Full-automatic service device and method for metal 3D printer

Abstract

The invention discloses a full-automatic service device and method for a metal 3D printer, and belongs to the technical field of metal printer equipment.The full-automatic service device comprises an AGV trolley, the AGV trolley is provided with an operation robot, the operation robot is provided with a pneumatic clamping jaw, a finger air cylinder, a construction bin powder suction module, a powder adding bin powder adding module and a metal 3D printer, and measured data are transmitted to the metal 3D printer; the substrate and finished product storage area is located in the maximum extension radius of the operation robot; the PLC control system performs data interaction with the operation robot, the construction bin powder suction module, the powder adding bin powder adding module, the printing substrate measurement module, the substrate and finished product storage area and the visual positioning module; according to the metal 3D printer, the problems of personnel safety risk, low production efficiency and insufficient operation precision in operation of an existing metal 3D printer are solved, and full automation, intelligence and high efficiency of the metal 3D printing process are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of metal printer equipment, and in particular relates to a fully automatic service device and method for a metal 3D printer. Background Art

[0002] 3D printing, also known as additive manufacturing, is an emerging manufacturing technology. It is based on digital models and creates physical objects by stacking materials layer by layer. In recent years, 3D printing technology has been strongly supported by major countries in the world, and the global 3D printing industry has shown a rapid development trend. The application range of this technology is very wide, from small children's toys and handicrafts to highly complex parts used in large aircraft and rockets. 3D printers have been widely used in many fields.

[0003] A metal 3D printer is an advanced manufacturing device that builds complex metal parts according to a pre-set three-dimensional model by adding metal materials layer by layer. It relies on a variety of additive manufacturing technologies, such as selective laser melting (SLM), direct metal laser sintering (DMLS) and electron beam melting (EBM). It is widely used in aerospace, automotive, medical, industrial manufacturing and consumer goods. Compared with traditional subtractive manufacturing methods, metal 3D printing has the advantages of higher design freedom, reduced material waste, shortened production cycle and customized production. Although the ideal equipment and material costs are relatively high, its significant technological progress and application potential are driving the transformation and development of the manufacturing industry.

[0004] As far as the metal printer industry is concerned, most metal SLM printers are still in a semi-automatic, semi-manual operation state. This means that the operator needs to go to the printer equipment in person to add powder, suck powder, recycle residual powder, pick up finished products and install substrates. This mode of operation has problems such as high work intensity, dust causing harm to health, low work efficiency, and poor real-time performance. In recent years, with the development of automation and intelligent technology, metal 3D printer service devices have emerged. This equipment reduces the contact between people and powder through the powder circulation system, and also reduces the contact between powder and air; however, the existing technology still has the following technical problems:

[0005] 1. Personnel safety issues: Although the exposure has been reduced, the risk of operator contact with metal powders has not been completely resolved;

[0006] 2. Production efficiency issues: The existing semi-automatic operation mode still limits the improvement of production efficiency;

[0007] 3. Operation accuracy issues: Manual operation can easily introduce errors and affect printing quality.

[0008] To this end, the present invention provides a fully automated solution to improve the safety, efficiency and accuracy of metal 3D printer operation and production. Summary of the invention

[0009] The purpose of the present invention is to provide a fully automatic service device and method for a metal 3D printer to solve the technical problems of personnel safety risks, low production efficiency and insufficient operating accuracy in the operation process of the existing metal 3D printers proposed in the above background technology.

[0010] In order to achieve the above object, the present invention provides the following technical solutions:

[0011] A fully automatic service device for a metal 3D printer, comprising an AGV trolley, on which are installed:

[0012] A manipulating robot, wherein the manipulating robot is equipped with pneumatic grippers and finger cylinders for gripping and storing objects;

[0013] The powder suction module of the building bin is used to collect and store the residual powder after printing through negative pressure suction of air;

[0014] The powder adding module of the powder adding bin is used to realize quantitative filling of raw materials through negative pressure cyclone powder adding method;

[0015] A printing substrate measuring module is located within the maximum extension radius of the operating robot and is used to measure the printing substrate. The measurement data is transmitted to the metal 3D printer to realize the lifting and positioning of the substrate.

[0016] A substrate and finished product storage area, located within the maximum extension radius of the operating robot, for storing the printing substrates to be used and the completed printing products;

[0017] The visual positioning module is used to scan the feature blocks on the printer, perform secondary positioning measurement, calculate the coordinate error between the service device and the printer, and transmit this error to the service device for coordinate compensation to ensure the accuracy of the operation;

[0018] PLC control system, wherein the PLC control system respectively exchanges data with the operating robot, the building bin powder suction module, the powder adding module of the powder adding bin, the printing substrate measurement module, the substrate and finished product storage area and the visual positioning module, so as to control the coordinated work of each module.

