A fully automated 3D printing filament winding control device and method

Abstract

This invention discloses a fully automated 3D printing filament winding control device, including a control system, a traction roller group arranged sequentially along the filament conveying direction for driving filament conveying, a floating roller component for adaptively adjusting filament tension, a tension roller for collecting the current filament tension, a filament alignment device for adjusting the filament's position upon entering the winding drum, and a winding device for driving the winding drum to rotate. This invention also provides a 3D printing filament winding control method. The device provided by this invention can effectively control tension changes during the winding process, achieving uniform filament alignment while winding the filament.

Description

Technical Field

[0001] This invention belongs to the field of additive manufacturing equipment, and particularly relates to a fully automated 3D printing filament winding control device and method. Background Technology

[0002] Tension control is crucial during automatic wire winding. As the winding diameter increases, the tension must be adjusted accordingly to ensure a smooth and even surface of the wound material. The stability of the floating roller tension control directly affects the accuracy of the winding diameter calculation. Conversely, the accuracy and stability of the winding diameter calculation also affect the oscillation of the floating roller, leading to variations in wire tension. Excessive looseness or tightness can result in uneven winding or inconsistent tension from the inside out. Most existing wire winding control methods are open-loop control, which is simple to operate but requires operators to adjust the tension based on experience and the actual tension of the winding material. This results in poor tension control responsiveness and slow system response.

[0003] Due to limitations in technology and production equipment, deviations in the outer diameter of the produced wire are unavoidable during wire production. Existing wire laying methods involve a winding shaft driving a wire laying device in reciprocating motion via a belt. The lead of the wire laying device for one revolution of the winding shaft is controlled by adjusting the friction of the friction clutch on the wire laying device. This often requires repeated manual visual inspection to determine the lead of the wire laying device, which is tedious, labor-intensive, and has low precision in lead control. The wire wound in each layer of the spool is prone to overlap and inconsistent gap sizes. If the outer diameter of the wire changes during the production process, it is difficult to achieve the desired result using the above method.

[0004] In recent years, the continuous growth of the 3D printing filament market, technological innovation, and policy support have continuously driven the development of the industry; however, high-end 3D printing filaments, especially those with thin outer diameters, hard materials, and brittle characteristics, are prone to breakage due to the difficulty in controlling tension during the winding process and the overlapping and crossing of filaments, and rely on imports.

[0005] Patent document CN221140623U discloses a 3D printing filament winding device, including a base plate. An L-shaped plate is fixedly connected to one side of the top of the base plate. The top of the L-shaped plate is provided with a winding assembly, a winding roller, a groove, and a wire fixing hole. A non-through groove is opened on one side of the L-shaped plate. A fixing assembly is provided in the inner cavity of the groove. A reciprocating moving assembly and a limiting and anti-breakage assembly are provided on the other side of the top of the base plate.

[0006] Patent document CN217350186U discloses a filament winding device for 3D printing, including a fixed base plate (7) with a fixed sleeve (6) fixedly connected to the upper surface of the fixed base plate (7), a movable plate (15) movably connected to the inner wall of the fixed sleeve (6), a movable rotating rod (11) fixedly connected to one side of the movable plate (15), a winding post (13) movably connected to one end of the movable rotating rod (11), a fixed baffle (10) fixedly connected to one side of the winding post (13), a threaded ring sleeve (12) threadedly connected to one end of the movable rotating rod (11), and a positioning strip (16) fixedly connected to one end of the movable rotating rod (11). A positioning slot (17) is provided on one side of the baffle (10). A fixed side plate (8) is fixedly connected to the upper surface of the fixed base plate (7). A pulley (14) is movably connected to one side of the fixed side plate (8). A connecting side plate (9) is fixedly connected to the upper surface of the fixed base plate (7). A motor (1) is fixedly connected to one side of the connecting side plate (9). The output shaft of the motor (1) is fixedly connected to a drive turntable (2) through a coupling. A transmission belt (3) is movably connected to one side of the drive turntable (2). A driven turntable (4) is fixedly connected to one end of the movable rotating rod (11). A fixed plate (5) is fixedly connected to one end of the movable rotating rod (11). Summary of the Invention

[0007] The purpose of this invention is to provide a fully automated 3D printing filament winding control device and method. This device can effectively control the tension changes during the winding process, so as to achieve uniform filament winding while winding the filament.

