CN109465945A - A kind of slurry extrusion device and its control method based on miniflow extrusion process - Google Patents
A kind of slurry extrusion device and its control method based on miniflow extrusion process Download PDFInfo
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- CN109465945A CN109465945A CN201910006537.1A CN201910006537A CN109465945A CN 109465945 A CN109465945 A CN 109465945A CN 201910006537 A CN201910006537 A CN 201910006537A CN 109465945 A CN109465945 A CN 109465945A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
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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
- B33Y10/00—Processes of additive manufacturing
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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
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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
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
Abstract
The present invention is a kind of slurry extrusion device and its control method based on miniflow extrusion process.The composition of the device includes pedestal, stepping electric cylinder, pressure sensor and syringe；Wherein, the upper front of the pedestal is fixed with stepping electric cylinder, and the bottom centre of stepping electric cylinder push rod is fixed by snap to have pressure sensor；The lower part of pedestal is fixed with circular cutting ferrule by screw；Syringe is fixed by circular card set；From top to bottom, and three is coaxial for stepping electric cylinder push rod, coin shape pressure sensor and syringe.The present invention can the algorithm according to described in extruded velocity/scanning speed matching mechanisms control module by the extruded velocity and print procedure of slurry shaped platform scanning speed carry out On-line matching, guarantee to squeeze out wire vent rate stabilization in print procedure using algorithm described in storage device internal pressure stability contorting module simultaneously, to improve printing shaping precision.
Description
Technical field
The invention belongs to increasing material manufacturing rapid prototyping & manufacturing technology field, more particularly to a kind of is based on miniflow extrusion process
Increasing material manufacturing slurry extrusion device control system.
Background technique
In increasing material manufacturing rapid shaping technique field, printed material limits the development of novel printing technique.Common 3D
Printing manufacturing technology has fusion sediment, photocuring etc., is related to the compact ceramics product such as ceramic false tooth, ceramic part to manufacture,
Zirconia ceramics slurry can be prepared, zirconia ceramics slurry is successively accumulated, forms last required 3D printing product.
It is this that slurry is referred to as miniflow extrusion process by the technique that microchannel squeezes out simultaneously successively accumulation molding.It is squeezed out based on miniflow
The increases material manufacturing technology of technique is suitable for the printing of lotion slurry, and it is all to pass through material that forming principle, which is similar to FDM technique,
Small runner squeezes out, and is accumulated on X, Y plane, is successively accumulated, ultimately forms target product.Extrusion molding at this stage
In control system, control module substantially by mechanical movement drive module, pressure control mould is fast, communication module, display drive mould
Block, data processing module based on Marlin firmware etc. form, in system operation, mechanical movement drive module control mechanism
Movement, pressure control module control extrusion device internal pressure, and each control module is relatively independent, does not carry out cooperation control
System.In the increasing material manufacturing forming process based on miniflow extrusion process, the extruded velocity for printing slurry often generates fluctuation, makes
At the unstable phenomenon of extruded velocity；Simultaneously slurry often can not continuously, without being poorly fitted on shaped platform.If scanning speed
Degree is far longer than the extruded velocity of slurry, and the slurry that extrusion device is squeezed out cannot be filled into time on corresponding printing path,
Cause wire drawing phenomenon；If scanning speed is far smaller than the extruded velocity of slurry, the slurry that extrusion device is squeezed out will certainly be in X, Y
The accumulation that slurry is caused on in-plane influences the printing precision of molded article.
In conclusion problems of the prior art are: slurry extrusion device can not have stable extruded velocity, beat
The scanning speed that printing equipment is set cannot match in time with the extruded velocity of extrusion device, carry out extruded velocity/scanning speed matching
The fluctuation of slurry extruded velocity variation is not can avoid in the process, so anxious in the increasing material manufacturing equipment based on miniflow extrusion process
A kind of slurry extrusion device control system is needed, this system wants the extruded velocity that can guarantee extrusion device to stablize, according to printer
Scanning speed automatically update the extruded velocity of slurry, and adjusted by various control module cooperative, be finally reached and carrying out
Extrusion device continuously and stably squeezes out slurry in speeds match renewal process, and slurry extruded velocity is avoided to generate the reason of larger fluctuation
Think target.
Summary of the invention
In view of the deficiencies of the prior art, the invention proposes a kind of, and the increasing material manufacturing slurry based on miniflow extrusion process squeezes out
Apparatus control system.Slurry extrusion system is mainly by storage device internal pressure stability contorting module, extruded velocity/scanning speed
Match decision control module, slurry squeeze out initial velocity setting module and interrupt priority level setting mechanism composition, and wherein storing fills
It sets internal pressure stable module and extruded velocity/scanning speed match decision control module is the nucleus module of the control system.
The system has introduced a kind of slurry on the basis of tradition is based on miniflow extrusion process increasing material manufacturing apparatus control system module composition
Expect extruded velocity/printer scanning speed match decision control module, the increase of the module compensates for current extrusion control system
Can not real-time matching slurry extruded velocity and the problem of scanning speed, reduce generating material accumulation in printing shaping process or draw
The influence that molded article precision caused by silk reduces.Extruder pressure control module is optimized in system, enables and squeezes out dress
Pressure control module adjusting complementary with extruded velocity/scanning speed match decision control module realization is set, in speeds match module
Extrusion device internal pressure is quickly adjusted to stable state by pressure control module after the middle extruded velocity for updating extrusion device.
The technical solution of the present invention is as follows:
A kind of slurry extrusion device based on miniflow extrusion process, the composition of the device include pedestal, stepping electric cylinder, pressure
Force snesor and syringe；
Wherein, the upper front of the pedestal is fixed with stepping electric cylinder, and the bottom centre of stepping electric cylinder push rod leads to
It crosses buckle and is fixed with pressure sensor；The lower part of pedestal is fixed with circular cutting ferrule by screw；Syringe passes through round cutting ferrule
It is fixed；From top to bottom, and three is coaxial for stepping electric cylinder push rod, coin shape pressure sensor and syringe.
A kind of increasing material manufacturing device with the slurry extrusion device based on miniflow extrusion process, the increasing material manufacturing
The composition of device include slurry extrusion device, support post, Z axis sliding block, Z axis guide rail, shaped platform, X-axis slide block, X-axis guide rail,
The double guide rails of Y-axis double-slider, Y-axis and pedestal；
It is fixed with support post in the middle part of the rear side of the pedestal, the top of support post is fixed with Z axis guide rail；Described
Z axis sliding block is set in Z axis guide rail, is fixed with slurry extrusion device on Z axis sliding block；2 Y-axis guide rails are parallel, perpendicular to pedestal
Bottom edge；1 Y-axis sliding block is provided in each Y-axis guide rail；The lower part at the X-axis guide rail both ends respectively with 1 Y-axis sliding block phase
Even；X-axis slide block is set in the X-axis guide rail；Shaped platform is provided in X-axis slide block；The X-axis guide rail and Y-axis is double to be led
Rail and Z axis guide rail are provided with a driving motor；Pedestal in the slurry extrusion device is fixed on Z axis sliding block.
