3D printing material production control system and control method

Abstract

The application discloses a kind of 3D printing consumable production control system and control method, belong to 3D printing consumable production field, wherein system includes: raw material processing module;Extrusion and cooling module, for by extruder, raw material is heated and extruded into shape, by cooling water tank, extruded consumable is cooled;Traction module, for by traction machine, pull consumable, so that consumable sequentially pass through first pulley and second pulley;Winding module, for by winding machine connected with second pulley, consumable is wound and is operated;Consumable storage module, for when traction machine stops working, by motor drive first pulley rotation with storage mechanism, consumable is stored and is operated;Automatic control module, for automatically controlling each module operation;Traction force balance unit, for obtaining current torque of traction machine and real-time monitoring traction machine working state, when traction machine stops working, control traction force balance.The application can guarantee 3D printing consumable production process in traction force balance.

Description

Technical Field

[0001] This invention relates to the field of 3D printing consumables production technology, and in particular to a 3D printing consumables production control system and control method. Background Technology

[0002] 3D printing filament production involves multiple stages, mainly including the following: 1. Raw material selection: Plastic granules: Commonly used materials include PLA, ABS, PETG, TPU, etc.; Additives: Such as color masterbatches, reinforcing agents, UV stabilizers, etc. 2. Material pretreatment: Drying: Removing moisture to prevent air bubbles during printing; Mixing: Uniformly mixing plastic granules and additives. 3. Extrusion molding: Extruder: Heating the mixed material to a molten state; Die: Extruding the material into filament of the required diameter, typically 1.75mm or 2.85mm. 4. Cooling and stretching: Cooling: Solidifying the filament through water or air cooling; Stretching: Ensuring uniform filament diameter. 5. Winding and packaging: Winding: Winding the filament onto a spool; Packaging: Sealing for moisture and dust protection. 6. Quality control: Diameter inspection: Ensuring the filament diameter meets standards; Strength testing: Testing the tensile strength and toughness of the filament; Printing test: Actual printing to check the effect. 7. Storage and Transportation: Storage: Store in a dry, cool place; Transportation: Pack with moisture-proof and shock-proof materials to ensure safe transportation. 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 process of 3D printing consumables (such as filaments), traction balance is a crucial step in ensuring uniform diameter, smooth surface, and stable mechanical properties. Uneven traction can lead to uneven filament stretching, diameter fluctuations, and even breakage. In current 3D printing consumable production processes, the consumable is stretched by a traction machine to a cooling water tank for cooling before being stretched to a winding machine for winding. Since the winding machine is manually operated or semi-automatic, stopping the winding operation and pausing the traction machine can cause traction imbalance. Summary of the Invention

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

[0005] One embodiment of the present invention provides a 3D printing consumable 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, causing the consumables to pass sequentially through a first pulley and a second pulley; 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 consumable storage module for storing the consumables by driving a first pulley with a rope storage mechanism to rotate via a motor when the traction machine stops working; and an automation control module for automatically controlling the operation of each module; the automation control module includes: a traction force balancing unit for acquiring the current torque of the traction machine and monitoring the working status of the traction machine in real time, and setting the motor torque to:

[0006] ,

[0007] in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. Let the moment of inertia of the second pulley and the winding machine be denoted as . Let be the angular acceleration of the second pulley.

[0008] According to some embodiments of the present invention, the automated control module further includes: an angular acceleration unit, used to obtain the angular velocity through the encoder of the traction machine's motor, and obtain the angular acceleration through numerical differentiation. ; Moment of inertia unit, used to preset the 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 traction machine torque. and angular acceleration ;

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

[0011] ; ;

[0012] Design parameter update law: ;in For adaptive gain, control parameter convergence speed; e is the tension estimation error: ;

[0013] Update the estimated moment of inertia based on the parameter update law:

[0014] ;

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

[0016] According to some embodiments of the present invention, the automated control module further includes: a real-time radius correction unit, used to dynamically update the radius of the second pulley when the radius increases during the winding process of the consumable. : ;in, d is the initial radius of the second pulley, N is the number of layers of consumable material already wound up, and d is the thickness of a single layer of consumable material; where N is obtained by counting encoder pulses.

[0017] According to some embodiments of the present invention, the traction balancing unit includes a tension sensor for detecting the traction force acting on the consumable. When the traction force is obtained through the tension sensor During this time, the working status of the traction machine is monitored in real time. 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, used to monitor the working status of the winding machine, and when the working status of the winding machine is abnormal, control the traction machine to stop working and feed back the working status of the traction machine to the traction force balancing unit.

[0019] According to some embodiments of the present invention, the system further includes: a diameter detection module for real-time monitoring of the consumable diameter using a laser diameter gauge.

[0020] According to some embodiments of the present invention, the system further includes a feedback module for adjusting the traction speed or extrusion rate based on the consumable diameter detection result.

[0021] According to some embodiments of the present invention, the system further includes: a quality control module for inspecting surface defects of the consumables using a visual inspection system and for testing the mechanical properties of the consumables using a tensile tester.