[0008] To achieve the first objective of this invention, the following technical solution is provided: a fully automated 3D printing filament winding control device, comprising a control system, and a traction roller group arranged sequentially along the filament conveying direction for driving filament conveying, a floating roller component for adaptively adjusting filament tension, a tension roller for collecting the current tension of the filament, a filament feeding device for adjusting the position of the filament entering the winding drum, and a winding device for driving the winding drum to rotate.

[0009] The traction roller group includes a pair of upper and lower traction rollers that clamp the wire and output it in one direction at a constant speed, as well as a wire diameter detector for collecting the wire diameter.

[0010] The floating roller component includes a first wire guide roller, a second wire guide roller, and a third wire guide roller arranged at the same height, as well as a floating roller disposed between the first wire guide roller and the second wire guide roller and pressing down on the wire. The floating roller is disposed on a floating roller base, and the floating roller base is also provided with a low-damping cylinder assembly for driving the floating roller base to perform lifting and lowering movements.

[0011] The tension roller is located between the second wire guide roller and the third wire guide roller to press down the wire, and the arrangement height of the tension roller is lower than that of the second wire guide roller and the third wire guide roller;

[0012] The cable laying device includes a cable laying servo slide arranged parallel to the axial direction of the winding drum. The cable laying servo slide is provided with a cable laying servo slider that is slidably engaged and a servo drive mechanism that drives the cable laying servo slider to slide. A cable laying wheel is provided on the cable laying servo slider, and the cable laying wheel is used to fix and adjust the cable.

[0013] The control system generates control parameters for the current automatic wire laying based on the diameter of the input wire and the preset gap between the wires, and inputs these parameters into the wire laying device to execute a single wire laying operation. The wire diameter detector monitors the average outer diameter of the wire per revolution of the winding drum and adjusts the wire laying parameters accordingly. The relative height of the floating roller base is adjusted based on the tension change of the current wire collected by the tension roller. The winding speed of the winding device is adjusted based on the height change of the floating roller base.

[0014] This invention monitors the tension changes during wire winding and adjusts the control parameters of the winding and laying process to achieve uniform wire laying.

[0015] Specifically, the control system includes a PLC and a touch screen for visual operation.

[0016] Specifically, the low-damping cylinder assembly includes a low-damping cylinder that drives the floating roller base to move up and down, and an electro-proportional valve and a signal converter for controlling the output of the low-damping cylinder.

[0017] The signal converter converts the control commands sent by the control system into electrical signals, and the electro-proportional valve controls the intake air pressure of the low-damping cylinder according to the electrical signals.

[0018] Specifically, the floating roller base is also equipped with a linear displacement sensor for collecting the lifting height.

[0019] Specifically, the winding device includes a winding servo driver and a winding servo motor. The winding drum is coaxially arranged with the output end of the winding servo motor, and the winding servo motor is controlled using a speed control mode.

[0020] Specifically, the expression for the speed control mode is as follows:

[0021]

[0022] E(t) = SV(t) - PV(t)

[0023] Where MV represents the output value of the winding servo motor, SV(t) is the target value of the floating roller position, PV(t) is the measured value of the floating roller position, and K... P Proportional gain, K I Integral gain, K D Differential gain.

[0024] Specifically, the cable laying device automatically lays the cable based on the outer diameter of the wire and the gap between the wires, and performs reverse cable laying after each unidirectional cable laying width is completed. The specific process is as follows:

[0025] The wire diameter detector detects the average outer diameter of the wire in real time after one revolution of the current winding drum, and sends the average outer diameter to the control system to adjust the wire laying parameters.

