3D printing consumable production control system and control method

Abstract

The invention discloses a 3D printing consumable production control system and a 3D printing consumable production control method, and belongs to the field of 3D printing consumable production. The extruding and cooling module is used for heating, extruding and molding the raw materials through an extruder and cooling the extruded consumables through a cooling water tank; the traction module is used for pulling the consumables through a traction machine, so that the consumables sequentially pass through the first pulley and the second pulley; the winding module is used for carrying out winding operation on the consumables through a winding machine connected with the second pulley; the consumable storage module is used for driving a first pulley with a rope storage mechanism to rotate through a motor when the traction machine stops working, so as to carry out storage operation on consumables; the automatic control module is used for automatically controlling each module to operate; and the traction force balancing unit is used for acquiring the current torque of the traction machine, monitoring the working state of the traction machine in real time and controlling the traction force to be balanced when the traction machine stops working. The traction force balance in the production process of the 3D printing supplies can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing consumables production, and in particular to a 3D printing consumables production control system and a control method. Background Art

[0002] The production of 3D printing consumables involves multiple stages, primarily including the following: 1. Raw material selection: Plastic pellets: Commonly used materials include PLA, ABS, PETG, and TPU; Additives: Such as masterbatch, reinforcements, and UV stabilizers. 2. Material pretreatment: Drying: Removes moisture to prevent bubbles during printing; Mixing: Evenly blends the plastic pellets with the additives. 3. Extrusion: The extruder heats the mixed material to a molten state; The die is used to extrude the material into a filament of the desired diameter, typically 1.75mm or 2.85mm. 4. Cooling and Stretching: Cooling: Solidifies the filament through water or air cooling; Stretching: Ensures uniform filament diameter. 5. Winding and Packaging: Winding: Winds the filament onto a spool; Packaging: Sealed to protect against moisture and dust. 6. Quality Control: Diameter testing: Ensures filament diameter meets standards; Strength testing: Tests the filament's tensile strength and toughness; Print testing: Performs actual printing to verify results. 7. Storage and Transportation: Storage: Store in a dry, cool place; Transportation: Moisture-proof and shock-proof packaging to ensure transportation safety. 8. Environmental Protection and Recycling: Waste Disposal: Recycle production waste to reduce waste; Environmentally Friendly Materials: Use biodegradable materials to reduce environmental impact.

[0003] In the production of 3D printing filaments (such as filaments), balanced traction is a critical step in ensuring uniform diameter, smooth surface, and stable mechanical properties. Unbalanced traction can lead to uneven filament stretching, diameter fluctuations, and even breakage. In existing 3D printing filament production processes, filaments are drawn through a tractor to a cooling water tank for cooling before being drawn to a winder for rewinding. Because the winder is manually operated or semi-automatically, pausing the tractor when a worker stops rewinding can lead to unbalanced traction. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a 3D printing consumables production control system and control method, which can ensure balanced traction during the production process of 3D printing consumables.

[0005] On the one hand, an embodiment of the present invention provides a 3D printing consumables production control system, comprising: a raw material processing module for adding raw materials to a raw material processing device for drying and mixing operations; an extrusion and cooling module for heating and extruding the raw materials through an extruder, and cooling the extruded consumables through a cooling water tank; a traction module for pulling the consumables through a traction machine so that the consumables pass through a first pulley and a second pulley in sequence; the second pulley is driven by the traction machine; a winding module for winding the consumables through a winding machine connected to the second pulley; a consumables storage module for storing the consumables by driving the first pulley with a rope storage mechanism to rotate by a motor when the traction machine stops working; an automation control module for automatically controlling the operation of each module; the automation control module comprises: a traction force balancing unit for obtaining the current torque of the traction machine and monitoring the working status of the traction machine in real time, and when the traction machine stops working, setting the motor torque to:

[0006] ,

[0007] in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

[0008] According to some embodiments of the present invention, the automation control module further includes: an angular acceleration unit for obtaining the angular velocity through the encoder of the motor of the traction machine, and obtaining the angular acceleration through numerical differentiation. ; Moment of inertia unit, used to preset a pre-determined moment of inertia .

[0009] According to some embodiments of the present invention, the moment of inertia unit is used to perform real-time correction of the moment of inertia based on model reference adaptive control, including: real-time measurement of the traction machine torque and angular acceleration ;

[0010] Calculate the ideal tension and actual tension estimate :

[0011] ; ;

[0012] Design parameter update law: ;in is the adaptive gain, which controls the convergence speed of the parameters; e is the tension estimation error: ;

[0013] Update the estimated moment of inertia according to the parameter update law:

[0014] ;

[0015] in To control the cycle, and are the estimated values of the moment of inertia at time t and time t-1, is the angular acceleration at time t.

