CN113665125B - Positioning control method, positioning control device, printing equipment and computer readable storage medium - Google Patents

Positioning control method, positioning control device, printing equipment and computer readable storage medium Download PDF

Info

Publication number
CN113665125B
CN113665125B CN202110987753.6A CN202110987753A CN113665125B CN 113665125 B CN113665125 B CN 113665125B CN 202110987753 A CN202110987753 A CN 202110987753A CN 113665125 B CN113665125 B CN 113665125B
Authority
CN
China
Prior art keywords
positioning
axis motor
working
target
working position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110987753.6A
Other languages
Chinese (zh)
Other versions
CN113665125A (en
Inventor
房卫萍
刘欣
易耀勇
左从进
聂瑞涛
罗兵兵
彭翰林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Uzbekistan Welding Research Institute of Guangdong Academy of Sciences
Original Assignee
China Uzbekistan Welding Research Institute of Guangdong Academy of Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Uzbekistan Welding Research Institute of Guangdong Academy of Sciences filed Critical China Uzbekistan Welding Research Institute of Guangdong Academy of Sciences
Priority to CN202110987753.6A priority Critical patent/CN113665125B/en
Publication of CN113665125A publication Critical patent/CN113665125A/en
Application granted granted Critical
Publication of CN113665125B publication Critical patent/CN113665125B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F12/00—Apparatus or devices specially adapted for additive manufacturing; Auxiliary means for additive manufacturing; Combinations of additive manufacturing apparatus or devices with other processing apparatus or devices
    • B22F12/90—Means for process control, e.g. cameras or sensors
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
    • B22F2203/00—Controlling
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

The application provides a positioning control method and device, printing equipment and a computer readable storage medium, and relates to the technical field of additive manufacturing. The method comprises the steps that an industrial personal computer obtains a working position of a working platform in printing equipment, wherein the working position needs to be positioned currently; determining a target area to which the working position belongs from a plurality of preset areas; wherein each region has a corresponding position calculation formula; calculating the positioning position of the z-axis motor according to a target position calculation formula corresponding to the target area and the working position; sending a positioning instruction to a driving device so that the driving device drives the z-axis motor to move to a positioning position according to the positioning instruction; wherein the positioning instruction comprises the positioning position. The actual positioning position of the z-axis motor is calculated through a target position calculation formula of the target area, so that the driving device drives the z-axis motor to move to the actual position, errors generated by continuous positioning of the z-axis in one direction when the device prints parts are eliminated, and meanwhile, accurate positioning of the z-axis of the printing device is achieved.