[0022] The 3D printing consumable production control system of this invention has at least the following beneficial effects: By acquiring the current torque of the traction machine and monitoring 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 traction force balance, so as to avoid uneven wire stretching, diameter fluctuation, or even breakage caused by the traction force imbalance.

[0023] Another aspect of this invention provides a method for controlling the production of 3D printing consumables, comprising the following steps: S100, adding raw materials to a raw material processing device for drying and mixing; S200, heating and extruding the raw materials using an extruder, and cooling the extruded consumables using a cooling water tank; S300, pulling the consumables using a traction machine, causing the consumables to pass sequentially through a first pulley and a second pulley; the second pulley is driven by the traction machine; S400, winding the consumables using a winding machine connected to the second pulley; S500, when the traction machine stops working, rotating the first pulley equipped with a rope storage mechanism via a motor to store the consumables; S600, acquiring the current torque of the traction machine and monitoring its working status in real time, and setting the motor torque to:

[0024] ,

[0025] in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. Let the moment of inertia of the second pulley and the winding machine be denoted as . Let be the angular acceleration of the second pulley.

[0026] The 3D printing consumable production control method of this invention has at least the following beneficial effects: This 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 traction force balance, so as to avoid uneven wire stretching, diameter fluctuation, or even breakage caused by the traction force imbalance.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

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

[0030] Figure 2 This is a flowchart illustrating the method according to an embodiment of the present invention.

[0031] Figure label:

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

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

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

[0035] Traction balance in 3D printing filament production: The traction system balances two key forces by controlling the filament's stretching speed and tension: Extruder thrust: The extruder pushes molten material out of the die to form filament. Traction machine pull: The traction machine pulls the filament at a constant speed using rollers or belts, allowing it to cool and solidify. Ideally, extrusion speed = traction speed. If the traction speed is too high, the filament will be overstretched (become thinner); if it is too low, the filament will accumulate (become thicker).

[0036] To address the problem of traction imbalance caused by the extruder continuing to extrude filaments when the winding machine stops operating and the traction machine is paused, this invention proposes a 3D printing filament production control system. (Refer to...) Figure 1 The system of this 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 raw materials through an extruder and cool the extruded consumables through a cooling water tank.

[0039] The traction module 300 is used to pull 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.

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

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

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

[0043] The automation control module 600 includes: a traction balance unit 610, used to acquire the current torque of the traction machine and monitor its working status in real time; when the traction machine stops working, the motor torque is set to:

[0044] ;

[0045] in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. Let the moment of inertia of the second pulley and the winding machine be denoted as . Let be the angular acceleration of the second pulley.

[0046] In some embodiments, the automation control module 600 further includes an angular acceleration unit, used to obtain the angular velocity through the encoder of the traction machine's motor and obtain the angular acceleration through numerical differentiation. ; Moment of inertia unit, used to preset the 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 For adaptive gain, control parameter convergence speed; e is the tension estimation error: ;

[0051] Update the estimated moment of inertia based on the parameter update law:

[0052] ;

[0053] in To control the cycle, and These are the estimated values ​​of the moment of inertia at time t and time t-1, respectively. Let be 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 adjustment by designing the error between the reference model (ideal dynamics) and the actual system. This allows the actual system to track the reference model.

[0055] 1. System dynamics model:

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

[0057] F is indirectly expressed by the estimated values ​​of traction torque and moment of inertia: .

[0058] 2. Reference Model Design:

[0059] Define the ideal dynamics of the reference model (such as a steady-state system without inertial disturbances): ;

[0060] The tension estimate for the actual system is: .

[0061] 3. Error definition:

[0062] Tension estimation error: .

[0063] 4. Adaptive law design:

[0064] Based on Lyapunov stability theory, the design parameter update law is as follows: ;in For adaptive gain, control the convergence speed of parameters.

[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, used to dynamically update the radius of the second pulley when the radius increases during the winding process of the consumable. : ;in, d is the initial radius of the second pulley, N is the number of layers of consumable material already wound up, and d is the thickness of a single layer of consumable material; where N is obtained by counting encoder pulses.

[0070] In this embodiment of the invention, the steps for balancing the traction force include:

[0071] Parameter calibration: Pre-measure the radius of the first pulley, the initial radius of the second pulley, the thickness of the single-layer consumable material, and the moment of inertia; if the moment of inertia cannot be accurately calibrated, the inertia compensation coefficient can be adjusted experimentally.

[0072] Signal acquisition and processing: Angular velocity is obtained through the encoder of the traction motor, and 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 torque to the controller in real time. The controller calculates the torque of the first pulley motor according to the formula and sends a command to the first pulley motor. If speed fluctuations are detected, the rope storage speed is adjusted to ensure linear speed synchronization.

[0074] In some other embodiments, the traction balancing unit 610 includes a tension sensor for detecting the traction force acting on the consumable. When the traction force is obtained through the tension sensor During this time, the working status of the traction machine is monitored in real time. 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 status monitoring unit, used to monitor the working status of the winding machine, and when the working status of the winding machine is abnormal, control the traction machine to stop working and feed back the working status of the traction machine to the traction force balancing unit.

