CN111347666B - 3D printing delay compensation method and system based on viscous liquid extrusion - Google Patents
3D printing delay compensation method and system based on viscous liquid extrusion Download PDFInfo
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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
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- 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
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- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
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- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The invention discloses a 3D printing delay compensation method and a system thereof based on viscous liquid extrusion. The method comprises the following steps: leveling the motion control platform, and selecting technological parameters; determining the printing pattern, the height of the extrusion head, the extrusion speed, the printing path and the speed; printing a plurality of three-dimensional printing samples; firstly measuring the path width in a three-dimensional printing sample, then calculating the path width proportion of the same vertical position point, and finally taking a change function as a delay function; defining a speed compensation function and compensating; determining a functional relationship between the moving speed and the height of the extrusion head at a steady state; establishing a mathematical model of the printing path width; the extrusion speed and the extrusion amount of the extrusion head are compensated. The invention can realize speed planning, improve the uniformity of the printing path, reduce the printing defects caused by asynchronism between material extrusion and platform movement, improve the printing quality, realize the controllability of the printing path width, realize specific functions and meet the printing requirements.
Description
Technical Field
The invention relates to a delay compensation method in the technical field of printer data processing, in particular to a 3D printing delay compensation method based on viscous liquid extrusion and a 3D printing delay compensation system based on viscous liquid extrusion applying the method.
Background
A three-dimensional printer, also called a 3D printer, is a process device for rapid forming, and adopts a layer-by-layer stacking mode to produce a three-dimensional model in a layering mode. The operation process of the 3D printer is similar to that of a traditional printer, except that the traditional printer prints ink on paper to form a two-dimensional plane drawing, and the three-dimensional printer realizes layer-by-layer stacking and overlapping of liquid photosensitive resin materials, molten plastic wires, gypsum powder and other materials in a binder spraying or extruding mode to form a three-dimensional entity.
Conventional methods for producing products from viscous liquids (e.g., injection molding) have limitations and disadvantages, such as long production cycle, high cost, and inability to produce highly complex and complete structures. In order to solve these disadvantages, in recent years, studies on 3D printing techniques using a viscous liquid as an extrusion material have been focused. In the existing 3D printing technology taking viscous liquid as an extrusion material, in the printing process, the control of a motion platform and the extrusion control of the viscous liquid are two relatively independent systems, although numerical control instructions are given at the same time, the asynchronous motion between the extrusion of the material and the motion of the platform is caused due to the friction, viscosity and other factors of the viscous liquid and the inner wall of an extrusion head in the extrusion process of the viscous liquid, so that the printing defects of uneven path thickness, knots and the like are caused, the printing quality is reduced, and the expected effect cannot be achieved.
Disclosure of Invention
In order to solve the technical problem of low printing quality caused by asynchronism between material extrusion and platform movement in the existing 3D printing method, the invention provides a 3D printing delay compensation method and a system thereof based on viscous liquid extrusion.
The invention is realized by adopting the following technical scheme: A3D printing delay compensation method based on viscous liquid extrusion is applied to a 3D printer; the 3D printer comprises a motion control platform, an air pressure adjusting device, an extrusion head and a container; the extrusion head is used for extruding the viscous liquid in the container on the motion control platform and forming at least one three-dimensional printing product; the air pressure adjusting device is used for adjusting the air pressure of the container so as to change the extrusion speed of the extrusion head;
the delay compensation method includes the steps of:
leveling the motion control platform, and selecting 3D printing process parameters;
determining a printing pattern, the height H of an extrusion head and the extrusion speed according to the 3D printing process parameters, and defining a printing path and a printing speed;
printing a plurality of three-dimensional printing samples through the 3D printer according to the printing path and the printing speed;
measuring the path width in the three-dimensional printing sample, calculating the path width proportion of the same vertical position point taking the path length moved by the extrusion head in unit time as a measurement interval, and taking the change function of the path width proportion as a delay function G (t);
defining the speed compensation function of the extrusion head:
compensating the moving speed of the extrusion head; wherein V' is the real-time moving speed of the extrusion head, and V is the moving speed of the extrusion head when the path width reaches a steady state;
determining a functional relationship W (V, H) between the speed of movement of the extrusion head and the height of the extrusion head when the path width reaches a steady state;
establishing a mathematical model of the printing path width L of the 3D printer: l ═ g (t) × W (V, H);
and compensating the extrusion speed and the extrusion amount of the extrusion head through an air pressure adjusting device according to the variable quantity of the printing path width L in the mathematical model.