Description

Positioning control method, positioning control device, printing equipment and computer readable storage medium
Technical Field
The application relates to the technical field of additive manufacturing, in particular to a positioning control method and device, a printing device and a computer-readable storage medium.
Background
Additive manufacturing technology (commonly known as 3D printing) is a rapid prototyping technology, which is a three-dimensional prototyping technology that builds objects by stacking materials layer by layer under the control of a computer software program from various types of bondable materials such as metal powder, fluid materials, plastics, and the like based on a digital model.
When the printing equipment performs 3D printing forming, the forming precision of parts can be influenced by the positioning precision of a z axis, the positioning precision of the z axis of the existing printing equipment generally only compensates for a gap error generated when a motor is reversed, the positioning accuracy of the z axis of the printing equipment is adjusted through the method, the error generated by continuous positioning of the equipment in one direction of the z axis when the equipment prints the parts cannot be eliminated, and the method has the problem of inaccurate positioning.
Disclosure of Invention
In view of the above, an object of the present application is to provide a positioning control method, apparatus, printing device and computer readable storage medium, so as to eliminate the error caused by continuous positioning of the z axis in one direction when the device prints a part, and to achieve accurate positioning of the z axis of the printing device.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, the application provides a positioning control method, which is applied to an industrial personal computer in printing equipment, wherein the printing equipment further comprises a driving device and a z-axis motor, the industrial personal computer is electrically connected with the driving device, and the driving device is electrically connected with the z-axis motor; the method comprises the following steps:
acquiring a current working position to be positioned of a working platform in the printing equipment;
determining a target area to which the working position belongs from a plurality of preset areas; wherein each of the regions has a corresponding position calculation formula;
calculating the positioning position of the z-axis motor according to a target position calculation formula corresponding to the target area and the working position;
sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction; wherein, the positioning instruction comprises the positioning position.
In an optional embodiment, each of the regions has a corresponding position range, and the determining a target region to which the working position belongs from a plurality of preset regions includes:
and determining a target position range where the working position is located, and determining a region corresponding to the target position range as a target region where the working position belongs.
In an alternative embodiment, the driving device comprises a programmable logic controller and a driver, wherein the programmable logic controller is electrically connected with the driver, and the driver is electrically connected with the z-axis motor;
the sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction comprises:
sending a first positioning instruction to the programmable logic controller, so that the programmable logic controller sends a second positioning instruction to the driver under the conditions that the programmable logic controller receives the first positioning instruction and judges that the printing equipment meets the positioning condition, and the driver drives the z-axis motor to move to the positioning position according to the second positioning instruction;
wherein the first positioning instruction and the second positioning instruction both include the positioning position.
In an optional embodiment, the calculating the positioning position of the z-axis motor according to the target position calculation formula corresponding to the target area and the working position includes:
according to the formula R m ＝(1+k m )P m +b m Calculating a positioning position of the z-axis motor; wherein m represents the target region, R m For the positioning position of the z-axis motor, P m For the working position, k, to be located for the working platform m And b m To compensate the parameters.
In an optional embodiment, the acquiring a working position where a working platform in the printing apparatus needs to be currently located includes:
acquiring a working position which needs to be positioned currently of a working platform in the printing equipment from the currently stored slice data; wherein the slicing data is previously downloaded from slicing software by the printing apparatus.
In a second aspect, the application provides a positioning control device, which is applied to an industrial personal computer in printing equipment, wherein the printing equipment further comprises a driving device and a z-axis motor, the industrial personal computer is electrically connected with the driving device, and the driving device is electrically connected with the z-axis motor; the device comprises:
the acquisition module is used for acquiring the current working position of a working platform in the printing equipment, which needs to be positioned;
the region determining module is used for determining a target region to which the working position belongs from a plurality of preset regions, wherein each region has a corresponding position calculation formula;
the calculation module is used for calculating the positioning position of the z-axis motor according to a target position calculation formula corresponding to the target area and the working position;
the instruction sending unit is used for sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction; wherein, the positioning instruction comprises the positioning position.
In an alternative embodiment, each of the regions has a corresponding range of positions;
