A kind of automatic cleaning equipment for powder materials with dual robotic arms

Abstract

The present invention discloses a powder automatic cleaning device with dual mechanical arms, including a lifting mechanism arranged in a molding cylinder and an adsorption hood arranged above the molding cylinder, wherein the movable end of the lifting mechanism is connected to a pad in the molding cylinder, and a substrate is connected to the pad. The lifting mechanism drives the pad and the substrate to rise and fall in the molding cylinder, so as to facilitate the layer-by-layer printing of parts on the substrate. The present invention arranges two powder blowing and powder sucking alternating components in parallel and correspondingly by two mechanical arms, so that the blown powder can be absorbed promptly and quickly after the powder is blown, and one of the two powder blowing and powder sucking alternating components blows powder and the other sucks powder, so that when the mechanical arm drives the powder blowing and powder sucking alternating components to move to the edge of the substrate, the powder blowing and the powder sucking are alternately changed, so that when the powder is quickly removed, the problem of powder cleaning dead angle at the edge of the substrate can be avoided, thereby improving the efficiency of powder cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of metal powder 3D printing, and in particular to a dual-mechanical-arm-coordinated automatic powder cleaning device. Background Art

[0002] 3D printing technology is a rapid prototyping technology that uses digital model files to construct objects by printing layer by layer. When 3D printing with metal powder, after printing is completed, the molding cylinder, substrate surface and part surface will be covered with a large amount of powder. Before removing the workpiece, the powder needs to be cleaned to prevent the powder from floating outside the printing equipment and polluting the external environment.

[0003] After the current 3D printing equipment is completed, the metal powder is generally cleaned by vacuuming. The specific process is: the worker wears protective equipment, prepares the vacuum cleaner, opens the hatch of the equipment, transfers the molding cylinder and parts to the powder cleaning area, and then uses the vacuum cleaner to absorb the powder. This powder cleaning method first requires the use of a handheld vacuum cleaner to remove the powder one by one. The cleaning efficiency is low, and during the manual cleaning process, the powder may be exposed to the external environment, and it is also prone to safety hazards. To this end, we proposed a dual-arm collaborative powder automatic cleaning device to solve the above drawbacks. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to propose an automatic powder cleaning device with dual robotic arms cooperating.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A powder material automatic cleaning device with dual robotic arms, comprising a lifting mechanism arranged in a forming cylinder and an adsorption cover arranged above the forming cylinder, wherein the movable end of the lifting mechanism is connected to a pad in the forming cylinder, and a base plate is connected to the pad, and further comprising:

[0007] A lifting and moving mechanism, which is arranged in the printer cabin and drives the adsorption cover to move above the forming cylinder. The tops of the two symmetrical side walls in the adsorption cover are fixed with electric tracks, and a mechanical arm is installed on each electric track. The bottom of each of the mechanical arms is connected to a powder blowing and powder sucking alternating assembly;

[0008] An air intake assembly, wherein the air intake assembly is installed on one side of the top of the adsorption hood, wherein both ends of the air intake assembly are respectively connected to the same end of the two powder blowing and powder sucking alternating assemblies through telescopic connecting pipes, and the other end of the air intake assembly is connected to an air pump;

[0009] A vacuum assembly, wherein the vacuum assembly is installed on the other side of the top of the adsorption hood, wherein both ends of the vacuum assembly are respectively connected to the other ends of the two powder blowing and powder sucking alternating assemblies through telescopic connecting pipes, and the other end of the vacuum assembly is connected to a vacuum pump;

[0010] The powder blowing and powder sucking alternating assembly comprises a first motor connected to the bottom end of the mechanical arm, a U-shaped outer frame connected to the output shaft of the first motor, a square outer box arranged in the U-shaped outer frame, a circular inner tube arranged in the square outer box, and rotating rings arranged at both ends of the square outer box, a second motor driving the square outer box to rotate in the U-shaped outer frame is installed on one side of the U-shaped outer frame, and a third motor driving the circular inner tube to rotate in the square outer box is installed on the other side of the U-shaped outer frame;

[0011] The two mechanical arms are provided with two, and the two mechanical arms are staggered when working, so that the two powder blowing and sucking alternating components are parallel to each other;

[0012] When the powder blowing and powder sucking alternating components connected to one of the robot arms blow powder, the air intake component controls to open the pipeline connecting the powder blowing and powder sucking alternating components and the air pump, and the air extraction component simultaneously controls to open the pipeline connecting the other powder blowing and powder sucking alternating components and the vacuum exhaust pump;

[0013] Furthermore, when the square outer box connected to one of the robot arms rotates and tilts to blow powder onto the substrate, the square outer box connected to the other robot arm synchronously follows the reverse rotation and tilts to absorb the blown powder.

