are respectively connected in master control
1,61,17 pin be connected, 11,12,13, the 14 of U4 is connected with 1,2,3,4 pin of stepper motor interface M1 respectively, the 2-6 pin of U4
It is connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U4 are connected with 2 pin of the P2 in power protecting circuit, U4's
15th, 9 pin are connected with GND；
Printhead controls stepper motor driving circuit：U1 is motor drive ic DRV8825, and 1,7,8 pin of U1 are respectively connected to lead
In control 2,62,18 pin are connected, and 11,12,13, the 14 of U1 is connected with 1,2,3,4 pin of stepper motor interface M2 respectively, the 2- of U1
6 pin are connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U1 are connected with 2 pin of the P2 in power protecting circuit,
The 15 of U1,9 pin are connected with GND.
WIFI circuit (Figure 19)：The 1 of plug-in unit P10,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, P10 3,
4 pin and 69 in main control chip, 68 it is connected, 5,6 pin of P10 are connected with GND；Realize the wifi extension of system, enable wireless
Connect LAN to be operated accordingly.
Printhead temperature Acquisition Circuit (Figure 20)：U6 in 2 pin of connector P11, the downside pin of R19 and main control chip
34 pin connect, and the upside pin of R19 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 1 pin of P11 is connected with GND；Real
The acquisition function of existing printhead temperature.
Encoder interface circuit：IncludingAngular encoder interface circuit (Figure 21 a), θ angular encoder interface circuit (Figure 21 b),
R shaft encoder interface circuit (Figure 21 c), encoder spare interface circuit (Figure 21 d)；
Angular encoder interface circuit：1 pin of P3 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P3 divide
It is not connected with 3,5 pin of U5 in motor drive direction measuring circuit, 4 pin of P3 are connected with GND；
θ angular encoder interface circuit：1 pin of P2 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P2 are respectively
It is connected with 11,9 pin of U5 in motor drive direction measuring circuit, 4 pin of P2 are connected with GND；
R shaft encoder interface circuit：1 pin of P5 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P5 are respectively
It is connected with 3,5 pin of U8 in motor drive direction measuring circuit, 4 pin of P5 are connected with GND；
Encoder spare interface circuit：1 pin of P6 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P6 divide
It is not connected with 11,9 pin of U8 in motor drive direction measuring circuit, 4 pin of P6 are connected with GND.
Motor drive direction measuring circuit：IncludingAngle and θ angle control arm motor drive direction measuring circuit (Figure 22 a), r axle control arm
With standby motor orientation measurement circuit (Figure 22 b)；Realize the function in the direction that measurement stepper motor runs；
Angle and θ angle control arm motor drive direction measuring circuit：The 1 of U5,13 pin are connected with 83,84 pin of U6 in main control chip, U5
3,5 pin withIn angular encoder interface circuit, 2,3 pin of P3 connect, P2 in 11,9 pin of U5 and θ angular encoder interface circuit
2nd, 3 pin connect, U5 4,6,7,8,10, the downside pin of C9 be connected with GND, 14 pin of U5, the upside pin of C9 and 3.3V are steady
VCC3.3 output end in volt circuit connects；
R axle control arm and standby motor orientation measurement circuit：The 1 of U8,13 pin are connected with 85,86 pin of U6 in main control chip, U8
3,5 pin be connected with 2,3 pin of P5 in r shaft encoder interface circuit, P6 in 11,9 pin of U8 and encoder spare interface circuit
2,3 pin connect, U8 4,6,7,8,10, the downside pin of C15 be connected with GND, 14 pin of U8, the upside pin of C15 and
VCC3.3 output end in 3.3V mu balanced circuit connects；
SD card circuit (Figure 23)：7 pin of U10, the downside pin of R14 are connected with 65 pin of the U6 of main control chip, and the 8 of U10
Pin, the downside pin of R15 are connected with 66 pin of the U6 of main control chip, U6 in 1 pin of U10, the downside pin of R16 and main control chip
78 pin connect, 2 pin of U10, the downside pin of R17 be connected with 79 pin of U6 in main control chip, 5 pin of U10 and main control chip
80 pin of middle U6 connect, and 3 pin of U10, the downside pin of R18 be connected with 83 pin of U6 in main control chip, R14, R15, R16,
The upside pin of R17, R18,4 pin of U10, the right side pin of C31 are connected with the VCC3.3 output end in 3.3V mu balanced circuit；
The left side pin of C31,6,9,10,11,12,13 pin of U10 are connected with GND；Realize storing the function of mimeograph documents by SD card.
