A fully automated additive manufacturing apparatus and method of operation

Abstract

The application discloses a full-automatic additive manufacturing device and an operating method. The full-automatic additive manufacturing device comprises a peeling mechanism, the peeling mechanism comprises a mold taking unit, a mold stripping unit and a mechanical arm, the mechanical arm is connected with the mold taking unit and is used for driving the mold taking unit to act, the mold taking unit comprises a clamping part and a suction part, the clamping part comprises a tablet clamping jaw and is used for clamping or releasing a tablet product, the suction part is provided with a suction disc and is used for adsorbing and supporting a supporting film through negative pressure of the suction disc; the mold stripping unit comprises two oppositely arranged mold stripping clamping jaws, the two mold stripping clamping jaws can move in a direction of relatively approaching, so as to clamp the supporting film and drive the supporting film to bend and separate from the tablet product, and the two mold stripping clamping jaws can also move in a direction of relatively moving away, so as to release the supporting film. The full-automatic additive manufacturing device can automatically peel the supporting film and the tablet product through the mechanical arm, the mold taking unit and the mold stripping unit, and the automation, digitization and intelligent level of the additive manufacturing equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing technology, and specifically to a fully automated additive manufacturing apparatus and operating method. Background Technology

[0002] With the development of the manufacturing industry towards automation, digitalization, intelligence, and product personalization, the application of additive manufacturing technology is becoming increasingly widespread. Additive manufacturing (commonly known as 3D printing) forms products by stacking layers. For additive manufacturing technologies that require platform support, such as FDM, micro-droplet jetting, SLA, and powder bonding, the printed product needs to be removed after printing. However, the printed product is generally very tightly bonded to the platform, making it easy to damage the product when removing it, and making it difficult to achieve automated material handling and production.

[0003] Existing additive manufacturing equipment uses a support film on a support platform. Products can be formed on this film without direct contact between the support platform and the product, facilitating product removal and ensuring platform cleanliness. However, how to peel the product off the support film without damaging or deforming either the product or the film remains a critical technical problem for those skilled in the art. This invention incorporates robotics technology, designing a unique peeling mechanism that also enables automatic loading, thus achieving fully automated, unattended printing of multiple products. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automated additive manufacturing apparatus and operating method.

[0005] To solve the above-mentioned technical problems, the present invention provides a fully automated additive manufacturing apparatus, including a peeling mechanism for peeling a support film and a tablet product. The peeling mechanism includes a mold-taking unit, a demolding unit, and a robotic arm. The demolding unit and the robotic arm are fixedly arranged relative to each other. The robotic arm is connected to the mold-taking unit and is used to drive the mold-taking unit to move according to a preset trajectory, wherein:

[0006] The molding unit includes a clamping component and an adsorption component. The clamping component includes tablet grippers for clamping or releasing the tablet product. The adsorption component has a suction cup for adsorbing the support film through negative pressure from the suction cup.

[0007] The demolding unit includes two opposing demolding jaws, which can move in a relatively close direction to clamp the support film and drive the support film to detach from the tablet product. The two demolding jaws can also move in a relatively distant direction to release the support film.

[0008] The working process of the stripping mechanism in the fully automated additive manufacturing apparatus of this invention is as follows:

[0009] First, the robotic arm controls the mold-taking unit to move to the preset mold-taking position according to the preset trajectory. At the preset mold-taking position, the tablet product is located in the clamping space of the tablet gripper, and the suction cup is attached to the support film. Then, the tablet gripper clamps the tablet product, and the adsorption component adsorbs the support film under negative pressure.

[0010] Secondly, the two demolding jaws in the demolding unit are controlled to move in a relatively far apart direction, with sufficient space between the two demolding jaws to accommodate the support film; then, the robotic arm controls the demolding unit to move to the preset demolding position according to the preset trajectory, at which point the support film is located between the two demolding jaws;

[0011] Next, the two demolding jaws in the demolding unit are controlled to move in a relatively close direction. The two demolding jaws gradually clamp the support film and drive the support film 01 to bend. The two opposite ends of the support film 01 bend away from the tablet product. The connection between the support film and the tablet product is gradually separated by force. When the support film is bent to the point of separation from the tablet product, the two demolding jaws are controlled to move in a relatively far direction. The support film returns to the unfolded state under the action of restoring force. At this time, the separation action between the support film and the tablet product is completed.

[0012] Therefore, in the fully automated additive manufacturing device of the present invention, the peeling mechanism completes the automatic peeling of the support film and the tablet product through the robotic arm, the mold taking unit and the demolding unit, without causing damage or deformation to the tablet product and the support film, ensuring the consistency of the appearance quality of the product before and after grasping, and the structure is simple and easy to operate, improving the automation, digitalization and intelligence level of additive manufacturing equipment.

[0013] Optionally, the tablet gripper is a flexible gripper with a hollow internal structure. The gripping component also includes a suction part and a suction tube. The suction tube connects the tablet gripper and the suction part. The tablet gripper can deform under the action of the suction part to grip or release the tablet product.

[0014] Optionally, the tablet gripper includes two gripper bodies arranged opposite each other, the gripping ends of the two gripper bodies having gripping planes, and gripping grooves arranged opposite each other on the gripping planes. In the gripping state, the tablet product is clamped between the gripping planes, or the tablet product is partially located inside the gripping grooves.

[0015] Optionally, the clamping component further includes a connecting sleeve and an elastic component. The connecting sleeve is fixed relative to the robotic arm, and the suction tube passes through the inside of the connecting sleeve and is axially limited by the elastic component.

[0016] Optionally, the inner walls of the demolding claws are provided with notches, which penetrate the two end walls of the demolding claws in the thickness direction and the outer end wall of the demolding claws. The two notches form a demolding space, and the included angle between the two side walls forming the notches is α, where the value of α is in the range of 80° to 90°.

