Pickup mechanism, 3D printing device, pickup method, control device, and storage medium

Abstract

The application discloses a pick-up mechanism, a 3D printing device, a pick-up method, a control device and a storage medium. The pick-up mechanism is suitable for a 3D printing device comprising a component platform. The pick-up mechanism comprises a shovel assembly which is transverse to the component platform, is located at a first side of the component platform in an initial state, and causes a 3D object attached to the component platform to fall off during movement towards a second side opposite to the first side. A push plate assembly is located at the second side. When the shovel assembly moves to the second side, the push plate assembly is combined with the shovel assembly, and is driven by the shovel assembly to move towards the first side, so as to push the 3D object away from the component platform.

Description

Technical Field

[0001] This application relates to the field of 3D printing technology, and in particular to a part retrieval mechanism, 3D printing equipment, part retrieval method, control device and storage medium. Background Technology

[0002] Photopolymer 3D solid printing technology is a type of rapid prototyping technology. It typically uses liquid photosensitive resin, photosensitive polymer, and other materials as curing materials. The printed model is divided into multiple cross-sectional layers, and then the solid is built by printing layer by layer. Due to its high forming accuracy, it has a wide range of applications in molds, customized products, medical devices, prostheses, and other fields.

[0003] Generally, after a 3D object is printed, it adheres to the component platform. Technicians need to manually separate the 3D object from the platform using a scraper to complete the removal operation. However, manual removal is inefficient. Summary of the Invention

[0004] In view of the shortcomings of the above-mentioned related technologies, the purpose of this application is to provide a part retrieval mechanism, 3D printing equipment, part retrieval method, control device and storage medium to overcome the technical problem of low efficiency of manual part retrieval in the above-mentioned related technologies.

[0005] To achieve the above and other related objectives, the first aspect of this application discloses a part-removing mechanism applied to a 3D printing device. The part-removing mechanism includes: a scraper assembly spanning the component platform, initially located on a first side of the component platform, and causing a 3D object attached to the component platform to detach during movement toward a second side opposite to the first side; and a pusher assembly located on the second side, which engages with the scraper assembly when the scraper assembly moves to the second side, so that the scraper assembly drives it to move toward the first side to push the 3D object away from the component platform.

[0006] The second aspect of this application discloses a 3D printing device, comprising: a container for holding photocurable material; an energy radiation device for irradiating the photocurable material in the container to obtain a cured layer; a component platform for attaching a 3D object that has been cured layer by layer by the energy radiation device; a Z-axis moving mechanism connected to the component platform for controlled movement along a vertical axis to adjust the distance between the component platform and the printing reference surface; a part-retrieving mechanism provided in the first aspect of this application; and a control device connected to the energy radiation device, the Z-axis moving mechanism, and the part-retrieving mechanism for controlling the energy radiation device and the flipping mechanism to work together to attach the accumulated cured layer on the component platform to obtain a 3D object, and for controlling the part-retrieving mechanism to push the 3D object away from the component platform.

[0007] The third aspect of this application discloses a part retrieval method applicable to 3D printing equipment including a component platform, comprising the following steps: when the component platform is detected to be in a preset position in a first state, controlling the scraper assembly to move toward a second side so that the 3D object attached to the component platform is detached; when it is determined that the scraper assembly is engaged with the pusher assembly, controlling the scraper assembly to move toward the first side so that the pusher assembly can push the 3D object away from the component platform.

[0008] The fourth aspect of this application discloses a control device suitable for retrieving parts from a 3D printing device including a component platform. The device comprises: a storage device storing at least one program; and a processing device connected to the storage device for executing the at least one program to perform and implement the part-retrieval method disclosed in the first aspect of this application.

[0009] The fifth aspect of this application discloses a computer-readable storage medium, characterized in that it stores at least one program, which, when invoked, executes and implements the retrieval method disclosed in the first aspect of this application.

[0010] In summary, the part-retrieving mechanism, 3D printing equipment, part-retrieving method, control device, and storage medium disclosed in this application improve part-retrieving efficiency by using a shovel assembly to detach the 3D object attached to the component platform. By setting a push plate assembly to separate the detachment and ejection of the 3D object, excessive collision of the 3D object during ejection can be effectively avoided. By reusing the moving component of the existing shovel assembly, the complexity of the equipment can be effectively reduced.

[0011] Other aspects and advantages of this application will readily be apparent to those skilled in the art from the detailed description below. Only exemplary embodiments of this application are shown and described in the following detailed description. As will be appreciated by those skilled in the art, the content of this application enables them to make modifications to the disclosed specific embodiments without departing from the spirit and scope of the invention to which this application pertains. Accordingly, the descriptions in the accompanying drawings and specification of this application are merely exemplary and not restrictive. Attached Figure Description

[0012] The specific features of the invention involved in this application are shown in the appended claims. The features and advantages of the invention can be better understood by referring to the exemplary embodiments and drawings described in detail below. A brief description of the drawings is as follows:

[0013] Figure 1 The diagram shown is a block diagram of a 3D printing apparatus according to one embodiment of this application.

[0014] Figure 2 and Figure 3 The diagrams shown are schematic diagrams of the flipping mechanism in one embodiment of this application under different states.

[0015] Figure 4 Displayed as Figure 2 A schematic diagram of the flipping mechanism shown from one perspective.

[0016] Figure 5 Displayed as Figure 3 A schematic diagram of the flipping mechanism shown from one perspective.

[0017] Figure 6 The diagram shown is a structural schematic of a component platform supported on a Z-axis moving mechanism in one embodiment of this application.

[0018] Figure 7 Displayed as Figure 6 A schematic diagram of the split structure of the embodiment shown.

[0019] Figure 8 The diagram shown is a schematic representation of the curved surface formed when a component plate is subjected to bending under stress in one embodiment of this application.

[0020] Figure 9 This is a schematic diagram of the curved surface formed when the component plate is bent under stress in another embodiment of this application.

[0021] Figure 10a Displayed as Figure 4 A magnified view of a portion of F1 in the illustrated embodiment.

[0022] Figure 10b Displayed as Figure 10a Cross-sectional view of the embodiment shown.

[0023] Figure 11a Displayed as Figure 5 A magnified view of a portion of F2 in the illustrated embodiment.

[0024] Figure 11b Displayed as Figure 11a Cross-sectional view of the embodiment shown.

[0025] Figure 12 This application is displayed as being in Figure 9 A schematic diagram of the curved surface formed in the illustrated embodiment.

[0026] Figure 13 The diagram shown is a schematic representation of the retrieval mechanism in one embodiment of this application.

[0027] Figure 14 The diagram shown is a schematic diagram of the disassembled structure of the component removal structure in one embodiment of this application.

[0028] Figure 15The diagram shows the state of the shovel assembly and push plate assembly of the picking mechanism in different positions after being combined in one embodiment of this application.

[0029] Figure 16 This application is displayed. Figure 15 A magnified view of a portion of F3 in the illustrated embodiment.

[0030] Figure 17 This application is displayed. Figure 15 A magnified view of a portion of F4 in the illustrated embodiment.

[0031] Figure 18 The diagram shown is a partial structural schematic of the push plate body moving to the first side of the component platform in one embodiment of this application.

[0032] Figure 19 The flowchart shown is a process for retrieving documents according to this application in one embodiment. Detailed Implementation

[0033] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0034] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical, and operation may be made without departing from the spirit and scope of this disclosure. The following detailed description should not be considered limiting, and the scope of the embodiments of the present application is defined only by the claims of the published patents. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present application. Spatially related terms, such as “upper,” “lower,” “left,” “right,” “below,” “below,” “lower part,” “above,” “upper part,” etc., may be used herein to illustrate the relationship between one element or feature shown in the figures and another element or feature.

[0035] Although the terms first, second, etc., are used in some instances herein to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are used only to distinguish one element or parameter from another. For example, a first joint may be referred to as a second joint, and similarly, a second joint may be referred to as a first joint, without departing from the scope of the various described embodiments. Both the first joint and the second joint describe a joint, but they are not the same joint unless the context otherwise clearly indicates otherwise.

[0036] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0037] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present application. The terms "an embodiment," "implementation," or similar wording used throughout this specification mean that a specific feature, structure, or characteristic described together with an implementation is included in at least one embodiment of the present application. Therefore, throughout the entire specification, the phrases "in an embodiment," "in an implementation," and similar wording may (but do not necessarily) refer to the same implementation.

[0038] As described in the background section, manually separating 3D objects from the component platform using a spatula suffers from low removal efficiency. Existing technologies utilize autonomously moving spatulas to separate 3D objects to improve removal efficiency. To push the 3D component off the component platform, a separately driven ejection mechanism is typically used. However, separately driven spatulas and ejection mechanisms increase the complexity of the equipment, raising manufacturing costs and overall weight. In some embodiments of this application, the 3D object may also be referred to as a printed product, printed article, etc.

[0039] To this end, this application discloses a part-retrieving mechanism, 3D printing equipment, part-retrieving method, control device, and storage medium. By using a shovel assembly to separate the 3D object from the component platform, and reusing the existing shovel assembly's moving mechanism, that is, by combining a push plate assembly and a shovel assembly and using the shovel assembly's driving mechanism together to push the separated 3D object to one side of the component platform for collection, an automated part-retrieving method is achieved, which improves part-retrieving efficiency, reduces equipment complexity, and effectively avoids excessive collisions when the 3D object is pushed out.

[0040] This application discloses a 3D printing device in some embodiments. In one embodiment, the 3D printing device described in this application may be a DLP device, and the corresponding energy radiation device used is a projection device. For example, the projection device includes a DMD chip, a controller, and a storage module. The storage module stores layered images of the 3D object model. After receiving a control signal from the controller, the DMD chip illuminates the bottom surface of the container or the surface of the photocurable material with the light source of each pixel on the corresponding layered image. The DMD chip appears to be just a small mirror, encapsulated in a sealed space composed of metal and glass. In fact, this mirror is composed of hundreds of thousands or even millions of micromirrors, each micromirror representing a pixel, and the projected image is composed of these pixels. The DMD chip can be simply described as a semiconductor light switch and micromirror corresponding to the pixel. The controller controls each light switch in the DMD chip to allow / disallow light reflection from each microwafer, thereby directly illuminating the photocurable material with the corresponding layered image or illuminating the photocurable material through the transparent bottom of the container, so that the photocurable material with the corresponding image shape is cured to obtain a patterned cured layer.