[0019] Preferably, the operating robot is a six-axis robot.

[0020] Preferably, when the pneumatic clamping jaw is opened to the maximum width, the single-side clearance between it and the printing substrate, the powder suction cover and the feeding device is 5 mm.

[0021] Preferably, the building bin powder suction module includes a powder suction dust collector, a powder suction hood and a powder recovery tank. The powder suction dust collector is connected to the composite fan through a powder suction pipe. The powder suction dust collector is also connected to the recovery powder tank and the powder suction hood respectively through a soft pipe. A No. 1 solenoid valve is arranged on the soft pipe between the powder suction dust collector and the powder recovery tank.

[0022] Preferably, the powder adding module of the powder adding bin includes a powder adding dust collector, a raw material powder tank and a powder adding device, and the powder adding dust collector is connected to the composite fan through a powder adding pipe; the powder adding dust collector, the raw material powder tank and the powder adding device are respectively connected through soft pipes; a No. 2 solenoid valve is provided on the soft pipe between the powder adding dust collector and the raw material powder tank, and a No. 3 solenoid valve is provided on the soft pipe between the raw material powder tank and the powder adding device.

[0023] Preferably, the powder suction pipeline and the powder adding pipeline are connected to the air inlet of the composite blower through a three-way valve.

[0024] Preferably, the powder-absorbing dust collector includes an air outlet end connected to the compound fan and a powder outlet end connected to the recovery powder tank, and the powder-adding dust collector includes an air outlet end connected to the compound fan and a powder outlet end connected to the raw material powder tank; the air outlet ends of the powder-absorbing dust collector and the powder-adding dust collector are provided with filter screens, and the powder outlet end is a cone with the tip facing downward.

[0025] Preferably, the powder adding device comprises an air outlet end connected to a powder adding dust collector and a powder outlet end connected to a powder adding bin of a metal 3D printer; and a No. 4 solenoid valve is provided at the powder outlet end of the powder adding device.

[0026] Preferably, the PLC control system includes a communication module and a control module; the communication module performs signal interaction with the 3D printer, is used to receive a request signal sent by the 3D printer, and transmits the substrate measurement data to the metal 3D printer;

[0027] The control module comprises:

[0028] Position control unit, used to control the AGV to move to the specified printer position and guide the service device to perform coordinate compensation;

[0029] A powder suction control unit controls the powder suction module in the building bin to perform powder suction operations;

[0030] The product operation unit controls the service device to take out the printed product and place the substrate;

[0031] Powder adding control unit controls the powder adding module in the powder adding bin to perform quantitative adding;

[0032] Spilled powder control unit, manages the spilled powder recovery process;

[0033] Coordination unit, coordinating the entire service process;

[0034] The time control unit waits for the next printer's call and returns to the docking station.

[0035] A fully automatic service method for a metal 3D printer, comprising:

[0036] S1, when the metal 3D printer needs auxiliary service, a start command is sent to the metal 3D printer automatic service device. After receiving the start command, the metal 3D printer automatic service device moves to the side of the metal 3D printer to perform charging connection and visual positioning to achieve coordinate compensation;

[0037] S2, after printing is completed, the service device absorbs the remaining powder, takes out the finished product, and puts it into the service device; takes out the substrate from the service device, measures the thickness of the substrate, and then puts it into the printer build bin to realize the storage of finished products and the circulation storage of substrates;

[0038] S3, the service device adds powder to the powder bin of the metal 3D printer by negative pressure cyclone, and recovers the powder in the overflow powder box of the metal 3D printer, realizing the whole process of automatic powder adding and powder recovery;

[0039] S4, cyclic service: after completing all services from S1 to S3, it automatically waits for the call from the next metal 3D printer and cyclically performs the above services for the printer;

[0040] S5, after the service device completes the scheduled task, it returns to the docking station to unload the finished product, replenish the substrate, process the recycled powder, and replace the raw materials to prepare for the next round of service cycle.

[0041] Preferably, S1 is specifically:

[0042] S101, before the metal 3D printer finishes printing, a request signal is sent through a wireless network. After the communication module of the metal 3D printer fully automatic service device receives the signal request, the control module controls the AGV car to move to the printer through predefined coordinates;

[0043] S102, the charging compartment of the service device is automatically connected to the power supply device of the metal 3D printer, and then the visual positioning module fixed on the metal 3D printer fully automatic service device scans the feature blocks on the printer, performs accurate secondary positioning measurement, calculates the coordinate error between the metal 3D printer fully automatic service device and the printer, and transmits this error to the service device for coordinate compensation.