[0026] Specifically, the adjustment process for the cable parameters is as follows:

[0027] When the wire diameter remains constant: L=nd+(n-1)g;

[0028] When the wire diameter changes: L1=L-(d+d1+d2+…+dm)-mg;

[0029] Where L represents the width of the wire in the take-up drum, L1 represents the remaining width of the wire in the take-up drum, d represents the theoretical outer diameter of the wire, n represents the total number of turns when the wire travels in one direction with the wire diameter unchanged, g represents the gap between the wires, d1 represents the average diameter of the first turn of wire wound in the take-up drum, and dm represents the average outer diameter of the m turn of wire wound in the take-up drum.

[0030] To achieve the second objective of this invention, the following technical solution is provided: a 3D printing filament winding control method, implemented using the aforementioned fully automated 3D printing filament winding control device, comprising the following steps:

[0031] The wire is driven into the device by the traction roller group, and the diameter of the input wire is obtained by the wire diameter detector and sent to the control system.

[0032] The control system generates control parameters for the current automatic wiring based on the diameter of the input wire and the preset gap between the wires, and inputs them into the wiring device to perform a single wiring operation.

[0033] During each wire laying process, the tension roller collects the current tension change of the wire and sends it to the control system, which then sends the corresponding control command to the floating roller component.

[0034] The low-damping cylinder assembly in the floating roller component adjusts the relative height of the floating roller and the floating roller base according to the control command, and at the same time collects the height change value through the linear displacement sensor to feed back to the control system.

[0035] The control system adjusts the output value of the winding servo motor in the winding device based on the feedback height change value;

[0036] Repeat the single-winding process until the wire thickness on the winding drum meets the requirements.

[0037] Specifically, the control commands are as follows:

[0038] When the collected tension is greater than the set tension, increase the air pressure of the low-damping cylinder and lower the balance point position of the floating roller.

[0039] When the collected tension is less than the set tension, reduce the air pressure of the low-damping cylinder and adjust the balance point position of the floating roller.

[0040] The floating roller balance point position refers to the position of the floating roller base relative to the inlet pressure of the low-damping cylinder before the wire starts to be wound, so that the current wire tension is equal to the preset tension.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] A floating roller mechanism is introduced during the wire feeding process, and the speed of the winding motor is controlled by a closed loop of PID calculation. During the winding process, the tension roller simultaneously collects the current tension of the wire and feeds it back to the PLC. The PLC corrects the air pressure of the low-damping cylinder and the position of the balance point of the floating roller in real time. This is superior to simply adjusting the speed of the winding shaft by the position change of the floating roller or the tension change of the tension roller for automatic winding control. It achieves stable wire winding tension, small tension fluctuation, and improves the sensitivity of the system, solving the problem of automatic winding of hard, brittle, and thin 3D printing materials. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the 3D printing filament winding control device provided in this embodiment;

[0044] Figure 2 This is a schematic diagram of the floating roller component provided in this embodiment;

[0045] Figure 3 This is a schematic diagram illustrating the interaction between the floating roller and the wire provided in this embodiment;

[0046] Figure 4 This is a schematic diagram of the winding device provided in this embodiment;

[0047] Figure 5 This is a schematic diagram of the speed control mode of the winding device provided in this embodiment;

[0048] In the diagram, 1. Wire diameter detector; 2. Upper traction roller; 3. Lower traction roller; 4. First wire guide roller; 5. Floating roller assembly; 501. Floating roller; 502. Low-damping cylinder piston rod; 503. Low-damping cylinder; 504. Linear position sensor; 505. Linear position sensor pull rod; 506. Floating roller base; 6. Second wire guide roller; 7. Tension roller; 8. Third wire guide roller; 9. Wire laying device; 901. Wire laying servo driver; 902. Wire laying servo motor; 903. Wire laying servo slide; 904. Wire laying servo slider; 905. Wire laying servo slide lead screw; 10. Wire laying wheel; 11. Wire; 12. Rewinding device. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0050] like Figure 1 As shown, this embodiment provides a 3D printing filament winding control device, which includes a control system and, along the filament conveying direction, a filament diameter detector 1, an upper traction roller 2, a lower traction roller 3, a first filament feed roller 4, a floating roller component 5, a second filament feed roller 6, a tension roller 7, a third filament feed roller 8, a filament feeding device 9, a filament feeding wheel 10, and a winding device 12.