[0041] In one embodiment, the 3D printing equipment described in this application may be an SLA device, and the corresponding energy radiation device includes a laser emitter, a lens group located on the light path emitted by the laser emitter, and a galvanometer group located on the light-emitting side of the lens group. The laser emitter is controlled to adjust the energy of the output laser beam; for example, the laser emitter is controlled to emit a laser beam of preset power and to stop emitting the laser beam, or the laser emitter is controlled to increase or decrease the power of the laser beam. The lens group is used to adjust the focusing position of the laser beam, and the galvanometer group is used to controllably scan the laser beam in a two-dimensional space on the surface or bottom of the container. The photocurable material scanned by the beam is cured into a corresponding patterned cured layer.

[0042] In one embodiment, the 3D printing equipment described in this application can be an LCD (Liquid Crystal Display) device, and the corresponding energy radiation device used is an LCD screen light source system. The LCD device includes an LCD screen located above or below the container, and a light source positioned directly above or below the LCD screen. The control chip in the energy radiation device projects the layered image of the slice to be printed onto the printing surface through the LCD screen, and uses the pattern radiation surface provided by the LCD screen to cure the material to be cured in the container into a corresponding patterned cured layer.

[0043] In one embodiment, the 3D printing equipment described in any of the above embodiments can perform printing based on top-exposure or bottom-exposure methods. For ease of description and understanding, the embodiments provided below use a top-exposure 3D printing equipment as an example, and should not be construed as limiting this application.

[0044] Please see Figure 1 The figure shows a block diagram of a 3D printing device according to one embodiment of this application. As shown, the 3D printing device includes a container 1, an energy radiation device 2, a Z-axis movement mechanism 3, a control device 4, and a component platform 5. The container 1 is used to hold photocurable material. The Z-axis movement mechanism 3 is connected to the component platform 5 to control the translation of the component platform 5 along the Z-axis. The energy radiation device 2 is used to irradiate the photocurable material in the container to form a cured layer on the component platform 5. The control device 4 is connected to the energy radiation device 2 and the Z-axis movement mechanism 3 to control the energy radiation device 2 and the Z-axis movement mechanism 3 to work together to attach and accumulate the cured layer on the component platform 5 to obtain a 3D object.

[0045] In one embodiment, the capacity of the container depends on the type of 3D printing equipment. Generally, since the printing area (or radiation area) of 3D printing equipment based on SLA technology is larger than that of 3D printing equipment based on DLP technology, the container capacity in SLA-based printing equipment is larger than that in DLP-based printing equipment.

[0046] In one embodiment, the photocurable material contained in the container includes any liquid or powder material that is easily photocurable. Examples of liquid materials include photocurable resin liquids, or resin liquids mixed with additives, pigments, dyes, etc. Powder materials include, but are not limited to, ceramic powders, color additive powders, etc. The material of the container includes, but is not limited to, glass, plastic, resin, etc. In some implementation scenarios, the container is often also referred to as a resin tank.

[0047] In one embodiment, the energy irradiation device is used to irradiate photocurable material within a container to deposit a cumulative cured layer onto a component platform. In one example, the energy irradiation device irradiates the photocurable material within the container according to the printing strategy of each layer in the printing data generated from the 3D model to obtain a 3D object. In some scenarios, the energy irradiation device may also be referred to as an optical system or optomechanical system.

[0048] like Figure 1 As shown, the Z-axis moving mechanism 3 is connected to the component platform 5, enabling it to move up and down within the container 1 for 3D object printing. Specifically, the Z-axis moving mechanism 3 is used to controllably move along the vertical axis to adjust the distance between the component platform 5 and the printing reference surface and to fill it with the photocurable material to be cured. The printing reference surface refers to the starting surface of the photocurable material being irradiated. To precisely control the irradiation energy of each cured layer, the Z-axis moving mechanism 3 needs to move the component platform 5 until the minimum distance between the component platform 5 and the printing reference surface is the desired layer thickness. In embodiments where the 3D printing equipment is a top-surface laser scanning SLA device, the preset printing reference surface is typically located on the surface of the liquid containing the resin; in embodiments where the 3D printing equipment is a bottom-surface exposure DLP device, the preset printing reference surface is typically located on the bottom surface of the container, or at a certain height from a preset position on the bottom surface, such as in DLP devices using CLIP technology.

[0049] To enable the 3D object obtained by attaching the accumulated cured layer to the component platform to separate from the platform, in some embodiments of this application, the component platform can also cooperate with a Z-axis movement mechanism to flip after printing. During flipping, the surface of the component platform in contact with the 3D object deforms, thereby allowing the 3D object to separate from the component platform. It should be noted that in some embodiments of this application, the mechanical structures such as parts, components, or mechanisms involved in completing the flipping function in the 3D printing equipment are collectively referred to as the flipping mechanism. Given that the flipping component platform proposed in this application requires the cooperation of a Z-axis movement mechanism, in some embodiments, the Z-axis movement mechanism is described as a component of the flipping mechanism. In other words, the 3D printing equipment proposed in some embodiments of this application includes a container, an energy radiation device, a flipping mechanism, and a control device.

[0050] Please see Figures 2 to 5 , Figure 2 and Figure 3 The following are schematic diagrams showing the structure of the flipping mechanism in different states in one embodiment of this application. Figure 4 Displayed as Figure 2 A schematic diagram of the flipping mechanism shown from one perspective. Figure 5 Displayed as Figure 3A schematic diagram of the flipping mechanism from one perspective. As shown, the flipping mechanism includes a Z-axis moving mechanism 3, a component platform 5, and a limiting mechanism 6. The Z-axis moving mechanism 3 supports and carries the component platform 5 to translate along the Z-axis (as shown in the diagram). Figure 2 (The arrows in the image indicate the direction). The component platform 5 includes a flipping assembly 51 and a component plate 52. The component plate 52 is disposed on and supported by the flipping assembly 51. The flipping assembly 51 is supported by the Z-axis moving mechanism 3 and moves along the Z-axis under the drive of the Z-axis moving mechanism 3, thereby making the surface of the component plate 52 available for attaching a cumulative curing layer to obtain a 3D object (the component platform is shaped like...). Figure 2 and Figure 4 The state shown is such that a cured layer can be accumulated. The flipping assembly 51 can also be rotatably connected to the Z-axis moving mechanism 3, and the translation of the flipping assembly 51 on the Z-axis can be limited by the limiting mechanism 6, so that the translation of the Z-axis moving mechanism 3 on the Z-axis causes the flipping assembly 51 to rotate toward the component plate 52, thereby forcing the component plate 52 to bend and deform (the component platform is as shown). Figure 3 and Figure 5 (The state shown in the image).

[0051] In one embodiment, such as Figures 2 to 5 The limiting mechanism 6 shown is used to contact the component platform 5 when the component platform 5 rises to a preset position to restrict the translation of the component platform 5 along the Z-axis. To distinguish it from the preset position mentioned later, the preset position described in this embodiment will be referred to as the first preset position in subsequent embodiments. The first preset position refers to the position where the Z-axis moving mechanism moves the component platform from the container to a specific height, separating it from the photocurable material to be cured.

[0052] like Figures 2 to 5 As shown, the limiting mechanism 6 is used to contact the component platform 5 when the component platform 5 rises to a first preset position to limit the translation of the component platform 5 along the Z-axis. In one embodiment, the limiting mechanism 6 includes a limiting part 61 and a driving component 62. The limiting part 61 is connected to the driving component 62, and the limiting part 61 moves under the drive of the driving component 62 to abut against the component platform 5. In one example, the driving component 62 includes a drive motor and a vertical moving component, wherein the vertical moving component is connected to the limiting part 61, and the vertical moving component is driven by the drive motor to drive the limiting part 61 to move in the vertical direction. For example, the vertical moving component can be configured as a piston, lead screw, or other structure. To facilitate differentiation from the limiting parts in other mechanisms later, the limiting part on the limiting mechanism will also be referred to as the first limiting part in subsequent embodiments, and will not be described again hereafter.

[0053] In one embodiment, the limiting mechanism 6 is configured as two sets located on opposite sides of the component platform 5, respectively abutting against opposite sides of the component platform 5. Corresponding to the structure of the component platform 5, each set of limiting mechanisms 6 may have one or more first limiting portions 61 (e.g., two, three, four, etc.); the driving component 62 used to connect the first limiting portions 61 may have only one driving motor to drive one or multiple first limiting components, or it may have multiple driving motors to drive multiple first limiting components respectively. This application does not limit the composition of the limiting mechanism 6, as long as it can effectively limit the translation of the component platform 5 along the Z-axis.

[0054] In other embodiments, the limiting mechanism may also include only a first limiting part, which is fixed at a designated position vertically above the component platform. The first limiting part is exemplified by a limiting post; however, it is understood that the structure of the first limiting part can also be any structure capable of abutment, such as a limiting rod.

[0055] In order to support the movement of the load-bearing platform, in one embodiment, the Z-axis movement mechanism includes a support component. See also... Figure 6 and Figure 7 , Figure 6 The diagram shown is a structural schematic of a component platform supported on a Z-axis moving mechanism in one embodiment of this application. Figure 7 Displayed as Figure 6 The illustrated embodiment shows a split structural diagram. As shown, the supporting component 31 includes a connecting portion 311 and a supporting portion 312. For example, the connecting portion 311 is configured as a vertically arranged frame, and the supporting portion 312 is configured as a horizontally arranged frame. The horizontally arranged frame is fixed to the bottom of the vertically arranged frame, making the supporting component 31 L-shaped overall. To ensure that the component platform 5 can be stably supported on the supporting component 31, in one embodiment, the supporting portion 312 of the supporting component 31 may be further configured to include laterally distributed support arms 3121 and longitudinally distributed support arms 3122. The longitudinal distribution refers to the distribution in a direction perpendicular to the connecting portion, and the lateral distribution refers to the distribution in a direction intersecting with the longitudinal distribution. In other embodiments, the supporting portion 312 may also be configured as a plate-like structure to support the component platform 5 as a whole.

