Automatic shoveling device, automatic shoveling method and computer readable storage medium

Abstract

The invention discloses an automatic shoveling device, an automatic shoveling method and a computer readable storage medium. The automatic shoveling device disclosed in the first aspect comprises a transfer mechanism, a rack, a feeding mechanism and a shovel blade mechanism. The shoveling operation is separated from the 3D printer, so that the situation that the shoveling action occupies the 3D printer and cannot print is avoided, the working efficiency is improved, and meanwhile, during shoveling, resin does not drop onto the 3D printer to pollute the 3D printer; the whole position of the scraper knife is fixed relative to the machine frame, the transferring mechanism moves relative to the machine frame, and the feeding mechanism moves relative to the machine frame (the scraper knife), so that a printing piece attached to the printing platform is stripped, and the risk that the scraper knife with a blade moves to collide surrounding parts and operators is avoided; and automatic operation can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing post-processing, and in particular to an automatic scraping device, an automatic scraping method and a computer-readable storage medium. Background Art

[0002] After the 3D printing process is completed, the printed part sticks to the printing platform and needs to be peeled off from the printing platform. For this peeling process, the existing technology (such as CN221968962U) is to directly perform the peeling process on the 3D printer by scraping the parts. During the scraping process, the printing is stopped, which takes up the printer's working time and reduces the printing efficiency. During the scraping process, uncured resin will drip onto the printer, polluting and affecting the normal operation of the printer.

[0003] Since the 3D printer is scooping parts, the scraper (relative to the frame) moves and the printing platform (relative to the frame) is stationary during the scooping process, the moving scraper creates the risk of colliding with surrounding parts and operators.

[0004] Therefore, in order to solve the above problems, the present invention provides an automatic shoveling device, an automatic shoveling method and a computer-readable storage medium. Summary of the invention

[0005] The shoveling operation is carried out independently of the 3D printer, which avoids the shoveling action occupying the 3D printer and making it unable to print, thereby improving work efficiency. At the same time, when shoveling, the resin will not drip onto the 3D printer and pollute the 3D printer.

[0006] The scraper is fixed relative to the frame, and the transfer mechanism moves relative to the frame (scraper) through the feeding mechanism, so as to peel off the printed parts attached to the printing platform, avoiding the risk of the scraper with a blade moving and colliding with surrounding parts or operators.

[0007] A first aspect of an embodiment of the present invention provides an automatic scraping device, comprising:

[0008] A transfer mechanism, including a printing platform, to provide a base for the print to attach to;

[0009] frame;

[0010] Feed mechanism, including:

[0011] A position detection component configured to S1 detect a position of the transfer mechanism;

[0012] The clamping assembly is configured to perform S2 after S1: if the transfer mechanism is in the start position, clamp the transfer mechanism;

[0013] The feeding assembly is configured to perform S31 after S2: drive the transfer mechanism to move from the starting position to the ending position along the feeding direction; and

[0014] The scraper mechanism comprises:

[0015] The scraper is fixed to the frame and is configured as follows: during the process of S31, the scraper is maintained in a working position, and the blade of the scraper is in close contact with the upper surface and / or lower surface of the printing platform in the working position; during the process outside S31, the scraper is maintained in a standby position.

[0016] A second aspect of an embodiment of the present invention provides an automatic scraping method, which includes the following steps:

[0017] S1, detecting the position of the transfer mechanism;

[0018] S2. If the transfer mechanism is in the start position, clamp the transfer mechanism;

[0019] S31, driving the transfer mechanism to move from the starting position to the ending position along the feeding direction. During S31, the scraper remains in the working position, and the blade of the scraper is in close contact with the upper surface and / or lower surface of the printing platform in the working position; during the process outside S31, the scraper remains in the standby position.

[0020] A third aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a controller, any of the above-mentioned automatic shoveling methods can be executed.

[0021] The beneficial effects of the embodiments of the present invention include at least:

[0022] 1. The shoveling operation is carried out without the 3D printer

[0023] Avoid the scooping action occupying the 3D printer and preventing it from printing, which improves work efficiency. At the same time, when scooping, the resin will not drip onto the 3D printer and pollute the 3D printer;

[0024] 2. The overall position of the blade is fixed relative to the frame, and the transfer mechanism moves relative to the frame

[0025] The feed mechanism moves relative to the frame (scraper) to peel off the printed parts attached to the printing platform, avoiding the risk of the scraper with a blade moving and colliding with surrounding parts or operators;

[0026] 3. The blade’s posture relative to the frame is adjustable

[0027] When not shoveling, the blade remains in the standby position and avoids the transfer mechanism; when shoveling, the blade changes from the standby position to the working position. The blade is pressed against the printing platform only when shoveling, avoiding unnecessary wear caused by contact and friction between the blade and the printing platform in the non-working position, thereby ensuring the life of the blade.

