CN113976915B - Scraper control method and device - Google Patents
Scraper control method and device Download PDFInfo
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- CN113976915B CN113976915B CN202111277267.1A CN202111277267A CN113976915B CN 113976915 B CN113976915 B CN 113976915B CN 202111277267 A CN202111277267 A CN 202111277267A CN 113976915 B CN113976915 B CN 113976915B
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- force sensor
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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]
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Analytical Chemistry (AREA)
- Coating Apparatus (AREA)
- Feedback Control In General (AREA)
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 method comprises the following steps: 1) Acquiring a real-time acting force F of the scraper in the moving process; 2) Filtering the real-time acting force F; 3) Comparing the real-time acting force F after the filtering treatment with the acting force F1 of the scraper in an 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 do speed increasing and decreasing movement through the transmission system until powder laying 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 damaging parts of the scraper.
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 mode of material layer-by-layer manufacturing is added, a computer three-dimensional design model is taken as a blue book, materials are stacked layer by utilizing a high-energy beam through a software layered discrete and numerical control forming system, and finally, a solid product is manufactured through superposition forming.
Laser selective melting (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 cladding layer by layer, and 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 part with complex shape and structure which cannot be manufactured by adopting the traditional machining means is one of the main directions of the application of the laser rapid prototyping technology.
In the equipment adopting the prior art, the equipment stacks powder layer by a fixed layer thickness is realized through a scraper device, the scraper horizontally moves at a constant speed to realize powder spreading, however, tiny bulges can appear on the surface height of metal powder after the metal powder is melted by a heat source such as laser and the like, the bulges are solidified to generate acting force with the scraper in the next powder spreading process because of scraping and rubbing, the acting force is too large, the problem of forming surface damage can appear when the speed is too high, and the forming efficiency can be reduced when the speed of the scraper is reduced in the whole process in order to avoid damage of parts caused by the too high speed.
In the equipment adopting the prior art, the control system cannot directly collect the acting force of the scraper and the forming surface, cannot realize full closed-loop control, and is inconvenient to provide direct acting force reference data for the predictive maintenance and 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 damaging parts of the scraper.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a doctor blade control method, characterized by: the scraper control method comprises the following steps:
1) Acquiring a real-time acting force F of the scraper in the moving process;
2) Filtering the real-time acting force F;
3) Comparing the real-time acting force F after the filtering treatment with the acting force F1 of the scraper in an 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 do speed increasing and decreasing movement through the transmission system until powder laying is completed.
The acquiring mode in the step 1) is acquired through a force sensor, piezoelectric ceramic or a mode of cooperation of the force sensor and the piezoelectric ceramic.
The acquisition mode is that when the scraper is acquired through the force sensor, the force sensor is arranged between the scraper frame supporting seat and the scraper frame.
The above-mentioned acquisition mode is when acquireing through piezoceramics, piezoceramics sets up between scraper and scraper frame.
The acquisition mode is that when the acquisition mode is obtained through the mode of the synergistic effect of the force sensor and the piezoelectric ceramic, the force sensor is arranged between the scraper frame supporting seat and the scraper frame, and the piezoelectric ceramic is arranged between the scraper and the scraper frame.
The step 4) is specifically as follows: according to the comparison result, when F is more 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 frame with the scraper to do deceleration movement through the transmission system until powder laying is completed;
when F is smaller than F1, the motor is driven to rotate through the PID controller by the driver, the motor is driven to increase the output torque, and the motor drives the scraper frame with the scraper to do speed-increasing motion through the transmission system until powder laying is completed.
An apparatus for implementing a doctor blade control method as hereinbefore described, 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 rest and moves synchronously with the scraper rest; the scraper frame is arranged on the scraper frame supporting seat.
The scraper operation stress component 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 a piezoelectric ceramic, the piezoelectric ceramic is arranged between the scraper and the scraper frame;
when the scraper operation stress component is a force sensor and piezoelectric ceramics, the force sensor is arranged between the scraper frame supporting seat and the scraper frame, and the piezoelectric ceramics is arranged between the scraper and the scraper frame.
The piezoelectric ceramics are a plurality of, and the piezoelectric ceramics are uniformly distributed between the scraper and the 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 moving process; 2) Filtering the real-time acting force F; 3) Comparing the real-time acting force F after the filtering treatment with the acting force F1 of the scraper in an 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 do speed increasing and decreasing movement through the transmission system until powder laying is completed. The full-closed loop control is realized by the control method, and the full-closed loop control has the advantages that the resistance change of the intermediate mechanical transmission system is regulated by the PID controller, so that the ideal acting force of the scraper is not influenced, particularly, the forming time of a large part is longer, the mechanical transmission system can be abnormal due to abrasion in the forming process, the transmission resistance can be increased, but the basically constant acting force output can be kept after the control method provided by the invention is adopted; besides, under the condition of smaller working force, the scraper automatically increases 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 moving process to the controller, the controller collects acting force in real time, the upper computer can predict the state of the transmission system through data change, reference data is provided for predictive maintenance, and the closed-loop adjustment of the PID controller is realized; in addition, piezoelectric ceramics are arranged between the scraper frame and the scraper, the controller can collect acting forces of the scraper at different transverse positions, and the upper computer can identify acting forces at certain parts of different sections after layering of the formed part and adjust forming process parameters by referring to the acting forces.
