CN204235893U - Closed-loop control fused glass pellet high speed 3D printer - Google Patents
Closed-loop control fused glass pellet high speed 3D printer Download PDFInfo
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- CN204235893U CN204235893U CN201420415341.0U CN201420415341U CN204235893U CN 204235893 U CN204235893 U CN 204235893U CN 201420415341 U CN201420415341 U CN 201420415341U CN 204235893 U CN204235893 U CN 204235893U
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Abstract
The utility model relates to a kind of closed-loop control fused glass pellet high speed 3D printer and closed loop control method, belongs to 3D printing technique field.Described 3D printer comprises: machine frame; Print walking mechanism, be connected to described machine frame, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis prints walking mechanism; Grating module, is fixed on described machine frame and prints walking mechanism; And X-axis grating scale, be fixed on described machine frame, and be parallel to described X-axis; Y-axis grating scale, is fixed on described machine frame, and is parallel to described Y-axis; At least one end of described X and/or Y-axis grating scale is fixed to described machine frame by a grating micro actuator, and described grating micro actuator comprises a fixed block and a regulating block: described fixed block is fixedly installed on described machine frame; Described regulating block and described fixed block can be dynamically connected, and described regulating block has one further for holding the slot of described grating scale.
Description
Technical field
The utility model relates to 3D printing technique field, particularly 3D printer arrangement and 3D print control program technical field, specifically refers to a kind of closed-loop control fused glass pellet high speed 3D printer and closed loop control method.
Background technology
Fused glass pellet method (FDM, Fused Deposition Modeling) is that a kind of 3D prints conventional technique.This method is the heating head controlled by XY walking mechanism, according to profile and the filling track of each preset thickness slicing layer data of three-dimensional part model, extrude the filamentary material of fusing, if the fuse of thermoplastic, wax or metal is on substrate or the material that solidified, thus the deposition of material of fusing is solidified, so successively generate required part.
The 3D printer of existing employing fused glass pellet method, its shortcoming is, drives the motion of shower nozzle due to the relation such as structure or control, can produce certain error, when the product being applied to high-precision requirement prints, is just difficult to meet relevant technical requirement.
The mechanism that realizes of raster electron subdivide technology comprises grating scale and grating reader, and its operation principle is the Moire fringe principle of physically based deformation, as shown in Figure 1.When the strain line on grating reader becomes certain very little angle θ with the strain line on grating scale, the strain line on two gratings can cross one another.Under the irradiation of directional light, can see that the striped vertical, light and dark with grating strain line is exactly Moire fringe.
In Fig. 1, W is the width of Moire fringe, and d is the pitch of grating, then have following geometrical relationship:
When θ is very little, get sin θ ≈ θ, above formula can be similar to and be write as:
If get d=0.01mm, θ=0.01rad, then W=1mm can be obtained fom the above equation, visible, utilize Moire fringe principle, can tiny grating apart from the width that be converted into the Moire fringe being exaggerated 100 times.
When two gratings recur relative movement, Moire fringe can move along the direction vertical with grating.Two grating relative movement one pitch d, Moire fringe is corresponding movement Moire fringe width W just.When the direction of two grating scale relative movements changes, the direction of Moire fringe movement also changes thereupon.
According to Moire fringe principle, when light source is directional light, be cosine function by the luminous intensity of Moire fringe.If on the Moire fringe moving direction of grating reader, select two logical light window A and B, then can obtain the cosine function change waveform of two phase 90 degree as shown in Figure 2.
In grating reader, adopt light-sensitive element that light intensity signal is converted into the signal of telecommunication, and cosine signal is converted to pulse signal, then two groups of phase differences that can obtain as shown in Figure 2 are the pulse signal of 90 degree.Kinetic control system by detecting the pulse signal of A, B phase, can obtain true relative displacement and the direction of two gratings.
In utility application CN201310330304.X before, above-mentioned grating scale is used in and controls, in fused glass pellet high speed 3D printer, to improve its printing precision, to realize closed-loop control.But actual use in find, X-axis and Y-axis grating scale are difficult to keep vertical when mounted, and both perpendicularity slightly deviation just can have influence on printing precision.Therefore how ensureing the vertical of X-axis and Y-axis grating scale, is problem demanding prompt solution.