[0028] 4. Automatic operation

[0029] If the transfer mechanism is in the starting position, the clamping assembly clamps the transfer mechanism (the blade remains in the standby position) → the feeding assembly drives the transfer mechanism to move along the feeding direction from the starting position to the end position (the blade remains in the working position), thereby automatically completing the transfer mechanism's material incoming, in-place judgment, clamping, and shovel feeding actions, with high operating efficiency and strong stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0031] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of an automatic shoveling device;

[0032] Figure 2 It is a three-dimensional structural schematic diagram of an embodiment of a transfer mechanism with a printed part attached;

[0033] Figure 3 It is a three-dimensional structural schematic diagram of an embodiment of the transfer mechanism being installed on the feeding mechanism, wherein the transfer mechanism is located before the start position;

[0034] Figure 4 for Figure 3 A schematic diagram of the three-dimensional structure of the second state, wherein the transfer mechanism is located in the start position;

[0035] Figure 5 for Figure 4 Schematic diagram of the three-dimensional structure from another angle;

[0036] Figure 6 It is a schematic diagram of the three-dimensional structure of an embodiment of a scraper mechanism from a first viewing angle;

[0037] Figure 7 for Figure 1 A schematic diagram of the three-dimensional structure from another perspective;

[0038] Figure 8 for Figure 7 A partial enlarged view of the middle area Z;

[0039] Fig. 9 for Figure 8 A partial enlarged view of the middle area Y, wherein, in order to illustrate the second elastic member, a partial cross-sectional drawing method is adopted for its installation position;

[0040] Fig.10It is a three-dimensional structural schematic diagram of another viewing angle of an embodiment of a conveying mechanism;

[0041] Fig.11 for Fig.10 A schematic diagram of the three-dimensional structure from another viewing angle, wherein the mounting plate and the second elastic member are not drawn in order to clearly show the two scrapers arranged in a V-shape;

[0042] Fig.12 The present invention is a control block diagram of an embodiment of an automatic shoveling device.

[0043] In the figure:

[0044] 1. Printout;

[0045] 2. Automatic shoveling device;

[0046] 21. Transfer mechanism; 211. Clamp; 212. Printing platform; 213. Rod;

[0047] 22. walking robot; 221. arm; 222. positioning column;

[0048] 23. Rack;

[0049] 24. Feeding mechanism;

[0050] 241, position detection component; 2411, start position detection component; 2412, end position detection component; 2413, error prevention detection component;

[0051] 242, clamping assembly; 2421, clamping power unit; 2422, clamping workpiece;

[0052] 243, feeding assembly; 2431, feeding power unit; 24311, linear transmission element; 24312, linear guide element; 2432, feeding workpiece; 24321, supporting plate; 24322, carrying plate;

[0053] 25. Blade mechanism;

[0054] 251, lower blade assembly; 2511, lower blade turning power unit; 2512, first elastic member; 2513, lower blade; 2514, lower blade rotating shaft; 2515, lower turning plate;

[0055] 252, upper scraper assembly; 2521, upper scraper turning power unit; 2522, upper scraper; 2523, upper scraper rotating shaft;

[0056] 253, side blade assembly;

[0057] 26. Material collection baffle;

[0058] 27. Conveying mechanism; 271. Conveying power unit; 272. Active belt roller; 273. Conveying belt; 2731. Relaxed side; 274. Resin scraping assembly; 2741. Scraper; 2742. Resin channel; 2743. Mounting plate; 27431. Guide groove; 2744. Tool holder; 2745. Second elastic member; 2746. Guide pin; 28. Controller; 29. ​​Material collecting hopper. DETAILED DESCRIPTION

[0059] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] In the description of the present invention, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships 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 limiting the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] The first aspect of the embodiment of the present invention discloses an automatic shoveling device, see Figure 1 and Figure 2 , which includes a transfer mechanism 21, a frame 23, a feeding mechanism 24 and a scraper mechanism 25.

[0063] Continue to see Figure 2The transfer mechanism 21 includes a printing platform 212. The printing platform 212 provides a foundation for the attachment of the print 1 (the three-dimensional model formed by 3D printing). The print 1 can be directly attached to the printing platform 212, or indirectly attached to the printing platform 212 through a support (not a part of the three-dimensional model, but a component printed out during 3D printing to provide support force), or partly directly attached and partly indirectly attached through a support. By treating the printing platform 212 and the print 1 (and possibly other parts) as a transferable part, the transfer mechanism 21 can be removed and transferred to the automatic shoveling device 2 after 3D printing is completed, thereby completing the shoveling. The shoveling operation is performed independently of the 3D printer, avoiding the shoveling action occupying the 3D printer and preventing it from printing, which greatly improves the work efficiency of 3D printing. At the same time, when shoveling, the resin will not drip onto the 3D printer and pollute the 3D printer.

