阅读说明：本技术 一种用于陶瓷3d打印机的铺料刮刀自适应调速控制方法 (Self-adaptive speed regulation control method for spreading scraper of ceramic 3D printer ) 是由 袁鸿 顾海 于 2019-09-24 设计创作，主要内容包括：本发明提供了一种用于陶瓷3D打印机的铺料刮刀自适应控制器及调速控制方法,通过对待打印陶瓷浆料物理参数的测量,采用自适应控制器在打印中对铺料刮刀运动速度进行优化控制,实现精益控制,可使得新铺的浆料不破坏,能够成形固相表面,且表面均匀,无肉眼可见气泡,浆料和已成形固相的边缘无肉眼可见凹陷,推动了陶瓷3D打印装备的发展。(The invention provides a self-adaptive controller of a spreading scraper and a speed regulation control method for a ceramic 3D printer, which are used for measuring physical parameters of ceramic slurry to be printed, optimally controlling the movement speed of the spreading scraper in printing by adopting the self-adaptive controller, realizing lean control, preventing the newly spread slurry from being damaged, forming the surface of a solid phase, ensuring the uniform surface, having no visible bubbles and no visible depression at the edges of the slurry and the formed solid phase, and promoting the development of ceramic 3D printing equipment.)

1. The utility model provides a stone scraper self-adaptation controller for ceramic 3D printer which characterized in that: using an adaptive controller, the formula of the adaptive controller is

2. The adaptive paving blade controller of claim 1, wherein: measuring and storing solid-liquid phase components and solid-liquid phase mass ratio B of ceramic slurry used by printer through experiments₁Storage ceramic slurry viscosity S₁Solid phase particle size D₁。

3. The adaptive paving blade controller of claim 1, wherein: measuring and storing different solid-liquid phase mass ratios B by an experimental device₁The adhesion force F between the photo-cured solid phase of the ceramic slurry and the ceramic slurry₁Internal adhesion force F with ceramic slurry₂。

4. The adaptive paving blade controller of claim 3, wherein: wherein V_k＝[C₁×F₁×S_k％+C₂×F₂×(1-S_k％)]In which C is₁、C₂The gain adjustment coefficient is k is 1, 2, …, and N is the model layering number; s_k% is the solid phase percentage of the solid phase area of each layer of model entity in the layered slice of the model to be printed in the total area of single paving of the printing platform.

5. The adaptive paving blade controller of claim 2, wherein: taking the optimal printing scraper speed of the pure photosensitive resin with the ambient temperature of 25 ℃ and the viscosity of 200cps as an empirical value, and taking the empirical value as the movement reference speed V of the ceramic printing spreading scraper₀By adaptively processing V'₀＝V₀-C₀×B₁In which C is₀Obtaining a scraper movement reference speed input quantity V 'as a gain adjustment coefficient'_O。

6. The self-adaptive speed regulation control method of the spreading scraper for the ceramic 3D printer is characterized by comprising the following steps of: comprises the following specific steps

(1) Preparation of ceramic slurry parameters

Measuring and storing solid-liquid phase component and solid-liquid phase mass ratio B of ceramic slurry used by printer₁Storage ceramic slurry viscosity S₁Solid phase particle size D₁(ii) a Experimental measurements and storage of the adhesion F between the photo-cured solid phase of different ceramic slurries and the ceramic slurry₁Internal adhesion of ceramic slurry F₂As a pre-printing preparation;

(2) obtaining a control parameter V'_O

Adopting the numerical value in the step (1), and processing V 'through self-adaption'₀＝V₀-C₀×B₁In which C is₀Obtaining a scraper movement reference speed input quantity V 'as a gain adjustment coefficient'_O；

(3) Obtaining a control parameter S_k％

Aiming at a specific printing model, after the printing software is used for layering and slicing, layering data needs to be derived, and the solid phase percentage S of the solid phase area of each layer of model entity in the layering and slicing of the model to be printed in the printing platform in the single paving total area is calculated and stored_kPercent, wherein k is 1, 2, …, N, N is the number of model layers;

(4) obtaining a parameter V_k

The formula processed by the self-adaptation is

V_k＝[C₁×F₁×S_k％+C₂×F₂×(1-S_k％)]，

Processing and calculating to obtain V1 as the speed output quantity of the scraper movement and V_kThe scraper speed of the k layer model; wherein C is₁、C₂The gain adjustment coefficient is k is 1, 2, …, and N is the model layering number;

(5) outputting to a scraper control module for printing

And (3) applying the parameters in the steps (1) to (4) to a printer control system, so that the paving speed of the paving scraper of the ceramic 3D printer can be adaptively adjusted according to the geometric structure characteristics of the model to be printed and the physical characteristics of the ceramic slurry, including viscosity and particle size, in the printing process, and the slurry to be formed can be more uniformly paved on a printing platform.

