CN111267338A - Closed-loop control system and control method for 3D printer and printer forming platform - Google Patents
Closed-loop control system and control method for 3D printer and printer forming platform Download PDFInfo
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- CN111267338A CN111267338A CN202010012495.5A CN202010012495A CN111267338A CN 111267338 A CN111267338 A CN 111267338A CN 202010012495 A CN202010012495 A CN 202010012495A CN 111267338 A CN111267338 A CN 111267338A
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- ball screw
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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
- B29C64/118—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using filamentary material being melted, e.g. fused deposition modelling [FDM]
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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
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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
-
- 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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
The invention belongs to the field of 3D printing, and particularly relates to a closed-loop control system and a closed-loop control method for a 3D printer and a printer forming platform. The control system comprises a main controller, a motor driver, a closed-loop stepping motor, a ball screw transmission mechanism, a forming platform and a grating ruler; the ball screw transmission mechanism is constructed by two mutually independent and mutually vertical ball screw linear modules, and realizes X-Y direction transmission through a ball screw pair and a linear guide rail pair; the forming platform is fixed on the nut seat, and the nut seat is connected with the screw nut; the closed-loop stepping motor is connected with the main controller through a motor driver, and the rotary motion of the closed-loop stepping motor is converted into the linear motion of the forming platform through a ball screw transmission system; the grating ruler is used as a position feedback element and is parallel to the linear guide rails in the X and Y directions, and the actual displacement information of the forming platform is fed back to the main controller, so that closed-loop compensation is realized, and the printing precision of the formed part is improved.
Description
Technical Field
The invention belongs to the field of 3D printing, and particularly relates to a closed-loop control system and a closed-loop control method for a 3D printer and a printer forming platform.
Background
3D printing, also known as additive manufacturing, builds objects by layer-by-layer printing using bondable materials based on digital model files. It differs from conventional machining techniques and was defined in 2009 as "a process of building objects using 3D model data, typically in a layer-by-layer, build-up fashion, as opposed to subtractive manufacturing". The most prominent advantage of 3D printing is that parts of any shape can be generated directly from computer graphic data without machining or any die, thereby greatly shortening the lead time of the product, improving productivity and reducing production cost.
FDM (fused deposition modeling) is one of 3D printing technologies, and is based on the principle of layer-by-layer stacking, and utilizes the characteristics of a molding material that is melted and solidified by cooling to complete the manufacturing of a product. A typical fused deposition modeling system includes a feeding mechanism, a spray head, a modeling platform, a motion system, a control system, and the like. Under the control of the upper computer, the feeding mechanism feeds the molding material into the spray head, the heater arranged on the spray head heats and melts the molding material, meanwhile, the spray head and the molding platform do planar motion under the control of the computer according to related layer information, the molding material in a molten state is extruded and then deposited on the molding platform to form each thin layer of the prototype, and the steps are repeated in this way and stacked layer by layer until the processing of the workpiece is completed.
The forming platform is an important motion module for 3D printing, and the motion precision of the forming platform directly influences the forming precision of a printed piece. At present, an open-loop control mode is mostly adopted for a forming platform, a stepping motor is adopted in a driving mode, so that people cannot know whether the stepping motor is out of step at a constant speed stage and a starting speed-up stage of point position motion, whether the stepping motor is out of step at the ending time, the motion positioning precision is not high, and the printing quality cannot be guaranteed.
Disclosure of Invention
The invention aims to provide a 3D printer, a closed-loop control system of a printer forming platform and a control method.
The technical solution for realizing the purpose of the invention is as follows: an FDM-based closed-loop control system of a 3D printing forming platform comprises
A forming platform;
X/Y direction moving assembly: the device comprises a driving mechanism and a position feedback element, wherein the driving mechanism is driven by a closed-loop stepping motor and is used for driving a forming platform to move in the X/Y direction, and the position feedback element is used for feeding back linear displacement in the X/Y direction;
a main controller: and the position feedback element is connected with a driver of a closed-loop stepping motor of the X/Y-direction driving mechanism.
Further, the position feedback element is a grating scale.
Furthermore, the control system further comprises a nut seat, the driving mechanism comprises a ball screw linear module, a screw nut is fixedly arranged in the nut seat, and the screw nut is in threaded connection with a screw of the ball screw linear module, so that the rotation of the screw is converted into the linear motion of the nut seat.