The control method of the slurry extrusion device based on miniflow extrusion process, includes the following steps:
Step 1: the interrupt priority level of modules is set, interrupt priority level initialization is completed, starts slurry extrusion device,
System is run immediately；
Wherein, Interrupt Priority Level is set from high to low are as follows: speeds match Decision Control module, storage device internal pressure
Stability contorting module；
Step 2: setting squeezes out feeding initial velocity v (r/s), and driving stepping electric cylinder reaches initial velocity v；
Wherein, the initial extrusion silk extruded velocity of slurry requires to be corresponding with different stepping electric cylinder initial speeds, target
Slurry extruded velocity is v0, v0Requirement according to user to printing effect voluntarily provides, then according to formula,
Wherein, A0For extruder head sectional area (unit mm2)；
APFor barrel sectional area (unit mm2)；
PhFor stepping electric cylinder lead (unit mm/r)；
The initial speed v of stepping electric cylinder is obtained, when operation, by required target slurry extruded velocity v0It is configured to
PC, PC automatically generate stepping electric cylinder initial speed v (r/s) according to formula (1), drive stepping electricity by stepper motor driver
Dynamic cylinder electric cylinders revolving speed reaches v, and stepping electric cylinder push rod pushes syringe plunger push rod by the ceramic slurry in storage device at this time
It squeezes out；
Step 3: storage device push rod is pushed with extrusion feeding initial velocity set in step 2, pressure sensor with
Pressure sensor pressure is equivalent to storage device internal pressure by the contact of syringe plunger push rod, approximation；System is adopted in real time
Collection storage device internal pressure information is simultaneously fed back, and is recorded preceding 20 sampling period pressure divergences, is numbered as e0、e1、
e2...e18、e19；The setting of sampling period T is determined according to required corresponding frequencies, recommends the sampling period are as follows:Sampling period T is set herein as 100ms；
Slurry in storage device is constantly squeezed out by normal pressure, preceding 20 sampling periods that will be stored in memory
Pressure information data acquire deviation, and progress recording mark is e0、e1、e2...e18、e19,
Wherein e0=P1-P0、e1=P2-P1、e2=P3-P2...e19=P20-P19 (2)
Step 4: emphasis judges sampled pressure deviation e15、e16、e17、e18、e19Whether in ± 5 ranges；
Successively compare pressure divergence whether in stability range ± 5 of setting, and emphasis compares sampled pressure deviation e15、
e16、e17、e18、e19Whether in ± 5 ranges, and work as pressure divergence e15、e16、e17、e18、e19All think that pressure divergence exists ± 5
In stability range, continues slurry and squeeze out process；
If the pressure divergence numerical value recorded is not in ± 5 ranges, and sampled pressure deviation e15、e16、e17、e18、e19
Greater than 5, then it is assumed that " blocking " or " fracture of wire " phenomenon occurs in slurry extrusion process, by the enabled pin of stepping electric cylinder drive module
It is dragged down from high level and is set as low level, interrupt the operation of stepping electric cylinder, pause slurry extrusion movement；Slurry is reset at this time
Extruded velocity is increased 10r/s by extruded velocity, then compares sampled pressure real-time offsets e whether in ± 5 ranges, repeats to walk
Rapid 4；It repeats 2~3 times, this stage completes the printing of skirt；It is transferred to physical print；
Step 5: slurry extrusion device carries out physical print, extracts scanning speed information, judges that printer scanning speed is
It is no to change；
The translation of G-code code is carried out, the data after character F are denoted as v by identification character F first0、v1、vk、vk+1, and
It is stored, realizes the extraction of scanning speed information；Judge whether two sections of front and back path scanning speed changes, if preceding
The scanning speed v of stretch diameterkNot equal to the scanning speed v in latter section of pathk+1, then admission velocity match decision control module,
Subsequently into storage device internal pressure stability contorting module；If scanning speed does not change, the last period path scanning speed
vkEqual to latter section path scanning speed vk+1, then enter storage device internal pressure stability contorting module；
When admission velocity match decision control module:
Step (1): scanning speed changes (i.e. vk≠vk+1), speeds match Decision Control module issues interrupt requests；
Speeds match Decision Control module issues interrupt requests, and speeds match Decision Control modules interrupts priority level is high
In storage device internal pressure stability contorting modules interrupts priority level, speeds match Decision Control module preferentially executes movement；
Wherein, after entering in stable slurry extrusion process after device, storage device internal pressure stability contorting module is held
It is continuous that its internal pressure is maintained to stablize, in stable threshold ± 5 as described below, when scanning speed changes, execute step
(1), operation performed by storage device internal pressure stability contorting module is suspended at this time；
Step (2): speeds match Decision Control module more new slurry extruded velocity；
Speeds match Decision Control module extracts scanning speed new in memory, is denoted as vk, according to formula
Wherein, vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
xPMoving distance (unit mm) is fed for stepping electric cylinder push rod,
t0For the stepping electric cylinder pushrod movement time (unit s),
L0For X, Y-direction stepper motor moving distance (unit mm),
A0For sectional area (the unit mm for squeezing out syringe needle2),
A1For sectional area (the unit mm of material storage tube2),
More new slurry extruded velocity vP', and by vP' store into memory；
Step (3): according to updated slurry extruded velocity vP' adjustment is updated to stepping electric cylinder revolving speed v, again
Assignment obtains updated stepping electric cylinder revolving speed v', and carries out rotational speed regulation；
Wherein stepping electric cylinder revolving speed v' is according to formula
Wherein, v' is stepping electric cylinder revolving speed (unit r/s),
vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
PhFor stepping electric cylinder lead (unit mm/r),
It is calculated, and assignment again is carried out to stepping electric cylinder revolving speed v, enable v=v', driving stepping electric cylinder adjustment turns
The step of speed reaches new rotating speed of target v, completes speeds match；
Step (4): completing speeds match, jump out speeds match Decision Control module, is transferred into material device internal pressure
Stability contorting module, control storage device internal pressure are stablized in ± 5 range of recommendation being described below；
When entering storage device internal pressure stability contorting module:
Step (1): storage device internal pressure stability contorting module extracts pressure information, and is stored in inner buffer；
Into storage device internal pressure stability contorting module, each sampling period front and back pressure value twice is read at this time,
And store into caching, it is denoted as PkAnd Pk+1。
Step (2): storage device internal pressure deviation e is calculatedF(k) with internal pressure change of error Δ eF(k)；
Storage device internal pressure deviation eF(k)=Pk+1-Pk,
Wherein Pk、Pk+1The pressure data measured twice before and after a respectively sampling period；
Storage device internal pressure change of error is by formula Δ eF(k)=eF(k+1)-eF(k),
Wherein eF(k)、eFIt (k+1) is respectively obtained internal pressure deviation after each sampling period.