the area determining module is further configured to determine a target position range where the working position is located, and determine an area corresponding to the target position range as a target area to which the working position belongs.
In an alternative embodiment, the calculation module is further configured to calculate the value of the equation R according to the formula R m ＝(1+k m )P m +b m Calculating a positioning position of the z-axis motor; wherein m represents the target region, R m For the positioning position of the z-axis motor, P m For the working position, k, to be located for the working platform m And b m To compensate for the parameters.
In a third aspect, the present application provides a printing apparatus, including an industrial personal computer, where the industrial personal computer executes a computer program to implement the method described in any one of the foregoing embodiments.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by an industrial personal computer, implements the method according to any of the preceding embodiments.
According to the positioning control method and device, the printing equipment and the computer readable storage medium, the industrial personal computer obtains the target area corresponding to the working platform by obtaining the current working position of the working platform to be positioned, and obtains the positioning position of the z-axis motor through the target position calculation formula and the working position calculation in the target area, so that the driver drives the z-axis motor to move to the actual positioning position. The actual positioning position of the z-axis motor is calculated through a target position calculation formula of the target area, so that the driving device drives the z-axis motor to move to the actual position, errors generated by continuous positioning of the z-axis in one direction when the device prints parts are eliminated, and meanwhile, accurate positioning of the z-axis of the printing device is achieved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a hardware configuration block diagram of a printing apparatus provided in an embodiment of the present application.
Fig. 2 shows a flowchart of a positioning control method provided in an embodiment of the present application.
Fig. 3 is a block diagram illustrating another hardware configuration of the printing apparatus according to the embodiment of the present application.
Fig. 4 shows a functional block diagram of a positioning control device provided in an embodiment of the present application.
Icon: 100-a printing device; 110-industrial personal computer; 120-a drive device; a 130-z axis motor; 140-a working platform; 150-a reducer; 160-lead screw; 121-a programmable logic controller; 122-a driver; 400-positioning the control device; 410-an obtaining module; 420-a region determination module; 430-a calculation module; 440-instruction sending module.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, a block diagram of a hardware structure of a printing apparatus 100 according to an embodiment of the present disclosure is provided. The printing apparatus 100 includes an industrial personal computer 110, a driving device 120, a z-axis motor 130, a work platform 140, a decelerator 150, and a lead screw 160. The industrial personal computer 110 is electrically connected to the driving device 120, the driving device 120 is electrically connected to the z-axis motor 130, and the z-axis motor 130 is connected to the working platform 140 through the reducer 150 and the lead screw 160.
In this embodiment, the industrial personal computer 110 may implement the positioning control method provided in this embodiment by executing a computer program.
After the driving device 120 receives the positioning instruction sent by the industrial personal computer 110, the z-axis motor 130 is driven to reach the corresponding positioning position, and the z-axis motor 130 drives the working platform 140 to move to the actual working position through the speed reducer 150 and the lead screw 160, so that the positioning control of the z-axis is realized.
Referring to fig. 2, a flowchart of a positioning control method applied to the industrial personal computer 110 is shown, and the steps included in the method will be described in detail below.
And step S20, acquiring the current working position of the working platform in the printing equipment, which needs to be positioned.
And S21, determining a target area to which the working position belongs from a plurality of preset areas, wherein each area has a corresponding position calculation formula.
And S22, calculating the positioning position of the z-axis motor according to a target position calculation formula and the working position corresponding to the target area.
And S23, sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to a positioning position according to the positioning instruction, wherein the positioning instruction comprises the positioning position.
In this embodiment, the industrial personal computer 110 obtains a working position, which needs to be currently positioned, of the working platform 140 in the printing device 100, where the working position is a theoretical working position, which needs to be positioned by the z-axis motor 130, and each region has a corresponding position calculation formula, so after the industrial personal computer 110 obtains the working position, the industrial personal computer 110 determines a target region to which the working position belongs from a plurality of preset regions, thereby determining a target position calculation formula corresponding to the target region, and then calculates a positioning position of the z-axis motor 130 according to the working position, which needs to be currently positioned, of the working platform 140 and the target position calculation formula, where the positioning position is an actual positioning position corresponding to the working position. After the industrial personal computer 110 calculates the positioning position, it sends a positioning instruction to the driving device 120, so that the driving device 120 drives the z-axis motor 130 to a corresponding positioning position according to the positioning position in the positioning instruction, and the z-axis motor 130 can drive the working platform 140 to reach its actual working position through the speed reducer 150 and the lead screw 160.