Furthermore, the forming platform is fixedly arranged on a nut seat of the X-direction moving assembly, and the X-direction moving assembly is fixedly arranged on a nut seat of the Y-direction moving assembly.
Furthermore, the ball screw linear module further comprises a linear guide rail, and the nut seat moves along the linear guide rail under the driving of the ball screw.
Furthermore, the grating ruler is arranged on the side face of the linear guide rail, and a reading head of the grating ruler moves in the direction parallel to the grating ruler and reads the actual linear displacement of the screw nut.
Furthermore, the two ends of the ball screw are supported by bearings, and one end of the ball screw is connected with the closed-loop stepping motor through a coupler.
Further, the closed-loop stepping motor comprises an incremental photoelectric encoder; and a heating resistor is arranged in the forming platform.
The 3D printer with the control system further comprises an extrusion nozzle module, a supporting stand, a lifting module and a base;
the supporting vertical frame and the forming platform closed-loop control system are arranged on the base;
the lifting module is arranged on the supporting vertical frame and is connected with the main controller;
an extrusion nozzle module is arranged at the end part of the lifting module; the molding platform is arranged at the lower part of the extrusion nozzle module.
A control method of the control system comprises the following steps:
step (1): the main controller receives an instruction of the upper computer and sends a pulse to a driver of the closed-loop stepping motor, so that the closed-loop stepping motor starts to rotate;
step (2): the rotation of the closed-loop stepping motor is converted into translation of a screw nut through a coupler and a screw, and the layer surface of the forming platform is driven to move through the combined movement of the X-direction ball screw linear module and the Y-direction ball screw linear module;
and (3): the grating ruler feeds back the position information of the movement of the forming platform to the main controller, and the main controller calculates the deviation between the command signal and the feedback signal and controls the deviation by using the difference value to continuously compensate and correct.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the invention adopts a control system with the matching of the closed-loop stepping motor and the grating ruler, wherein the closed-loop stepping motor has the advantages of both stepping technology and servo technology and has the characteristics of no step loss, low heat generation, quick acceleration and accurate positioning; and a grating ruler closed-loop sensing element is adopted to directly measure the linear displacement of the forming platform, and the linear displacement is converted into digital pulses to be fed back to the main controller, so that accurate closed-loop control is realized.
(2) The invention adopts a cross structure, is simple to build, has low cost and is relatively convenient to realize.
Drawings
Fig. 1 is a schematic structural diagram of a closed-loop control system of the present invention.
Fig. 2 is a schematic control diagram of the closed-loop control system of the present invention.
Fig. 3 is a schematic diagram of the general structure of the 3D printer based on the closed-loop control of the forming platform.
Description of reference numerals:
the device comprises a 1-X direction closed-loop stepping motor, a 2-X direction ball screw linear module, a 3-X direction grating ruler, a 4-Y direction closed-loop stepping motor, a 5-Y direction ball screw linear module, a 6-Y direction grating ruler, a 7-forming platform, a 21-ball screw, a 22-bearing A, a 23-bearing B, a 24-coupler, a 25-linear guide rail, a 71-nut seat, an 8-extrusion nozzle module, a 9-forming platform movement module, a 10-supporting vertical frame, an 11-lifting module and a 12-base.
Detailed Description
In order to clearly understand the technical contents of the present invention, the following examples are given in detail. The following is a more detailed description of the embodiments with reference to the drawings.
As shown in fig. 1, the present invention provides an FDM 3D print forming platform closed-loop control system, which comprises an X-direction closed-loop stepping motor 1, an X-direction ball screw linear module 2, an X-direction grating ruler 3, a Y-direction closed-loop stepping motor 4, a Y-direction ball screw linear module 5, a Y-direction grating ruler 6, a forming platform 7, a main controller and an X-direction motor driver, wherein the closed-loop stepping motor is connected with the main controller through the motor driver, the X-direction ball screw linear module 2 and the Y-direction ball screw linear module 5 are both driven by a ball screw pair and a linear guide pair, the X-direction grating ruler and the Y-direction grating ruler are used as position feedback elements to feed back linear displacement, taking the X-direction ball screw linear module 2 as an example, two ends of a ball screw 21 are supported by a bearing a22 and a bearing B23, one end is connected with the X-direction closed-loop stepping motor 1, the forming platform 7 is fixedly installed on the nut seat 71, the nut seat 71 is connected with the lead screw nut, so that the rotating motion of the X-direction closed-loop stepping motor 1 is converted into the linear motion of the forming platform 7, the X-direction grating ruler is fixedly installed on the side surface of the linear guide rail 25, and a reading head on the X-direction grating ruler moves in the direction parallel to the grating ruler and reads the actual linear displacement of the lead screw nut.
