Robot automatic powder cleaning system suitable for additive production line

Abstract

The invention provides a robot automatic powder cleaning system and method suitable for an additive production line, and relates to the technical field of additive manufacturing. The robot automatic powder cleaning system suitable for the additive production line comprises a forming cylinder and a powder cleaning cavity for containing a workpiece and an additive substrate, and the powder cleaning cavity is a closed powder cleaning cavity; the automatic powder cleaning system further comprises a robot arranged in the powder cleaning cavity and a powder suction pipe, the powder suction pipe is provided with a free end and an output end which are opposite, the output end communicates with the exterior of the powder cleaning cavity, and the free end is used for sucking powder in the powder cleaning cavity. The automatic powder cleaning system further comprises a tail end clamping mechanism, and the tail end clamping mechanism is used for clamping the part, close to the free end, of the powder suction pipe. According to the automatic powder cleaning system and method for the robot, the robot is used, the tail end clamping mechanism is used for clamping the part, close to the free end, of the powder suction pipe, the powder cleaning efficiency and the automation degree are improved, damage to a printed piece is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of additive manufacturing, and particularly to a robot automatic powder cleaning system and a powder cleaning method applicable to an additive production line. Background Art

[0002] After a metal 3D printed part is formed, powder cleaning is usually required to clean the unmelted powder in the forming cylinder so as to facilitate the removal of the formed part and the substrate from the forming cylinder. In the traditional powder cleaning process, a powder blowing mode is usually adopted. In an argon environment, an operator holds a blowing head and uses blowing force to blow the powder out of the cylinder. The current powder cleaning mode has the disadvantages of high safety risk of the metal dust environment, low powder cleaning efficiency, incomplete cleaning, low automation degree, and high labor cost. Summary of the Invention

[0003] The purpose of the present invention is to provide a robot automatic powder cleaning system and a powder cleaning method applicable to an additive production line to solve the technical problems of high safety risk of the metal dust environment, low powder cleaning efficiency, incomplete cleaning, low automation degree, and high labor cost in the powder cleaning process of additive manufacturing.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a robot automatic powder cleaning system applicable to an additive production line, including a forming cylinder and a powder cleaning chamber for accommodating a workpiece and an additive substrate, and the powder cleaning chamber is a closed powder cleaning chamber;

[0006] The automatic powder cleaning system further includes a robot and a powder suction pipe arranged in the powder cleaning chamber. The powder suction pipe has a free end and an output end opposite to each other. The output end is communicated with the outside of the powder cleaning chamber, and the free end is used for sucking the powder in the powder cleaning chamber;

[0007] The automatic powder cleaning system further includes an end clamping mechanism for clamping a portion of the powder suction pipe close to the free end.

[0008] According to at least one embodiment of the present invention, the robot is a six-degree-of-freedom robot.

[0009] According to at least one embodiment of the present invention, the automatic powder cleaning system further includes a cover, and the cover is sleeved on the robot.

[0010] According to at least one embodiment of the present invention, the top wall of the powder cleaning chamber is provided with a mounting base, and the robot is arranged on the mounting base.

[0011] According to at least one embodiment of the present invention, the length of the powder suction pipe is greater than or equal to 1000 mm, and the diameter of the free end of the powder suction pipe is 30 mm to 50 mm.

[0012] According to at least one embodiment of the present invention, the automatic powder cleaning system further comprises a control device, wherein the control device is communicatively connected with the robot, and the communication method comprises one of TCP / IP, Modbus TCP, Modbus RTU or Profinet.

[0013] In a second aspect, the present invention further provides a robot automatic powder cleaning method applicable to an additive production line, comprising the automatic powder cleaning system according to any one of the first aspects, the automatic powder cleaning method comprising:

[0014] (1) Control the piston to lift the substrate upward until the powder plane is at a first preset distance below the powder cleaning table plane, and then stop lifting;

[0015] (2) the robot controls the powder suction tube to start sucking powder, and stops sucking powder when the powder is sucked to a second preset distance below the plane of the powder cleaning table;

[0016] (3) The robot controls the free end of the powder suction tube to be lifted to a third preset distance on the plane of the powder cleaning table.

[0017] According to at least one embodiment of the present invention, the first preset distance is 50 mm;

[0018] The second preset distance is 200 mm;

[0019] The third preset distance is greater than or equal to 200 mm.