[0064] The frame 23 is in the form of a frame, which may be made of sheet metal parts, stamping parts, etc. Figure 1 and Figure 7 The frame 23 shown includes four columns arranged in a rectangular shape, and the feeding mechanism 24 and the scraper mechanism 25 are both installed on the frame 23 .

[0065] The relative displacement of the transfer mechanism 21 with respect to the scraper mechanism 25 is achieved by the feeding mechanism 24. One form of the feeding mechanism 24 is shown in FIG. Figure 3 , Figure 4 and Figure 5 , which includes a position detection component 241, a clamping component 242 and a feeding component 243. The position detection component 241 is used to detect the position of the transfer mechanism 21, the clamping component 242 is used to clamp the transfer mechanism 21 during the shoveling process, and the feeding mechanism 243 is used to make the transfer mechanism 21 move relative to the frame 23 (shovel mechanism 25). Fig.12 , and it runs automatically in the following order:

[0066] The position detection component 241 is configured as S1: (implemented by starting the position detection component 2411, a contact trigger switch as shown in the figure can be selected, and a non-contact trigger switch such as infrared can also be used) to detect the position of the transfer mechanism 21;

[0067] The clamping assembly 242 is configured to perform S2 after S1: if the transfer mechanism 21 is located at the start position, clamp the transfer mechanism 21;

[0068] After the feeding component 243 is configured as S2, S31 is executed: the transfer mechanism 21 is driven to move from the starting position to the ending position along the feeding direction (the ending position can be determined by the displacement of the transfer mechanism 21 to the starting position, or by setting an ending position detection component 2412 to determine. The ending position detection component can also use a trigger switch, such as a contact type or a non-contact type, which will not be listed one by one);

[0069] During S31, the scraper is kept in the working position, in which the blade of the scraper is in close contact with the upper surface and / or the lower surface of the printing platform 212; during the process outside S31, the scraper is kept in the standby position. When not scraping, the scraper is kept in the standby position, and the scraper keeps away from the transfer mechanism 21; when scraping, the scraper is changed from the standby position to the working position, and the scraper is pressed against the printing platform 212 only when scraping, so as to avoid unnecessary wear caused by contact and friction between the scraper and the printing platform 212 in the non-working position, thereby ensuring the life of the scraper.

[0070] It should also be noted that the blade of the scraper is in close contact with the upper surface and / or lower surface of the printing platform 212, and the distance between the blade and the printing platform 212 is 0 or a very small distance (such as less than 1 mm). If the distance is too large, the cross section of the scraper will be uneven. Fig.10 and Fig.11 shown.

[0071] The controller 28 (such as various processors such as CPU, single-chip microcomputer, etc.) on which the automatic operation of the automatic scraping device 2 depends can be integrated into a certain component, or it can be set as a separate electrical component. When it is a separate electrical component, each signal acquisition part (such as position detection component 241) and action execution part (such as clamping component 242, feeding component 243, component for controlling scraper posture adjustment, etc.) are respectively connected to the controller 28 signal through pins, and then automatically run through the program burned in the controller 28.

[0072] Another embodiment of the automatic shoveling device 2 can also automatically run the following steps to complete the transfer mechanism 21 that has finished shoveling to the original starting position and release it, completing the reset action, so that the transfer mechanism 21 can be removed and the transfer mechanism 21 to be shoveled can be put in again:

[0073] The end position detection component 2412 is further configured to, after S3, execute S4: detect that the transfer mechanism 21 is located at the end position;

[0074] The feeding assembly 243 is further configured to, after S4, execute S5: drive the transfer mechanism 21 to move to the start position;

[0075] The clamping assembly 242 is further configured to execute S6 after S5: releasing the transfer mechanism 21.

[0076] The transfer mechanism 21 also includes a clamp 211, see Figure 2The fixture 211 can be directly or indirectly detachably mounted on the 3D printer, and the printing platform 212 is fixed to the fixture 211 and maintains an avoidance distance with the fixture 211. The fixture 211 can enable the printing platform 212 to be quickly assembled and switched between the 3D printer and the automatic shoveling device 2, further improving the production efficiency. Of course, the fixture 211 itself should have a structure that is compatible with the 3D printer and the automatic shoveling device 2, such as slots or holes in the position that needs to be avoided. For those skilled in the art, this is an adaptive setting and will not be repeated.