Printhead temperature control circuit (Figure 24)：The right side pin of R13 is connected with 2 pin of Q2, the left side pin of R13 and master
Control chip in U6 33 pin connect, 3 pin of Q2, the downside pin of R10, R11 left side pin be connected, the upside pin of R10 with
The right side pin of R8, the left side pin of R9 are connected, the VCC-24 power supply of the left side pin of R8 and 1 pin of P9 and power protecting circuit
Output end connects, and the right side pin of R9,1 pin of Q2, the downside pin of R12,3 pin of Q1 are connected with GND, the right side pin of R11,
The upside pin of R12 is connected with 1 pin of Q1, and 2 pin of Q1 are connected with 2 pin of P9；Realize the temp. control function of printhead.
USB circuit (Figure 25)：1 pin of USB1 is hanging, does not power, 2 pin of USB1,6 pin of U9, the upside pin of C16, R3
Left side pin connect, 3 pin of USB1,4 pin of U9, the downside pin of C16, the left side pin of R4 are connected, 4,5 pin of USB1,
The upside pin of C17 connects, and the right side pin of R3, the downside pin of C14 are connected with 70 pin of U6 in main control chip, the right side of R4
Pin, the upside pin of C18 are connected with 71 pin of U6 in main control chip, the downside pin of C17, the 1 of U9,2,3,5, C14 upper
Side pin, the downside pin of C18 are connected with GND；Achieve and communicated with host computer by USB interface, the work(of transmission file
Energy.
Condition indication circuit (Figure 26)：VCC3.3 in the left side pin of resistance R20, R21, R22 and power protecting circuit
Output end connects, and right side pin is connected with the left side pin of D5, D6, D7 respectively, the right side pin of D5, D6, D7 and main control chip
The 3 of middle U1,4,5 pins connect.Achieve the instruction function of system running state.
As shown in figure 27, total power supply of system is provided the entire block diagram of system by outside 24V power switch power supply, external electrical
Source input is converted to VCC-24 through Fig. 4 power protecting circuit and supplies Figure 24 printhead temperature control circuit, the confession of stepper motor
The electricity directly 24V for external power source input, is converted to VCC-5 through the VCC-24 of Fig. 4 conversion through the 5V mu balanced circuit of Fig. 6,
VCC-5 is converted to 3.3V to WIFI, SD card, MCU core circuit, printhead temperature collection, electricity by the 3.3V mu balanced circuit of Fig. 7
Machine data acquisition, motor control, FLASH power.The temperature control of printhead is realized by Figure 24 printhead temperature control circuit.Beat
Print head temperature acquisition is realized by Figure 20 printhead temperature Acquisition Circuit, and motor data collection is connect by Figure 21 (a, b, c, d) encoder
Mouth circuit and Figure 22 (a, b) motor drive direction measuring circuit are realized.By Figure 19 WIFI circuit realiration, SD card function is by scheming for WIFI function
23SD card circuit realiration, MCU core circuit is by common group of Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15 and Figure 16
Become.Motor control function is realized by Figure 18 (a, b, c, d) stepper motor driving circuit, and FLASH function is by Figure 17 SPI FLASH electricity
Road is realized, and USB function is not powered, and is realized by Figure 25 USB circuit.
Mechanizing circuit coordinates：
In structural representation Fig. 1Angle driving motor is realized with the cooperation of circuit Figure 18 (a) stepper motor driving circuitAngle is driven
The rotation of motor controls, and in wherein Figure 18 (a), 1 pin of U2 controls for Enable Pin, can control the open and close of stepper motor, U2
7 pin be that the step number of stepper motor controls, often input a pulse to it, stepper motor will advance 1.8 °.Thus can root
Calculate according to following equationThe rotational angle of angle control arm,
8 pin of U2 areThe deflection of angle driving motor controls, and controls the rotation direction of stepper motor.The 11 of U2,12,13,14
Respectively withFour lines of angle driving motor connect.
In structural representation Fig. 1Angle Angle ambiguity encoder and circuit Figure 21 (a) and the measurement of Figure 22 (a) motor drive direction
Circuit cooperation is realizedThe real-time angular at angle and rotation direction collection.In the present invention, use the encoder of 500 lines,
That is encoder per revolution can export 500 pulse signals, currentlyThe angle that angle rotates can pass through equation below meter
Calculate,
In formula, M is the angle number of collection, n1ForThe number of teeth of the fixing rotating disk of angle control arm, n2ForAngle Angle ambiguity encoder is even
Connect the number of gears of gear.2 pin of the P3 of Figure 21 (a) are connected with 23 pin of Fig. 3 U6, the arteries and veins that can be exported with Real-time Collection to encoder
Rush number M, such that it is able to calculate in real timeAngle.In Figure 21 (a) 2,3 pin of P3 be encoder output two-way orthogonal square wave letter
Number.U5 in Figure 22 (a) can judge the rotation direction of current motor by the signal of input.