Drawings
FIG. 1 is a simplified flow chart of a doctor blade control method provided by the present invention;
fig. 2 is a schematic structural view of a doctor blade control device (gantry type doctor blade) provided by the present invention;
fig. 3 is a schematic structural view of a doctor blade control device (cantilever type doctor blade) according to the present invention;
fig. 4 is a schematic diagram of the structure of the doctor blade control device (with piezoelectric ceramics added) provided by the invention;
FIG. 5 is a schematic side elevational view of FIG. 4;
wherein:
1-a scraper frame supporting seat; 2-force sensor; 3-a scraper rest; 4-scraping knife; 5-piezoelectric ceramics; 6-sliding blocks.
Detailed description of the preferred embodiments
Referring to fig. 1, the present invention provides a doctor blade control method, comprising the steps of:
1) Acquiring a real-time acting force F of the scraper in the moving process; the acquisition mode is acquired through a force sensor, piezoelectric ceramics or through the cooperation mode 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 treatment with the acting force F1 of the scraper in an 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 do speed increasing and decreasing movement through the transmission system until powder laying is completed, and the method specifically comprises the following steps: according to the comparison result, when F is more 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 frame with the scraper to do deceleration movement through the transmission system until powder laying is completed; when F is smaller than F1, the motor is driven to rotate through the PID controller by the driver, the motor is driven to increase the output torque, and the motor drives the scraper frame with the scraper to do speed-increasing motion through the transmission system until powder laying is completed.
The scraper control method provided by the invention is based on that a force sensor is arranged at the connection part of the scraper frame supporting seat and the scraper frame (or piezoelectric ceramics is arranged at the connection part of the scraper and the scraper frame) and is used for detecting the acting force of the scraper and the forming surface, controlling the running speed of the scraper according to the acting force, and solving the problem that the scraper damages parts in the powder spreading process.
As shown in fig. 1, in an ideal state, the scraper acting force F1 is generated by driving a motor to rotate by a controller, and the motor drives a scraper frame to linearly move by a transmission system, so that the scraper is rigidly connected with the scraper frame; meanwhile, a force sensor is arranged between the scraper frame and the scraper frame supporting seat or piezoelectric ceramics are arranged between the scraper frame and the scraper in a multipoint manner, in the operation process of the scraper, the scraper and the forming surface generate real-time acting force F, the force sensor detects the acting force and/or the piezoelectric ceramics output electric signals after receiving the acting force of the scraper, the electric signals are subjected to filtering treatment, and then the electric signals are fed back to the controller to carry out numerical calculation processing of a PID (proportion integration differentiation) controller, when the real-time acting force F is increased (the real-time acting force F is larger than the acting force F1 of the scraper in an ideal state), the operation speed of the scraper is reduced, the motor reduces the output torque, and the scraper is ensured to output the ideal acting force; when the real-time acting force F is reduced, the motor increases the output torque, the running speed of the scraper is improved, powder is paved at a higher speed, and the 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 rest 3 and moves synchronously with the scraper rest 3; the scraper rest 3 is arranged on the scraper rest supporting seat 1, and the scraper operation stress part is a force sensor 2 and/or piezoelectric ceramics 5.
As shown in fig. 2 and 3, when the doctor blade operation force receiving member is a force sensor 2, the force sensor 2 is disposed between the doctor blade holder support base 1 and the doctor blade holder 3; as shown in fig. 4 and 5, when the blade operation force receiving member is a piezoelectric ceramic 5, the piezoelectric ceramic 5 is disposed between the blade 4 and the blade frame 3; when the doctor blade operation force-receiving member is the force sensor 2 and the piezoelectric ceramic 5, the force sensor 2 is disposed between the doctor blade holder support base 1 and the doctor blade holder 3, and the piezoelectric ceramic 5 is disposed between the doctor blade 4 and the doctor blade holder 3. As shown in fig. 4 and 5, the piezoelectric ceramics 5 are plural, and the piezoelectric ceramics 5 are uniformly distributed between the doctor blade 4 and the doctor blade holder 3.
The invention will be described in detail below with reference to the drawings and the detailed description.
As shown in fig. 2, for the gantry type scraper, the bottom of the scraper frame supporting seat 1 is fixed on the sliding block 6, the scraper 4 is connected with the scraper frame 3, then the scraper frame 3 is fixed on the scraper frame supporting seat 1 through the force sensor 2, when the scraper 4 receives resultant force of acting forces upward and opposite to the moving direction in the powder spreading process, the force sensor 2 detects the resultant force in the two directions, the resultant force is subjected to filtering treatment and then is subjected to deviation comparison with ideal force, and the controller calculates the output torque of the motor through the PID controller.