The invention firstly measures the path width of the printed product, then calculates the path width proportion of the same vertical position point, takes the change function as the delay function, then obtains the speed compensation function according to the delay function, further compensates the moving speed of the extrusion head, then determines the functional relation between the moving speed and the height of the extrusion head, further establishes the mathematical model of the printing path width, and finally compensates the extrusion speed and the extrusion amount of the extrusion head through the mathematical model, so that the printing path width is kept stable, the uniformity of the path is higher, and simultaneously the material extrusion and the platform motion are synchronous, the printing path width is realized, the technical problem of low printing quality caused by the asynchronization between the material extrusion and the platform motion in the existing 3D printing method is solved, and the controllability of high printing quality is obtained, controllable path and good path uniformity.
As a further improvement of the scheme, the printing pattern is an E-shaped pattern, wherein the lengths of the same three paths are both 150mm, and the lengths of two paths between the three paths are both 10 mm.
As a further improvement of the above, the inner diameter of the extrusion head is 0.84mm and the height varies in the range of 0.2-1.0 mm.
Further, in the 3D printing process parameters, the air pressure of the air pressure adjusting device is 25Mpa, the moving speed range of the extrusion head is 600-3000mm/min, the speed amplification is 300mm/min, and the unit amplification of the extrusion head is 0.2 mm.
As a further improvement of the scheme, the viscous liquid is formed by Dow Corning 737 solidified sealant, the Shore hardness is 33A, the tensile strength is more than 1.2MPa, and the elongation is more than 300%.
As a further improvement of the above, the shape of the printed pattern is one of a straight line type, a sine wave type, a 8-shaped type and a winding type.
As a further improvement of the above solution, the container is in the shape of an injection cylinder and has a piston; the extrusion head is arranged on the injection end of the container and is communicated with the container; the viscous liquid is positioned between the piston and the extrusion head; the pressure regulating device is used for providing air pressure for the piston, so that the piston extrudes the viscous liquid to the extrusion head.
As a further improvement of the above solution, the 3D printer further comprises a housing; the motion control platform, the air pressure adjusting device, the extrusion head and the container are all arranged in the outer cover; the outer cover is made of a plexiglass plate.
As a further improvement of the above solution, the delay compensation method further includes the steps of:
detecting a real-time humidity and a real-time temperature in the enclosure;
according to the type of the viscous liquid, inquiring a humidity threshold value and a temperature threshold value range required by moisture curing in a preset moisture curing parameter table, judging whether the real-time humidity is greater than the humidity threshold value, and simultaneously judging whether the real-time temperature is within the temperature threshold value range;
increasing the ambient humidity in the enclosure when the real-time humidity is below the humidity threshold;
increasing the ambient temperature in the enclosure when the real-time temperature is below a lower limit of the temperature threshold range;
reducing the ambient temperature in the enclosure when the real-time temperature is above an upper limit of the temperature threshold range.
The invention also provides a 3D printing delay compensation system based on viscous liquid extrusion, which applies any of the above 3D printing delay compensation methods based on viscous liquid extrusion, and comprises the following steps:
the leveling module is used for judging whether the mobile platform of the control platform is in a horizontal state or not; when the mobile platform is not in a horizontal state, the leveling module levels the mobile platform;
a parameter determination module for determining 3D printing process parameters of the 3D printer;
the printing analysis module is used for determining a printing pattern, the height H of the extrusion head and the extrusion speed according to the 3D printing process parameters, and defining a printing path and a printing speed;
the printing experiment module is used for printing a plurality of three-dimensional printing samples through the 3D printer according to the printing path and the printing speed;
a delay function determining module, configured to measure a path width in the three-dimensional printing sample, calculate a path width ratio of a point at the same vertical position where a path length moved by the extrusion head in a unit time is a measurement distance, and finally take a change function of the path width ratio as a delay function g (t);
speed compensation module forDefining the speed compensation function of the extrusion head:
compensating the moving speed of the extrusion head; wherein V' is the real-time moving speed of the extrusion head, and V is the moving speed of the extrusion head when the path width reaches a steady state;
a functional relationship determining module for determining a functional relationship W (V, H) between the moving speed of the extrusion head and the height of the extrusion head when the path width reaches a steady state;
a model building module for building a mathematical model of a print path width L of the 3D printer: l ═ g (t) × W (V, H); and
and the extrusion compensation module is used for compensating the extrusion speed and the extrusion amount of the extrusion head through an air pressure adjusting device according to the variation of the printing path width L in the mathematical model.