According to the positioning control method provided by the embodiment of the application, the corresponding position calculation formula of the region to which the theoretical working position to be positioned belongs is selected for the theoretical working position to be positioned, so that the corresponding actual positioning position is calculated for the theoretical working position to be positioned, the z-axis motor 130 is driven to be positioned according to the actual positioning position, errors generated by continuous positioning of the printing equipment 100 in one direction of the z axis in the working process are eliminated, and meanwhile, accurate positioning of the z axis of the printing equipment 100 is achieved.
Optionally, since each region has its corresponding position calculation formula, considering that a target region to which a theoretical working position that needs to be located for the current printing platform needs to be determined when calculating the actual location position, the target position calculation formula of the target region can be determined, so as to obtain the actual location position corresponding to the working position through calculation, based on which the step of determining the target region to which the working position belongs from the preset plurality of regions in the step S21 includes:
step S211, determining a target position range to which the working position belongs, and determining a region corresponding to the target position range as the target position to which the working position belongs.
In this embodiment, each region has a corresponding position range, so when a target region to which a theoretical working position belongs is determined, a target position range in which the working position is located is determined first, the target position range is compared with the position ranges of the regions, and the region corresponding to the target position range is determined as the target region to which the theoretical working position belongs, so that a corresponding target position calculation formula is determined according to the target region.
Alternatively, the state of the printing apparatus 100 may be determined in advance before the driving device 120 drives the z-axis motor 130 for positioning, so as to drive the z-axis motor 130 for positioning again in a case where it is determined that the printing apparatus 100 currently meets the positioning conditions, thereby preventing damage to the printing apparatus 100 caused by controlling the z-axis motor 130 for positioning when the printing apparatus 100 does not meet the positioning conditions. Based on this, referring to fig. 3, the driving device 120 includes a programmable logic controller 121 and a driver 122, the programmable logic controller 121 is electrically connected to the driver 122, and the driver 122 is electrically connected to the z-axis motor 130. Therefore, the step S23 of sending the positioning command to the driving device 120 so that the driving device 120 drives the z-axis motor 130 to move to the positioning position according to the positioning command includes:
step S231, sending a first positioning instruction to the programmable logic controller, so that the programmable logic controller sends a second positioning instruction to the driver under the conditions that the programmable logic controller receives the first positioning instruction and judges that the printing equipment meets the positioning condition, and the driver drives the z-axis motor to move to a positioning position according to the second positioning instruction; and the first positioning instruction and the second positioning instruction comprise positioning positions.
In this embodiment, the driving device 120 includes a programmable logic controller 121 and a driver 122, when the industrial personal computer 110 calculates the actual positioning position of the z-axis motor 130, first, a first positioning instruction including the actual positioning position is sent to the programmable logic controller 121, when the programmable logic controller 121 receives the first positioning instruction, the programmable logic controller 121 performs a logic determination on the overall state of the printing apparatus 100, and when it is determined that the overall state of the printing apparatus 100 satisfies the positioning condition, the programmable logic controller 121 sends a second positioning instruction including the actual positioning position to the driver 122, so that the driver 122 drives the z-axis motor 130 to move to the actual positioning position according to the second positioning instruction.
In an example, the programmable logic controller 121, when receiving the first positioning instruction, performs a logic determination on the overall state of the apparatus, so as to learn whether there are factors that may cause the z-axis motor 130 to be unable to move, affect positioning accuracy, or cause the printing apparatus 100 to be damaged due to the movement of the z-axis motor 130, for example, whether the driver 122 is in a normal operation state, whether there is alarm information caused by damage to the printing apparatus 100, whether connections between the devices are normal, and the like, and if there are no above factors in the printing apparatus 100, the programmable logic controller 121 determines that the overall state of the printing apparatus 100 meets the positioning condition, so as to send a second positioning instruction to the driver 122, so that the driver 122 drives the z-axis motor 130 to move to the actual positioning position according to the second positioning instruction.