The X-direction ball screw linear module 2 and the Y-direction ball screw linear module 5 are mutually independent and vertical and are connected and erected into a cross-shaped structure through the adapter plate.
The forming platform is installed on a screw nut of the X-direction ball screw linear module 2 through the nut seat 71 and reciprocates along the X-axis direction along with the screw nut, the X-direction ball screw linear module 2 is perpendicular to the Y-direction linear module 5 and reciprocates along the Y-axis direction along with the Y-direction linear module, and therefore the forming platform moves along the Z direction of an extrusion shaft in a matched mode through compound motion in the X-axis direction and the Y-axis direction, and 3D printing is achieved through layer-by-layer accumulation.
The closed-loop stepping motor is used as an execution element and is provided with an incremental photoelectric encoder, so that the problem of step loss of the traditional stepping motor is solved, and the positioning precision is high; meanwhile, the price is lower than that of a servo motor, the use is simple, and the method is suitable for engineering application.
The X-direction grating ruler 3 and the Y-direction grating ruler 6 are linear displacement detection devices, reading heads on the linear displacement detection devices move along parallel straight lines of the grating rulers and read readings on the grating rulers, reading information is fed back to the main controller, the main controller adjusts the number and frequency of sent pulses in real time according to the feedback information of the reading heads, the motion precision and the positioning precision of the forming platform are guaranteed, and the printing precision of the formed part is improved.
Referring to fig. 2, the forming platform closed-loop control system comprises two parts, namely a control module and a mechanical module, wherein a main controller is connected with X, Y directional motor drivers, and X, Y directional motor drivers are connected with corresponding X-directional closed-loop stepping motors and Y-directional closed-loop stepping motors. Firstly, a main controller receives an instruction of an upper computer and sends a pulse to a motor driver, a closed-loop stepping motor starts to rotate in a winding current mode after the annular distribution and power amplification of the driver, a screw nut is driven to translate through a coupler and a screw, and the layer surface of a forming platform is driven to move through the combined motion of an X-direction ball screw linear module and a Y-direction ball screw linear module. The grating ruler feeds back the position information of the movement of the forming platform to the main controller, the main controller calculates the deviation of the command signal and the feedback signal, and controls the deviation by using the difference value, so that the compensation and the correction are continuously carried out, and the control precision is ensured.
In the invention, the forming platform is also provided with a heating resistor, so that the printing material is kept at a proper temperature when contacting with the forming platform, and edge warping caused by cooling and shrinkage of the material is avoided.
Fig. 3 is a schematic diagram of the overall structure of an FDM 3D printer based on the closed-loop control of a forming platform, wherein a moving module of the forming platform realizes X-Y layer movement, an extrusion nozzle and a lifting module realize Z-direction movement together, and printing work is completed together under the control of a computer.
Claims (10)
1. A closed-loop control system of a 3D printing forming platform based on FDM is characterized by comprising
A forming platform;
X/Y direction moving assembly: the device comprises a driving mechanism and a position feedback element, wherein the driving mechanism is driven by a closed-loop stepping motor and is used for driving a forming platform to move in the X/Y direction, and the position feedback element is used for feeding back linear displacement in the X/Y direction;
a main controller: and the position feedback element is connected with a driver of a closed-loop stepping motor of the X/Y-direction driving mechanism.
2. The control system of claim 1, wherein the position feedback element is a grating scale.
3. The control system of claim 2, further comprising a nut block, wherein the drive mechanism comprises a ball screw linear module, and wherein a screw nut is fixedly disposed in the nut block, and wherein the screw nut is threadedly coupled to a screw of the ball screw linear module to translate rotational movement of the screw into linear movement of the nut block.
4. The control system of claim 3, wherein the forming table is fixedly disposed on a nut seat of an X-direction moving assembly, the X-direction moving assembly being fixed on a nut seat of a Y-direction moving assembly.
5. The control system of claim 4, wherein the ball screw linear module further comprises a linear guide, the nut socket being driven by the ball screw to move along the linear guide.
6. The control system of claim 5, wherein the grating ruler is arranged on the side surface of the linear guide rail, and the reading head of the grating ruler moves in a direction parallel to the grating ruler and reads the actual linear displacement of the lead screw nut.