Compared with the existing 3D printing method, the 3D printing delay compensation method and the system based on viscous liquid extrusion have the following beneficial effects:
1. the 3D printing delay compensation method based on viscous liquid extrusion comprises the steps of leveling a motion control platform to ensure accuracy of subsequent delay compensation, determining a printing pattern, the height of an extrusion head, an extrusion speed, a printing path and a printing speed according to process parameters, printing a plurality of three-dimensional printing samples, further measuring the path width of a printing product, calculating the path width proportion of a same vertical position point, taking a variation function as a delay function, obtaining a speed compensation function according to the delay function to compensate the movement speed of the extrusion head, determining the functional relation between the movement speed and the height of the extrusion head, further establishing a mathematical model of the printing path width, and finally compensating the extrusion speed and the extrusion amount of the extrusion head through the mathematical model, aiming at the friction between viscous liquid and the inner wall of the extrusion head, The speed planning is carried out by delay caused by factors such as viscosity and the like, the uniformity of a printing path is improved, the width of the printing path is kept stable, meanwhile, the material extrusion and the platform movement are synchronized, the printing defect caused by asynchronism is avoided, the printing quality is improved, in addition, the path width under different process parameter combinations can be predicted through the obtained mathematical model of the path width, the controllability of the printing path width is realized, and the printing requirements of products with specific functions and structures are further realized.
2. According to the 3D printing delay compensation method based on viscous liquid extrusion, the applied viscous liquid can be silica gel and other moisture-curable materials, the outer cover of the 3D printing delay compensation method can be made of an organic glass plate, the humidity in the outer cover is adjusted and controlled in a humidity control mode, the humidity of a printing environment can be kept, and deformation of parts in the printing process is prevented.
3. This 3D prints delay compensation method based on viscous liquid extrudes, it can be through detecting real-time humidity and real-time temperature, compare with the required humidity threshold value of viscous liquid and temperature range, and through adjusting humidity and temperature, make the printer keep higher humidity and suitable temperature throughout the printing process, viscous liquid just can shape into three-dimensional printing product fast like this, on the one hand can accelerate printing, improve the printing efficiency of printer, and reduce the curing time of viscous liquid simultaneously, on the other hand is because the shaping is fast, make the time that the printing product takes place the deformation shorten, thereby improve the qualification rate of printing the product.
The beneficial effects of the 3D printing delay compensation system based on viscous liquid extrusion are the same as those of the compensation method, and are not repeated herein.
Drawings
Fig. 1 is a flowchart of a 3D printing delay compensation method based on viscous liquid extrusion according to embodiment 1 of the present invention.
Fig. 2 is a perspective view of a 3D printer to which the viscous liquid extrusion-based 3D printing delay compensation method according to embodiment 1 of the present invention is applied.
Fig. 3 is a schematic diagram of printing parameters of the 3D printer in fig. 2.
Fig. 4 is a schematic diagram of an "E" pattern printed by the 3D printer in fig. 2.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1 and 2, the present embodiment provides a 3D printing delay compensation method based on viscous liquid extrusion, and the method is applied to a 3D printer. This motion control system of 3D printer and two relatively independent systems during crowded material system, and the existence of factors such as friction, the viscosity of viscous liquid and extrusion head inner wall in the printing process can lead to the material to extrude and the platform moves asynchronous between for printing quality can not reach the expected effect. In this embodiment, the compensation method is used to compensate for the delay generated by the 3D printer during the printing process, so that the final 3D printer can print a uniform product.
