CN111016180B - Grating data acquisition card, 3D printer and 3D printer control method - Google Patents
Grating data acquisition card, 3D printer and 3D printer control method Download PDFInfo
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- CN111016180B CN111016180B CN201911380479.5A CN201911380479A CN111016180B CN 111016180 B CN111016180 B CN 111016180B CN 201911380479 A CN201911380479 A CN 201911380479A CN 111016180 B CN111016180 B CN 111016180B
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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
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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
- B29C64/232—Driving means for motion along the axis orthogonal to the plane of a layer
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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
- B29C64/236—Driving means for motion in a direction within the plane of a layer
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application provides a grating data acquisition card, which comprises a grating signal receiving module and a control kernel module which are connected with each other. The application also provides a 3D printer, it includes main control unit, motor drive control card, X axle motor, Y axle motor, Z axle motor, X motion axle, Y motion axle, Z motion axle, X axle grating sensor, Y axle grating sensor, Z axle grating sensor, moving part and above-mentioned grating data acquisition card. The application also provides a 3D printer control method for controlling the 3D printer. According to the grating data acquisition card, the 3D printer and the 3D printer control method, grating signals can be acquired, data processing is carried out on each grating signal to obtain actual displacement and speed of an X motion axis, a Y motion axis and a Z motion axis, and the actual displacement and the speed are fed back to the main controller in real time, so that the main controller can make correction instructions, and the accuracy of printing a 3D model by the 3D printer is improved.
Description
Technical Field
The invention relates to the technical field of 3D printers, in particular to a grating data acquisition card, a 3D printer and a 3D printer control method.
Background
The 3D printing technology, also called rapid prototyping technology, is a high-new manufacturing technology based on a material stacking method, and according to three-dimensional model data of a part or an object, a real object or a real model can be manufactured in a material stacking manner through a prototyping device. In the prior art, a driving motor used for a motion shaft of the 3D printer is a stepping motor, the stepping motor is driven in an open loop manner, a step losing phenomenon easily occurs, and a printed model is broken, so that the 3D printer in the prior art is seriously insufficient in printing precision, and a printed product cannot meet expected requirements.
Disclosure of Invention
According to a first aspect of the present application, there is provided a grating data acquisition card, which includes a grating signal receiving module and a control core module connected to each other; the grating signal receiving module is used for being connected to an X motion axis, a Y motion axis and a Z motion axis of the 3D printer, collecting grating signals in the form of differential signals respectively sent by the X motion axis, the Y motion axis and the Z motion axis, converting the grating signals in the form of the differential signals into grating signals in the form of orthogonal square wave signals, and sending the grating signals to the control kernel module; the control kernel module is used for being connected to a main controller of the 3D printer, calculating actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer according to grating signals in the form of orthogonal square wave signals, and sending the actual motion information to the main controller of the 3D printer.
According to a second aspect of the present application, there is provided a 3D printer comprising a main controller, a motor drive control card, an X-axis motor, a Y-axis motor, a Z-axis motor, an X-axis motion axis, a Y-axis motion axis, a Z-axis motion axis, an X-axis grating sensor, a Y-axis grating sensor, a Z-axis grating sensor, and a motion member; the main controller is connected to the motor drive control card; the motor driving control card is respectively connected with the X-axis motor, the Y-axis motor and the Z-axis motor; the X-axis motor is connected to the X-axis motion, the Y-axis motor is connected to the Y-axis motion, and the Z-axis motor is connected to the Z-axis motion; the X movement axis, the Y movement axis and the Z movement axis are commonly connected to the movement part; an X-axis grating sensor for emitting grating signals is arranged on the X-axis motion axis, a Y-axis grating sensor for emitting grating signals is arranged on the Y-axis motion axis, and a Z-axis grating sensor for emitting grating signals is arranged on the Z-axis motion axis; the main controller is used for sending a control instruction to the motor drive control card, wherein the control instruction comprises given motion information parameters of an X motion axis, a Y motion axis and a Z motion axis; the motor drive control card drives the X-axis motor, the Y-axis motor and the Z-axis motor to respectively run according to the control instruction; the X-axis motor, the Y-axis motor and the Z-axis motor are used for driving the X-axis motion, the Y-axis motion and the Z-axis motion to move respectively, so that the X-axis motion, the Y-axis motion and the Z-axis motion drive the motion component to move according to given motion information parameters of the control instruction; the 3D printer further comprises the grating data acquisition card; the grating signal receiving module of the grating data acquisition card is respectively connected with the X-axis grating sensor, the Y-axis grating sensor and the Z-axis grating sensor; the control kernel module of the grating data acquisition card is connected to the main controller; the main controller is also used for receiving the actual motion information of the X motion axis, the Y motion axis and the Z motion axis sent by the grating data acquisition card, correcting given motion information parameters of the control command according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis, and sending the corrected control command to the motor drive control card.
According to a third aspect of the present application, there is provided a 3D printer control method for controlling the above 3D printer; the method comprises the following steps:
the control main controller sends a control instruction to the motor drive control card, wherein the control instruction comprises given motion information parameters of an X motion axis, a Y motion axis and a Z motion axis;
the control motor drive control card drives the X-axis motor, the Y-axis motor and the Z-axis motor to operate according to the control instruction so as to drive the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft to move respectively, and the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft drive the motion component to move together according to given motion information parameters of the control instruction;
the control grating data acquisition card acquires grating signals in the form of differential signals sent by the X-axis grating sensor, the Y-axis grating sensor and the Z-axis grating sensor, calculates actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer and sends the actual motion information to the main controller;
the control main controller corrects given motion information parameters of the control command according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis, and sends the corrected control command to the motor drive control card.
According to the grating data acquisition card, the 3D printer and the 3D printer control method, grating signals sent by an X motion axis, a Y motion axis and a Z motion axis of the 3D printer can be acquired, the grating signals are subjected to data processing to obtain actual displacement and speed of the X motion axis, the Y motion axis and the Z motion axis, and the actual displacement and speed are fed back to the main controller in real time, so that the main controller can make correction instructions, and the accuracy of printing a 3D model by the 3D printer is improved.
Drawings
Fig. 1 is a schematic diagram of a 3D printer raster data acquisition card according to a first embodiment;
fig. 2 (a) is a schematic circuit diagram of a grating signal receiving module;
FIG. 2 (b) is a schematic diagram of a circuit structure of the power inlet indicator light module;
FIG. 2 (c) is a schematic diagram of the circuit structure of the external power supply and ground interface module;
fig. 3 is a schematic diagram of a working principle of a raster data acquisition card of a 3D printer according to the first embodiment;
fig. 4 is a RTL diagram of a grating signal filtering algorithm processing module according to the first embodiment;
FIG. 5 is a functional simulation diagram of a processing module of a grating signal filtering algorithm according to the first embodiment;
fig. 6 is an RTL diagram of a real-time motion information algorithm processing module according to the first embodiment
FIG. 7 is a functional simulation diagram of a grating signal data processing module according to the first embodiment;
fig. 8 is a schematic structural diagram of a 3D printer according to the second embodiment;
fig. 9 is a schematic diagram of the working principle of the 3D printer according to the second embodiment;
FIG. 10 is a schematic diagram of grating signal pulses when the movable scale of the grating scale of the second embodiment moves forward relative to the fixed scale;
fig. 11 is a schematic diagram of grating signal pulses when the movable scale of the grating scale of the second embodiment moves in opposite directions relative to the fixed scale.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
Embodiment one:
as shown in fig. 1, the 3D printer raster data acquisition card 10 of the present embodiment includes a raster signal receiving module 11 and an FPGA (field programmable gate array ) control core module 12 connected to each other; the grating signal receiving module 11 comprises a differential signal to single-ended signal circuit 111 and a level conversion circuit 112; the FPGA control core module 12 includes a raster signal data processing module 121, an ethernet interface module 122, and an ethernet control core module 123, and the raster signal data processing module 121 further includes a raster signal filtering algorithm processing module 124 and a real-time motion information algorithm processing module 125 (i.e., a raster signal counting module). The differential signal to single ended signal circuit 111, the level conversion circuit 112, the raster signal filtering algorithm processing module 124, the real-time motion information algorithm processing module 125, the ethernet interface module 122 and the ethernet control kernel module 123 are sequentially connected.
As shown in fig. 2 (a), the differential signal to single-ended signal circuit 111 includes a first MC3486 chip U3A, a second MC3486 chip U3B, a 0.1uF capacitor C12, a 0.1uF electrolytic capacitor C14, a 200Ω resistor R2, a 200Ω resistor R3, a 200Ω resistor R4, a 1K resistor R9, and a 1K resistor R11.
The 1,2EN pin and the VCC pin of the first MC3486 chip U3A are connected to a 5V power supply, the first pole of the capacitor C12 and the first pole of the electrolytic capacitor C14, the second pole of the capacitor C12 and the second pole of the electrolytic capacitor C14 are grounded, the 1A pin of the first MC3486 chip U3A is connected to the A+ end of the grating reading head J2 through a 200 ohm resistor R2, the 1B pin is connected to the A+ end of the grating reading head J2, the 1B pin is also connected to the A-end of the grating reading head J2, the 2A pin is connected to the B+ end of the grating reading head J2, the 2B pin is also connected to the B-end of the grating reading head J2 through a 200 ohm resistor R3;
the 3,4EN pin of the second MC3486 chip U3B is connected with a 5V power supply, the 3A pin is connected to the Z+ end of the grating reading head J2, the 3B pin is connected to the Z+ end of the grating reading head J2 through a 200 omega resistor R4, the 3B pin is also connected to the Z-end of the grating reading head J2, the GND pin is grounded, and the 4A pin is connected with the 5V power supply through a 1K resistor R9 and a 4B pin through a 1K resistor R11.
The 1Y pin of the first MC3486 chip U3A is connected with the A1 pin of the chip U2, the 2Y pin is connected with the A2 pin of the chip U2, and the 3Y pin of the second MC3486 chip U3B is connected with the A3 pin of the chip U2.
The 8 # and 5V end, 7 # and 5V end of the grating reading head J2 (D Connector 15) are connected with a 5V power supply and a 10uF electrolytic capacitor C11 first pole, and a 0.1uF capacitor C11 first pole; the second pole of the electrolytic capacitor C11 and the second pole of the capacitor C11 are grounded. The 15 # end, the 2 # end and the 9 # end of the grating reading head J2 are grounded.
The level shift circuit 112 includes a 74LVC4245A chip U2, a 0.1uF capacitor C7, a 10uF electrolytic capacitor C8, a 0.1uF capacitor C10, a 10uF electrolytic capacitor C9, a right angle pin P1, a 1K resistor R5, a 1K resistor R6, and a 1K resistor R7.
The 5V pin and DIR pin of the chip U2 are connected with A5V power supply, the first pole of the capacitor C7 and the first pole of the electrolytic capacitor C8, the second pole of the capacitor C7 and the second pole of the electrolytic capacitor C8 are grounded, the A4 pin is connected with the E+ (P) end of the grating reading head and the first pole of the resistor R7, the A5 pin is connected with the E-end of the grating reading head and the first pole of the resistor R6, the A6 pin is connected with the Q end of the grating reading head and the first pole of the resistor R5, the second pole of the resistor R6 and the second pole of the resistor R7 are grounded, and the A7 pin, the A8 pin, the GND pin of the 11 th and the GND pin of the 12 are grounded.
The No. 24 3.3V pin and the No. 23 3.3V pin of the chip U2 are connected with a 3.3V power supply, the first pole of the capacitor C10 and the first pole of the electrolytic capacitor C9, the second pole of the capacitor C10 and the second pole of the electrolytic capacitor C9 are grounded, the OE pin is grounded, the B1 pin, the B2 pin, the B3 pin, the B4 pin, the B5 pin and the B6 pin are respectively connected with the No. 1 port, the No. 2 port, the No. 3 port, the No. 4 port, the No. 5 port and the No. 6 port of the right-angle contact pin P1, and the No. 13 GND pin is grounded.
As shown in fig. 2 (b), the grating signal receiving module 11 further includes a power supply inlet indicator module, wherein a first pole of the 1K resistor R1 is connected to a 5V power supply, a second pole of the resistor R1 is connected to an anode of the LED diode D1, and a cathode of the LED diode D1 is grounded; the first pole of the 1K resistor R10 is connected with a 3.3V power supply, the second pole of the resistor R10 is connected with the positive pole of the LED D2, and the negative pole of the LED D2 is grounded.
As shown in fig. 2 (C), the grating signal receiving module 11 further includes an external power supply and ground interface module, wherein the No. 1 port of the pin P2 (Header 3) is grounded, the No. 2 port is connected to the 5V power supply and the first pole of the 0.1uF capacitor C2, the No. 3 port is connected to the 3.3V power supply and the first pole of the 0.1uF capacitor C21, and the second pole of the capacitor C2 and the second pole of the capacitor C21 are grounded.
Matching the acquisition card of the embodiment with a 3D printer, and connecting the differential signal-to-single-ended signal circuit 111 to an X-axis grating sensor 510, a Y-axis grating sensor 520 and a Z-axis grating sensor 530 of the 3D printer; the ethernet control kernel module 123 is connected to the main controller 20 of the 3D printer by wire, plug-in, or wireless communication, etc.
The coordinate values of all motion axes are measured by using the grating ruler on the 3D printer, and grating reading heads of the grating sensors output 2 pairs of incremental differential signals and 1 pair of reference zero signals, so that the anti-interference performance of the grating signals can be improved. In the product, two pairs of incremental differential grating signals are processed by an MC3486 chip and then become orthogonal square wave signals with 90-degree phase difference; the two paths of orthogonal square wave signals are transmitted to a grating signal data processing module (or an FPGA core chip) for filtering, frequency multiplication, direction identification and reversible counting after passing through a level conversion circuit (or a level conversion chip), and finally the data is transmitted to a main controller 20.
As shown in fig. 3, the following details the role of each functional unit in the acquisition card and the principle of the acquisition card to acquire and process raster data of the 3D printer.
St4.1, during the operation of the 3D printer, the differential signal-to-single-ended signal circuit 111 collects the differential signal form of the grating signals sent by the X-axis grating sensor 510, the Y-axis grating sensor 520 and the Z-axis grating sensor 530, converts the differential signal form of the grating signals into the orthogonal square wave signal form of the grating signals (5V level) and sends the orthogonal square wave signal form of the grating signals to the level conversion circuit 112.
St4.2, level shifter 112 level shift the grating signal in the form of quadrature square wave signal to the preset level, specifically, level shifter 112 shifts the 5V level signal to 3.3V level signal; and transmits the level-converted raster signal to the raster signal filtering algorithm processing module 124.
St4.3, the grating signal filtering algorithm processing module 124 filters out noise signals in the grating signal in the form of quadrature square wave signals.
Fig. 4 shows a diagram of a grating signal filtering algorithm processing module RTL (Register Transfer Level, register transfer stage), and the grating signal output by the grating signal receiving circuit is subjected to preprocessing, but still is affected by noise signals in the field environment. In order to eliminate noise signals, the present embodiment designs a digital filter inside the FPGA chip (i.e., the grating signal filtering algorithm processing module 124 of the FPGA control core module 12). The frequency of the FPGA system clock signal is much larger than that of the grating signal output by the grating signal receiving circuit, so that the grating signal can be sampled at the rising trigger edge of the system clock, the stable grating signal maintains a certain level when a plurality of clock signal edges are sampled, the grating signal can be judged to be an effective signal, and otherwise, the grating signal is judged to be an unstable signal or a burr signal.
In the figure, the raster signal filtering algorithm processing module comprises a register lock_b [2..0], a register lock_a2..0, an OR gate WideOr1, an AND gate WideAnd1, an OR gate WideOr0, an AND gate WideAnd0, a tristate gate u 2-0, a tristate gate u 1-0, a tristate gate u 2-1, a tristate gate u 1-1, a register u2 and a register u1.
The clk signal input is connected to the ENA terminal of register u2, the ENA terminal of register u1, the ENA terminal of register lock_b [2..0], and the ENA terminal of register lock_a [2..0 ]. The B signal input is connected to the D terminal of the register lock_b [2..0 ]. The D terminal of the register lock_b [2..0] is also connected to the second input terminal, the third input terminal of the or gate WideOr1 and the first input terminal, the second input terminal, the third input terminal of the and gate WideAnd 1. The rstn signal input is connected to the CLRN terminal of register lock_b [2..0 ]. The A signal input is connected to the D terminal of the register lock_a [2..0 ]. The D terminal of the register lock_a [2..0] is also connected to the second input terminal, the third input terminal of the or gate WideOr0, and the first input terminal, the second input terminal, the third input terminal of the and gate WideAnd 0. The CLRN terminal of the register lock_a [2..0] is connected to the CLRN terminal of the register u2 and the CLRN terminal of the register u1. The output of OR gate WideOr1 is connected to tri-state gates u 2-0. The output of AND gate Wideand1 is connected to tri-state gates u 2-1. The output of OR gate WideOr0 is connected to tri-state gates u 1-0. The output of AND gate Wideand0 is connected to tri-state gates u 1-1. The input end 1 of the tri-state gate u 2-0 is connected to the signal output end B1, the output end of the tri-state gate u 2-0 is connected to the input end 0 of the tri-state gate u 2-1, and the output end of the tri-state gate u 2-1 is connected to the D end of the register u 2. The input end 1 of the tristate gates u 1-0 is connected to the signal output end A1, the output end of the tristate gates u 1-0 is connected to the input end 0 of the tristate gates u 1-1, and the output end of the tristate gates u 1-1 is connected to the end D of the register u1. The Q end of the register u2 is connected to the B1 signal output end, and the Q end of the register u1 is connected to the A1 signal output end.
The basic working principle of the process is that the input grating signal A, B is respectively and sequentially input into the set W-bit registers lock_a and lock_b after W FPGA clock signal (clk) periods. If each bit in the W bit register lock_a and lock_b is 1, the output is 1, and if each bit is 0, the output is 0; otherwise the output will maintain the value of the last clock signal period. So that any pulse having a width less than W clock cycles is considered as a glitch signal and filtered out. The value of W can be flexibly set as required. In the figure, w=3, the clock signal is clk, the raster input signal is A, B, the reset signal is rstn, and the filtered raster signals are A1 and B1.
The simulation effect of the grating signal filtering algorithm processing module 124 on the digital filtering function of the grating signal is shown in fig. 5, the burr in the signal is eliminated after the grating signal A, B with the burr passes through the digital filter, the grating signal is delayed by 3 clock cycles, the phase relation between the grating signals a and B is not changed, and the subsequent grating signal processing is not affected.
St4.4, real-time motion information algorithm processing module 125 carries out frequency multiplication, direction identification and reversible counting processing according to the grating signal in the form of orthogonal square wave signal, thereby calculating real-time and actual speed, coordinate and/or displacement information of X motion axis 51, Y motion axis 52 and Z motion axis 53 of the 3D printer, synchronously latching and transmitting the speed, coordinate and/or displacement information of X motion axis 51, Y motion axis 52 and Z motion axis 53 at the moment to Ethernet interface module 122.
The grating data acquisition card 10 acquires N grating signals in unit time T, and the distance of each grating number corresponding to the movement of the motor shaft is M; the distance that the motor drives the motion axis to move is s=n×m, and the speed that the motor drives the motion axis to move is v=s/t=n×m/T.
When the real-time motion information algorithm processing module 125 receives the count permission status sent by the status register, it starts to perform frequency doubling, direction identification and reversible count processing on the 3-path filtered raster signal. According to the displacement principle of the grating sensor (or grating ruler), if the grating signals are directly counted, the resolution is the displacement corresponding to one signal period. In order to improve the accuracy of grating measurement, the grating signal needs to be multiplied. The grating sensor can move in the forward direction and the reverse direction; the design is to conduct the direction-distinguishing processing to the signals. According to the characteristics of the grating signal, when the grating sensor moves forward, the phase relation of the grating A, B signal is 00-10-11-01-00 …; at this time, every time the A/B relation is converted into one state, the 1-up count is carried out by a 32-bit reversible counter in the FPGA. When the grating sensor moves reversely, the phase relation of the A/B signals is 00- & gt 01- & gt 11- & gt 10- & gt 00- …, and at the moment, the 32-bit reversible counter in the FPGA counts down by 1 when the A/B relation converts one state.
The RTL diagram generated after compiling by the real-time motion information algorithm processing module 125 (i.e., the raster signal counting module) using the Verilog language design is shown in FIG. 6; the digital filtering module comprises a multi-step_grating2:u1 of the grating signal and a frequency doubling, reversible counting and digit setting function module of the grating signal, wherein the frequency doubling, reversible counting and digit setting function module comprises a multi-step_grating2:u2. The A, B signal is filtered in the multi-step 2:u1 by a delay of 4 system clock signals clk. The filtered signals A1 and B1 are subjected to frequency multiplication in a subframe_dir u2, and direction identification processing is carried out; if the grating moves forward, the signals after frequency multiplication of A1 and B1 are up; if the grating moves reversely, the signals after frequency multiplication of A1 and B1 are down; loadn is the number setting signal sent by the upper computer, dq [31:0] is the number to be set sent by the upper computer, and data [31:0] is the counting result after A1 and B1 are multiplied by four.
In the figure, the real-time motion information algorithm processing module comprises a digital filtering module multi-grading 2:u1 and a functional module subdimension dir:u2.
The digital filtering module comprises a multi-step_grating2:u1, a signal A input end, a signal B input end, a signal clk input end, a functional module sub-display_dir:u2 clk end, a reset_clk end, a signal reset_clk input end and a functional module sub-display_dir:u2 reset_clk end, wherein the A end of the digital filtering module multi-step_grating2:u1 is connected with the signal A input end, the B end is connected with the signal B input end, the clk end is connected with the signal clk input end and the functional module sub-display_dir:u2 clk end. The A1 end of the digital filtering module multi-grading 2:u1 is connected to the signal A1 output end and the A1 end of the function module sub-dir:u2, and the B1 end is connected to the signal B1 output end and the B1 end of the function module sub-dir:u2. The loadn end of the function module subdiscover_dir u2 is connected to the loadn signal input end, and the dq [31:0] end is connected to the dq [31:0] signal input end. The down end of the function module subdimension_dir:u2 is connected to the signal down output end, the up end is connected to the signal up output end, and the data [31:0] end is connected to the signal data [31:0] output end.
The effect of using model software to simulate the function of the grating signal data processing module 121 is shown in fig. 7, A, B is a grating signal, when A, B has a glitch, the digital filter filters the glitch signal, and the phase relationship between A1 and B1 obtained after filtering is the same as that of A, B. When the upper computer transmits a loadn signal, the required number dq=30 is set in the up-down counter data. When the grating moves forward, 4 up signals are generated in each grating period after filtering, and data is counted up; when the grating moves reversely, 4 down signals are generated in each grating period after filtering, and meanwhile, data is counted down; the simulation result in the figure meets the design requirement.
The St4.5, ethernet interface module 122 sends velocity, coordinate and/or displacement information for the X motion axis 51, Y motion axis 52 and Z motion axis 53 to the Ethernet control kernel module 123 at set timings.
The ethernet interface module 122 adopted in the present embodiment mainly receives various sensor signals, and transmits the sensor signals to the ethernet control kernel module 123 according to a certain logic time sequence, so as to provide an interface for data storage; the module comprises a 32-bit data receiving port, a signal buffer and a data transmitting port.
The St4.6, ethernet control kernel module 123 sends the velocity, coordinate and/or displacement information of the X, Y and Z motion axes 51, 52 and 53 to the main controller 20 of the 3D printer according to the Ethernet communication protocol so that the main controller 20 does the countermeasure operation.
The ethernet control kernel module 123 of the present embodiment mainly implements data receiving and sending control logic and ethernet communication protocol analysis, and mainly includes a physical layer and a transport layer for communication.
Embodiment two:
as shown in fig. 8, the 3D printer of the present embodiment includes a main controller 20, a motor drive control card 30, an X-axis motor 41, a Y-axis motor 42, a Z-axis motor 43, an X-axis motion shaft 51, a Y-axis motion shaft 52, a Z-axis motion shaft 53, an X-axis raster sensor 510, a Y-axis raster sensor 520, a Z-axis raster sensor 530, and a moving part 60; the main controller 20 is connected to a motor drive control card 30; the motor drive control card 30 is connected with an X-axis motor 41, a Y-axis motor 42 and a Z-axis motor 43 respectively; the X-axis motor 41 is connected to an X-axis motion 51, the Y-axis motor 42 is connected to a Y-axis motion 52, and the Z-axis motor 43 is connected to a Z-axis motion 53. The X movement axis, the Y movement axis, and the Z movement axis are commonly connected to the movement member 60. An X-axis grating sensor 510 for emitting grating signals is provided on the X-axis movement axis 51, a Y-axis grating sensor 520 for emitting grating signals is provided on the Y-axis movement axis 52, and a Z-axis grating sensor 530 for emitting grating signals is provided on the Z-axis movement axis 53.
The 3D printer of the present embodiment further includes the 3D printer raster data acquisition card 10 of the first embodiment, the differential signal to single-ended signal circuit 111 of the raster signal receiving module 11 in the raster data acquisition card 10 is respectively connected with the X-axis raster sensor 510, the Y-axis raster sensor 520, and the Z-axis raster sensor 530, and the ethernet control core module 123 of the FPGA control core module 12 is connected to the main controller 20.
As shown in fig. 9, the function of each functional unit in the 3D printer and the control principle of the 3D printer are described in detail below.
During operation of the St1, 3D printer, the main controller 20 sends control instructions to the motor drive control card 30, the control instructions including given motion information parameters of the X motion axis 51, the Y motion axis 52, and the Z motion axis 53, for example, at what speed the X motion axis 51 needs to move to a position of a certain X coordinate axis at a certain point in time, at what speed the Y motion axis 52 needs to move to a position of a certain Y coordinate axis at a certain point in time, and at what speed the Z motion axis 53 needs to move to a position of a certain Z coordinate axis at a certain point in time.
St2, motor drive control card 30 drives X-axis motor 41, Y-axis motor 42 and Z-axis motor 43 to operate, respectively, according to the control instruction.
St3, the motor is started to run, namely, the X-axis motor 41 drives the X-axis movement shaft 51 to move according to the given X-axis direction movement information parameter of the control command, the Y-axis motor 42 drives the Y-axis movement shaft 52 to move according to the given Y-axis direction movement information parameter of the control command, and the Z-axis motor 43 drives the Z-axis movement shaft 53 to move according to the given Z-axis direction movement information parameter of the control command; thus, the X movement axis, the Y movement axis and the Z movement axis jointly drive the movement part to move according to given movement information parameters of the control instruction; and then the 3D printer prints out the model product with the three-dimensional structure.
During the running process of each motion axis, the grating sensor (or grating ruler) on each motion axis can send out grating signals. The grating signal output by the incremental grating ruler adopted in the embodiment is a differential signal with strong anti-interference capability and relatively long transmission distance. The working principle of the grating ruler is that for each clock period, the phase difference of the A pulse and the B pulse is 90 degrees all the time, and when the phase of the A pulse leads the B pulse by 90 degrees as shown in fig. 10, the movable ruler moves forward relative to the fixed ruler; conversely, as shown in fig. 11, if the a pulse phase lags the B pulse phase by 90 °, this means that the movable scale moves in the opposite direction to the fixed scale. As the grating scale outputs a A, B, Z pulse (Z signal is a reference zero signal of the grating scale) every time the grating scale moves for one grid distance relative to the fixed scale, the relative displacement and speed of the movable scale relative to the fixed scale can be accurately converted by calculating and processing sampled A/B/Z signals within a certain time.
In the operation process of the 3D printer, the differential signal to single-ended signal circuit 111 of the raster data acquisition card 10 synchronously acquires raster signals in the form of differential signals sent by the X-axis raster sensor 510, the Y-axis raster sensor 520 and the Z-axis raster sensor 530 in real time, converts the raster signals in the form of differential signals into raster signals in the form of orthogonal square wave signals, and sends the raster signals to the level conversion circuit 112. The level conversion circuit 112 converts the level of the grating signal in the form of the quadrature square wave signal into a preset level, and transmits the level-converted grating signal to the grating signal filtering algorithm processing module 124. The grating signal filtering algorithm processing module 124 filters out noise signals in the grating signal in the form of quadrature square wave signals. The real-time motion information algorithm processing module 125 calculates velocity, coordinate and/or displacement information of the X motion axis 51, Y motion axis 52 and Z motion axis 53 of the 3D printer from the grating signal in the form of an orthogonal square wave signal, and transmits the information to the ethernet interface module 122. The ethernet interface module 122 sends this information to the ethernet control core module 123 at a set timing. The ethernet control kernel module 123 transmits the speed, coordinate and/or displacement information of the X, Y and Z motion axes 51, 52 and 53 to the main controller 20 of the 3D printer according to the ethernet communication protocol.
St5, the main controller 20 receives the speed, coordinate and/or displacement information of the X movement axis 51, the Y movement axis 52 and the Z movement axis 53 transmitted from the grating data acquisition card 10, corrects given movement information parameters of the control command according to the speed, coordinate and/or displacement information of the X movement axis 51, the Y movement axis 52 and the Z movement axis 53, and transmits the corrected control command to the motor drive control card 30.
Specifically, the main controller 20 determines whether the actual speed, coordinates and/or displacement of the X moving axis 51 coincides with a given speed, coordinates and/or displacement of the X moving axis 51, determines whether the actual speed, coordinates and/or displacement of the Y moving axis 52 coincides with a given speed, coordinates and/or displacement of the Y moving axis 52, determines whether the actual speed, coordinates and/or displacement of the Z moving axis 53 coincides with a given speed, coordinates and/or displacement of the Z moving axis 53, and if there is an inconsistency, controls the motor drive control card 30 to stop operating. For example, if the main controller 20 is scheduled to control the Z-axis motor 43 to run for 50mm, but the raster data acquisition card 10 detects that the Z-axis motor 43 is actually running for 20mm or less, it can determine that the motor is seriously lost, or that the motor has a fault such as locked-rotor, and the controller can determine that the 3D printer is running, and stop printing.
Alternatively, the main controller 20 determines whether the actual speed of the X moving axis 51 coincides with the given speed of the X moving axis 51, determines whether the actual speed of the Y moving axis 52 coincides with the given speed of the Y moving axis 52, determines whether the actual speed of the Z moving axis 53 coincides with the given speed of the Z moving axis 53, and if there is a discrepancy, generates a correction command containing given speed parameters of the X moving axis 51, the Y moving axis 52, and the Z moving axis 53 and sends the correction command to the motor drive control card 30.
Alternatively, the main controller 20 compares whether the actual coordinates of the X movement axis 51 coincide with the given coordinates of the X movement axis 51, compares whether the actual coordinates of the Y movement axis 52 coincide with the given coordinates of the Y movement axis 52, and compares whether the actual coordinates of the Z movement axis 53 coincide with the given coordinates of the Z movement axis 53. If the actual coordinates of the X motion axis 51 do not reach the given coordinates of the X motion axis 51, generating a correction instruction and sending the correction instruction to the motor drive control card 30, wherein the correction instruction is used for instructing the motor drive control card 30 to drive the X axis motor 41 to drive the X motion axis 51 to complement the difference distance between the actual coordinates and the given coordinates; if the actual coordinates of the Y motion axis 52 do not reach the given coordinates of the Y motion axis 52, generating a correction instruction and sending the correction instruction to the motor drive control card 30, wherein the correction instruction is used for instructing the motor drive control card 30 to drive the Y motion axis motor 42 to drive the Y motion axis 52 to complement the difference distance between the actual coordinates and the given coordinates; if the actual coordinates of the Z motion axis 53 do not reach the given coordinates of the Z motion axis 53, a correction command is generated and sent to the motor drive control card 30, where the correction command is used to instruct the motor drive control card 30 to drive the Z motion axis motor 43 to drive the Z motion axis 53 to complement the difference distance between the actual coordinates and the given coordinates.
Alternatively, the main controller 20 compares whether the actual displacement of the X movement axis 51 coincides with the given displacement of the X movement axis 51, compares whether the actual displacement of the Y movement axis 52 coincides with the given displacement of the Y movement axis 52, and compares whether the actual displacement of the Z movement axis 53 coincides with the given displacement of the Z movement axis 53. If the actual displacement of the X motion axis 51 does not reach the given displacement of the X motion axis 51, a correction command is generated and sent to the motor drive control card 30, wherein the correction command is used for instructing the motor drive control card 30 to drive the X axis motor 41 to drive the X motion axis 51 to complement the difference distance between the actual displacement and the given displacement. If the actual displacement of the Y motion axis 52 does not reach the given displacement of the Y motion axis 52, a correction command is generated and sent to the motor drive control card 30, where the correction command is used to instruct the motor drive control card 30 to drive the Y motion axis motor 42 to drive the Y motion axis 52 to complement the difference distance between the actual displacement and the given displacement. If the actual displacement of the Z motion axis 53 does not reach the given displacement of the Z motion axis 53, a correction command is generated and sent to the motor drive control card 30, wherein the correction command is used for instructing the motor drive control card 30 to drive the Z motion axis motor 43 to drive the Z motion axis 53 to complement the difference distance between the actual displacement and the given displacement. For example, the main controller 20 is scheduled to control the Z-axis 53 to run for 50mm, but the grating data acquisition card 10 detects that the Z-axis 53 is actually running for only 48mm, the grating data acquisition card 10 feeds back the result to the main controller 20, and the main controller controls the Z-axis motor 43 to drive the Z-axis 53 to run for 2mm.
The 3D printer grating data acquisition card is developed and designed for meeting the requirement that the 3D printer can rapidly and accurately acquire the real-time motion coordinates, motion speed and other motion states of the X motion axis, the Y motion axis and the Z motion axis of the 3D printer in the process of printing a 3D model at high speed. The grating data acquisition card takes the FPGA as a control core to acquire 3 grating signals from an X motion axis, a Y motion axis and a Z motion axis so as to obtain the accurate position and the speed of each motion axis of the 3D printer. Meanwhile, in order to ensure the accuracy of the information of the measuring points, the method and the device keep synchronous acquisition of 3 paths of grating signal data, the acquired data are continuously transmitted to the main controller at a high speed, and the main controller is used as terminal equipment to finish subsequent data processing tasks, such as detecting the fault state of each shaft motor and performing coping operations on the faults.
According to the 3D printer grating data acquisition card, the 3D printer and the 3D printer control method, grating signals sent by grating scales of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer can be acquired and processed, the highest acquisition frequency is 500KHZ, the actual displacement and the actual speed of the X motion axis, the Y motion axis and the Z motion axis are obtained by carrying out data processing on the grating signals and fed back to the main controller in real time, the main controller carries out interpolation compensation algorithm according to the actual displacement errors of the X motion axis, the Y motion axis and the Z motion axis, a correction instruction is made, fault phenomena in a 3D printing model are reduced, deviation between the size of the printing model and the theoretical size is reduced, and therefore the accuracy of the 3D printer printing 3D model is improved.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (8)
1. A grating data acquisition card is characterized in that,
comprises a grating signal receiving module (11) and a control kernel module (12) which are connected with each other;
the grating signal receiving module is used for being connected to an X motion axis, a Y motion axis and a Z motion axis of the 3D printer, collecting grating signals in the form of differential signals respectively sent by the X motion axis, the Y motion axis and the Z motion axis, converting the grating signals in the form of the differential signals into grating signals in the form of orthogonal square wave signals, and sending the grating signals to the control kernel module;
the control kernel module is used for being connected to a main controller of the 3D printer, calculating actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer according to grating signals in the form of orthogonal square wave signals, and sending the actual motion information to the main controller of the 3D printer;
wherein,,
the grating signal receiving module (11) comprises a differential signal-to-single-ended signal circuit (111) and a level conversion circuit (112) which are connected with each other;
The differential signal-to-single-ended signal circuit is used for being connected to an X motion axis, a Y motion axis and a Z motion axis of the 3D printer, collecting grating signals in the form of differential signals respectively sent by the X motion axis, the Y motion axis and the Z motion axis, converting the grating signals in the form of the differential signals into grating signals in the form of orthogonal square wave signals, and sending the grating signals to the level conversion circuit;
the level conversion circuit is also connected to the control kernel module and is used for converting the level of the grating signal in the form of the orthogonal square wave signal into a preset level and transmitting the grating signal subjected to level conversion to the control kernel module;
the actual motion information comprises speed, coordinates and/or displacement information;
the differential signal to single-ended signal conversion circuit comprises a first MC3486 chip U3A, a second MC3486 chip U3B, a capacitor C12, an electrolytic capacitor C14, a resistor R2, a resistor R3, a resistor R4, a resistor R9 and a resistor R11;
the 1,2EN pin and the VCC pin of the first MC3486 chip U3A are connected to a power supply, the first pole of the capacitor C12 and the first pole of the electrolytic capacitor C14, the second pole of the capacitor C12 and the second pole of the electrolytic capacitor C14 are grounded, the 1A pin of the first MC3486 chip U3A is connected to the A+ end of the grating reading head J2 through a resistor R2, the 1B pin is connected to the A+ end of the grating reading head J2, the 1B pin is also connected to the A-end of the grating reading head J2, the 2A pin is connected to the B+ end of the grating reading head J2, the 2B pin is also connected to the B+ end of the grating reading head J2 through a resistor R3;
The 3,4EN pin of the second MC3486 chip U3B is connected with a power supply, the 3A pin is connected to the Z+ end of the grating reading head J2, the 3B pin is connected to the Z+ end of the grating reading head J2 through a resistor R4, the 3B pin is also connected to the Z-end of the grating reading head J2, the GND pin is grounded, and the 4A pin is connected with the power supply through a resistor R11 through resistors R9 and 4B pin;
the 1Y pin of the first MC3486 chip U3A is connected with the A1 pin of the chip U2, the 2Y pin is connected with the A2 pin of the chip U2, and the 3Y pin of the second MC3486 chip U3B is connected with the A3 pin of the chip U2;
the level conversion circuit comprises a 74LVC4245A chip U2, a capacitor C7, an electrolytic capacitor C8, a capacitor C10, an electrolytic capacitor C9, a right-angle pin P1, a resistor R5, a resistor R6 and a resistor R7;
the 5V pin and the DIR pin of the chip U2 are connected with a power supply, the first pole of the capacitor C7 and the first pole of the electrolytic capacitor C8, the second pole of the capacitor C7 and the second pole of the electrolytic capacitor C8 are grounded, the A4 pin is connected with the E+ (P) end of the grating reading head and the first pole of the resistor R7, the A5 pin is connected with the E-end of the grating reading head and the first pole of the resistor R6, the A6 pin is connected with the Q end of the grating reading head and the first pole of the resistor R5, the second pole of the resistor R6 and the second pole of the resistor R7 are grounded, and the A7 pin, the A8 pin, the GND pin of 11 and the GND pin of 12 are grounded;
The No. 24 3.3V pin and the No. 23 3.3V pin of the chip U2 are connected with a power supply, the first pole of the capacitor C10 and the first pole of the electrolytic capacitor C9, the second pole of the capacitor C10 and the second pole of the electrolytic capacitor C9 are grounded, the OE pin is grounded, the B1 pin, the B2 pin, the B3 pin, the B4 pin, the B5 pin and the B6 pin are respectively connected with the No. 1 port, the No. 2 port, the No. 3 port, the No. 4 port, the No. 5 port and the No. 6 port of the right-angle pin P1, and the No. 13 GND pin is grounded.
2. The acquisition card of claim 1,
the control kernel module (12) comprises a grating signal data processing module (121), an Ethernet interface module (122) and an Ethernet control kernel module (123) which are connected with each other;
the grating signal data processing module is also connected to the grating signal receiving module and is used for calculating actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer according to the grating signals in the form of orthogonal square wave signals and sending the actual motion information of the X motion axis, the Y motion axis and the Z motion axis to the Ethernet interface module;
the Ethernet interface module is used for sending the actual motion information of the X motion axis, the Y motion axis and the Z motion axis to the Ethernet control kernel module according to a set time sequence;
The Ethernet control kernel module is also used for being connected to a main controller of the 3D printer and sending actual motion information of the X motion axis, the Y motion axis and the Z motion axis to the main controller of the 3D printer according to an Ethernet communication protocol.
3. The acquisition card of claim 2,
the grating signal data processing module (121) comprises a grating signal filtering algorithm processing module (124) and a real-time motion information algorithm processing module (125) which are connected with each other;
the grating signal filtering algorithm processing module is also connected to the grating signal receiving module and is used for filtering noise signals in the grating signals in the form of orthogonal square wave signals;
the real-time motion information algorithm processing module is also connected to the Ethernet interface module and is used for carrying out frequency multiplication, direction identification and reversible counting processing according to the grating signals in the form of orthogonal square wave signals so as to calculate the actual motion information of the X motion axis, the Y motion axis and the Z motion axis of the 3D printer and send the actual motion information of the X motion axis, the Y motion axis and the Z motion axis to the Ethernet interface module.
4. A kind of 3D printer, which is used to make the printer,
the device comprises a main controller (20), a motor driving control card (30), an X-axis motor (41), a Y-axis motor (42), a Z-axis motor (43), an X-axis motion shaft (51), a Y-axis motion shaft (52), a Z-axis motion shaft (53), an X-axis grating sensor (510), a Y-axis grating sensor (520), a Z-axis grating sensor (530) and a motion component (60);
The main controller is connected to the motor drive control card;
the motor drive control card is respectively connected with the X-axis motor, the Y-axis motor and the Z-axis motor;
the X-axis motor is connected to the X-axis motion, the Y-axis motor is connected to the Y-axis motion, and the Z-axis motor is connected to the Z-axis motion;
the X movement axis, the Y movement axis, and the Z movement axis are commonly connected to the movement member;
an X-axis grating sensor for emitting grating signals is arranged on the X-axis motion axis, a Y-axis grating sensor for emitting grating signals is arranged on the Y-axis motion axis, and a Z-axis grating sensor for emitting grating signals is arranged on the Z-axis motion axis;
the main controller is used for sending a control instruction to the motor drive control card, wherein the control instruction comprises given motion information parameters of an X motion axis, a Y motion axis and a Z motion axis;
the motor drive control card drives the X-axis motor, the Y-axis motor and the Z-axis motor to respectively run according to the control instruction;
the X-axis motor, the Y-axis motor and the Z-axis motor are used for driving the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft to move respectively, so that the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft drive the motion component to move together according to given motion information parameters of a control instruction;
-characterized in that it further comprises a raster data acquisition card (10) according to any one of claims 1 to 3;
the grating signal receiving module of the grating data acquisition card is respectively connected with the X-axis grating sensor, the Y-axis grating sensor and the Z-axis grating sensor;
the control kernel module of the grating data acquisition card is connected to the main controller;
the main controller is also used for receiving the actual motion information of the X motion axis, the Y motion axis and the Z motion axis sent by the grating data acquisition card, correcting given motion information parameters of the control command according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis, and sending the corrected control command to the motor drive control card.
5. The 3D printer of claim 4, wherein the printer is configured to,
the main controller corrects given motion information parameters of the control instruction according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis as follows:
the main controller judges whether the actual speed, the coordinates and/or the displacement of the X movement axis are consistent with the given speed, the coordinates and/or the displacement of the X movement axis, judges whether the actual speed, the coordinates and/or the displacement of the Y movement axis are consistent with the given speed, the coordinates and/or the displacement of the Y movement axis, judges whether the actual speed, the coordinates and/or the displacement of the Z movement axis are consistent with the given speed, the coordinates and/or the displacement of the Z movement axis, and if the actual speed, the coordinates and/or the displacement are inconsistent with the given speed, the coordinates and/or the displacement of the Z movement axis, the motor driving control card is controlled to stop operating;
Or the main controller judges whether the actual speed of the X movement axis is consistent with the given speed of the X movement axis, judges whether the actual speed of the Y movement axis is consistent with the given speed of the Y movement axis, judges whether the actual speed of the Z movement axis is consistent with the given speed of the Z movement axis, if the actual speed of the Z movement axis is inconsistent with the given speed of the Z movement axis, generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction comprises given speed parameters of the X movement axis, the Y movement axis and the Z movement axis;
or the main controller compares whether the actual coordinate of the X movement axis is consistent with the given coordinate of the X movement axis, compares whether the actual coordinate of the Y movement axis is consistent with the given coordinate of the Y movement axis, and compares whether the actual coordinate of the Z movement axis is consistent with the given coordinate of the Z movement axis; if the actual coordinate of the X motion axis does not reach the given coordinate of the X motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the X axis motor to drive the X motion axis to supplement the difference distance between the actual coordinate and the given coordinate; if the actual coordinate of the Y motion axis does not reach the given coordinate of the Y motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Y axis motor to drive the Y motion axis to supplement the difference distance between the actual coordinate and the given coordinate; if the actual coordinate of the Z motion axis does not reach the given coordinate of the Z motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Z axis motor to drive the Z motion axis to complement the difference distance between the advancing actual coordinate and the given coordinate;
Or the main controller compares whether the actual displacement of the X movement axis is consistent with the given displacement of the X movement axis, compares whether the actual displacement of the Y movement axis is consistent with the given displacement of the Y movement axis, and compares whether the actual displacement of the Z movement axis is consistent with the given displacement of the Z movement axis; if the actual displacement of the X motion axis does not reach the given displacement of the X motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the X axis motor to drive the X motion axis to complement the difference distance between the actual displacement and the given displacement; if the actual displacement of the Y motion axis does not reach the given displacement of the Y motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Y motion axis motor to drive the Y motion axis to complement the difference distance between the actual displacement and the given displacement; if the actual displacement of the Z motion axis does not reach the given displacement of the Z motion axis, generating a correction instruction and sending the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Z motion axis motor to drive the Z motion axis to complement the difference distance between the actual displacement and the given displacement.
6. A 3D printer control method for controlling the 3D printer according to claim 4 or 5;
The method comprises the following steps:
the main controller is controlled to send a control instruction to the motor drive control card, wherein the control instruction comprises given motion information parameters of an X motion axis, a Y motion axis and a Z motion axis;
the motor driving control card is controlled to drive the X-axis motor, the Y-axis motor and the Z-axis motor to operate according to the control instruction so as to drive the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft to move respectively, and accordingly the X-axis motion shaft, the Y-axis motion shaft and the Z-axis motion shaft drive the motion component to move together according to given motion information parameters of the control instruction;
the grating data acquisition card is controlled to acquire grating signals in the form of differential signals sent by an X-axis grating sensor, a Y-axis grating sensor and a Z-axis grating sensor, and actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer is calculated and sent to the main controller;
and controlling the main controller to correct given motion information parameters of the control command according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis, and sending the corrected control command to the motor drive control card.
7. The method of claim 6, wherein,
The control of the grating data acquisition card to acquire grating signals in the form of differential signals sent by an X-axis grating sensor, a Y-axis grating sensor and a Z-axis grating sensor, and the calculation of the actual motion information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer comprises the following steps:
the differential signal-to-single-ended signal conversion circuit is controlled to collect grating signals in the form of differential signals respectively sent by an X-axis grating sensor, a Y-axis grating sensor and a Z-axis grating sensor, convert the grating signals in the form of the differential signals into grating signals in the form of orthogonal square wave signals and send the grating signals to the level conversion circuit;
the level conversion circuit is controlled to convert the level of the grating signal in the form of the orthogonal square wave signal into a preset level, and the grating signal subjected to level conversion is sent to the grating signal filtering algorithm processing module;
the grating signal filtering algorithm processing module is controlled to filter noise signals in the grating signals in the form of orthogonal square wave signals;
the real-time motion information algorithm processing module is controlled to perform frequency multiplication, direction identification and reversible counting processing according to the grating signals in the form of orthogonal square wave signals, so that the actual speed, coordinates and/or displacement information of an X motion axis, a Y motion axis and a Z motion axis of the 3D printer is calculated and sent to the Ethernet interface module;
The Ethernet interface module is controlled to send the speed, coordinate and/or displacement information of the X motion axis, the Y motion axis and the Z motion axis to the Ethernet control kernel module according to a set time sequence;
and controlling the Ethernet control kernel module to send the speed, coordinate and/or displacement information of the X motion axis, the Y motion axis and the Z motion axis to the main controller according to an Ethernet communication protocol.
8. The method of claim 6 or 7, wherein,
the given motion information parameters of the control instruction are corrected by the main controller according to the actual motion information of the X motion axis, the Y motion axis and the Z motion axis:
the control main controller judges whether the actual speed, the coordinates and/or the displacement of the X movement axis are consistent with the given speed, the coordinates and/or the displacement of the X movement axis, judges whether the actual speed, the coordinates and/or the displacement of the Y movement axis are consistent with the given speed, the coordinates and/or the displacement of the Y movement axis, judges whether the actual speed, the coordinates and/or the displacement of the Z movement axis are consistent with the given speed, the coordinates and/or the displacement of the Z movement axis, and if the actual speed, the coordinates and/or the displacement are inconsistent with the given speed, the coordinates and/or the displacement of the Z movement axis, the motor driving control card is controlled to stop operating;
or the control main controller judges whether the actual speed of the X movement axis is consistent with the given speed of the X movement axis, judges whether the actual speed of the Y movement axis is consistent with the given speed of the Y movement axis, judges whether the actual speed of the Z movement axis is consistent with the given speed of the Z movement axis, and if the actual speed of the Z movement axis is inconsistent with the given speed of the Z movement axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction comprises given speed parameters of the X movement axis, the Y movement axis and the Z movement axis;
Or, the control main controller compares whether the actual coordinate of the X movement axis is consistent with the given coordinate of the X movement axis, compares whether the actual coordinate of the Y movement axis is consistent with the given coordinate of the Y movement axis, and compares whether the actual coordinate of the Z movement axis is consistent with the given coordinate of the Z movement axis; if the actual coordinate of the X motion axis does not reach the given coordinate of the X motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for instructing the motor drive control card to drive the X axis motor to drive the X motion axis to complement the difference distance between the actual coordinate and the given coordinate; if the actual coordinate of the Y motion axis does not reach the given coordinate of the Y motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for instructing the motor drive control card to drive the Y-axis motor to drive the Y motion axis to complement the difference distance between the actual coordinate and the given coordinate; if the actual coordinate of the Z motion axis does not reach the given coordinate of the Z motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Z axis motor to drive the Z motion axis to complement the difference distance between the advancing actual coordinate and the given coordinate;
Or, the control main controller compares whether the actual displacement of the X movement axis is consistent with the given displacement of the X movement axis, compares whether the actual displacement of the Y movement axis is consistent with the given displacement of the Y movement axis, and compares whether the actual displacement of the Z movement axis is consistent with the given displacement of the Z movement axis; if the actual displacement of the X motion axis does not reach the given displacement of the X motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for instructing the motor drive control card to drive the X axis motor to drive the X motion axis to complement the difference distance between the actual displacement and the given displacement; if the actual displacement of the Y motion axis does not reach the given displacement of the Y motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Y motion axis motor to drive the Y motion axis to complement the difference distance between the actual displacement and the given displacement; if the actual displacement of the Z motion axis does not reach the given displacement of the Z motion axis, the control main controller generates a correction instruction and sends the correction instruction to the motor drive control card, wherein the correction instruction is used for indicating the motor drive control card to drive the Z motion axis motor to drive the Z motion axis to complement the difference distance between the actual displacement and the given displacement.
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