[0044] Preferably, S2 is specifically:

[0045] S201, after the metal 3D printer completes printing, the door of the build chamber is automatically opened; the metal 3D printer exchanges signals with the metal 3D printer full-automatic service device, and after receiving the signal, the communication module of the PLC control system controls the operation of the composite blower, and the powder suction control unit controls the operation robot to operate the powder suction cover to absorb the residual powder in the build chamber, and the residual powder is recovered into the recovery powder tank;

[0046] S202, the product operation unit controls the operation robot to take out the printed product and place it in the empty space between the substrate and the finished product storage area of ​​the service device;

[0047] S203, taking out the substrate and the substrate in the finished product storage area, measuring the thickness of the substrate and placing it in the printer build bin, transmitting the measurement data to the metal 3D printer for accurately adjusting the lifting height of the printer build bin; the position of the removed substrate in the storage area is used as the placement position of the next printed product.

[0048] Preferably, S2 also includes: controlling the fan end and the powder suction end of the three-way valve to open, opening the No. 1 solenoid valve, and then turning on the composite fan, using compressed air for a short time to blow, so that the powder on the filter screen falls on the conical surface of the powder outlet end.

[0049] Preferably, S3 is specifically:

[0050] S301, the PLC control system of the metal 3D printer fully automatic service device controls the powder adding module of the powder adding bin to quantitatively add powder to the metal 3D printer powder adding bin by negative pressure cyclone powder adding, and the raw material powder accumulated in the powder adding dust collector is recovered into the raw material powder tank; after the powder adding is completed, the building bin door is automatically closed;

[0051] S302, the metal 3D printer fully automatic service device clamps the overflow powder box, turns on the composite blower, and pours the powder in the overflow powder box into the powder suction hood to realize the recovery of the overflow powder. The overflow powder recovery operation is the same as the powder suction operation in S201.

[0052] Preferably, in S3, the air outlet and the air inlet of the composite blower are connected to the pipeline of the protective gas storage system of the metal 3D printer to realize the recycling of the inert gas and reduce the risk of dust explosion.

[0053] Preferably, S3 also includes: controlling the fan end and the powder adding end of the three-way valve to open, opening the No. 2 solenoid valve, and then turning on the composite fan, using compressed air for a short time to blow, so that the powder on the filter screen falls on the conical surface of the powder outlet end.

[0054] Preferably, S5 is specifically:

[0055] S501, after the service device has served a predetermined number of metal 3D printers or has completed serving the last metal 3D printer, the service device automatically returns to the factory docking station;

[0056] S502, the service device transfers all finished products on the substrate and finished product storage area to the subsequent processing belt / station, and picks up a new printed substrate and installs it on the substrate and finished product storage area;

[0057] S503, the service device connects the recovery powder tank to the factory's recovery powder system through a pipeline to achieve the treatment of the recovered dust; at the same time, the raw material powder tank is replaced or refilled;

[0058] S504, a metal 3D printer that provides a recycling service.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] The present invention provides a fully automatic service device and method for a metal 3D printer, which solves the problems of personnel safety risks, low production efficiency and insufficient operation precision in the operation of existing metal 3D printers, and realizes the full automation, intelligence and efficiency of the metal 3D printing process. The device realizes the complete isolation of people and powders through fully automated operation, avoiding the health damage caused by powders to operators; the equipment adopts a closed powder circulation system, which reduces the contact between powders and air, and ensures the cleanliness and safety of the working environment. The device can independently complete the whole process of building bin powder suction, overflow bin powder recovery, automatic powder addition in the powder adding bin, finished product removal and measurement and placement of printed substrates, without manual participation, greatly improving production efficiency; the device can work 24 hours a day without interruption, and can serve multiple metal 3D printers at the same time, further improving the overall production efficiency. The device realizes high-precision automated operation through robot operation and visual positioning system; the error of substrate measurement does not exceed 5 microns, ensuring the accurate placement of the printed substrate, improving the printing quality and finished product precision. The fully automated operation of the device avoids human errors and ensures the consistency and reliability of operation. The device communicates with the printer via a wireless network and can automatically respond to the printer's service requests, achieving intelligent scheduling and autonomous navigation. The entire process is controlled by PLC, realizing digital and intelligent production management. The device reduces material waste and improves resource utilization through an automated powder recovery and circulation system. For environments with explosion-proof requirements, the equipment can also realize the recycling of inert gas, further saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a structural schematic diagram of a device in a preferred embodiment of the present invention;

[0062] Figure 2It is a schematic diagram of the structural connection of the device in the preferred embodiment of the present invention;

[0063] Figure 3 Schematic diagram of the process of the method in the preferred embodiment of the present invention.