[0077] The transfer of the transfer mechanism 21 can also be performed by a walking robot 22, and the walking robot 22 is configured as follows:

[0078] Before S1, S0 is executed: removing the transfer mechanism 21 from the 3D printer, walking, and placing the transfer mechanism 21 to the start position; and / or

[0079] After S6, S7 is executed: the released transfer mechanism 21 is removed, moved and installed to the 3D printer.

[0080] The 3D printer, walking robot 22 and automatic scraping device 2 (parts other than the walking robot 22) at the 3D printer site can be coded. After a 3D printer finishes printing, a walking robot 22 receives the information that printing is finished and walks to the 3D printer in parallel. Then, the position of the transfer mechanism 21 can be sensed by machine vision, position sensor, etc., and then the arm 221 of the walking robot 22 is controlled to extend to the end position and remove the printed part 1. Figure 2 The upper surface of the arm 221 is a flat surface, which lifts the fixture 211 with a flat lower surface from below, thereby lifting the entire transfer mechanism 21, and realizing the movement between the 3D printer and the automatic shoveling device 2 by the walking robot 22 itself. A positioning column 222 is provided at the upper end of the arm 221, and a positioning hole corresponding to the positioning column 222 is provided on the fixture.

[0081] An embodiment of the clamping assembly 242 includes a clamping power unit 2421 and a clamping workpiece 2422 that can clamp / release the transfer mechanism 21 under the drive of the clamping power unit 2421. When shoveling, the transfer mechanism 21 is clamped so that the transfer mechanism 21 can move synchronously with the feed mechanism 24 without changing its posture, thereby moving relative to the frame 23 (shovel blade) to shovel; when shoveling is completed, the transfer mechanism 21 is released and can be easily removed. Figure 3 , Figure 4 and Figure 5The clamping power unit 2421 can be a cylinder, and the clamping workpiece 2422 can be a conical top fixed to the working end of the cylinder. There are two cylinders and two conical tops, respectively, and they correspond one to one, so as to ensure that the transfer mechanism 21 does not change its posture when it is clamped. In order to further improve the stability of clamping, a positioning hole or positioning groove adapted to the top can also be set on the clamp 211.

[0082] An embodiment of the feeding assembly 243 may further include a feeding power unit 2431 and a feeding work piece 2432. The transfer mechanism 21 is clamped on the feeding work piece 2432 under the action of the clamping assembly 242, and the feeding work piece 2432 reciprocates between the starting position and the ending position under the drive of the feeding power unit 2431. The feeding power unit 2431 drives the feeding work piece 2432 to move, thereby driving the transfer mechanism 21 clamped on the feeding work piece 2432 to move synchronously, so as to finally realize the feeding of the feeding work piece 2432 (the relative movement of the transfer mechanism 21 relative to the blade when shoveling) to reciprocate along the feeding direction between the starting position and the ending position.

[0083] An embodiment of the feeding power unit 2431 includes: a power element; and a linear transmission element 24311. The power element drives the feeding workpiece 2432 to reciprocate between a starting position and an end position through the linear transmission element 24311. The feeding workpiece 2432 includes a support plate 24321. The clamp 211 is placed on the upper surface of the support plate 24321 and can be clamped / released by the clamping assembly 242. Figure 3 The feed power unit 2431 includes a linear transmission element 24311 and a linear guide element 24312. The linear transmission element 24311 is a ball screw driven by a motor, which plays a driving role; the linear guide element 24312 is a linear guide rail, which plays a guiding role, and the nut of the ball screw is slidably installed along the linear guide rail. The feed workpiece 2432 includes a support plate 24321 and a bearing plate 24322. A space for entry is provided between the support plate 24321 and the bearing plate 24322. The clamp 211 can be placed on the upper surface of the support plate 24321 and lifted up by the support plate 24321. The bearing plate 24322 is fixedly connected to the support plate 24321, providing a foundation for the installation of the clamping power unit 2421 and the linear guide rail.

[0084] The embodiment of the transfer mechanism 21 may further include a rod 213 connected between the printing platform 212 and the clamp 211, and the support plate 24321 is provided with an escape groove to provide an escape space for the rod 213 to reciprocate along the feeding direction. Through the arrangement of the rod 213, a space for accommodating the support plate 24321 is generated between the clamp 211 and the printing platform 212.

[0085] An embodiment of the blade mechanism 25 includes at least one of a lower blade assembly 251, an upper blade assembly 252, and a side blade assembly 253, see Figure 1 and Figure 6 , so that when the shovel is in motion, it can be close to the lower surface, upper surface and side surface of the printing platform 212 respectively, thereby realizing the shoveling action on different parts. When the printed part 1 is located on the lower surface of the printing platform 212, the printed part 1 attached to the lower surface, the excess resin on the upper surface, and the excess resin on the side surface are scraped off respectively to complete the cleaning of the printing platform 212.