[0014] Preferably, the lower end of the adsorption hood is a square box, the upper end of the adsorption hood is an inverted funnel shape, and the vacuum pump is provided with two air inlet ends, wherein the air outlet provided at the top of the adsorption hood is connected to one of the air inlet ends of the vacuum pump.

[0015] Preferably, a horizontal supporting cross bar is fixedly sleeved on the top end of the adsorption cover, and one end of the supporting cross bar extends outside the adsorption cover and is connected to the movable end of the lifting and moving mechanism.

[0016] Preferably, the two electric rails are arranged parallel to the base plate, and limit switches corresponding to the ends of the robotic arm are detachably installed at both ends of each electric rail. When the robotic arm slides on the electric rail and acts on one of the limit switches, the robotic arm starts to move in the opposite direction.

[0017] Preferably, both ends of the square outer box are respectively provided with an air inlet cavity and an air outlet cavity connected to the inner cavity, the top surfaces of the air inlet cavity and the air outlet cavity are provided with air inlet and outlet holes, the swivel sealing rotatable sleeve is arranged on the outside of the air inlet cavity and the air outlet cavity, the telescopic connecting pipe comprises an air inlet telescopic pipe passing through the swivel and connected with the air inlet cavity, and an air outlet telescopic pipe connected with the air outlet cavity, and slots for the air inlet telescopic pipe and the air outlet telescopic pipe to pass through are provided on both sides of the top surface of the U-shaped outer frame.

[0018] Preferably, one side of the square outer box is provided with multiple air inlets connected to the interior, the other side of the square outer box is provided with a first air outlet connected to the interior, and one side of the bottom surface of the square outer box is provided with a second air outlet. Connecting rods are fixed at both ends of the circular inner tube and are coaxially connected to a supporting rotating plate through the connecting rods. The output shaft of the third motor passes through the air outlet cavity and is fixedly connected to the supporting rotating plate. One side of the middle of the circular inner tube is provided with intermittent middle openings facing multiple side surfaces of the square outer box.

[0019] Preferably, the angle between the two ends of the central opening and the axis of the circular inner tube is 90°, and the four corners of the square outer box are inclined with partitions extending to touch the circular inner tube, and the circular inner tube rotates close to the ends of the four partitions.

[0020] Preferably, the first air outlet and the second air outlet are both composed of a plurality of air holes, the air hole diameter of the first air outlet is larger than the air hole diameter of the second air outlet, and the second air outlet is located on the bottom surface of the square outer box near the side, and the inner bottom wall of the square outer box is located on one side of the second air outlet and is filled with an arc block.

[0021] Preferably, the air intake assembly includes a U-shaped air intake pipe, a three-way air intake valve is installed in the middle of the U-shaped air intake pipe, two ports of the U-shaped air intake pipe are fixedly connected to air intake branches extending into the adsorption hood, the top valve port of the air intake three-way valve is connected to the air pump, and the bottom ends of the two air intake branches are respectively connected to two alternating powder blowing and suction components through telescopic connecting pipes.

[0022] Preferably, the vacuum assembly includes a U-shaped vacuum pipe, a vacuum three-way valve is installed in the middle of the U-shaped vacuum pipe, two ports of the U-shaped vacuum pipe are fixedly connected to vacuum branches extending into the adsorption hood, the top valve port of the vacuum three-way valve is connected to the vacuum vacuum pump, and the bottom ends of the two vacuum branches are respectively connected to two alternating powder blowing and suction components through telescopic connecting pipes.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The present invention provides two mechanical arms, two electric tracks, two powder blowing and powder sucking alternating components, an air intake component and an air extraction component in an adsorption cover. When the adsorption cover is covered above the forming cylinder and the powder on the substrate is removed, the two mechanical arms arrange the two powder blowing and powder sucking alternating components in parallel and correspondingly, so that after the powder is blown, the blown powder can be absorbed promptly and quickly. In addition, one of the two powder blowing and powder sucking alternating components blows powder and the other sucks powder, so that when the mechanical arms drive the powder blowing and powder sucking alternating components to move to the edge of the substrate, the powder blowing and the powder sucking are alternately changed, so that when the powder is quickly removed, the problem of powder cleaning dead angle at the edge of the substrate can be avoided, thereby improving the efficiency of powder cleaning.