[0064] In the figure: 1. AGV trolley; 2. Operating robot; 3. Powder suction module of building bin; 4. Powder adding module of powder adding bin; 5. Printing substrate measurement module; 6. Substrate and finished product storage area; 7. Composite fan; 31. Powder suction dust collector; 32. Powder recovery tank; 33. Powder suction hood; 41. Powder adding dust collector; 42. Raw material powder tank; 43. Powder adding device; 71. Three-way valve; 72. Solenoid valve No. 1; 73. Solenoid valve No. 2; 74. Solenoid valve No. 3. DETAILED DESCRIPTION

[0065] 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. All other embodiments obtained by ordinary technicians in the field without making creative work based on the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0066] like Figure 1-Figure 3 As shown:

[0067] First preferred embodiment:

[0068] A fully automatic service device for a metal 3D printer, comprising: an AGV trolley, on which are installed:

[0069] The operating robot 2 is used to pick up and store items; the operating robot 2 is equipped with a pneumatic gripper and a finger cylinder. The operating robot 2 is a six-axis robot; when the pneumatic gripper is opened to the maximum width, the single-side clearance between it and the printing substrate, the powder suction cover 33 and the feeding device is 5 mm.

[0070] The building bin powder suction module 3 is used to collect and store the residual powder after printing through the negative pressure suction of air; the building bin powder suction module 3 includes a powder suction dust collector 31, a powder suction hood 33 and a recovery powder tank 32, the powder suction dust collector 31 is connected to the composite fan 7 through a powder suction pipe, and the powder suction dust collector 31 is also connected to the recovery powder tank 32 and the powder suction hood 33 through soft pipes respectively, and a No. 1 solenoid valve 72 is arranged on the soft pipe between the powder suction dust collector 31 and the recovery powder tank 32.

[0071] The powder adding module 4 of the powder adding bin is used to realize quantitative filling of printing raw materials by negative pressure cyclone powder adding; the powder adding module 4 of the powder adding bin includes a powder adding dust collector 41, a raw material powder tank 42 and a powder adding device 43, and the powder adding dust collector 41 is connected to the composite fan 7 through a powder adding pipeline; the powder adding dust collector 41, the raw material powder tank 42 and the powder adding device 43 are respectively connected through soft pipes; a No. 2 solenoid valve 73 is arranged on the soft pipe between the powder adding dust collector 41 and the raw material powder tank 42, and a No. 3 solenoid valve 74 is arranged on the soft pipe between the raw material powder tank 42 and the powder adding device 43.

[0072] The powder suction pipeline and the powder adding pipeline are connected to the air inlet of the composite blower 7 through a three-way valve 71 .

[0073] The powder suction dust collector 31 includes an air outlet end connected to the compound fan 7 and a powder outlet end connected to the powder recovery tank 32. The air outlet end is provided with a filter screen for filtering the powder in the powder suction dust collector 31 to prevent the powder from entering the compound fan 7 and extend the service life of the compound fan 7. The powder outlet end is a cone with the tip facing downward. The powder left by the filter screen falls on the inclined surface of the conical powder outlet end due to gravity and is not easy to accumulate.

[0074] The structure of the powder adding dust collector 41 is the same as that of the powder sucking dust collector 31 . The air outlet end of the powder adding dust collector 41 is connected to the composite fan 7 , and the powder outlet end of the powder adding dust collector 41 is connected to the raw material powder tank 42 .

[0075] The powder adding device 43 includes an air outlet end connected to the powder adding dust collector 41 and a powder outlet end connected to the powder adding bin of the metal 3D printer, and the powder outlet end is provided with a No. 4 electromagnetic valve.

[0076] The printed substrate measuring module 5 is located within the maximum extension radius of the operating robot 2 and is used to measure the thickness of the printed substrate. The measurement data is transmitted to the metal 3D printer to achieve accurate positioning of the substrate lifting with an error of no more than 5 μm.