15- θ angle driving motor in structural representation Fig. 2 realizes θ angle with the cooperation of circuit Figure 18 (b) stepper motor driving circuit
The rotation of driving motor controls, and in wherein Figure 18 (b), 1 pin of U3 controls for Enable Pin, can control unlatching and the pass of stepper motor
Close, 7 pin of U3 are the step number control of stepper motor, often input a pulse to it, stepper motor will advance 1.8 °.Thus may be used
To calculate the rotational angle of θ angle control arm according to following equation,
θ=number of steps * 1.8 (3)
8 pin of U3 are that the deflection of θ angle driving motor controls, and control the rotation direction of stepper motor.The 11 of U3,12,13,14 points
It is not connected with four lines of 15- θ angle driving motor.
5- θ angle Angle ambiguity encoder in structural representation Fig. 1 and circuit Figure 21 (b) and the measurement of Figure 22 (a) motor drive direction
Real-time angular and the rotation direction collection at θ angle is realized in circuit cooperation.In the present invention, use the encoder of 500 lines,
That is encoder per revolution can export 500 pulse signals, the angle that current θ angle rotates can pass through equation below meter
Calculate,
In formula, M is the angle number of collection, n1For the number of teeth of the fixing rotating disk of θ angle control arm, n2Connect for θ angle Angle ambiguity encoder
The number of gears of gear.2 pin of the P2 of Figure 21 (b) are connected with 24 pin of Fig. 3 U6, the pulse that can be exported with Real-time Collection to encoder
Number M, such that it is able to calculate real-time θ angle.In Figure 21 (b), 2,3 pin of P2 are the orthogonal square-wave signals of two-way of encoder output.
U5 in Figure 22 (a) can judge the rotation direction of current motor by the signal of input.
16-r through-drive motor in structural representation Fig. 2 realizes r axle with the cooperation of circuit Figure 18 (c) stepper motor driving circuit
The rotation of driving motor controls, and in wherein Figure 18 (c), 1 pin of U4 controls for Enable Pin, can control unlatching and the pass of stepper motor
Close, 7 pin of U4 are that the step number of stepper motor controls, and often input a pulse to it, stepper motor will be advanced 1 step, 1 step of advancing
Distance determined by gearratio.The travel distance of r axle thus can be calculated according to following equation,
The 8 pin r axles of U4 are that the deflection of driving motor controls, and control the rotation direction of stepper motor.The 11 of U4,12,13,14 points
It is not connected with four lines of r through-drive motor.
13-r axle in structural representation Fig. 1 controls encoder and circuit Figure 21 (c) and Figure 22 (b) motor drive direction measuring circuit
Real-time angular and the rotation direction collection of r axle is realized in cooperation.In the present invention, use the encoder of 500 lines, that is,
Say that encoder per revolution can export 500 pulse signals, the distance that current r axle is advanced can be calculated by equation below,
R=D × M (6)
In formula M be collection angle number, D be gearratio.2 pin of the P5 of Figure 21 (c) are connected with 25 pin of Fig. 3 U6, can be real-time
Collect umber of pulse M of encoder output, such that it is able to calculate the distance that real-time r axle is advanced.2,3 pin of P5 in Figure 21 (b)
It is the orthogonal square-wave signal of the two-way of encoder output.U8 in Figure 22 (b) can judge current electricity by the signal of input
The rotation direction of machine.
18- printhead vertical angle adjustment motor and 10- acceleration transducer and circuit Figure 18 (d) in structural representation Fig. 2
Stepper motor driving circuit coordinates, and can adjust the position of printhead so as to always can be perpendicular to stamp pad.
In wherein Figure 18 (d), 1 pin of U1 controls for Enable Pin, can control the open and close of stepper motor, 7 pin of U1 are stepping
The step number of motor controls, and often inputs a pulse to it, and stepper motor will be advanced 1 step.The 8 pin printhead vertical angles of U1 are adjusted
The deflection of whole motor controls, and controls the rotation direction of stepper motor.The 11 of U1,12,13,14 respectively with printhead vertical angle
Four lines of adjustment motor connect.Umber of pulse M of stepper motor output can obtain according to following empirical equation,
M=A (ζ1-90)+B(δ1-δ2) (7)
Clock M adjusts the umber of pulse of motor output, ζ for printhead vertical angle1Angle for the printhead of current collection.δ1For
The angle of upper cycle collection and the difference of desired angle, δ2Angle for current period collection and the difference of desired angle, A, B
For proportionality coefficient, obtained by experimental result.