[0025] In addition, through the arrangement of the U-shaped outer frame, the first motor, the square outer box, the second motor, the third motor and the circular inner tube, and in cooperation with the two mechanical arms, the first motor can control the positions of the U-shaped outer frame, the square outer box and the circular inner tube, so that the entire powder blowing and powder sucking alternating assembly can be mutually converted between the horizontal and vertical directions above the substrate, thereby adapting to the powder cleaning needs at the middle position above the substrate and the edge position of the substrate, and further improving the powder cleaning efficiency;

[0026] Finally, through the air inlet, the first air outlet and the second air outlet on the square outer box, in coordination with the central opening of the circular inner tube, and the rotation of the circular inner tube driven by the third motor, the central opening of the circular inner tube is made to face the first air outlet and the second air outlet respectively, and the apertures of the first air outlet and the second air outlet are different, so that under the same inflation pressure, the first air outlet or the second air outlet can be adjusted to blow the powder according to the position, quantity and adhesion strength of the powder, so that the powder blowing effect is better and more targeted, and the powder residue is reduced as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A cross-sectional view of a powder automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 1 ;

[0028] Figure 2 A cross-sectional view of a powder automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 2 ;

[0029] Figure 3 A schematic diagram of the state and structure of a powder material automatic cleaning device with dual robotic arms cooperating with each other proposed by the present invention;

[0030] Figure 4 This is a schematic diagram of the state 2 structure of a powder material automatic cleaning device with dual robotic arms cooperating with each other proposed by the present invention;

[0031] Figure 5 This is a schematic diagram of the state three structure of a dual-manipulator-arm-cooperative powder material automatic cleaning device proposed by the present invention;

[0032] Figure 6 Schematic diagram of the adsorption cover structure of a powder automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 1 ;

[0033] Figure 7 Schematic diagram of the adsorption cover structure of a powder automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 2 ;

[0034] Figure 8 A cross-sectional view of an adsorption cover of a powder material automatic cleaning device with dual robotic arms cooperating with the present invention;

[0035] Fig. 9 Schematic diagram of the powder blowing and powder sucking alternating components structure of a powder material automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 1 ;

[0036] Fig.10 Schematic diagram of the powder blowing and powder sucking alternating components structure of a powder material automatic cleaning device with dual robotic arms in cooperation proposed by the present invention Figure 2 ;

[0037] Fig.11 A cross-sectional view of a powder blowing and powder sucking alternating component of a powder material automatic cleaning device with dual mechanical arms cooperating with each other proposed by the present invention;

[0038] Fig.12 This is a schematic diagram of the square outer box structure of a powder automatic cleaning device with dual robotic arms cooperating with the present invention;

[0039] Fig.13 This is a schematic diagram of the circular inner tube structure of a powder automatic cleaning device with dual robotic arms cooperating with the present invention.

[0040] In the figure: 1. forming cylinder; 2. lifting mechanism; 3. pad; 4. base plate; 5. adsorption cover; 6. lifting and moving mechanism; 7. electric track; 8. mechanical arm; 9. powder blowing and powder suction alternating assembly; 10. telescopic connecting pipe; 11. air intake assembly; 12. exhaust assembly; 13. inert gas tank; 14. air pump; 15. vacuum exhaust pump; 501. supporting cross bar; 502. air outlet; 701. limit switch; 81. first mechanical arm; 82. second mechanical arm; 91. U-shaped outer frame; 92. first motor; 93. square outer box; 94. second motor; 95. third motor ; 96. circular inner tube; 97. swivel; 9301. air inlet cavity; 9302. air outlet cavity; 9303. air inlet and outlet holes; 9304. air inlet; 9305. first air outlet; 9306. second air outlet; 9307. arc block; 9308. partition; 9601. middle opening; 9602. connecting rod; 9603. against swivel plate; 1001. air outlet telescopic tube; 1002. air inlet telescopic tube; 111. U-shaped air inlet pipe; 112. air inlet three-way valve; 113. air inlet branch pipe; 121. U-shaped exhaust pipe; 122. exhaust three-way valve; 123. exhaust branch pipe. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] Reference Figure 1-Figure 13 , a powder automatic cleaning device with dual mechanical arms, comprising a lifting mechanism 2 arranged in a forming cylinder 1 and an adsorption cover 5 arranged above the forming cylinder 1, wherein the movable end of the lifting mechanism 2 is connected with a backing plate 3 in the forming cylinder 1, and a substrate 4 is connected with the backing plate 3. The lifting mechanism 2 drives the backing plate 3 and the substrate 4 to rise and fall in the forming cylinder 1, so as to facilitate the layer-by-layer printing of parts on the substrate 4.

