CN113976915A - Scraper control method and device - Google Patents
Scraper control method and device Download PDFInfo
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- CN113976915A CN113976915A CN202111277267.1A CN202111277267A CN113976915A CN 113976915 A CN113976915 A CN 113976915A CN 202111277267 A CN202111277267 A CN 202111277267A CN 113976915 A CN113976915 A CN 113976915A
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- scraper
- control method
- force sensor
- frame
- motor
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- 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
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/30—Process control
- B22F10/31—Calibration of process steps or apparatus settings, e.g. before or during manufacturing
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- 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
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
- B22F10/28—Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM]
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- 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
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/80—Data acquisition or data processing
- B22F10/85—Data acquisition or data processing for controlling or regulating additive manufacturing processes
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- 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
- B22F12/60—Planarisation devices; Compression devices
- B22F12/67—Blades
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- 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
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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
- 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
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
Abstract
The invention belongs to the technical field of additive manufacturing, and relates to a scraper control method and a scraper control device, wherein the scraper control method comprises the following steps: 1) acquiring a real-time acting force F of the scraper in the movement process; 2) filtering the real-time acting force F; 3) comparing the real-time acting force F after the filtering processing with the scraper acting force F1 under the ideal state; 4) according to the comparison result, the PID controller drives the motor to rotate through the driver, and the motor drives the scraper frame with the scraper to move at an increasing and decreasing speed through the transmission system until powder spreading is completed. The invention provides a scraper control method and a scraper control device, which can control the running speed of a scraper, improve the forming efficiency and avoid the scraper from damaging parts.
Description
Technical Field
The invention belongs to the technical field of additive manufacturing, relates to a scraper control method and device, and particularly relates to a scraper control method and device for additive manufacturing equipment.
Background
The additive manufacturing technology is based on three-dimensional CAD model data, a computer three-dimensional design model is used as a bluebook in a mode of adding materials for manufacturing layer by layer, the materials are stacked layer by layer through a software layering dispersion and numerical control forming system by utilizing high-energy beams, and finally, the materials are stacked and formed to manufacture a solid product.
The SLM is a method for directly forming metal parts, and is the latest development of additive manufacturing technology. The technology is based on the most basic idea of rapid forming, namely an incremental manufacturing mode of layer-by-layer cladding, parts with specific geometric shapes are directly formed according to a three-dimensional CAD model, and metal powder is completely melted in the forming process to generate metallurgical bonding. The metal parts with complex shapes and structures, which can not be manufactured by the traditional machining means, are one of the main directions for applying the laser rapid prototyping technology.
In the prior art, powder is stacked layer by using a fixed layer thickness by using a scraper device, the scraper horizontally moves at a constant speed to spread powder, however, after the metal powder is melted by a heat source such as laser, tiny protrusions are generated on the surface height, the protrusions are solidified and then cut off and rub with the scraper in the next powder spreading process to generate acting force, the acting force is too large, the problem of forming surface damage is caused when the speed is too high, and if the speed of the scraper is reduced in the whole process, the forming efficiency is reduced.
In the equipment adopting the prior art, the control system cannot directly acquire the acting force of the scraper and the forming surface, the full-closed-loop control cannot be realized, and direct acting force reference data is inconveniently provided for the predictive maintenance and the process parameter optimization of the equipment.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a scraper control method and a scraper control device, which can control the running speed of a scraper, improve the forming efficiency and avoid the scraper from damaging parts.
In order to achieve the purpose, the invention adopts the following technical scheme:
a scraper control method is characterized in that: the scraper control method comprises the following steps:
1) acquiring a real-time acting force F of the scraper in the movement process;
2) filtering the real-time acting force F;
3) comparing the real-time acting force F after the filtering processing with the scraper acting force F1 under the ideal state;
4) according to the comparison result, the PID controller drives the motor to rotate through the driver, and the motor drives the scraper frame with the scraper to move at an increasing and decreasing speed through the transmission system until powder spreading is completed.
The obtaining mode in the step 1) is obtaining through a force sensor, obtaining through piezoelectric ceramics or obtaining through the synergistic effect of the force sensor and the piezoelectric ceramics.
The above-mentioned acquisition mode is when acquireing through force transducer, force transducer sets up between scraper frame supporting seat and scraper frame.
When the above-mentioned mode of obtaining is through piezoceramics, piezoceramics sets up between scraper and scraper frame.