[0017] Optionally, the suction cup includes an axially connected adsorption section and a connecting section, wherein the end of the adsorption section away from the connecting section forms an adsorption end for adsorbing the support film, and the diameter of the connecting section gradually decreases from the middle to both ends.

[0018] Optionally, the suction cup includes an adsorption end, which is provided with an adsorption groove. Within the axial projection plane of the suction cup, the outline of the adsorption groove is an arc curve.

[0019] Optionally, the peeling mechanism further includes a base, on which the demolding unit and the robotic arm are both disposed; the base is further provided with a first accommodating area and a second accommodating area, the first accommodating area being used to accommodate the tablet product and the second accommodating area being used to accommodate the support film.

[0020] Optionally, the base is further provided with a third receiving area for receiving the bar stock, and the tablet gripper is also capable of clamping or releasing the bar stock.

[0021] Optionally, it also includes an adsorption unit connected to the robotic arm. The adsorption unit has positive and negative pressure suction cups. The adsorption unit is used to adsorb new support films through the positive and negative pressure suction cups. The robotic arm can place new support films on the working platform of the additive manufacturing equipment according to a preset trajectory.

[0022] Optionally, it also includes at least one additive manufacturing device, and the stripping mechanism is movable between the additive manufacturing devices.

[0023] The present invention also provides an operating method for a fully automated additive manufacturing apparatus, applicable to the aforementioned fully automated additive manufacturing apparatus, including a peeling method, the peeling method comprising the following steps:

[0024] Clamp the tablet product and drive the opposite ends of the support film to bend away from the tablet product until the support film detaches from the tablet product.

[0025] The operation method of the fully automatic additive manufacturing device of the present invention is applicable to the aforementioned fully automatic additive manufacturing device, and therefore has the same technical effects as the aforementioned fully automatic additive manufacturing device, which will not be repeated here; at the same time, in the operation method of the fully automatic additive manufacturing device of the present invention, the peeling method is simple to operate and will not cause damage or deformation to the tablet product and the support film, thereby improving work efficiency.

[0026] Optionally, the peeling method specifically includes the following steps:

[0027] The robotic arm controls the mold-taking unit to move to the preset mold-taking position according to the preset trajectory, the tablet gripper clamps the tablet product, and the adsorption component adsorbs the support film under negative pressure.

[0028] The robotic arm controls the mold-taking unit to move to the preset demolding position according to a preset trajectory, and the support membrane is located in the demolding unit, between the two demolding claws;

[0029] The two release jaws clamp the support film and drive the opposite ends of the support film to bend away from the tablet product until the support film detaches from the tablet product.

[0030] Optionally, the additive manufacturing equipment of the fully automated additive manufacturing apparatus includes a printhead and a support platform. The printhead has a loading area, and the support platform is provided with a negative pressure adsorption section, through which a new support film is adsorbed and fixed onto the support platform.

[0031] The operation method of the fully automated additive manufacturing apparatus, prior to the peeling method, further includes the following steps:

[0032] Step S100: The robotic arm grasps the bar stock and loads it into the loading area according to a preset trajectory;

[0033] Step S200: The robotic arm adsorbs the new support membrane and places the new support membrane on the support platform according to a preset trajectory. The new support membrane is adsorbed and fixed to the support platform by the negative pressure adsorption part.

[0034] Step S300: The additive manufacturing equipment completes the printing process, and the support film and tablet product are connected as one unit;

[0035] The operation method of the fully automated additive manufacturing apparatus, after the peeling method, further includes the following steps:

[0036] Step S400: The robotic arm places the tablet product in the first receiving area and the support film in the second receiving area; repeat the steps after step S200.

[0037] After the bar stock is used up, repeat the steps after step S100, wherein steps S100 and S200 can be interchanged. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the support film and tablet product to be peeled off;

[0039] Figure 2This is a schematic diagram of a specific embodiment of the stripping structure in the fully automated additive manufacturing apparatus provided by the present invention.

[0040] Figure 3 for Figure 2 A schematic diagram of the mold-taking unit in the stripping mechanism;

[0041] Figure 4 for Figure 2 A schematic diagram of the stripping mechanism removing the robotic arm;

[0042] Figure 5 for Figure 2 A diagram showing the state of the peeling mechanism during the peeling of the support film and tablet product;

[0043] Figure 6 for Figure 2 Axial sectional view of the clamping component in the stripping mechanism;

[0044] Figure 7 for Figure 2 A schematic diagram of the tablet gripper in the peeling mechanism;

[0045] Figure 8 for Figure 2 Schematic diagram of the demolding unit in the peeling mechanism;

[0046] Figure 9 for Figure 8 A magnified view of a portion of the demolding unit;

[0047] Figure 10 for Figure 2 A schematic diagram of the suction cup structure in the peeling mechanism;

[0048] Figure 11 for Figure 10 A schematic diagram of the suction cup at the second angle;

[0049] Figure 12 for Figure 2 A schematic diagram of the structure in which the peeling mechanism places the support membrane in the second receiving area;

[0050] Figure 13 for Figure 2 A schematic diagram of the structure in which the peeling mechanism places the tablet product in the first receiving area;

[0051] Figure 14 A schematic diagram of the structure for loading bar stock into the additive manufacturing equipment using the mold-taking unit;

[0052] Figure 15 A schematic diagram of a specific embodiment of the fully automated additive manufacturing apparatus provided in this application;

[0053] Figure 16 for Figure 15A schematic diagram of the fully automated additive manufacturing device from the second angle;

[0054] Figure 17 for Figure 15 A structural schematic diagram of a fully automated additive manufacturing device from the third angle;

[0055] Figure 18 for Figure 15 A structural schematic diagram of a fully automated additive manufacturing device from the fourth angle;

[0056] Figure 19 A schematic diagram of a second specific embodiment of the fully automated additive manufacturing apparatus provided in this application;