Step (3): to storage device internal pressure deviation eF(k) with internal pressure change of error Δ eF(k) it is blurred
Processing；
Wherein Fuzzy processing process is to enable eF(k) with Δ eF(k) respectively multiplied by quantizing factorWith
Obtain eF(k) with Δ eF(k) fuzzy variable in Fuzzy fuzzy subset is respectively corresponded；
Step (4): carrying out fuzzy reasoning, and reasoning obtains fuzzy output variable Δ KP、ΔKI、ΔKD, and fuzzy output is become
Amount carries out ambiguity solution processing；
Wherein, indistinct logic computer infers corresponding fuzzy according to fuzzy control parameter rule list and fuzzy input variable
Output variable Δ KP、ΔKI、ΔKD；
Step (5): reality output parameter, Δ K is received according to conventional PID controllersP、ΔKI、ΔKD, carry out increment type PID
Operation is controlled, Fuzzy PID parameters self-adjusting pressure control module output regulated quantity Δ u (k) is obtained；
Conventional PID controllers receive control parameter real variable Δ K obtained in previous step (4)P、ΔKI、ΔKD, and
To initial control parameter KP、KI、KDNumerical value carry out assignment again, enable KP=KP+ΔKP, KI=KI+ΔKI, KD=KD+ΔKD；
It is regular using incremental timestamp,
Δ u (k)=q0e(k)+q1e(k-1)+q2e(k-2) (5)
Wherein, q0=KP(1+KI+KD),
q1=-KP(1+2KD),
q2=KPKD,
E (k), e (k-1), e (k-2) are the pressure divergence being stored in memory,
Obtain final Fuzzy PID parameters self-adjusting controller output variable Δ u (k)；
Step (6): judging that Fuzzy PID parameters self-adjusting control module output variable Δ u's (k) is positive and negative, if Δ u (k) >=
0, then enable slurry extrusion device stepping electric cylinder revolving speed increase；If Δ u≤0, slurry extrusion device stepping electric cylinder revolving speed is enabled
Reduce；
Step (7): judge pressure divergence e in next sampling periodF(k+1) whether in the threshold value of setting；
Wherein threshold value is set as within ± 5 or ± 10；
Step 6: the printing end mark character string in identification G-code judges whether print progress terminates；
If unidentified to there is character string " stop slurry and squeeze out and close each axis stepping motor ", return step 5 is heavy
Step 5 is executed again；There is character string " stop slurry and squeeze out and close each axis stepping motor " if recognizing, disable stepping electricity
Dynamic cylinder jumps out slurry and squeezes out control system, terminates print progress.
The invention has the benefit that
For the present invention in the increasing material manufacturing slurry extrusion device control system based on miniflow extrusion process, system can
It will be formed in the extruded velocity and print procedure of slurry according to algorithm described in extruded velocity/scanning speed match control module
The scanning speed (movement speed in the x, y direction) of platform carries out On-line matching.Speed match decision controls in matching process
Module judges whether scanning speed changes in print progress, issues interrupt requests if changing, and speeds match mould
Block breaks, and priority is higher, and preferentially progress extruded velocity/scanning speed matching, matching requires to be the stepping electricity for changing extrusion device
Dynamic cylinder revolving speed is to target value, and interrupt signal disappears after the completion of operation, and storage device internal pressure control module perceives the interior of barrel
Portion's pressure changes, by the Fuzzy PID parameters self-adjusting controller of storage device internal pressure control module in small range
Interior adjusting stepping electric cylinder revolving speed stablizes barrel pressure in new threshold value, and the extruded velocity of such slurry will be again steady
It is scheduled in a desired threshold of target value.Slurry squeezes out the work of storage device internal pressure stability contorting module in control system
Guarantee that extrusion device internal pressure is stablized with being not only embodied in, stablizes the extruded velocity of slurry in reasonable threshold value, also
It is embodied in and carries out that extrusion device internal pressure can be adjusted in time when speeds match update, stablize it in a new threshold value,
To make the extruded velocity of slurry not generate larger fluctuation.Single extrusion can only be set in existing extrusion control system
The mapping relations of speed and scanning speed, and in practical print procedure the scanning speed of printer be not it is thick-and-thin,
(scanning speed changes when such as printing circumference and filling internal entity), if carry out physical model printing, periphery
The scanning speed of profile is 2mm/s, and the scanning speed of inside filling is 4mm/s, completes squeezing for slurry after the printing of circumference
Speed can not be matched to target value corresponding to internal filling scanning speed out, just will appear, will appear material stacking, wire drawing,
The defective workmanships such as silk diameter change is larger are squeezed out, the reduction of printing shaping part accuracy is caused.In the present invention, slurry squeezes out control
System can map out different slurry extruded velocities according to different scanning speeds, then find out corresponding stepping electric cylinder push rod
Feed rate controls the extrusion of slurry, simultaneously because the presence of storage device internal pressure stability contorting module, can protect in real time
It demonstrate,proves slurry extruded velocity to stablize in the specific threshold that different scanning speed is be mapped to, this feature improves material and is extruded into
When slurry extruded velocity is less than " wire drawing " phenomenon generated when scanning speed during type, slurry extruded velocity is greater than scanning speed
Generation material stacking the problems such as.Interrupt priority level setting mechanism in this external system ensures the cooperation of modules in system
Operation, by storage device internal pressure stability contorting module and extruded velocity/scanning speed matching mechanisms control module function
Cooperation plays, so that mutually independent two modules form internal connection, complements each other, and influence each other adjusting, plays miniflow and squeezes
The sharpest edges of technique out.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of slurry extrusion device.
Fig. 2 is the overall structure figure of the increasing material manufacturing device based on miniflow extrusion process.
Fig. 3 is the hardware configuration frame diagram of the increasing material manufacturing device based on miniflow extrusion process.
Fig. 4 is the control flow chart of the increasing material manufacturing device based on miniflow extrusion process.
Fig. 5 is storage device internal pressure stability contorting module control flow chart.
Fig. 6 is extruded velocity/scanning speed match decision control module control flow chart.
Fig. 7 is Fuzzy PID parameters self-adjusting control principle block diagram in the present invention.
Fig. 8 is the stress sketch of slurry extrusion device.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
The device is mainly used for the manufactures for realizing miniflow extrusion molding ceramic objects, specially a kind of to squeeze out work based on miniflow
The increasing material manufacturing device and its slurry extrusion device of skill.
The increasing material manufacturing device based on miniflow extrusion process is as shown in Fig. 2, its composition includes that slurry squeezes out dress
Set 21, support post 22, Z axis sliding block 23, Z axis guide rail 24, shaped platform 25, X-axis slide block 26, X-axis guide rail 27, Y-axis double-slider
28, the double guide rails 29 of Y-axis and pedestal 2a；
It is fixed with support post 22 in the middle part of the rear side of the pedestal 2a, the top of support post 22 is fixed with Z axis guide rail
24；Z axis sliding block 23 is set in the Z axis guide rail 24, is fixed with slurry extrusion device 21 on Z axis sliding block 23；2 Y-axis guide rails
29 is parallel, perpendicular to the bottom edge of pedestal 2a；1 Y-axis sliding block 28 is provided in each Y-axis guide rail 29；27 liang of the X-axis guide rail
The lower part at end is connected with 1 Y-axis sliding block 28 respectively；X-axis slide block 26 is set in the X-axis guide rail 27；It is arranged in X-axis slide block 26
There is shaped platform 25；X-axis guide rail 27, the double guide rails 29 of Y-axis and the Z axis guide rail 24 is provided with driving motor (the i.e. side X
To stepper motor, Y-direction stepper motor and Z-direction stepper motor)；
The X-axis slide block 26, Y-axis double-slider 28, Z axis sliding block 23, X-axis guide rail 27, Y-axis double guide rails 29, Z axis guide rail 24
It is well-known device, each axis rail is made of pedestal, optical axis, screw rod, and guide rail base both ends are respectively provided with flange, passes through side
Flanged joint stepping motor；Stepping motor has been connected by shaft coupling and by the screw rod that bearing is fixed between two end flanges
At machine driving；Each axis rail is respectively provided with two optical axises and is carried out for connecting each axis sliding block, each axis sliding block by screw rod and optical axis
Transmission, sliding block top are provided with threaded hole for being connected and fixed guide rail base or shaped platform.