[0086] An embodiment of the lower blade assembly 251 includes a lower blade flipping power unit 2511, a first elastic member 2512 and a lower blade 2513. Figure 1 and Figure 6 Under the joint action of the lower scraper blade flip power unit 2511 and the first elastic member 2512, the lower scraper blade 2513 can switch between the working position and the standby position. In the working position, the blade of the lower scraper blade 2513 is close to the lower surface of the printing platform 212. In the standby position, the blade of the lower scraper blade 2513 maintains a distance from the printing platform 212, so that the scraper blade and the printing platform 212 do not contact each other, avoiding unnecessary wear, ensuring the sharpness of the lower scraper blade 2513 and the cleaning effect of the scraper piece, and ensuring the service life. The lower scraper blade 2513 is fixed to the lower flip plate 2515, and the lower flip plate 2515 is hinged to the frame 23 through the lower scraper blade 2513 rotating shaft 2514. The lower scraper blade flip power unit 2511 and the first elastic member 2512 are both installed between the lower flip plate 2515 and the frame 23. The lower scraper blade 2513 can be switched between the working position and the standby position through the joint action of the two. A specific function of the lower blade flipping power unit 2511 and the first elastic member 2512 is shown in the figure. The first elastic member 2512 is pre-stretched between the frame 23 and the lower flip plate 2515 to provide a pulling force so that the lower blade 2513 has a tendency to flip from the standby position to the working position; the lower blade flipping power unit 2511 provides a thrust so that the lower blade 2513 flips from the working position to the standby position. The position of the lower blade 2513 can be adjusted by adjusting the working state of the lower blade flipping power unit 2511. If the lower blade flipping power unit 2511 is a cylinder, it can be adjusted by adjusting the extension length of the working end of the cylinder.

[0087] An embodiment of the upper blade assembly 252 includes an upper blade flipping power unit 2521 and an upper blade 2522. Figure 1 and Figure 6Under the drive of the upper blade flipping power unit 2521, the upper blade 2522 can switch between the working position and the standby position. In the working position, the blade of the upper blade 2522 is in close contact with the upper surface of the printing platform 212. In the standby position, the upper blade 2522 maintains a distance from the printing platform 212. The upper blade 2522 and the upper blade flipping power unit 2521 form levers located on both sides of the upper blade rotation shaft 2523. When the upper blade flipping power unit 2521 is not working, one side of the upper blade 2522 has a greater weight than the other side of the upper blade flipping power unit 2521. One side of the upper blade 2522 can be pressed down under the action of its own weight until it contacts the upper surface of the printing platform 212. In this state, the upper blade 2522 is lower than the upper blade rotating shaft 2523. Therefore, when the printing platform 212 is feeding relative to the upper blade 2522, the force exerted on the upper blade 2522 produces a component force that presses on the upper surface of the printing platform 212, thereby increasing the scraping force on the upper surface. On the contrary, when the shovel piece ends the reverse movement of the transfer mechanism 21 along the feeding direction, the upper blade 2522 is subjected to an upward component force, which reduces the scraping force of the upper blade 2522 on the upper surface of the printing platform 212, thereby avoiding unnecessary scraping, ensuring the service life of the upper blade 2522 and avoiding unnecessary wear on the upper surface of the printing platform 212.

[0088] An embodiment of the side scraper assembly 253 includes side scrapers located close to both sides of the printing platform 212, see Figure 1 and Figure 6 By scraping both sides of the printing platform 212, the printing platform 212 is cleaned in all directions, thereby ensuring the cleaning effect.

[0089] Continue to see Figure 1 and Figure 7 The automatic scraping device embodiment may further include a conveying mechanism 27 arranged below the scraping blade mechanism 25 , configured to receive and convey the printed part 1 and / or resin peeled off from the printing platform 212 .

[0090] See also Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 The embodiment of the conveying mechanism 27 may include a conveying power unit 271, a driving belt roller 272, a conveying belt 273 and a driven belt roller conveyor belt which are sequentially connected in a transmission manner, and the end of the conveying belt 273 (the end in the conveying direction) is inclined upward. The printed piece 1 can fall from the end of the conveying belt 273, thereby completing the conveying of the printed piece 1; the resin shoveled off adheres to the outer surface of the conveying belt 273. When the conveying belt 273 rotates downward, at least part of the resin adhered to the outer surface of the conveying belt 273 can be separated from the conveying belt 273 and fall under the action of its own weight and centrifugal force, thereby completing the conveying of the excess resin.