[0057] Figure 20 A schematic diagram of a third specific embodiment of the fully automated additive manufacturing apparatus provided in this application;

[0058] Figure 21 for Figure 15 A schematic diagram of the support platform in a fully automated additive manufacturing device;

[0059] Figure 22 for Figure 21 A structural diagram of the support platform from the second angle;

[0060] in, Figures 1-22 The annotations in the accompanying drawings are explained as follows:

[0061] 1-Peeling mechanism; 11-Mold removal unit; 111-Clamping component; 1111-Tablet gripper; 1112-Suction tube; 1113-Connecting sleeve; 1114-Elastic component; 1111a-Clamping groove; 112-Adsorption component; 1121-Suction cup; 1121a-Adsorption section; 1121b-Connecting section; 1121c-Adsorption groove; 1122-Adsorption tube; 12-Demolding unit; 121-Demolding gripper; 1211-First connecting part; 1212-Second connecting part; 121a-Notch; 122-Gripper cylinder; 1221-Gripper part; 13-Mechanical arm; 131-Connecting seat; 14-Base; 14a-First receiving area; 14b-Second receiving area; 14c-Third receiving area;

[0062] 2-Additive manufacturing equipment; 21-Print head; 22-Support platform;

[0063] 01-Supporting membrane; 02-Tablet product. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0065] The term "multiple" as used in this article usually refers to two or more components; and when "multiple" is used to indicate the quantity of certain components, it does not indicate the relationship between these components in terms of quantity.

[0066] Please refer to Figures 1-5 , Figure 1 This is a schematic diagram of the structure of the support film and tablet product to be peeled off; Figure 2 This is a schematic diagram of a specific embodiment of the stripping structure in the fully automated additive manufacturing apparatus provided by the present invention. Figure 3 for Figure 2 A schematic diagram of the mold-taking unit in the stripping mechanism; Figure 4 for Figure 2 A schematic diagram of the stripping mechanism removing the robotic arm; Figure 5 for Figure 2 A diagram showing the state of the peeling mechanism when peeling the support film and tablet product.

[0067] The fully automated additive manufacturing apparatus of the present invention includes a peeling mechanism, which is used to peel off the support film 01 and the tablet product 02 that are connected together after printing. Figure 1 As shown, the thickness of the support membrane 01 is approximately 0.1mm to 1mm. It deforms after being clamped and can recover after being released.

[0068] Specifically, such as Figures 2-5 As shown, in this invention, the peeling mechanism 1 includes a mold-taking unit 11, a demolding unit 12, and a robotic arm 13. The demolding unit 12 and the robotic arm 13 are fixedly arranged relative to each other. The robotic arm 13 is connected to the mold-taking unit 11 and is used to drive the mold-taking unit 11 to move according to a preset trajectory.

[0069] The mold-taking unit 11 includes a clamping component 111 and an adsorption component 112. The clamping component 111 includes a tablet gripper 1111, which is used to clamp or release the tablet product 02. The adsorption component 112 has a suction cup 1121, which is used to adsorb the support film 01 through the negative pressure of the suction cup 1121.

[0070] The demolding unit 12 includes two oppositely arranged demolding jaws 121. The two demolding jaws 121 can move in a relatively close direction to clamp the support film 01 and drive the support film 01 to bend and detach from the tablet product 02. The two demolding jaws 121 can also move in a relatively far direction to relax the support film 01.

[0071] The working process of the peeling mechanism 1 in the fully automated additive manufacturing apparatus of the present invention is as follows:

[0072] First, the robotic arm 13 controls the mold-taking unit 11 to move to the preset mold-taking position according to the preset trajectory. At the preset mold-taking position, the tablet product 02 is located in the clamping space of the tablet gripper 1111, and the suction cup 1121 is attached to the support film 01. Subsequently, the tablet gripper 1111 clamps the tablet product 02, and the adsorption component 112 uses negative pressure to adsorb the support film 01, as shown below. Figure 3 As shown;

[0073] Next, the two demolding grippers 121 in the demolding unit 12 are controlled to move in a relatively far apart direction, with sufficient space between the two demolding grippers 121 to accommodate the support film 01; then, the robotic arm 13 controls the demolding unit 11 to move to the preset demolding position according to the preset trajectory, at which time the support film 01 is located between the two demolding grippers 121.

[0074] Next, the two demolding jaws 121 in the demolding unit 12 are moved in a relatively close direction, and the two demolding jaws 121 gradually clamp the support film 01, causing the support film 01 to bend, as shown. Figure 5 As shown, the two opposite ends of the support film 01 are bent away from the tablet product 02. The connection between the support film 01 and the tablet product 02 is gradually separated by force. When the support film 01 is bent to the point of separation from the tablet product 02, the two demolding claws 121 are controlled to move in a relatively distant direction. The support film 01 returns to the unfolded state under the action of the restoring force. At this time, the peeling action between the support film 01 and the tablet product 02 is completed.

[0075] Therefore, in the fully automatic additive manufacturing device of the present invention, the peeling mechanism 1 completes the automatic peeling of the support film 01 and the tablet product 02 through the robotic arm 13, the mold taking unit 11 and the demolding unit 12, without causing damage or deformation to the tablet product 02 and the support film 01, ensuring the consistency of the appearance quality of the product before and after grasping, and the structure is simple and easy to operate, improving the automation, digitalization and intelligence level of the additive manufacturing equipment.

[0076] Among them, such as Figure 5 As shown, in this embodiment, the two demolding claws 121 are arranged in the left and right direction. When the demolding unit 11 is in the preset demolding position, the plane where the support film 01 is located is perpendicular to the extension direction of the demolding claws 121, and the width direction of the support film 01 is the left and right direction, and the length direction of the support film 01 is the height direction. At this time, when the two demolding claws 121 gradually clamp the support film 01, the two ends of the support film 01 are bent in the width direction.