Wherein the slurry extrusion device is as shown in Figure 1, and composition includes pedestal 12, stepping electric cylinder 11, pressure
Sensor 13 and syringe 14；
Wherein, the shape of pedestal 12 is integrally in the form of a column cube, and the upper front of pedestal 12 is fixed with stepping electric cylinder 11,
The bottom centre of 11 push rod of stepping electric cylinder, it is fixed by snap to have pressure sensor 13；The lower part of pedestal 12, it is solid by screw
Surely there is circular cutting ferrule；Syringe 14 is fixed by circular card set；Stepping electric cylinder push rod, coin shape pressure sensor and
From top to bottom, and three is coaxial for syringe.
Pedestal 12 in above-mentioned slurry extrusion device 21 is fixed on the Z axis sliding block 23 of 3D printer；23 band of Z axis sliding block
Dynamic slurry extrusion device 21, realizes the linear motion in the Z-direction of slurry extrusion device space；Z axis guide rail 24 is by guide rail base, light
Axis, screw rod composition, pedestal lower end, which passes through the fixed driving stepper motor of flange and connect by shaft coupling with screw rod, completes mechanical pass
It is dynamic；22 lower section of support post is connected and fixed with pedestal 2a, and Z axis guide rail is fixed on the front of support post；It is fixed above pedestal 2a
There are two parallel Y-axis guide rail 29 and sliding block is set, completes the linear motion on shaped platform space Y direction；X-axis guide rail 27 is solid
It is scheduled on two sliding blocks of Y-axis and is arranged sliding block, completes the linear motion on shaped platform space X direction；Shaped platform 25 is solid
Being scheduled in X-axis slide block can be as the movement of Y-axis sliding block moves synchronously, the final connection for realizing shaped platform in space X, Y plane
It is dynamic.Stepping electric cylinder 11 is mounted on slurry extrusion device clamp top, is fixed by fixture；Pressure sensor 13 is pressed from both sides with it
Tool is stitched together, and is then attached to 11 push rod bottom of slurry extrusion device stepping electric cylinder；Syringe 14 is squeezed out by slurry
Circular hole in device clamp base is fixed on fixture.After slurry extrusion device operation, stepping electric cylinder push rod is passed with pressure
Sensor moves downward, and after pressure sensor is contacted with syringe plunger push rod, pressure sensor is responsible for acquisition and returning pressure
Data, syringe plunger push rod pushes internal slurry to squeeze out it from extruder head, while shaped platform has moved in X, Y plane
At one layer of accumulation；After one layer heap product, slurry extrusion device is deducted a percentage a thickness unit in z-direction, carries out next layer
Accumulation, thus each structure is cooperated by control system, complete miniflow extrusion molding product printing manufacture.
As shown in figure 3, the complete 3D printing building control system based on miniflow extrusion process that the present invention designs is main
It is made of the 3D printing control mainboard based on Marlin firmware and the related hardware for completing 3D printing a series of actions.
Wherein the 3D printing control mainboard is open source MKS MELZI mainboard relatively conventional on the market.Control mainboard
It is inlaid with X, Y, Z stepper motor drive module 31,32,33 (being recommended to use the driving of A4988 stepper motor), display screen driving, touching
Touch drive module 36 (driving is touched using the driving of ILI9341 liquid crystal display and XTP2046), serial communication modular 37, power supply
Module 38；The increasing material manufacturing of ceramic material is realized for cooperation, the slurry extrusion device comprising modules of control mainboard extension are main to wrap
Include stepping electric cylinder drive module (being equally recommended to use the driving of A4988 stepping motor) 34, pressure detecting module (adc data
Acquisition module) 35.Control mainboard is that above-mentioned each module extraction correlation being embedded on mainboard is drawn by certain circuit connection
Foot, the related hardware for completing 3D printing movement are attached by the pin drawn with whole system, wherein X, Y, Z-direction stepping
Motor 39,3a, 3b are connected by pulse output pin with X, Y, Z stepping motor driving 31,32,33, complete X, Y, Z tri-
The spatial movement of 3D printer is realized in movement on direction；Extrusion device stepping electric cylinder 3c passes through pulse output pin and step
It is connected into electric cylinder driving 34, completes to act the extrusion of slurry；Pressure sensor 3d is examined by pulse input pin and pressure
It surveys module 35 to be connected, completes the acquisition of pressure signal；Liquid crystal touch display screen 3e passes through data connecting line and liquid crystal display, touch
Drive module 36 is connected, and completes display function；Host computer (PC) 3f is connected by communications pins with serial communication modular 37, is completed
Complete the transmission of various data in print progress, transmission, the printing of transmission, stepping electric cylinder adjustment signal including pressure information
The transmission etc. of routing information.
As shown in figure 4, slurry of the present invention squeezes out control system, a subsystem as 3D printing control system
System, system are mainly made of 4 parts, including interrupt priority level sets mechanism 41, slurry squeezes out initial velocity setting module 42,
Speeds match Decision Control module 43, storage device internal pressure stability contorting module 44.
The control system of the above-mentioned slurry extrusion device based on miniflow extrusion process, which is nested in 3D printing and integrally controls, is
In system, after the operation of 3D printing overall system control, slurry extrusion device control system is run immediately, and internal control module is being transported
Corresponding interrupt requests can be issued when row, after slurry extrusion device control system receives interrupt request singal, according to having set
Interrupt priority level, determine the operation sequencing of each control module, finally ensure in slurry extrusion device control system each
A successive stable operation of module, specific steps are as follows:
Step 1: the interrupt priority level of modules is set, interrupt priority level initialization is completed, starts slurry extrusion device,
System is run immediately；
Wherein, Interrupt Priority Level is set from high to low are as follows: speeds match Decision Control module, storage device internal pressure
Stability contorting module；
Step 2: setting squeezes out feeding initial velocity v (r/s), and driving stepping electric cylinder reaches initial velocity v；
Wherein, the initial extrusion silk extruded velocity of slurry requires to be corresponding with different stepping electric cylinder initial speeds, target
Slurry extruded velocity is v0, v0Requirement according to user to printing effect voluntarily provides, then according to formula,
Wherein, A0For extruder head sectional area (unit mm2)；
APFor barrel sectional area (unit mm2)；
PhFor stepping electric cylinder lead (unit mm/r)；
The initial speed v of stepping electric cylinder is obtained, when operation, by required target slurry extruded velocity v0It is configured to
PC, PC automatically generate stepping electric cylinder initial speed v (r/s) according to formula (1), drive stepping electricity by stepper motor driver
Dynamic cylinder electric cylinders revolving speed reaches v, and stepping electric cylinder push rod pushes syringe plunger push rod by the ceramic slurry in storage device at this time
It squeezes out；
Step 3: storage device push rod is pushed with extrusion feeding initial velocity set in step 2, pressure sensor with
Pressure sensor pressure is equivalent to storage device internal pressure by the contact of syringe plunger push rod, approximation；System is adopted in real time
Collection storage device internal pressure information is simultaneously fed back, and is recorded preceding 20 sampling period pressure divergences, is numbered as e0、e1、
e2...e18、e19；Sampling period T is determined according to required response frequency, recommends the sampling period:Sampling period T is set herein as 100ms；
Slurry in storage device is constantly squeezed out by normal pressure, preceding 20 sampling periods that will be stored in memory
Pressure information data acquire deviation, and progress recording mark is e0、e1、e2...e18、e19,
Wherein e0=P1-P0、e1=P2-P1、e2=P3-P2...e19=P20-P19 (2)
Pressure sensor periodically acquisition pressure information, wherein the setting of force samples cycle T meets T >=control mainboard