In the positioning control method provided by this embodiment, before the driver 122 drives the z-axis motor 130 to move to the actual positioning position, the programmable logic controller 121 performs logic judgment on the whole apparatus, so that when the whole printing apparatus 100 meets the positioning condition, the driver 122 is notified to drive the z-axis motor 130 to move to the actual positioning position, thereby avoiding possible damage to the apparatus due to the fact that the z-axis motor 130 is driven to perform positioning when the printing apparatus 100 does not meet the positioning condition.
Optionally, in order to compensate for the positioning error of the z-axis motor 130 during operation, the system error of the entire printing apparatus 100 needs to be considered comprehensively, because the printing apparatus 100 generally adopts a partition printing method for the z-axis during operation, each region can be calculated separately by a compensation value, a fitting formula of the compensation value and a theoretical position to be positioned is obtained by the fitting method, a position calculation formula of each region can be obtained by substituting the relation between the theoretical position to be positioned and an actual position into the fitting formula, and then the position calculation formula is stored in the industrial personal computer 110, when the actual positioning position of a certain region needs to be calculated, the industrial personal computer 110 can calculate a corresponding actual positioning position according to the position calculation formula of the region and the theoretical working position to be positioned. The position calculation formula can be obtained by:
setting a corresponding theoretical starting point and a theoretical end point of any area, driving the z-axis motor 130 by the driver 122 to position according to the theoretical starting point and the theoretical end point respectively, measuring the actual positioning position of the z-axis motor 130 by a laser interferometer, including the actual starting point and the actual end point, and calculating a compensation value according to the parameters:
C n_s ＝P n_s -R n_s
C n_e ＝P n_e -R n_e
where n denotes the current region, C n_s A compensation value, P, characterizing the position of the starting point n_s Characterization of the theoretical starting point, R n_s Characterizing the actual starting point; c n_e Compensation value, P, characterizing the position of the end point n_e Characterization of the theoretical endpoint, P n_e The actual endpoint was characterized.
Performing linear fitting on the compensation value and the theoretical value according to C = kP + b to obtain a compensation parameter k n And b n It can be understood that the compensation parameter k n And b n Is constant and each region has its corresponding compensation parameter k and b. Wherein:
Figure BDA0003231341180000091
Figure BDA0003231341180000092
due to C n ＝P n -R n In which C is n Is a deviation value of the region n, P n Is the theoretical value of region n, R n Is the actual value of the region n, and therefore the actual value R of the region n Can be obtained by the following formula:
R n ＝(1+k n )P n +b n
based on this, the above step S22 may include the steps of:
step S221, according to the formula R m ＝(1+k m )P m +b m Calculating a positioning position of a z-axis motor, where m denotes a target region, R m For the positioning position of the z-axis motor, P m Working position, k, to be located for the working platform m And b m To compensate for the parameters.
According to the positioning control method provided by the embodiment of the application, the position calculation formulas corresponding to all the areas are stored in the industrial personal computer 110, when positioning is needed, the position calculation formula of the area to which the current theoretical working position belongs is selected for the current theoretical working position, the actual positioning position corresponding to the theoretical working position is calculated, and the position calculation formula is obtained by combining the integral compensation value of the printing equipment 100, so that the actual positioning position of the z-axis motor 130 corresponding to the theoretical working position is calculated through the position calculation formula and the theoretical working position, the integral error of the printing equipment 100 in the area is compensated, and the z-axis directional positioning precision of the printing equipment 100 in working is improved.
Alternatively, considering that the printing apparatus 100 needs to first obtain a theoretical working position where the working platform 140 needs to be currently positioned before performing z-axis precise positioning on the z-axis motor 130, based on this, the step S20 may include:
step S201, acquiring a working position of a working platform in the printing equipment, which needs to be positioned currently, from the currently stored slice data; wherein, the slice data is downloaded from the slice software in advance by the printing device.
In this embodiment, the printing device 100 may be in communication connection with a PC terminal, the slicing software may be software installed at the PC terminal, before the printing device 100 performs printing, corresponding slicing data is downloaded from the slicing software, and when an actual positioning position needs to be calculated, the industrial personal computer 110 may directly obtain a working position, which the working platform 140 needs to be currently positioned, from the pre-downloaded and stored slicing data.
Optionally, since the printing device 100 performs printing in a z-axis direction in a partitioned manner, the industrial personal computer 110 needs to perform the current working position judgment of the working platform 140 after the previous area printing is finished, and based on this, the programmable logic controller 121 may perform logic judgment on the printing device 100, so that the programmable logic controller 121 sends the current state information of the printer to the industrial personal computer 110 after the previous area printing is finished, so as to represent that the previous area printing is finished, and can read the working position of the working platform 140, which needs to be currently positioned, so that the industrial personal computer 110 reads the theoretical working position of the working platform 140, which needs to be currently positioned, from the pre-downloaded slice data.