[0056] Furthermore, the Z-axis movement mechanism may further include a drive component (not shown), and the supporting component is connected to the drive component to be driven by the drive component to translate along the Z-axis. For example, the drive component includes a drive motor and a vertical movement component, wherein the vertical movement component is connected to the supporting component, and the vertical movement component is driven by the drive motor to move the supporting component vertically. The vertical movement component is, for example, an electric cylinder. Specifically, the drive motor is controlled by control commands from the control device to drive the supporting component to move. The control commands include directional commands indicating whether the supporting component is rising, falling, or stopping, and may even include parameters such as rotational speed / acceleration or torque. This facilitates precise control of the distance the supporting component rises, enabling precise adjustment of the supporting component.

[0057] like Figures 2 to 7 As shown, the component platform 5 is supported and carried on the support member 31 of the Z-axis moving mechanism 3. Further, the component platform 5 may include a flipping assembly 51 and a component plate 52. The component plate 52 is disposed on and supported by the flipping assembly 51. The flipping assembly 51 is carried on the support member 31 and moves along the Z-axis under the drive of the support member 31, thereby making the surface of the component plate 52 available for attaching an accumulated cured layer.

[0058] In order to enable the 3D object obtained by attaching the cumulative cured layer to the component plate 52 to be separated from the component plate 52, in one embodiment, the flipping component 51 is also rotatably connected to the supporting component 31 and its translation on the Z-axis is restricted by the limiting mechanism 6, so that the translation of the supporting component 31 on the Z-axis causes the flipping component 51 to rotate toward the component plate 52, thereby forcing the component plate 52 to bend and deform.

[0059] In one embodiment, the component plate is a thin plate made of a material that has both rigidity and flexibility. For example, the component plate is made of stainless steel, silicon manganese spring steel, or similar materials. This allows the component plate to bend and deform when the flipping assembly rotates, and to return to its original shape when the flipping assembly resets (e.g., the component plate returns to its original state as shown). Figure 2 (as shown in the diagram) and an accumulated cured layer can be attached under the support of the flipping assembly. In some examples, the thickness of the sheet can be set from 0.3 mm to 1.5 mm, for example, 0.3 mm, 0.4 mm, 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1.0 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, 1.5 mm, etc.

[0060] In one embodiment, the component plate is configured as a mesh plate. The mesh plate can be formed, for example, by forming a plurality of through holes in a flat plate. These through holes facilitate the flow of photocurable material from the component plate back into the container, enabling material recycling (e.g., when the component plate rises above the resin surface, the resin on the component plate can flow back into the resin tank through the through holes). Simultaneously, the component plate possesses a certain degree of flexibility. The shape of the through holes can be any shape, such as circular or square.

[0061] In one embodiment, the flipping assembly is rotatably connected to the supporting member in a hinged manner. For example... Figures 4 to 7 As shown, the flipping assembly 51 includes a hinge assembly 515 that hinges the flipping assembly 51 to the supporting member 31, thereby allowing the flipping assembly 51 to rotate relative to the supporting member 31. Further, the flipping assembly 51 may include a first flipping body 513a and a second flipping body 513b respectively hinged to opposite sides of the supporting member 31. The flipping assembly 51 rotates toward the component plate 52 with the first flipping body 513a and the second flipping body 513b relatively open. In one embodiment, the hinge assembly 515 is configured on a longitudinally distributed support arm 3122, and the second flipping body 513b is hinged to another longitudinally distributed support arm 3122 of the supporting member 31 via another set of hinge assemblies 515. Among them, the other longitudinally distributed support arm 3122 and the first longitudinally distributed support arm 3122 can be, for example, two opposite frames constituting the supporting part 312. The first flipping body 513a and the second flipping body 513b are respectively hinged to the outside of the two opposite frames through the hinge assembly 515.

[0062] In one embodiment, please refer to Figure 7 The hinge assembly 515 may include a first fixing block 5151, a second fixing block 5152, and a rotating shaft 5153. The first fixing block 5151 is provided with a connecting hole and is fixed to the bottom of the flipping body by screws or welding. The second fixing block 5152 is also provided with a connecting hole and is fixed to the support component 31 of the Z-axis moving mechanism by screws or welding. The sliding shaft passes through the connecting holes on the first fixing block 5151 and the second fixing block 5152, thereby realizing the hinge connection between the flipping assembly 51 and the support component 31.

[0063] To facilitate the function of the limiting mechanism, in one embodiment, such as Figures 2 to 7As shown, the flipping component 51 is provided with a limiting part 512, and the limiting mechanism 6 presses against the limiting part 512 to restrict the translation of the flipping component 51 on the Z-axis. For example, the limiting part 512 is configured to have a contact surface for the limiting mechanism 6 to press against, so as to facilitate the contact and pressing of the limiting mechanism 6. To distinguish it from the limiting parts in other mechanisms, the limiting part on the flipping component will also be referred to as the second limiting part in subsequent embodiments, and will not be described again hereafter.

[0064] In one embodiment, two sets of second limiting portions are provided on opposite sides of the flipping component 51, so that the two sets of limiting mechanisms 6 located on opposite sides of the component platform 5 can respectively abut against the two sets of second limiting portions 512. Each set of second limiting portions may be configured to have one or more (e.g., two, three, four, etc.) second limiting portions 512 to match the first limiting portion 61 and be pressed against by the first limiting portion 61.

[0065] In an embodiment where the flipping assembly 51 includes a first flipping body 513a and a second flipping body 513b, a set of second limiting portions is disposed on one side of the first flipping body 513b, and another set of second limiting portions is disposed on one side of the second flipping body 513b. Further, as... Figures 2 to 7 As shown, each group of second limiting parts is configured to have two second limiting parts 512. The two second limiting parts 512 of one group are located at the two corners of one side of the first flipping body 513a, and the two second limiting parts 512 of the other group are located at the two corners of one side of the second flipping body 513b. Thus, the four second limiting parts 512 are positioned at the four corners of the flipping assembly 51. The limiting mechanism 6 restricts the translational movement of the component platform 5 on the Z-axis by connecting the first limiting part 61 of the limiting mechanism 6 with the second limiting part 512 of the component platform 5.

[0066] Specifically, after the component platform 5 rises to the first preset position, the first limiting part 61 of the limiting mechanism 6 on both sides moves to the second limiting part 512, which can abut against the first flipping body 513a and the second flipping body 513b, thereby limiting 513a and the second flipping body 513b. At this time, the control support component 31 continues to move upward on the Z-axis, which will cause the first flipping body 513a to rotate counterclockwise around its corresponding hinge component, and the second flipping body 513b to rotate clockwise around its corresponding hinge component, so that the two rotate in a way that they open relative to each other in the direction of the component plate 52, as shown in the figure. Figure 3 The state shown demonstrates the flipping of the two flipping bodies (513a, 513b).

[0067] To ensure the component platform can accumulate and solidify layers to form a 3D object, the component plate must be stably positioned on the flipping assembly when not flipped. However, when the 3D object needs to be detached after printing, the flipping assembly needs to flip to cause the component plate to bend. Because of the stable connection between the component plate and the flipping assembly, the component plate must undergo tensile deformation to compensate for the shortening of its horizontal projection caused by this deformation (for example, if the left and right sides of the component plate are fixed to the flipping assembly, and the positions of the fixing points on the flipping assembly do not change during bending, the length of the component plate will be longer than its normal flat state during bending deformation, i.e., the component plate is stretched during bending deformation). Furthermore, when the component plate returns to a horizontal state, its deformation is either irreversible or poorly recovered, resulting in a significant reduction in print quality during subsequent 3D object printing.

[0068] Therefore, in one embodiment, as Figures 2 to 7 As shown, the flipping assembly 51 further includes two sets of connecting assemblies 511 arranged opposite to each other. The two sets of connecting assemblies 511 connect the component plate 52 to the flipping assembly 51 and are used to compensate for the bending deformation of the component plate 52. Further, one set of connecting assemblies 511 can be arranged on the side of the first flipping body 513a near the limiting mechanism 6 and connected to one side of the component plate 52, and the other set of connecting assemblies 511 can be arranged on the side of the second flipping body 513b near the limiting mechanism 6 and connected to the other side of the component plate 52. The side and the other side of the component plate 52 are opposite sides. When the component plate 52 undergoes bending deformation, the two sets of connecting assemblies 511 can respectively generate a certain degree of displacement change under the action of the component plate 52, thereby compensating for the bending deformation of the component plate 52 and preventing the component plate 52 itself from undergoing tensile deformation.

[0069] In one embodiment, please refer to Figures 10a to 11b and combined Figures 4 to 7 , Figure 10a Displayed as Figure 4 A magnified view of a portion of F1 in the illustrated embodiment. Figure 10b Displayed as Figure 10a Cross-sectional view of the embodiment shown. Figure 11a Displayed as Figure 5 A magnified view of a portion of F2 in the illustrated embodiment. Figure 11b Displayed as Figure 11a The cross-sectional view of the embodiment shown, wherein, Figures 10a to 11bOnly one set of connecting components on one side is shown in the figure. The other set of connecting components can be understood similarly and will not be shown or described again. As shown in the figure, the connecting component 511 includes a first fixing part 5111, a second fixing part 5112, and an elastic connecting part 5113. The first fixing part 5111 is fixedly disposed on one side of the flipping component 51. The second fixing part 5112 is located outside the first fixing part 5111 (the outside refers to the side away from the center of the component plate 52). The second fixing part 5112 is movably connected to the first fixing part 5111 via the elastic connecting part 5113, and one side of the component plate 52 is fixedly connected to the second fixing part 5112. The elastic connecting part 5113 allows the second fixing part 5112 to move towards the first fixing part 5111 when the component plate 52 bends, thereby compensating for the bending deformation of the component plate 52 and ensuring that the component plate 52 can return to its original shape after bending deformation.