Referring to fig. 3 and 4, the 3D printer includes a motion control platform 1, an air pressure adjusting device 2, an extrusion head 3, and a container 4. The extrusion head 3 is used to extrude viscous liquid located in a container 4 onto the motion control platform 1 and to shape at least one three-dimensional printed product. The air pressure adjusting device 2 is used for adjusting the air pressure of the container 4 so as to change the extrusion speed of the extrusion head 3. In this embodiment, the motion control platform 1 is provided with a moving platform, and the moving platform can move in a three-dimensional space, so that after the extrusion head 3 extrudes the viscous liquid, the viscous liquid is formed on the moving platform and is solidified under the action of moisture in the air, and the process is a moisture solidification process. The container 4 is in the form of a syringe barrel and has a plunger, similar to the prior art syringe construction. The extrusion head 3 is mounted on the injection end of the container 4 and communicates with the container 4. In fact, the extrusion head 3 is similar to a needle head at the front end of a syringe, and aims to eject viscous liquid at the same radius and the same flow rate, so as to ensure the uniformity of printing. In the present embodiment the extrusion head 3 has an internal diameter of 0.84mm and a height varying in the range of 0.2-1.0mm, these dimensions being actually set for the subsequent compensation of the retardation, although in other embodiments these dimensions may be different. The viscous liquid is located between the piston and the extrusion head 3 so that it enters the extrusion head 3 under the pressure of the piston. The air pressure adjusting device 2 is used for providing air pressure to the piston, so that the piston extrudes the viscous liquid to the extrusion head 3. The air pressure adjusting means 2 may include an air pump and a pump controller, the pump controller controlling the air pressure of the air pump, and the air pump may supply high pressure air to the piston. In addition, in the embodiment, an OMRON electronic relay (thyristor) is connected with a fan interface (12V switching value) of the control board and the air pressure adjusting device, so that the on-off of the air pressure adjusting device is controlled. The action time of the OMRON electronic relay is within 1ms, and the OMRON electronic relay can be regarded as instantaneous action, namely the air pressure adjusting device is opened at the moment of sending an extrusion command to start air inlet.
In this embodiment, the viscous liquid is a silica gel material, and can be cured by combining with moisture in the air, and specifically may be composed of a dow corning 737 cured sealant, and has a shore hardness of 33A, a tensile strength greater than 1.2MPa, and an elongation greater than 300%. At normal temperature, the viscous liquid was exposed to humid air for a curing time of 24 hours. In other embodiments, the viscous liquid may be selected from other moisture-curable materials that cure in combination with atmospheric moisture during printing, which occurs in a relatively short period of time, thereby allowing the product to be quickly formed.
The delay compensation method comprises the following steps. It should be noted that, in the following steps, some steps may be configured to be executed by a computer program or a module, and other steps may be executed by human.
Step one, leveling the motion control platform 1, and selecting 3D printing process parameters. When leveling, it may be determined whether the mobile platform of the control platform 1 is in a horizontal state. Wherein, the levelness of the mobile platform can be determined by the existing gradienter. And leveling the mobile platform when the mobile platform is not in a horizontal state. Before printing, the printing platform needs to be leveled, errors caused by the uneven platform are prevented, printing paper with a proper size is prepared, and printing parameters are marked on the paper.
And step two, determining the printing pattern, the height H of the extrusion head 3 and the extrusion speed according to the 3D printing process parameters, and defining the printing path and the printing speed. In the 3D printing process parameters, the air pressure of the air pressure adjusting device 2 may be 25Mpa, the moving speed range of the extrusion head 3 may be 600-3000mm/min, the speed increase may be 300mm/min, and the unit increase of the extrusion head 3 may be 0.2 mm. In the present embodiment, for convenience of explanation of the delay compensation, the print pattern is set to an "E" type pattern in which the same three-stage paths are 150mm in length and two-stage paths located between the three-stage paths are 10mm in length. That is, the OA section of the "E" pattern is the beginning section, and the DE section is the ending section, where OA-BC-DE-OD is 10 mm. In other embodiments, the shape of the printed pattern may be one of a straight line type, a sine wave type, a figure 8 type, and a winding type. In fact, because silica gel is as viscous fluid when extruding because liquid rope coiling effect, can take place to coil in the fluid extrusion process whereabouts, different extrusion head height and moving speed combination drop and can produce different patterns on print platform.
And step three, printing a plurality of three-dimensional printing samples through a 3D printer according to the printing path and the printing speed. The path width of the O-I section is a gradual process from thin to thick, rather than reaching a steady state from the beginning, due to a delay caused by friction, sticking, etc. of the viscous liquid with the inner wall of the extrusion head. The observation tool for observing the path width is an electron microscope. Under the condition that the printing parameter range of the linear pattern is known, the printing experiment is carried out by selecting the appropriate printing parameters such as the height of the extrusion head, the moving speed of the extrusion head and the like to design an E-shaped pattern. The designed "E" pattern is shown in fig. 4, and in order to ensure the accuracy of the obtained delay, the lengths of the OA section and the BC section need to be long enough to reach a stable state, and OA-BC-150 mm is provided in the present invention. The G code of the "E" type pattern is generated by using a Matlab program to print, and 45 sets of three-dimensional printing samples are printed in the embodiment (in other embodiments, the number of the three-dimensional printing samples can be determined as required). After printing of each group of three-dimensional printing samples is finished, the three-dimensional printing samples can be fully exposed in the air for placing, observation is carried out after 24 hours, and complete curing of the three-dimensional printing samples is guaranteed.