[0051] In this embodiment, the control system includes a PLC and a touch screen for visual operation.

[0052] The front end of the 3D printing production line prepares and shapes the filament, and outputs the filament outward through the upper traction roller 2 and the lower traction roller 3. The filament diameter detector 1 is arranged at the front end of the two traction rollers to detect the size of the outer diameter of the shaped filament in real time. The winding device 12 is located at the rear end of the 3D printing production line to automatically wind up the filament prepared at the front end. The winding device 12 mainly includes a winding servo driver and a winding servo motor. The winding servo motor adopts a speed control mode, and the speed of the motor is changed by changing the input voltage value of the motor control terminal.

[0053] The wire laying device 9 is used to automatically lay the wire 11 in the winding process according to the wire laying width on the barrel, the outer diameter of the wire, and the gap between the wires.

[0054] like Figure 2 As shown, the floating roller component 5 provided in this embodiment includes a floating roller base 506, on which a floating roller 501 is provided and a low-damping cylinder assembly that drives the floating roller base 506 to perform lifting and lowering movements.

[0055] The low-damping cylinder assembly includes a low-damping cylinder 503 and a low-damping cylinder piston rod 502 located at the bottom of the floating roller base 506, as well as an electro-proportional valve and a signal converter for controlling the output of the low-damping cylinder 503. During operation, the signal converter converts the instructions sent by the control system into electrical signals, and the electro-proportional valve controls the intake air pressure value of the low-damping cylinder according to the electrical signals.

[0056] In addition, the bottom of the floating roller base 506 is also provided with a linear position sensor 504 and a linear position sensor pull rod 505 on it. The extended end of the linear position sensor pull rod 505 is mechanically connected to the floating roller base 502 with the piston rod 502 of the low damping cylinder. The linear position sensor 504 and the low damping cylinder 503 are installed in parallel below the floating roller base 506.

[0057] The wire 11 passes through the first wire guide roller 4, the floating roller 501, and the second wire guide roller 6. The wrap angle 2φ formed by the wire 11 on both sides of the floating roller 501 is adjusted by changing the height position of the floating roller 501, thereby changing the tension of the current wire 11. The height position of the floating roller 501 when the tension of the current wire 11 equals the preset tension is taken as the balance point of the floating roller. Figure 2 The left side shows a schematic diagram where the balance point of the floating roller is at a relatively high position. Figure 2 The right side shows a schematic diagram of the floating roller's balance point being at a relatively low position. If the height of the floating roller's balance point is changed, the angle of wrap angle 2φ will also change. The higher the balance point is set, the larger the wrap angle 2φ will be, and vice versa.

[0058] like Figure 3 The diagram shown is a force analysis diagram of the moving roller provided in this embodiment. When the floating roller 501 is working, it is dynamically balanced by the weight G of the floating roller, the downward pulling force pS of the low-damping cylinder 503, and the upward pulling force T of the wire. The balance equation is: 2Tcosφ=G+pS; p is the air supply pressure of the low-damping cylinder, and S is the effective piston area of ​​the low-damping cylinder.

[0059] According to the equilibrium equation, without changing the self-weight G and the low-damping cylinder tension pS, the tension of the wire can be changed through two methods:

[0060] (a) The tension of the winding wire 11 is changed by changing the wrap angle φ. The floating roller is set to the balance position with the wrap angle φ↑, cosφ↓, and T↑; conversely, the floating roller is set to the balance position with the wrap angle φ↓, cosφ↑, and T↓.