One response cycle, Arduino control mainboard inner setting clock response frequency is 72MHz, so general control master here
Plate response cycle isWhen pressure sensor is by normal pressure, one injection device push rod top is measured every a sampling period
It is corresponding in memory by the numerical information record of pressure to be converted to pressure information by digital-to-analogue (D/A) module for pressure
Digital quantity can show on a display screen it, can also be fed back by serial ports to host computer (PC), be squeezed convenient for user to slurry
Device internal pressure is observed out；
Step 4: emphasis judges sampled pressure deviation e15、e16、e17、e18、e19Whether in ± 5 ranges；
Successively compare pressure divergence whether in stability range ± 0.5 of setting, and emphasis compares sampled pressure deviation e15、
e16、e17、e18、e19Whether in ± 5 ranges, and work as pressure divergence e15、e16、e17、e18、e19All think that pressure divergence exists ± 5
In stability range, continues slurry and squeeze out process；
If the pressure divergence numerical value recorded is not in ± 5 ranges, and sampled pressure deviation e15、e16、e17、e18、e19
Greater than 5, then it is assumed that " blocking " or " fracture of wire " phenomenon occurs in slurry extrusion process, by the enabled pin of stepping electric cylinder drive module
It is dragged down from high level and is set as low level, interrupt the operation of stepping electric cylinder, pause slurry extrusion movement；Slurry is reset at this time
Extruded velocity is increased 10r/s, why set according to amplification is set as 10r/s by extruded velocity, is set by experience recommendation
It is fixed, then compare sampled pressure real-time offsets e whether in ± 5 ranges, repeats step 4；It is at most repeated 3 times, this stage completes
The printing of skirt；It is transferred to artificial tooth physical print；
Carrying out the purpose that step 4 operates is to print a circle skirt in advance before real physical print, and skirt is not printing
A part of entity, and it is an attempt to one layer of outer ring of printing, it is the part not needed finally；Therefore during printing skirt
So that slurry is squeezed out silk wire vent by adjusting stepping electric cylinder revolving speed uniform, and at most carry out revolving speed three times and adjust, completes skirt and beat
Print, hence into artificial tooth or the physical print of molded article.
Step 5: slurry extrusion device carries out entity (artificial tooth) printing, extracts scanning speed information, judges that printer scans
Whether speed changes；
Scanning speed described here refers to the speed that shaped platform moves in space X, Y plane, carries out solid threedimensional
In print procedure, the printing of each layer entity is divided into two parts: the printing of entity outer wall is filled with inside entity.To guarantee entity
Formed precision, shaped platform scanning speed can be smaller when entity outer wall prints, and rule of thumb often takes 5~10mm/s；To improve
Processing efficiency, shaped platform scanning speed can be larger when entity inside is filled, and rule of thumb often takes 8~12mm/s.Due to two
The scanning speed of a part is different, therefore needs to judge whether scanning speed changes in printing, needs according to scanning speed
Degree matching slurry extruded velocity just can guarantee that slurry squeezes out silk and is fitted on shaped platform just, and here it is scanning speed
The reason of degree changes.
The translation of G-code code is carried out, the data after character F are denoted as v by identification character F first0、v1、vk、vk+1, and
It is stored, realizes the extraction of scanning speed information；Judge whether two sections of front and back path scanning speed changes, if the last period
The scanning speed v in pathkNot equal to the scanning speed v in latter section of pathk+1, then admission velocity match decision control module 43, so
Enter storage device internal pressure stability contorting module 44 afterwards；If scanning speed does not change, the last period path scanning speed
vkEqual to latter section path scanning speed vk+1, then enter storage device internal pressure stability contorting module 44；
To execution Machining Instruction when G-code code translation process described here and numerically-controlled machine tool progress machining
Translate similar, difference is the only simple linear motion instruction of G-code instruction and feeding speed that miniflow extrusion process identified
The extraction of degree, specific G-code translation flow can be by document Li Qiu reality .3D print control conceptual designs and the realization Hubei [D]
It is obtained in polytechnical university .2016:36-39.
When admission velocity match decision control module 43:
Step (1): scanning speed changes (i.e. vk≠vk+1), speeds match Decision Control module issues interrupt requests；
Speeds match Decision Control module issues interrupt requests, and speeds match Decision Control modules interrupts priority level is high
In storage device internal pressure stability contorting modules interrupts priority level, speeds match Decision Control module preferentially executes movement；
Wherein, after entering in stable slurry extrusion process after device, storage device internal pressure stability contorting module is held
It is continuous that its internal pressure is maintained to stablize, in stable threshold ± 5 as described below, when scanning speed changes, execute step
(1), operation performed by storage device internal pressure stability contorting module is suspended at this time；
Step (2): speeds match Decision Control module more new slurry extruded velocity；
Speeds match Decision Control module extracts scanning speed new in memory, is denoted as vk, according to formula
Wherein, vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
xPMoving distance (unit mm) is fed for stepping electric cylinder push rod,
t0For the stepping electric cylinder pushrod movement time (unit s),
L0For X, Y-direction stepper motor moving distance (unit mm),
A0For sectional area (the unit mm for squeezing out syringe needle2),
A1For sectional area (the unit mm of material storage tube2),
More new slurry extruded velocity vP', and by vP' store into memory；
Step (3): according to updated slurry extruded velocity vP' adjustment is updated to stepping electric cylinder revolving speed v, again
Assignment obtains updated stepping electric cylinder revolving speed v', and carries out rotational speed regulation；
Wherein stepping electric cylinder revolving speed v' is according to formula
Wherein, v' is stepping electric cylinder revolving speed (unit r/s),
vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
PhFor stepping electric cylinder lead (unit mm/r),
It is calculated, and assignment again is carried out to stepping electric cylinder revolving speed v, enable v=v', driving stepping electric cylinder adjustment turns
Speed reaches new rotating speed of target v, completes the key step of speeds match.
Step (4): completing speeds match, jump out speeds match Decision Control module, is transferred into material device internal pressure
Stability contorting module 44, control storage device internal pressure are stablized in ± 5 range of recommendation being described below；
Speeds match Decision Control module completes the matching work of extruded velocity/scanning speed, enables slurry extruded velocity
Real-time matching is realized with printer scanning speed, avoids occurring in print progress extruded velocity and scanning speed is mismatched and caused
" material stacking ", " wire drawing " phenomenon.The step of speeds match Decision Control module is finished or slurry squeezes out control system
Scanning speed does not change in 3, into storage device internal pressure stability contorting module, carries out the operation of pressure stability contorting.
When entering storage device internal pressure stability contorting module 44:
Step (1): storage device internal pressure stability contorting module extracts pressure information, and is stored in inner buffer；
Into storage device internal pressure stability contorting module, each sampling period front and back pressure value twice is read at this time,
And store into caching, it is denoted as PkAnd Pk+1。
Step (2): storage device internal pressure deviation e is calculatedF(k) with internal pressure change of error Δ eF(k)；
Storage device internal pressure deviation eF(k)=Pk+1-Pk,
Wherein Pk、Pk+1The pressure data measured twice before and after a respectively sampling period；
Storage device internal pressure change of error Δ eF(k)=eF(k+1)-eF(k),
Wherein eF(k)、eFIt (k+1) is respectively obtained internal pressure deviation after each sampling period.