[0077] As described above, the support film 01 is bent at both ends along the width direction, so that the support film 01 can detach from the tablet product 02 with a smaller degree of deformation, thereby improving the peeling efficiency between the support film 01 and the tablet product 02.

[0078] Of course, in practical applications, the setting direction of the demolding claws 121 is not limited. For example, it is also feasible to arrange the two demolding claws 121 in the vertical direction. When the demolding unit 11 is in the preset demolding position, the plane where the support film 01 is located is perpendicular to the extension direction of the demolding claws 121, and the width direction of the support film 01 is the vertical direction, and the length direction of the support film 01 is the horizontal direction.

[0079] Further, please refer to Figure 6 , Figure 6 for Figure 2 Axial sectional view of the clamping component in the stripping mechanism.

[0080] In this embodiment, the tablet gripper 1111 is a flexible gripper with a hollow internal structure. The tablet gripper 1111 has two opposing gripper bodies. The clamping component 111 also includes a suction section and a suction tube 1112. The suction tube 1112 connects the tablet gripper 1111 and the suction section. The tablet gripper 1111 can deform under the action of the suction section to grip or release the tablet product 02. Specifically:

[0081] When the suction unit applies negative pressure to the tablet gripper 1111, the two gripper bodies can come closer together to clamp the tablet product 02; when the suction unit supplies air to the inside of the tablet gripper 1111, the two gripper bodies can move further apart to release the tablet product 02. The opening and closing distance between the two gripper bodies is approximately 0.1mm to 0.3mm.

[0082] The tablet gripper 1111 is made of materials including, but not limited to, medical-grade silicone.

[0083] The material of the suction tube 1112 is not limited. It can be made of rigid or flexible material. The suction tube 1112 and the tablet gripper 1111 can be integrally formed or they can be separate structures that are then fixed together. As long as the connection is sealed, the specific connection method is not limited. For example, the suction tube 1112 and the tablet gripper 1111 can be connected by threads, and a sealant can be applied to the connection end to achieve a seal.

[0084] The suction section can provide positive or negative pressure to the suction cup.

[0085] In practical applications, the clamping component 111 is not limited to the above-described embodiments. For example, the clamping component 111 can also be a gripper cylinder, etc. The specific structure and working principle of the gripper cylinder are existing technologies well known to those skilled in the art, and will not be described in detail here.

[0086] Please refer to Figure 7 , Figure 7 for Figure 2 A schematic diagram of the tablet gripper structure in the peeling mechanism.

[0087] The opposing sidewalls of the two gripper bodies 1111 are gripping arms. The end of the gripping arm near the free end is the gripping end. The gripping end has a gripping plane and a gripping groove 1111a. The gripping groove 1111a extends to the end wall that penetrates the gripper body 1111. The opening end of the gripping groove 1111a penetrates the gripping plane. In the gripping state, the tablet product 02 is gripped between the gripping planes, or part of the tablet product 02 is located inside the gripping groove 1111a.

[0088] Thus, the two opposing clamping grooves 1111a serve a positioning function, making the tablet product 02 more stable when clamped between the two gripper bodies 1111. The structure of the clamping grooves 1111a can be designed to mimic the specific structure of the tablet product 02. For example, in this embodiment, the tablet product 02 has a circular cross-section, in which case the clamping grooves 1111a have an arc-shaped structure. When the tablet product 02 has a planar structure, the clamping plane facilitates clamping the planar portion of the tablet product 02.

[0089] Please continue to refer to this. Figure 6 In this embodiment, the clamping component 111 further includes a connecting sleeve 1113 and an elastic component 1114. The connecting sleeve 1113 is fixed relative to the robotic arm 13. The suction tube 1112 passes through the inside of the connecting sleeve 1113 and is axially limited by the elastic component 1114.

[0090] The suction tube 1112 is axially limited to the connecting sleeve 1113 by the elastic member 1114. Specifically, in the natural state (without force), the suction tube 1112 is relatively fixed to the connecting sleeve 1113 under the action of the elastic member 1114, that is, the tablet gripper 1111 and the robotic arm 13 are relatively fixed. When the tablet gripper 1111 is subjected to an axial force, the suction tube 1112 can compress the elastic member 1114 and move axially relative to the connecting sleeve 1113. When the axial force acting on the tablet gripper 1111 is removed, the suction tube 1112 can also return to the initial state under the restoring force of the elastic member 1114.

[0091] As set above, the tablet gripper 1111 is designed to be floating, ensuring that the suction cup 1121 can adsorb the supporting film 01 during demolding, and the clamping component 111 can be adjusted to clamp the tablet product 02. Thus, during the molding process, there is no need to precisely design the position of the tablet gripper 1111, reducing the installation accuracy of the tablet gripper 1111, reducing the installation requirements of the tablet gripper 1111, reducing the labor intensity of the workers, and improving work efficiency.

[0092] like Figure 6As shown, the outer wall of the suction tube 1112 is provided with an annular protrusion, which forms a limiting part. The end wall of the annular protrusion near the first end forms a first limiting wall, and the end wall near the second end forms a second limiting wall. The connecting sleeve 1113 is provided with a third limiting wall at the first axial end and a fourth limiting wall at the second axial end. The third and fourth limiting walls are arranged opposite to each other. The elastic member 1114 movably mounts the suction tube 1112. The suction tube 1112 is inserted into the connecting sleeve 1113 and is in a natural state (without force). The first limiting wall and the third limiting wall abut against each other. The two ends of the elastic member 1114 abut against the second and fourth limiting walls. When the tablet gripper 1111 is subjected to axial force, the suction tube 1112 compresses the elastic member 1114 and moves axially relative to the connecting sleeve 1113. The first limiting wall and the third limiting wall gradually separate.

[0093] In this embodiment, the elastic component 1114 is a helical spring. In practical applications, the elastic component 1114 can also be made of a flexible material, such as a tubular structure made of silicone.