[0061] (b) Change the intake pressure of the low-damping cylinder. If the cylinder intake pressure p↑, pS↑, T↓, then the cylinder intake pressure p↓, pS↓, T↑.

[0062] The signal converter converts the electrical signal of the position change of the linear position sensor rod 505 into an analog input signal that the PLC can recognize; the PLC analog output value is accurately converted into the air pressure p of the low-damping cylinder through the electric proportional valve; the tension roller 7 detects the current tension value of the wire 11 in real time during winding and feeds this value back to the PLC.

[0063] The tension roller 7 collects the current tension of the wire 11 in real time and feeds it back to the PLC. When the collected tension is greater than the set tension, the PLC automatically increases the air pressure p of the low-damping cylinder and lowers the position of the floating roller balance point; when the collected tension is less than the set tension, the PLC automatically decreases the air pressure p of the low-damping cylinder and raises the position of the floating roller balance point.

[0064] like Figure 4 The diagram shown is a structural schematic of the cable laying device provided in this embodiment, which mainly includes a cable laying servo driver 901, a cable laying servo motor 902, a cable laying slide 903, a cable laying servo slider 904, a cable laying servo slide lead screw 905, and a cable laying wheel 10.

[0065] The servo motor 902 is connected to the lead screw 905 of the servo slide table via a coupling. The servo motor 902 adopts the position mode controlled by the internal register. The servo wheel 10 is mounted on the servo slide table 903. The servo driver 901 drives the servo motor 902 to rotate forward and backward, so as to move the servo slide table 903 and the servo wheel 10 back and forth.

[0066] The output terminal of the position pulse signal of the winding device servo motor is connected to the input terminal corresponding to the position pulse signal of the wire laying servo motor 902. During the wire winding process, the winding servo motor sends a position signal to the wire laying servo motor 902 in real time. The position of the wire laying slide table 903 and the wire laying wheel 10 is proportional to the position sent by the winding servo motor, and they move back and forth automatically according to the wire laying parameters, so as to realize automatic wire laying during the wire winding process.

[0067] L = nd + (n-1)g;

[0068] Where L represents the width of the wire on the drum, d represents the theoretical outer diameter of the wire, g represents the gap between the wires, and n represents the total number of turns during unidirectional wire routing with the wire diameter remaining constant. During the wire routing process, the wire diameter detector detects the average outer diameter dm of the wire per revolution of the take-up drum and sends this value to the PLC. The PLC then corrects the wire routing parameters in real time: the average outer diameter dm of the wire routing parameters for the next revolution of the take-up drum and the remaining wire routing width.

[0069] L1:L1=L-(d+d1+d2+...+dm)-mg.

[0070] like Figure 5 The diagram shown is a schematic of the speed control mode of the winding device provided in this embodiment, and its expression is as follows:

[0071] The expression for PID:

[0072] Where MV represents the output value, the deviation value E(t) = SV(t) - PV(t), SV(t) represents the target value of the floating roller position, PV(t) represents the measured value of the floating roller position, and K P K represents the proportional gain. I K represents the integral gain. D The differential gain (MV) is calculated by the PLC and converted into an analog signal to control the speed of the winding servo motor. An increase in MV increases the winding motor speed, while a decrease in MV decreases the winding motor speed. When the winding speed is higher than the wire traction speed, the material between the traction end and the winding end decreases and is tightened, increasing the wire tension. The floating roller 501 deviates from its original equilibrium position and rises, decreasing the deviation value E(t) and the measured floating roller position value PV(t), thus reducing the MV output and lowering the winding motor speed. Conversely, when the winding speed is lower than the traction speed, the material between the traction end and the winding end increases, the wire slacks, and the wire tension decreases. The floating roller 501 deviates from its original equilibrium position and falls downwards, increasing the deviation value E(t) and the measured floating roller position value PV(t), thus increasing the MV output and raising the winding motor speed.