[0044] It also includes: a lifting and moving mechanism 6, an air intake component 11, an air extraction component 12 and two mechanical arms 8. The lifting and moving mechanism 6 is arranged in the printer cabin and is used to drive the adsorption cover 5 to move above the molding cylinder 1, so that after printing is completed, the adsorption cover 5 is moved above the molding cylinder 1 to cover the parts. The tops of the two symmetrical side walls in the adsorption cover 5 are fixed with electric tracks 7. The electric tracks 7 have a built-in driving source, so that the two mechanical arms 8 can automatically move laterally on the two electric tracks 7 respectively. The bottom of each mechanical arm 8 is connected to a powder blowing and powder suction alternating component 9; the air intake component 11 is installed on one side of the top of the adsorption cover 5, and the air extraction component 12 is installed on the top of the adsorption cover 5. Installed on the other side of the top of the adsorption hood 5, the air intake component 11 is intermittently or simultaneously ventilated for the two powder blowing and powder sucking alternating components 9, so that the powder blowing and powder sucking alternating components 9 can inflate the powder. Similarly, the exhaust component 12 can intermittently exhaust air through the two powder blowing and powder sucking alternating components 9 to absorb the blown powder, so that one of the two powder blowing and powder sucking alternating components 9 blows powder and the other sucks powder, and when the robot arm 8 drives the powder blowing and powder sucking alternating components to move to the edge of the substrate 4, the powder blowing and powder sucking can be alternately changed, so that when the powder is quickly cleared, the problem of powder cleaning dead corners at the edge of the substrate 4 can be avoided, thereby improving the powder cleaning efficiency.

[0045] Furthermore, the two mechanical arms 8 are staggered when working, so that the two powder blowing and powder sucking alternating components 9 are parallel to each other, so that one blows powder at the rear and the other sucks powder at the front. Figure 3-Figure 5 As shown, the robot arm 8 includes a first robot arm 81 and a second robot arm 82 .

[0046] The above structures will be described in detail below.

[0047] In the process of blowing or sucking powder by the powder blowing and powder sucking alternating component 9, when the powder is blown directly downward vertically, the powder is easy to diffuse in multiple directions, which is not conducive to the direct absorption of the powder after blowing. Therefore, in order to further solve the problem of convenient and fast powder suction after blowing, the powder blowing and powder sucking alternating component 9 is summarized in detail below:

[0048] The powder blowing and powder sucking alternating assembly 9 comprises a first motor 92 connected to the bottom end of the robot arm 8, a U-shaped outer frame 91 connected to the output shaft of the first motor 92, a square outer box 93 arranged in the U-shaped outer frame 91, a circular inner tube 96 arranged in the square outer box 93 and a rotating ring 97 arranged at both ends of the square outer box 93. The first motor 92 can adjust the horizontal position of the entire U-shaped outer frame 91 so that the U-shaped outer frame 91 is horizontally or vertically parallel to the top of the substrate 4, and then can be adjusted in the horizontal and vertical directions according to the actual needs of blowing and sucking powder. A drive for driving the square outer box 93 in the U-shaped outer frame 9 is installed on one side of the U-shaped outer frame 91. The second motor 94 rotates in the U-shaped outer frame 91, and the third motor 95 driving the circular inner tube 96 to rotate in the square outer box 93 is installed on the other side of the U-shaped outer frame 91. Driven by the second motor 94, the square outer box 93 can rotate in the U-shaped outer frame 91, and then the angle of the square outer box 93 between the substrate 4 is adjusted, so that when blowing powder, the powder can be tilted in one direction, that is, the forward direction. At this time, the other robot arm 8 can be controlled to move to the front of the powder blowing direction, and the angle between the powder suction part of the other square outer box 93 and the substrate 4 can be controlled in the same way, so that it is more convenient to quickly absorb the blown powder.

[0049] It should be added that when one powder blowing and powder sucking alternating component 9 is blowing powder and the other powder blowing and powder sucking alternating component 9 is sucking powder, and when sucking powder and blowing powder are alternately performed, the entire blowing and exhausting pipeline connection status needs to be adjusted in real time.

[0050] Reference Figure 1-Figure 6, both ends of the air intake assembly 11 are respectively connected to the same end of the two alternating powder blowing and powder suction assemblies 9 through the telescopic connecting pipe 10, and the other end of the air intake assembly 11 is connected to the air pump 14. Specifically, the air intake assembly 11 includes a U-shaped air intake pipe 111, and an air intake three-way valve 112 is installed in the middle of the U-shaped air intake pipe 111. Both ends of the U-shaped air intake pipe 111 are fixedly connected to an air intake branch pipe 113 extending into the adsorption cover 5. The top valve port of the air intake three-way valve 112 is connected to the air pump 14, and the bottom ends of the two air intake branch pipes 113 are respectively connected to the two alternating powder blowing and powder suction assemblies 9 through the telescopic connecting pipe 10. The air intake three-way valve 112 can connect the air pump 14 to one of the powder blowing and suction alternating components 9, or to both of the powder blowing and suction alternating components 9, and the air intake three-way valve 112 is an electric valve. In addition, when the air pump 14 blows air into the adsorption hood 5, its air blowing connection pipeline is also connected to the air outlet of the inert gas tank 13, so as to discharge the inert gas into the adsorption hood 5, so that the powder cleaning process can be carried out conveniently after the inert gas in the adsorption hood 5 meets the standard.