[0070] In one embodiment, the first fixing part 5111 is fixedly disposed at the bottom of the flipping assembly and located on the side near the limiting mechanism, so as to Figures 10a to 11b Taking the set of connecting components shown as an example, the first fixing part 5111 is fixedly disposed at the bottom of the second flip body 513b. It can be integrally formed with the body part of the second flip body 513b, or it can be fixed to the body part of the second flip body 513b by fixing structures such as screws.

[0071] In one embodiment, the first fixing part 5111 includes at least one mounting hole, the central axis of which is parallel to the laterally distributed support arm. For example, the first fixing part 5111 may include four mounting holes, which are arranged in a straight line on one side of the flipping assembly. However, this is not a limitation; in other embodiments, the number of mounting holes may be one, two, three, or four, or more.

[0072] In one embodiment, such as Figure 6 , Figure 10a and Figure 11a As shown, the number of mounting holes in the second fixing part 5112 and the data of the elastic connecting member 5113 are adapted to the number of mounting holes in the first fixing part 5111. One end of the elastic connecting member 5113 is fixedly disposed in the mounting hole of the first fixing part 5111, and the second fixing part 5112 is movably connected to the elastic connecting member 5113 through the mounting hole thereon. Furthermore, one side of the component plate 52 is fixedly connected to the upper side of the second fixing part 5112.

[0073] It should be noted that although the above embodiments use the example of mounting holes in the first and second fixing parts to illustrate the connection between the two and the elastic connecting part, this is not intended to limit the scope of this application. In other embodiments, the elastic connecting part can be fixed to the first fixing part by welding or other means, and the second fixing part can be movably connected to the elastic connecting part through a mounting groove thereon.

[0074] In one embodiment, such as Figure 10b and Figure 11b As shown, the elastic connection portion 5113 includes a shaft element 51131 and an elastic element 51132. The shaft element 51131 includes a first end fixed to the first fixing portion 5111, a second end for the second fixing portion 5112 to be sleeved on, and a shaft located between the first end and the second end. Further, the second end of the shaft element 51131 also includes an abutment portion 51133, which is used for the second fixing portion 5112 to abut against and to define the position of the second fixing portion 5112 on the shaft element 51131. The abutment portion 51133 can be a nut.

[0075] The elastic element 51132 is sleeved on the shaft element 51131, and the second fixing part 5112 abuts against the abutment part 51133 on the second end of the shaft element. When the component plate 52 bends and deforms, the component plate 52 can pull the second fixing part 5112 to move towards the first fixing part 5111 by squeezing the elastic element 51132, thereby compensating for the bending deformation of the component plate, as shown in the figure. Figure 11a and Figure 11b The state shown is described. In one example, the elastic element may be configured as a spring, which can be compressed under the action of the component plate 52 to produce movement toward the first fixing part 5111.

[0076] In one embodiment, the two sets of connecting components described in any of the above embodiments are further used to pull the component plate flat onto the flipping component with forces in opposite directions, so as to Figure 4 As shown in the example, one set of connecting components 511 can generate a force N1 toward the right to push the component plate 52 to the right, and another set of connecting components 511 can generate a force N2 toward the left to push the component plate 52 to the left. The forces toward the right and the forces toward the left are in opposite directions, which allows the component plate 52 to be stretched / flattened, which is beneficial for high-quality printing of 3D objects.

[0077] In one embodiment, such as Figures 10a to 11bIn the embodiment of the connecting assembly 511 shown, the elastic connecting portion 5113 of the connecting assembly 511 provides an elastic restoring force toward the second fixing portion 5112 to flatten the component plate. Specifically, in the unflipped state, the elastic element of the elastic connecting portion 5113 is connected between the first fixing portion 5111 and the second fixing portion 5112 in a compressed state, thereby generating an elastic restoring force toward the second fixing portion 5112. Similarly, after a flip, the elastic element 51132 is further compressed, still providing an elastic restoring force toward the second fixing portion 5112, and this elastic restoring force is continuously provided when the component plate returns to its original deformed state, thereby allowing the component plate to be stretched / flattened again in preparation for the next 3D object printing.

[0078] In the 3D printing process, the flatness of the component plate has a significant impact on the printing quality and success rate. For example, if the component plate is uneven, problems such as the 3D object not adhering tightly to the plate, easy detachment, and edges of the 3D object being prone to curling may occur. Furthermore, in large-format printing, the component plate has a large surface area, and even with insufficient support, unevenness issues such as localized depressions may still exist.

[0079] Therefore, in some embodiments, the flipping assembly includes a support member, and the component plate contacts the support member to be supported on the flipping assembly. In one example, the support member includes at least two support rods. The number of support rods can increase as the size of the component plate increases. Specifically, when the flipping assembly is not flipped, the highest point of each support rod is on the same plane to ensure that the component plate remains flat under the support of the support rods. Furthermore, the support member is also symmetrically supported on the flipping assembly, so that the symmetrically distributed support members can further ensure the flatness of the component plate.

[0080] In one embodiment, the surface of the support member facing the component plate is configured as an arc-shaped surface. This allows the component plate to contact the arc-shaped surface, preventing wear and damage and extending its service life.

[0081] In one embodiment, the support member may include a first support rod disposed on the flipping assembly. For example, the first support rod is disposed on a first flipping body and a second flipping body. See also Figure 8 The image shown is a schematic diagram of the curved surface formed when the component plate is bent under stress in one embodiment of this application. Figure 8As shown, the supporting component includes first support rods 514a respectively disposed on the first flipping body 513a and the second flipping body 513b. During the bending deformation of the component plate 52, the contact points between the first support rods 514a on the first flipping body 513a and the second flipping body 513b and the component plate 52 are located on the same curved surface, that is, the component plate 52 forms an arc-shaped curved surface under the action of force. However, in the printing of 3D objects, there may also be 3D objects attached to the sides of the component plate, especially in large-format application scenarios. Due to the large size of the component plate, the area near the side of the component plate is close to a plane, which makes it difficult for the 3D object located there to detach from the component plate.

[0082] To address the issue of 3D objects being difficult to detach from the edge of the component plate, in one embodiment, the support member may further include a second support rod. See also... Figure 9 The image shown is a schematic diagram of the curved surface formed when the component plate is bent under stress in another embodiment of this application, as shown below. Figure 9 As shown, the supporting component includes a first support rod 514a and a second support rod 514b. The first support rod 514a is disposed on the two flipping bodies (513a, 513b) of the flipping assembly to rotate with the two flipping bodies (513a, 513b). Further, the first support rod 514a can be fixedly disposed in a groove on the two flipping bodies (513a, 513b) and protrude from the groove to contact the component plate 52. Figure 9 The number of the first support rod 514a is shown as two, but it is not limited to this. In other embodiments, the number of the first support rod 514a may be more than two.

[0083] The second support rod 514b is fixed to the supporting component and spaced apart from the outside of the first support rod 514a. Specifically, the second support rod 514b is fixed to the supporting component and spaced apart from the first support rod 514a, where the outside of the first support rod 514a refers to the side away from the center of the component plate. In one embodiment, the second support rod 514b is fixed to the supporting portion 312 of the supporting component, and the two flipping bodies (513a, 513b) have clearance areas that allow the second support rod 514b to pass through, so that the second support rod 514b passes through the clearance areas and contacts the component plate 52.

[0084] The following combination Figure 12 ,right Figure 9 The surface formed by the illustrated embodiment will be explained. Figure 12 This application is displayed as being in Figure 9A schematic diagram of the curved surface formed in the illustrated embodiment is shown. As the flipping assembly rotates towards the component plate 52, the component plate 52 undergoes bending deformations of different curvatures under the support of the first support rod 514a and the second support rod 514b. Specifically, after the flipping assembly is restricted from moving upward along the Z-axis by the limiting mechanism, the supporting component continues to move upward. Simultaneously, the second support rod also continues to move upward along with the supporting component, causing the component plate to bend. Due to the continued upward movement of the second support rod, the contact points between the second support rod and the component plate, as well as the contact points between the first support rod and the component plate, are not on the same curvature surface, resulting in bending deformations of different curvatures on the component plate. In other words, the first support rod and the second support rod provide support points on the bending path of the component plate that can produce bending deformations of different curvatures. By causing the component plate to undergo bending deformations of different curvatures, it is beneficial for 3D objects on the side of the component plate to detach from the component plate.

[0085] In one embodiment, the bending deformation of the component plate can be made to exhibit different waveforms by adjusting the installation positions of the second support rod and the first support rod. The installation positions can be determined based on prior experiments or other methods. In a specific example, the second support rod is positioned near the side of the component plate, for example, as shown below. Figure 9 As shown, the second support rod 514b is positioned at a hinge point near the flipping body. This makes it easier for 3D objects near the edge of the component plate to detach from the component plate.

[0086] It should be noted that although the above embodiments are illustrated by taking the example of providing a second support rod and a first support rod on each side of the supporting component, this is not a limitation. In other embodiments, for one side of the supporting component, the number of the second support rod and / or the number of the first support rod can be two or more, thereby enabling the component plate to form more bending deformations with different curvatures.

[0087] It is easy to understand that, compared to the component plate bending deformation forming only one large curved surface, the component plate bending forms multiple curved surfaces with different curvatures, which is more conducive to the separation of 3D objects from component plates in large-format 3D printing operations.

[0088] In one embodiment, the rotation angle generated by the flipping component in any of the above embodiments is set to any value between 5° and 10°. For example, the rotation angle generated by the flipping component is set to 5°, 5.5°, 6°, 6.5°, 7°, 7.5°, 8°, 8.5°, 9°, 9.5°, and 10°. The rotation angle is the angle between the flipping component and the water direction when the flipping component stops rotating. Setting the rotation angle generated by the flipping component to the above angles ensures that the 3D object on the component plate detaches while avoiding damage to the component plate from large-angle rotation. It should be understood that in embodiments where the flipping component includes two flipping bodies, the rotation angle generated by the flipping component can be understood as the rotation angle of each flipping body. For example, the rotation angle of the first flipping body is set to any value between 5° and 10°, and the rotation angle of the second flipping body is set to any value between 5° and 10°. Subsequent mentions of the flipping or rotation parameters of the flipping component should also be understood in this way and will not be elaborated further.