[0020] According to at least one embodiment of the present invention, the control piston lifts the substrate upward until the powder plane is a first preset distance below the powder cleaning table plane. Before stopping the lifting, the automatic powder cleaning method further includes:

[0021] The forming cylinder is moved into the powder cleaning chamber, and the control device raises the top of the forming cylinder to the upper limit.

[0022] According to at least one embodiment of the present invention, steps (1) and (2) are repeated, and the robot controls the free end of the powder suction pipe to be lifted to at least 400 mm above the plane of the powder cleaning table.

[0023] Among the one or more technical solutions provided in the exemplary embodiments of the present invention, at least one of the following beneficial effects can be achieved.

[0024] The robot automatic powder cleaning system applicable to an additive manufacturing production line according to an exemplary embodiment of the present invention includes a forming cylinder and a powder cleaning chamber for accommodating a workpiece and an additive substrate, and the powder cleaning chamber is a sealed powder cleaning chamber; the automatic powder cleaning system further includes a robot and a powder suction pipe disposed in the powder cleaning chamber. The powder suction pipe has a free end and an output end opposite to each other, and the output end is communicated with the outside of the powder cleaning chamber, and the free end is used for sucking the powder in the powder cleaning chamber; the automatic powder cleaning system further includes a terminal clamping mechanism for clamping a portion of the powder suction pipe near the free end. By using the robot and clamping the portion of the powder suction pipe near the free end through the terminal clamping mechanism, not only the powder cleaning efficiency and the degree of automation are improved, the damage to the printed part is reduced, but also the labor cost is lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. The drawings are included to provide a further understanding of the present invention and are included in this specification and form a part of this specification;

[0026] Figure 1 is an axonometric structural schematic diagram of a robot automatic powder cleaning system according to an embodiment of the present invention;

[0027] Figure 2 is an axonometric structural schematic diagram of a robot according to an embodiment of the present invention.

[0028] Reference numerals: 10, powder cleaning chamber; 20, robot; 21, terminal clamping mechanism; 22, mounting base; 30, powder suction pipe; 31, free end; 40, forming cylinder; 50, substrate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the 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.

[0030] After the metal 3D printed part is formed, powder cleaning is usually required to clean the unmelted powder in the forming cylinder so as to facilitate the removal of the formed part and the substrate from the forming cylinder. In the traditional powder cleaning process, a powder blowing mode is usually adopted, and an operator holds a blowing head in an argon environment and blows the powder out of the cylinder by blowing force. The current powder cleaning mode has the disadvantages of high safety risk of the metal dust environment, low powder cleaning efficiency, incomplete cleaning, low degree of automation, and high labor cost.

[0031] Figure 1 is an axonometric structural schematic diagram of a robot automatic powder cleaning system according to an embodiment of the present invention. As Figure 1As shown in the figure, the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention includes a forming cylinder 40 and a powder cleaning chamber 10 for accommodating a workpiece and an additive substrate 50. The powder cleaning chamber 10 is a sealed powder cleaning chamber 10; the automatic powder cleaning system further includes a robot 20 and a powder suction pipe 30 disposed in the powder cleaning chamber 10. The powder suction pipe 30 has opposite free ends 31 and an output end, and the output end is communicated with the outside of the powder cleaning chamber 10. The free end 31 is used to suck the powder in the powder cleaning chamber 10; the automatic powder cleaning system further includes an end clamping mechanism 21 for clamping a portion of the powder suction pipe 30 near the free end 31.

[0032] In practical applications, the forming cylinder 40 is used for 3D printing and forming of metal powder. By connecting it to the powder cleaning chamber 10 of the automatic powder cleaning system, wherein the powder cleaning chamber 10 is a sealed powder cleaning chamber 10 into which argon can be introduced, the safety can be improved by sucking powder in this environment. The robot 20 can carry the powder suction pipe 30. Specifically, the free end 31 of the powder suction pipe 30 can be fixed at the end position of the robot 20 through the end clamping mechanism 21. Through the control of the control device, the free end 31 of the powder suction pipe 30 can move freely in the powder cleaning chamber 10, thereby sucking the metal powder and being cleaned out of the powder cleaning chamber 10 through the output end. It can be seen that the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention clamps the free end 31 of the powder suction pipe 30 through a dedicated end clamping mechanism 21, improves the powder cleaning efficiency and automation degree, reduces the damage to the printed part, converts the powder blowing into a powder suction mode, reduces the generation of dust and static electricity, and at the same time combines with the argon environment to improve the powder cleaning safety.