[0094] In this embodiment, there is one clamping component 111, which can clamp one tablet product 02 at a time. In practical applications, the peeling mechanism 1 can be equipped with two or more clamping components 111. After multiple tablet products 02 are printed on a single additive manufacturing machine, multiple tablets 02 can be gripped at the same time, improving work efficiency. At this time, each clamping component 111 can be equipped with a matching adsorption component 112 to adsorb the support film 01.

[0095] like Figure 6 As shown, in this embodiment, the connecting end of the robotic arm 13 is provided with a T-shaped connecting seat 131. The connecting seat 131 is provided with a connecting hole, and the connecting sleeve 1113 passes through the connecting hole. The outer wall of the connecting sleeve 1113 is provided with an external thread, and it also includes two fixing nuts. The two fixing nuts are screwed onto the outer circumference of the connecting sleeve 1113, and the two fixing nuts are located on both sides of the connecting seat 131 and abut against the corresponding side wall of the connecting seat 131 to fix the connecting sleeve 1113.

[0096] Thus, the position of the connecting sleeve 1113 fixed to the robotic arm 13 is also adjustable, further expanding the adjustment range of the tablet gripper 1111, thereby expanding the applicability of the peeling structure of the present invention and making it more practical.

[0097] Of course, in practical applications, there are no restrictions on the fixing method of the connecting sleeve 1113. For example, if the outer wall of the connecting sleeve 1113 is provided with external threads and the connecting hole is a threaded hole, it is also feasible to connect the connecting sleeve 1113 and the connecting seat 131 by threads.

[0098] Please refer to Figures 8-9 , Figure 8 for Figure 2 Schematic diagram of the demolding unit in the peeling mechanism; Figure 9 for Figure 8 A magnified view of a portion of the demolding unit.

[0099] In this application, the inner wall of the demolding gripper 121 is provided with a notch 121a. The notch 121a penetrates the two end walls of the demolding gripper 121 in the thickness direction and also penetrates the outer end wall of the demolding gripper 121. The two notches 121a form a demolding space. During demolding, the support film 01 is located in the demolding space. The included angle between the two side walls forming the notch 121a is α, and the value of α is in the range of 80° to 90°.

[0100] It should be noted that the side wall opposite to the demolding claw 121 is the "inner wall", and the end wall of the free end of the demolding claw 121 is the "outer end wall".

[0101] As set above, the notch 121a can limit the support film 01, so that the support film 01 deforms under the action of the demolding claw 121. The included angle between the two side walls forming the notch 121a is in the range of 80° to 90°. On the one hand, it can increase the deformation of the support film 01, making it easier for the support film 01 to separate from the tablet product 02 and avoid damage or deformation to the support film 01. On the other hand, it can also prevent the support film 01 from popping out during the deformation process, thus playing a certain limiting role.

[0102] Furthermore, such as Figures 8-9 As shown, in this embodiment, the demolding unit 12 further includes a gripper cylinder 122. The gripper cylinder 122 has two gripper portions 1221. The two gripper portions 1221 can be relatively close or far apart. The demolding grippers 121 are connected to the gripper portions 1221 in a one-to-one correspondence, thereby realizing that the two demolding grippers 121 are relatively close or relatively far apart.

[0103] Specifically, the demolding gripper 121 includes a first connecting portion 1211 and a second connecting portion 1212. The first connecting portion 1211 and the second connecting portion 1212 are perpendicular to each other and roughly form an L-shaped structure. The first connecting portion 1211 is longer and is used to connect with the outer wall of the gripper portion 1221 in the length direction. The second connecting portion 1212 is shorter and is used to connect with the end wall of the gripper portion 1221. Notches 121a are disposed opposite to each other on the two second connecting portions 1212.

[0104] It should be noted that the sidewalls of the two gripper parts 1221 facing each other are called the "inner walls", and the sidewalls of the two gripper parts 1221 facing away from each other are called the "outer walls".

[0105] Of course, the way the demolding claw 121 is arranged in this embodiment increases the connection area between the demolding claw 121 and the claw portion 1221, thereby improving the connection strength between the demolding claw 121 and the claw portion 1221. In practical applications, the specific structure of the demolding claw 121 is not limited; for example, it is also feasible for the demolding claw 121 to include only the second connecting portion 1212.

[0106] Please refer to Figures 10-11 , Figure 10 for Figure 2 A schematic diagram of the suction cup structure in the peeling mechanism; Figure 11 for Figure 10 A schematic diagram of the suction cup at the second angle.

[0107] In this application, the suction cup 1121 includes an adsorption section 1121a and a connecting section 1121b connected axially. The end of the adsorption section 1121a away from the connecting section 1121b forms an adsorption end for adsorbing the support film 01. The diameter of the connecting section 1121b gradually decreases from the middle to both ends.

[0108] The above configuration gives the suction cup 1121 greater elasticity, allowing for axial extension and retraction, which facilitates the suction cup 1121's adsorption of the support film 01 and improves the connection stability between the suction cup 1121 and the support film 01.

[0109] Furthermore, the suction cup 1121 is also provided with an adsorption groove 1121c at the adsorption end. In the axial projection plane of the suction cup 1121, the outline of the adsorption groove 1121c is an arc curve.

[0110] Please combine Figure 5 As can be seen, by setting the above-mentioned adsorption groove 1121c, even when the support film 01 is bent and deformed, the suction cup 1121 and the support film 01 can still have sufficient adsorption force to prevent the support film 01 from falling off.

[0111] In practical applications, the structure of the adsorption groove 1121c should be designed to mimic the bending state of the support film 01 when it separates from the tablet product 02, so as to ensure that the suction cup 1121 and the support film 01 can fit together as closely as possible.

[0112] The suction cup 1121 is made of materials including, but not limited to, medical-grade silicone.