[0091] The automatic shoveling device embodiment may further include an error-proofing detection component 2413 arranged in the feeding direction (its own structure and installation state are well known to those skilled in the art, so it is not drawn in the structural diagram. Fig.12 The error-proofing detection component 2413 is located behind the end position. The error-proofing detection component 2413 is configured to perform at least one of the following if it detects that the transfer mechanism 21 is located at the end position: at least one of the clamping component 242, the feeding component 243, the scraper mechanism 25 and the conveying mechanism 27 is shut down; and the alarm is driven to work. The error-proofing detection component 2413 is set to avoid the situation that the feeding component 243 continues to feed after the scraping part is finished after the end position detection fails, avoids the damage of parts caused by overfeeding, and improves the fault tolerance of the system.

[0092] The inventors have found that part of the resin adhering to the outer surface of the conveyor belt 273 can be separated from the conveyor belt 273 and dripped, but part of it still remains. The residual resin will affect the rotation of the conveyor belt 273 and will also adhere to the printed part 1. Obviously, the residual resin is not expected to occur. Based on the consideration of thoroughly cleaning the residual resin, the conveyor mechanism 27 embodiment further includes a resin scraping component 274, which is arranged on the slack side of the conveyor belt 273 (the lower part of the conveyor belt 273 along the side of the conveyor belt 273). Figure 8 When the conveyor belt 273 rotates in the direction T shown in FIG. 1 , the rear portion of the active belt roller 272, that is, the portion located obliquely above as a whole, is pulled by the friction of the belt roller and is tensioned to form a tensioned side. Accordingly, since the conveyor belt 273 can only transmit tension but not pressure, the obliquely below portion is compressed to form a relatively loose side). Figure 8 , Fig. 9 , Fig.10 and Fig.11 By scraping the loose side of the conveyor belt 273, the excess resin adhered is thoroughly cleaned. The resin scraping assembly 274 is arranged on the lower surface of the loose side of the conveyor belt 273. The resin has the smallest adhesion force under the action of its own weight and vibration at this position, and is most likely to drip. This arrangement provides a small scraping action to scrape it clean.

[0093] An embodiment of the resin scraping assembly 274 may include a scraper 2741 and a mounting plate 2743, see Figure 8 , Fig. 9 , Fig.10 and Fig.11The scraper 2741 is mounted on the frame 23 through the mounting plate 2743, and the blade of the scraper 2741 is in close contact with the lower surface of the loose side of the conveyor belt 273 from bottom to top. The scraper 2741 is fixed to the frame 23 through the mounting plate 2743, and the blade of the scraper 2741 extends upward and is in close contact with the lower surface of the loose side 2731. The inclination direction of the upper surface of the mounting plate 2743 is consistent with the inclination direction of the conveyor belt 273; there are two scrapers 2741, and they are symmetrically arranged on the left and right sides along the conveying direction of the conveyor belt 273, and a resin channel 2742 for the scraped resin to flow is maintained between the two scrapers 2741. Therefore, the two scrapers 2741 are set to be V-shaped with no blockage in the middle (resin channel 2742 is left), and the V-shaped opening formed is inclined upward. This arrangement allows the resin on the slack side 27312731 to be gradually gathered to the resin channel 2742 along the V-shaped opening, and as more and more resin gathers in the narrow area of ​​the resin channel 2742, the resin with a small attachment area and high weight is easier to drip, further allowing the resin on the conveyor belt 273 to be thoroughly cleaned.

[0094] The resin scraping assembly 274 may further include a second elastic member 2745 for providing pressure to press the scraper 2741 against the slack side. The scraper 2741 is installed in a floating manner (such as by the second elastic member 2745). Fig. 9 As shown, a guide groove 27431 is provided on the mounting plate 2743, and a guide pin 2746 is fixed on the frame 23, and the guide pin 2746 can slide in the guide groove 27431). The scraper 2741 can be in close contact with the slack side 27312731 in real time, especially when the conveyor belt 273 moves, there may be slight up and down bumps. This close contact method further ensures that the resin is thoroughly cleaned; at the same time, the second elastic member 2745 is used to avoid excessive pressure applied by the scraper 2741 on the slack side 27312731, and always maintains floating contact. The applied pressure fluctuates only within a small range (depending on the bump amplitude of the conveyor belt 273 and the product of the elastic modulus of the second elastic member 2745), avoiding damage to the conveyor belt 273 and shortening its life caused by excessive pressure. Thus, both the scraping effect on the resin and reliable and stable operation are taken into account.

[0095] A method for installing the second elastic member 2745 is shown in FIG. Fig. 9 The scraper 2741 is fixed in a groove formed in the tool holder 2744, the tool holder 2744 is inserted in the sliding groove of the mounting plate 2743, and the second elastic member 2745 is located in the sliding groove and between the tool holder 2744 and the bottom of the sliding groove; it is also possible that the second elastic member 2745 is installed between the mounting plate 2743 and the frame 23, which is not shown in the figure.