Step (3): to storage device internal pressure deviation eF(k) with internal pressure change of error Δ eF(k) it is blurred
Processing；
Wherein Fuzzy processing process is to enable eF(k) with Δ eF(k) respectively multiplied by quantizing factorWith
Obtain eF(k) with Δ eF(k) fuzzy variable in Fuzzy fuzzy subset is respectively corresponded；
Quantizing factor is by error e=MAX (eF(k)), error change ec=MAX (Δ eF(k)) precise volume and consecutive variations
Error variance (or quantization) after the gear number N that is divided into determined；E, ec is determined according to pressure controling precision, when progress high-precision
When control, e=10, ec=5；E=20, ec=10 when carrying out low precision controlling；N is integer, this control system selects N=7.
In simple terms, Fuzzy processing is exactly by acquired eF(k)、ΔeF(k) practical domain [- e, e] and [- ec, ec], through excess
Change the factor processing, be mapped to the corresponding E=of FuZZy fuzzy subset E=[- 3, -2, -1,0,1,2,3] [NB, NM, NS, 0, PS,
PM, PB] and the corresponding EC=[NB, NM, NS, 0, PS, PM, PB] of EC=[- 3, -2, -1,0,1,2,3] in process.
Step (4): carrying out fuzzy reasoning, and reasoning obtains fuzzy output variable Δ KP、ΔKI、ΔKD, and fuzzy output is become
Amount carries out ambiguity solution processing；
Wherein, indistinct logic computer is according to fuzzy control parameter rule list and fuzzy input variable provided by table 1-3, reasoning
Corresponding fuzzy output variable Δ K outP、ΔKI、ΔKD.Provided fuzzy control parameter rule list, be according to practical experience with
Data is summarized, and the control rule table of engineering practice is widely applied to.Such as institute's input pressure deviation and pressure divergence
The fuzzy value of variation is respectively E=NB, EC=NM, then output variable Δ KPFuzzy value can there is table 1 to acquire for PB, other two
Parameter, Δ KI、ΔKDFuzzy output amount obtained respectively by table 2,3.
Enable fuzzy output variable Δ KP、ΔKI、ΔKDRespectively multiplied by scale factorObtain fuzzy output variable Δ
KP、ΔKI、ΔKDThe reality output variable of corresponding practical domain value.And scale factorIt is the practical change by output variable u
Changing range, the gear number N, N being rule of thumb divided into after recommendation ± 10r/s and error, error change discretization (or quantization) are integer,
This control system selection N=7 is determined.
Step (5): conventional PID controllers receive reality output parameter, Δ KP、ΔKI、ΔKD, carry out incremental timestamp
Operation obtains Fuzzy PID parameters self-adjusting pressure control module output regulated quantity Δ u (k)；
Conventional PID controllers receive control parameter real variable Δ K obtained in previous step (4)P、ΔKI、ΔKD, and
To initial control parameter KP、KI、KDNumerical value carry out assignment again, enable KP=KP+ΔKP, KI=KI+ΔKI, KD=KD+ΔKD。
It is regular using incremental timestamp,
Δ u (k)=q0e(k)+q1e(k-1)+q2e(k-2) (5)
Wherein, q0=KP(1+KI+KD),
q1=-KP(1+2KD),
q2=KPKD,
E (k), e (k-1), e (k-2) are the pressure divergence being stored in memory,
Obtain final Fuzzy PID parameters self-adjusting controller output variable Δ u (k).
Step (6): judging that Fuzzy PID parameters self-adjusting control module output variable Δ u's (k) is positive and negative, if Δ u (k) >=
0, then enable slurry extrusion device stepping electric cylinder revolving speed increase；If Δ u≤0, slurry extrusion device stepping electric cylinder revolving speed is enabled
Reduce；
Wherein the regulated quantity of extrusion device stepping electric cylinder revolving speed can have experience setting setting, recommend to carry out high-precision adjusting
When, stepping electric cylinder rotational speed regulation range is set as ± 10rad/s；It is quickly adjusted, sets stepping electric cylinder rotational speed regulation
Range is ± 20rad/s.Judge by this step condition, if Δ u >=0, and adjusted for high-precision, system turns stepping electric cylinder
Fast assignment again, v=v+10；If Δ u < 0, and adjusted for high-precision, system is to stepping electric cylinder revolving speed again assignment, v=v-
10；If Δ u >=0, and quickly to adjust, system is to stepping electric cylinder revolving speed again assignment, v=v+20；If Δ u < 0, and be fast
Velocity modulation section, system is to stepping electric cylinder revolving speed again assignment, v=v-20.After to stepping electric cylinder revolving speed again assignment, step
Into the driving stepping electric cylinder movement of electric cylinder drive module, so that stepping electric cylinder revolving speed is reached target value v, terminate stepping electric cylinder
Rotational speed regulation.
Step (7): judge pressure divergence e in next sampling periodF(k+1) whether in the threshold value of setting；
Wherein the setting of threshold value can rule of thumb be recommended to set by user, then can be with if it is desired to it is higher to control precision
Given threshold is in ± 5；If it is desired to it is general to control precision, then it can be with given threshold in ± 10.
If storage device internal pressure deviation eF(k+1) not in the threshold value of setting, i.e., | eF(k+1) | > 5 then returns to storage
The step of expecting device internal pressure stability contorting module (1) re-executes；If storage device internal pressure deviation eF(k+1) it is setting
In fixed threshold value, i.e. -5≤eF(k)≤+ 5, then rotational speed regulation is not carried out to stepping electric cylinder, holding stepping electric cylinder revolving speed is
Whether within the set range v, return step (1) rejudge pressure divergence, wait pressure inside respective interrupt storage device to be interrupted
Power stability contorting module process is transferred to slurry and squeezes out control system step 6.
Step 6: the printing end mark character string in identification G-code judges whether print progress terminates；
Concrete methods of realizing is to read to terminate G-code and translated, wherein print progress control routine M code
It indicates whether to terminate print progress.Such as M104S0；Turn off extruder indicates to stop slurry extrusion, M84；disable
Motors indicates to close each axis stepping motor, stopping printing.
If recognizing character string M104S0；Turn off extruder and M84；Disable motors, then disable stepping
Electric cylinder terminates print progress, jumps out slurry and squeezes out control system；If unidentified arrive character string M104S0；turn off
Extruder and M84；Disable motors, then return step 5, repeat step 5.
In print progress, the path that scanning speed changes is constantly searched for, and match accordingly according to scanning speed
Slurry extruded velocity；Constantly the pressure value inside storage device is fed back, adjusting stepping electric cylinder revolving speed makes pressure
It is stabilized, slurry wire vent is uniform, is finally completed by filling inside the entity outer wall printing of lamella and entity with layer upon layer
Printing.
