CN109676923B - Desktop type photocuring 3D printer and control method thereof - Google Patents
Desktop type photocuring 3D printer and control method thereof Download PDFInfo
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- CN109676923B CN109676923B CN201811495196.0A CN201811495196A CN109676923B CN 109676923 B CN109676923 B CN 109676923B CN 201811495196 A CN201811495196 A CN 201811495196A CN 109676923 B CN109676923 B CN 109676923B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/124—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using layers of liquid which are selectively solidified
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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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
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Abstract
The invention relates to a desktop type photocuring 3D printer and a control method thereof, wherein the method is used for the desktop type photocuring 3D printer, the printer comprises a material box and a printing platform, an X-axis motor drives the material box to act, a Z-axis motor drives the printing platform to act, an X-axis control module drives the X-axis motor to act according to a control signal given by a controller, and the X-axis motor control module monitors the working state of the X-axis motor and feeds back the working state to the controller; the Z-axis motor control module drives the Z-axis motor to act according to a control signal given by the controller, monitors the load change condition of the Z-axis motor and feeds the load change condition back to the controller; the controller adjusts a control signal to the Z-axis motor control module according to the received load change condition of the Z-axis motor so as to adjust the working state of the Z-axis motor. The invention can directly realize the self-sensing design of the motor torque through the internal feedback function in the motor control module.
Description
Technical Field
The invention relates to the technical field of 3D printing, in particular to a desktop type photocuring 3D printer and a control method thereof.
Background
Desktop photocuring 3D printer generally includes following several parts core mechanism:
1. and the imaging module is used for projecting light radiation to the printing plane so as to cure and mold the resin material. Desktop formula photocuring 3D printer can be divided into two main categories according to the light projection mode difference of formation of image module: SLA and DLP, what adopt in this application is the DLP mode, and the single image of each layer on the printing platform is shone to the module that also promptly uses digital projection screen, prints the 3D model layer by layer, and solidification and the separation of each layer printing face are all along with peeling off of printing platform and material in the printing process.
2. And the material box is used for containing a light-cured liquid material, and the light-cured liquid material can be cured and molded after light radiation. The bottom of the material box is provided with a transparent bottom surface, the material box is positioned above the imaging module, and the light radiation emitted by the imaging module is projected upwards to a preset projection surface through the transparent bottom surface of the material box. Before printing is started, the horizontal arrangement of the material box needs to be adjusted so that the light radiation emitted by the light outlet of the imaging module is orthographically projected to the bottom surface of the material box. In the printing process, after each layer of printing is finished, the stripping mechanism is required to drive the material box to move up and down around a fixed pivot in a small range so as to strip the material solidified on the printing table surface from the bottom surface of the material box.
3. And the printing platform is used for attaching the cured light-cured material on a printing plane to form a 3D model. Print platform adjusts to the level before beginning to print, then descends by elevating system drive to just laminating with the magazine bottom surface, and the actual printing face of printer coincides with the projection face that imaging module predetermines under this state, then print platform lifts gradually under elevating system's drive with the successive layer printing 3D model.
Above-mentioned desktop formula photocuring 3D printer, elevating system's power device and peeling mechanism's power device are Z axle motor and X axle motor respectively, and in the working process of printer, print platform and magazine relate to the accurate control of mechanism's position, consequently are the most crucial link in the motor control loop to the feedback of position information.
For closed-loop control of position feedback, devices such as a position sensor, a hall current sensor and a voltage sensor are mostly adopted at present, and after feedback signals of an external sensor are processed by a control module, corresponding control signals are input to a motor driver, so that closed-loop control of the position of the printing platform is realized.
In the prior art, signal acquisition mainly depends on an externally configured sensor to realize feedback of position signals, and further closed-loop control is completed. However, the provision of an externally disposed position sensor has the following disadvantages: firstly, a position sensor is added, so that the cost of equipment is increased; secondly, a feedback loop has response delay, so that the control precision of the motor is influenced, time is consumed, and the stability is poor; thirdly, as the types of printing materials are more and more abundant, the structural design of the current printing platform has the potential risk that the sensor module is corroded by the printing materials and fails.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a control method for a desktop type photocuring 3D printer, in which for a mechanism that needs to be position-controlled on the 3D printer, a multi-channel motor provides power for adjusting the position of the mechanism, an external position sensor is not required, and a self-sensing design for motor torque is directly implemented through an internal feedback function provided inside a motor control module, so as to reduce the manufacturing cost and improve the control accuracy and response sensitivity of a motor controller.