[0051] Reference Figure 1-Figure 8 , both ends of the air extraction component 12 are respectively connected to the other ends of the two alternating powder blowing and powder suction components 9 through the telescopic connecting pipe 10, and the other end of the air extraction component 12 is connected to the vacuum pump 15. Specifically, the air extraction component 12 includes a U-shaped air extraction pipe 121, and an air extraction three-way valve 122 is installed in the middle of the U-shaped air extraction pipe 121. The two ports of the U-shaped air extraction pipe 121 are fixedly connected to the air extraction branch pipe 123 extending into the adsorption cover 5. The top valve port of the air extraction three-way valve 122 is connected to the vacuum pump 15, and the bottom ends of the two air extraction branch pipes 123 are respectively connected to the air inlet telescopic pipes 1002 of the two alternating powder blowing and powder suction components 9. The vacuum pump 15 is intermittently connected to an alternating powder blowing and powder sucking component 9 to realize powder suction processing through the alternating powder blowing and powder sucking component 9, and finally the absorbed powder is discharged into the powder filter for filtration and recycling. The vacuum pump 15 is provided with two air inlet ends, wherein the air outlet 502 arranged at the top of the adsorption cover 5 is connected to the other air inlet end of the vacuum pump 15, and the lower end of the adsorption cover 5 is in the shape of a square box, and the upper end of the adsorption cover 5 is in the shape of an inverted funnel, which is also convenient for absorbing the powder in the adsorption cover 5.

[0052] It should be added that when the powder blowing and powder sucking alternating components 9 connected to one of the robot arms 8 blow powder, the air intake component 11 controls the opening of the pipeline connecting the powder blowing and powder sucking alternating components 9 and the air pump 14, and the air exhaust component 12 simultaneously controls the opening of the pipeline connecting the other powder blowing and powder sucking alternating components 9 and the vacuum exhaust pump 15. In addition, when the square outer box 93 connected to one of the robot arms 8 rotates and then tilts to blow powder onto the substrate 4, the square outer box 93 connected to the other robot arm 8 synchronously follows the reverse rotation and then tilts to absorb the blown powder. This not only realizes the connected state of the pipeline when one of the two powder blowing and powder sucking alternating components 9 blows powder and the other sucks powder, but also realizes the synchronous changes of the two powder blowing and powder sucking alternating components 9 when they tilt to blow powder or tilt to suck powder, so as to ensure the powder suction efficiency after blowing powder.

[0053] In addition, in order to facilitate the horizontal movement of the adsorption cover 5 after being raised and lowered by the lifting and moving mechanism 6, a horizontal support cross bar 501 is fixedly sleeved on the top of the adsorption cover 5. One end of the support cross bar 501 extends to the outside of the adsorption cover 5 and is connected to the movable end of the lifting and moving mechanism 6, thereby being able to drive the adsorption cover 5 to change its position to avoid interference with printing.

[0054] Furthermore, when the directions of the two robotic arms 8 change after movement, the electric rails 7 driving the movement of the robotic arms 8 are finely adjusted. The two electric rails 7 are arranged parallel to the substrate 4, and limit switches 701 corresponding to the ends of the robotic arms 8 are detachably installed at both ends of each electric rail 7. When the robotic arm 8 slides on the electric rails 7 and acts on one of the limit switches 701, the robotic arm 8 starts to move in the opposite direction. The position of the limit switch 701 on each electric rail 7 is adjusted according to the actual distance that the robotic arm 8 needs to move, so as to facilitate the adaptation to different sizes of substrates 4 or pads 3.

[0055] It should be noted that when the square outer box 93 follows the second motor 94 to adjust its position in the U-shaped outer frame 91, in order to ensure that the connection of the telescopic connecting tube 10 always maintains a vertical direction to avoid bending of the telescopic connecting tube 10, the telescopic connecting tube 10 and the square outer box 93 are specifically designed as follows:

[0056] Reference Figure 9-13The two ends of the square outer box 93 are respectively provided with an air inlet cavity 9301 and an air outlet cavity 9302 connected to the inner cavity, the air inlet cavity 9301 and the air outlet cavity 9302 are both cylindrical, and the top surfaces of the air inlet cavity 9301 and the air outlet cavity 9302 are both provided with air inlet and outlet holes 9303, the swivel 97 seals and rotates on the outside of the air inlet cavity 9301 and the air outlet cavity 9302, and a sealed annular channel is formed between the swivel 97 and the outer wall of the air inlet cavity 9301 or the air outlet cavity 9302, and the telescopic connecting pipe 10 includes an inlet through the swivel 97 and connected to the air inlet cavity 9301 The air inlet telescopic tube 1002 and the air outlet telescopic tube 1001 connected to the air outlet cavity 9302, the air inlet telescopic tube 1002 and the air outlet telescopic tube 1001 are first connected to the annular channel, and then connected to the air inlet cavity 9301 and the air outlet cavity 9302 through the air inlet and outlet holes 9303, the swivel 97 is rotatably installed to ensure that the air inlet cavity 9301 and the air outlet cavity 9302 remain in position when rotating with the second motor 94, and slots for the air inlet telescopic tube 1002 and the air outlet telescopic tube 1001 to pass through are provided on both sides of the top surface of the U-shaped outer frame 91.

[0057] Furthermore, when the square outer box 93 blows air to the substrate 4 or the pad 3, the powder is at different positions on the substrate 4 or the pad 3, that is, the height of the powder on the substrate 4 remains the same, while the height of the powder on the pad 3 is lower. Therefore, when the blowing power of the air pump 14 remains unchanged, the blowing force of the square outer box 93 on the powder on the pad 3 is weakened, or for the stubbornly adhered powder, it is not easy to remove it completely when the same blowing strength is used. Therefore, based on the unchanged blowing power, to a certain extent, when the pores become smaller, the strength of the powder under the action becomes larger, which is more convenient for long-distance or stubbornly adhered powder removal.

[0058] Specifically, one side of the square outer box 93 is provided with a plurality of air inlets 9304 connected to the interior, the other side of the square outer box 93 is provided with a first air outlet 9305 connected to the interior, and one side of the bottom surface of the square outer box 93 is provided with a second air outlet 9306. The first air outlet 9305 and the second air outlet 9306 are both composed of a plurality of air holes, and the air hole diameter of the first air outlet 9305 is larger than the air hole diameter of the second air outlet 9306, so that the air blown through the second air outlet 9306 under the same pressure has a faster speed and is more concentrated, and can maintain a certain strength at a farther distance, while the range of the air blown through the first air outlet 9305 is wider, and can be concentrated for large-area powder blowing treatment.

[0059] In addition, when the air inlet 9304, the first air outlet 9305 or the second air outlet 9306 is aligned with the top surface of the substrate 4, the gas just passing through the circular inner tube 96 can be blown out from the first air outlet 9305 or the second air outlet 9306, or the powder can enter the circular inner tube 96 from the air inlet 9304 under negative pressure. Connecting rods 9602 are fixed at both ends of the circular inner tube 96, and the connecting rods 9602 are coaxially connected to the abutting rotating plate 9603. The output shaft of the third motor 95 passes through the air outlet cavity 9302 and is fixedly connected to the abutting rotating plate 9603. A central opening 9601 intermittently facing multiple sides of the square outer box 93 is opened on one side of the middle of the circular inner tube 96. The rotation of the third motor 95 can drive the circular inner tube 96 to rotate in the square outer box 93, so that the central opening 9601 is respectively aligned with the air inlet 9304, the first air outlet 9305 or the second air outlet 9306.

[0060] At the same time, in order to avoid interference problems after the middle opening 9601 is respectively aligned with the air inlet 9304, the first air outlet 9305 or the second air outlet 9306, the angle between the two ends of the middle opening 9601 and the axis of the circular inner tube 96 is set to 90 degrees, and the four corners of the square outer box 93 are inclinedly provided with partitions 9308 extending to the circular inner tube 96. Fig.11 As shown, the circular inner tube 96 is rotated close to the ends of the four partitions 9308 so that the middle opening 9601 is connected to one surface of the square outer box 93.

[0061] Furthermore, in order to enable the second air outlet 9306 to blow air and powder to the edge of the substrate 4 or the pad 3, the second air outlet 9306 is set on the bottom surface of the square outer box 93 near the side, so that when the square outer box 93 is tilted, the second air outlet 9306 can be tilted toward the outermost side of the substrate 4 or the pad 3. At the same time, in order to allow the gas passing through the middle opening 9601 to quickly enter the second air outlet 9306, the inner bottom wall of the square outer box 93 is also filled with an arc block 9307 on one side of the second air outlet 9306, and the air from the middle opening 9601 is guided to the second air outlet 9306 through the arc block 9307.