[0089] In one embodiment, the rotation angle of the flipping component can be determined based on the contact area between the 3D object formed by the accumulated cured layer and the component plate. For example, if the contact area between the 3D object and the component plate is small, the rotation angle needs to be set larger to control the detachment of the 3D object (e.g., a small 3D object) from the component plate by flipping at a large angle.

[0090] In one embodiment, the rotation time of the flipping component is set to any value between 2s and 5s. For example, the rotation time can be set to 2s, 2.5s, 3s, 3.5s, 4s, 4.5s, or 5s. The rotation time of the flipping component is the time taken from the start of the flipping process to the point where it reaches the specified rotation angle.

[0091] In one embodiment, the number of flips can be set according to the specific printed product / 3D object. Specifically, the number of flips of the flipping component can be determined based on the size of the printed product / 3D object, the printing support of the printed product / 3D object, and the contact area between the printed product / 3D object and the component plate. In one example, a higher number of flips can be set for printed products / 3D objects that are not easily separated from the component plate (e.g., printed products / 3D objects with more printing supports), for example, the number of flips can be set to 3 times. In another example, the number of flips can also be determined based on the experimental or testing results of different printed products / 3D objects.

[0092] In a specific example, the 3D printing equipment operates as follows: After printing the 3D object, the Z-axis moving mechanism moves the component plate above the surface of the photocurable material and stops. Then, the limiting mechanism descends to contact the flipping component and restricts its translation along the Z-axis. At this point, the Z-axis moving mechanism continues to move upward, causing the flipping component to rotate towards the component plate, forcing the component plate to bend and deform. When the flipping component reaches a preset rotation angle, the Z-axis moving mechanism stops moving. Then, the 3D printing equipment controls the Z-axis moving mechanism to move downward, restoring the component plate to a flat surface. Thus, when the limiting mechanism contacts the flipping component, the flipping component completes one flip by performing a set of reciprocating movements including upward movement, stopping, and downward movement via the Z-axis moving mechanism. When the flipping component has flipped at least twice, the Z-axis moving mechanism is repeatedly controlled to complete a preset number of reciprocating movements after the component plate returns to a flat surface. For example, the number of flips is twice, and after the component plate is restored to flatness, the Z-axis moving mechanism is controlled again to complete one more reciprocating motion.

[0093] When 3D objects on a component plate are detached by bending deformation, the degree of bending deformation or the size of the 3D object may affect the ability of all 3D objects to be completely separated from the component plate.

[0094] Therefore, the 3D printing equipment disclosed in any of the above embodiments may further include a part-retrieving mechanism located near the component platform for controlled pushing of the 3D object away from the component platform. Of course, the part-retrieving mechanism proposed in the embodiments of this application can also be applied to 3D printing equipment with other structures, as long as the 3D printing equipment includes a component platform. The 3D printing equipment and component platform are not limited to those exemplified in this application.

[0095] Please see Figure 13 The figure shows a schematic diagram of a component-retrieving mechanism in one embodiment of this application. As shown, the component-retrieving mechanism 7 includes a scraper assembly 72 and a pusher assembly 73. The scraper assembly 72 spans the component platform (not shown). The component platform can be configured as a quadrilateral platform. Taking the four sides of the component platform as references, the portions opposite two sides can be referred to as the first side and the second side, and the third side and the fourth side, respectively. The third side and the fourth side are adjacent to the first side and the second side, respectively. In the initial state, the scraper assembly 72 is located on the first side of the component platform, and the position of the scraper assembly 72 in the initial state is a position that does not affect the printing operation, that is, the portion located outside the component area of ​​the component platform. During the movement of the scraper assembly 72 from the first side of the component platform toward the second side of the component platform (i.e., toward...), the scraper assembly 72... Figure 13When moving in the direction indicated by arrow A, the 3D object attached to the component platform can be detached. Before the shovel assembly moves towards the second side, the component platform is in a preset position. To distinguish it from the first preset position described above, the preset position described in this embodiment will be referred to as the second preset position in subsequent embodiments. The second preset position is the position where the upper surface of the component platform can be flush with the shovel assembly. It can be the same position as the first preset position or a different position; this application does not limit this. The component platform being flush with the shovel assembly means that the upper surface of the component platform is consistent with the plane where the shovel body of the shovel assembly is located, or within a preset error range. Examples of preset errors include 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, and 1mm.

[0096] In one embodiment, please continue to refer to Figure 13 As shown in the figure, the part-retrieving mechanism 7 further includes a moving component 71, which is disposed on the third and fourth sides of the component platform opposite to each other. The blade assembly 72 is mounted on the moving component 71 to drive the blade assembly 72 to move toward the first or second side. Specifically, the moving components 71 disposed on the third and fourth sides work synchronously to drive the blade assembly 72 to move.

[0097] In one embodiment, please refer to Figure 13 and Figure 14 , Figure 14 The figure shows a schematic diagram of the disassembled structure of the component-retrieving structure in one embodiment of this application. As shown, the moving component 71 includes a bracket 711, a drive motor 712, a timing belt 713, and two timing pulleys 714. The bracket 711 is fixedly disposed on the side of the component platform, and the two timing pulleys 714 are respectively disposed at both ends of the bracket 711. The timing belt 713 is sleeved on the two timing pulleys 714. The blade assembly 72 is fixed to the timing belt 713 to move toward a first side or a second side with the timing belt. In one embodiment, the timing pulley electrically connected to the drive motor 712 is the main timing pulley, and the timing pulley not electrically connected to the drive motor 712 is the slave timing pulley. Under the drive of the drive motor 712 on the main timing pulley, the timing belt 713 can realize transmission between the two timing pulleys to drive the blade assembly to move toward the first side or the second side. Figure 14 In the embodiment shown, the drive motor 712 is disposed on the second side of the component platform.

[0098] It should be noted that in other embodiments, the moving component may also be composed of a drive rod or other structures. This application does not limit the structure of the moving component, as long as it can drive the shovel assembly to move toward the first side or the second side.

[0099] In one embodiment, Figure 13 Figure 14 like Figure 13 and Figure 14 As shown, the blade assembly 72 includes a mounting part 722 and a blade body 721.

[0100] The mounting portion 722 is used to fix it to the movable component 71. For example, the mounting portion is fixed to... Figure 14 On the synchronous belt 713 shown. For example... Figure 14 As shown, the mounting portion 722 is provided with a first engaging portion 7221 facing the second side. The first engaging portion 7221 is used to engage with a corresponding portion on the pusher assembly 73 to drive the pusher assembly 73 to move towards the first side or the second side. The first engaging portion 7221 will be described in detail later.

[0101] The blade body 721 is connected to the mounting portion 722 and is used to move towards a first side or a second side under the drive of the mounting portion 722. The mounting portion 722 and the blade body 721 can be detachably connected, or they can be integrally formed. In one embodiment, such as... Figure 14 As shown, the blade body 721 and the mounting part 722 are connected by a floating spring 7214, which levitably connects the blade body 721 to the mounting part 722. When the blade body 721 moves along the surface of the component platform, the floating spring 7214 allows the blade body 721 to float up and down when there are protrusions and depressions on the surface of the component platform, which can both prevent damage to the blade body 721 and facilitate the scraping of parts.

[0102] In one embodiment, please refer to Figure 14 The shovel body 721 includes a shovel 7211, a shovel pressure plate 7212, and a shovel holder 7213.

[0103] The blade of the scraper 7211 directly contacts the bottom of the 3D object and scrapes it off the component platform. In one example, the scraper has spaced-apart comb-like teeth, which allows it to have a certain degree of flexibility, making it fit the component plate better and preventing rigid contact and collision with the hard 3D object during movement, thus avoiding chipping. The spacing between the comb teeth can be determined based on the degree of adhesion between the 3D object and the component platform. For example, if the adhesion between the 3D object and the component platform is high, the spacing needs to be smaller.

[0104] The blade clamping plate 7212 presses the blade 721 onto the blade holder 7213. In one example, both the blade clamping plate 7212 and the blade 7211 have mounting holes, and the blade 7211 is fixed to the blade holder 7213 by a screw fastening structure.

[0105] The scraper holder 7213 is generally flat. In one example, the scraper holder 7213 includes a mounting position, an inclined surface connected to the mounting position, and a horizontal surface connected to the inclined surface. The scraper pressure plate 7212 presses the scraper 721 onto the mounting position on the scraper holder 7213, and the inclined surface can be used to receive the 3D object scraped off. It is easy to understand that after the 3D object is scraped off by the scraper 7211 and removed from its original position, it can fall down and slide along the inclined surface to the horizontal surface, and can slide back to the component platform along the other end of the horizontal surface without piling up, thus avoiding affecting subsequent scraping operations. Furthermore, it can also prevent collisions between 3D objects that could cause damage to the 3D objects.

[0106] The push plate assembly is located on the second side of the component platform. When the shovel assembly moves to the second side, the push plate assembly engages with the shovel assembly so that the shovel assembly drives it to move toward the first side, thereby pushing the 3D object away from the component platform.

[0107] In one embodiment, please continue to refer to Figure 13 and Figure 14 The pusher assembly 73 includes a base 731 and a pusher body 732 fixedly connected to the base 731. In one embodiment, the base 731 is disposed on the third and fourth sides of the component platform, and the pusher body 732 is connected to the bases 731 on both sides. The pusher body 732 can be fixed to the base 731 via a snap-fit ​​structure, screw fastening structure, or other fixing structure. In one example, such as... Figure 14 As shown, the push plate assembly 73 also includes a mounting bracket 733, the two ends of which are fixedly connected to the bases 731 on both sides, and the mounting bracket 733 is fixedly connected to the push plate body 732.

[0108] The base 731 is provided with a second joint corresponding to the first joint. The first joint and the second joint are joined by magnetic attraction or snap-fit.