[0077] The substrate and finished product storage area 6 is located within the maximum extension radius of the operating robot 2 and is used to store the printing substrates to be used and the completed printed products;

[0078] The visual positioning module is used to scan the feature blocks on the printer, perform accurate secondary positioning measurement, calculate the coordinate error between the service device and the printer, and transmit this error to the service device for coordinate compensation to ensure the accuracy of the operation;

[0079] PLC control system, wherein the PLC control system respectively exchanges data with the operating robot 2, the building bin powder suction module 3, the powder adding module 4, the printing substrate measurement module 5, the substrate and finished product storage area 6 and the visual positioning module, so as to control the coordinated work of each module.

[0080] Specifically, the PLC control system includes a communication module and a control module.

[0081] The communication module performs signal interaction with the 3D printer, is used to receive a request signal sent by the 3D printer, and transmits substrate measurement data to the metal 3D printer.

[0082] The control module comprises:

[0083] A position control unit, used to control the AGV 1 to move to a designated printer position and instruct the service device to perform coordinate compensation;

[0084] A powder suction control unit controls the building bin powder suction module 3 to perform powder suction operations;

[0085] The product operation unit controls the service device to take out the printed product and place the substrate;

[0086] A powder adding control unit controls the powder adding module 4 in the powder adding bin to perform quantitative feeding;

[0087] Spilled powder control unit, manages the spilled powder recovery process;

[0088] Coordination unit, coordinating the entire service process;

[0089] The time control unit waits for the next printer's call and returns to the docking station.

[0090] Second preferred embodiment:

[0091] A fully automatic service method for a metal 3D printer, comprising:

[0092] S1, when the metal 3D printer needs auxiliary service, a start command is sent to the metal 3D printer automatic service device. After receiving the start command, the metal 3D printer automatic service device moves to the side of the metal 3D printer to perform charging connection and visual positioning to achieve coordinate compensation;

[0093] S101, before the metal 3D printer finishes printing, a request signal is sent through a wireless network. After the communication module of the metal 3D printer fully automatic service device receives the signal request, the control module controls the AGV 1 to move to the printer through predefined coordinates;

[0094] S102, the charging compartment of the service device is automatically connected to the power supply device of the metal 3D printer, and then the visual positioning module fixed on the metal 3D printer fully automatic service device scans the feature blocks on the printer, performs accurate secondary positioning measurement, calculates the coordinate error between the metal 3D printer fully automatic service device and the printer, and transmits this error to the service device for coordinate compensation.

[0095] S2, after printing is completed, the service device absorbs the remaining powder, takes out the finished product, and puts it into the service device; takes out the substrate from the service device, measures the thickness of the substrate, and then puts it into the printer build bin to realize the storage of finished products and the circulation storage of substrates;

[0096] S201, after the metal 3D printer completes printing, the door of the building bin is automatically opened; the metal 3D printer exchanges signals with the metal 3D printer fully automatic service device, and after receiving the signal, the communication module of the PLC control system controls the compound fan 7 to operate, and the powder suction control unit controls the operation robot 2 to operate the powder suction cover 33 to absorb the residual powder from the building bin. Specifically, in the initial state: the compound fan 7 is closed, the fan end, the powder suction end and the powder adding end of the three-way valve 71 are all closed, and the No. 1 solenoid valve 72, the No. 2 solenoid valve 73 and the No. 3 solenoid valve 74 are all closed;

[0097] First, the powder suction control unit controls the fan end and the powder suction end of the three-way valve 71 to open, controls the composite fan 7 to open, and the composite fan 7 generates negative pressure to make the powder suction cover 33 suck the residual printing powder from the building bin. The residual printing powder enters the powder suction dust collector 31 from the powder suction cover 33 with the wind, and is filtered by the filter screen of the powder suction dust collector 31 and remains in the powder suction dust collector 31; close the composite fan 7, close the fan end and the powder suction end of the three-way valve 71;

[0098] Then, the powder suction control unit controls the No. 1 solenoid valve 72 to open, and the remaining printed powder slides down along the cone surface of the powder outlet end and enters the recovery powder tank 32. The powder suction operation is completed, and the No. 1 solenoid valve 72 is closed.

[0099] When the powder suction dust collector 31 has been running for a long time, a lot of dust will adhere to the filter screen, resulting in insufficient negative pressure and inability to absorb powder. At this time, the fan end and the powder suction end of the three-way valve 71 are controlled to be opened, the No. 1 solenoid valve 72 is opened, and then the composite fan 7 is turned on, and compressed air is used for short-term blowing. The powder on the filter screen falls on the conical surface of the powder outlet end to ensure the dust suction pressure.

[0100] S202, the product operation unit controls the operation robot 2 to take out the printed product and place it in the empty space between the substrate and the finished product storage area 6 of the service device;

[0101] S203, then take out the substrate and the substrate in the finished product storage area 6, measure the thickness of the substrate and place it in the printer build bin, and transmit the measurement data to the metal 3D printer for accurately adjusting the lifting height of the printer build bin; the position of the removed substrate in the storage area is used as the placement position of the next printed product.