Above-mentioned acquisition mode is when acquireing through force sensor and piezoceramics synergism, force sensor sets up between scraper frame supporting seat and scraper frame, piezoceramics sets up between scraper and scraper frame.
The step 4) is specifically: according to the comparison result, when F is larger than F1, the PID controller drives the motor to rotate through the driver, so that the motor reduces the output torque, and the motor drives the scraper holder with the scraper to do deceleration movement through the transmission system until powder spreading is completed;
when F is less than F1, the PID controller drives the motor to rotate through the driver, so that the motor is promoted to increase the output torque, and the motor drives the scraper holder with the scraper to do accelerated motion through the transmission system until powder spreading is completed.
A device for implementing the doctor blade control method as described above, characterized in that: the device comprises a scraper frame supporting seat, a scraper frame, a scraper and a scraper operation stress component which moves synchronously with the scraper; the scraper is arranged at the bottom of the scraper frame and moves synchronously with the scraper frame; the scraper frame is arranged on the scraper frame supporting seat.
The scraper operation stressed part is a force sensor and/or piezoelectric ceramics.
When the scraper operation stress component is a force sensor, the force sensor is arranged between the scraper frame supporting seat and the scraper frame;
when the scraper operation stress component is piezoelectric ceramic, the piezoelectric ceramic is arranged between the scraper and the scraper frame;
when scraper operation atress part is force sensor and piezoceramics, force sensor sets up between scraper frame supporting seat and scraper frame, piezoceramics sets up between scraper and scraper frame.
The piezoelectric ceramics are a plurality of, and a plurality of piezoelectric ceramics equipartitions are between scraper and scraper frame.
The invention has the advantages that:
the invention provides a scraper control method and a scraper control device, wherein the method comprises the following steps: 1) acquiring a real-time acting force F of the scraper in the movement process; 2) filtering the real-time acting force F; 3) comparing the real-time acting force F after the filtering processing with the scraper acting force F1 under the ideal state; 4) according to the comparison result, the PID controller drives the motor to rotate through the driver, and the motor drives the scraper frame with the scraper to move at an increasing and decreasing speed through the transmission system until powder spreading is completed. The full closed-loop control is realized by the control method, and the full closed-loop control method has the advantages that the change of the resistance of the intermediate mechanical transmission system is adjusted by the PID controller, so that the ideal acting force of the scraper cannot be influenced, particularly, the forming time of large parts is long, the mechanical transmission system is abnormal due to abrasion in the forming process, the transmission resistance can be increased, and the basically constant acting force output can be kept after the control method provided by the invention is adopted; in addition, when the force is small, the scraper automatically improves the running speed, so that the forming efficiency and the printing quality can be improved; secondly, a force sensor is arranged between the scraper frame and the support, the force sensor feeds back the force of the scraper in the movement process to the controller, the controller collects the acting force in real time, the upper computer can predict the state of the transmission system through data change, reference data are provided for predictive maintenance, and the closed-loop regulation of the PID controller is realized; in addition, install piezoceramics between scraper frame and scraper, the effort of horizontal different position scrapers can be gathered to the controller, and the host computer can discern the effort of the part of different cross-sections certain positions behind the shaping part layering, references the effort and carries out the adjustment of shaping technology parameter.
Drawings
FIG. 1 is a simplified flow diagram of a blade control method provided by the present invention;
FIG. 2 is a schematic structural diagram of a scraper control device provided by the invention (gantry type scraper);
FIG. 3 is a schematic structural diagram of a doctor blade control device (cantilever doctor blade) provided by the present invention;
FIG. 4 is a schematic diagram of a scraper control device (added with piezoelectric ceramics) provided by the present invention;
FIG. 5 is a side view schematic of the structure of FIG. 4;
wherein:
1-supporting seat of scraper frame; 2-a force sensor; 3-a scraper frame; 4-a scraper; 5-piezoelectric ceramics; 6-sliding block.
Detailed description of the invention
Referring to fig. 1, the present invention provides a doctor blade control method, including the steps of:
1) acquiring a real-time acting force F of the scraper in the movement process; the acquisition mode is the acquisition through a force sensor, the acquisition through piezoelectric ceramics or the acquisition through the cooperation of the force sensor and the piezoelectric ceramics.