[0096] The first elastic member 2512 and the second elastic member 2745 can both be components that produce elastic deformation by changing their own shapes, such as leaf springs, conical helical springs, or Figure 6 (first elastic member 2512), Fig. 9 The cylindrical coil spring shown in (the second elastic member 2745) may also be a component that deforms by changing its own volume, such as a polyurethane pad.

[0097] The automatic shoveling device embodiment further includes a material collection baffle 26 and / or a return hopper.

[0098] The material collecting baffle 26 is fixed to the frame 23 and is located between the scraper mechanism 25 and the conveying mechanism 27. The material collecting baffle 26 is arranged in the vertical direction and is used to restrain the printed part 1 and / or resin falling from the scraper mechanism 25 on the conveying mechanism 27 in the horizontal direction to prevent the printed part 1 and the resin from falling from the side of the conveying mechanism 27.

[0099] The collecting hopper 29 is fixed to the frame 23 and is located below the conveying mechanism 27 . The collecting hopper 29 is in the shape of a funnel with a larger top and a smaller bottom, and is used to collect the resin dropped from the conveying mechanism 27 . A container can be used to collect the resin below the collecting hopper 29 .

[0100] A second aspect of an embodiment of the present invention discloses an automatic shoveling method, which comprises the following steps:

[0101] S1, detecting the position of the transfer mechanism 21;

[0102] S2, if the transfer mechanism 21 is at the start position, clamp the transfer mechanism 21;

[0103] S31, drive the transfer mechanism 21 to move from the starting position to the end position along the feeding direction. During the process of S31, the scraper remains in the working position. In the working position, the blade of the scraper is close to the upper surface and / or lower surface of the printing platform 212; during the process outside S31, the scraper remains in the standby position.

[0104] In the automatic shoveling method embodiment,

[0105] After S3, S4 is executed: detecting that the transfer mechanism 21 is located at the end position;

[0106] After S4, S5 is executed: driving the transfer mechanism 21 to move to the starting position;

[0107] After S5 , S6 is executed: releasing the transfer mechanism 21 .

[0108] It should also be noted that before S1, S0 is executed: removing the transfer mechanism 21 from the 3D printer, walking, and placing the transfer mechanism 21 to the start position; and / or

[0109] After S6, S7 is executed: the released transfer mechanism 21 is removed, moved and installed to the 3D printer.

[0110] The characteristics and effects of each embodiment of the automatic shoveling method have been described in detail in the automatic shoveling device 2 disclosed in the first aspect, and will not be repeated here.

[0111] A third aspect of an embodiment of the present invention discloses a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a controller, any of the above-mentioned automatic shoveling methods can be executed.

[0112] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An automatic shoveling device, characterized in that: include: A transfer mechanism, including a printing platform, to provide a base for the print to attach to; frame; Feed mechanism, including: A position detection component configured to S1 detect a position of the transfer mechanism; The clamping assembly is configured to perform S2 after S1: if the transfer mechanism is in the start position, clamp the transfer mechanism; The feeding assembly is configured to perform S31 after S2: drive the transfer mechanism to move from the starting position to the ending position along the feeding direction; and The scraper mechanism comprises: The scraper is fixed to the frame and is configured as follows: during the process of S31, the scraper is maintained in a working position, and the blade of the scraper is in close contact with the upper surface and / or lower surface of the printing platform in the working position; during the process outside S31, the scraper is maintained in a standby position.

2. The automatic shoveling device according to claim 1, characterized in that: The position detection component is further configured to, after S3, execute S4: detect that the transfer mechanism is located at the end position; The feeding assembly is further configured to, after S4, execute S5: drive the transfer mechanism to move to the start position; The clamping assembly is further configured to execute S6 after S5: releasing the transfer mechanism.

3. The automatic scraping device according to claim 2, characterized in that: The transfer mechanism further comprises a clamp, wherein: The fixture can be detachably mounted on the 3D printer; The printing platform is fixed to the fixture and maintains an avoidance distance between the printing platform and the fixture.

4. The automatic shoveling device according to claim 1, characterized in that: It also includes a walking robot, configured as: Before S1, S0 is executed: removing the transfer mechanism from the 3D printer, walking, and placing the transfer mechanism to the start position; and / or After S6, S7 is executed: the released transfer mechanism is removed, moved and installed to the 3D printer.

5. The automatic scraping device according to claim 3, characterized in that: The clamping assembly comprises: clamping the power unit; and The clamping workpiece can clamp / release the transfer mechanism under the drive of the clamping power unit.

6. The automatic scraping device according to claim 5, characterized in that: The feeding assembly comprises: Feed power unit; and A feeding workpiece, wherein the transfer mechanism is clamped on the feeding workpiece under the action of the clamping assembly, and the feeding workpiece reciprocates between the starting position and the ending position under the drive of the feeding power unit.