[0109] In one embodiment, the first coupling portion and the second coupling portion are engaged by a snap-fit ​​mechanism. See also... Figures 13 to 17 , Figure 15 The diagram shows the combined state of the shovel assembly and push plate assembly of the picking mechanism in different positions according to one embodiment of this application. Figure 16 This application is displayed. Figure 15 A magnified view of a portion of F3 in the illustrated embodiment. Figure 17 This application is displayed. Figure 15 The enlarged view of part F4 in the illustrated embodiment shows that the first connecting part 7221 is configured as a shaft connector with a connecting position 72211, and the second connecting part 7311 is configured as a hole structure adapted to the shaft connector. An elastic positioning part 7312 is provided in the hole structure so that when the shaft connector enters the hole structure, it passes over the protruding part of the shaft connector and engages with the connecting position 72211, thereby realizing the mechanical connection between the shovel assembly and the push plate assembly.

[0110] Furthermore, such as Figure 16 As shown, the shaft connector is further provided with a limiting part 72212 for limiting the entry depth of the shaft connector within the hole structure. To distinguish it from limiting parts in other mechanisms, the limiting part on the blade assembly will be referred to as the third limiting part. The diameter of the hole in the third limiting part is larger than the diameter of the hole structure, preventing the shaft connector behind the third limiting part from entering the hole structure, thereby limiting the entry depth of the shaft connector within the hole structure.

[0111] In one example, an elastic positioning part is provided on each of the four sides of the hole structure. The elastic positioning part is, for example, a ball-head plunger comprising a ball and an elastic structure. Specifically, when the shaft connector with engagement position 72211 enters the hole structure, the protruding portions on the upper and lower sides of the shaft connector squeeze the ball, forcing the ball to compress the elastic mechanism. The shaft connector continues to enter the hole structure, and the ball passes over the protruding portion of the shaft connector and engages with the engagement position 72211. Furthermore, due to the limitation of the ball's travel by the elastic structure, the first and second engagement portions, which are engaged together, will not separate under a certain force, thereby ensuring the mechanical connection between the shovel assembly and the push plate assembly. Simultaneously, adjusting the ball's travel can adjust the engagement force.

[0112] In another embodiment, the first and second coupling portions are joined by magnetic attraction. For example, the first and second coupling portions are permanent magnets or electromagnets with different magnetic properties.

[0113] In one embodiment, the pusher plate body is a plate-shaped structure. In other embodiments, the pusher plate body may also have other structures. For example, the pusher plate body may also include multiple parallel columnar push blocks, with the gap between each push block being smaller than the size of the 3D object, thereby exerting a pushing effect on the 3D object, etc. The structure of the pusher plate body will not be described in detail here.

[0114] In one embodiment, when the scraper assembly begins operation, it moves from the first side of the component platform to the second side, scraping off the 3D object attached to the component platform. To prevent larger 3D objects from falling off the component platform after passing the pusher body due to the scraper assembly, the height of the pusher body is set higher than the height of the 3D object. The pusher body is used to block the movement of the 3D object to the second side after it has been scraped off, and by docking with the scraper assembly, it can push the 3D object, which has been separated from the component platform, towards the first side under the same drive structure / moving component.

[0115] In one embodiment, the pusher assembly further includes a cleaning tool for cleaning the upper surface of the component platform. Specifically, the cleaning tool is disposed on the pusher body and is used to clean the upper surface of the component plate / component platform. For example, the cleaning tool is a Teflon flexible cleaning tool. Thus, when the pusher assembly moves towards the first side, it can also clean the upper surface of the component platform. For example, if the component plate on the component platform is a mesh plate, the cleaning tool can clean the photocurable material on the component plate through through-holes in the component plate into the container. To ensure that the pusher body can completely push the scraped 3D object out of the component platform, the lower surface of the pusher body is higher than the upper surface of the scraper body, allowing the scraper body to pass through the lower surface of the pusher body during movement towards the second side. This ensures that during the movement of the scraper assembly, which drives the pusher assembly towards the first side, the pusher body is located in front of the scraper body. Please refer to [link to relevant documentation]. Figure 18 The figure shows a partial structural diagram of the push plate body moving to the first side of the component platform in one embodiment of this application. As shown in the figure, when the shovel assembly drives the push plate assembly to move to the first side of the component plate, the shovel body 721 is located behind the push plate body 732, thereby pushing the 3D object that has been shoveled off the component platform 5 out of the component platform 5 for removal.

[0116] In one embodiment, an anti-adhesion coating is provided on the surface of the pusher body facing the first side to prevent the 3D object from adhering to the pusher body. In one embodiment, the anti-adhesion coating includes, but is not limited to, perfluoroplastic film, titanium nitride coating, Teflon coating, silicone film coating, etc.

[0117] In one embodiment, the component-retrieving mechanism further includes a locking component, which includes a locking pin. The locking pin is used to lock the pusher assembly at a preset position on the second side, or to unlock the pusher assembly to allow it to be moved away from the preset position on the second side. To distinguish it from the first and second preset positions described above, the preset position on the second side will be referred to as the third preset position. The third preset position is a position located on the second side of the component platform that does not affect the printing operation. In one embodiment, locking components are provided on both the third and fourth sides of the component platform. The locking pins on both sides are connected to a control device, and the locking pins lock or unlock the pusher assembly under the control of the control device. In one embodiment, as... Figure 18 As shown, the locking pin component 741 includes a movable pin 7410, and the base includes a socket (not shown). The pin 7410, when controlled to be inserted into the socket, can lock the push plate assembly in a third preset position. When the pin 7410 is controlled to be pulled out of the socket, the push plate assembly can be unlocked, allowing it to be moved away from the third preset position. Thus, by providing a locking component, the push plate assembly can be locked in the third preset position when the blade assembly and the push plate assembly are engaged, facilitating the engagement of the blade assembly and the push plate assembly, for example, facilitating the engagement of the first and second engagement portions.

[0118] Furthermore, the locking assembly also includes a fixing seat 743 for fixing the locking pin component 741. The fixing seat 743 is fixedly disposed on the side of the component platform, for example, fixedly disposed on the bracket 711 of the movable component.

[0119] In one embodiment, such as Figure 14 As shown, the fixed base 743 is also provided with a clearance space 7430 to avoid the conveying part of the moving component. The clearance space 7430 is, for example, a hole or slot for avoiding the conveying part. For example, as... Figure 14 As shown, the transmission part is the synchronous belt 713 described in the previous embodiment, and the clearance space 7313 is a groove that allows the synchronous belt 713 to pass through.

[0120] In one embodiment, the locking assembly further includes a detection component connected to the locking pin component, used to control the locking pin component to lock or unlock the push plate assembly based on the engagement status of the blade assembly and the push plate assembly. Specifically, a detection component is positioned at the location of the blade assembly when it is fully engaged with the push plate assembly. When the detection component detects that the blade assembly is at this position, the blade assembly and the push plate assembly are fully engaged, and the control device controls the locking pin component to unlock the push plate assembly. Examples of the detection component include a photoelectric sensor and a position detection sensor.

[0121] In the following embodiments, for ease of describing the detection components at different locations, the detection component connected to the locking pin component is referred to as the first detection component.

[0122] Furthermore, such as Figure 14 As shown, in order to ensure that the locking component locks the push plate assembly when the blade assembly docks with the push plate assembly, a second detection component 7422 connected to the control device is also provided on the front side of the first detection component 7423 and near the first detection component 7423. The second detection component 7422 is used to detect whether the blade assembly is close to the push plate assembly. When it is close, the control device checks whether the locking pin component 741 locks the push plate assembly and / or directly controls the locking pin component 741 to lock the push plate assembly.

[0123] In one embodiment, the locking pin component is initially in a locked state. When the second detection component 7422 detects that the blade assembly is close to the push plate assembly, the control device checks whether the locking pin component 741 locks the push plate assembly. If it is not locked, the control device controls the locking pin component 741 to lock the push plate assembly so that the blade assembly can engage with the push plate assembly.

[0124] In another embodiment, the locking pin component is initially in an open state. When the second detection component 7422 detects that the blade assembly is close to the push plate assembly, the control device controls the locking pin component 741 to lock the push plate assembly so that the blade assembly can engage with the push plate assembly.

[0125] In one embodiment, such as Figure 13 As shown, the part-retrieving mechanism 7 also includes a material-pushing and collecting component 75, which is adjacent to the component plate and located on the first side, for collecting the solidified material that falls off the 3D object.

[0126] In one embodiment, the material collection assembly includes a material channel and a collection trough. The material channel is abutted against and flush with the first side of the component plate. The material channel has a collection hole, and the collection trough is located below the collection hole. While scraping the component, the material to be cured attached to the 3D object can flow into the collection trough along the collection hole. In one embodiment, the collection trough can be a sloping structure for collecting the material to be cured and guiding it into the container. In one embodiment, the upper surface of the material channel is provided with an anti-adhesion coating to prevent the 3D object from sticking to the material channel, making it difficult to clean. In one embodiment, the anti-adhesion coating includes, but is not limited to, perfluoroplastic film, titanium nitride coating, Teflon coating, silicone film coating, etc.

[0127] In one embodiment, such as Figure 13 and Figure 18 As shown, the picking mechanism also includes a receiving mechanism 76 adjacent to the component platform 5, the receiving mechanism 76 being used to receive the 3D object pushed down by the pusher assembly.

[0128] In one embodiment, the receiving mechanism is docked at the material channel opening of the material collection assembly, the material channel opening being the side of the material collection assembly away from the component platform. The receiving mechanism includes a container and a support. The container is placed on the support for support and is used to receive the 3D object scraped off. In one embodiment, a mesh plate is placed at an angle inside the container. When there are large hollow printed components, the collection channel alone is insufficient to collect all the material to be cured. In this case, the uncollected material to be cured can continue to flow down along the mesh plate. In one embodiment, the height of the support is adjustable, allowing it to be adjusted to be flush with the component platform and docked with the material channel. In one embodiment, the bottom end of the support is also provided with pulleys for easy horizontal movement, so as to move its position to be adjacent to the component platform.

[0129] In one embodiment, the receiving mechanism further includes a positioning detection sensor for detecting whether the receiving mechanism has reached the receiving position. The positioning sensor may be disposed on the material pushing and collecting assembly, for example, on the lower surface of the material channel.