Utility model content
The purpose of this utility model overcomes above-mentioned shortcoming of the prior art, one is provided to utilize grating technology, improve printing precision, the technical requirement that high accuracy prints can be met, and structure is relatively simple, with low cost, implementation is simple, and range of application is closed-loop control fused glass pellet high speed 3D printer and closed loop control method quite widely.
In order to realize above-mentioned object, closed-loop control fused glass pellet high speed 3D printer of the present utility model has following formation:
Machine frame;
Print walking mechanism, be connected to described machine frame, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis prints walking mechanism;
Grating module, is fixed on described machine frame and prints walking mechanism; And
X-axis grating scale, is fixed on described machine frame, and is parallel to described X-axis;
Y-axis grating scale, is fixed on described machine frame, and is parallel to described Y-axis;
At least one end of described X and/or Y-axis grating scale is fixed to described machine frame by a grating micro actuator, and described grating micro actuator comprises a fixed block and a regulating block:
Described fixed block is fixedly installed on described machine frame;
Described regulating block and described fixed block can be dynamically connected, and described regulating block has one further for holding the slot of described grating scale.
In this closed-loop control fused glass pellet high speed 3D printer, comprise further: extrude shower nozzle, be connected to described printing walking mechanism; Driver module, connects and printing walking mechanism described in driving; Control module, for the driver module according to the print data control of setting, and compensates control according to the described error extruded between the actual displacement of shower nozzle and described print data.
In this closed-loop control fused glass pellet high speed 3D printer, described regulating block is be arranged in a screw of described fixed block further, and regulates relative position each other by a flat recess.
In this closed-loop control fused glass pellet high speed 3D printer, one extrudes nozzle connecting is connected to described printing walking mechanism, and is fixed on the described X-axis position crossing with Y-axis and can moves along described X-axis and Y-axis under the control of described driver module.
In this closed-loop control fused glass pellet high speed 3D printer, described grating module comprises: X-axis grating reader, be fixed on one end near described X-axis grating scale in described Y-axis, and can move along described X-axis grating scale with the movement of described Y-axis, and the control module described in the connection of this X-axis grating reader, read in order to coordinate described X-axis grating scale and extrude the displacement data of shower nozzle along X-axis; And Y-axis grating reader, be fixed on one end near described Y-axis grating scale in described X-axis, and can move along described Y-axis grating scale with the movement of described X-axis, and the control module described in the connection of this Y-axis grating reader, read in order to coordinate described Y-axis grating scale and extrude the displacement data of shower nozzle along Y-axis.
In this closed-loop control fused glass pellet high speed 3D printer, comprise a driver module further, described driver module connects and printing walking mechanism described in driving, described driver module comprises: X-axis motor, control module described in connection, and the shower nozzle of extruding described in driving under the control of control module moves along described X-axis; And y-axis motor, the control module described in connection, and the shower nozzle of extruding described in driving under the control of control module moves along described Y-axis.
In this closed-loop control fused glass pellet high speed 3D printer, described control module comprises compensatory control unit, described X-axis motor and y-axis motor are stepper motor, and described compensatory control unit determines the step number N' after described X-axis stepper motor and y-axis stepper motor compensation according to following formula:
Wherein, S is the distance extruding the movement of shower nozzle needs, and p is that each step of stepper motor drives the distance extruding shower nozzle movement; D is the pitch of described grating module; M is for extruding the grid number of passing by needed for shower nozzle displacement S according to print data, m is the grid number extruding the required movement of shower nozzle reality.
In this closed-loop control fused glass pellet high speed 3D printer, described printing walking mechanism is that diesis shape prints walking mechanism, this diesis shape prints walking mechanism and comprises two parallel X-axis Y-axis parallel with two, described X-axis is vertical with Y-axis, and described shower nozzle of extruding is fixed on two described X-axis position crossing with two Y-axis.
In this closed-loop control fused glass pellet high speed 3D printer, described printing walking mechanism also comprises Z axis, and described Z axis is fixed on described machine frame and perpendicular to described X-axis and Y-axis.
Make use of closed-loop control fused glass pellet high speed 3D printer and the closed loop control method of this utility model, because this 3D printer has grating module, grating scale is wherein fixed on machine frame, grating reader moves along with walking mechanism, then can obtain the accurate mechanical displacement information extruding shower nozzle.Print in walking mechanism at XY axle, by the compensation of closed-loop control, the precise motion realized for walking mechanism compensates, and improves the accuracy extruding nozzle position, thus significantly improve 3D printing precision, the technical requirement that high accuracy prints can be met, and closed-loop control fused glass pellet high speed 3D printer of the present utility model, its structure is relatively simple, with low cost, control method of the present utility model, implementation is simple, and range of application is also quite extensive.
Accompanying drawing explanation
Fig. 1 is the Moire fringe principle schematic that in prior art, grating module utilizes.
Fig. 2 is the schematic diagram of AB phase pulse signal shown in accompanying drawing 1.
Fig. 3 is the structural representation of the main apparent direction of the closed-loop control fused glass pellet high speed 3D printer of the utility model detailed description of the invention.
Fig. 4 is the structural representation in the side-looking direction of the closed-loop control fused glass pellet high speed 3D printer of the utility model detailed description of the invention.
Fig. 5 is the structural representation of the cross printing walking mechanism of the closed-loop control fused glass pellet high speed 3D printer of the utility model detailed description of the invention.
Fig. 6 is the structural representation of the Z axis assembly (comprising print platform) of the printing walking mechanism of the closed-loop control fused glass pellet high speed 3D printer of the utility model detailed description of the invention.
Fig. 7 be in the printing walking mechanism of the closed-loop control fused glass pellet high speed 3D printer of the utility model detailed description of the invention each axle by copper sheathing junction structural representation.
Fig. 8 is that the diesis shape of the employing of the utility model detailed description of the invention prints walking mechanism closed loop compensation control schematic diagram.
Fig. 9 is the control system block diagram of the 3D printer of the utility model detailed description of the invention.
Figure 10 prints the structural representation of walking mechanism for the diesis shape that adopts in the utility model detailed description of the invention.
Accompanying drawing 11 is that in the utility model detailed description of the invention, X-axis grating scale and Y-axis grating scale contrast at the coordinate system of perfect condition and twisted state.
Accompanying drawing 12 is the structural representation that the two ends of X-axis grating scale in the utility model detailed description of the invention all arrange grating micro actuator.
Accompanying drawing 13A is the structural representation of grating micro actuator in the utility model detailed description of the invention, and accompanying drawing 13B is the upward view of accompanying drawing 13A.
Detailed description of the invention
In order to more clearly understand technology contents of the present utility model, describe in detail especially exemplified by following examples.
Referring to shown in Fig. 3 and Fig. 4, is the structural representation of the closed-loop control fused glass pellet high speed 3D printer of this detailed description of the invention.
In one embodiment, this closed-loop control fused glass pellet high speed 3D printer comprises machine frame 1; Be connected to the printing walking mechanism 3 of described machine frame 1; Be connected to the print platform 2 of described printing walking mechanism 3; What be connected to described printing walking mechanism 3 extrudes shower nozzle 4; Connect and the driver module (not shown) of printing walking mechanism 3 described in driving; Be fixed on described machine frame 1 and print walking mechanism 3, and for detecting the grating module 5 of the actual displacement of extruding shower nozzle 4; And for the driver module according to the print data control of setting, and compensate the control module (not shown) of control according to the error between the described actual displacement of extruding shower nozzle 4 and described print data.
In one more preferably embodiment, described printing walking mechanism 3 as shown in Figure 5, prints walking mechanism for having orthogonal X-axis 31 with the cross of Y-axis 32, described shower nozzle 4 of extruding is fixed on described X-axis 31 and also can moves along described X-axis 31 and Y-axis 32 under the control of described driver module with the position that Y phase 32 is handed over.Described driver module comprises X-axis motor and y-axis motor, and X-axis motor and y-axis motor can adopt stepper motor, also can adopt DC servo motor or other motor be suitable for.Wherein, X-axis motor and y-axis motor are all connected described control module, shower nozzle 4 of extruding described in X-axis motor drives under the control of control module moves along described X-axis 31, and the shower nozzle 4 of extruding described in y-axis motor then drives under the control of control module moves along described Y-axis 32.Described grating module 5 comprises X-axis grating scale 51, Y-axis grating scale 52, X-axis grating reader 53 and Y-axis grating reader 54.Wherein, X-axis grating scale 51 is fixed on described machine frame 1, and is parallel to described X-axis 31; Y-axis grating scale 52 is fixed on described machine frame 1, and is parallel to described Y-axis 32; X-axis grating reader 53 is fixed on the one end near described X-axis grating scale 51 in described Y-axis 32, and can move along described X-axis grating scale 51 with the movement of described Y-axis 32, and this X-axis grating reader 53 connects described control module, read in order to coordinate described X-axis grating scale 51 and extrude the displacement data of shower nozzle 4 along X-axis 31; Y-axis grating reader 54 is fixed on the one end near described Y-axis grating scale 52 in described X-axis 31, and can move along described Y-axis grating scale 52 with the movement of described X-axis 31, and this Y-axis grating reader 54 connects described control module, read in order to coordinate described Y-axis grating scale 52 and extrude the displacement data of shower nozzle 4 along Y-axis 32.Meanwhile, described control module comprises compensatory control unit, and described X-axis motor and y-axis motor are when all adopting stepper motor, and described compensatory control unit determines the step number N' after described X-axis stepper motor and y-axis stepper motor compensation according to following formula:
Wherein, S is the distance extruding the movement of shower nozzle 4 needs, and p is that each step of stepper motor drives the distance extruding shower nozzle 4 movement; D is the pitch of described grating module 5; M is for extruding the grid number of passing by needed for shower nozzle 4 displacement S according to print data, m is the grid number extruding the actual required movement of shower nozzle 4.
In the above-described embodiment, when X-axis grating scale 51, Y-axis grating scale 52 exact vertical, build desirable rectangular coordinate system by X, Y place plane, the minimum scale of coordinate system is the pitch of grating scale.But due to the existence of machine error, be installed on the X-axis grating scale 51 of machine frame two sides, Y-axis grating scale 52 is difficult to ensure completely vertical, now rectangular coordinate system will produce rhombus distortion, thus affect net shape and the accuracy of printer model.Please refer to accompanying drawing 11 is that X-axis grating scale 51 and Y-axis grating scale 52 contrast at the coordinate system of perfect condition and twisted state.
In order to avoid above-mentioned situation occurs, this detailed description of the invention is fixed to described machine frame at least one end of described X and/or Y-axis grating scale by a grating micro actuator.Carry out describing for X-axis grating scale 51 below.It is the structural representation that the two ends of X-axis grating scale 51 all arrange grating micro actuator 121 and 122 shown in accompanying drawing 12.In other detailed description of the invention, also only grating micro actuator can be set in one end of X-axis grating scale 51.
With reference to the structural representation shown in accompanying drawing 13A being grating micro actuator 121, accompanying drawing 13B is the upward view of accompanying drawing 13A.Described grating micro actuator 121 comprises fixed block 131 and a regulating block 132.Described fixed block 131 can, by be spirally connected or the mode of clamping is fixedly installed on described machine frame 1, be affixed between the two.And for being dynamically connected between described regulating block 132 and described fixed block 131.Mode shown in accompanying drawing 13A and accompanying drawing 13AB is that described regulating block 132 is arranged in a screw of described fixed block 131, and regulates relative position each other by a flat recess 133.Described regulating block 132 has one further for holding the slot 134 of described X-axis grating scale 51.Rotate described regulating block 132 by described flat recess 133, the relative position between slot 134 and described fixed block 131 can be changed, thus regulate the position of described X-axis grating scale 51, make itself and Y-axis grating scale 52 exact vertical.Regulating block 132 also can adopt similar structure.
Also can comprise above-mentioned grating micro actuator at the two ends of Y-axis grating scale 52, thus the position of Y-axis grating scale 52 is adjusted, make itself and X-axis grating scale 51 exact vertical.
In a kind of further preferred embodiment, described printing walking mechanism 3 is diesis shape printing walking mechanism as shown in Figure 10, this diesis shape prints walking mechanism 3 and comprises two parallel X-axis 31 Y-axis 32 parallel with two, described X-axis 31 is vertical with Y-axis 32, and described shower nozzle 4 of extruding is fixed on two described X-axis 31 position crossing with two Y-axis 32.
In the preferred embodiment of one, as shown in Figure 6, described printing walking mechanism also comprises Z axis 33, described Z axis 33 is fixed on described machine frame 1 and perpendicular to described X-axis 31 and Y-axis 32, described print platform 2 is connected to described Z axis 33, and can move both vertically along described Z axis 33.
In application of the present utility model, the high-speed molten deposition modeling 3D printer that the utility model relates to comprises the printer forming room main body be made up of the integrated steel frame structure of a streamlined gap frame, backboard, front panel welding fabrication, frame structure is installed two " ten " word of X, Y and prints walking mechanism and Z axis assembly.Printer panel is installed with LCD LCD screen, rotary coding switch, SD card reader etc.Forming room bottom is integral solder electric appliance box, combines closely with working chamber, is fixed into as a whole rigid frame structure by countersunk head screw.Extrude shower nozzle to be arranged in two " ten " word axle central slider, the ball bearing or the lining that slide block are provided with rectilinear motion are combined with sliding axle as sliding bearing, efficiently reduce fit clearance." ten " word axle central slider bottom is provided with the compositions such as thermal resistance cover, annular heat block, heated nozzle and extrudes shower nozzle.
Print walking mechanism and adopt unique XY axle double cruciform shaft design, also can form sphere of movements for the elephants shape framework as shown in Figure 5 by eight optical axises further, printing nozzle is arranged in double cruciform shaft central slider, and Load Balanced is distributed in X and Y-axis.Drive motors load is comparatively balanced in such design and load is very light, and print speed is promoted." mouth " character form structure that wherein four optical axis compositions are peripheral, is respectively X power-Y sliding axis, X servo-actuated-Y sliding axis, Y power-X sliding axis, the servo-actuated-X sliding axis of Y.Two " ten " character form structure of other four optical axises composition, is respectively X sliding axis and Y sliding axis.
The operation logic that XY prints walking mechanism is: X-axis stepper motor drives " X power-Y sliding axis " rotary motion by Timing Belt, and " X power-Y sliding axis " drives " servo-actuated-Y sliding axis of X " rotary motion by Timing Belt, and slide block and both sides Timing Belt are fixed.Like this, slide block just can do rectilinear motion.Y sliding axis is fixed by two side slides, is synchronized with the movement with slide block.Such spider center slide block just can do rectilinear motion along " X sliding axis ".Formation X-direction is moved.
Same, y-axis stepper motor drives " Y power-X sliding axis " rotary motion by Timing Belt, and " Y power-X sliding axis " drives " servo-actuated-X sliding axis of Y " rotary motion by Timing Belt, and slide block and both sides Timing Belt are fixed.Like this, slide block just can do rectilinear motion.X sliding axis is fixed by two side slides, is synchronized with the movement with slide block." X sliding axis " drives spider center slide block just can do rectilinear motion along " Y sliding axis " like this.Formation Y-direction is moved.
In order to ensure that X to the parallel of Y-direction and the vertical nozzle movement making to be arranged on the slide block of spider center smooth, improve running precision, need to determine the relativeness between each power transmission shaft.