7. The automatic scraping device according to claim 6, characterized in that: The feed power unit comprises: Power components; and A linear transmission element, wherein the power element drives the feeding workpiece to reciprocate between the starting position and the ending position through the linear transmission element, and the feeding workpiece includes a support plate, and the clamp can be clamped / released by the clamping assembly after being placed on the upper surface of the support plate.

8. The automatic scraping device according to claim 7, characterized in that: The printing platform is connected to the fixture via a rod; The support plate is provided with an escape groove to provide an escape space for the rod to reciprocate along the feeding direction.

9. The automatic scraping device according to any one of claims 1 to 8, characterized in that: The blade mechanism includes at least one of a lower blade assembly, an upper blade assembly and a side blade assembly, wherein: The lower blade assembly comprises a lower blade flipping power unit, a first elastic member and a lower blade. Under the joint action of the lower blade flipping power unit and the first elastic member, the lower blade can be switched between an operating position and a standby position. In the operating position, the blade of the lower blade is in close contact with the lower surface of the printing platform. In the standby position, the blade of the lower blade maintains a distance from the printing platform. The upper blade assembly includes an upper blade flipping power unit and an upper blade. Under the drive of the upper blade flipping power unit, the upper blade can be switched between a working position and a standby position. In the working position, the blade of the upper blade is in close contact with the upper surface of the printing platform. In the standby position, the upper blade maintains a distance from the printing platform. The side scraper assembly includes side scrapers located close to both sides of the printing platform.

10. The automatic shoveling device according to any one of claims 1 to 8, characterized in that: It also includes a conveying mechanism arranged below the scraper mechanism, configured to receive and convey the printed part and / or resin peeled from the printing platform.

11. The automatic shoveling device according to claim 10, characterized in that: The conveying mechanism comprises a conveying power unit, a driving belt roller, a conveying belt and a driven belt roller conveying belt which are sequentially connected in transmission, wherein: The end of the conveyor belt is inclined upward.

12. The automatic shoveling device according to claim 10, characterized in that: The invention also includes an error-proofing detection component arranged in the feeding direction, the error-proofing detection component is located behind the end position, and the error-proofing detection component is configured to perform at least one of the following if it is detected that the transfer mechanism is located at the end position: At least one of the clamping assembly, the feeding assembly, the scraper mechanism, and the conveying mechanism is stopped; Drive the alarm to work.

13. The automatic shoveling device according to claim 10, characterized in that: The conveying mechanism further includes a resin scraping assembly, which is disposed on the lower surface of the slack side of the conveying belt.

14. The automatic shoveling device according to claim 13, characterized in that: The resin scraping assembly comprises a scraper and a mounting plate, wherein: The scraper is fixed to the frame through the mounting plate, the blade of the scraper extends upward and is in close contact with the lower surface of the slack side, and the inclination direction of the upper surface of the mounting plate is consistent with the inclination direction of the conveyor belt; There are two scrapers, which are symmetrically arranged on the left and right sides along the conveying direction of the conveying belt, and a resin channel for the scraped resin to flow is maintained between the two scrapers.

15. The automatic shoveling device according to claim 14, characterized in that: The resin scraping assembly further includes a second elastic member for providing pressure to press the scraper against the slack side, wherein: The second elastic member is installed between the scraper and the mounting plate; or The second elastic member is installed between the mounting plate and the frame.

16. The automatic shoveling device according to claim 14, characterized in that: The blades of the two scrapers are arranged in a V shape with their openings facing obliquely upwards.

17. An automatic shoveling method, characterized in that: Includes steps: S1, detecting the position of the transfer mechanism; S2. If the transfer mechanism is in the start position, clamp the transfer mechanism; S31, driving the transfer mechanism to move from the starting position to the ending position along the feeding direction. During S31, the scraper remains in the working position, and the blade of the scraper is in close contact with the upper surface and / or lower surface of the printing platform in the working position; during the process outside S31, the scraper remains in the standby position.

18. The automatic shoveling method according to claim 17, characterized in that: After S3, S4 is executed: detecting that the transfer mechanism is located at the end position; After S4, S5 is executed: driving the transfer mechanism to move to the starting position; After S5, S6 is executed: releasing the transfer mechanism.

19. The automatic shoveling method according to claim 18, characterized in that: Before S1, S0 is executed: removing the transfer mechanism from the 3D printer, walking, and placing the transfer mechanism to the start position; and / or After S6, S7 is executed: the released transfer mechanism is removed, moved and installed to the 3D printer.

20. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by the controller, the automatic shoveling method according to claims 17 to 19 can be executed.

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