Optionally, after the industrial personal computer 110 calculates the corresponding actual positioning position, the current working position of the working platform 140 to be positioned may be displayed on the PC terminal, so that the operator can know the current printing process. The displayed working position may be a working position of the working platform 140, which is acquired by the industrial personal computer 110 and currently needs to be positioned, or a theoretical working position obtained by performing a back-stepping according to an actual positioning position and a position calculation formula.
In order to execute the corresponding steps in the foregoing embodiments and various possible manners, an implementation manner of a positioning control device is given below, please refer to fig. 4, fig. 4 is a functional block diagram of a positioning control device 400 provided in the embodiments of the present application, and the positioning control device 400 can be applied to the industrial personal computer 110 in the printing apparatus 100. It should be noted that the basic principle and the generated technical effects of the positioning control device 400 provided in the present embodiment are the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and corresponding contents in the above embodiments may be referred to. The positioning control device 400 includes: the system comprises an acquisition module 410, an area determination module 420, a calculation module 430 and an instruction sending module 440.
The obtaining module 410 is configured to obtain a working position where the working platform 140 in the printing apparatus 100 needs to be currently located;
it is understood that the obtaining module 410 may execute the step S20.
Optionally, the obtaining module 410 may be further configured to obtain, from currently stored slice data, a working position where the working platform 140 in the printing apparatus 100 needs to be currently located; wherein the slicing data is previously downloaded from slicing software by the printing apparatus 100.
It is understood that the obtaining module 410 may also execute the step S201.
The area determining module 420 is configured to determine a target area to which the working position belongs from a plurality of preset areas, where each of the areas has a corresponding position calculation formula;
it is understood that the region determining module 420 may perform the above step S21.
Optionally, the area determining module 420 may be further configured to determine a target position range where the working position is located, and determine an area corresponding to the target position range as a target area to which the working position belongs.
It is understood that the region determining module 420 may also perform the step S211.
The calculating module 430 is configured to calculate a positioning position of the z-axis motor 130 according to a target position calculation formula corresponding to the target area and the working position;
it is understood that the calculating module 430 can perform the above step S22.
Optionally, the calculation module 430 may also be used for calculating the formula R n ＝(1+k n )P n +b n Calculating a positioning position of the z-axis motor 130; wherein n represents the target region, R n Is the positioning position, P, of the z-axis motor 130 n For the working position, k, to be located by the working platform 140 n And b n To compensate for the parameters.
It is understood that the calculating module 430 can also execute the step S221.
The instruction sending module 440 is configured to send a positioning instruction to the driving device 120, so that the driving device 120 drives the z-axis motor 130 to move to the positioning position according to the positioning instruction; wherein, the positioning instruction comprises the positioning position.
It is understood that the instruction sending module 440 can execute the step S23.
Optionally, the instruction sending module 440 may be further configured to send a first positioning instruction to the programmable logic controller 121, so that the programmable logic controller 121 sends a second positioning instruction to the driver 122 when receiving the first positioning instruction and determining that the printing apparatus 100 meets the positioning condition, so that the driver 122 drives the z-axis motor 130 to move to the positioning position according to the second positioning instruction; wherein the first positioning instruction and the second positioning instruction both include the positioning position.
It is understood that the instruction sending module 440 can also execute step S231.
In the positioning control apparatus provided in the embodiment of the present application, the obtaining module obtains a working position of the working platform 140 in the printing device 100, which currently needs to be positioned; the region determining module determines a target region to which the working position belongs from a plurality of preset regions, wherein each region has a corresponding position calculation formula; the calculation module calculates the positioning position of the z-axis motor 130 according to a target position calculation formula corresponding to the target area and the working position; the instruction sending module sends a positioning instruction to the driving device 120, so that the driving device 120 drives the z-axis motor 130 to move to a positioning position according to the positioning instruction; wherein, the positioning instruction comprises a positioning position. Accurate positioning of the z-axis of the printing apparatus 100 is achieved while eliminating errors that result from continuous positioning of the z-axis in one direction while the apparatus is printing parts.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the industrial personal computer 110, the computer program implements each process of the positioning control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk. In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. The positioning control method is characterized by being applied to an industrial personal computer in printing equipment, wherein the printing equipment further comprises a driving device and a z-axis motor, the industrial personal computer is electrically connected with the driving device, and the driving device is electrically connected with the z-axis motor; the method comprises the following steps:
acquiring a working position of a working platform in the printing equipment, which needs to be positioned currently;
determining a target area to which the working position belongs from a plurality of preset areas; wherein each of the regions has a corresponding position calculation formula;
calculating the positioning position of the z-axis motor according to a target position calculation formula corresponding to the target area and the working position;
the calculating the positioning position of the z-axis motor according to the target position calculation formula corresponding to the target area and the working position includes:
according to the formula
Figure 404233DEST_PATH_IMAGE001
Calculating a positioning position of the z-axis motor; wherein m represents the target area,
Figure 135428DEST_PATH_IMAGE002
for the positioning position of the z-axis motor,
Figure 128792DEST_PATH_IMAGE003
a working position which is required to be positioned for the working platform,
Figure 883121DEST_PATH_IMAGE004
and
Figure 682450DEST_PATH_IMAGE005
to compensate the parameter;
sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction; wherein, the positioning instruction comprises the positioning position.
2. The method of claim 1, wherein each of the regions has a corresponding position range, and the determining the target region to which the working position belongs from a preset plurality of regions comprises:
and determining a target position range where the working position is located, and determining a region corresponding to the target position range as a target region where the working position belongs.
3. The method of claim 1, wherein the drive device comprises a programmable logic controller and a driver, the programmable logic controller being electrically connected to the driver, the driver being electrically connected to the z-axis motor;
the sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction comprises:
sending a first positioning instruction to the programmable logic controller, so that the programmable logic controller sends a second positioning instruction to the driver under the conditions that the programmable logic controller receives the first positioning instruction and judges that the printing equipment meets the positioning condition, and the driver drives the z-axis motor to move to the positioning position according to the second positioning instruction;
wherein the first positioning instruction and the second positioning instruction both include the positioning position.
4. The method of claim 1, wherein the obtaining the work position where the work platform in the printing device needs to be currently located comprises:
acquiring a working position which needs to be positioned currently of a working platform in the printing equipment from the currently stored slice data; wherein the slicing data is previously downloaded from slicing software by the printing apparatus.
5. The positioning control device is characterized by being applied to an industrial personal computer in printing equipment, wherein the printing equipment further comprises a driving device and a z-axis motor; the device comprises:
the acquisition module is used for acquiring the current working position of a working platform in the printing equipment, which needs to be positioned;
the region determining module is used for determining a target region to which the working position belongs from a plurality of preset regions, wherein each region has a corresponding position calculation formula;
the calculation module is used for calculating the positioning position of the z-axis motor according to a target position calculation formula corresponding to the target area and the working position;
the calculation module is also used for calculating the formula
Figure 205835DEST_PATH_IMAGE006
Calculating a positioning position of the z-axis motor; wherein m represents the target area,
Figure 199461DEST_PATH_IMAGE002
for the positioning position of the z-axis motor,
Figure 441087DEST_PATH_IMAGE003
a working position for which the working platform needs to be positioned,
Figure 716210DEST_PATH_IMAGE007
and
Figure 421998DEST_PATH_IMAGE008
to compensate the parameter;
the instruction sending module is used for sending a positioning instruction to the driving device so that the driving device drives the z-axis motor to move to the positioning position according to the positioning instruction; wherein, the positioning instruction comprises the positioning position.
6. The apparatus of claim 5, wherein each of the regions has a corresponding range of positions;
the region determining module is further configured to determine a target position range where the working position is located, and determine a region corresponding to the target position range as a target region to which the working position belongs.
7. A printing device comprising an industrial personal computer which executes a computer program to implement the method of any one of claims 1 to 4.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by an industrial computer, implements the method of any one of claims 1-4.
CN202110987753.6A 2021-08-26 2021-08-26 Positioning control method, positioning control device, printing equipment and computer readable storage medium Active CN113665125B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110987753.6A CN113665125B (en) 2021-08-26 2021-08-26 Positioning control method, positioning control device, printing equipment and computer readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110987753.6A CN113665125B (en) 2021-08-26 2021-08-26 Positioning control method, positioning control device, printing equipment and computer readable storage medium