As shown in figure 28, it is the overall flow figure that system works, after (1) system electrification, hardware initialization can be carried out first,
Initialized part has WiFi, SD card, FLASH, USB, temperature acquisition end, motor data collection terminal, motor control terminal, printhead
Temperature control end.Detect each hardware device whether normal work, initialize unsuccessfully return error code, and according to type of error
Allow different LED combination to light by circuit Figure 26, be given and point out accordingly, what hardware error in instruction user initialization,
It is beneficial to user to check.(2), after initialization success, the oracle listener of Figure 19 WIFI circuit can be registered to circuit Fig. 3 main control MCU
In the middle of the interruption of U6, once having equipment to connect or connect other wireless devices will produce interruption, setting state is to accept behaviour
Make designated state.The control program of principal function meeting recursive call circuit diagram 25USB circuit, once testing equipment accesses PC, setting
State is to accept operational order state, if both the above situation does not have any generation, equipment will repeat above-mentioned behaviour always
Make until cutting external power source.If above-mentioned situation has any generation, enter and receive operational order state.Whole system
Instruction be divided into three parts, respectively print command, receive file instruction, arrange parameter instructs.Wherein print command is
It is used for controlling the inclusion of the related operation of whole system printing to start printing, time-out printing, terminate printing, select the literary composition of printing
Part.Receive file instruction to be used for downloading, from other equipment, the 3D file having built up model by way of USB or WIFI, if
Put parameter instruction, for set whole equipment operation parameter including：Print axis precision set, print temperature set, electricity
The setting of machine gait of march, substrate parameters setting, supporter parameter setting, filling set, print shell number of plies setting several major.
After receiving instruction, determine whether to print dependent instruction, if yes then enter print state, execution is related to be printed
Instruction, if it is not, then determining whether to receive file instruction, if yes then enter receiving file status, executes related connecing
Receive file operation, if it is not, then determining whether that arrange parameter instructs, if yes then enter parameter setting state, if not
It is to determine whether to disconnect.It is not turned off connecting the arrival that will continue to wait instruction, circulation is gone down until power-off.
It is print procedure flow chart as shown in figure 29, after receiving print command, determine whether first as select file
Instruction, if just preserving the filename of selection, then returnes to receiving printing orders state.If not just determining whether
For starting print command.
If starting print command will set print state as starting print state, judge whether laststate is time-out
State, if halted state, will obtain print position during last time-out, enter printhead thermostatic control, extract literary composition
Come by (x, y, z) Coordinate Conversion in partCoordinate, is calculated by the coordinate value getting and the value of parameter setting sets
Put speed and the number of turns of stepper motor rotation, mobile corresponding stepper motor, by corresponding encoder feedback movement away from
Walk-off angle degree, comparing calculation angle and distance out, just compensate if there are gap, if in Printing to File last
Individual position, then print and complete, and the otherwise process of duplicate printing completes until printing, if the print state of last time is not temporary
Stop state, mimeograph documents obtained from corresponding memory space according to the filename selecting, then moves r axle,Angle, θ angle, control
Motor, so as to move to restriction site, is then return to initial position, for calibrating restriction and initial position.Subsequently into flatiron
Head thermostatic control state, repeats above-mentioned print procedure, completes until printing.If not start print command will judge be
No for time-out printing instruction.
If it is halted state that time-out printing instruction will arrange current state, then the current all information printing are preserved
To the fixing sector of circuit diagram 17SPI FLASH circuit, in case again print use next time, then return to command reception shape
State prepares to receive new instruction.It is not that time-out printing instruction will determine whether to terminate print command as crossed.
If termination print command, will arrange current print state is final state, removes all of storage and beats
The information of print, terminates print state.If not terminating printing, return to print command reception state, wait new finger
Order arrives.
It is the thermostatically controlled flow chart of printhead (in Figure 29 print procedure flow chart during printing as shown in figure 30
Printhead thermostatic control), enter printhead thermostatic control program after, arrange thermostatic control flag bit, thermostatic control program meeting
In backstage execution, do not affect the control logic of whole system.