In the operation of slurry extrusion system, stepping electric cylinder revolving speed corresponding to the initial extruded velocity of default slurry, and
Related hardware (stepping electric cylinder) running is driven, remaining control module is standby；Pressure sensor periodically acquisition pressure
Force information, and pressure information is fed back；Storage device internal pressure stability contorting module continuous service, by controller
Algorithms drive related hardware (stepping electric cylinder) running, and cooperation pressure-detecting device maintains extruder internal pressure to stablize, into
And guarantee that slurry continuously, is smoothly squeezed out, make extrusion system that there is stable extruded velocity, while whether waiting has in new
Disconnected request interrupts its operation；System judges whether printer scanning speed needs to change according to the data that host computer transmits, if hair
Raw to change, extruded velocity/scanning speed match decision control module issues interrupt requests, and it is steady to interrupt storage device internal pressure
The operation for determining control module goes out new slurry extruded velocity by the algorithmic match inside software control module, to extruded velocity
Real-time update is carried out, driving stepping electric cylinder reaches its revolving speed near target value；After interrupt signal disappears, inside storage device
Pressure stability contorting module reruns, and since the revolving speed of stepping electric cylinder changes, device internal pressure also changes,
Storage device internal pressure stability contorting module adjusts stepping electric cylinder revolving speed in a small range again using internal algorithm, makes to fill
It is again stable in new threshold value to set internal pressure.Thus storage device internal pressure stability contorting module and extruded velocity/sweep
Retouching speeds match Decision Control module realizes mutually auxiliary, the Cooperation controlling mutually adjusted, has greatly played miniflow extrusion
The advantage of technique.
Interrupt priority level setting mechanism is nested in 3D printer master control system, for setting in each control module
Disconnected priority, it is therefore an objective to make the modules orderly function in slurry extrusion system, guarantee the stable operation of system.This mechanism is protected
Storage device internal pressure stability contorting module and extruded velocity/scanning speed matching mechanisms control module fortune that cooperates are demonstrate,proved
Row, realizes when slurry extruded velocity is updated, can quickly, smoothly in stable new threshold value updated again.
Fuzzy control parameter K in 1 present invention of tablePControl rule table.
Fuzzy control parameter K in 2 present invention of tableIControl rule table.
Fuzzy control parameter K in 3 present invention of tableDControl rule table.
Data provided by table 1-3 are the fuzzy parameter in above-mentioned storage device internal pressure stability contorting module
The offer of Self tuning control module judges decision.Fuzzy PID parameters self-adjusting control module input terminal receives input variable eFWith
ΔeF(i.e. pressure divergence and pressure divergence variation), first passes around above-mentioned defuzzification interface for variable eFWith Δ eFIt is mapped to
In fuzzy subset E=[NB, NM, NS, ZO, PS, PM, PB] corresponding to the domain E=[- 3, -2, -1,0,1,2,3] of Fuzzy,
Such as eFWith Δ eFIt is respectively mapped in Fuzzy be -1 and 2, then its corresponding fuzzy variable is respectively NS and PM；Then it is pushed away fuzzy
According to fuzzy parameter K provided by table 1-3 in reason machine moduleP、KI、KDControl rule obtains output quantity Δ KP、ΔKI、ΔKDMould
Paste variable, such as eFWith Δ eFFuzzy variable NS and PM, according to fuzzy look best rule list obtain indistinct logic computer output become
Measure Δ KP、ΔKI、ΔKDRespectively NS, PS, NS；Pass through above-mentioned ambiguity solution interface later for output variable Δ KP、ΔKI、ΔKD
It is mapped in corresponding practical domain and sends conventional PID controllers to and handled；It is obscured finally by PID controller
The reality output variable u of pid parameter Self tuning control module is come with this quickly, efficiently and conveniently to extrusion device internal pressure
It is adjusted, realization slurry continuously squeezes out, extruded velocity is reliable and stable.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Unaccomplished matter of the present invention is well-known technique.
Claims (4)
1. a kind of slurry extrusion device based on miniflow extrusion process, it is characterized in that the composition of the device includes pedestal, stepping electricity
Dynamic cylinder, pressure sensor and syringe；
Wherein, the upper front of the pedestal is fixed with stepping electric cylinder, and the bottom centre of stepping electric cylinder push rod passes through card
Button is fixed with pressure sensor；The lower part of pedestal is fixed with circular cutting ferrule by screw；Syringe is covered by circular card to carry out
It is fixed；From top to bottom, and three is coaxial for stepping electric cylinder push rod, coin shape pressure sensor and syringe.
2. a kind of increasing material manufacturing device with the slurry extrusion device based on miniflow extrusion process, it is characterized in that the increasing
The composition of material manufacturing device includes slurry extrusion device described in claim 1, support post, Z axis sliding block, Z axis guide rail, molding
The double guide rails of platform, X-axis slide block, X-axis guide rail, Y-axis double-slider, Y-axis and pedestal；
It is fixed with support post in the middle part of the rear side of the pedestal, the top of support post is fixed with Z axis guide rail；The Z axis
Z axis sliding block is set on guide rail, is fixed with slurry extrusion device on Z axis sliding block；2 Y-axis guide rails are parallel, perpendicular to the bottom of pedestal
Side；1 Y-axis sliding block is provided in each Y-axis guide rail；The lower part at the X-axis guide rail both ends is connected with 1 Y-axis sliding block respectively；
X-axis slide block is set in the X-axis guide rail；Shaped platform is provided in X-axis slide block；The double guide rails of the X-axis guide rail and Y-axis
A driving motor is provided with Z axis guide rail；Pedestal in the slurry extrusion device is fixed on Z axis sliding block.
3. having the increasing material manufacturing device of the slurry extrusion device based on miniflow extrusion process as claimed in claim 2
Control method, it is characterized in that including the following steps:
Step 1: setting the interrupt priority level of modules, complete interrupt priority level initialization, start slurry extrusion device, system
It runs immediately；
Wherein, Interrupt Priority Level is set from high to low are as follows: speeds match Decision Control module, storage device internal pressure are stablized
Control module；
Step 2: setting squeezes out feeding initial velocity v (r/s), and driving stepping electric cylinder reaches initial velocity v；
Wherein, the initial extrusion silk extruded velocity of slurry requires to be corresponding with different stepping electric cylinder initial speeds, target slurry
Extruded velocity is v0, v0Requirement according to user to printing effect voluntarily provides, then according to formula,
Wherein, A0For extruder head sectional area (unit mm2)；
APFor barrel sectional area (unit mm2)；
PhFor stepping electric cylinder lead (unit mm/r)；
The initial speed v of stepping electric cylinder is obtained, when operation, by required target slurry extruded velocity v0It is configured to PC, PC root
Stepping electric cylinder initial speed v (r/s) is automatically generated according to formula (1), stepping electric cylinder electricity is driven by stepper motor driver
Cylinder revolving speed reaches v, and stepping electric cylinder push rod pushes syringe plunger push rod to squeeze out the ceramic slurry in storage device at this time；
Step 3: storage device push rod, pressure sensor and injection are pushed with extrusion feeding initial velocity set in step 2
Pressure sensor pressure is equivalent to storage device internal pressure by the contact of device plunger stem, approximation；System acquires storage in real time
Material device internal pressure information is simultaneously fed back, and is recorded preceding 20 sampling period pressure divergences, is numbered as e0、e1、