[0016] According to some embodiments of the present invention, the automation control module further comprises: a radius real-time correction unit for dynamically updating the radius of the second pulley when the radius increases during the winding process of the consumables. : ;in, is the initial radius of the second pulley, N is the number of layers of wound consumables, and d is the thickness of a single layer of consumables; where N is obtained by counting encoder pulses.

[0017] According to some embodiments of the present invention, the traction force balancing unit includes a tension sensor for detecting the traction force on the consumable ; When the traction force is obtained through the tension sensor When the traction machine stops working, the motor torque is set to: .

[0018] According to some embodiments of the present invention, the winding module further includes: a winding machine working status monitoring unit, which is used to monitor the working status of the winding machine. When the working status of the winding machine is abnormal, the traction machine is controlled to stop working and the working status of the traction machine is fed back to the traction force balancing unit.

[0019] According to some embodiments of the present invention, the system further comprises: a diameter detection module for monitoring the diameter of the consumables in real time by using a laser caliper.

[0020] According to some embodiments of the present invention, the system further includes: a feedback module for adjusting the pulling speed or extrusion amount according to the consumable material diameter detection result.

[0021] According to some embodiments of the present invention, the system further comprises: a quality control module, configured to inspect surface defects of the consumables by a visual inspection system, and to test mechanical properties of the consumables by a tensile tester.

[0022] A 3D printing consumables production control system according to an embodiment of the present invention includes at least the following beneficial effects: the embodiment of the present invention obtains the current torque of the traction machine and monitors the working status of the traction machine in real time. When the traction machine stops working, the motor torque controlling the first pulley is adjusted to ensure the balance of traction force, thereby avoiding the possibility of uneven wire stretching, diameter fluctuation, or even breakage caused by unbalanced traction force.

[0023] Another embodiment of the present invention provides a 3D printing consumables production control method, comprising the following steps: S100, adding raw materials to a raw material processing device for drying and mixing operations; S200, heating and extruding the raw materials through an extruder, and cooling the extruded consumables through a cooling water tank; S300, pulling the consumables through a tractor, so that the consumables pass through a first pulley and a second pulley in sequence; the second pulley is driven by the tractor; S400, reeling the consumables through a reel connected to the second pulley; S500, when the tractor stops working, driving the first pulley with a rope storage mechanism to rotate by a motor to store the consumables; S600, obtaining the current torque of the tractor and monitoring the working status of the tractor in real time, and when the tractor stops working, setting the motor torque to:

[0024] ,

[0025] in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

[0026] A 3D printing consumables production control method according to an embodiment of the present invention includes at least the following beneficial effects: the embodiment of the present invention obtains the current torque of the traction machine and monitors the working status of the traction machine in real time. When the traction machine stops working, the motor torque controlling the first pulley is adjusted to ensure the balance of traction force, thereby avoiding the possibility of uneven wire stretching, diameter fluctuation, or even breakage caused by unbalanced traction force.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0029] Figure 1 A schematic block diagram of modules of a system according to an embodiment of the present invention;

[0030] Figure 2 Schematic diagram of a method according to an embodiment of the present invention.

[0031] Reference numerals:

[0032] Raw material processing module 100 , extrusion and cooling module 200 , traction module 300 , winding module 400 , consumables storage module 500 , automation control module 600 , and traction force balancing unit 610 . DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0034] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0035] The traction force balance during the 3D printing filament production process: The traction system controls the filament's drawing speed and tension, balancing two key forces: the extruder's thrust, which pushes the molten material out of the die to form the filament. The puller's pull, which uses rollers or belts to pull the filament at a constant speed, allowing it to cool and set. Ideally, the extrusion speed equals the pulling speed. If the pulling speed is too fast, the filament will be overstretched (thinning); if it is too slow, the filament will accumulate (thickening).

[0036] In order to solve the problem that the first pulley cannot provide the original traction force when the winder stops operating and the traction machine is paused, a 3D printing filament production control system is proposed. Figure 1 , the system of the embodiment of the present invention includes:

[0037] The raw material processing module 100 is used to add raw materials to the raw material processing device for drying and mixing operations.

[0038] The extrusion and cooling module 200 is used to heat and extrude the raw materials through an extruder, and cool the extruded consumables through a cooling water tank.

[0039] The traction module 300 is used to pull the consumables through the traction machine, so that the consumables pass through the first pulley and the second pulley in sequence; the second pulley is driven by the traction machine.

[0040] The winding module 400 is used to wind the consumables through a winding machine connected to the second pulley.

[0041] The consumable material storage module 500 is used to store consumable materials by driving the first pulley with a rope storage mechanism to rotate through a motor when the traction machine stops working.

[0042] The automation control module 600 is used to automatically control the operation of each module.