Publications (2)

Publication Number Publication Date
CN113665125A CN113665125A (en) 2021-11-19
CN113665125B true CN113665125B (en) 2022-10-11

Family

ID=78546604

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110987753.6A Active CN113665125B (en) 2021-08-26 2021-08-26 Positioning control method, positioning control device, printing equipment and computer readable storage medium

Country Status (1)

Country Link
CN (1) CN113665125B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005342806A (en) * 2004-05-31 2005-12-15 Toshiba Corp Positioning device, program scheme drawing preparation device and work machining facility
KR20160091255A (en) * 2015-01-23 2016-08-02 제록스 코포레이션 System and method for identification and control of z-axis printhead position in a three-dimensional object printer
CN107187058A (en) * 2017-06-08 2017-09-22 东莞远铸智能科技有限公司 3D printing closed loop control method, device, 3D printer and storage medium
CN108995208A (en) * 2018-08-17 2018-12-14 哈尔滨拓思科技有限公司 A kind of adjusting zero method of 3D printer
CN111037106A (en) * 2019-12-31 2020-04-21 广州新可激光设备有限公司 Z-axis motion control system and method of laser processing equipment
CN111452365A (en) * 2020-03-24 2020-07-28 慧灵科技（深圳）有限公司 Printing control method, controller, 3D printing system and storage medium

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9481133B2 (en) * 2014-12-31 2016-11-01 Makerbot Industries, Llc Passive z-axis alignment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005342806A (en) * 2004-05-31 2005-12-15 Toshiba Corp Positioning device, program scheme drawing preparation device and work machining facility
KR20160091255A (en) * 2015-01-23 2016-08-02 제록스 코포레이션 System and method for identification and control of z-axis printhead position in a three-dimensional object printer
CN107187058A (en) * 2017-06-08 2017-09-22 东莞远铸智能科技有限公司 3D printing closed loop control method, device, 3D printer and storage medium
CN108995208A (en) * 2018-08-17 2018-12-14 哈尔滨拓思科技有限公司 A kind of adjusting zero method of 3D printer
CN111037106A (en) * 2019-12-31 2020-04-21 广州新可激光设备有限公司 Z-axis motion control system and method of laser processing equipment
CN111452365A (en) * 2020-03-24 2020-07-28 慧灵科技（深圳）有限公司 Printing control method, controller, 3D printing system and storage medium

Also Published As

Publication number Publication date
CN113665125A (en) 2021-11-19

Similar Documents

Publication Publication Date Title
US10180667B2 (en) Controller-equipped machining apparatus having machining time measurement function and on-machine measurement function
EP3220219B1 (en) Setting support device, setting support method, information processing porgram and recording medium
JP5607695B2 (en) Machine tool thermal displacement compensation device
US10481566B2 (en) Machine learning device, servo control device, servo control system and machine learning method
US20160236418A1 (en) Error pattern compensation
JP6325504B2 (en) Servo control device having a function of automatically adjusting a learning controller
US20210199539A1 (en) Test device
US10481575B2 (en) Thermal compensation method and thermal compensation control system for machine tools
JP6483775B2 (en) Determining the position of moving parts of coordinate measuring machines
CN106020124B (en) Servo motor control device and collision detection method
EP2926936B1 (en) Wire electrical discharge machine having upper/lower guide thermal displacement correction function
CN109085802B (en) Control device for motor
CN109085801B (en) Control device for motor
EP2996003B1 (en) Device and method for moving an object
JP6515844B2 (en) Simulation apparatus, simulation method, control program, and recording medium
JP4973665B2 (en) Electric motor control device, output filter adjustment method, and output filter adjustment device
JP2019181610A (en) Robot system for learning by use of motor encoder and sensor
CN110268340B (en) Processing device, method and recording medium for setting control parameter
CN113665125B (en) Positioning control method, positioning control device, printing equipment and computer readable storage medium
US20210180933A1 (en) Method and Apparatus for Testing Workpieces
JP6426771B2 (en) Servo controller
CN111857051B (en) Waveform display device and waveform display method
JP3511583B2 (en) Numerical control method
KR101946705B1 (en) Electro-Hydraulic Servo System and Control Method thereof
US20240103481A1 (en) Numerical controller

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant