KR102463759B1 - Position control apparatus and method of 3d printing device - Google Patents

Abstract

An object of the present invention is to maintain a constant welding point for generating an arc even when a welding torch is tilted. According to one embodiment of the present invention, disclosed are position control apparatus and method of a 3D printing device, wherein the position control apparatus comprises a head unit providing a stacking path for performing 3D printing, an arc welding module provided to move along the stacking path and generating an arc to stack a predetermined material, a link module connecting the head unit and the arc welding module and provided to move the arc welding module, and a control unit for transmitting a control command for moving the arc welding module to the link module according to a set angle of the arc welding module.

Description

POSITION CONTROL APPARATUS AND METHOD OF 3D PRINTING DEVICE

The present invention relates to an apparatus and method for controlling the position of a welding point in a 3D printing apparatus.

In general, in the case of a 3D printing apparatus for laminating by melting a printing filler metal of a metal material with arc heat, a welding torch for generating a welding arc in the welding apparatus for printing is included.

Here, the position of the welding point where the arc of the welding torch is generated is important in terms of product production. Specifically, the position of the welding point must coincide with the center point of the WA-3D printer because product production moves along the coordinates generated by the path by CAD/CAM.

When lamination for printing is made on a plane, a certain angle (eg, 5 to 15°) must be formed to prevent the occurrence of welding spatter and the occurrence of welding defects.

On the other hand, when stacking the protrusions formed on the pillars, that is, the projections such as flanges, the welding torch should be tilted at an appropriate angle to make a state perpendicular to the pillar.

If the angle of the welding torch is displaced to create such a state, the arc generating point at the tip of the welding torch deviates from the center line of the head and the CAM coordinates change, so printing of the desired shape cannot be realized.

An object to be solved according to an embodiment of the present invention includes maintaining a constant position of a welding point where an arc is generated even when a displacement (tilting) of the welding torch occurs.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

In order to solve the above problems, the position control device of the 3D printing apparatus according to an aspect of the present invention is provided with a head unit providing a lamination path for performing the 3D printing, to move along the lamination path, An arc welding module that generates and laminates a predetermined material, a link module that connects the head part and the arc welding module, and is provided to move the arc welding module, and according to the set angle of the arc welding module, to the link module and a control unit for transmitting a control command for moving the arc welding module.

Here, the arc welding module may include an arc welding electrode including a tip positioned at a point where the predetermined material is stacked and an angle adjusting unit for adjusting a set angle of the arc welding electrode.

Here, the controller may generate a control command for moving the arc welding module so that the tip is positioned on the center line of the head part on the stacking path.

Here, the link module is located below the head part, a guide module including a rack gear extending in one direction, installed in the guide module, and a pinion gear and the pinion gear engaged with the rack gear on the inside A moving module moving in one direction of the guide module, including a servo motor for driving, and one side are coupled to one end of the moving module, the other side is coupled to the arc welding module, and a fixed frame that is moved integrally with the moving module may include

Here, the rack gear may include a first curved portion, the fixed frame may include a second curved portion, and the fixed frame may move in a circumferential direction of the rack gear.

Here, the control unit, the input unit for receiving the set angle of the arc welding module, based on the set angle, the guide module to determine the target position of the moving module in the guide module, and the moving module to the determined target position It may include a control command generator for generating a control command to move the.

Here, the positioning unit, when the set angle of the arc welding module is changed from the first angle to the second angle, the target position from the first position corresponding to the first angle to the second angle corresponding to the second angle It can be changed to 2 positions.

The position control method performed by the position control device of the 3D printing apparatus according to another aspect of the present invention comprises the steps of receiving a set angle of the arc welding module, and based on the set angle, the target position of the moving module in the guide module determining and generating a control command to move the moving module to the determined target position.

As described above, according to the embodiments and various aspects of the present invention, it is possible to reduce the occurrence of welding defects by constantly maintaining the position of the welding point where the arc is generated even when the welding torch is tilted.

It should be understood that the effects of the present invention are not limited to the above-described effects, and include all effects that can be inferred from the configuration of the invention described in the description or claims of the present invention.

1 is a perspective view showing a position control device of a 3D printing apparatus according to an embodiment of the present invention.
2 is a view showing an arc welding module of the position control device of the 3D printing apparatus according to an embodiment of the present invention.
3 is a view showing a link module of the position control device of the 3D printing apparatus according to an embodiment of the present invention.
4 is a block diagram illustrating a control unit of a position control apparatus of a 3D printing apparatus according to an embodiment of the present invention.
5 is a view showing the movement of the position control device of the 3D printing apparatus according to an embodiment of the present invention as an example.
6 is a flowchart illustrating a method for controlling a position of a 3D printing apparatus according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member interposed therebetween. "Including cases where In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

An embodiment of the present invention relates to an apparatus and method for controlling the position of a 3D printing apparatus.

1 is a perspective view showing a position control device of a 3D printing apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , the position control apparatus 10 of the 3D printing apparatus according to an embodiment of the present invention includes a head unit 100 , an arc welding module 200 , a link module 300 , a control unit 400 and a stage. part 500 .

The apparatus 10 for controlling the position of the 3D printing apparatus according to an embodiment of the present invention is a device for controlling to constantly maintain the position of the welding point where the arc is generated even when the displacement (tilting) of the welding torch occurs in the 3D printing apparatus to be.

Specifically, when the welding torch is tilted in the range of 0 to 90°, the position of the welding torch can be controlled so that the position of the center point of the head of the WA-3D and the welding point of the welding torch always coincide on the CAM coordinates. have.

The head unit 100 provides a lamination path for performing 3D printing.

For example, when the path setting software selects an optimal lamination path based on a CAD drawing of parts and products, the head unit 100 provides a lamination path, and an arc welding module 200 to be described later is provided. A predetermined material is melted and laminated along the lamination path.

Here, the stacking path means coordinates generated by CAD/CAM.

The arc welding module 200 is provided to move along a lamination path, and generates an arc to laminate a predetermined material.

In an embodiment of the present invention, the predetermined material may include a metal wire, and the metal wire includes various types of metals such as stainless steel, gold, silver, copper, titanium, and iron to meet the purpose of use of the metal 3D structure to be manufactured. It may be a material containing.

The arc welding module 200 includes an arc welding rod 210 and an angle adjustment unit 220 .

The arc electrode 210 includes a tip 211 positioned at a point where a predetermined material is deposited, and generates a welding arc.

According to an embodiment of the present invention, the arc welding electrode 210 may include a welding torch.

Specifically, the arc welding rod 210 has a structure in which a welding torch for performing arc welding is attached to a driving arm, and does not melt the metal wire at a high temperature, but uses a method that melts with a spark when the end of the wire touches the floor or output. can

The angle adjustment unit 220 adjusts the set angle of the arc welding electrode (210).

Since the arc welding electrode 210 moves along the coordinates generated by CAD/CAM, the position of the tip 211 of the arc welding electrode 210 must coincide with the center point P of the head part 100 .

When lamination for printing is performed on a plane, a certain angle (5 to 15°) must be formed to prevent the occurrence of welding spatter and the occurrence of welding defects.

If you check the shape of the arc and the movement of the metal melt drop formed by melting the metal wire, it is because if there is no working angle, a lot of spatter occurs, and the melt drop has an effect on splashing and shielding of the protective gas.

On the other hand, when stacking the protrusion formed on the pillar, that is, the protrusion such as a flange, the arc welding electrode 210 is tilted at a predetermined angle to make a state perpendicular to the pillar.

Accordingly, the angle adjusting unit 220 according to an embodiment of the present invention adjusts the angle of the arc welding electrode 210 according to a plane or a protrusion.

On the other hand, when the angle of the arc welding electrode 210 is displaced to create such a state, the arc generation point of the tip 211 of the arc welding electrode 210 deviates from the center line M of the head part 100, and the stacking path As the CAM coordinates change, printing of the desired shape cannot be realized.

To this end, the link module 300 connects the head part and the arc welding module, and is provided to move the arc welding module according to a control command of the controller 400 to be described later.

The link module 300 includes a guide module 310 , a moving module 320 , and a fixed frame 330 .

The structure of the link module 300 will be described in detail with reference to FIG. 3 below.

Here, the guide module 310 includes a first curved part 313 , the fixed frame 330 includes a second curved part 333 , and the moving module 320 is the first of the guide module 310 . As it moves along the curved part 313 , the fixed frame 330 moves along the circumferential direction of the guide module 310 .

The control unit 400 transmits a control command for moving the arc welding module 200 to the link module 300 according to the set angle of the arc welding module.

Specifically, a control command for moving the arc welding module is generated so that the tip 211 is positioned at the center line M of the head on the lamination path.

The stage unit 500 is for laminating a 3D shape object to be manufactured, and specifically includes a welding substrate, and the arc welding module 200 is connected to the link module 300 in a state where different voltages are applied to the welding substrate and the predetermined material. When moving and in contact with each other, a current according to the voltage difference flows between the welding substrate and the predetermined material. At this time, the predetermined material is melted by the heat of the generated contact resistance, and a 3D structure of a predetermined shape is formed on the stage 500. can be stacked.

2 is a view showing an arc welding module of the position control device of the 3D printing apparatus according to an embodiment of the present invention.

Referring to FIG. 2 , the arc welding module 200 of the position control device of the 3D printing apparatus according to an embodiment of the present invention includes an arc welding rod 210 , an angle adjustment unit 220 and a welding rod connection unit 230 . .

The arc electrode 210 includes a tip 211 positioned at a point where a predetermined material is deposited, and generates a welding arc.

According to an embodiment of the present invention, the arc welding electrode 210 may include a welding torch.

Specifically, the arc welding rod 210 has a structure in which a welding torch for performing arc welding is attached to a driving arm, and does not melt the metal wire at a high temperature, but uses a method that melts with a spark when the end of the wire touches the floor or output. can

The angle adjusting unit 220 adjusts the set angle of the arc welding rod 210, and adjusts the angle of the arc welding rod 210 according to the point at which the stacking for printing is made.

The welding electrode connection part 230 connects between the arc welding rod 210 and the angle adjusting part 220, and when divided into up, down, left, and right based on the arc welding electrode 210, it can be moved in the left and right directions. It may include a first adjusting unit 231 and a second adjusting unit 232 capable of moving in the up and down directions.

Specifically, the second adjustment unit 232 is provided in a structure surrounding the arc welding rod 210, according to the distance between the arc welding rod 210 and the stage unit 500, the height of the arc welding rod 210 can be adjusted. have.

3 is a view showing a link module of the position control device of the 3D printing apparatus according to an embodiment of the present invention.

Referring to FIG. 3 , the link module 300 of the position control apparatus of the 3D printing apparatus according to an embodiment of the present invention includes a guide module 310 , a moving module 320 , and a fixed frame 330 .

The guide module 310 is positioned below the head part 100 and includes a rack gear 311 extending in one direction.

Here, one direction may include a circumferential direction of the guide module 310 .

In addition, the rack gear 311, including the first curved portion 313, may be formed to be bent in the circumferential direction.

The moving module 320 is installed in the guide module 310, and includes a pinion gear 321 meshing with the rack gear 311 on the inside and a servo motor 322 for driving the pinion gear of the guide module 310. moved in one direction.

Specifically, the housing 323 of the moving module 320 is mounted on the outside of the guide module 310, and while the pinion gear 321 provided on the inside moves along the rack gear 311, the moving module 320 The guide module 310 is moved in one direction.

In addition, the movement module 320 may further include a communication module 324 for receiving a control command from the control unit 400, and based on the control command, while the servo motor 322 is driven, by a preset distance The moving module 320 is moved.

One side of the fixed frame 330 is coupled to one end of the moving module 320 , the other side is coupled to the arc welding module 200 , and is moved integrally with the moving module 300 .

The fixed frame 330 includes a second curved portion 333 , and as the moving module 320 moves along the first curved portion 313 of the guide module 310 , the fixed frame 330 is a guide It moves along the circumferential direction of the module 310 .

In addition, extending in the vertical direction of the second curved portion 333, further comprising a coupling portion 331 coupled to the arc welding module 200, the arc welding module 200 is fixed to the coupling portion (331) While remaining, it moves along the circumferential direction of the guide module 310 .

Accordingly, even if the angle is changed, the position of the tip 211 of the arc welding electrode 210 can be performed while being positioned at the central point (P) as it is.

4 is a block diagram illustrating a control unit of a position control apparatus of a 3D printing apparatus according to an embodiment of the present invention.

Referring to FIG. 4 , the controller 400 of the device for controlling the position of the 3D printing apparatus according to an embodiment of the present invention includes an input unit 410 , a position determining unit 420 , and a control command generating unit 430 .

The input unit 410 receives the set angle of the arc welding module.

Here, the set angle means an angle according to a point at which the arc welding module intends to perform lamination.

The positioning unit 420 determines the target position of the moving module in the guide module based on the set angle.

Specifically, when the set angle of the arc welding module 200 is changed from the first angle to the second angle, the target position is changed from the first position corresponding to the first angle to the second position corresponding to the second angle. .

The control command generating unit 430 generates a control command to move the moving module to the determined target position.

The control unit 400 according to an embodiment of the present invention may include at least one processor for executing a command.

In addition, the control unit 400 may further include a memory for storing the position according to the set angle, the memory is a flash memory type (flash memory type), a hard disk type (hard disk type), a multimedia card micro type (multimedia card) micro type), card type memory (e.g. SD or XD memory, etc.), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk, may include at least one type of computer-readable storage medium of an optical disk.

5 is a view showing the movement of the position control device of the 3D printing apparatus according to an embodiment of the present invention as an example.

Figure 5 (a) shows a case where the setting angle is A1 and the position of the moving module 320 is L1.

This corresponds to the case where lamination for printing is made on a plane, and the setting angle may be 5 to 15°. When the set angle is set to 5~15°, it is possible to prevent the occurrence of welding spatter and the occurrence of welding defects.

Figure 5 (b) shows a case where the setting angle is A2 and the position of the moving module 320 is L2. In this case, the setting angle may be set to 50 to 60°.

Figure 5 (c) shows a case where the setting angle is A3 and the position of the moving module 320 is L3. At this time, the set angle may be set to 95 ~ 110 °.

Here, L1, L2, and L3 may be target positions according to the set angles A1, A2, and A3, respectively.

If, while the position of the arc welding electrode 210 remains the same, if only the angle is inclined, the tip 211 of the arc welding electrode 210 will deviate from the central point P.

However, as shown in Figure 5, the position control device of the 3D printing apparatus according to an embodiment of the present invention, even if the set angle is changed to A1, A2, A3, the position of the movement module 320 is L1, L2, Since the L3 can move along the circumferential direction of the guide module 310 , the position of the tip 211 of the arc welding electrode 210 may always coincide with the center point P of the head part 100 .

6 is a flowchart illustrating a method for controlling a position of a 3D printing apparatus according to an embodiment of the present invention.

Referring to FIG. 6 , the method for controlling the position of the 3D printing apparatus according to an embodiment of the present invention is performed by the control unit 400 , and in step S100 , the control unit 400 receives the set angle of the arc welding module.

In step S120, it is determined whether the arc welding module deviates from the center line, and if the arc welding module deviates from the center line, based on the set angle in step S130, a target position of the moving module is determined in the guide module.

In step S120 , whether the center line is deviated may be confirmed by checking the coordinates on the stacking path provided by the head and the coordinates at which the tip of the arc welding electrode is located.

Thereafter, a control command is generated to move the moving module to the target position determined in step S140.