[0043] The automation control module 600 includes a traction force balancing unit 610, which is used to obtain the current torque of the traction machine and monitor the working status of the traction machine in real time. When the traction machine stops working, the motor torque is set to:

[0044] ;

[0045] in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

[0046] In some embodiments, the automation control module 600 further includes an angular acceleration unit for obtaining the angular velocity through the encoder of the motor of the traction machine and obtaining the angular acceleration through numerical differentiation. ; Moment of inertia unit, used to preset a pre-determined moment of inertia .

[0047] In some embodiments, the moment of inertia unit 630 is used to perform real-time correction of the moment of inertia based on model reference adaptive control, including: real-time measurement of the traction machine torque and angular acceleration ;

[0048] Calculate the ideal tension and actual tension estimate :

[0049] ; ;

[0050] Design parameter update law: ;in is the adaptive gain, which controls the convergence speed of the parameters; e is the tension estimation error: ;

[0051] Update the estimated moment of inertia according to the parameter update law:

[0052] ;

[0053] in To control the cycle, and are the estimated values of the moment of inertia at time t and time t-1, is the angular acceleration at time t.

[0054] In this embodiment, the core idea of Model Reference Adaptive Control (MRAC) is to drive the adaptive law to adjust the error between the design reference model (ideal dynamics) and the actual system. , so that the actual system tracks the reference model.

[0055] 1. System dynamics model:

[0056] The dynamic equation of the traction machine is: ;

[0057] Indirectly express F through the estimated values of the traction machine torque and moment of inertia: .

[0058] 2. Reference model design:

[0059] Define the ideal dynamics of the reference model (e.g., a steady-state system without inertial perturbations): ;

[0060] The actual system tension is estimated to be: .

[0061] 3. Error definition:

[0062] Tension estimation error: .

[0063] 4. Adaptive law design:

[0064] Based on Lyapunov stability theory, the parameter update law is designed: ;in is the adaptive gain, which controls the parameter convergence speed.

[0065] 5. Implementation process:

[0066] 5.1 Real-time measurement and ;

[0067] 5.2 Calculation and ;

[0068] 5.3. Update the estimated moment of inertia : , Δt is the control period.

[0069] In some embodiments, the automation control module 600 further includes: a radius real-time correction unit for dynamically updating the radius of the second pulley when the radius increases during the winding process of the consumables. : ;in, is the initial radius of the second pulley, N is the number of layers of wound consumables, and d is the thickness of a single layer of consumables; where N is obtained by counting encoder pulses.

[0070] In the embodiment of the present invention, the steps of implementing the balancing traction force include:

[0071] Parameter calibration: Measure the radius of the first pulley, the initial radius of the second pulley, the thickness of the single-layer consumables, and the moment of inertia in advance. If the moment of inertia cannot be accurately calibrated, adjust the inertia compensation coefficient through experiments.

[0072] Signal acquisition and processing: The angular velocity is acquired through the encoder of the traction machine motor and the angular acceleration is calculated; the real-time radius of the second pulley is updated according to the number of winding turns N.

[0073] Closed-loop control logic: The traction machine outputs real-time torque to the controller. The controller calculates the torque of the first pulley motor based on a formula and sends a command to the first pulley motor. If speed fluctuations are detected, the rope storage speed is adjusted to ensure line speed synchronization.

[0074] In some other embodiments, the traction balancing unit 610 includes a tension sensor for detecting the traction force on the consumables. ; When the traction force is obtained through the tension sensor When the traction machine stops working, the motor torque is set to: .

[0075] In some embodiments, the winding module 400 further includes: a winding machine working state monitoring unit for monitoring the working state of the winding machine. When the working state of the winding machine is abnormal, the traction machine is controlled to stop working and the working state of the traction machine is fed back to the traction force balancing unit.

[0076] In some embodiments, the system of the embodiment of the present invention further includes: a diameter detection module for monitoring the diameter of the consumables in real time through a laser diameter meter.

[0077] In some embodiments, the system of the embodiment of the present invention further includes: a feedback module for adjusting the pulling speed or extrusion amount according to the consumable material diameter detection result.

[0078] In some embodiments, the system of the embodiment of the present invention further includes: a quality control module, which is used to inspect the surface defects of the consumables through a visual inspection system and test the mechanical properties of the consumables through a tensile tester.

[0079] Reference Figure 2 The present invention provides a method for controlling the production of 3D printing consumables, comprising the following steps:

[0080] S100: Add raw materials to a raw material processing device for drying and mixing.

[0081] S200, heating and extruding the raw materials through the extruder, and cooling the extruded consumables through the cooling water tank.

[0082] S300: Pull the consumables by a traction machine, so that the consumables pass through the first pulley and the second pulley in sequence; the second pulley is driven by the traction machine.

[0083] S400: The consumable material is wound up by a winder connected to the second pulley.

[0084] S500: When the traction machine stops working, the first pulley with the rope storage mechanism is driven by the motor to rotate to store the consumables.