[0062] Working principle: When the parts on the substrate 4 are printed, the powder in the forming cylinder 1 needs to be cleaned. First, the lifting and moving mechanism 6 is adjusted to move the adsorption cover 5 to the top of the forming cylinder 1 and cover the forming cylinder 1. Then, the lifting mechanism 2 moves the substrate 4 and the parts to the forming position of the forming cylinder 1, and starts to adjust the two mechanical arms 8 so that the two mechanical arms 8 are staggered with each other, and one of the mechanical arms 8 is expanded with a larger range, until the two powder suction and blowing alternating components are parallel to each other and are located on one side of the forming cylinder 1, as shown in FIG. Figure 2-3 As shown, the powder is cleared longitudinally from one side of the forming cylinder 1 to the other side under the electric track 7.

[0063] When cleaning powder vertically, Figure 3-Figure 4 As shown, firstly, the second motor 94 under the first mechanical arm 81 is started to rotate, and the second motor 94 drives the square outer box 93 to rotate, so that the first air outlet 9305 of the square outer box 93 is tilted toward the top surface of the substrate 4, and the tilt range is set between 15-45 degrees. At the same time, the second motor 94 under the second mechanical arm 82 is synchronously regulated to rotate, so that the air inlet 9304 of the square outer box 93 under the second mechanical arm 82 is tilted toward the top surface of the substrate 4, as shown in FIG. Figure 3 As shown, and the tilting amplitude is mirrored with the other square outer box 93, the electric track 7 then drives the first robot arm 81 and the second robot arm 82 to move to the other side of the substrate 4. At this time, the air intake component 11 is regulated to make the square outer box 93 below the first robot arm 81 blow air to blow powder, and the air exhaust component 12 is regulated to make the square outer box 93 below the second robot arm 82 exhaust air to absorb powder, until the first robot arm 81 and the second robot arm 82 move the same distance and touch the corresponding limit switches 701 respectively. Under the control of the limit switches 701, the first robot arm 81 and the second robot arm 82 start to move in opposite directions. At the same time, the square outer box 93 below the first robot arm 81 rotates 180° under the action of the second motor 94, so that the air inlet 9304 is tilted toward the top surface of the substrate 4, and the square outer box 93 below the second robot arm 82 is also rotated 180° under the action of the second motor 94, so that the first air outlet 9305 is tilted toward the top surface of the substrate 4, as shown in FIG. Figure 4 As shown, the air intake assembly 11 is adjusted again to make the square outer box 93 under the second mechanical arm 82 blow air to blow powder, and the exhaust assembly 12 is adjusted to make the square outer box 93 under the first mechanical arm 81 exhaust air to absorb powder, and then move in the opposite direction under the electric track 7 to complete a back and forth process. During the powder blowing and absorbing process on the substrate 4, after one back and forth, the first mechanical arm 81 and the second mechanical arm 82 move horizontally no more than the length of the U-shaped outer frame 91, and start the next section of the powder cleaning process on the substrate 4, and the cycle is carried out until the top surface of the substrate 4 is completely cleaned;

[0064] Then restore to Figure 3 The first mechanical arm 81 and the second mechanical arm 82 are positioned as shown, and the powder in the gap between the substrate 4 and the pad 3 is cleaned, and the first mechanical arm 81 is adjusted to lower the second motor 94 to rotate, so that the second motor 94 rotates 90° until the second air outlet 9306 of the square outer box 93 below the first mechanical arm 81 is tilted toward the top surface of the substrate 4, as shown in FIG. Figure 5As shown, the first mechanical arm 81 and the second mechanical arm 82 are regulated to move horizontally, and the powder between the substrate 4 and the pad 3 is blown and cleaned. When the powder between the substrate 4 and the pad 3 is removed at the horizontal position, the first motor 92 is started to rotate 90°, so that the U-shaped outer frame 91 is set horizontally, and when the electric track 7 moves longitudinally, the powder between the substrate 4 and the pad 3 at the longitudinal position is removed until all the powder is removed.