[0073] In this embodiment, the tension roller of the winding device collects the tension of the current wire in real time and feeds it back to the PLC. The PLC corrects two parameters in real time: the air pressure of the low-damping cylinder and the position of the floating roller balance point. When the collected tension is greater than the set tension, the PLC automatically increases the air pressure of the low-damping cylinder and lowers the position of the floating roller balance point. Preferably, the air supply pressure of the low-damping cylinder increases by 1% and the balance point position of the floating roller decreases by 0.01mm in each PID sampling cycle.

[0074] When the collected tension is less than the set tension, the PLC automatically reduces the air pressure of the low-damping cylinder and adjusts the position of the floating roller balance point. It is preferred that the air supply pressure of the low-damping cylinder is reduced by 1% and the balance point position of the floating roller is adjusted up by 0.01mm in each PID sampling cycle.

[0075] This embodiment also provides a 3D printing filament winding control method, which is implemented using the 3D printing filament winding control device provided in the above embodiment, and includes the following steps:

[0076] The control system generates control parameters for the current automatic wiring based on the diameter of the input wire and the preset gap between the wires, and inputs them into the wiring device to perform a single wiring operation.

[0077] During each wire laying process, the tension roller collects the current tension change of the wire and sends it to the control system. The control system then sends the corresponding control command to the floating roller component. This control command includes:

[0078] When the collected tension is greater than the set tension, increase the air pressure of the low-damping cylinder and lower the balance point position of the floating roller.

[0079] When the collected tension is less than the set tension, reduce the air pressure of the low-damping cylinder and adjust the balance point position of the floating roller.

[0080] The floating roller balance point position refers to the position of the floating roller base relative to the inlet pressure of the low-damping cylinder before the wire starts to be wound, so that the current wire tension is equal to the preset tension.

[0081] The low-damping cylinder assembly in the floating roller component adjusts the relative height of the floating roller and the floating roller base according to the control command, and at the same time collects the height change value through the linear displacement sensor to feed back to the control system.

[0082] The control system adjusts the output value of the winding servo motor in the winding device based on the feedback height change value;

[0083] Repeat the single-winding process until the wire thickness on the winding drum meets the requirements.

[0084] Furthermore, the terms "upper," "lower," "inner," "outer," "front," and "rear" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0085] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0086] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A fully automated 3D printing filament winding control device, characterized in that, It includes a control system, a traction roller group arranged sequentially along the wire conveying direction to drive the wire conveying, a floating roller component for adaptively adjusting the wire tension, a tension roller for collecting the current wire tension, a wire feeding device for adjusting the position of the wire entering the winding drum, and a winding device for driving the winding drum to rotate. The traction roller group includes a pair of upper and lower traction rollers that clamp the wire and output it in one direction at a constant speed, as well as a wire diameter detector for collecting the wire diameter. The traction roller group, the floating roller component, the tension roller, and the wire feeding device are provided with a first wire feed roller, a second wire feed roller, and a third wire feed roller arranged at the same height. The floating roller component includes a floating roller base, on which a floating roller is provided for pressing down the wire between the first wire passing roller and the second wire passing roller, and a low-damping cylinder assembly for driving the floating roller base to move up and down. The tension roller is located between the second wire guide roller and the third wire guide roller to press down the wire; The cable laying device includes a cable laying servo slide arranged parallel to the axial direction of the winding drum. The cable laying servo slide is provided with a cable laying servo slider that is slidably engaged and a servo drive mechanism that drives the cable laying servo slider to slide. A cable laying wheel is provided on the cable laying servo slider, and the cable laying wheel is used to fix and adjust the cable. The control system generates control parameters for the current automatic wire laying based on the diameter of the input wire and the preset gap between the wires, and inputs these parameters into the wire laying device to execute a single wire laying operation. The wire diameter detector monitors the average outer diameter of the wire per revolution of the winding drum and adjusts the wire laying parameters accordingly. The relative height of the floating roller base is adjusted based on the tension change of the current wire collected by the tension roller. The winding speed of the winding device is adjusted based on the height change of the floating roller base.