[0033] Figure 2 is a schematic axonometric structure diagram of a robot according to an embodiment of the present invention. As Figure 2 shown, in some embodiments, the robot 20 in the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention is a six-degree-of-freedom robot 20. Through the respective degrees of freedom of the six-degree-of-freedom robot 20, the end clamping mechanism 21 can move within six degrees of freedom, and thus the powder cleaning chamber 10 can be cleaned in all directions more cleanly and thoroughly.

[0034] In some embodiments, the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention further includes a cover, which is sleeved on the robot 20. The cover sleeved on the robot 20 can prevent the robot 20 from being isolated from the metal powder in the powder cleaning chamber 10. On the one hand, it improves the protection of the robot 20, and on the other hand, it can improve the explosion-proof performance of the system and meet the powder cleaning requirements in the explosion-proof environment.

[0035] In some embodiments, the top wall of the powder cleaning chamber 10 in the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention is provided with a mounting base 22, and the robot 20 is arranged on the mounting base 22. Specifically, the inner dimensions (length x width x height) of the powder cleaning chamber 10 are: 800 x 800 x 680 mm, and the robot 20 is hung upside down inside the powder cleaning chamber 10 through the mounting base 22. The robot 20 grabs the free end 31 of the powder suction tube 30 and can move in a variable path within a space of -150 mm to 400 mm on the powder cleaning horizontal plane.

[0036] In order to facilitate the posture adjustment of the robot, the length of the powder suction pipe 30 is greater than or equal to 1000mm, and the diameter of the free end 31 of the powder suction pipe 30 is 30mm to 50mm. Specifically, the output end of the powder suction pipe 30 is connected to the inner wall of the powder cleaning chamber 10, the length of the powder suction pipe 30 is ≥1000mm, and the diameter of the end, that is, the free end, is 40mm.

[0037] In some embodiments, the robot automatic powder cleaning system provided by the exemplary embodiment of the present invention further includes a control device, which is connected to the robot 20 in communication mode, and the communication mode includes one of TCP / IP, Modbus TCP, Modbus RTU or Profinet. Therefore, the robot 20 provided by the exemplary embodiment of the present invention can be compatible with multiple communication protocols, can match different control devices, and has strong adaptability.

[0038] An exemplary embodiment of the present invention further provides a robot automatic powder cleaning method applicable to an additive production line, including the automatic powder cleaning system of any one of the above embodiments, wherein the automatic powder cleaning method includes:

[0039] (1) Control the piston to lift the substrate 50 upward until the powder plane is at a first preset distance below the powder cleaning table plane, and then stop lifting;

[0040] (2) The robot 20 controls the powder suction pipe 30 to start sucking powder, and stops sucking powder when the powder is sucked to a second preset distance below the plane of the powder cleaning table;

[0041] (3) The robot 20 controls the free end 31 of the powder suction tube 30 to be lifted to a third preset distance on the plane of the powder cleaning table.

[0042] Exemplarily, the first preset distance is 50 mm; the second preset distance is 200 mm; and the third preset distance is greater than or equal to 200 mm.

[0043] In some embodiments, the control piston lifts the substrate 50 upward until the powder plane is a first preset distance below the powder cleaning table plane. Before stopping the lifting, the automatic powder cleaning method also includes: moving the forming cylinder 40 into the powder cleaning chamber 10, and the control device lifts the forming cylinder 40 to the upper limit.

[0044] In some other embodiments, the automatic powder cleaning method further includes repeating steps (1) and (2), and the robot 20 controls the free end 31 of the powder suction pipe 30 to lift to at least 400 mm above the powder cleaning table plane.

[0045] A specific embodiment is given below to further illustrate the robot automatic powder cleaning method applicable to the additive manufacturing line provided by the exemplary embodiments of the present invention.

[0046] Step 101: The forming cylinder 40 moves into the powder cleaning platform, and the operator clicks the control device of the powder cleaning equipment to lift the forming cylinder 40 to the upper limit.

[0047] Step 102: The robot 20 takes over the process, and the operator presses the start key of the robot 20.

[0048] Step 103: The control piston lifts the substrate 50 upward until the powder plane is about 50 mm below the powder cleaning table plane, and then stops lifting.

[0049] Step 104: The robot 20 controls the free end 31 of the powder suction pipe 30 to start sucking powder. When the sucked powder reaches 200 mm below the powder cleaning table plane, stop sucking powder.