The invention also aims to provide a desktop type photocuring 3D printer using the method.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a control method of a desktop type photocuring 3D printer, which is used for the desktop type photocuring 3D printer, wherein the printer comprises an imaging module for projecting light radiation, a material box for containing photocuring materials and a printing platform for attaching a formed 3D model; one end of the material box is connected with a stripping mechanism, the stripping mechanism drives the material box to move up and down in a small range around a fixed pivot so as to strip the material solidified on the printing table surface from the bottom surface of the material box, and the power source of the stripping mechanism is an X-axis motor; the printing platform is connected with a lifting mechanism, the lifting mechanism drives the printing platform to vertically lift, and a power source of the lifting mechanism is a Z-axis motor; the X-axis motor control module is in communication connection with the controller; the X-axis control module drives the X-axis motor to act according to a control signal given by the controller, and monitors the working state of the X-axis motor and feeds the working state back to the controller; the Z-axis motor is in communication connection with the Z-axis motor control module, and the Z-axis motor control module is in communication connection with the controller; the Z-axis motor control module drives the Z-axis motor to act according to a control signal given by the controller, monitors the load change condition of the Z-axis motor and feeds the load change condition back to the controller; the controller adjusts a control signal to the Z-axis motor control module according to the received load change condition of the Z-axis motor so as to adjust the working state of the Z-axis motor.
Preferably, the X-axis motor control module monitors the operating state of the X-axis motor, and specifically includes:
the X-axis control module acquires the current of an external coil of the X-axis motor in real time and feeds the current information of the external coil back to the controller;
and comparing the current of the external coil of the controller with the current range of the external coil of the X-axis motor in each working state of the X-axis motor, which is acquired in advance, and judging the current working state of the X-axis motor and whether the current working is normal or not.
Preferably, the X-axis motor is a stepping motor, the X-axis motor control module is an LV8728MR chip, the X-axis motor control module is communicated with the controller through an IIC, and a signal output end of the X-axis motor control module is connected to a signal input end of the controller through an operational amplifier circuit.
Preferably, the Z-axis motor control module monitors load changes of the Z-axis motor, and specifically includes:
acquiring a load value of a Z-axis motor after the printing platform is leveled and before printing is started;
when the printing plane of the printing platform is contacted with the bottom of the material box, the load of the Z-axis motor changes, and the Z-axis control module provides correspondence to the load change of the Z-axis motor and carries out accurate measurement;
the controller compares the load change of the Z-axis motor with a preset Z-axis motor stop threshold, and controls the Z-axis motor to stop rotating once the load change of the Z-axis motor reaches the Z-axis motor stop threshold, otherwise, the Z-axis motor continues to rotate according to the set direction and speed.
Preferably, the Z-axis motor is a stepping motor, and the Z-axis motor control module has a stallGuard2 function inside.
Preferably, in the process that the printing platform is lowered to enable the printing plane of the printing platform to be in contact with the bottom of the material box, when the printing platform is close to the bottom of the material box, the rotating speed of the Z-axis motor is reduced, and the printing plane of the printing platform is slowly close to the bottom of the material box.
The invention also discloses a desktop type photocuring 3D printer, and the printer uses the control method of the desktop type 3D photocuring printer.
According to the control method of the desktop type photocuring 3D printer, an external position sensor is not needed, the self-sensing design of the motor torque is realized through the feedback function of the inside of the motor control module, the manufacturing cost is reduced, and meanwhile, the control precision and the response sensitivity of the controller are improved. And the modulation failure of an external sensor caused by the scattered material in the material box is avoided, and the running stability of the device is improved.
The desktop type photocuring 3D printer also has the advantages due to the adoption of the control method.