Often Figure 20 printhead temperature continuous acquisition can be gathered using 12 ADC functions that U6 in circuit Fig. 3 carries by 3ms first
Magnitude of voltage in Temp in circuit 100 times, filters noise using the mean voltage that average value filtering algorithm calculates 100 times and causes
Impact, then current temperature is calculated according to the voltage resistance property curve of RTD, puts in the queue that sliding window is 20,
Every 100ms carries out actual value, the actual value that then basis collects and the control arranging that smothing filtering obtains a temperature
Temperature processed calculates the working time of Figure 24 printhead temperature control circuit using pid algorithm, shown in working time longer circuit 24
The work of circuit is bigger, and the heat of generation is more, and the working time, shorter work was less, and the heat of generation is got over
Few, when 100ms calculates and once heats, when not using up the heat time, circuit Figure 24 print-head drive circuit is given
Printhead provides electric energy to supply it to heat, if the time is used up or reaches controlling cycle 100ms of setting, recalculates once
Heat time, repeat down always if the temperature of printhead is not reaching to the requirement setting, if reaching the temperature of setting
In the range of degree, then thermostatic process completes, and maintains temperature.
If Figure 31 is file reception flow chart, after receiving file reception instruction, system enters file reception state, first
First determine whether that USB sends, if it is, receive file and completing and run Fat32 file system to initialized
SPI FLASH on, if it is not, then determining whether that WIFI sends, if it is utilize circuit diagram 17WIFI circuit beating
Print file data is sent on SPI FLASH, if not determining whether that file is stored in SD card, if in SD card
On the file copy specified in SD card to FLASH, if not, moving back to receive file instruction, the next one is waited to refer to
No matter the arrival of order, receive file in which way, finally file will be verified, judge whether file finishes receiving,
Without finishing receiving, return to reception file instruction state, wait the arrival of next instruction.
Following Figure 32 show parameter setting flow chart, and after receiving parameter setting instruction, system enters parameter setting
State, first can checking parameter set all fields verification and, if verification and success, each word pre-defining
Section is assigned to corresponding variable respectively, then their unified being stored in FLASH it is ensured that data is when next time starts shooting
Time is still the value of setting.If verifying and not passing through, return to reception parameter setting instruction state, and send reception to host computer
Failure command, then waits the arrival of next instruction, until receiving successfully, exits parameter setting state.
Claims (2)
1. a kind of portable 3D printer it is characterised in that：Angle control arm (4) is to be made up of two panels, in two panelsAngle control arm
(4) between, θ angle control arm (6) is provided with by θ angle Angle ambiguity axle (5), θ angle angle is provided with θ angle Angle ambiguity axle (5)
Degree controls encoder, is provided with θ angle driving motor (15) in θ angle Angle ambiguity axle (5) one end；?Angle control arm (4) bottom is solid
Dingan County equipped withThe fixing rotating disk (2) of angle control arm,Angle Angle ambiguity encoder (3) pass through gear withAngle control arm fixes rotating disk
(2) connect,Control arm fixing rotating disk (2) in angle is fixed onOn the motor shaft of angle driving motor (1)；Printhead transmission polished rod (12)
It is fixed on the internal light bridge in θ angle control arm (6), printhead drive lead screw (17) passes through shaft coupling and r through-drive motor
(16) connect, r axle controls encoder (13) to be connected to the other end of printhead drive lead screw (17), and printhead fixes slide block
(7) it is engaged on printhead drive lead screw (17), and be enclosed within printhead transmission polished rod (12) simultaneously；Fix slide block in printhead
(7) above printhead turntable (8) is provided with by axle, groove (20) is had on printhead turntable (8), in groove (20) inner shaft
It is connected with swing bar (19), swings bar (19) lower end and printhead fixed frame (9) is installed, acceleration transducer (10) is arranged on to be beaten
The upper plane of print head fixed frame (9), printhead vertical angle adjustment motor (18) is arranged on printhead turntable (8), printhead
(11) it is arranged in printhead fixed frame (9).