[0102] S3, the service device adds powder to the powder bin of the metal 3D printer by negative pressure cyclone, and recovers the powder in the overflow powder box of the metal 3D printer, realizing the whole process of automatic powder adding and powder recovery;

[0103] S301, the PLC control system of the metal 3D printer fully automatic service device controls the powder adding module 4 to add powder to the powder adding bin of the metal 3D printer quantitatively by negative pressure cyclone powder adding. After the powder adding is completed, the building bin door is automatically closed;

[0104] Specifically, in the initial state: the composite blower 7 is turned off, the blower end, the powder suction end and the powder adding end of the three-way valve 71 are all closed, and the first solenoid valve 72, the second solenoid valve 73 and the third solenoid valve 74 are all closed;

[0105] First, the powder adding control unit controls the fan end and the powder adding end of the three-way valve 71 to open, and the No. 3 solenoid valve 74 to open; then controls the composite fan 7 to open; the composite fan 7 generates negative pressure to make the powder adding device 43 suck the raw material powder from the raw material powder tank 42, and the raw material powder enters the powder adding device 43 from the raw material powder tank 42 with the wind, and a small amount of raw material powder enters the powder adding dust collector 41 through the air outlet end of the powder adding device 43, and then is filtered by the filter screen of the powder adding dust collector 41 and remains in the powder adding dust collector 41. Most of the raw material powder is subjected to a gravity greater than the suction force generated by the negative pressure, and falls on the powder outlet end of the powder adding device 43; turn off the composite fan 7, the fan end and the powder adding end of the three-way valve 71, and the No. 3 solenoid valve 74;

[0106] Then the powder adding control unit controls the second solenoid valve 73 to open, and the raw material powder in the powder adding dust collector 41 slides down along the conical surface of the powder outlet end into the raw material powder tank 42, and the raw material powder in the powder adding device 43 slides down along the conical surface of the powder outlet end into the powder adding bin of the metal 3D printer; after the powder adding operation is completed, the second solenoid valve 73 is closed;

[0107] When the powder adding dust collector 41 has been running for a long time, a lot of dust will adhere to the filter screen, resulting in insufficient negative pressure and inability to add powder. At this time, the fan end and the powder adding end of the three-way valve 71 are controlled to be opened, the No. 2 solenoid valve 73 is opened, and then the composite fan 7 is turned on, and compressed air is used for short-term blowing. The powder on the filter screen falls on the conical surface of the powder outlet end to ensure the powder adding pressure.

[0108] S302, the metal 3D printer automatic service device clamps the overflow powder box, turns on the composite fan 7, and pours the powder in the overflow powder box into the powder suction cover 33 to realize the recovery of the overflow powder. The overflow powder recovery process is the same as the powder suction operation in S201.

[0109] S4, cyclic service: after completing all services from S1 to S3, it automatically waits for the call from the next metal 3D printer and cyclically performs the above services for the printer;

[0110] S5, after the service device completes the scheduled task, it returns to the docking station to unload the finished product, replenish the substrate, process the recycled powder, and replace the raw materials to prepare for the next round of service cycle.

[0111] S501, after the service device has served a predetermined number of metal 3D printers or has completed serving the last metal 3D printer, the service device automatically returns to the factory docking station;

[0112] S502, the service device transfers all finished products on the substrate and finished product storage area 6 to the subsequent processing belt / station, and picks up a new printed substrate and installs it on the substrate and finished product storage area 6;

[0113] S503, the service device connects the recovery powder tank 32 to the recovery powder system of the factory through the pipeline to achieve the treatment of the recovered dust; at the same time, the raw material powder tank 42 is replaced or refilled;

[0114] S504, a metal 3D printer that provides a recycling service.