And step four, measuring the path width in the three-dimensional printing sample, calculating the path width proportion of the same vertical position point taking the path length moved by the extrusion head 3 in unit time as the measurement interval, and finally taking the change function of the path width proportion as a delay function G (t). In this embodiment, the sample is placed under an electron microscope for observation, the path width of the same vertical position point of OA and BC is observed, the ratio of the path width of the same vertical position point is recorded as μ (OA: BC), the measurement pitch is the path length of the extrusion head moving every 0.1s, and the variation rule of the ratio μ is the delay function G (t).
Step five, defining a speed compensation function of the extrusion head 3:
and compensates for the moving speed of the extrusion head 3. Where V' is the real-time moving speed of the extrusion head 3, and V is the moving speed of the extrusion head 3 when the path width reaches the steady state. In this way, it is possible to compensate for the movement of the extrusion head 3, which is in fact the speed of the relative motion control platform 1, which is normally fixed with respect to the outside.
And step six, determining the functional relation W (V, H) between the moving speed of the extrusion head 3 and the height of the extrusion head 3 when the path width reaches the steady state. In this embodiment, the path widths of 45 sets of "E" patterns when reaching the steady state are measured, and the data are collated to obtain the functional relationship W (V, H) between the steady state line width and the moving speed V of the extrusion head and the height H of the extrusion head.
Step seven, establishing a mathematical model of the printing path width L of the 3D printer: l ═ g (t) × W (V, H). The mathematical model can utilize Matlab to write a program to control the width of a printing path, and realize the printing of a product with a complex structure.
And step eight, compensating the extrusion speed and the extrusion amount of the extrusion head 3 through the air pressure adjusting device 2 according to the variation of the printing path width L in the mathematical model.
In summary, compared with the existing 3D printing method, the 3D printing delay compensation method based on viscous liquid extrusion of the embodiment has the following advantages:
the 3D printing delay compensation method based on viscous liquid extrusion comprises the steps of leveling a motion control platform to ensure accuracy of subsequent delay compensation, determining a printing pattern, the height of an extrusion head, an extrusion speed, a printing path and a printing speed according to process parameters, printing a plurality of three-dimensional printing samples, further measuring the path width of a printing product, calculating the path width proportion of a same vertical position point, taking a variation function as a delay function, obtaining a speed compensation function according to the delay function to compensate the movement speed of the extrusion head, determining the functional relation between the movement speed and the height of the extrusion head, further establishing a mathematical model of the printing path width, and finally compensating the extrusion speed and the extrusion amount of the extrusion head through the mathematical model, aiming at the friction between viscous liquid and the inner wall of the extrusion head, The speed planning is carried out by delay caused by factors such as viscosity and the like, the uniformity of a printing path is improved, the width of the printing path is kept stable, meanwhile, the material extrusion and the platform movement are synchronized, the printing defect caused by asynchronism is avoided, the printing quality is improved, in addition, the path width under different process parameter combinations can be predicted through the obtained mathematical model of the path width, the controllability of the printing path width is realized, and the printing requirements of products with specific functions and structures are further realized.
Example 3
The embodiment provides a 3D printing delay compensation method based on viscous liquid extrusion, and the 3D printer applied by the method is added with a cover on the basis of the embodiment 1. The motion control platform 1, the air pressure adjusting device 2, the extrusion head 3 and the container 4 are all arranged in the outer cover. The outer cover is made of a plexiglass plate. Wherein, the method adds the following steps on the basis of the embodiment 1.
Step 1, detecting real-time humidity and real-time temperature in the housing. In this embodiment, can detect humidity and temperature through temperature and humidity sensor, the quantity of sensor can set up to a plurality ofly, and specific quantity then can be confirmed according to the size of dustcoat. When the volume of dustcoat is great, its inner space is great, consequently can set up some sensors more and detect the humiture, and when the volume of dustcoat is less, then can set up the detection that single sensor just can accomplish the humiture. When a plurality of sensors are adopted to detect the temperature and the humidity, when the data of a plurality of humidity or temperature are not uniform, a maximum value or a minimum value can be selected as the real-time humidity or temperature.