2. the portable 3D printer described in claim 1 it is characterised in that：Its circuit connecting section is divided including main control chip, electricity
Protection circuit, power indicating circuit, 5V mu balanced circuit, 3.3V mu balanced circuit, electric source filter circuit, MCU filter circuit, AD base
Quasi- circuit, MCU reset circuit, Boot selection circuit, MCU download circuit, MCU crystal oscillating circuit, SPI FLASH circuit, stepping electricity
Drive circuit, WIFI circuit, printhead temperature Acquisition Circuit, encoder interface circuit, motor drive direction measuring circuit, SD card electricity
Road, printhead temperature control circuit, USB circuit, condition indication circuit；
Main control chip：Using STM32F103VET6,11,28,50,75,100 pin of main control chip U6 and 3.3V mu balanced circuit
VCC3.3 connects, and the GND of 10,27,49,74,99 power supplys of U6 connects；
Power protecting circuit：2 pin of power input interface P1 are connected with the left side pin of resettable fuse F1, and the right side of F1 is drawn
Pin is connected with the left side pin of the D1 of Schottky diode, and the right side pin of D1 and the left side pin of TVS D2 are connected as power supply
VCC-24V output end, the right side pin of TVS is connected with GND；
Power indicating circuit：The VCC-24 power output end of power protecting circuit is connected with the left side pin of resistance R1, the right side of R1
Side pin is connected with the left side pin of light emitting diode D3, and the right side pin of D3 is connected with GND；
5V mu balanced circuit：The VCC-24 power output end of power protecting circuit is connected with 1 pin of W1 voltage stabilizing chip LM2576-5V,
VCC-24 power output end is connected with the upside pin of electrochemical capacitor C6, and 3,5 pin of the downside pin connection W1 of C6 are connected to electricity
On the GND in source, the left side pin of inductance L1 accesses on 2 pin of W1 after being connected with the upside pin of D4, the right side pin of L1 and electricity
It is VCC-5V output end that the upside pin of solution electric capacity C7 connects on 4 pin being followed by W1, and the downside pin of D4 and the downside of C7 are drawn
Pin connection is followed by GND；
3.3V mu balanced circuit：The VCC-5V voltage output end of 5V mu balanced circuit is connected access with the upside pin of electric capacity C10, C11
To 3 pin of U7, the downside pin of C10, C11, C13, C12 accesses GND with 1 pin of U7 after being connected, the upside pin of C13, C12 is even
It is VCC3.3 output end after connecing；
Electric source filter circuit：The VCC-24 power output end of power protecting circuit is connected with the left side pin of C2, C4, C2, C4's
Right side pin is connected with GND；
MCU filter circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the upside pin of C20, C21, C22, C23, C24
Connect, the downside pin of C20, C21, C22, C23, C24 is connected with GND；3.3V mu balanced circuit VCC3.3 output end is with inductance L2's
Left side pin connects, and after the right side pin of L2 is connected with the upside pin of C25, C26, C27, is linked into 22 in main control chip
Pin, the left side pin of inductance L3 connects GND, and the right side pin of L3 connects the downside pin of C25, C26, C27, is linked into master control core
19 pin in piece；
AD reference circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the left side pin of inductance L4, the right side pin of L4
After being connected with the upside pin of C28, C29, C30, it is linked into 21 pin in main control chip, the left side pin of inductance L5 connects GND,
After the right side pin of L5 connects the downside pin of C28, C29, C30, it is linked into 20 pin in main control chip；
MCU reset circuit：The VCC3.3 output end of 3.3V mu balanced circuit is connected with the upside pin of R5, and the right side of button K1 is drawn
Pin, the downside pin of R5, the right side pin of C19 are connected with 14 pin of main control chip；The left side pin of C19, K1 accesses power supply
GND；
Boot selection circuit：The 1 of connector P8,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 3 pin of P8 connect
The right side pin of R6, the left side pin of R6 connects 94 pin of MCU in main control chip, and 4 pin of P8 connect the left side pin of R7, R7's
Right side pin is connected to 37 pin of MCU in main control chip；The 5 of P8,6 pin are connected with GND；
MCU download circuit：1 pin of plug-in unit P4 is connected with 72 pin of main control chip, and 2 pin of P4 are connected with GND, 3 pin of P4 and master
76 pin of control chip connect；
MCU crystal oscillating circuit：1 pin of crystal oscillator Y1, the right side pin of C3 are connected with 9 pin of main control chip, crystal oscillator