[0115] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When the use is implemented in whole or in part in the form of a computer program product, the computer program product includes one or more computer instructions. When the computer program instructions are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (e.g., infrared, wireless, microwave, etc.) mode) to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk SolidState Disk (SSD)), etc.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic service device for a metal 3D printer, characterized in that: The invention comprises an AGV trolley (1), on which is installed: An operating robot (2), the operating robot (2) being equipped with a pneumatic gripper and a finger cylinder for gripping and storing objects; A powder suction module (3) is constructed to collect and store residual powder after printing by means of negative air pressure suction; A powder adding module (4) for adding powder to a powder adding bin, used for quantitatively adding printing raw materials by negative pressure cyclone powder adding; A printing substrate measuring module (5), located within the maximum extension radius of the operating robot (2), is used to measure the thickness of the printing substrate, and the measurement data is transmitted to the metal 3D printer to achieve substrate lifting and positioning; A substrate and finished product storage area (6), located within the maximum extension radius of the operating robot (2), for storing printing substrates to be used and completed printing products; The visual positioning module is used to scan the feature blocks on the printer, perform secondary positioning measurement, calculate the coordinate error between the service device and the printer, and transmit this error to the service device for coordinate compensation to ensure the accuracy of the operation; A PLC control system, wherein the PLC control system respectively exchanges data with the operating robot (2), the building bin powder suction module (3), the powder adding bin powder adding module (4), the printing substrate measurement module (5), the substrate and finished product storage area (6) and the visual positioning module, so as to control the coordinated operation of each module.

2. The fully automatic service device for metal 3D printer according to claim 1, characterized in that: The operating robot (2) is a six-axis robot.

3. The fully automatic service device for metal 3D printer according to claim 1, characterized in that: When the pneumatic clamping jaw is opened to the maximum width, the single-side clearance between the pneumatic clamping jaw and the printing substrate, the powder suction cover (33) and the feeding device is 5 mm.

4. The fully automatic service device for metal 3D printer according to claim 1, characterized in that: The building bin powder suction module (3) comprises a powder suction dust collector (31), a powder suction cover (33) and a powder recovery tank (32); the powder suction dust collector (31) is connected to the composite fan (7) via a powder suction pipeline; the powder suction dust collector (31) is also connected to the powder recovery tank (32) and the powder suction cover (33) via soft pipelines; and a first electromagnetic valve (72) is provided on the soft pipeline between the powder suction dust collector (31) and the powder recovery tank (32).

5. The fully automatic service device for metal 3D printer according to claim 1, characterized in that: The powder adding module (4) of the powder adding bin comprises a powder adding dust collector (41), a raw material powder tank (42) and a powder adding device (43); the powder adding dust collector (41) is connected to the composite blower (7) via a powder adding pipeline; the powder adding dust collector (41), the raw material powder tank (42) and the powder adding device (43) are respectively connected via soft pipelines; a No. 2 electromagnetic valve (73) is provided on the soft pipeline between the powder adding dust collector (41) and the raw material powder tank (42), and a No. 3 electromagnetic valve (74) is provided on the soft pipeline between the raw material powder tank (42) and the powder adding device (43).

6. The fully automatic service device for metal 3D printer according to claim 4, characterized in that: The powder suction pipeline and the powder adding pipeline are connected to the air inlet of the composite fan (7) via a three-way valve (71).

7. The fully automatic service device for a metal 3D printer according to claim 4, characterized in that: The powder suction dust collector (31) comprises an air outlet end connected to the composite fan (7) and a powder outlet end connected to the recovery powder tank (32), and the powder adding dust collector (41) comprises an air outlet end connected to the composite fan (7) and a powder outlet end connected to the raw material powder tank (42); the air outlet ends of the powder suction dust collector (31) and the powder adding dust collector (41) are provided with filter screens, and the powder outlet ends are in the shape of cones with the tip facing downward.

8. The fully automatic service device for metal 3D printer according to claim 5, characterized in that: The powder adding device (43) comprises an air outlet end connected to the powder adding dust collector (41) and a powder outlet end connected to the powder adding bin of the metal 3D printer; the powder outlet end of the powder adding device (43) is provided with a No. 4 electromagnetic valve.

9. The fully automatic service device for metal 3D printer according to claim 1, characterized in that: The PLC control system includes a communication module and a control module; the communication module performs signal interaction with the 3D printer, is used to receive a request signal sent by the 3D printer, and transmits substrate measurement data to the metal 3D printer; The control module comprises: A position control unit, used for controlling the AGV vehicle (1) to move to a designated printer position and instructing the service device to perform coordinate compensation; A powder suction control unit controls the building bin powder suction module (3) to perform a powder suction operation; The product operation unit controls the service device to take out the printed product and place the substrate; A powder adding control unit controls the powder adding module (4) in the powder adding bin to perform quantitative addition; Spilled powder control unit, manages the spilled powder recovery process; Coordination unit, coordinating the entire service process; The time control unit waits for the next printer's call and returns to the docking station.