[0130] In one embodiment, in an initial state, the shovel assembly is located at a first position on the first side. The shovel assembly drives the pusher assembly to move towards the first side to a second position on the first side, the second position being located in front of the first position. When the shovel assembly is in the second position, the pusher assembly can push the 3D object on the component plate out of the component plate, allowing the 3D object to fall into a receiving mechanism by gravity. The first position is the initial position of the shovel assembly. Specifically, during the operation of the picking mechanism, the shovel assembly moves from the first position towards the second side. After the pusher assembly is fully engaged, the shovel assembly drives the pusher assembly to move from the second side towards the first side until the shovel assembly reaches the second position on the first side. Then, the pusher assembly pushes the 3D object above the receiving mechanism, allowing the 3D object to fall into the receiving mechanism by gravity. Further, as... Figure 14 As shown, a third detection component 7421 and a fourth detection component 7424 for monitoring the position of the shovel blade can also be provided at the first and second positions, respectively.

[0131] In one embodiment, such as Figure 13 As shown, the part-retrieving mechanism 7 also includes a protective cover 77, which is disposed above the component platform to prevent the 3D object from falling off the component platform.

[0132] In one embodiment, the protective cover is positioned above the component platform, with a space between the protective cover and the component platform allowing for the reciprocating movement of the scraper assembly. The pusher plate body can move within the protective cover. The protective cover also functions as a light shield during printing and prevents parts from chipping during scraping, especially small parts, effectively preventing damage to optical instruments. Furthermore, the protective cover has an opening on the side facing the initial position of the scraper assembly, allowing the pusher plate assembly to pass through and push the 3D object out of the component platform.

[0133] In one embodiment, the control device is connected to the energy radiation system device and the Z-axis movement mechanism, and is used to control the energy radiation system and the Z-axis movement mechanism during printing operation to attach a solidified layer of the stacked pattern on the component platform to obtain the corresponding 3D object.

[0134] The control device is also connected to the flipping mechanism and / or the part-retrieving mechanism to control their operation. For example, it can be used to attach a cumulative cured layer to a component platform to obtain a 3D object, and when the component platform rises to a preset position, control the flipping mechanism to cause the 3D object to detach from the component platform through bending deformation. Another example is to attach a cumulative cured layer to the component platform to obtain a 3D object, and control the part-retrieving mechanism to push the 3D object away from the component platform. Yet another example is to attach a cumulative cured layer to the component platform to obtain a 3D object, and when the component platform rises to a preset position, control the flipping mechanism to cause the 3D object to detach from the component platform through bending deformation, and then continue to control the part-retrieving mechanism to push the 3D object away from the component platform.

[0135] In one embodiment, the control device is an electronic device that includes a processing device and a storage device, such as a computer device, an embedded device, or an integrated circuit with a CPU.

[0136] The storage device includes non-volatile memory and a system bus. Examples of the non-volatile memory include solid-state drives (SSDs) or USB flash drives. The system bus connects the non-volatile memory to the CPU, wherein the CPU may be integrated into the storage unit or packaged separately from the storage unit and connected to the non-volatile memory via the system bus.

[0137] In some embodiments, the memory may include Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store programs (e.g., path planning programs, cleaning programs, etc.), which the processor executes upon receiving execution instructions.

[0138] In some embodiments, the storage includes at least one program for the processing device to execute the retrieval method described in any embodiment of this application.

[0139] The processing device is connected to the storage device. The processing device includes at least one of a CPU or a chip with an integrated CPU, a programmable logic device (FPGA), and a multi-core processor. The processing unit also includes memory, registers, and other storage devices for temporary data storage.

[0140] In some embodiments, the processor includes an integrated circuit chip with signal processing capabilities; or a general-purpose processor, such as a digital signal processor (DSP), application-specific integrated circuit (ASIC), discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0141] In some embodiments, the processing device is used to execute the at least one program to perform and implement the retrieval method described in any embodiment of this application.

[0142] The control device also includes multiple interface units. Each interface unit is connected to an independently packaged device in the 3D printing equipment, such as the energy radiation system and the Z-axis movement mechanism, which transmits data through the interface. The control device also includes at least one of the following: a prompting device, a human-computer interaction device, etc. The interface unit determines its interface type according to the connected device, which includes, but is not limited to: a universal serial interface, a video interface, an industrial control interface, etc.

[0143] For example, the interface unit includes: a USB interface, an HDMI interface, and an RS232 interface. Multiple USB and RS232 interfaces are available. The USB interfaces can connect to human-machine interaction devices, etc. The RS232 interfaces connect to the detection device and the Z-axis movement mechanism. The HDMI interfaces connect to the energy radiation system (optical system). The storage unit is used to store the files required for 3D printing. These files include: program files and configuration files required for CPU operation, etc.

[0144] This application also provides a part-retrieving method applied to a 3D printing device including a component platform. The component platform can be a component platform including a flipping component in any embodiment of this application, or it can be other inflexible component platforms. The 3D printing device also includes the part-retrieving mechanism described in any of the preceding embodiments. The part-retrieving method can be executed by the control device described above or other control devices capable of performing the part-retrieving method. After 3D printing, the control device can control the shovel assembly and the pusher assembly, so that the 3D object attached to the component plate can detach from the component plate for collection.

[0145] Please see Figure 19The figure shows a flowchart of the document retrieval method in one embodiment of this application. As shown, the document retrieval method includes steps S210 to S220.

[0146] In step S210, when the control device detects that the component platform is in the second preset position in the first state, it controls the shovel assembly to move toward the second side so that the 3D object attached to the component platform falls off.

[0147] The first state refers to the upper surface of the component platform being horizontal. In one example, the component platform presents as follows: Figure 2 and Figure 4 The horizontal state shown indicates that the component plate has no bending deformation. The second preset position is the position where the upper surface of the component platform can be flush with the blade assembly. It can be the same position as the first preset position or a different position; this application does not limit this. The fact that the component platform is flush with the blade assembly means that the upper surface of the component platform is consistent with the plane where the blade body of the blade assembly is located, or within a preset error range. Examples of preset errors include 0.1mm, 0.2mm, 0.3mm, 0.4mm, 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, and 1mm.

[0148] In one embodiment, the part-removal method is applied in a 3D printing device including a component platform, wherein the component platform is a component platform including a flipping component in any embodiment of this application. Therefore, before the control device executes step S210, the part-removal method further includes steps S110 and S120. The control device can control the flipping mechanism described in any of the foregoing embodiments to execute steps S110 and S120 to control the bending of the component plate so that the 3D object on the component platform detaches from the component plate.

[0149] In step S110, when the control device detects that the component platform has risen to a first preset position, it controls the limiting mechanism to move to the corresponding position abutting against the flipping component. For example, when the component platform is detected to have risen to the first preset position, the limiting mechanism is controlled to abut against the second limiting part of the flipping component. The first preset position refers to the position where the Z-axis moving mechanism moves the component platform from the container to a specific height, separating it from the photocurable material to be cured.

[0150] In step S120, the control device controls the supporting component of the Z-axis moving mechanism to move upward on the Z-axis, causing the flipping assembly to rotate towards the component plate, thereby forcing the component plate to bend and deform. Further, when the control device determines that the supporting component has moved upward to a preset height on the Z-axis, it controls the supporting component to stop moving upward. The preset height refers to the height reached when moving upward a preset distance on the Z-axis from a first preset position; in other words, the difference between the preset height and the distance on the Z-axis from the first preset position is the preset distance. The preset distance enables the flipping assembly to generate a preset rotation angle. The preset rotation angle is the angle between the flipping assembly and the water direction when the flipping assembly stops rotating. The rotation angle is set to any value between 5° and 10°. For example, the rotation angle generated by the flipping assembly can be set to 5°, 5.5°, 6°, 6.5°, 7°, 7.5°, 8°, 8.5°, 9°, 9.5°, or 10°.

[0151] When the component plate bends, the 3D printed component attached to it automatically detaches from the component plate. To facilitate the execution of step S210, the control device also controls the supporting component to move up and down a preset height along the Z-axis to place the component platform in a first state. This allows the control device to control the scraper assembly to move towards a second side when it determines that the component platform is in a second preset position in the first state. In some embodiments, it is also necessary to ensure that the limiting mechanism moves upward to a position that does not affect the operation of the scraper assembly before executing step S210.

[0152] In step S220, when the control device determines that the blade assembly and the pusher plate assembly are engaged, it controls the blade assembly to move towards the first side, thereby causing the pusher plate assembly to push the 3D object away from the component platform. In one example, after the blade assembly and the pusher plate assembly are engaged by magnetic attraction or snap-fit, the control device controls the blade assembly to move towards the first side. For example, as... Figure 16 As shown, after the 3D object separates from the component platform, the control device mechanically engages the shovel assembly and the push plate assembly, allowing the push plate assembly to move towards the first side under the influence of the shovel assembly. This enables the push plate assembly and the shovel assembly to share a single moving component, thereby pushing the 3D object from the component platform to the first side of the platform to leave it. When the push plate assembly also includes a cleaning blade, it can clean the component platform as it moves towards the first side.

[0153] In one embodiment, the control device unlocks the push plate assembly when it determines that the blade assembly and the push plate assembly are engaged. Specifically, the push plate assembly may be locked to the second side before being engaged with the blade assembly. After the control device confirms that the push plate assembly and the blade assembly are engaged, it unlocks the push plate assembly, allowing the push plate assembly to be driven away from its originally locked position by the blade assembly.

[0154] In one embodiment, the control device stops the blade assembly from moving when it determines that the blade assembly has moved toward the second position towards the first side. Figure 18 As shown, the shovel assembly moves to the second position, at which point the 3D object on the component plate can leave the component platform under the push of the pusher assembly. When it reaches the second position, the shovel assembly no longer drives the pusher assembly to move. In one embodiment, the 3D object can be pushed into the container of the receiving mechanism to achieve object retrieval.

[0155] In one embodiment, after executing step S220, the control device further controls the shovel assembly to move the pusher assembly toward the second side. Specifically, the control device controls the shovel assembly to send the pusher assembly back to a third preset position on the second side. Further, after sending the pusher assembly back to the third preset position on the second side, the control device also controls the shovel assembly to move toward the first side to a first position, so that it can be moved toward the second side again during the next part removal operation to detach the 3D object attached to the component platform. The third preset position refers to the position of the pusher assembly in its initial state.