And 2, inquiring a humidity threshold value and a temperature threshold value range required by moisture curing in a preset moisture curing parameter table according to the type of the viscous liquid, judging whether the real-time humidity is greater than the humidity threshold value, and simultaneously judging whether the real-time temperature is within the temperature threshold value range. The size of the humidity threshold can be determined according to the humidity required by the viscous liquid to be solidified, and likewise, the temperature threshold range can also be determined according to the solidification temperature.
And 3, increasing the environmental humidity in the outer cover when the real-time humidity is lower than the humidity threshold value. During the actual humidification process, the humidifier can be selected to humidify the interior of the outer cover, and the air with fixed humidity can be input into the outer cover to increase the ambient humidity.
Step 4, when the real-time temperature is lower than the lower limit value of the temperature threshold range, the environmental temperature in the outer cover is increased; when the real-time temperature is higher than the upper limit value of the temperature threshold range, the ambient temperature in the outer cover is reduced. When adjusting the temperature, the adjustment can be performed by an air conditioning system.
Therefore, in the 3D printing delay compensation method based on viscous liquid extrusion of the embodiment, the applied viscous liquid can be a moisture-curable material such as silica gel, the outer cover of the method can be made of an organic glass plate, and the humidity in the outer cover is adjusted and controlled by adopting a humidity control mode, so that the humidity of the printing environment can be kept, and the deformation of parts in the printing process can be prevented. Moreover, the delay compensation method can compare with the humidity threshold value and the temperature range required by the viscous liquid by detecting the real-time humidity and the real-time temperature, and the printer can keep higher humidity and proper temperature all the time in the printing process by adjusting the humidity and the temperature, so that the viscous liquid can be quickly formed into a three-dimensional printing product, on one hand, the printing can be accelerated, the printing efficiency of the printer is improved, and meanwhile, the curing time of the viscous liquid is reduced, on the other hand, the time for the deformation of the printing product is shortened due to the quick forming, and the qualification rate of the printing product is improved.
Example 3
The present embodiment provides a viscous liquid extrusion-based 3D printing delay compensation system to which the viscous liquid extrusion-based 3D printing delay compensation method of embodiment 1 or embodiment 2 is applied. In this embodiment, the delay compensation system includes a leveling module, a parameter determination module, a print analysis module, a print experiment module, a delay function determination module, a speed compensation module, a functional relationship determination module, a model building module, and an extrusion compensation module. It should be noted that the aforementioned modules may be combined or decomposed into a plurality of units, which may be determined according to actual product requirements.
The leveling module is used for judging whether the mobile platform of the control platform 1 is in a horizontal state or not. When the mobile platform is not in a horizontal state, the leveling module levels the mobile platform. The parameter determination module is used for determining 3D printing process parameters of the 3D printer. The printing analysis module is used for determining a printing pattern, the height H of the extrusion head 3 and the extrusion speed according to the 3D printing process parameters, and defining a printing path and a printing speed. The printing experiment module is used for printing out a plurality of three-dimensional printing samples through the 3D printer according to the printing path and the printing speed. The delay function determining module is used for measuring the path width in the three-dimensional printing sample, calculating the path width proportion of the same vertical position point taking the path length moved by the extrusion head 3 in unit time as a measuring interval, and taking the change function of the path width proportion as a delay function G (t). The speed compensation module is used to define a speed compensation function for the extrusion head 3:
and compensates for the moving speed of the extrusion head 3. In the formula (I), the compound is shown in the specification,v' is the real-time moving speed of the extrusion head 3, and V is the moving speed of the extrusion head 3 when the path width reaches a steady state. The functional relationship determination module is used for determining the functional relationship W (V, H) between the moving speed of the extrusion head 3 and the height of the extrusion head 3 when the path width reaches the steady state. The model building module is used for building a mathematical model of the printing path width L of the 3D printer: l ═ g (t) × W (V, H). The extrusion compensation module is used for compensating the extrusion speed and the extrusion amount of the extrusion head 3 through the air pressure adjusting device 2 according to the variation of the printing path width L in the mathematical model.
Example 4
This embodiment provides a moisture-curing 3D printer including the viscous liquid extrusion-based 3D printing delay compensation system of embodiment 3, and further including the motion control platform 1, the air pressure adjustment device 2, the extrusion head 3, the container 4, and the housing of embodiment 2 described in embodiment 1. In this embodiment, the moisture-curing 3D printer may further include a detection system, an adjustment system, and a control system.