As shown in fig. 3, for the cantilever type scraper, the scraper frame supporting seat 1 is respectively fixed on the sliding block 6, the scraper 4 and the scraper frame 3 are connected, then the scraper frame 3 is fixed on the scraper frame supporting seat 1 through the force sensor 2, when the scraper 4 receives resultant force of acting forces upward and opposite to the moving direction in the powder spreading process, the force sensor 2 detects the resultant force in the two directions, the resultant force is subjected to filtering treatment and then is subjected to deviation comparison with ideal force, and the controller calculates the output torque of the motor through the PID controller.
As shown in fig. 4, a piezoelectric ceramic 5 is installed between the doctor blade frame 3 and the doctor blade 4, when the doctor blade 4 receives the resultant force of acting forces which are upward or 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 subjected to filtering treatment and then is subjected to deviation comparison with the ideal force, and the controller controls the output torque of the motor after operation of a PID controller. This structure 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 of the scraper is increased in the powder spreading process, the running speed is increased when the resistance is reduced, and the formed surface is not scratched.
Claims (9)
1. A doctor blade control method, characterized by: the scraper control method comprises the following steps:
1) Acquiring a real-time acting force F of the scraper in the moving process;
2) Filtering the real-time acting force F;
3) Comparing the real-time acting force F after the filtering treatment with the acting force F1 of the scraper in an ideal state;
4) According to the comparison result, the PID controller drives the motor to rotate through the driver, the motor drives the scraper frame with the scraper to do speed increasing and decreasing movement through the transmission system until powder laying is completed, and the method specifically comprises the following steps:
when F is more than F1, the PID controller drives the motor to rotate through the driver to drive the motor to reduce the output torque, and the motor drives the scraper frame with the scraper to do deceleration movement through the transmission system until powder laying is completed;
when F is smaller than F1, the motor is driven to rotate through the PID controller by the driver, so that the motor is driven to increase the output torque, and the motor drives the scraper frame with the scraper to do acceleration motion through the transmission system until powder laying is completed;
the device adopted by the scraper control method comprises a scraper frame supporting seat (1), a scraper frame (3) and a scraper (4); the scraper (4) is arranged at the bottom of the scraper rest (3) and moves synchronously with the scraper rest (3); the scraper frame (3) is arranged on the scraper frame supporting seat (1).
2. The doctor blade control method according to claim 1, wherein: the acquisition mode in the step 1) is acquired through a force sensor, piezoelectric ceramic or a mode of cooperation of the force sensor and the piezoelectric ceramic.
3. The doctor blade control method according to claim 2, wherein: the acquisition mode is that when the scraper is acquired through a force sensor, the force sensor is arranged between the scraper frame supporting seat (1) and the scraper frame (3).
4. The doctor blade control method according to claim 2, wherein: the acquisition mode is that when the piezoelectric ceramic is used for acquisition, the piezoelectric ceramic is arranged between the scraper (4) and the scraper frame (3).
5. The doctor blade control method according to claim 2, wherein: the acquisition mode is that when the mode is obtained through the cooperation of a force sensor and piezoelectric ceramics, the force sensor is arranged between the scraper frame supporting seat (1) and the scraper frame (3), and the piezoelectric ceramics is arranged between the scraper (4) and the scraper frame (3).
6. An apparatus for a doctor blade control method as claimed in claim 1, characterized 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 and is used for acquiring real-time acting force F of the scraper in the moving process; the scraper (4) is arranged at the bottom of the scraper rest (3) and moves synchronously with the scraper rest (3); the scraper frame (3) is arranged on the scraper frame supporting seat (1).
7. The apparatus according to claim 6, wherein: the scraper operation stress component is a force sensor (2) and/or a piezoelectric ceramic (5).
8. The apparatus according to claim 7, wherein: when the scraper operation stress component is a force sensor (2), the force sensor (2) is arranged between the scraper frame supporting seat (1) and the scraper frame (3);
when the scraper operation stress component is a piezoelectric ceramic (5), the piezoelectric ceramic (5) is arranged between the scraper (4) and the scraper frame (3);
when the scraper operation stress component is a force sensor (2) and piezoelectric ceramics (5), the force sensor (2) is arranged between the scraper frame supporting seat (1) and the scraper frame (3), and the piezoelectric ceramics (5) is arranged between the scraper (4) and the scraper frame (3).
9. The apparatus according to claim 8, wherein: the piezoelectric ceramics (5) are a plurality of, and the piezoelectric ceramics (5) are uniformly distributed between the scraper (4) and the scraper frame (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| 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 true CN113976915B (en) | 2023-08-08 |
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| WO2018000738A1 (en) * | 2016-06-28 | 2018-01-04 | 华南理工大学 | Internally disposed automatic coating device and method based on 3d printing of precious metal |
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| CN113976915A (en) | 2022-01-28 |
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