[0156] In one specific embodiment, when the control device determines that the push plate assembly is located at the third preset position on the second side, it also controls the locking assembly to lock the push plate assembly and controls the shovel assembly to move towards the first side to the first position. It is easy to understand that the push plate assembly is locked before engaging with the shovel assembly. After engagement, the shovel assembly can only move the push plate assembly away from the third preset position by unlocking. After pushing the 3D object away from the component platform, the shovel assembly needs to be controlled to send the push plate assembly back to the third preset position and lock it there again. Subsequently, the shovel assembly also returns to its initial first position, ready for reuse of the push plate assembly and shovel assembly during the next object retrieval operation.

[0157] This application also provides a control device suitable for retrieving parts from a 3D printing device including a component platform. The control device includes a storage device and a processing device. The storage device stores at least one program, and the processing device is connected to the storage device to execute the at least one program to perform and implement the part-retrieval method described in any embodiment of this application. The storage device and processing device are the same as or similar to those described above, and will not be repeated here.

[0158] This application also provides a computer-readable and writable storage medium storing a computer program for a retrieval method thereon, wherein the computer program storing the retrieval method, when executed by a processor, implements the retrieval method in any of the above embodiments.

[0159] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0160] In the embodiments provided in this application, the computer-readable and writable storage medium may include read-only memory (ROM), random access memory (RAM), EEPROM, CD-ROM or other optical disc storage devices, disk storage devices or other magnetic storage devices, flash memory, USB flash drive, portable hard drive, or any other medium capable of storing desired program code in the form of instructions or data structures and accessible by a computer. Additionally, any connection may be appropriately referred to as a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of the medium. However, it should be understood that computer-readable and writable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but are intended for non-transient, tangible storage media. The disks and optical discs used in the application include compact discs (CDs), laser discs, optical discs, digital multifunction discs (DVDs), floppy disks, and Blu-ray discs, where disks typically copy data magnetically, while optical discs use lasers to copy data optically.

[0161] This application can be used in a wide range of general-purpose or special-purpose computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices.

[0162] The application can be described in the general context of computer-executable instructions that are executed by a computer, such as a program module. Generally, a program module includes routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0163] In summary, to overcome the technical problem of low efficiency in manual part removal in the aforementioned related technologies, this application addresses this issue by setting up a shovel assembly and a pusher assembly that can be combined. This reuses the movement component controlling the shovel assembly, allowing the movement component to separate the 3D object from the component plate after the shovel assembly has done so. The pusher assembly then pushes the 3D component away from the component platform for collection, thus achieving automated part removal, improving efficiency, saving costs, and reducing equipment complexity. Furthermore, separating the detachment and ejection of the 3D object effectively prevents excessive collisions during ejection, thus avoiding damage to the 3D object.

[0164] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A pick-up mechanism suitable for use in a 3D printing apparatus comprising a build platform, characterised in that, The item retrieval mechanism includes: The shovel assembly spans across the component platform. In its initial state, it is located on the first side of the component platform, and during its movement toward the second side opposite to the first side, it causes the 3D objects attached to the component platform to detach. A pusher assembly, located on the second side, engages with the shovel assembly when the shovel assembly moves to the second side, so that it is driven by the shovel assembly to move toward the first side, thereby pushing the 3D object away from the component platform; A locking assembly, comprising a locking pin component connected to a control device, a first detection component connected to the locking pin component, and a second detection component located near the first detection component and connected to the control device; The locking pin component is used to lock the push plate assembly at a preset position on the second side, or to unlock the push plate assembly to allow it to be moved away from the preset position on the second side; the first detection component is used to control the locking pin component to lock or unlock the push plate assembly according to the engagement of the blade assembly and the push plate assembly; the second detection component is used to detect whether the blade assembly is close to the push plate assembly, and when the blade assembly is detected to be close to the push plate assembly, the control device checks whether the locking pin component locks the push plate assembly and / or directly controls the locking pin component to lock the push plate assembly.

2. The retrieval mechanism of claim 1, wherein, It also includes a movable component disposed on the third and fourth sides opposite to each other on the component platform, the blade assembly being mounted on the movable component to drive the blade assembly to move toward the first or second side.

3. The retrieval mechanism of claim 2, wherein, The shovel assembly includes: Mounting part, used to fix to the movable component; The blade body is connected to the mounting part and is used to move toward a first side or a second side under the drive of the mounting part; The mounting part is provided with a first connecting part facing the second side, which is used to connect with a corresponding part on the push plate assembly to drive the push plate assembly to move towards the first side or the second side.

4. The retrieval mechanism of claim 3, wherein, The push plate assembly includes a base and a push plate body fixedly connected to the base, and the base is provided with a second joint corresponding to the first joint.

5. The retrieval mechanism of claim 4, wherein, The first joint and the second joint are joined by magnetic attraction or snap-fit.

6. The retrieval mechanism of claim 4, wherein, The first connecting part is configured as a shaft connector with a connecting position, and the second connecting part is configured as a hole structure adapted to the shaft connector. The hole structure is provided with an elastic positioning part so that when the shaft connector enters the hole structure, it passes over the protruding part of the shaft connector and engages with the connecting position.

7. The retrieval mechanism of claim 6, wherein, The shaft connector is also provided with a limiting part to limit the insertion depth of the shaft connector in the hole structure.

8. The retrieval mechanism of claim 4, wherein, The lower surface of the push plate body is higher than the upper surface of the shovel body. The shovel body can pass through the lower surface of the push plate body during the movement toward the second side, so that the push plate body is located in front of the shovel body during the movement of the shovel assembly toward the first side, driven by the push plate assembly.

9. The retrieval mechanism of claim 2, wherein, The locking assembly also includes a mounting base for securing the locking pin component, and the mounting base is provided with clearance space to avoid the transmission part of the moving component.

10. The retrieval mechanism of claim 1, wherein, In the initial state, the shovel assembly is located at a first position on the first side. The shovel assembly drives the pusher assembly to move toward the first side to a second position on the first side. The second position is located in front of the first position, so that the 3D object can fall into a receiving mechanism by gravity.

11. The retrieval mechanism of claim 4, wherein, The surface of the pusher plate body facing the first side is provided with an anti-adhesion coating to prevent 3D objects from sticking to the pusher plate body.

12. The retrieval mechanism of claim 1, wherein, It also includes a material collection component, located on the first side, for collecting the cured material that falls from the 3D object.

13. The retrieval mechanism of claim 1, wherein, It also includes a receiving mechanism adjacent to the component platform for receiving the 3D object pushed down by the pusher assembly.

14. The retrieval mechanism of claim 1, wherein, It also includes a protective cover, which is disposed above the component platform to prevent the 3D object from falling off the component platform.

15. The retrieval mechanism of claim 4, wherein, The pusher assembly also includes a cleaning blade disposed on the pusher body for cleaning the upper surface of the component platform.

16. A 3D printing device, characterized by include: Containers used to hold UV-curable materials; An energy radiation device is used to irradiate the photocurable material inside the container to obtain a cured layer; A component platform for attaching 3D objects that have been solidified layer by layer by an energy radiation device; Z-axis moving mechanism, connected to the component platform, is used to move in a controlled manner along the vertical axis to adjust the distance between the component platform and the printing reference surface; The retrieval mechanism as described in any one of claims 1 to 15; A control device, connected to the energy radiation device, the Z-axis moving mechanism, and the part-retrieving mechanism, is used to control the energy radiation device and the flipping mechanism to work together to attach an accumulated curing layer on the component platform to obtain a 3D object, and to control the part-retrieving mechanism to push the 3D object away from the component platform.

17. A method for retrieving parts, applicable to 3D printing equipment including a component platform, characterized in that, Includes the following steps: When the component platform is detected to be in a preset position in the first state, the shovel assembly is controlled to move toward the second side so that the 3D object attached to the component platform is detached. The system detects whether the shovel assembly is close to the push plate assembly. When the shovel assembly is detected to be close to the push plate assembly, it checks whether the push plate assembly is locked and / or directly locked. When it is determined that the shovel assembly is engaged with the push plate assembly, the push plate assembly is unlocked and the shovel assembly is controlled to move towards the first side so as to drive the push plate assembly to push the 3D object away from the component platform.

18. The method for retrieving an item according to claim 17, characterized in that, The step of controlling the shovel assembly to move toward the first side when it is determined that the shovel assembly and the push plate assembly are combined includes: when it is determined that the shovel assembly has moved toward the first side to the second position, controlling the shovel assembly to stop moving.

19. The method for retrieving an item according to claim 17, characterized in that, It also includes the step of controlling the blade assembly to drive the pusher plate assembly to move toward the second side.

20. The method for retrieving an item according to claim 17, characterized in that, Also includes: When the push plate assembly is determined to be in a preset position on the second side, the push plate assembly is locked and the shovel assembly is controlled to move toward the first side to a first position.

21. The method for retrieving an item according to claim 17, characterized in that, The step of controlling the blade assembly to move toward the second side when the component platform is detected to be in a preset position in a first state further includes: When the component platform is detected to have risen to a preset position, the control limiting mechanism is moved to the corresponding position where it abuts against the flipping component; The supporting component of the control Z-axis movement mechanism moves upward on the Z-axis, causing the flipping assembly to rotate in the direction of the component plate, thereby forcing the component plate to bend and deform.

22. The method for retrieving an item according to claim 21, characterized in that, Also includes: The step of controlling the supporting component to stop moving upward when it is determined that the supporting component has moved up to a preset height on the Z-axis.

23. The method for retrieving an item according to claim 22, characterized in that, Also includes: The steps to control the support component to move up and down a preset height along the Z-axis.

24. A control device suitable for picking up parts from a 3D printing machine including a component platform, characterized in that, include: Storage device, storing at least one program; A processing device, connected to the storage device, is configured to execute the at least one program to perform and implement the retrieval method as described in any one of claims 17 to 23.

25. A computer-readable storage medium, characterized in that, The system stores at least one program that, when invoked, performs the retrieval method as described in any one of claims 17 to 23.

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