2 pin of Y1, the right side pin of C1 are connected with 8 pin of main control chip, and the left side of C1, C3 is connected with GND；The 1 of crystal oscillator Y2
Pin, the downside pin of R2, the right side pin of C8 are connected with 12 pin of main control chip, and 2 pin of crystal oscillator Y2, the upside of R2 are drawn
Pin is connected with 13 pin of main control chip with the right side pin of C5, and the left side pin of C5, C8 is connected with GND；
SPI FLASH circuit：The 1 of chip P7,2,5,6 pin be connected with 29,31,32,30 pin of main control chip respectively, P7 3,7,
8 pin are connected with the VCC3.3 of 3.3V mu balanced circuit, and 4 pin of P7 are connected with GND；
Stepper motor driving circuit：IncludingAngle geared stepper motor drive circuit, θ angle geared stepper motor drive circuit, r axle
Geared stepper motor drive circuit, printhead control stepper motor driving circuit；
Angle geared stepper motor drive circuit：U2 is motor drive ic DRV8825, and 1,7,8 pin of U2 are respectively connected to master control core
In piece 97,59,15 pin are connected, and 11,12,13, the 14 of U2 is connected with 1,2,3,4 pin of stepper motor interface M3 respectively, U2's
2-6 pin is connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U2 and power protecting circuit are even
Connect, 15,9 pin of U2 are connected with GND；
θ angle geared stepper motor drive circuit：U3 is motor drive ic DRV8825, and 1,7,8 pin of U3 are respectively connected to master control core
In piece 98,60,16 pin are connected, and 11,12,13, the 14 of U3 is connected with 1,2,3,4 pin of stepper motor interface M4 respectively, U3's
2-6 pin is connected with the VCC3.3 output end in 3.3V mu balanced circuit；2 pin of the P2 in 16 pin of U3 and power protecting circuit are even
Connect, 15,9 pin of U3 are connected with GND；
R through-drive stepper motor driving circuit：U4 is motor drive ic DRV8825, and 1,7,8 pin of U4 are respectively connected in master control
1,61,17 pin be connected, 11,12,13, the 14 of U4 is connected with 1,2,3,4 pin of stepper motor interface M1 respectively, the 2-6 pin of U4
It is connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U4 are connected with 2 pin of the P2 in power protecting circuit, U4's
15th, 9 pin are connected with GND；
Printhead controls stepper motor driving circuit：U1 is motor drive ic DRV8825, and 1,7,8 pin of U1 are respectively connected to lead
In control 2,62,18 pin are connected, and 11,12,13, the 14 of U1 is connected with 1,2,3,4 pin of stepper motor interface M2 respectively, the 2- of U1
6 pin are connected with the VCC3.3 output end in 3.3V mu balanced circuit；16 pin of U1 are connected with 2 pin of the P2 in power protecting circuit,
The 15 of U1,9 pin are connected with GND；
WIFI circuit：The 1 of plug-in unit P10,2 are connected with the VCC3.3 output end in 3.3V mu balanced circuit, 3,4 pin of P10 and master control
In chip 69,68 connections, 5,6 pin of P10 are connected with GND；
Printhead temperature Acquisition Circuit：2 pin of connector P11, the downside pin of R19 are connected with 34 pin of U6 in main control chip,
The upside pin of R19 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 1 pin of P11 is connected with GND；
Encoder interface circuit：IncludingAngular encoder interface circuit, θ angular encoder interface circuit, r shaft encoder interface circuit,
Encoder spare interface circuit；
Angular encoder interface circuit：1 pin of P3 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P3 are respectively
It is connected with 3,5 pin of U5 in motor drive direction measuring circuit, 4 pin of P3 are connected with GND；
θ angular encoder interface circuit：1 pin of P2 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P2 are respectively
It is connected with 11,9 pin of U5 in motor drive direction measuring circuit, 4 pin of P2 are connected with GND；
R shaft encoder interface circuit：1 pin of P5 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P5 are respectively
It is connected with 3,5 pin of U8 in motor drive direction measuring circuit, 4 pin of P5 are connected with GND；
Encoder spare interface circuit：1 pin of P6 is connected with the VCC3.3 output end in 3.3V mu balanced circuit, and 2,3 pin of P6 divide
It is not connected with 11,9 pin of U8 in motor drive direction measuring circuit, 4 pin of P6 are connected with GND；
Motor drive direction measuring circuit：IncludingAngle and θ angle control arm motor drive direction measuring circuit, r axle control arm and standby motor side
To measuring circuit；
Angle and θ angle control arm motor drive direction measuring circuit：The 1 of U5,13 pin are connected with 83,84 pin of U6 in main control chip, U5's