Combinations of each block in the block diagram attached to this specification and each step in the flowchart may be performed by computer program instructions. These computer program instructions may be embodied in a processor of a general-purpose computer, special-purpose computer, or other programmable data processing equipment, such that the instructions executed by the processor of the computer or other programmable data processing equipment correspond to each block in the block diagram or in the flowchart. Each step creates a means for performing the described functions. These computer program instructions may also be stored in a computer-usable or computer-readable memory that may direct a computer or other programmable data processing equipment to implement a function in a particular manner, and thus the computer-usable or computer-readable memory. The instructions stored in the block diagram may produce an article of manufacture containing instruction means for performing the functions described in each block in the block diagram or in each step in the flowchart. The computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operational steps are performed on the computer or other programmable data processing equipment to create a computer-executed process to create a computer or other programmable data processing equipment. It is also possible that instructions for performing the processing equipment provide steps for performing the functions described in each block of the block diagram and each step of the flowchart.

Further, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function(s). It should also be noted that in some alternative embodiments it is also possible for the functions recited in blocks or steps to occur out of order. For example, it is possible that two blocks or steps shown one after another may in fact be performed substantially simultaneously, or that the blocks or steps may sometimes be performed in the reverse order according to the corresponding function.

The foregoing description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

10: Position control device of the 3D printing device
100: head
200: arc welding module
300: link module
400: control unit
500: stage unit

Claims (8)

In the position control device of the 3D printing device,
a head unit providing a lamination path for performing the 3D printing;
an arc welding module including an arc welding rod provided to move along the stacking path and including a tip positioned at a point where the predetermined material is stacked to generate an arc to stack the predetermined material;
a link module connecting the head part and the arc welding module, and provided to move the arc welding module; and
When the set angle of the arc welding module is changed, it is determined whether the tip of the arc welding electrode deviates from the center line of the head part by checking the coordinates on the stacking path and the coordinates where the tip of the arc welding electrode is located, and if the arc welding electrode When the tip of the deviates from the center line, based on the set angle, a control command is generated for moving the arc welding module so that the tip is located on the center line of the head part on the stacking path, and the control command is linked to the link. Includes a control unit that transmits to the module,
The link module is, on the basis of the control command, position control device, characterized in that the arc welding module is driven to move along the circumferential direction of the link module with the tip of the arc welding electrode positioned at the center line. According to claim 1,
The arc welding module,
Position control device further comprising an angle adjusting unit for adjusting the set angle of the arc welding rod. delete 3. The method of claim 2,
The link module is
a guide module positioned below the head and including a rack gear extending in one direction;
a moving module installed in the guide module and moving in one direction of the guide module, including a pinion gear engaged with the rack gear and a servo motor for driving the pinion gear; and
A position control device comprising a fixed frame having one side coupled to one end of the moving module, the other side coupled to the arc welding module, and moving integrally with the moving module. 5. The method of claim 4,
The rack gear includes a first curved portion,
The fixed frame includes a second curved portion,
The fixed frame is a position control device, characterized in that it moves along the circumferential direction of the rack gear. 5. The method of claim 4,
The control unit is
an input unit for receiving a set angle of the arc welding module;
a positioning unit for determining a target position of the moving module in the guide module based on the set angle; and
and a control command generator configured to generate a control command to move the moving module to the determined target position. 7. The method of claim 6,
The positioning unit,
When the set angle of the arc welding module is changed from a first angle to a second angle, the target position is changed from a first position corresponding to the first angle to a second position corresponding to the second angle position control device. An arc welding electrode including a head portion providing a lamination path for 3D printing, a tip provided to move along the lamination path, and a tip positioned at a point where the predetermined material is laminated to generate an arc to stack the predetermined material In a position control method performed by a position control device of a 3D printing apparatus comprising an arc welding module comprising a, and a link module that connects the head and the arc welding module, and is provided to move the arc welding module ,
receiving a setting angle of the arc welding module;
When the set angle of the arc welding module is changed, it is determined whether the tip of the arc welding electrode deviates from the center line of the head part by checking the coordinates on the stacking path and the coordinates where the tip of the arc welding electrode is located, and if the arc welding When the tip of the arc welding rod of the module deviates from the center line, based on the set angle, the target position of the moving module in the guide module to move the arc welding module so that the tip is positioned on the center line of the head part on the stacking path determining a;
generating a control command to move the moving module to the determined target position, and transmitting the control command to the link module; and
Position control method comprising the step of driving the link module to move along the circumferential direction of the link module with the tip of the arc welding electrode positioned at the center line based on the control command.

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