X-axis and Y-axis all adopt 42 driving stepper motor, and motor shaft and line shaft are all provided with synchronous pulley, and each synchronizing wheel gear ratio is 1:1, and adopt S2M arc-shaped gear Timing Belt, tooth pitch is 2mm.The synchronizing wheel number of teeth is .20.The step angle of stepper motor is 1.8 degree, adopts maximum 1/128 micro-stepping control circuit drives.When being set to 1/32 segmentation, can calculate the minimum resolution that X-axis and Y-axis move is:
(2×20)/(360/1.8×32)＝0.00625 mm
Namely 6.25 microns, this resolution ratio meets requirement XY motion being carried out to accurate positioning control.
The utility model is simple and reliable for structure, effectively ensure that X power-Y sliding axis, the servo-actuated-Y sliding axis of X, Y power-X sliding axis and the servo-actuated-X sliding axis of Y and the depth of parallelism between X sliding axis and Y sliding axis and perpendicularity.
In order to achieve the above object, as shown in Figure 7, a copper sheathing on Y power-X sliding axis and the servo-actuated-X sliding axis of Y overlap respectively, this copper sheathing and this axle are slidably matched, again Y sliding axis is pressed on this two copper sheathing, such Y power-X sliding axis and the axis parallel degree between the servo-actuated-X sliding axis of Y and Y sliding axis are guaranteed, the X power-Y sliding axis of the other end and X servo-actuated-Y-axis and X sliding axis are also installations like this.Two " ten " word axle adopts the tangent mode contacted of optical axis with the connected mode of " mouth " word axle, can ensure the uniformity of distance between axles like this, thus makes the flatness of XY axial cross walking mechanism be able to fine guarantee.
The Z axis part of the walking mechanism of 3D printer of the present utility model, as shown in Figure 6, forms mechanism assembly by two 12mm diameter optical axises, 12mm diameter 4mm pitch ball screw, supporting seat and a print platform.Two optical axises and screw mandrel are arranged on one piece independently on Z axis backboard by supporting seat, solve the depth of parallelism problem of (two optical axis one rhizoid bars) during Z axis three axles assemblings so well, ensure that Z axis kinematic accuracy.Z axis assembly is bolted on subrack backboard.
Control system, by detecting the pulse signal of grating module A, B phase, obtains true relative displacement and the direction of two gratings.When grating scale is fixed on machine frame, grating head is moved along with displacer, then can obtain the accurate mechanical displacement information of slide block.In XY motion, by the compensation of closed-loop control, the precise synchronization motion of slide block can be realized, fluidity of motion and accuracy are provided.
(1) detection of the direction of motion
Suppose that the phase place of A, B phase pulse is respectively
with the pulse of A phase for reference, an orientation left side is positive direction, then
If
then slide block is to left movement;
If
then slide block moves right, and detects the direction of motion of slide block with this.
(2) correction of moving displacement
For X-axis motion, if X-axis motion minimum resolution is p mm, namely stepper motor often makes a move, and slide block moves p mm.Suppose that certain motion control process need slide block displacement is S, then according to opened loop control, directly can calculate required stepper motor motion step number is:
If the pitch of grating scale is d, then the grid number of passing by needed for slide block displacement S is:
After step number N passed by by control step motor, can obtain the actual grid number m passed by of slide block by pulse count, a pitch of often passing by, umber of pulse adds 1.
Ideally, m=M, but exist due to the error of opened loop control, actual m ≠ M.
As m < M, need to increase stepper motor motion step number, correction formula is:
As m > M, need to reduce stepper motor motion step number, correction formula is:
After correction, actual grid number the m '=M passed by of slide block can be recorded, thus accurately control slide block displacement S.
(3) XY motion closed-loop control
As shown in Figure 8, in XY motion of the present utility model, " mouth " font structure requiring four optical axises to form is mutually vertical with pair " ten " word center spindle structure, to ensure that the X of kinematic system, Y-direction are for desirable vertical relation.But due to the existence of the factors such as machine error, motor desynchronizing, belt stretch, may there is not exclusively vertical situation in these two structures.