3rd, 5 pin withIn angular encoder interface circuit P3 2,3 pin connect, in 11,9 pin of U5 and θ angular encoder interface circuit P2 2,
3 pin connect, U5 4,6,7,8,10, the downside pin of C9 be connected with GND, 14 pin of U5, the upside pin of C9 and 3.3V voltage stabilizing
VCC3.3 output end in circuit connects；
R axle control arm and standby motor orientation measurement circuit：The 1 of U8,13 pin are connected with 85,86 pin of U6 in main control chip, U8
3,5 pin be connected with 2,3 pin of P5 in r shaft encoder interface circuit, P6 in 11,9 pin of U8 and encoder spare interface circuit
2,3 pin connect, U8 4,6,7,8,10, the downside pin of C15 be connected with GND, 14 pin of U8, the upside pin of C15 and
VCC3.3 output end in 3.3V mu balanced circuit connects；
SD card circuit：7 pin of U10, the downside pin of R14 are connected with 65 pin of the U6 of main control chip, under 8 pin of U10, R15
Side pin is connected with 66 pin of the U6 of main control chip, and in 1 pin of U10, the downside pin of R16 and main control chip, 78 pin of U6 connect
Connect, 2 pin of U10, the downside pin of R17 are connected with 79 pin of U6 in main control chip, 5 pin of U10 and 80 of U6 in main control chip
Pin connects, and 3 pin of U10, the downside pin of R18 are connected with 83 pin of U6 in main control chip, and R14, R15, R16, R17, R18's is upper
Side pin, 4 pin of U10, the right side pin of C31 are connected with the VCC3.3 output end in 3.3V mu balanced circuit；The left side of C31 is drawn
Pin, the 6 of U10,9,10,11,12,13 pin are connected with GND；
Printhead temperature control circuit：The right side pin of R13 is connected with 2 pin of Q2, U6 in the left side pin of R13 and main control chip
33 pin connect, 3 pin of Q2, the downside pin of R10, R11 left side pin be connected, the upside pin of R10 and the right side of R8 are drawn
Pin, the left side pin of R9 are connected, and the left side pin of R8 and 1 pin of P9 are connected with the VCC-24 power output end of power protecting circuit
Connect, the right side pin of R9,1 pin of Q2, the downside pin of R12,3 pin of Q1 are connected with GND, the right side pin of R11, R12 upper
Side pin is connected with 1 pin of Q1, and 2 pin of Q1 are connected with 2 pin of P9；
USB circuit：1 pin of USB1 is hanging, does not power, 2 pin of USB1,6 pin of U9, the upside pin of C16, the left side pin of R3
Connect, 3 pin of USB1,4 pin of U9, the downside pin of C16, the left side pin of R4 are connected, and 4,5 pin of USB1, the upside of C17 are drawn
Pin connects, the right side pin of R3, the downside pin of C14 be connected with 70 pin of U6 in main control chip, the right side pin of R4, C18
Upside pin be connected with 71 pin of U6 in main control chip, the downside pin of C17, the 1 of U9,2,3,5, the upside pin of C14, C18
Downside pin be connected with GND；
Condition indication circuit：The left side pin of resistance R20, R21, R22 is connected with the VCC3.3 output end in power protecting circuit,
Right side pin is connected with the left side pin of D5, D6, D7 respectively, 3,4, the 5 of U1 in the right side pin of D5, D6, D7 and main control chip
Pin connects.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106827506A (en) * | 2017-03-05 | 2017-06-13 | 北京工业大学 | A kind of spherical coordinate system 3D printer with rotation hott bed |
| CN106976233A (en) * | 2017-03-05 | 2017-07-25 | 北京工业大学 | A kind of spherical coordinate system 3D printer |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20240003736A1 (en) * | 2023-09-14 | 2024-01-04 | Eric Klemka | Hard mounted nozzle accelerometer |
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| CN203418116U (en) * | 2013-06-08 | 2014-02-05 | 王奉瑾 | Casting type three-dimensional printer |
| CN205343817U (en) * | 2015-12-07 | 2016-06-29 | 深圳长朗科技有限公司 | 3d printer |
| CN205394595U (en) * | 2016-02-15 | 2016-07-27 | 深圳市众为创造科技有限公司 | Arm and robot |
| CN206242499U (en) * | 2016-10-18 | 2017-06-13 | 赵凯雍 | Portable 3D printer |
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| CN203418116U (en) * | 2013-06-08 | 2014-02-05 | 王奉瑾 | Casting type three-dimensional printer |
| CN205343817U (en) * | 2015-12-07 | 2016-06-29 | 深圳长朗科技有限公司 | 3d printer |
| CN205394595U (en) * | 2016-02-15 | 2016-07-27 | 深圳市众为创造科技有限公司 | Arm and robot |
| CN206242499U (en) * | 2016-10-18 | 2017-06-13 | 赵凯雍 | Portable 3D printer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106827506A (en) * | 2017-03-05 | 2017-06-13 | 北京工业大学 | A kind of spherical coordinate system 3D printer with rotation hott bed |
| CN106976233A (en) * | 2017-03-05 | 2017-07-25 | 北京工业大学 | A kind of spherical coordinate system 3D printer |
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