[0113] Please continue to refer to this. Figure 3 In this embodiment, there are two adsorption components 112, which are respectively disposed on both sides of the clamping component 111 to ensure the connection stability between the suction cup 1121 and the support film 01.

[0114] Of course, in practical applications, the number of adsorption components 112 is not limited, such as the number of adsorption components 112 can be at least one.

[0115] Furthermore, the adsorption component 112 also includes an adsorption tube 1122 and a suction mechanism. The adsorption tube 1122 is sealed and connected to the suction cup 1121 and the suction mechanism. The suction cup 1121 can adsorb or release the support membrane 01 under the action of the suction mechanism. The way in which the adsorption tube 1122 is fixed to the robotic arm 13 is the same as that of the connecting sleeve 1113, and will not be described again here.

[0116] Similarly, there are no restrictions on the way the adsorption tube 1122 is fixed, such as the adsorption tube 1122 being threadedly connected to the connecting seat 131.

[0117] Of course, the suction cup 1121 can also be configured to float axially relative to the robotic arm 13. In this case, the adsorption component 112 also includes a connecting sleeve and an elastic component. The connecting sleeve is fixed relative to the robotic arm 13, and the adsorption tube 1122 passes through the inside of the connecting sleeve and is axially limited by the elastic component.

[0118] Please refer to Figure 2 , Figures 12-13 , Figure 12 for Figure 2 A schematic diagram of the structure in which the peeling mechanism places the support membrane in the second receiving area; Figure 13 for Figure 2 A schematic diagram of the structure in which the stripping mechanism places the tablet product in the first receiving area.

[0119] In this application, the peeling mechanism 1 also includes a base 14, and the demolding unit 12 and the robotic arm 13 are both disposed on the base 14. The base 14 is also provided with a first accommodating area 14a and a second accommodating area 14b. The first accommodating area 14a is used to accommodate the tablet product 02, and the second accommodating area 14b is used to accommodate the support film 01.

[0120] Thus, after the separation of the support film 01 and the tablet product 02 is completed, the robotic arm 13 can place the tablet product 02 in the first receiving area 14a and the support film 01 in the second receiving area 14b according to the preset trajectory.

[0121] It is understood that the second receiving area 14b is not only used to receive the used support film 01, but also the new support film 01 can be placed in the second receiving area 14b. In this way, after the used support film 01 is placed in the second receiving area 14b, the adsorption component 112 can adsorb the new support film 01, and the robotic arm 13 places the new support film 01 on the support platform of the additive manufacturing equipment according to the preset trajectory.

[0122] Please refer to Figure 4 and Figure 14 , Figure 14 A schematic diagram of the structure for loading bar stock into the additive manufacturing equipment by the mold-taking unit.

[0123] Furthermore, a third receiving area 14c is provided on the base 14, which is used to receive the rod material 03, and the tablet gripper 1111 can also clamp or release the rod material 03.

[0124] Thus, in this application, the peeling mechanism 1 can not only peel the support film 01 and the tablet product 02, but also achieve automatic feeding, specifically:

[0125] The robotic arm 13 grasps the bar stock 03 through the tablet gripper 1111 and loads the bar stock 03 into the loading area of ​​the additive manufacturing equipment according to the preset trajectory. After the additive manufacturing equipment completes the printing, the aforementioned peeling operation can be performed. After placing the tablet product 02 in the first receiving area 14a and the support film 01 in the second receiving area 14b, a complete printing operation is completed.

[0126] Once the rod 03 is used up, repeat the above loading steps. This enables continuous, unattended, and automated production of tablets using additive manufacturing equipment, improves the stability and consistency of 3D printed formulations, reduces manual intervention, avoids the introduction of contaminants during manual operation, saves R&D personnel printing time, improves operational efficiency, enhances equipment utilization, and meets the production needs of the biopharmaceutical industry.

[0127] Furthermore, the peeling mechanism 1 may also include an adsorption unit (not shown in the figure), which is connected to the robotic arm 13. The adsorption unit has positive and negative pressure suction cups. The adsorption unit is used to adsorb the new support film 01 through the positive and negative pressure suction cups. The robotic arm 13 can place the new support film 01 on the working platform of the additive manufacturing equipment according to a preset trajectory.

[0128] Thus, when the robotic arm 13 controls the molding unit 11 to remove the support film 01 and the tablet product 02 from the additive manufacturing equipment, the new support film 01 can be placed on the working platform of the additive manufacturing equipment through the adsorption unit, so that the additive manufacturing equipment can continue printing. Subsequently, the peeling mechanism 1 peels off the support film 01 and the tablet product 02, shortening the idle waiting time of the additive manufacturing equipment and improving work efficiency.

[0129] Furthermore, such as Figure 2 As shown, a handle is also provided on the side wall of the base 14, and rollers can also be provided at the bottom of the base 14 to facilitate the adjustment of the position of the peeling mechanism 1. In this way, the same peeling mechanism 1 can correspond to multiple additive manufacturing equipment, thereby improving the utilization rate of the peeling mechanism 1 in this invention.

[0130] In practical applications, the stripping mechanism 1 is also equipped with a controller. The controller is electrically connected to the drive mechanisms in the mold taking unit 11, the demolding unit 12, the robotic arm 13, and the base 14, and is used to control the mold taking unit 11, the demolding unit 12, the robotic arm 13, and the base 14 to move according to a preset trajectory.

[0131] The specific structure and control strategy of the controller are existing technologies well known to those skilled in the art, and will not be described in detail here.

[0132] Please refer to Figures 15-22 , Figure 15 A schematic diagram of a specific embodiment of the fully automated additive manufacturing apparatus provided in this application; Figure 16 for Figure 15 A schematic diagram of the fully automated additive manufacturing device from the second angle; Figure 17 for Figure 15 A structural schematic diagram of a fully automated additive manufacturing device from the third angle;

[0133] Figure 18 for Figure 15 A structural schematic diagram of a fully automated additive manufacturing device from the fourth angle; Figure 19 A schematic diagram of a second specific embodiment of the fully automated additive manufacturing apparatus provided in this application; Figure 20 A schematic diagram of a third specific embodiment of the fully automated additive manufacturing apparatus provided in this application; Figure 21 for Figure 15 A schematic diagram of the support platform in a fully automated additive manufacturing device; Figure 22 for Figure 21 A schematic diagram of the support platform from the second angle.