7. The adaptive speed regulation control method of a spreading blade according to claim 6, characterized in that: in the step (3), when the area of the printing platform is enough, a plurality of same or different models are printed at the same time by one-time printing, and the solid phase percentage S is calculated_k% of the total current layered solid area of all models to be printed.

Technical Field

The invention belongs to the field of design of a 3D printer control system, and particularly relates to a material spreading scraper adaptive speed regulation control method for a ceramic 3D printer.

Background

The ceramic 3D printer usually adopts SLA or DLP photocuring forming technology, most printing equipment is reformed by photosensitive resin forming equipment at present, the physical properties of ceramic slurry and photosensitive resin are different, the problems such as uneven paving and discontinuous feeding cannot be thoroughly solved by simple reforming, and especially once the speed of a paving scraper is set, a constant value is usually kept in the whole printing forming process and cannot be changed; the solid areas of each layer of the shaped mold are different, resulting in a difference between the cured and uncured portions and the ceramic slurryThe adhesion of the blade is always changing, while the blade is moving with a constant speed and the thrust F is constant₀The condition can directly influence the evenness of the paving material, and even the new slurry tears the formed model when the paving material is paved or the surface of the newly paved slurry contains air bubbles, damages and other defects because the adhesion force is too large or too small. Lean control of movement of the spreading scraper becomes a key problem influencing ceramic slurry forming efficiency and forming precision, and meanwhile, the method is one of the problems to be solved when ceramic slurry photocuring 3D printing equipment is developed into independent special equipment.

Disclosure of Invention

The technical problem is as follows: in order to solve the defects of the prior art, realize lean control of a paving scraper and promote the development of ceramic 3D printing equipment, the invention provides a paving scraper self-adaptive controller for a ceramic 3D printer, which adopts a self-adaptive controller, wherein the formula of the self-adaptive controller is as follows

Wherein V1 is the speed output of the scraper movement, V_kThe scraper speed of the k layer model; wherein k is 1, 2, …, N, N is the number of model layers.

As an improvement, the solid-phase and liquid-phase components and the solid-liquid mass ratio B of the ceramic slurry used by the printer are measured and stored through experiments₁Storage ceramic slurry viscosity S₁Solid phase particle size D₁。

As an improvement, the adhesion force F between the photo-cured solid phase of the ceramic slurry and the ceramic slurry is measured and stored by experiment₁Internal adhesion force F with ceramic slurry₂。

As an improvement, wherein V_k＝[C₁×F₁×S_k％+C₂×F₂×(1-S_k％)]In which C is₁、C₂The gain adjustment coefficient is k is 1, 2, …, and N is the model layering number; s_k% is the solid phase percentage of the solid phase area of each layer of model entity in the layered slice of the model to be printed in the total area of single paving of the printing platform.

As an improvement, the reference speed V for the movement of the scraper₀Is processed, V 'is processed by self-adaptation'₀＝V₀-C₀×B₁In which C is₀Obtaining a scraper movement reference speed input quantity V 'as a gain adjustment coefficient'_O。

Meanwhile, a self-adaptive speed regulation control method of a spreading scraper for a ceramic 3D printer is also provided, and specifically comprises the following steps:

(1) preparation of ceramic slurry parameters

Measuring and storing solid-liquid phase component and solid-liquid phase mass ratio B of ceramic slurry used by printer₁Storage ceramic slurry viscosity S₁Solid phase particle size D₁(ii) a Experimental measurements and storage of the adhesion F between the photo-cured solid phase of different ceramic slurries and the ceramic slurry₁Internal adhesion of ceramic slurry F₂As a pre-printing preparation;

(2) obtaining a control parameter V'_O

Adopting the numerical value in the step (1), and processing V 'through self-adaption'₀＝V₀-C₀×B₁In which C is₀Obtaining a scraper movement reference speed input quantity V 'as a gain adjustment coefficient'_O；

(3) Obtaining a control parameter S_k％

Aiming at a specific printing model, after the printing software is used for layering and slicing, layering data needs to be derived, and the solid phase percentage S of the solid phase area of each layer of model entity in the layering and slicing of the model to be printed in the printing platform in the single paving total area is calculated and stored_kPercent, wherein k is 1, 2, …, N, N is the number of model layers;