[0065] When all the cleaning on the substrate 4 is completed, the vacuum pump 15 starts to communicate with the air outlet 502 on the top of the adsorption cover 5, and the two robot arms 8 resume operation. Figure 1 The powder blowing and powder sucking alternating components 9 are lifted upwards, and then both powder blowing and powder sucking alternating components 9 are connected to the air pump 14, and only the powder blowing function is used, and the second motor 94 is regulated to make the first air outlet 9305 tilt upward to blow air, and cooperate with the vacuum pump 15 to blow all the powder floating on the upper part of the adsorption cover 5 to the air outlet 502, so as to accelerate the removal of the powder in the adsorption cover 5 until the removal is completed, and use the lifting and moving mechanism 6 to restore the position of the adsorption cover 5 so that it does not interfere with the printing of parts on the substrate 4.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A powder material automatic cleaning device with dual robot arms, comprising a lifting mechanism (2) arranged in a molding cylinder (1) and an adsorption cover (5) arranged above the molding cylinder (1), wherein the movable end of the lifting mechanism (2) is connected to a backing plate (3) in the molding cylinder (1), and a base plate (4) is connected to the backing plate (3), characterized in that: Also includes: A lifting and moving mechanism (6), the lifting and moving mechanism (6) is arranged in the printer cabin and drives the adsorption cover (5) to move above the molding cylinder (1), the tops of the two symmetrical side walls in the adsorption cover (5) are fixed with electric rails (7), and a mechanical arm (8) is installed on each electric rail (7), and the bottom of each of the mechanical arms (8) is connected to a powder blowing and powder sucking alternating assembly (9); An air intake assembly (11), the air intake assembly (11) being mounted on one side of the top of the adsorption cover (5), wherein both ends of the air intake assembly (11) are respectively connected to the same end of two alternating powder blowing and powder sucking assemblies (9) via telescopic connecting pipes (10), and the other end of the air intake assembly (11) is connected to an air pump (14); An air extraction component (12), the air extraction component (12) being mounted on the other side of the top of the adsorption hood (5), wherein both ends of the air extraction component (12) are respectively connected to the other ends of the two alternating powder blowing and powder sucking components (9) via telescopic connecting pipes (10), and the other end of the air extraction component (12) is connected to a vacuum extraction pump (15); The powder blowing and powder sucking alternating assembly (9) comprises a first motor (92) connected to the bottom end of the mechanical arm (8), a U-shaped outer frame (91) connected to the output shaft of the first motor (92), a square outer box (93) arranged in the U-shaped outer frame (91), a circular inner tube (96) arranged in the square outer box (93), and rotating rings (97) arranged at both ends of the square outer box (93); a second motor (94) for driving the square outer box (93) to rotate in the U-shaped outer frame (91) is installed on one side of the U-shaped outer frame (91); and a third motor (95) for driving the circular inner tube (96) to rotate in the square outer box (93) is installed on the other side of the U-shaped outer frame (91); The mechanical arms (8) are provided with two, and the two mechanical arms (8) are staggered when working, so that the two powder blowing and powder sucking alternating components (9) are parallel to each other; When the powder blowing and powder sucking alternating component (9) connected to one of the mechanical arms (8) blows powder, the air intake component (11) controls the opening of a pipeline connecting the powder blowing and powder sucking alternating component (9) and the air pump (14), and the air extraction component (12) simultaneously controls the opening of a pipeline connecting another powder blowing and powder sucking alternating component (9) and the vacuum exhaust pump (15); Furthermore, when the square outer box (93) connected to one of the robot arms (8) rotates and tilts to blow powder onto the substrate (4), the square outer box (93) connected to the other robot arm (8) synchronously follows the reverse rotation and tilts to absorb the blown powder.

2. The automatic powder cleaning device with dual robotic arms according to claim 1 is characterized in that: The lower end of the adsorption hood (5) is in the form of a square box, the upper end of the adsorption hood (5) is in the form of an inverted funnel, and the vacuum pump (15) is provided with two air inlet ends, wherein the air outlet hole (502) provided at the top end of the adsorption hood (5) is connected to one of the air inlet ends of the vacuum pump (15).

3. The automatic powder cleaning device with dual robotic arms according to claim 2 is characterized in that: A horizontal support crossbar (501) is fixedly sleeved on the top of the adsorption cover (5), and one end of the support crossbar (501) extends outside the adsorption cover (5) and is connected to the movable end of the lifting and moving mechanism (6).

4. The automatic powder cleaning device with dual robotic arms according to claim 1 is characterized in that: The two electric rails (7) are arranged parallel to the base plate (4), and limit switches (701) corresponding to the ends of the mechanical arm (8) are detachably mounted at both ends of each electric rail (7). The mechanical arm (8) slides on the electric rails (7), and when one of the limit switches (701) is acted on, the mechanical arm (8) starts to move in the reverse direction.

5. The automatic powder cleaning device with dual robotic arms according to claim 1 is characterized in that: An air inlet cavity (9301) and an air outlet cavity (9302) connected to the inner cavity are respectively provided at both ends of the square outer box (93), and air inlet and outlet holes (9303) are provided on the top surfaces of the air inlet cavity (9301) and the air outlet cavity (9302). The rotating ring (97) is sealingly rotatably sleeved on the outside of the air inlet cavity (9301) and the air outlet cavity (9302). The telescopic connecting pipe (10) comprises an air inlet telescopic pipe (1002) passing through the rotating ring (97) and communicating with the air inlet cavity (9301), and an air outlet telescopic pipe (1001) communicating with the air outlet cavity (9302). Notches for the air inlet telescopic pipe (1002) and the air outlet telescopic pipe (1001) to pass through are provided on both sides of the top surface of the U-shaped outer frame (91).

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