Drawings
FIG. 1 is a diagram showing a positional relationship between a printing table and a cartridge in a state of being separated from each other.
FIG. 2 is a diagram showing the position of the printing platform contacting the bottom of the magazine.
Fig. 3 is a cross-sectional view of fig. 2.
FIG. 4 is a self-sensing layout of the motor control module of the present invention.
FIG. 5 is a circuit module layout diagram according to an embodiment of the present invention.
Wherein: 1. a material box 11, a transparent bottom surface of the material box 2 and a printing platform.
Detailed Description
A desktop photocuring 3D printer as shown in fig. 1-3, comprising:
and the imaging module is used for projecting light radiation to the printing plane so as to cure and mold the resin material. The optical engine in this application uses digital projection screen to shine the single image of each layer on the print platform, prints the 3D model layer by layer, and solidification and the separation of each layer printing face are all along with peeling off of print platform and material in the printing process, the peeling off of print platform and material needs to be realized with the help of peeling off the mechanism assistance.
The material box 1 is used for containing a light-cured liquid material, and the light-cured liquid material can be cured and molded after light radiation. The bottom of the material box is provided with a transparent bottom surface 11, the material box 1 is positioned above the imaging module, and light radiation emitted by the imaging module is upwards projected to a preset projection surface through the transparent bottom surface 11 of the material box. Before printing is started, the horizontal arrangement of the material box 1 needs to be adjusted so that the light radiation emitted from the light outlet of the imaging module is orthographically projected to the bottom surface of the material box. In the printing process, after each layer of printing is finished, the stripping mechanism is required to drive the material box to move up and down around a fixed pivot in a small range so as to strip the material solidified on the printing table surface from the bottom surface of the material box.
And the printing platform 2 is used for attaching the cured light-cured material on a printing plane to form a 3D model. Print platform 2 adjusts to the level before beginning to print, then descends by elevating system drive to laminating with the magazine bottom surface just, and the actual printing face of printer coincides with the projection face that imaging module predetermines under this state, then print platform lifts gradually under elevating system's drive with the successive layer printing 3D model.
The working process of the desktop type photocuring 3D printer is as follows:
firstly, a printing platform 2 is separated from a material box 1, the printing platform 2 and the material box 1 are leveled respectively, namely the material box 1 is adjusted to be in a horizontal state, the printing platform 2 is adjusted to be in a horizontal arrangement with a printing plane of the printing platform 2 being parallel to the bottom of the material box 1, and the printing platform 2 is positioned right above the material box 1 as shown in figure 1; then, the printing platform 2 is driven by the lifting mechanism to descend until the printing plane of the printing platform is just attached to the bottom of the material box 1, as shown in fig. 2-3; then, printing is started, the imaging module upwards projects light radiation, the light radiation emitted from a light outlet of the imaging module is projected onto a printing plane of the printing platform 2 through the transparent bottom surface 11 at the bottom of the material box 1, and a layer of 3D model image is formed on the printing plane after the resin material in the material box 1 is subjected to the light radiation; after printing one layer of image, the stripping mechanism drives the material box 1 to move up and down around a fixed pivot in a small range so as to strip the material solidified on the printing table surface from the bottom surface of the material box; then the lifting mechanism drives the printing platform 2 to lift upwards for a certain height to print the next layer of image; and repeating the steps until the 3D model is printed. In the embodiment, in order to enable the model of each layer to be separated from the bottom of the material box more easily in the printing process, a film is arranged on one surface of the bottom of the material box 1, which is in direct contact with the printing plane; similarly, in order to detach the printed 3D model from the printing plane, an FEP film is provided on the printing plane.