The detection system comprises a humidity detection device and a temperature detection device. The humidity detection means is used to detect the real-time humidity in the enclosure 1 and the temperature detection means is used to detect the real-time temperature in the enclosure. In this embodiment, the detection system may further include other detection devices, for example, a distance detection device, which can detect the distance between the three-dimensional printed product and each inner wall surface of the housing, so as to prevent the three-dimensional printed product from being too large and adhering to the inner wall of the housing. Humidity detection device can adopt current humidity detection equipment, and the precision of humidity detection will be guaranteed during its detection because 3D prints printing process humidity and can directly influence the printing quality and the shaping time of product. The temperature detection device can also select the existing temperature detection equipment, such as a temperature probe, and a plurality of temperature probes or humidity probes can be arranged in a plurality of areas, so that the accuracy of humidity and temperature detection is ensured.
The conditioning system includes a humidifier and a temperature conditioning device. Humidifiers are used to increase the humidity in the enclosure and thermoregulation is used to regulate the temperature in the enclosure. The humidifier can be an existing humidifier or other equipment with a humidifying function, and the humidifying function structure is transplanted into the outer cover for use. The thermostat may select the enclosure to be placed in the thermostat for use when the interior space of the enclosure is small, and may select the air conditioning system when the enclosure is large.
The control system is also used for inquiring a humidity threshold value and a temperature threshold value range required by the moisture curing in a preset moisture curing parameter table according to the type of the viscous liquid, judging whether the real-time humidity is greater than the humidity threshold value or not, and simultaneously judging whether the real-time temperature is within the temperature threshold value range or not. When the real-time humidity is lower than the humidity threshold value, the control system drives the humidifier to increase the humidity. And when the real-time temperature is lower than the lower limit value of the temperature threshold range, the control system drives the temperature adjusting device to increase the temperature. When the real-time temperature is higher than the upper limit value of the temperature threshold range, the control system drives the temperature adjusting device to reduce the temperature. Like this, the printing material just can be the three-dimensional product of printing by the shaping fast, can accelerate printing on the one hand, improves the printing efficiency of printer to reduce moisture curing material's curing time simultaneously, on the other hand is because the shaping is fast, makes the time that the product takes place to deform of printing shorten, thereby improves the qualification rate of printing the product.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A3D printing delay compensation method based on viscous liquid extrusion is applied to a 3D printer; the three-dimensional (3D) printer is characterized by comprising a motion control platform (1), an air pressure adjusting device (2), an extrusion head (3) and a container (4); the extrusion head (3) is used for extruding the viscous liquid in the container (4) on the motion control platform (1) and forming at least one three-dimensional printing product; the air pressure adjusting device (2) is used for adjusting the air pressure of the container (4) so as to change the extrusion speed of the extrusion head (3);
the delay compensation method includes the steps of:
leveling the motion control platform (1), and selecting 3D printing process parameters; in the 3D printing process parameters, the air pressure of the air pressure adjusting device (2) is 25Mpa, the moving speed range of the extrusion head (3) is 600-3000mm/min, the speed amplification is 300mm/min, and the unit amplification of the extrusion head (3) is 0.2 mm;
determining a printing pattern, the height H of the extrusion head (3) and the extrusion speed according to the 3D printing process parameters, and defining a printing path and a printing speed;
printing a plurality of three-dimensional printing samples through the 3D printer according to the printing path and the printing speed;
measuring the path width in the three-dimensional printing sample, calculating the path width proportion of the same vertical position point taking the path length moved by the extrusion head (3) in unit time as a measurement interval, and taking the change function of the path width proportion as a delay function G (t);
defining a speed compensation function of the extrusion head (3):
and the moving speed of the extrusion head (3) is compensated; wherein V' is the real-time moving speed of the extrusion head (3), and V is the moving speed of the extrusion head (3) when the path width reaches a steady state;
determining a functional relationship W (V, H) between the speed of movement of the extrusion head (3) and the height of the extrusion head (3) when the path width reaches a steady state;
establishing a mathematical model of the printing path width L of the 3D printer: l ═ g (t) × W (V, H);
according to the variable quantity of the printing path width L in the mathematical model, the extrusion speed and the extrusion amount of the extrusion head (3) are compensated through the air pressure adjusting device (2);
wherein, the container (4) is in the shape of an injection cylinder and is provided with a piston; the extrusion head (3) is arranged on the injection end of the container (4) and is communicated with the container (4); the viscous liquid is positioned between the piston and the extrusion head (3); the air pressure adjusting device (2) is used for providing air pressure to the piston so that the piston extrudes the viscous liquid to the extrusion head (3);
the 3D printer further comprises a housing; the motion control platform (1), the air pressure adjusting device (2), the extrusion head (3) and the container (4) are all arranged in the outer cover; the outer cover is made of a plexiglass plate.