Suppose two " ten " word axle and ideal position difference angle δ, in certain motion, only control X-axis moving displacement S
x, as shown below.Due to the existence of error angle δ, the single axial movement of X-axis, by the coupling of central slider, can cause Y-axis to produce corresponding side-play amount:
Δy＝S
xgsinδ
When adopting open loop control mode, this side-play amount cannot detect, and also cannot eliminate.The introducing of closed-loop control, is made this side-play amount can be arrived by the Grating examinations of Y-axis, thus is revised in real time by closed loop control algorithm.When Y-axis carry out single axial movement cause X-axis to offset time, the grating also by X-axis carries out detecting and revising.
Like this, just can compensate the displacement error stretched due to belt, the unequal reason of electromechanics step pitch causes, thus realize the accurate control of XY motion, greatly improve the fineness of printing, uniformity and reliability.
The control system block diagram of 3D printer of the present utility model as shown in Figure 9.Need the three-dimensional modeling data that carries out printing to be converted to G code by hierarchy slicing software, then to be transmitted by USB port through print control program or directly read by SD card.Master controller mainly carries out communications protocol process, command interpretation, encoder decodes, motion control arithmetic realization, Electric Machine Control, temperature control and human-computer interactive control etc.The wherein motion of X, Y, Z Electric Machine Control three-dimensional mechanism, E1, E2 motor controls first and second wire feeders respectively.The actual position information of X, Y, Z is read by grating encoder, and feeds back to master controller, and the three-dimensional coordinate realizing closed-loop via motion control arithmetic and closed loop control algorithm is accurately located.
The temperature of nozzle is read by a K type thermocouple, is converted to the voltage signal of main controller reading through amplifier.The temperature of nozzle controls accurately to be controlled by the PID FUZZY ALGORITHMS FOR CONTROL of main controller inside.Print platform is heated by the heating plate be arranged on below platform, to improve the adhesive force of model on print platform.The temperature of print platform reads master controller by temperature sensor equally, then carries out temperature control by pid algorithm.
Refrigerating plant realizes Strength Changes by carrying out adjustment to the power supply of fan or air pump, and control signal adopts pulse width modulation (PWM) mode, produces control signal be connected to drive circuit by master controller.The temperature control algorithm of master controller inside, by the feedback of reading temperature sensor, regulates the control signal of refrigerating plant equally, thus realizes the complete closed-loop control of temperature.
Make use of closed-loop control fused glass pellet high speed 3D printer and the closed loop control method of this utility model, because this 3D printer has grating module, grating scale is wherein fixed on machine frame, grating reader moves along with walking mechanism, then can obtain the accurate mechanical displacement information extruding shower nozzle.Print in walking mechanism at XY axle, by the compensation of closed-loop control, the precise motion realized for walking mechanism compensates, and improves the accuracy extruding nozzle position, thus significantly improve 3D printing precision, the technical requirement that high accuracy prints can be met, and closed-loop control fused glass pellet high speed 3D printer of the present utility model, its structure is relatively simple, with low cost, control method of the present utility model, implementation is simple, and range of application is also quite extensive.
In this description, the utility model is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from spirit and scope of the present utility model.Therefore, description and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (7)
1. a closed-loop control fused glass pellet high speed 3D printer, it comprises:
Machine frame;
Print walking mechanism, be connected to described machine frame, described printing walking mechanism is that the cross with orthogonal X-axis and Y-axis prints walking mechanism;
Grating module, is fixed on described machine frame and prints walking mechanism; And
X-axis grating scale, is fixed on described machine frame, and is parallel to described X-axis;
Y-axis grating scale, is fixed on described machine frame, and is parallel to described Y-axis;
It is characterized in that, at least one end of described X and/or Y-axis grating scale is fixed to described machine frame by a grating micro actuator, and described grating micro actuator comprises a fixed block and a regulating block:
Described fixed block is fixedly installed on described machine frame;
Described regulating block and described fixed block can be dynamically connected, and described regulating block has one further for holding the slot of described grating scale.
2. closed-loop control fused glass pellet high speed 3D printer according to claim 1, it is characterized in that, described regulating block is be arranged in a screw of described fixed block further, and regulates relative position each other by a flat recess.