[0134] The fully automated additive manufacturing apparatus of the present invention further includes at least one additive manufacturing device 2, and the stripping mechanism 1 is movable in front of each additive manufacturing device 2 to cooperate with each additive manufacturing device 2 to complete the printing work.

[0135] The additive manufacturing equipment 2 includes a printhead 21 and a support platform 22. The printhead 21 has a loading area, and the support platform 22 is provided with a negative pressure adsorption section. The new support film 01 is adsorbed and fixed to the support platform 22 through the negative pressure adsorption section. The negative pressure adsorption section specifically includes an annular groove. The support platform 22 is also provided with a negative pressure channel, which connects the annular groove and the negative pressure mechanism. The negative pressure mechanism can be a vacuum pump, etc.

[0136] The number of printheads 21 can be one or more; when there are multiple printheads 21, the position of the printheads 21 is adjustable, and each printhead 21 can be moved to a position corresponding to the support platform 22.

[0137] The present invention also provides an operating method for a fully automated additive manufacturing apparatus, applicable to the aforementioned fully automated additive manufacturing apparatus, including a peeling method, the peeling method comprising the following steps:

[0138] Clamp the tablet product 02 and drive the opposite ends of the support film 01 to bend away from the tablet product 02 until the support film 01 detaches from the tablet product 02.

[0139] The operating method of the fully automated additive manufacturing apparatus of the present invention is applicable to the aforementioned fully automated additive manufacturing apparatus, and therefore has the same technical effects as the operating method of the fully automated additive manufacturing apparatus, which will not be repeated here. Furthermore, the peeling method in this invention is simple to operate and will not damage or deform the tablet product 02 and the support film 01, thus improving work efficiency.

[0140] Specifically, in the aforementioned stripping mechanism 1, the stripping method includes the following steps:

[0141] The robotic arm 13 controls the mold-taking unit 11 to move to the preset mold-taking position according to the preset trajectory, the tablet gripper 1111 clamps the tablet product 02, and the adsorption component 112 uses negative pressure to adsorb the support film 01.

[0142] The robotic arm 13 controls the mold-taking unit 11 to move to the preset demolding position according to the preset trajectory, and the support film 01 is located in the demolding unit 12, between the two demolding grippers 121;

[0143] Two demolding jaws 121 clamp the support film 01 and drive the opposite ends of the support film 01 to bend away from the tablet product 02 until the support film 01 is separated from the tablet product 02.

[0144] As can be seen, the peeling mechanism 1 completes the automatic peeling of the support film 01 and the tablet product 02 through the robotic arm 13, the mold taking unit 11 and the demolding unit 12. It will not cause damage or deformation to the tablet product 02 and the support film 01, ensuring the consistency of the appearance quality of the product before and after grasping. Moreover, the structure is simple and easy to operate, improving the automation, digitalization and intelligence level of the additive manufacturing equipment.

[0145] The operation method of the fully automated additive manufacturing apparatus of the present invention further includes the following steps before the peeling method:

[0146] Step S100: The robotic arm 13 grabs the bar stock 03 and loads the bar stock 03 into the loading area according to the preset trajectory;

[0147] Step S200: The robotic arm 13 adsorbs the new support film 01 and places the new support film 01 on the support platform 22 according to the preset trajectory. The new support film 01 is adsorbed and fixed to the support platform 22 by the negative pressure adsorption part.

[0148] Step S300: The additive manufacturing equipment 2 completes the printing, and the support film 01 and the tablet product 02 are connected as one piece;

[0149] The operation method of the fully automated additive manufacturing apparatus of the present invention, after the stripping method, further includes the following steps:

[0150] Step S400: The robotic arm 13 places the tablet product 02 into the first receiving area 14a and places the support film 01 into the second receiving area 14b; repeat the steps after step S200.

[0151] After the bar stock 03 is used up, repeat the steps after step S100, where steps S100 and S200 can be interchanged.

[0152] As can be seen, the operation method of the fully automated additive manufacturing device of the present invention, combined with robotics technology, can realize continuous, unattended, and automated production of tablet products printed by additive manufacturing equipment, improve the stability of 3D printed formulations and the consistency of molded products, reduce manual intervention, avoid the introduction of pollution sources during manual operation, save printing operation time for R&D personnel, improve operating efficiency, enhance equipment utilization, and meet the production needs of the biopharmaceutical industry.

[0153] It should be noted that the aforementioned "steps after repeating step S200" includes repeating step 200; the aforementioned "steps after repeating step S100" includes repeating step 100.

[0154] The above provides a detailed description of the fully automated additive manufacturing apparatus and operating method provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A fully automated additive manufacturing apparatus, characterized in that, The device includes a peeling mechanism (1) for peeling a support film (01) and a tablet product (02). The peeling mechanism (1) includes a molding unit (11), a demolding unit (12), and a robotic arm (13). The demolding unit (12) and the robotic arm (13) are fixedly arranged relative to each other. The robotic arm (13) is connected to the molding unit (11) and is used to drive the molding unit (11) to move according to a preset trajectory. The molding unit (11) includes a clamping component (111) and an adsorption component (112). The clamping component (111) includes a tablet gripper (1111) for clamping or releasing the tablet product (02). The adsorption component (112) has a suction cup (1121) for adsorbing the support film (01) by negative pressure through the suction cup (1121). The demolding unit (12) includes two oppositely arranged demolding jaws (121). The two demolding jaws (121) can move in a relatively close direction to clamp the support film (01) and drive the support film (01) to bend away from the tablet product (02). The two demolding jaws (121) can also move in a relatively far direction to relax the support film (01). The phrase "driving the support film (01) to bend" means that the two demolding claws (121) gradually clamp the support film (01), driving the opposite ends of the support film (01) to bend away from the tablet product (02), so that the connection between the support film (01) and the tablet product (02) is gradually separated by force. The tablet gripper (1111) is a flexible gripper with a hollow internal structure. The gripping component (111) also includes a suction part and a suction tube (1112). The suction tube (1112) connects the tablet gripper (1111) and the suction part. The tablet gripper (1111) can deform under the action of the suction part to grip or release the tablet product (02).