Above-mentioned desktop formula photocuring 3D printer, peeling mechanism's power supply is X axle motor, and elevating system's power supply is Z axle motor. Thus, the motion control of the X-axis motor and the Z-axis motor and the position feedback of the printing platform are involved in the working process of the printer. In this application, the self-sensing design of the motor torque is realized by the feedback function inside the motor control module, as shown in fig. 4, the specific method is as follows: the X-axis motor is in communication connection with the X-axis motor control module, and the X-axis motor control module is in communication connection with the controller; the X-axis motor control module drives the X-axis motor to act according to a control signal given by the controller, and monitors the working state of the X-axis motor and feeds the working state back to the controller; the Z-axis motor is in communication connection with the Z-axis motor control module, and the Z-axis motor control module is in communication connection with the controller; the Z-axis motor control module drives the Z-axis motor to act according to a control signal given by the controller, monitors the load change condition of the Z-axis motor and feeds the load change condition back to the controller; the controller adjusts a control signal to the Z-axis motor control module according to the received load change condition of the Z-axis motor so as to adjust the working state of the Z-axis motor.
X axle motor control module control X axle motor's operating condition specifically includes: 1) the X-axis motor control module acquires the current of an external coil of the X-axis motor in real time and feeds the current information of the external coil back to the controller; 2) the controller compares the external coil current with the external coil current range of the X-axis motor in each working state of the X-axis motor acquired in advance, and judges the current working state of the X-axis motor and whether the current working is normal. In this embodiment, the X-axis motor is a stepping motor, the X-axis motor control module is an LV8728MR chip, the X-axis motor control module and the controller communicate with each other through an IIC (integrated circuit bus), and a signal output end of the X-axis motor control module is connected to a signal input end of the controller through an operational amplifier circuit.
Z axle motor control module control Z axle motor's load change specifically includes: 1) acquiring a load value of a Z-axis motor after the printing platform 2 is leveled and before printing is started; 2) when the printing plane of the printing platform 2 is contacted with the bottom of the material box, the load of the Z-axis motor changes, and the Z-axis control module provides response to the load change of the Z-axis motor and carries out accurate measurement; 3) the controller compares the load change of the Z-axis motor with a preset Z-axis motor stop threshold, and controls the Z-axis motor to stop rotating once the load change of the Z-axis motor reaches the Z-axis motor stop threshold, otherwise, the Z-axis motor continues to rotate according to the set direction and speed. The Z-axis motor in the embodiment adopts a stepping motor, the inside of a Z-axis motor control module has a stallGuard2 function, the Z-axis motor control module can accurately measure the load of the motor, can be used for stall detection and detection lower than motor stall, allows drive reset without a position sensor, can set self-adaptive stop action of the motor in an automatic leveling link when the load changes and the moment of a motor rotor changes, and can acquire and output current change information of a coil to a controller through an analog-to-digital converter (ADC) according to the change of current of an external coil so as to monitor the action information of a printing platform in real time. In this embodiment, the Z-axis motor control module employs the motion control chip TMC2130, so that multi-load motor application is realized, and in the communication design, the Z-axis motor employs the SPI to realize communication between the master device and the slave device. A multi-motor load application mode is adopted, multiple Z-axis motor interfaces are reserved in the Z-axis motor control module for standby, and when one path of motor drive fails, the reserved motor drive interfaces can be started. The circuit module design for implementing the above functions in this embodiment is as shown in fig. 5.
Preferably, in the process that the printing platform 2 descends until the printing plane of the printing platform contacts with the bottom of the material box 1, when the printing platform 2 approaches the bottom of the material box 1, the rotating speed of the Z-axis motor is reduced, and the printing plane of the printing platform 2 is slowly close to the bottom of the material box. The printing platform 2 is slowly pressed close to the bottom of the material box 1 in the later stage of the descending process, so that sufficient time is guaranteed for the Z-axis motor control module to feed back load change conditions, and the controller can perform corresponding processing.
The principle of the control method is as follows: firstly, a tested threshold value is configured into a motor driving chip TMC2130 through SPI, in an automatic leveling link, when the plane of the bottom of a material box 1 is contacted with a printing platform 2, the torque of a Z-axis motor rotor changes, the torque value at the moment is compared with a set threshold value, then a stopping action is given to the motor driving chip, and the automatic leveling link is finished; considering the particularity of the X-axis motor, that is, the X-axis motor needs relatively large drawing force, and the current of the motor coil is relatively large and reaches a set value of about 2A, the LV8728MR motor is adopted to drive the chip, the chip can reach the coil current with the peak value of 2.5A, and the current range is relatively suitable. And a current detection circuit of the electromagnetic coil of the motor is designed outside and is input into the controller through the IIC to form internal feedback detection and control. In the printing process, the peeling time and sequence of the material and the printing platform 1 are set through software, so that accurate printing is realized.