2) Filtering the real-time acting force F;
3) comparing the real-time acting force F after the filtering processing with the scraper acting force F1 under the ideal state;
4) according to the comparison result, pass through the driver by the PID controller and drive the motor rotation, the motor drives the scraper frame that has the scraper incidentally through transmission system and does increase and decrease the speed and move, accomplishes until spreading the powder, specifically includes: according to the comparison result, when F is larger than F1, the PID controller drives the motor to rotate through the driver, so that the motor reduces the output torque, and the motor drives the scraper holder with the scraper to do deceleration movement through the transmission system until powder spreading is completed; when F is less than F1, the PID controller drives the motor to rotate through the driver, so that the motor is promoted to increase the output torque, and the motor drives the scraper holder with the scraper to do accelerated motion through the transmission system until powder spreading is completed.
The scraper control method provided by the invention is based on the fact that a force sensor is arranged at the connecting part of the scraper frame supporting seat and the scraper frame (or piezoelectric ceramics are arranged at the connecting part of the scraper and the scraper frame) and used for detecting the acting force of the scraper and the forming surface, the operation speed of the scraper is controlled according to the acting force, and the problem that the scraper damages parts in the powder spreading process is solved.
As shown in fig. 1, in an ideal state, the scraper applies force F1, the controller drives the motor to rotate through the driver, the motor drives the scraper holder to move linearly through the transmission system, and the scraper is rigidly connected with the scraper holder; meanwhile, a force sensor is arranged between the scraper frame and the scraper frame supporting seat or piezoelectric ceramics are arranged at multiple points between the scraper frame and the scraper, in the operation process of the scraper, real-time acting force F is generated between the scraper and a forming surface, the force sensor outputs an electric signal after detecting acting force and/or the piezoelectric ceramics receive the acting force of the scraper, the electric signal is subjected to filtering processing and then fed back to a controller for PID controller numerical operation processing, when the real-time acting force F is increased (the real-time acting force F is larger than the scraper acting force F1 in an ideal state), the operation speed of the scraper is reduced, the output torque of a motor is reduced, and the scraper is ensured to output ideal acting force; when real-time acting force F is reduced, the motor increases output torque, the operation speed of the scraper is increased, powder is spread at a higher speed, and printing efficiency is improved.
Meanwhile, the invention also provides a device for realizing the scraper control method, which comprises a scraper frame supporting seat 1, a scraper frame 3, a scraper 4 and a scraper operation stress component which moves synchronously with the scraper; the scraper 4 is arranged at the bottom of the scraper frame 3 and moves synchronously with the scraper frame 3; the scraper frame 3 is arranged on the scraper frame supporting seat 1, and the scraper operation stress part is a force sensor 2 and/or a piezoelectric ceramic 5.
As shown in fig. 2 and 3, when the scraper operation force-bearing component is the force sensor 2, the force sensor 2 is arranged between the scraper holder support base 1 and the scraper holder 3; as shown in fig. 4 and 5, when the scraper operation force-receiving member is the piezoelectric ceramics 5, the piezoelectric ceramics 5 is disposed between the scraper 4 and the scraper frame 3; when scraper operation atress part is force sensor 2 and piezoceramics 5, force sensor 2 sets up and scrapes between knife rest supporting seat 1 and the knife rest 3, and piezoceramics 5 sets up between scraper 4 and the knife rest 3. As shown in fig. 4 and 5, the piezoelectric ceramics 5 are plural, and the plural piezoelectric ceramics 5 are uniformly distributed between the doctor blade 4 and the doctor holder 3.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 2, for a gantry scraper, the bottom of a scraper holder supporting seat 1 is fixed on a sliding block 6, the scraper holder 3 is fixed on the scraper holder supporting seat 1 through a force sensor 2 after a scraper 4 and the scraper holder 3 are connected, when the scraper 4 is subjected to upward acting force resultant force opposite to the moving direction in the powder spreading process, the force sensor 2 detects the resultant force in two directions and then performs filtering treatment on the ideal heel force to perform deviation comparison, and a controller controls the output torque of a motor after the calculation of a PID controller.
As shown in fig. 3, for the cantilever type scraper, the scraper holder supporting seat 1 is respectively fixed on the sliding block 6, the scraper holder 3 is fixed on the scraper holder supporting seat 1 through the force sensor 2 after the scraper 4 is connected with the scraper holder 3, when the scraper 4 is subjected to upward acting force resultant force opposite to the moving direction in the powder spreading process, the force sensor 2 detects the resultant force in two directions and then carries out deviation comparison on the ideal force of the heel after filtering treatment, and the controller controls the output torque of the motor after the calculation of the PID controller.