[0076] In some embodiments of the present invention, the system further includes a diameter detection module for real-time monitoring of the consumable diameter using a laser diameter gauge.

[0077] In some embodiments, the system of the present invention further includes a feedback module for adjusting the traction speed or extrusion rate based on the consumable diameter detection result.

[0078] In some embodiments of the present invention, the system further includes: a quality control module for inspecting surface defects of consumables using a visual inspection system and for testing the mechanical properties of consumables using a tensile tester.

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

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

[0081] S200: The raw material is heated and extruded into shape by an extruder, and the extruded consumable is cooled by a cooling water tank.

[0082] S300: The consumables are pulled by the traction machine, and 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 consumables are wound up by a winding machine connected to the second pulley.

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

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

[0086] ;

[0087] in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. Let the moment of inertia of the second pulley and the winding machine be denoted as . Let be 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 this disclosure. For example, any of the functions and / or processing capabilities described in connection with a particular device or component can be performed by any other device or component. Furthermore, while various exemplary embodiments and architectures have been described according to embodiments of this disclosure, those skilled in the art will recognize that many other modifications to the exemplary embodiments and architectures described herein are also within the scope of this disclosure.

[0089] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can 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 can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is 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 disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0090] The above is a detailed description of the preferred embodiments of this application. However, this application is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A 3D printing consumable production control system, characterized in that, include: The raw material processing module is used to add raw materials to the raw material processing device for drying and mixing operations; The extrusion and cooling module is used to heat and extrude raw materials through an extruder and cool the extruded consumables through a cooling water tank. The traction module is used to pull 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. The winding module is used to wind up consumables via a winding machine connected to the second pulley; The consumables storage module is used to store consumables by rotating a first pulley equipped with a rope storage mechanism via a motor when the traction machine stops working. The automation control module is used to automatically control the operation of each module. The automated control module includes: The traction balancing unit is used to acquire the current torque of the tractor and monitor its operating status in real time. When the tractor stops working, the motor torque is set to: ， in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. For the rotational inertia of the second pulley and the winding machine, Let be the angular acceleration of the second pulley; The angular acceleration unit is used to obtain the angular velocity from the encoder of the traction motor and to obtain the angular acceleration through numerical differentiation. ; The moment of inertia unit is used to preset the pre-measured moment of inertia. ; The moment of inertia unit is used to correct the moment of inertia in real time based on model reference adaptive control, including: Real-time measurement of traction torque and angular acceleration ; Calculate the ideal tension and actual tension estimate : ； ； Design parameter update law: ;in For adaptive gain, control parameter convergence speed; e is the tension estimation error: ; Update the estimated moment of inertia based on the parameter update law: ； in To control the cycle, and These are the estimated values ​​of the moment of inertia at time t and time t-1, respectively. Let be the angular acceleration at time t; The automated control module also includes: The real-time radius correction unit is used to dynamically update the radius of the second pulley when the radius increases during the winding process of the consumable. : ; in, d is the initial radius of the second pulley, N is the number of layers of consumable material already wound up, and d is the thickness of a single layer of consumable material; where N is obtained by counting encoder pulses.

2. The 3D printing consumable production control system according to claim 1, characterized in that, The traction force balancing unit includes a tension sensor for detecting the traction force acting on the consumable. When the traction force is obtained through the tension sensor During this time, the working status of the traction machine is monitored in real time. When the traction machine stops working, the motor torque is set to: .

3. The 3D printing consumable production control system according to claim 1, characterized in that, The winding module also includes: The winding machine working status monitoring unit is used to monitor the working status of the winding machine. When the working status of the winding machine is abnormal, it controls the traction machine to stop working and feeds back the working status of the traction machine to the traction force balance unit.

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

5. The 3D printing consumable production control system according to claim 4, characterized in that, The system also includes: The feedback module is used to adjust the traction speed or extrusion rate based on the consumable diameter detection results.

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

7. A method for controlling the production of 3D printing consumables, used in the system as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S100: Add the raw materials to the raw material processing device for drying and mixing operations; S200: The raw material is heated and extruded into shape by an extruder, and the extruded consumable is cooled by a cooling water tank; S300: The consumables are pulled by a traction machine, and the consumables pass through the first pulley and the second pulley in sequence; the second pulley is driven by the traction machine. S400: The consumables are wound up by a winding machine connected to the second pulley; S500: When the traction machine stops working, the first pulley with a rope storage mechanism is driven by the motor to rotate, so as to store consumables. S600: Obtain the current torque of the traction machine and monitor its working status in real time. When the traction machine stops working, set the motor torque to: ， in, These are the motor torque of the first pulley and the torque of the traction machine, respectively. These are the radii of the first pulley and the second pulley, respectively. Let the moment of inertia of the second pulley and the winding machine be denoted as . Let be the angular acceleration of the second pulley.

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