Above-mentioned desktop formula photocuring 3D printer carries out position feedback through the self-sensing design of motor control module inside, compares with the 3D printer that sets up external sensor equipment and carry out position feedback, and control accuracy is high and reduced the return circuit time lag, and efficiency is higher to delete external sensor equipment, reduced cost and potential risk.
Claims (6)
1. The control method of the desktop type photocuring 3D printer is used for the desktop type photocuring 3D printer, and the printer comprises an imaging module for projecting light radiation, a material box for containing photocuring materials and a printing platform for attaching a formed 3D model; one end of the material box is connected with a stripping mechanism, the stripping mechanism drives the material box to vertically move in a small range around a fixed fulcrum so as to strip the material solidified on the printing table surface from the bottom surface of the material box, and the power source of the stripping mechanism is an X-axis motor; the printing platform is connected with a lifting mechanism, the lifting mechanism drives the printing platform to vertically lift, and a power source of the lifting mechanism is a Z-axis motor; the X-axis motor control module is in communication connection with the controller; the X-axis motor control module drives the X-axis motor to act according to a control signal given by the controller, and monitors the working state of the X-axis motor and feeds the working state back to the controller; the Z-axis motor is in communication connection with the Z-axis motor control module, and the Z-axis motor control module is in communication connection with the controller; the Z-axis motor control module drives the Z-axis motor to act according to a control signal given by the controller, monitors the load change condition of the Z-axis motor and feeds the load change condition back to the controller; the controller adjusts a control signal sent to the Z-axis motor control module according to the received load change condition of the Z-axis motor so as to adjust the working state of the Z-axis motor;
wherein, X axle motor control module control X axle motor's operating condition specifically includes:
the X-axis control module acquires the current of an external coil of the X-axis motor in real time and feeds the current information of the external coil back to the controller;
the controller compares the current information of the external coil with the current range of the external coil of the X-axis motor in each working state of the X-axis motor acquired in advance, and judges the current working state of the X-axis motor and whether the current working is normal.
2. The method for controlling the desktop photocuring 3D printer as claimed in claim 1, wherein the X-axis motor is a stepping motor, the X-axis motor control module is an LV8728MR chip, the X-axis motor control module and the controller communicate with each other through an IIC, and a signal output end of the X-axis motor control module is connected to a signal input end of the controller through an operational amplifier circuit.
3. The method for controlling the desktop photocuring 3D printer according to claim 1, wherein the Z-axis motor control module monitors load changes of a Z-axis motor, and specifically includes:
acquiring a load value of a Z-axis motor after the printing platform is leveled and before printing is started;
when the printing plane of the printing platform is contacted with the bottom of the material box, the load of the Z-axis motor changes, and the Z-axis control module provides response to the load change of the Z-axis motor and carries out accurate measurement;
the controller compares the load change of the Z-axis motor with a preset Z-axis motor stop threshold, and controls the Z-axis motor to stop rotating once the load change of the Z-axis motor reaches the Z-axis motor stop threshold, otherwise, the Z-axis motor continues to rotate according to the set direction and speed.
4. The method of claim 3, wherein the Z-axis motor is a stepper motor, and the Z-axis motor control module has a stallGuard2 function.
5. The control method of the desktop photocuring 3D printer as claimed in claim 1, wherein in the process that the printing platform is lowered to the position where the printing plane of the printing platform is in contact with the bottom of the material box, when the printing platform is close to the bottom of the material box, the rotating speed of the Z-axis motor is reduced, and the printing plane of the printing platform is slowly close to the bottom of the material box.
6. A desktop type photocuring 3D printer, characterized in that the control method of the desktop type 3D photocuring printer as claimed in any one of claims 1 to 5 is used.
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| WO2023185930A1 (en) * | 2022-03-31 | 2023-10-05 | 深圳市纵维立方科技有限公司 | Printing control method, photocuring three-dimensional printer and readable storage medium |
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