2. Control the servo drive mechanism according to the preset working parameters to adjust the position of the wire entering the take-up drum. At the same time, control the low-damping cylinder assembly according to the current tension data collected by the tension roller to adjust the position of the floating roller base.

3. The fully automated 3D printing filament winding control device according to claim 1, characterized in that, The low-damping cylinder assembly includes a low-damping cylinder that drives the floating roller base to move up and down, and an electro-proportional valve and a signal converter for controlling the output of the low-damping cylinder. The signal converter converts the control commands sent by the control system into electrical signals, and the electro-proportional valve controls the intake air pressure of the low-damping cylinder according to the electrical signals.

4. The fully automated 3D printing filament winding control device according to claim 2, characterized in that, The floating roller base is also equipped with a linear displacement sensor for collecting the lifting height.

5. The fully automated 3D printing filament winding control device according to claim 1, characterized in that, The winding device includes a winding servo driver and a winding servo motor. The winding drum is coaxially arranged with the output end of the winding servo motor, and the winding servo motor is controlled using a speed control mode.

6. The fully automated 3D printing filament winding control device according to claim 4, characterized in that, The expression for the speed control mode is as follows: MV=K P *E(t)+K I *E(t)* +K D *PV(t)S E(t) = SV(t) - PV(t) Where MV represents the output value of the take-up servo motor, SV(t) is the target value of the floating roller position, PV(t) is the measured value of the floating roller position, and K... P Proportional gain, K I Integral gain, K D Differential gain.

7. The fully automated 3D printing filament winding control device according to claim 1, characterized in that, The cable laying device automatically lays the cables based on the outer diameter of the cables and the gaps between the cables, and performs reverse cable laying after each unidirectional cable laying width is completed. The specific process is as follows: The wire diameter detector detects the average outer diameter of the wire in real time after the current winding drum rotates one revolution, and sends the average outer diameter to the control system to adjust the wire laying parameters.

8. The fully automated 3D printing filament winding control device according to claim 6, characterized in that, The adjustment process for the cable parameters is as follows: When the wire diameter remains constant: L = nd + (n-1)g; When the wire diameter changes: L1 = L - (d + d1 + d2 + ... + dm) - mg; Where L represents the width of the wire in the take-up drum, L1 represents the remaining width of the wire in the take-up drum, d represents the theoretical outer diameter of the wire, n represents the total number of turns when the wire travels in one direction with the wire diameter unchanged, g represents the gap between the wires, d1 represents the average diameter of the first turn of wire wound in the take-up drum, and dm represents the average outer diameter of the m turn of wire wound in the take-up drum.

9. A method for controlling the winding of 3D printing filament, characterized in that, This is achieved through the fully automated 3D printing filament winding control device as described in any one of claims 1 to 7, comprising the following steps: The wire is driven into the device by the traction roller group, and the diameter of the input wire is obtained by the wire diameter detector and sent to the control system. The control system generates control parameters for the current automatic wiring based on the diameter of the input wire and the preset gap between the wires, and inputs them into the wiring device to perform a single wiring operation. During each wire laying process, the tension roller collects the current tension change of the wire and sends it to the control system, which then sends the corresponding control command to the floating roller component. The low-damping cylinder assembly in the floating roller component adjusts the relative height of the floating roller and the floating roller base according to the control command, and at the same time collects the height change value through the linear displacement sensor to feed back to the control system. The control system adjusts the output value of the winding servo motor in the winding device based on the feedback height change value; Repeat the single-winding process until the wire thickness on the winding drum meets the requirements.

10. The 3D printing filament winding control method according to claim 8, characterized in that, The control commands are as follows: When the collected tension is greater than the set tension, increase the air pressure of the low-damping cylinder and lower the balance point position of the floating roller; When the collected tension is less than the set tension, reduce the air pressure of the low-damping cylinder and adjust the balance point position of the floating roller. The floating roller balance point position refers to the position of the floating roller base relative to the inlet pressure of the low-damping cylinder before the wire starts to be wound, so that the current wire tension is equal to the preset tension.

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