[0050] Step 105: The robot 20 controls the free end 31 of the powder suction pipe 30 to lift to a height of 200 mm above the powder cleaning table.

[0051] Step 106: Repeat Step 103.

[0052] Step 107: Repeat Step 104.

[0053] Step 108: The robot 20 controls the free end 31 of the powder suction pipe 30 to lift to a height of 400 mm above the powder cleaning table.

[0054] Step 109: Repeat Step 103, and the robot 20 sends a powder suction end signal.

[0055] Step 110: The operator manually holds the powder suction head to clean all the powder, controls the piston to descend to the zero limit, and then controls the forming cylinder 40 to descend to the origin.

[0056] Exemplarily, according to the products of additive manufacturing, the number of times and the distance of the upward lift of the substrate 50 are set as lifting 2 times, each time lifting 200 mm, and subsequent settings are made according to the substrate 50 lifting 1 time to be flush with the powder cleaning table plane and then sucking powder.

[0057] As can be seen from the above, the robot automatic powder cleaning system and powder cleaning method for additive manufacturing lines provided by the exemplary embodiments of the present invention can suck powder by clamping the metal end of the powder suction pipe with a special gripper in a narrow and enclosed space, improving the powder cleaning efficiency and automation level, reducing the damage to the printed parts, converting the powder blowing into a powder suction mode, reducing the generation of dust and static electricity, and at the same time combining with an argon environment to improve the safety of powder cleaning.

[0058] Those skilled in the art should understand that the above embodiments are only for clearly illustrating the present invention, rather than limiting the scope of the present invention. For those skilled in the art, other changes or variations can be made on the basis of the above disclosure, and these changes or variations are still within the scope of the present invention.

Claims

1. A robot automatic powder cleaning system applicable to an additive manufacturing production line, characterized in that, It includes a forming cylinder and a powder cleaning chamber for accommodating a workpiece and an additive substrate, and the powder cleaning chamber is a sealed powder cleaning chamber; The automatic powder cleaning system further includes a robot and a powder suction pipe disposed in the powder cleaning chamber. The powder suction pipe has opposite free ends and an output end. The output end communicates with the outside of the powder cleaning chamber, and the free ends are used to suck the powder in the powder cleaning chamber; The automatic powder cleaning system further includes a terminal clamping mechanism for clamping a portion of the powder suction pipe near the free ends.

2. The automatic flour cleaning system according to claim 1, wherein The robot is a six-degree-of-freedom robot.

3. The automatic flour cleaning system according to claim 1, wherein The automatic powder cleaning system further includes a cover that is sleeved on the robot.

4. The automatic flour cleaning system according to claim 1, wherein An installation base is provided on the top wall of the powder cleaning chamber, and the robot is disposed on the installation base.

5. The automatic flour cleaning system according to claim 1, wherein The length of the powder suction pipe is greater than or equal to 1000 mm, and the diameter of the free ends of the powder suction pipe is 30 mm to 50 mm.

6. The automatic flour cleaning system according to claim 1, wherein The automatic powder cleaning system further includes a control device that is communicatively connected to the robot, and the communication method includes one of TCP / IP, Modbus TCP, Modbus RTU, or Profinet.

7. A robot automatic powder cleaning method applicable to an additive manufacturing production line, characterized in that, An automatic powder cleaning system according to any one of claims 1-6, and the automatic powder cleaning method includes: (1) Controlling a piston to lift the substrate upward until the powder plane is at a first preset distance below the powder cleaning table plane, and then stop lifting; (2) The robot controls the powder suction pipe to start sucking powder. When the absorbed powder reaches a second preset distance below the powder cleaning table plane, stop sucking powder; (3) The robot controls the free ends of the powder suction pipe to be lifted to a third preset distance above the powder cleaning table plane.

8. The automatic flour cleaning method according to claim 7, characterized in that, The first preset distance is 50 mm; The second preset distance is 200 mm; The third preset distance is greater than or equal to 200 mm.

9. The automatic flour cleaning method according to claim 7, wherein, Before the control piston lifts the substrate upward until the powder plane is at a first preset distance below the powder cleaning table plane and then stops lifting, the automatic powder cleaning method further includes: Moving the forming cylinder into the powder cleaning chamber, and the control device lifts the forming cylinder to the upper limit.

10. The automatic flour cleaning method according to claim 7, wherein, Repeating steps (1) and (2), the robot controls the free ends of the powder suction pipe to be lifted to at least 400 mm above the powder cleaning table plane.

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