e2...e18、e19；The setting of sampling period T is determining according to required response frequency, the sampling period are as follows:(system clock)
≤T≤0.5s；
Slurry in storage device is constantly squeezed out by normal pressure, the preceding 20 sampling period pressure that will be stored in memory
Information data acquires deviation, and progress recording mark is e0、e1、e2...e18、e19,
Wherein e0=P1-P0、e1=P2-P1、e2=P3-P2...e19=P20-P19 (2)
Step 4: emphasis judges sampled pressure deviation e15、e16、e17、e18、e19Whether in ± 5 ranges；
Successively compare pressure divergence whether in stability range ± 5 of setting, and emphasis compares sampled pressure deviation e15、e16、
e17、e18、e19Whether in ± 5 ranges, and work as pressure divergence e15、e16、e17、e18、e19All think pressure divergence steady ± 5
Determine in range, continues slurry and squeeze out process；
If the pressure divergence numerical value recorded is not in ± 5 ranges, and sampled pressure deviation e15、e16、e17、e18、e19Greater than 5,
Then think that " blocking " or " fracture of wire " phenomenon occurs in slurry extrusion process, the enabled pin of stepping electric cylinder drive module is electric from height
Horizontal drawing is low to be set as low level, interrupts the operation of stepping electric cylinder, pause slurry extrusion movement；Slurry is reset at this time squeezes out speed
Degree, increases 10r/s for extruded velocity, then compares sampled pressure real-time offsets e whether in ± 5 ranges, repeats step 4；Weight
2~3 times multiple, this stage completes the printing of skirt；It is transferred to physical print；
Step 5: slurry extrusion device carries out physical print, extracts scanning speed information, judges whether printer scanning speed is sent out
It is raw to change；
The translation of G-code code is carried out, the data after character F are denoted as v by identification character F first0、v1、vk、vk+1, and carry out
The extraction of scanning speed information is realized in storage；Judge whether two sections of front and back path scanning speed changes, if the last period
The scanning speed v in pathkNot equal to the scanning speed v in latter section of pathk+1, then admission velocity match decision control module, then
Into storage device internal pressure stability contorting module；If scanning speed does not change, the last period path scanning speed vkDeng
In latter section of path scanning speed vk+1, then enter storage device internal pressure stability contorting module；
When admission velocity match decision control module:
Step (1): scanning speed changes (i.e. vk≠vk+1), speeds match Decision Control module issues interrupt requests；
Speeds match Decision Control module issues interrupt requests, and speeds match Decision Control modules interrupts priority level is higher than storage
Expect that device internal pressure stability contorting modules interrupts priority level, speeds match Decision Control module preferentially execute movement；
Wherein, after entering in stable slurry extrusion process after device, storage device internal pressure stability contorting module is persistently tieed up
It holds its internal pressure to stablize, in stable threshold ± 5 as described below, when scanning speed changes, execute step (1),
Operation performed by storage device internal pressure stability contorting module is suspended at this time；
Step (2): speeds match Decision Control module more new slurry extruded velocity；
Speeds match Decision Control module extracts scanning speed new in memory, is denoted as vk, according to formula
Wherein, vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
xPMoving distance (unit mm) is fed for stepping electric cylinder push rod,
t0For the stepping electric cylinder pushrod movement time (unit s),
L0For X, Y-direction stepper motor moving distance (unit mm),
A0For sectional area (the unit mm for squeezing out syringe needle2),
A1For sectional area (the unit mm of material storage tube2),
More new slurry extruded velocity vP', and by vP' store into memory；
Step (3): according to updated slurry extruded velocity vP' adjustment is updated to stepping electric cylinder revolving speed v, assignment again,
Updated stepping electric cylinder revolving speed v' is obtained, and carries out rotational speed regulation；
Wherein stepping electric cylinder revolving speed v' is according to formula
Wherein, v' is stepping electric cylinder revolving speed (unit r/s),
vP' it is that slurry squeezes out straight-line feed speed (unit mm/s),
PhFor stepping electric cylinder lead (unit mm/r),
It is calculated, and assignment again is carried out to stepping electric cylinder revolving speed v, enable v=v', driving stepping electric cylinder adjusts turn up
To new rotating speed of target v, the step of completing speeds match；
Step (4): completing speeds match, jump out speeds match Decision Control module, is transferred into material device internal pressure and stablizes
Control module, control storage device internal pressure are stablized in ± 5 range of recommendation being described below；
When entering storage device internal pressure stability contorting module:
Step (1): storage device internal pressure stability contorting module extracts pressure information, and is stored in inner buffer；
Into storage device internal pressure stability contorting module, each sampling period front and back pressure value twice is read at this time, and is deposited
It stores up in caching, is denoted as PkAnd Pk+1。
Step (2): storage device internal pressure deviation e is calculatedF(k) with internal pressure change of error Δ eF(k)；
Storage device internal pressure deviation eF(k)=Pk+1-Pk,
Wherein Pk、Pk+1The pressure data measured twice before and after a respectively sampling period；
Storage device internal pressure change of error is by formula Δ eF(k)=eF(k+1)-eF(k),
Wherein eF(k)、eFIt (k+1) is respectively obtained internal pressure deviation after each sampling period.
Step (3): to storage device internal pressure deviation eF(k) with internal pressure change of error Δ eF(k) it carries out at blurring
Reason；
Wherein Fuzzy processing process is to enable eF(k) with Δ eF(k) respectively multiplied by quantizing factorWithIt obtains
eF(k) with Δ eF(k) fuzzy variable in Fuzzy fuzzy subset is respectively corresponded；
Step (4): carrying out fuzzy reasoning, and reasoning obtains fuzzy output variable Δ KP、ΔKI、ΔKD, and to fuzzy output variable into
The processing of row ambiguity solution；
Wherein, indistinct logic computer infers corresponding fuzzy output according to fuzzy control parameter rule list and fuzzy input variable
Variable Δ KP、ΔKI、ΔKD；
Step (5): reality output parameter, Δ K is received according to conventional PID controllersP、ΔKI、ΔKD, carry out incremental timestamp
Operation obtains Fuzzy PID parameters self-adjusting pressure control module output regulated quantity Δ u (k)；
Conventional PID controllers receive control parameter real variable Δ K obtained in previous step (4)P、ΔKI、ΔKD, and to first
Beginning control parameter KP、KI、KDNumerical value carry out assignment again, enable KP=KP+ΔKP, KI=KI+ΔKI, KD=KD+ΔKD；
It is regular using incremental timestamp,
Δ u (k)=q0e(k)+q1e(k-1)+q2e(k-2) (5)
Wherein, q0=KP(1+KI+KD),
q1=-KP(1+2KD),
q2=KPKD,
E (k), e (k-1), e (k-2) are the pressure divergence being stored in memory,
Obtain final Fuzzy PID parameters self-adjusting controller output variable Δ u (k)；
Step (6): judging that Fuzzy PID parameters self-adjusting control module output variable Δ u's (k) is positive and negative, if Δ u (k) >=0,
Slurry extrusion device stepping electric cylinder revolving speed is enabled to increase；If Δ u≤0, slurry extrusion device stepping electric cylinder revolving speed is enabled to reduce；
Step (7): judge pressure divergence e in next sampling periodF(k+1) whether in the threshold value of setting；
Wherein threshold value is set as within ± 5 or ± 10；
Step 6: the printing end mark character string in identification G-code judges whether print progress terminates；
If unidentified to there is character string " stop slurry and squeeze out and close each axis stepping motor ", return step 5, repetition is held
Row step 5；There is character string " stop slurry and squeeze out and close each axis stepping motor " if recognizing, the stepping that disables is electronic
Cylinder jumps out slurry and squeezes out control system, terminates print progress.
4. having the increasing material manufacturing device of the slurry extrusion device based on miniflow extrusion process as claimed in claim 2
Control method, it is characterized in that the sampling period T in the step 3 is preferably 100ms.
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