3. closed-loop control fused glass pellet high speed 3D printer according to claim 1, is characterized in that, comprise further:
Extrude shower nozzle, be connected to described printing walking mechanism;
Driver module, connect and printing walking mechanism described in driving, described driver module comprises X-axis motor and y-axis motor;
Control module, connects X-axis motor and the y-axis motor of described driver module.
4. closed-loop control fused glass pellet high speed 3D printer according to claim 3, it is characterized in that, described nozzle connecting of extruding is connected to described printing walking mechanism, and is fixed on the described X-axis position crossing with Y-axis and can moves along described X-axis and Y-axis under the control of described driver module.
5. closed-loop control fused glass pellet high speed 3D printer according to claim 3, it is characterized in that, described grating module comprises:
X-axis grating reader, be fixed on one end near described X-axis grating scale in described Y-axis, and can move along described X-axis grating scale with the movement of described Y-axis, and the control module described in the connection of this X-axis grating reader, read in order to coordinate described X-axis grating scale and extrude the displacement data of shower nozzle along X-axis; And
Y-axis grating reader, be fixed on one end near described Y-axis grating scale in described X-axis, and can move along described Y-axis grating scale with the movement of described X-axis, and the control module described in the connection of this Y-axis grating reader, read in order to coordinate described Y-axis grating scale and extrude the displacement data of shower nozzle along Y-axis.
6. closed-loop control fused glass pellet high speed 3D printer according to claim 3, it is characterized in that, described printing walking mechanism is that diesis shape prints walking mechanism, this diesis shape prints walking mechanism and comprises two parallel X-axis Y-axis parallel with two, described X-axis is vertical with Y-axis, and described shower nozzle of extruding is fixed on two described X-axis position crossing with two Y-axis.
7. closed-loop control fused glass pellet high speed 3D printer according to any one of claim 1 to 6, it is characterized in that, described printing walking mechanism also comprises Z axis, and described Z axis is fixed on described machine frame and perpendicular to described X-axis and Y-axis.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420415341.0U CN204235893U (en) | 2014-07-25 | 2014-07-25 | Closed-loop control fused glass pellet high speed 3D printer |
| US14/908,662 US20160167309A1 (en) | 2013-07-31 | 2014-07-30 | Closed-loop control fused deposition modeling high-speed 3d printer and closed-loop control method |
| PCT/CN2014/083358 WO2015014290A1 (en) | 2013-07-31 | 2014-07-30 | Closed-loop control fused deposition modeling high-speed 3d printer and closed-loop control method |
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|---|---|---|---|
| CN201420415341.0U CN204235893U (en) | 2014-07-25 | 2014-07-25 | Closed-loop control fused glass pellet high speed 3D printer |
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| CN204235893U true CN204235893U (en) | 2015-04-01 |
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| CN201420415341.0U Expired - Fee Related CN204235893U (en) | 2013-07-31 | 2014-07-25 | Closed-loop control fused glass pellet high speed 3D printer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346080A (en) * | 2015-11-13 | 2016-02-24 | 赵晓玲 | Intelligent 3D printer with accurate displacement control capability |
| CN110461530A (en) * | 2017-01-10 | 2019-11-15 | 绍尔有限公司 | Reduced by means of the material melted by laser deposition welder or be closed completely workpiece Internal periphery opening method |
-
2014
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105346080A (en) * | 2015-11-13 | 2016-02-24 | 赵晓玲 | Intelligent 3D printer with accurate displacement control capability |
| CN110461530A (en) * | 2017-01-10 | 2019-11-15 | 绍尔有限公司 | Reduced by means of the material melted by laser deposition welder or be closed completely workpiece Internal periphery opening method |
| CN110461530B (en) * | 2017-01-10 | 2021-11-05 | 绍尔有限公司 | Method for reducing or completely closing an opening of an inner contour of a workpiece by means of a material melted by a laser deposition welding device |
| US11612953B2 (en) | 2017-01-10 | 2023-03-28 | Sauer Gmbh | Method for reducing or completely closing an opening of an inner contour of a workpiece by means of a material melted by a laser deposition welding device |
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