10. A fully automatic service method for a metal 3D printer, characterized in that: include: S1, when the metal 3D printer needs auxiliary service, a start command is sent to the metal 3D printer automatic service device. After receiving the start command, the metal 3D printer automatic service device moves to the side of the metal 3D printer to perform charging connection and visual positioning to achieve coordinate compensation; S2, after printing is completed, the service device absorbs the remaining powder, takes out the finished product and puts it into the service device; takes out the substrate from the service device, measures the thickness of the substrate and puts it into the printer build bin, realizing the storage of finished products and the circulation storage of substrates; S3, the service device adds powder to the powder bin of the metal 3D printer by negative pressure cyclone, and recovers the powder in the overflow powder box of the metal 3D printer, realizing the whole process of automatic powder adding and powder recovery; S4, cyclic service: after completing all services from S1 to S3, it automatically waits for the call from the next metal 3D printer and cyclically performs the above services for the printer; S5, after the service device completes the scheduled task, it returns to the docking station to unload the finished product, replenish the substrate, process the recycled powder, and replace the raw materials to prepare for the next round of service cycle.

11. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S1 is specifically: S101, before the metal 3D printer finishes printing, a request signal is sent through a wireless network, and after the communication module of the metal 3D printer fully automatic service device receives the signal request, the control module controls the AGV vehicle (1) to move to the printer through predefined coordinates; S102, the charging compartment of the service device is automatically connected to the power supply device of the metal 3D printer, and then the visual positioning module fixed on the metal 3D printer fully automatic service device scans the feature blocks on the printer, performs accurate secondary positioning measurement, calculates the coordinate error between the metal 3D printer fully automatic service device and the printer, and transmits this error to the service device for coordinate compensation.

12. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S2 is specifically: S201, after the metal 3D printer completes printing, the door of the building chamber is automatically opened; the metal 3D printer exchanges signals with the metal 3D printer fully automatic service device, and after receiving the signal, the communication module of the PLC control system controls the composite fan (7) to operate, and the powder suction control unit controls the operating robot (2) to operate the powder suction cover (33) to absorb the residual printing powder in the building chamber, and the residual printing powder is recovered into the recovery powder tank (32); S202, the product operation unit controls the operation robot (2) to take out the printed product and place it in the empty space between the substrate and the finished product storage area (6) of the service device; S203, taking out the substrate and the substrate in the finished product storage area (6), measuring the thickness of the substrate and placing it in the printer build chamber, and transmitting the measurement data to the metal 3D printer for accurately adjusting the lifting height of the printer build chamber; The position in the storage area where the substrate is removed is used as the placement position for the next printed product.

13. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S2 also includes: by controlling the fan end and the powder suction end of the three-way valve (71) to open, the first electromagnetic valve (72) is opened, and then the composite fan (7) is turned on, and compressed air is used for short-term blowing to make the powder on the filter screen fall onto the conical surface of the powder outlet end.

14. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S3 is specifically: S301, the PLC control system of the metal 3D printer fully automatic service device controls the powder adding module (4) of the powder adding bin to quantitatively add powder to the metal 3D printer powder adding bin by negative pressure cyclone powder adding, and the raw material powder accumulated in the powder adding dust collector (41) is recovered into the raw material powder tank (42), and after the powder adding is completed, the building bin door is automatically closed; S302, the metal 3D printer fully automatic service device clamps the overflow powder box of the metal 3D printer, turns on the composite fan (7), and pours the powder in the overflow powder box into the powder suction cover (33) to realize the recovery of the overflow powder. The overflow powder recovery operation is the same as the powder suction operation in S201.

15. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: In S3, the air outlet and the air inlet of the composite fan (7) are connected to the pipeline of the protective gas storage system of the metal 3D printer to realize the recycling of inert gas and reduce the risk of dust explosion.

16. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S3 also includes: by controlling the fan end and the powder adding end of the three-way valve (71) to open, the second electromagnetic valve (73) is opened, and then the composite fan (7) is turned on, and compressed air is used for short-term blowing to make the powder on the filter screen fall onto the conical surface of the powder outlet end.

17. The fully automatic service method for a metal 3D printer according to claim 10, characterized in that: S5 is as follows: S501, after the service device has served a predetermined number of metal 3D printers or has completed serving the last metal 3D printer, the service device automatically returns to the factory docking station; S502, the service device transfers all finished products on the substrate and finished product storage area (6) to the subsequent processing belt / station, and at the same time picks up a new printed substrate and installs it on the substrate and finished product storage area (6); S503, the service device connects the recovered powder tank (32) to the factory's recovered powder system through a pipeline to achieve the processing of the recovered dust; at the same time, the raw material powder tank (42) is replaced or refilled; S504, a metal 3D printer that provides a recycling service.

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