As shown in fig. 4, the piezoelectric ceramic 5 is arranged between the scraper frame 3 and the scraper 4, when the scraper 4 is subjected to resultant force of upward acting force or acting force opposite to the moving direction in the powder spreading process, the piezoelectric ceramic 5 converts the force into an electric signal, the electric signal is filtered, then the ideal force is subjected to deviation comparison, and the controller controls the output torque of the motor after the calculation of the PID controller. This configuration can be applied to a cantilever blade as shown in fig. 2 or a gantry blade as shown in fig. 3. By the method, the running speed of the scraper is reduced when the resistance is increased in the powder paving process, the running speed is increased when the resistance is reduced, and the formed surface cannot be scratched.
Claims (10)
1. A scraper control method is characterized in that: the scraper control method comprises the following steps:
1) acquiring a real-time acting force F of the scraper in the movement process;
2) filtering the real-time acting force F;
3) comparing the real-time acting force F after the filtering processing with the scraper acting force F1 under the ideal state;
4) according to the comparison result, the PID controller drives the motor to rotate through the driver, and the motor drives the scraper frame with the scraper to move at an increasing and decreasing speed through the transmission system until powder spreading is completed.
2. The blade control method according to claim 1, characterized in that: the acquisition mode in the step 1) is acquisition by a force sensor, acquisition by piezoelectric ceramics or acquisition by a synergistic effect of the force sensor and the piezoelectric ceramics.
3. The blade control method according to claim 2, characterized in that: when the acquisition mode is through force sensor acquisition, force sensor sets up between scraper frame supporting seat (1) and scraper frame (3).
4. The blade control method according to claim 2, characterized in that: when the acquisition mode is through piezoceramics, piezoceramics sets up between scraper (4) and scraper frame (3).
5. The blade control method according to claim 2, characterized in that: the acquisition mode is when acquireing through force sensor and piezoceramics synergism, force sensor sets up and scrapes between knife rest supporting seat (1) and knife rest (3), piezoceramics sets up between scraper (4) and knife rest (3).
6. The blade control method according to claim 1 or 2 or 3 or 4 or 5, characterized in that: the step 4) is specifically as follows: according to the result of the comparison, the user can select,
when F is larger than F1, the PID controller drives the motor to rotate through the driver, so that the motor reduces the output torque, and the motor drives the scraper holder with the scraper to do deceleration movement through the transmission system until powder spreading is completed;
when F is less than F1, the PID controller drives the motor to rotate through the driver, so that the motor is promoted to increase the output torque, and the motor drives the scraper holder with the scraper to do accelerated motion through the transmission system until powder spreading is completed.
7. A device for use in a doctor blade control method according to any one of claims 1-6, characterised in that: the device comprises a scraper frame supporting seat (1), a scraper frame (3), a scraper (4) and a scraper operation stress component which moves synchronously with the scraper; the scraper (4) is arranged at the bottom of the scraper frame (3) and moves synchronously with the scraper frame (3); the scraper frame (3) is arranged on the scraper frame supporting seat (1).
8. The apparatus of claim 7, wherein: the scraper operation stressed component is a force sensor (2) and/or a piezoelectric ceramic (5).
9. The apparatus of claim 8, wherein: when the scraper operation stress part is a force sensor (2), the force sensor (2) is arranged between the scraper holder supporting seat (1) and the scraper holder (3);
when the scraper operation stress part is piezoelectric ceramics (5), the piezoelectric ceramics (5) are arranged between the scraper (4) and the scraper frame (3);
when scraper operation atress part is force sensor (2) and piezoceramics (5), force sensor (2) set up and scrape between knife rest supporting seat (1) and knife rest (3), piezoceramics (5) set up between scraper (4) and knife rest (3).
10. The apparatus of claim 9, wherein: the number of the piezoelectric ceramics (5) is multiple, and the piezoelectric ceramics (5) are uniformly distributed between the scraper (4) and the scraper frame (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111277267.1A CN113976915B (en) | 2021-10-29 | 2021-10-29 | Scraper control method and device |
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|---|---|---|---|
| CN202111277267.1A CN113976915B (en) | 2021-10-29 | 2021-10-29 | Scraper control method and device |
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| CN113976915B CN113976915B (en) | 2023-08-08 |
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| CN113976915B (en) | 2023-08-08 |
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