7. The control system of claim 6, wherein the ball screw is supported at both ends by bearings, and wherein one end is coupled to the closed-loop stepper motor via a coupling.
8. The control system of claim 1, wherein the closed-loop stepper motor comprises an incremental photoelectric encoder; and a heating resistor is arranged in the forming platform.
9. A 3D printer having the control system of any of claims 1-8, further comprising an extrusion head module, a support stand, a lifting module, and a base;
the supporting vertical frame and the forming platform closed-loop control system are arranged on the base;
the lifting module is arranged on the supporting vertical frame and is connected with the main controller;
an extrusion nozzle module is arranged at the end part of the lifting module; the molding platform is arranged at the lower part of the extrusion nozzle module.
10. A control method of a control system according to any one of claims 1 to 8, characterized by comprising the steps of:
step (1): the main controller receives an instruction of the upper computer and sends a pulse to a driver of the closed-loop stepping motor, so that the closed-loop stepping motor starts to rotate;
step (2): the rotation of the closed-loop stepping motor is converted into translation of a screw nut through a coupler and a screw, and the layer surface of the forming platform is driven to move through the combined movement of the X-direction ball screw linear module and the Y-direction ball screw linear module;
and (3): the grating ruler feeds back the position information of the movement of the forming platform to the main controller, and the main controller calculates the deviation between the command signal and the feedback signal and controls the deviation by using the difference value to continuously compensate and correct.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012495.5A CN111267338A (en) | 2020-01-07 | 2020-01-07 | Closed-loop control system and control method for 3D printer and printer forming platform |
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| CN202010012495.5A CN111267338A (en) | 2020-01-07 | 2020-01-07 | Closed-loop control system and control method for 3D printer and printer forming platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975927A (en) * | 2020-08-19 | 2020-11-24 | 扬州大学 | Double-nozzle concrete printing device and method |
| CN113909676A (en) * | 2021-10-15 | 2022-01-11 | 湖南大学 | Multi-station synchronous machining method and device for increasing and decreasing materials of space thin-wall parts |
| CN114633476A (en) * | 2022-04-20 | 2022-06-17 | 江苏大学 | Photocuring laser 3D printer based on computer optical drive |
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| CN103831975A (en) * | 2014-03-19 | 2014-06-04 | 中国科学技术大学 | 3D (three-dimensional) printing system structure |
| CN103878981A (en) * | 2013-07-31 | 2014-06-25 | 磐纹科技（上海）有限公司 | Closed-loop control fused deposition molding high-speed three-dimensional (3D) printer and closed-loop control method thereof |
| CN109177164A (en) * | 2018-09-11 | 2019-01-11 | 金华市欣科三维科技有限公司 | A kind of open type 3D printer based on hot melt accumulation |
| EP3172026B1 (en) * | 2014-07-22 | 2019-09-25 | Stratasys, Inc. | Ripple reduction in an additive manufacturing system |
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2020
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103878981A (en) * | 2013-07-31 | 2014-06-25 | 磐纹科技（上海）有限公司 | Closed-loop control fused deposition molding high-speed three-dimensional (3D) printer and closed-loop control method thereof |
| CN103831975A (en) * | 2014-03-19 | 2014-06-04 | 中国科学技术大学 | 3D (three-dimensional) printing system structure |
| EP3172026B1 (en) * | 2014-07-22 | 2019-09-25 | Stratasys, Inc. | Ripple reduction in an additive manufacturing system |
| CN109177164A (en) * | 2018-09-11 | 2019-01-11 | 金华市欣科三维科技有限公司 | A kind of open type 3D printer based on hot melt accumulation |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975927A (en) * | 2020-08-19 | 2020-11-24 | 扬州大学 | Double-nozzle concrete printing device and method |
| CN111975927B (en) * | 2020-08-19 | 2022-02-08 | 扬州大学 | Double-nozzle concrete printing device and method |
| CN113909676A (en) * | 2021-10-15 | 2022-01-11 | 湖南大学 | Multi-station synchronous machining method and device for increasing and decreasing materials of space thin-wall parts |
| CN113909676B (en) * | 2021-10-15 | 2022-12-20 | 湖南大学 | Multi-station synchronous machining method and device for increasing and decreasing materials of space thin-wall parts |
| CN114633476A (en) * | 2022-04-20 | 2022-06-17 | 江苏大学 | Photocuring laser 3D printer based on computer optical drive |
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Application publication date: 20200612 |