2. The viscous liquid extrusion-based 3D printing delay compensation method according to claim 1, wherein the printing pattern is an "E" type pattern in which the same three-segment path has a length of 150mm and two segments between the three-segment path have a length of 10 mm.
3. The viscous liquid extrusion-based 3D printing delay compensation method according to claim 1, wherein the inner diameter of the extrusion head (3) is 0.84mm, and the variation range of the height is 0.2-1.0 mm.
4. The viscous liquid extrusion-based 3D printing delay compensation method according to claim 1, wherein the viscous liquid is composed of dow corning 737 cured sealant, and has a shore hardness of 33A, a tensile strength greater than 1.2MPa, and an elongation greater than 300%.
5. The viscous liquid extrusion-based 3D printing delay compensation method according to claim 1, wherein the shape of the printing pattern is one of a straight line type, a sine wave type, a figure 8 type, and a winding type.
6. The viscous liquid extrusion-based 3D printing delay compensation method according to claim 5, wherein the delay compensation method further comprises the steps of:
detecting a real-time humidity and a real-time temperature in the enclosure;
according to the type of the viscous liquid, inquiring a humidity threshold value and a temperature threshold value range required by moisture curing in a preset moisture curing parameter table, judging whether the real-time humidity is greater than the humidity threshold value, and simultaneously judging whether the real-time temperature is within the temperature threshold value range;
increasing the ambient humidity in the enclosure when the real-time humidity is below the humidity threshold;
increasing the ambient temperature in the enclosure when the real-time temperature is below a lower limit of the temperature threshold range;
reducing the ambient temperature in the enclosure when the real-time temperature is above an upper limit of the temperature threshold range.
7. A viscous liquid extrusion-based 3D printing delay compensation system applying the viscous liquid extrusion-based 3D printing delay compensation method according to any one of claims 1 to 6, comprising:
the leveling module is used for judging whether the mobile platform of the control platform (1) is in a horizontal state or not; when the mobile platform is not in a horizontal state, the leveling module levels the mobile platform;
a parameter determination module for determining 3D printing process parameters of the 3D printer;
the printing analysis module is used for determining a printing pattern, the height H and the extrusion speed of the extrusion head (3) according to the 3D printing process parameters, and defining a printing path and a printing speed;
the printing experiment module is used for printing a plurality of three-dimensional printing samples through the 3D printer according to the printing path and the printing speed;
the delay function determining module is used for measuring the path width in the three-dimensional printing sample, calculating the path width proportion of the same vertical position point taking the path length moved by the extrusion head (3) in unit time as a measuring interval, and taking the change function of the path width proportion as a delay function G (t);
a speed compensation module for defining a speed compensation function of the extrusion head (3):
and the moving speed of the extrusion head (3) is compensated; in the formula (I), the compound is shown in the specification,v' is the real-time moving speed of the extrusion head (3), and V is the moving speed of the extrusion head (3) when the path width reaches a steady state;
a functional relationship determination module for determining a functional relationship W (V, H) between the speed of movement of the extrusion head (3) and the height of the extrusion head (3) when the path width reaches a steady state;
a model building module for building a mathematical model of a print path width L of the 3D printer: l ═ g (t) × W (V, H); and
and the extrusion compensation module is used for compensating the extrusion speed and the extrusion amount of the extrusion head (3) through the air pressure adjusting device (2) according to the variation of the printing path width L in the mathematical model.
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| CN113246473B (en) * | 2021-05-10 | 2022-04-22 | 深圳拓竹科技有限公司 | Compensation method and compensation device for 3D printer, 3D printer and storage medium |
| CN114379079B (en) * | 2022-01-14 | 2023-11-24 | 杭州捷诺飞生物科技股份有限公司 | Control method and device for 3D printing and electronic equipment |
| CN115056487A (en) * | 2022-05-23 | 2022-09-16 | 合肥工业大学 | Silica gel 3D printer and construction method of extrusion delay error function thereof |
| CN115476508A (en) * | 2022-09-06 | 2022-12-16 | 深圳先进技术研究院 | Extrusion type 3D printing method, printing system and application of continuous variable fiber diameter |
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