[0085] S600: Obtain the current torque of the traction machine and monitor the working status of the traction machine in real time. When the traction machine stops working, set the motor torque to:

[0086] ;

[0087] in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

[0088] Although specific embodiments are described herein, those skilled in the art will recognize that many other modifications or alternative embodiments are also within the scope of the present disclosure. For example, any of the functions and / or processing capabilities described in conjunction with a particular device or component may be performed by any other device or component. In addition, although various exemplary implementations and architectures have been described in accordance with the embodiments of the present disclosure, those skilled in the art will recognize that many other modifications to the exemplary implementations and architectures described herein are also within the scope of the present disclosure.

[0089] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0090] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above implementation mode. Technical personnel familiar with the field can also make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A 3D printing consumables production control system, characterized in that: include: a raw material processing module for adding raw materials to the raw material processing device for drying and mixing operations; Extrusion and cooling module, used to heat and extrude the raw materials through the extruder, and cool the extruded consumables through the cooling water tank; A traction module is used to pull the consumables through a traction machine, so that the consumables pass through a first pulley and a second pulley in sequence; the second pulley is driven by the traction machine; A winding module, configured to wind the consumables through a winding machine connected to the second pulley; The consumable material storage module is used to store the consumable materials by driving the first pulley with the rope storage mechanism to rotate through the motor when the traction machine stops working; Automation control module, used to automatically control the operation of each module; The automation control module includes: The traction force balancing unit is used to obtain the current torque of the traction machine and monitor the working status of the traction machine in real time. When the traction machine stops working, the motor torque is set to: ， in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

2. The 3D printing consumables production control system according to claim 1, characterized in that: The automation control module also includes: Angular acceleration unit, used to obtain angular velocity through the encoder of the traction machine's motor and obtain angular acceleration through numerical differentiation ; Moment of inertia unit for presetting pre-determined moments of inertia .

3. The 3D printing consumables production control system according to claim 2, characterized in that: The moment of inertia unit is used to perform real-time correction of the moment of inertia based on model reference adaptive control, including: Real-time measurement of traction machine torque and angular acceleration ; Calculate the ideal tension and actual tension estimate : ； ； Design parameter update law: ;in is the adaptive gain, which controls the convergence speed of the parameters; e is the tension estimation error: ; Update the estimated moment of inertia according to the parameter update law: ； in To control the cycle, and are the estimated values of the moment of inertia at time t and time t-1, is the angular acceleration at time t.

4. The 3D printing consumables production control system according to claim 1, characterized in that: The automation control module also includes: Real-time radius correction unit, used to dynamically update the radius of the second pulley when the radius increases during the winding process of consumables : ; in, is the initial radius of the second pulley, N is the number of layers of wound consumables, and d is the thickness of a single layer of consumables; where N is obtained by counting encoder pulses.

5. The 3D printing consumables production control system according to claim 1, characterized in that: The traction force balancing unit includes a tension sensor for detecting the traction force on the consumables. ; When the traction force is obtained through the tension sensor When the traction machine stops working, the motor torque is set to: .

6. The 3D printing consumables production control system according to claim 1, characterized in that: The winding module also includes: The winder working state monitoring unit is used to monitor the working state of the winder. When the working state of the winder is abnormal, the traction machine is controlled to stop working and the working state of the traction machine is fed back to the traction force balancing unit.

7. The 3D printing consumables production control system according to claim 1, characterized in that: The system further comprises: The diameter detection module is used to monitor the diameter of the consumables in real time using a laser diameter gauge.

8. The 3D printing consumables production control system according to claim 7, characterized in that: The system further comprises: Feedback module, used to adjust the pulling speed or extrusion amount according to the filament diameter detection results.

9. The 3D printing consumables production control system according to claim 1, characterized in that: The system further comprises: The quality control module is used to check the surface defects of the consumables through a visual inspection system and to test the mechanical properties of the consumables through a tensile tester.

10. A 3D printing consumables production control method, used in the system according to any one of claims 1 to 9, characterized in that: The following steps are involved: S100, adding raw materials to a raw material processing device for drying and mixing operations; S200, heating and extruding the raw materials through an extruder, and cooling the extruded consumables through a cooling water tank; S300, pulling the consumables by a traction machine, so that the consumables pass through a first pulley and a second pulley in sequence; the second pulley is driven by the traction machine; S400, performing a winding operation on the consumables by a winding machine connected to the second pulley; S500: When the traction machine stops working, the motor drives the first pulley with the rope storage mechanism to rotate to store the consumables; S600: Obtain the current torque of the traction machine and monitor the working status of the traction machine in real time. When the traction machine stops working, set the motor torque to: ， in, are the motor torque of the first pulley and the torque of the traction machine, are the first pulley radius and the second pulley radius respectively, is the moment of inertia of the second pulley and winder, is the angular acceleration of the second pulley.

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