(4) obtaining a parameter V_k

Using an adaptive controller, the formula through adaptive processing is

V_k＝[C₁×F₁×S_k％+C₂×F₂×(1-S_k％)]，

Processing and calculating to obtain V1 as the speed output quantity of the scraper movement and V_kThe scraper speed of the k layer model; wherein C is₁、C₂The gain adjustment coefficient is k is 1, 2, …, and N is the model layering number;

(5) outputting to a scraper control module for printing

And (3) applying the parameters in the steps (1) to (4) to a printer control system, so that the paving speed of the paving scraper of the ceramic 3D printer can be adaptively adjusted according to the geometric structure characteristics of the model to be printed and the physical characteristics, including viscosity and particle size, of the ceramic slurry in the printing process, and the slurry to be formed can be more uniformly paved on a printing platform.

As an improvement, in the step (3), when the area of the printing platform is enough, a plurality of same or different models are printed at one time, and the solid phase percentage S is calculated_k% of the total current layered solid area of all models to be printed.

Has the advantages that: the invention provides a self-adaptive speed regulation control method of a spreading scraper for a ceramic 3D printer, which is characterized in that lean control of the spreading scraper is realized by a self-adaptive controller and specific parameter acquisition, so that newly spread slurry is not damaged under the judgment condition of the lean control of the scraper, the surface of a solid phase can be formed, the surface is uniform, no bubbles are visible to naked eyes, no pits are visible to naked eyes at the edges of the slurry and the formed solid phase, and the development of ceramic 3D printing equipment is promoted.

Drawings

FIG. 1 shows the present invention S_k% calculation diagram, wherein A, B, C is a model with different shapes.

FIG. 2 is a flow chart of the control method of the present invention.

Detailed Description

The figures of the present invention are further described below in conjunction with the embodiments.

As shown in fig. 1 and 2, after the adaptive speed regulation control method for the spreading scraper of the ceramic 3D printer is applied to a printer control system, the spreading scraper of the ceramic 3D printer can adaptively regulate the spreading and leveling speed according to the geometric structural characteristics of a model to be printed and the physical characteristics, including viscosity, particle size and the like, of ceramic slurry, so that the slurry to be formed can be more uniformly spread on a printing platform in the printing process.

The specific printing process is divided into two parts of pre-printing parameter preparation and automatic control in printing.

1. Preparing parameters before printing:

measuring and storing solid-liquid phase components and solid-liquid phase mass ratio B of ceramic slurry to be printed by the printer₁Ceramic slurry viscosity S₁Solid phase particle size D₁；

Experimental measurement and storage of the adhesion between the photocured solid phase of different ceramic slurries and the ceramic slurry-the adhesion between solid and liquid F₁Ceramic slurry internal adhesion force-internal liquid adhesion force F₂；

The speed of the scraper for pushing the paste to spread in front is too high, which can cause the defects of bubbles, damage and the like on the surface of the newly spread paste and influence the printing forming quality, and in order to solve the problems, the optimal printing scraper speed (empirical value) of the pure photosensitive resin with the ambient temperature of 25 ℃ and the viscosity of 200cps is taken as the movement reference speed V of the ceramic printing paste spreading scraper₀By adaptively processing V'₀＝V₀-C₀×B₁In which C is₀Obtaining a scraper movement reference speed input quantity V 'as a gain adjustment coefficient'_O. The fact that the movement speed of the scraper is required to be gradually reduced to obtain a good scraping effect along with the increase of the solid-liquid phase mass ratio of the ceramic slurry is shown.

Aiming at a specific printing model, after printing software is used for layering and slicing, exporting layering data, calculating and storing solid phase percentage S of solid phase area of each layer of model entity in layering and slicing of the model to be printed in the printing platform in one-time material laying total area_kPercent, wherein k is 1, 2, …, N is model layering number and is used as a control parameter; percent solids for each calculation of stratification S_KWhen the sum of the layering solid phase areas of all models to be printed loaded in the printing process is calculated, wherein N is the highest layering number of the model to be printed, namely the model on the Z axis。

2. Automatic control in printing:

inputting solid-liquid adhesion force F in printing control system₁In-liquid adhesion F₂Percent solid phase S_k% and reference speed V of scraper movement₀Controlling the system to output the scraper speed V through adaptive operation_kAnd k is 1, 2, …, N is used as a blade movement speed output domain, and the lean control of the blade movement speed is realized.

The formula of the adaptive controller is

V_k＝[C₁×F₁×S_k％+C₂×F₂×(1-S_k％)]，

Wherein V_kThe scraper speed of the k layer model; c₁、C₂For the gain adjustment factor, k is 1, 2, …, N is the number of model layers, and V1 is the speed output of the blade movement.