2. The fully automated additive manufacturing apparatus according to claim 1, characterized in that, The tablet gripper (1111) includes two gripper bodies arranged opposite to each other. The gripping ends of the two gripper bodies have gripping planes. Gripping grooves (1111a) are arranged opposite to each other on the gripping planes. In the gripping state, the tablet product (02) is clamped between the gripping planes, or the tablet product (02) is partially located inside the gripping groove (1111a).

3. The fully automated additive manufacturing apparatus according to claim 1, characterized in that, The clamping component (111) further includes a connecting sleeve (1113) and an elastic component (1114). The connecting sleeve (1113) is fixed relative to the robotic arm (13). The suction tube (1112) passes through the inside of the connecting sleeve (1113) and is axially limited by the elastic component (1114) and the connecting sleeve (1113).

4. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, The inner wall of the demolding claw (121) is provided with a notch (121a) that penetrates both end walls of the demolding claw (121) in the thickness direction and also penetrates the outer end wall of the demolding claw (121). The two notches (121a) form a demolding space. The included angle between the two side walls forming the notch (121a) is α, and the value of α is in the range of 80°~90°.

5. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, The suction cup (1121) includes an axially connected adsorption section (1121a) and a connecting section (1121b). The adsorption section (1121a) forms an adsorption end at the end away from the connecting section (1121b) for adsorbing the support film (01). The diameter of the connecting section (1121b) gradually decreases from the middle to both ends.

6. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, The suction cup (1121) includes an adsorption end, and the adsorption end is provided with an adsorption groove (1121c). In the axial projection plane of the suction cup (1121), the outline of the adsorption groove (1121c) is an arc curve.

7. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, The peeling mechanism (1) also includes a base (14), on which the demolding unit (12) and the robotic arm (13) are both disposed; the base (14) is also provided with a first accommodating area (14a) and a second accommodating area (14b), the first accommodating area (14a) is used to accommodate the tablet product (02), and the second accommodating area (14b) is used to accommodate the support film (01).

8. The fully automated additive manufacturing apparatus according to claim 7, characterized in that, The base (14) is also provided with a third receiving area (14c), which is used to receive the rod material (03), and the tablet gripper (1111) can also clamp or release the rod material (03).

9. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, It also includes an adsorption unit connected to the robotic arm (13). The adsorption unit has positive and negative pressure suction cups. The adsorption unit is used to adsorb the new support film (01) through the positive and negative pressure suction cups. The robotic arm (13) can place the new support film (01) on the working platform of the additive manufacturing equipment according to a preset trajectory.

10. The fully automated additive manufacturing apparatus according to any one of claims 1-3, characterized in that, It also includes at least one additive manufacturing device (2), and the stripping mechanism (1) is movable between each of the additive manufacturing devices (2).

11. A method for operating a fully automated additive manufacturing apparatus, applicable to the fully automated additive manufacturing apparatus according to any one of claims 1-10, characterized in that, The method includes a peeling process, which comprises the following steps: Clamp the tablet product (02) and drive the opposite ends of the support film (01) to bend away from the tablet product (02) until the support film (01) detaches from the tablet product (02).

12. The operation method of the fully automated additive manufacturing apparatus according to claim 11, characterized in that, The peeling method specifically includes the following steps: The robotic arm (13) controls the mold-taking unit (11) to move to the preset mold-taking position according to the preset trajectory, the tablet gripper (1111) clamps the tablet product (02), and the adsorption component (112) adsorbs the support film (01) under negative pressure. The robotic arm (13) controls the mold-taking unit (11) to move to the preset demolding position according to the preset trajectory, and the support film (01) is located in the demolding unit (12) between the two demolding claws (121); The two release jaws (121) clamp the support film (01) and drive the opposite ends of the support film (01) to bend away from the tablet product (02) until the support film (01) is separated from the tablet product (02).

13. The operation method of the fully automatic additive manufacturing apparatus according to claim 11, wherein the additive manufacturing equipment (2) of the fully automatic additive manufacturing apparatus has a print head (21) and a support platform (22), the print head (21) has a loading area, the support platform (22) is provided with a negative pressure adsorption section, and a new support film (01) is adsorbed and fixed to the support platform (22) through the negative pressure adsorption section, characterized in that, The operation method of the fully automated additive manufacturing apparatus, prior to the peeling method, further includes the following steps: Step S100: The robotic arm (13) grabs the bar stock (03) and loads the bar stock (03) into the loading area according to the preset trajectory; Step S200: The robotic arm (13) adsorbs the new support membrane (01) and places the new support membrane (01) on the support platform (22) according to a preset trajectory. The new support membrane (01) is adsorbed and fixed to the support platform (22) by the negative pressure adsorption part. Step S300: The additive manufacturing equipment (2) completes the printing, and the support film (01) and the tablet product (02) are connected together; The operation method of the fully automated additive manufacturing apparatus, after the stripping method, further includes the following steps: Step S400: The robotic arm (13) places the tablet product (02) in the first receiving area (14a) and the support film (01) in the second receiving area (14b); repeat the steps after step S200; After the bar stock (03) is used up, repeat the steps after step S100, wherein step S100 and step S200 can be interchanged.

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